Control device, patrol system, and patrol method

Abstract

To efficiently perform patrol of an inspection part at proper timing.SOLUTION: A control device (40) is a control device for controlling a robot that patrols a plurality of inspection target devices included in a monitoring target area, and includes a prediction unit (421) that predicts a future operation state of the inspection target device, and a determination unit (422) that determines at least one of a route and a schedule for the robot to patrol the monitoring target area, based on the operation state predicted by the prediction unit (421).SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a control device, a patrol system, and a patrol method for controlling a robot that patrols a monitored area. [Background technology]

[0002] Many social infrastructure facilities, such as sewage treatment plants, water purification plants, drainage pumping stations, and waste disposal facilities, were constructed during the period of high economic growth and are now all aging at the same time, increasing the need for appropriate maintenance. Meanwhile, with the recent worsening labor shortage due to population decline, securing personnel due to the aging population and labor shortage is becoming a major issue even at the sites responsible for maintaining social infrastructure facilities.

[0003] To solve such problems, various technologies have been developed to automate and reduce the labor required for inspections within power facilities by using self-propelled robots to check for abnormalities in the equipment being inspected, as described in Patent Document 1, for example. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2022-165859 Summary of the Invention [Problem to be solved by the invention]

[0005] Furthermore, when a self-propelled robot patrols a monitored area as described above, the operating conditions of the inspection locations change from moment to moment as the monitored area expands and diversifies. Therefore, it becomes a challenge to efficiently patrol the inspection locations at appropriate times in accordance with the operating conditions of the inspection locations. However, the technical idea for solving this problem is not disclosed in Patent Document 1, nor in other known technologies.

[0006] One aspect of the present invention is to solve the above-mentioned problems. [Means for solving the problem]

[0007] In order to solve the above problems, a control device according to one embodiment of the present invention is a control device for controlling a robot that patrols a plurality of inspection target devices included in a monitored area, and includes a prediction unit that predicts the future operating status of the inspection target devices, and a determination unit that determines at least one of a route or schedule for the robot to patrol the monitored area based on the operating status predicted by the prediction unit.

[0008] Furthermore, a patrol method according to one aspect of the present invention is a patrol method for controlling a robot to patrol a plurality of inspection target devices contained within a monitored area, and includes a prediction step for predicting the future operating status of the inspection target devices, and a determination step for determining at least one of a route or a schedule for the robot to patrol the monitored area based on the operating status predicted by the prediction step. [Effects of the Invention]

[0009] According to one aspect of the present invention, patrols of inspection locations can be carried out efficiently at appropriate times. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a diagram showing an outline of a patrol system according to an embodiment of the present invention; [Figure 2] 2 is a block diagram illustrating an example of the configuration of a main part of a robot that patrols a monitoring target area in the patrol system shown in FIG. 1. [Figure 3] 2 is a block diagram illustrating the configuration of a main part of a control device provided in the patrol system shown in FIG. 1. [Figure 4] 10 is a flowchart illustrating a patrol method for controlling a robot to patrol a plurality of devices to be inspected that are included in a monitored area. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, one embodiment of the present invention will be described in detail.

[0012] (patrol system) Fig. 1 is a diagram showing an outline of a patrol system 1 according to one embodiment of the present invention. The patrol system 1 is a system for inspecting a plurality of inspection target devices 70 as a plurality of inspection locations included in a monitored area TA. As shown in Fig. 1, the patrol system 1 includes a robot 10, a charging dock 20, a management device 30, a control device 40, and an input terminal 60.

[0013] The robot 10 patrols a plurality of pieces of equipment 70 to be inspected that are included within a monitored area TA. The charging dock 20 is a dock for charging the robot 10. The management device 30 is a device that manages the monitored area TA and centrally manages a plurality of pieces of equipment 70 to be inspected. The control device 40 is a device for controlling the robot 10. The input terminal 60 is used to input inspection results by a field worker H1 related to the pieces of equipment 70 to be inspected, and is, for example, a mobile information terminal such as a smartphone or tablet.

[0014] FIG. 1 shows multiple robots 10. This is an example of the positions to which the robots 10 may move, and does not necessarily require that multiple robots 10 simultaneously patrol the monitored area TA in the patrol system 1. FIG. 1 also shows the robots 10 and a field worker H1 in the monitored area TA. This is an example of the positions at which the robots 10 and the field worker H1 may be present, and does not necessarily require that the robots 10 and the field worker H1 simultaneously exist in the monitored area TA.

