Robot, patrol system, and patrol method

Abstract

To provide a robot capable of accurately acquiring information on the content of abnormality without delay.SOLUTION: A robot (10) includes a mismatch portion identifying unit (151) configured to identify a mismatch portion in which surrounding point group information indicating a surrounding shape as a three dimensional point group does not match reference point group information created in advance as information indicating a shape of a monitoring target area as a three dimensional point group, and an image capturing unit (13) configured to capture an image of the identified mismatch portion.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a robot that patrols a monitored area, a patrol system including the robot, and a patrol method. [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 therefore 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] If a self-propelled robot such as the one described above detects an abnormality while patrolling a monitored area, in order to take appropriate measures against the abnormality, which may occur day or night, it is necessary to obtain information relating to the nature of the abnormality as accurately as possible and with as little delay as possible after the abnormality occurs. However, the technical idea for solving this problem is not disclosed in Patent Document 1, nor in other publicly known technologies.

[0006] An object of one aspect of the present invention is to realize a robot or the like that can acquire information relating to the content of an abnormality accurately and without delay. [Means for solving the problem]

[0007] In order to solve the above problems, a robot according to one embodiment of the present invention is a robot that patrols within a monitored area and is equipped with a three-dimensional point cloud information acquisition unit that acquires surrounding point cloud information that shows the shape of the surrounding area as a three-dimensional point cloud, and is equipped with a mismatch point identification unit that compares the surrounding point cloud information with reference point cloud information that has been created in advance to show the shape of the monitored area as a three-dimensional point cloud, and identifies mismatch points within the monitored area where the surrounding point cloud information and the reference point cloud information do not match, and an imaging unit that captures images of the mismatch points identified by the mismatch point identification unit.

[0008] Furthermore, a patrol method according to one aspect of the present invention is a patrol method for patrolling a monitored area using a robot equipped with a three-dimensional point cloud information acquisition unit that acquires surrounding point cloud information that indicates the surrounding shape as a three-dimensional point cloud, and includes a mismatch point identification step in which an inconsistency point identification unit provided in the robot compares the surrounding point cloud information with reference point cloud information that has been created in advance to indicate the shape of the monitored area as a three-dimensional point cloud, and identifies mismatch points where the surrounding point cloud information and the reference point cloud information do not match, and an imaging step in which an imaging unit provided in the robot captures an image of the mismatch point identified in the mismatch point identification step.

[0009] Furthermore, a robot according to one aspect of the present invention is a robot that patrols within a monitored area and is equipped with a three-dimensional point cloud information acquisition unit that acquires surrounding point cloud information that shows the shape of the surrounding area as a three-dimensional point cloud, and is equipped with a mismatch location identification unit that compares the surrounding point cloud information with reference point cloud information that has been created in advance to show the shape of the monitored area as a three-dimensional point cloud, and identifies inspection locations within the monitored area where the surrounding point cloud information and the reference point cloud information do not match, and an imaging unit that captures images of the inspection locations identified by the mismatch location identification unit.

[0010] Furthermore, a patrol method according to one aspect of the present invention is a patrol method for patrolling a monitored area using a robot equipped with a three-dimensional point cloud information acquisition unit that acquires surrounding point cloud information that shows the surrounding shape as a three-dimensional point cloud, and includes a mismatch point identification step in which an inconsistency point identification unit provided in the robot compares the surrounding point cloud information with reference point cloud information that has been created in advance to show the shape of the monitored area as a three-dimensional point cloud, and identifies inspection points where the surrounding point cloud information and the reference point cloud information do not match, and an imaging step in which an imaging unit provided in the robot captures an image of the inspection point identified in the mismatch point identification step. [Effects of the Invention]

[0011] According to one aspect of the present invention, it is possible to realize a robot or the like that can acquire information relating to the content of an abnormality accurately and without delay. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a diagram showing an outline of a patrol system according to a first embodiment. [Figure 2] 1 is a block diagram illustrating the configuration of a main part of a robot according to a first embodiment. [Figure 3] 1 is a flowchart illustrating a patrol method according to the first embodiment. [Figure 4] 10 is a flowchart illustrating a patrol method according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0013] [Embodiment 1] Hereinafter, one embodiment of the present invention will be described in detail.

[0014] (patrol system) 1 is a diagram illustrating an outline of a patrol system 1 according to embodiment 1. The patrol system 1 is a system for inspecting a monitored area TA. As shown in FIG. 1, the patrol system 1 includes a robot 10, a charging dock 20, and a management device 30.