[0015] In the example shown in Fig. 1, the monitored area TA is located underground. The monitored area TA includes a waiting area SA in which a charging dock 20 is located, a first area TA1 located below the waiting area SA, and a second area TA2 located below the first area TA1. A management area MA is located on the ground above the waiting area SA. A management device 30, a control device 40, and a communication antenna 50 are located in the management area MA.

[0016] The positional relationship between the monitored area TA, waiting area SA, and management area MA is not limited to the example shown in Figure 1. For example, the management area MA may be located underground, and the waiting area SA may be located above ground. The management area MA and waiting area SA may also be located on the same floor. Furthermore, part or all of the monitored area TA may be located on the same floor as the management area MA and / or waiting area SA.

[0017] 1, the first area TA1 and the second area TA2 are each shown as a single floor. However, the division of the first area TA1 and the second area TA2 is not limited to this. One or both of the first area TA1 and the second area TA2 may include multiple floors. Furthermore, some or all of the first area TA1 and the second area TA2 may be located on the same floor.

[0018] The charging dock 20 is provided with a communication device 21 that enables communication between the management device 30 and the robot 10. The robot 10 can communicate with the management device 30 via the communication device 21 in the vicinity of the charging dock 20, for example, in the first area TA1. However, the robot 10 cannot communicate with the communication device 21 in a location away from the charging dock 20, for example, in the second area TA2. That is, the first area TA1 is a communication area where communication with the communication device 21 is possible. On the other hand, the second area TA2 is an area where communication with the outside, including the communication device 21, is not possible.

[0019] Furthermore, the robot 10 can receive radio waves from GPS satellites 100 in the management area MA and the waiting area SA. However, the robot 10 may not be able to receive radio waves from GPS satellites 100 in the monitored area TA. In FIG. 1, it is assumed that radio waves from GPS satellites 100 cannot be received in the entire monitored area TA. However, there may be areas within the monitored area TA where radio waves from GPS satellites 100 can be received.

[0020] The patrol system 1 further includes a communication antenna 50. The communication antenna 50 is placed on the ground. When the robot 10 is located on the ground, the communication antenna 50 mediates communication between the robot 10 and the management device 30. The communication antenna 50 is also capable of communicating with the outside world, for example, via a mobile phone line.

[0021] (robot) Fig. 2 is a block diagram illustrating the configuration of the main parts of the robot 10. As shown in Fig. 2, the robot 10 includes a communication unit 11, an imaging unit 12, a movement mechanism 13, a control unit 14, and a storage unit 15. The robot 10 also includes components that are included in a typical robot, such as a battery.

[0022] The communication unit 11 communicates with the outside of the robot 10. Specifically, the communication unit 11 communicates with, for example, a communication device 21, a communication antenna 50, and a GPS satellite 100. The communication unit 11 may include a separate antenna for each communication partner.

[0023] The imaging unit 12 captures an image of the inspection target device 70. As the imaging unit 12, any known imaging device for capturing visible light images can be used without any particular restrictions. The imaging unit 12 may also include an imaging device, such as a thermal camera, that can capture an image showing the temperature distribution of the inspection target device 70. In this case, if an abnormality occurs in the temperature of the inspection target device 70 due to, for example, a water leak, the abnormality can be recognized from the image, and appropriate measures can be taken.

[0024] The moving mechanism 13 is a mechanism for moving the robot 10. The moving mechanism 13 may be a quadrupedal walking mechanism. That is, the robot 10 may be a quadrupedal walking robot. In this case, the high degree of freedom of movement of a quadrupedal walking robot can be utilized to inspect a variety of locations. For example, if the monitored area TA has multiple floors, the robot 10 can move between floors by ascending and descending stairs. However, if there are no steps or other obstacles on the route to patrol the inspection target equipment 70, the moving mechanism 13 may be a wheeled mechanism instead of a quadrupedal walking mechanism. Furthermore, if the route to patrol the inspection location includes high places or narrow spaces, the moving mechanism 13 of the robot 10 may be a propeller mechanism, like a drone.

[0025] The control unit 14 controls the operation of the robot 10. The control unit 14 also detects abnormalities in multiple inspection target devices 70 included in the monitored area TA. The inspection target devices 70 are devices installed in public infrastructure facilities such as sewage treatment plants, water purification plants, drainage pumping stations, and waste disposal facilities. The inspection target devices 70 are, for example, pumps, tanks, dust suppressors, etc. installed in the monitored area TA. The pumps in question are, for example, pumps that drain sewage or pumps that transport sludge.

[0026] The control unit 14 detects an abnormality in the inspection target device 70 based on an image of the inspection target device 70 captured by the imaging unit 12. Specifically, the control unit 14 detects an abnormality in the inspection target device 70 based on an image of the display of a measuring device provided in the inspection target device 70, for example. Examples of the measuring device include an ammeter, a pressure gauge, a thermometer for a bearing or the like, a remaining amount gauge of a chemical in a tank, a water level gauge, a flow meter, a rain gauge, a sunshine meter, or a differential pressure gauge. The display of the measuring device displays the measurement value. Note that the inspection target device 70 may also be a measuring device.

[0027] The control unit 14 controls the movement of the robot 10. Specifically, the control unit 14 controls the movement mechanism 13 to move the robot 10 from the charging dock 20 in the waiting area SA to patrol the monitoring target area TA along a preset route. When the control unit 14 detects an abnormality in the inspection target device 70, it controls the movement of the robot 10 to move to the vicinity of the first area TA1. After moving to the vicinity of the first area TA1, the robot 10 notifies the management device 30 of the detected abnormality.

[0028] The memory unit 15 stores information necessary for the control of the robot 10 by the control unit 14. For example, the memory unit 15 may store a route for patrolling the inspection target equipment 70. The robot 10 does not necessarily have to include the memory unit 15. If the robot 10 does not include the memory unit 15, it may be communicably connected to an external storage device that stores information necessary for the control of the robot 10 by the control unit 14.

[0029] (Control device) 3 is a block diagram illustrating the configuration of the main parts of the control device 40. The control device 40 is, for example, a server, and includes a communication unit 41, a control unit 42, and a storage unit 43, as shown in FIG. 3. The communication unit 41 communicates with the outside of the control device 40. Specifically, the communication unit 41 communicates with, for example, the management device 30.

[0030] The control unit 42 has a prediction unit 421, a determination unit 422, and an operation instruction unit 423. The prediction unit 421 acquires information from the management device 30 via the communication unit 41. The operation instruction unit 423 instructs the robot 10 to operate via the communication unit 41, the management device 30, and the communication equipment 21. The memory unit 43 stores information necessary for processing by the control device 40.

[0031] (Visiting method) FIG. 4 is a flowchart illustrating a patrol method for controlling the robot 10 to patrol a plurality of inspection target devices 70 included in a monitoring target area TA. In the patrol method shown in FIG. 4, the prediction unit 421 acquires the current operating status of each of the plurality of inspection target devices 70 from the management device 30 (S1). The prediction unit 421 may store the acquired current operating status in the storage unit 43. The current operating status may be, for example, a measurement value of a measuring device provided in the inspection target device 70. Furthermore, the current operating status may include whether or not the inspection target device 70 is activated.

[0032] Here, the management device 30 may acquire the current operating status of each of the plurality of inspection target devices 70 from the input terminal 60. Specifically, the field worker H1 checks each of the plurality of inspection target devices 70 in the monitoring area TA, and inputs the current operating status of each of the plurality of inspection target devices 70 into the input terminal 60.

[0033] After inputting the current operating status into the input terminal 60, the field worker H1 moves to the management area MA. This enables the communication antenna 50 to communicate with the input terminal 60. At this time, the management device 30 acquires the current operating status of each of the multiple inspection target devices 70 from the input terminal 60 via the communication antenna 50.

[0034] Furthermore, when the monitoring target area TA is located on the ground, the management device 30 may acquire the current operating status of each of the plurality of inspection target devices 70 from each of the plurality of inspection target devices 70 via the communication antenna 50. Note that the processing of step S1 does not have to be executed.

[0035] The prediction unit 421 acquires, from the management device 30, inspection results or measurement results related to the activation of the inspection target device 70 (S2). The prediction unit 421 may store the acquired inspection results or measurement results in the storage unit 43. The inspection results may be, for example, the results of the robot 10 inspecting the inspection target device 70 at the time of activation or the inspection target device 70 that is already activated when the robot 10 patrolled a plurality of inspection target devices 70 in the past. In this case, it can be said that the robot 10 is the input terminal 60.

[0036] The robot 10 inspects the inspection target equipment 70 by checking whether there is any abnormality in the inspection target equipment 70. After moving to the vicinity of the first area TA1, the robot 10 transmits the inspection results to the management device 30. In other words, the robot 10 inputs the inspection results related to the inspection target equipment 70 into the management device 30.