[0015] The robot 10 is equipped with a three-dimensional point cloud information acquisition unit 12, which will be described later, and patrols within the monitoring target area TA. The charging dock 20 is a dock for charging the robot 10. The management device 30 is a device that manages the monitoring target area TA.

[0016] 1 shows multiple robots 10. This is to illustrate the positions to which the robots 10 may move, and does not necessarily mean that multiple robots 10 must simultaneously patrol the monitored area TA in the patrol system 1.

[0017] 1, the monitored area TA is located underground. The monitored area TA includes a waiting area SA where the 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 TA. A management area MA where the management device 30 is located is located on the ground above the waiting area SA.

[0018] 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 of the monitored area TA may be located on the same floor as the management area MA and / or waiting area SA.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] 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. In this case, communication between the robot 10 and the communication antenna 50 is performed, for example, via a mobile phone line.

[0023] (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, a 3D point cloud information acquisition unit 12, an imaging unit 13, a moving mechanism 14, a control unit 15, and a storage unit 16. The robot 10 also includes components that are included in a typical robot, such as a battery.

[0024] 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.

[0025] The three-dimensional point cloud information acquisition unit 12 acquires surrounding point cloud information that indicates, as a three-dimensional point cloud, the shapes of structures, floors, ground, living things, and the like around the robot 10. The three-dimensional point cloud information acquisition unit 12 is, for example, a LiDAR (Light Detection and Ranging).

[0026] The imaging unit 13 captures an image of the mismatched area, which will be described later. Any known imaging device for capturing visible light images can be used as the imaging unit 13, without any particular restrictions. Furthermore, the imaging unit 13 may be capable of capturing an image showing the temperature distribution of the mismatched area. For example, the imaging unit 13 may include a thermal camera. In this case, if an abnormality occurs in the temperature of the mismatched area due to, for example, a water leak, the abnormality can be recognized from the image, and appropriate action can be taken. Furthermore, if the temperature information of the mismatched area indicates a temperature higher than the body temperature of the human body, it is considered possible that the cause of the discrepancy at the mismatched area is a suspicious individual.

[0027] The moving mechanism 14 is a mechanism for moving the robot 10. The moving mechanism 14 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 within the monitored area TA, the moving mechanism 14 may be a wheeled mechanism instead of a quadrupedal walking mechanism. Furthermore, if the route to patrol within the monitored area TA includes high places or narrow spaces, the moving mechanism 14 of the robot 10 may be a propeller mechanism, like a drone.

[0028] The control unit 15 controls the operation of the robot 10. The control unit 15 includes a mismatch location identifying unit 151 and a communication control unit 152. The control unit 15 also has a general function for the robot 10 to patrol the monitoring target area TA. For example, the control unit 15 has a function of controlling the movement mechanism 14 to move the robot 10 from the charging dock 20 in the waiting area SA, patrol the monitoring target area TA along a preset route, and return to the charging dock 20.

[0029] While the robot 10 is patrolling, the mismatched portion identifying unit 151 acquires surrounding point cloud information around the robot 10 using the 3D point cloud information acquiring unit 12 and compares it with the reference point cloud information. The reference point cloud information is information created in advance that indicates the shape of the entire area, including structures and passageways, in the monitored area TA as a 3D point cloud. The robot 10 patrols while recognizing where it is located and in which direction it is facing within the reference point cloud information. Furthermore, the mismatched portion identifying unit 151 identifies mismatched portions within the monitored area where the surrounding point cloud information and the reference point cloud information do not match.

[0030] Furthermore, the control unit 15 causes the imaging unit 13 to capture an image of the mismatch portion identified by the mismatch portion identifying unit 151, where the surrounding point cloud information and the reference point cloud information do not match. For simplicity, in the following description, when the control unit 15 causes the imaging unit 13 to capture an image, it is assumed that the imaging unit 13 captures the image.

[0031] When the manager himself patrols the monitored area TA, the accuracy of the inspection varies depending on the manager's own ability. In particular, when patrolling at night, the accuracy of the inspection is likely to vary depending on the manager's own eyesight in the dark.

[0032] The surrounding point cloud information acquired by the 3D point cloud information acquisition unit 12 accurately indicates the three-dimensional shape of the surrounding area at the time the information was acquired, regardless of whether it was day or night. Furthermore, where the surrounding point cloud information does not match the reference point cloud information, there is a high possibility that some kind of abnormality has occurred. Images of such mismatched areas captured by the imaging unit 13 can be acquired as accurate information on the abnormality without delay, regardless of whether it is day or night. Therefore, the robot 10 allows the manager to accurately and promptly obtain information on the nature of abnormalities occurring within the monitored area TA. Furthermore, the manager can understand the nature of the abnormality based on the acquired information and take appropriate measures to address the abnormality. Examples of abnormalities include liquid spilling from pipes, deformation of a tank, or the discovery or encounter of luggage or tools on a patrol route, or a worker, suspicious person, or other living creature.