[0037] The inspection results may be the results of an inspection of the inspection target equipment 70 by a field worker H1. In this case, the field worker H1 inputs the inspection results into the input terminal 60 and then moves to the management area MA. The management device 30 acquires the inspection results of the inspection target equipment 70 from the input terminal 60 via the communication antenna 50. Details of the measurement results will be described later. The processes of steps S1 and S2 may be executed simultaneously or at different times.

[0038] Next, the prediction unit 421 predicts the future operating status of the inspection target device 70 (S3, prediction step). Specifically, the prediction unit 421 predicts the future operating status of the inspection target device 70 based on the current operating status acquired in step S1 and the inspection result or measurement result acquired in step S2.

[0039] The future operating status is, for example, a measurement value of a measuring device provided in the inspection target device 70 or the scheduled start time of operation of the inspection target device 70. Furthermore, the prediction unit 421 may predict the future operating status of the inspection target device 70 whose current operating status is in the activated state.

[0040] In this way, the prediction unit 421 obtains the current operating status in step S1 and obtains the inspection results or measurement results in step S2, thereby predicting the future operating status of the inspection target device 70. This improves the accuracy of predictions regarding the future operating status of the inspection target device 70, and enables accurate patrols to be performed in accordance with the operating status of the inspection locations.

[0041] After the prediction unit 421 predicts the future operating status of the inspection target equipment 70, the determination unit 422 performs the following process. Specifically, the determination unit 422 determines at least one of a route or a schedule for the robot 10 to patrol the monitoring target area TA based on the operating status predicted by the prediction unit 421 (S4, determination step).

[0042] After the determination unit 422 determines at least one of the route or the schedule, the operation instruction unit 423 instructs the robot 10 to patrol the monitoring target area TA based on at least one of the route or the schedule determined by the determination unit 422 (S5). Based on the instruction from the determination unit 422, the robot 10 starts patrolling the monitoring target area TA based on at least one of the route or the schedule determined by the determination unit 422.

[0043] As a result, the tour route / schedule determined by the determination unit 422 corresponds to the future operating status of the inspection target device 70, and the tour of the inspection points can be carried out efficiently at an appropriate timing.

[0044] (Specific example 1 of steps S1 to S3) In step S1, the prediction unit 421 acquires the current operating status of each of the plurality of inspection target devices 70, and also acquires the operating status of each of the plurality of inspection target devices 70 that has been previously stored in the storage unit 43. The information acquired by the prediction unit 421 becomes the history of the operating status of each of the plurality of inspection target devices 70.

[0045] In step S2, the prediction unit 421 acquires measurement results of the inspection target devices 70 that have already started from the management device 30. The measurement results may be, for example, measurement values ​​of measuring devices acquired by the management device 30 from each of the multiple inspection target devices 70. For example, consider a case where the inspection target devices 70 are an entire public infrastructure facility. In this case, the measurement results may include the current water level in a reservoir where water is stored, a trend related to the amount of wastewater flowing into the reservoir, and a rainfall trend.

[0046] The water level is measured by a water level meter, and the amount of wastewater inflow is measured by a flow meter. The rainfall trend is obtained based on the amount of rainfall measured by a rain gauge. The measurement results may also include the time the wastewater flows into the storage section and the weather. The time the wastewater flows in is obtained based on the amount of inflow measured by the flow meter, and the weather is obtained based on the amount of sunshine measured by a sunshine meter.

[0047] The measurement results may be, for example, results obtained when the robot 10 previously patrolled a plurality of inspection target devices 70 and confirmed the measurement values ​​of the measuring devices of the inspection target devices 70 at the time of startup or of the inspection target devices 70 that have already started. The robot 10 confirms the measurement values ​​of the measuring devices based on the image of the inspection target devices 70 captured by the imaging unit 12.

[0048] The measurement results may be values ​​read by the field worker H1 from the display of a measuring device. In this case, the field worker H1 enters the measurement values ​​into the input terminal 60 and then moves to the management area MA. The management device 30 acquires the measurement values ​​from the input terminal 60 via the communication antenna 50.

[0049] In step S3, the prediction unit 421 predicts the future operating status of the inspection target equipment 70 based on at least the operating status history acquired in step S1 and the measurement results of the inspection target equipment 70 acquired in step S2.

[0050] (Specific example 2 of steps S2 to S4) In step S2, the prediction unit 421 considers acquiring a trend related to the amount of wastewater flowing into the storage unit from the management device 30. In step S3, the prediction unit 421 considers a case in which the prediction unit 421 predicts that the amount of wastewater flowing into the storage unit will tend to increase as a future operating status of the inspection target equipment 70. In this case, in step S4, the prediction unit 421 determines the route that the robot 10 will take to patrol the monitoring target area TA as the first route.

[0051] On the other hand, in step S3, the prediction unit 421 considers a case in which the prediction unit 421 predicts that the amount of wastewater flowing into the storage unit will tend to decrease or remain unchanged as the future operating condition of the inspection target equipment 70. In this case, in step S4, the prediction unit 421 determines that the route that the robot 10 will take to patrol the monitoring target area TA will be a second route that is different from the first route. Note that the travel distance of the robot 10 on the second route may be shorter than the travel distance of the robot 10 on the first route.

[0052] Furthermore, in step S3, the prediction unit 421 considers a case where the amount of rainfall is predicted to be several millimeters or more per unit time as the future operating condition of the inspection target equipment 70. In this case, in step S4, the prediction unit 421 determines the route that the robot 10 will take to patrol the monitoring target area TA as the first route.

[0053] In step S3, the prediction unit 421 considers a case where the amount of rainfall is predicted to be less than several millimeters per unit time as the future operating condition of the inspection target equipment 70. In this case, in step S4, the prediction unit 421 determines the route that the robot 10 will take to patrol the monitoring target area TA as the second route.

[0054] (Specific example 3 of steps S2 to S4) For example, consider the case where the equipment to be inspected 70 is a dust collector installed in a sewage treatment plant. In the sewage treatment plant, the dust collector removes dust contained in sewage, and the sewage from which the dust has been removed enters a pump well by a pump. The sewage inside the pump well is then pumped up to a primary sedimentation tank by a pump. Furthermore, the sewage from which the dust has been removed in the primary sedimentation tank enters a biological treatment tank. In the biological treatment tank, organic matter in the sewage is decomposed. The sewage from which the organic matter has been decomposed in the biological treatment tank enters a final sedimentation tank.

[0055] The dust suppressor operates when a pressure difference occurs between the water pressure on one side of the dust suppressor and the water pressure on the other side of the dust suppressor. This pressure difference is measured by a differential pressure gauge. In step S2, the prediction unit 421 assumes that it has acquired a measurement result indicating that a change in the pressure difference has been detected. In this case, in step S3, the prediction unit 421 predicts the pressure difference and the planned start time for the operation of the dust suppressor as the future operating status of the inspection target device 70.

[0056] In step S4, the determination unit 422 determines at least one of a route or a schedule for the robot 10 to patrol the monitoring target area TA so that the patrol time by the robot 10 falls within the operation duration of the dust suppressor.

[0057] (Specific example 4 of steps S1 to S4) For example, consider a case where the inspection target devices 70 are pumps installed in a sewage treatment plant for sending sewage that has passed through a dust suppressor to a pump well. In this case, in step S1, the prediction unit 421 acquires the operating status history of each of the plurality of inspection target devices 70, as in the first specific example.

[0058] In step S2, the prediction unit 421 acquires the amount of wastewater flowing into the storage unit and the rainfall trend as the inspection results. In step S3, the prediction unit 421 predicts the scheduled start time for pump operation as the future operation status of the inspection target device 70 based on the operation status history acquired in step S1, the amount of wastewater flowing into the storage unit, and the rainfall trend.

[0059] In step S4, the determination unit 422 determines at least one of a route or a schedule for the robot 10 to patrol the monitoring target area TA so that the patrol time by the robot 10 falls within the operation duration of the pump.

[0060] Here, since the number of pumps in operation changes depending on the time, rainfall, water level, and inflow, the determination unit 422 selects a time period when the number of pumps in operation is high, and determines at least one of a route or a schedule so that the robot 10 patrols at the selected time.

[0061] (Variation 1) In the above description, the control device 40 is disposed in the management area MA, but the control device 40 may be provided in the robot 10. In this case, the control device 40 corresponds to the control unit 14 of the robot 10, and the control unit 14 has a prediction unit 421, a determination unit 422, and an action instruction unit 423.

[0062] Furthermore, the prediction unit 421 acquires information from the management device 30 via the communication unit 11 and the communication device 21. The operation instruction unit 423 instructs a movement control unit (not shown) included in the control unit 14 to operate the robot 10 using the movement mechanism 13. In the first modification, the control unit 14 of the robot 10 may execute the processes of steps S1 to S5 shown in FIG.