[0033] The communication control unit 152 controls communication between the robot 10 and the outside. For example, the communication control unit 152 transmits the image captured by the imaging unit 13 to the management device 30.

[0034] When the robot 10 patrols, it is conceivable that a plurality of mismatching points where the surrounding point cloud information and the reference point cloud information do not match will be identified in one patrol, and images of each of the mismatching points will be captured by the imaging unit 13. In this case, the communication control unit 152 transmits the images captured by the imaging unit 13 to the management device 30 when the robot 10 moves to an area where communication with the communication device 21 is possible.

[0035] Here, "when the robot 10 moves to an area where communication with the communication device 21 is possible" means "when the robot 10 moves to an area where communication with the communication device 21 is possible" on the route patrolling within the monitored area TA. In other words, the robot 10 does not deviate from the preset route to move to an area where communication with the communication device 21 is possible in order to transmit to the management device 30 an image captured by the imaging unit 13 in an area where communication with the communication device 21 is not possible.

[0036] 1, it has been assumed that the robot 10 can communicate with the communication device 21 in the first area TA1. However, in the actual route that the robot 10 takes to patrol the monitored area TA, it is difficult to clearly define in advance the area in which the robot 10 can communicate with the communication device 21. For this reason, the communication control unit 152 may transmit to the management device 30 an image captured by the imaging unit 13 at a point where it is believed that communication between the robot 10 and the communication device 21 is reliably possible.

[0037] For example, when the robot 10 returns to the charging dock 20, the communication control unit 152 transmits the image captured by the imaging unit 13 to the management device 30. Since the communication device 21 is provided in the charging dock 20, it is considered that communication between the robot 10 and the communication device 21 is reliably possible at the charging dock 20.

[0038] This reduces the number of opportunities for communication between the robot 10 and the management device 30 compared to, for example, a case where the imaging unit 13 transmits an image to the management device 30 every time the image is captured. Reducing the number of opportunities for communication between the robot 10 and the management device 30 reduces battery consumption of the robot 10. Therefore, the robot 10 can efficiently use the battery and inspect more locations on a single charge.

[0039] Furthermore, by operating the robot 10 as described above, even if a mismatch point between the surrounding point cloud information and the reference point cloud information exists in an area where communication with the communication device 21 is not possible, the patrol of the robot 10 is not interrupted. Therefore, the robot 10 can complete the patrol of the monitored area TA within the scheduled time. Therefore, the manager can obtain information related to abnormalities in the entire monitored area TA accurately and without delay.

[0040] However, if the temperature information of the mismatched location acquired from the imaging unit 13 indicates a temperature equal to or higher than body temperature, that is, if there is a possibility of an intruder entering, or depending on the nature of the abnormality, it may be necessary to immediately transmit the information to the management device 30. In such a case, the communication control unit 152 may transmit the image to the management device 30 immediately after the imaging unit 13 captures the image. Also, if the location where the imaging unit 13 captured the image is in an area where communication between the robot 10 and the communication device 21 is not possible, the robot 10 may deviate from the preset route and move to an area where communication with the communication device 21 is possible.

[0041] (Visiting method) 3 is a flowchart illustrating a patrol method according to embodiment 1. In the patrol method according to embodiment 1, the mismatched part identifying unit 151 acquires surrounding point cloud information using the three-dimensional point cloud information acquiring unit 12 while the robot 10 is patrolling the monitoring target area TA (S1), and compares the surrounding point cloud information with the reference point cloud information (S2). Furthermore, the mismatched part identifying unit 151 determines whether or not there is a mismatched part where the surrounding point cloud information and the reference point cloud information do not match (S3).

[0042] If there is a mismatched portion where the surrounding point cloud information and the reference point cloud information do not match (YES in S3), the mismatched portion identifying unit 151 identifies the mismatched portion (S4, mismatched portion identifying step). Thereafter, the imaging unit 13 captures an image of the identified mismatched portion (S5, imaging step). If there is no mismatched portion where the surrounding point cloud information and the reference point cloud information do not match (NO in S3), the control unit 15 does not execute steps S4 and S5.

[0043] If a suspicious person enters the monitored area TA, a mismatch between the surrounding point cloud information and the reference point cloud information due to the suspicious person may occur at any location within the monitored area TA. In the robot 10 and patrol method according to the first embodiment, the mismatch location identifying unit 151 identifies a location within the monitored area TA where the surrounding point cloud information and the reference point cloud information mismatch. Therefore, the robot 10 and patrol method according to the second embodiment can find the suspicious person at any location within the monitored area TA.

[0044] In the robot 10 and patrol method according to the first embodiment, the imaging unit 13 captures an image showing the temperature distribution of a location where the surrounding point cloud information and the reference point cloud information do not match. The administrator can determine whether the mismatch between the surrounding point cloud information and the reference point cloud information is caused by a suspicious person by comparing the image showing the temperature distribution of the location where the surrounding point cloud information and the reference point cloud information do not match with an image showing the temperature distribution of a human body temperature. Alternatively, the control unit 15 may have a function to determine whether the mismatch between the surrounding point cloud information and the reference point cloud information is caused by a suspicious person and transmit the result of the determination to the management device 30.

[0045] Furthermore, if a suspicious person intrudes into the monitored area TA and the administrator himself is patrolling the monitored area TA, the administrator may encounter the suspicious person and be in danger. By having the robot 10 patrol the monitored area TA, the possibility of the administrator being in danger is reduced.

[0046] [Embodiment 2] Other embodiments of the present invention will be described below. For ease of explanation, the same reference numerals will be used to designate components having the same functions as those described in the above embodiment, and the description thereof will not be repeated.

[0047] In the first embodiment, the mismatch part identifying unit 151 identifies "mismatch parts" where the surrounding point cloud information and the reference point cloud information do not match within the monitored area TA. The "mismatch parts" here refer to mismatch parts on the entire patrol route, including parts designated by the manager or the like as parts requiring inspection within the monitored area TA.

[0048] In contrast, in the second embodiment, the mismatch location identifying unit 151 identifies "inspection locations" within the monitored area TA where the surrounding point cloud information and the reference point cloud information do not match. In other words, in the second embodiment, locations within the monitored area TA that require attention are set in advance as "inspection locations." This allows the administrator to obtain information related to abnormalities at the inspection locations more accurately and without delay. Also, in the second embodiment, the imaging unit 13 may be capable of capturing an image showing the temperature distribution.

[0049] 4 is a flowchart illustrating a patrol method according to embodiment 2. In the patrol method according to embodiment 2, the mismatched part identifying unit 151 acquires surrounding point cloud information at each inspection point using the 3D point cloud information acquiring unit 12 (S11), and compares the surrounding point cloud information with the reference point cloud information (S12). Furthermore, the mismatched part identifying unit 151 determines whether or not there is an inspection point where the surrounding point cloud information and the reference point cloud information do not match (S13).

[0050] If there is an inspection location where the surrounding point cloud information and the reference point cloud information do not match (YES in S13), the mismatch location identifying unit 151 identifies the inspection location (S14, mismatch location identifying step). Thereafter, the imaging unit 13 captures an image showing the temperature distribution of the identified inspection location (S15, imaging step). If there is no inspection location where the surrounding point cloud information and the reference point cloud information do not match (NO in S13), the control unit 15 does not execute steps S14 and S15.

[0051] [Software implementation example] The functions of the robot 10 (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 15).

[0052] 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 the functions described in each of the above embodiments.

[0053] 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.

[0054] 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.

[0055] Furthermore, each process described in each of the above embodiments 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).

[0056] 〔summary〕 The present invention can also be expressed as follows.

[0057] A robot according to aspect 1 of the present invention is a robot that patrols within a monitored area and is equipped with a three-dimensional point cloud information acquisition unit that acquires surrounding point cloud information that indicates the shape of the surrounding area as a three-dimensional point cloud.The robot is equipped with a mismatch point identification unit that compares the surrounding point cloud information with reference point cloud information that has been created in advance to indicate the shape of the monitored area as a three-dimensional point cloud, and identifies mismatch points within the monitored area where the surrounding point cloud information and the reference point cloud information do not match, and an imaging unit that captures images of the mismatch points identified by the mismatch point identification unit.

[0058] A robot according to a second aspect of the present invention is the robot of the first aspect, wherein the imaging unit is capable of capturing an image showing the temperature distribution of the mismatched area.

[0059] A robot according to aspect 3 of the present invention is a robot according to aspect 1 or 2, wherein the charging dock of the robot placed within the monitored area is provided with a communication device that enables communication between the robot and a management device for the monitored area, and the robot is equipped with a communication control unit that transmits the image captured by the imaging unit to the management device when the robot moves to a communication area where communication with the communication device is possible.

[0060] A robot according to a fourth aspect of the present invention is a quadruped walking robot in any one of the first to third aspects.

[0061] A patrol system according to a fifth aspect of the present invention includes the robot according to the third aspect, the charging dock, and the management device.