[0063] (Variation 2) The inspection results acquired by the prediction unit 421 in step S2 may include inspection results for items that should be inspected when the inspection target equipment 70 is in a specific state such as "in operation" or "stopped." In this case, the inspection items inspected by the robot 10 or the on-site worker H1 include the items that should be inspected when the inspection target equipment 70 is in the above-mentioned specific state.

[0064] In step S2, the prediction unit 421 may acquire inspection results for items that should be inspected when the inspection target device 70 is in the above-mentioned specific state, and in step S3, based on the inspection results, predict a future operating status of the inspection target device 70. Then, in step S4, the determination unit 422 may determine a schedule for patrolling the robot 10 at appropriate times based on the future operating status of the inspection target device 70 predicted by the prediction unit 421 in step S3.

[0065] [Software implementation example] The functions of the robot 10 and the control device 40 (hereinafter referred to as the "device") can be realized by a program that causes a computer to function as the device, and a program that causes a computer to function as each control block of the device (particularly each part included in the control unit 42, or the control unit 14).

[0066] In this case, the device includes a computer having at least one control device (e.g., a processor) and at least one storage device (e.g., a memory) as hardware for executing the program. The control device and storage device execute the program, thereby realizing each function described in the above embodiment.

[0067] The program may be non-transitory and may be recorded on one or more computer-readable recording media. The recording media may or may not be included in the device. In the latter case, the program may be supplied to the device via any wired or wireless transmission medium.

[0068] Furthermore, some or all of the functions of the control blocks can be realized by logic circuits. For example, an integrated circuit in which a logic circuit that functions as each of the control blocks is formed is also included in the scope of the present invention. In addition, the functions of the control blocks can also be realized by, for example, a quantum computer.

[0069] Furthermore, each process described in the above embodiment may be executed by AI (Artificial Intelligence). In this case, the AI ​​may run on the control device or on another device (for example, an edge computer or a cloud server).

[0070] 〔summary〕 The present invention can also be expressed as follows.

[0071] A control device according to aspect 1 of the present invention is a control device for controlling a robot that patrols a plurality of inspection target devices included in a monitored area, and includes a prediction unit that predicts the future operating status of the inspection target devices, and a determination unit that determines at least one of a route or a schedule for the robot to patrol the monitored area based on the operating status predicted by the prediction unit.

[0072] In the control device according to aspect 2 of the present invention, in aspect 1, the prediction unit may obtain the current operating status of each of the plurality of inspection target devices from a management device that centrally manages the plurality of inspection target devices, and may predict the future operating status by obtaining inspection results or measurement results related to the startup of the inspection target devices.

[0073] The patrol system of aspect 3 of the present invention may be the same as that of aspect 1 or 2 and include the control device, a management device that centrally manages the plurality of inspection target devices, and an input terminal for inputting inspection results for the inspection target devices.

[0074] A patrol method according to aspect 4 of the present invention is a patrol method for controlling a robot to patrol a plurality of inspection target devices contained within a monitored area, and includes a prediction step for predicting the future operating status of the inspection target devices, and a determination step for determining at least one of a route or a schedule for the robot to patrol the monitored area based on the operating status predicted by the prediction step.

[0075] The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present invention. [Explanation of symbols]

[0076] 1. Patrol System 10. Robot 30 Management device 40 Control device 60 Input terminal 70 Equipment to be inspected 421 Prediction Department 422 Decision Section H1 Field worker TA Surveillance Area

Claims

1. A control device for controlling a robot that patrols a plurality of inspection target devices included in a monitoring target area, a prediction unit that predicts a future operating status of the inspection target device; a determination unit that determines at least one of a route or a schedule for the robot to patrol the monitored area based on the operating status predicted by the prediction unit.

2. 2. The control device according to claim 1, wherein the prediction unit obtains the current operating status of each of the plurality of inspection target devices from a management device that centrally manages the plurality of inspection target devices, and predicts the future operating status by obtaining inspection results or measurement results related to the startup of the inspection target devices.

3. The control device according to claim 1 ; a management device that centrally manages the plurality of inspection target devices; An input terminal for inputting inspection results relating to the equipment to be inspected.

4. A patrol method for controlling a robot to patrol a plurality of inspection target devices included in a monitoring target area, comprising: a prediction step of predicting a future operating status of the inspection target device; a determination step of determining at least one of a route or a schedule for the robot to patrol the monitored area based on the operating status predicted in the prediction step.

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