[0062] A patrol method according to aspect 6 of the present invention is a patrol method for patrolling a monitored area using a robot equipped with a three-dimensional point cloud information acquisition unit that acquires surrounding point cloud information that shows the surrounding shape as a three-dimensional point cloud, and includes a mismatch point identification step in which a mismatch point identification unit provided in the robot compares the surrounding point cloud information with reference point cloud information that has been created in advance to show the shape of the monitored area as a three-dimensional point cloud, and identifies mismatch points where the surrounding point cloud information and the reference point cloud information do not match, and an imaging step in which an imaging unit provided in the robot captures an image of the mismatch point identified in the mismatch point identification step.

[0063] A robot according to aspect 7 of the present invention is a robot that patrols within a monitored area and is equipped with a three-dimensional point cloud information acquisition unit that acquires surrounding point cloud information that shows the surrounding shape as a three-dimensional point cloud.The robot is equipped with a mismatch location identification unit that compares the surrounding point cloud information with reference point cloud information that has been created in advance to show the shape of the monitored area as a three-dimensional point cloud, and identifies inspection locations within the monitored area where the surrounding point cloud information and the reference point cloud information do not match, and an imaging unit that captures images of the inspection locations identified by the mismatch location identification unit.

[0064] A patrol method according to aspect 8 of the present invention is a patrol method for patrolling a monitored area using a robot equipped with a three-dimensional point cloud information acquisition unit that acquires surrounding point cloud information that shows the surrounding shape as a three-dimensional point cloud, and includes a mismatch area identification step in which an inconsistency area identification unit provided in the robot compares the surrounding point cloud information with reference point cloud information that was created in advance to show the shape of the monitored area as a three-dimensional point cloud, and identifies inspection areas where the surrounding point cloud information and the reference point cloud information do not match, and an imaging step in which an imaging unit provided in the robot captures an image of the inspection area identified in the mismatch area identification step.

[0065] 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]

[0066] 1. Patrol System 10. Robot 12 3D point cloud information acquisition unit 13 Imaging unit 151 Mismatch Identification Section 152 Communication control section 20 Charging Dock 30 Management device

Claims

1. A robot equipped with a three-dimensional point cloud information acquisition unit that acquires surrounding point cloud information that indicates the shape of the surrounding area as a three-dimensional point cloud, and that patrols within a monitoring area, a mismatch point identifying unit that compares the surrounding point cloud information with reference point cloud information that is created in advance as a three-dimensional point cloud that indicates the shape of the area to be monitored, and identifies mismatch points within the area to be monitored where the surrounding point cloud information and the reference point cloud information do not match; an imaging unit that captures an image of the mismatched part identified by the mismatched part identifying unit.

2. The robot according to claim 1 , wherein the imaging unit is capable of capturing an image showing a temperature distribution at the mismatched portion.

3. a charging dock for the robot arranged within the monitored area is provided with a communication device that enables communication between a management device for the monitored area and the robot; The robot according to claim 1, further comprising a communication control unit that transmits the image captured by the imaging unit to the management device when the robot moves into a communication area where communication with the communication device is possible.

4. The robot of claim 1 , wherein the robot is a quadruped robot.

5. The robot according to claim 3; the charging dock; The management device.

6. A patrol method for patrolling a monitoring target area using a robot equipped with a three-dimensional point cloud information acquisition unit that acquires surrounding point cloud information that indicates the shape of the surrounding area as a three-dimensional point cloud, comprising: a mismatching part specifying step in which a mismatching part specifying unit included in the robot compares the surrounding point cloud information with reference point cloud information that is created in advance to indicate the shape of the area to be monitored as a three-dimensional point cloud, and specifies a mismatching part where the surrounding point cloud information and the reference point cloud information do not match; an imaging step of capturing an image of the mismatched part identified in the mismatched part identifying step by an imaging unit provided in the robot.

7. A robot equipped with a three-dimensional point cloud information acquisition unit that acquires surrounding point cloud information that indicates the shape of the surrounding area as a three-dimensional point cloud, and that patrols within a monitoring area, a mismatch location identifying unit that compares the surrounding point cloud information with reference point cloud information that is created in advance as a three-dimensional point cloud that indicates the shape of the area to be monitored, and identifies inspection locations within the area to be monitored where the surrounding point cloud information and the reference point cloud information do not match; an imaging unit that captures an image of the inspection point identified by the mismatch point identifying unit.

8. A patrol method for patrolling a monitoring target area using a robot equipped with a three-dimensional point cloud information acquisition unit that acquires surrounding point cloud information that indicates the shape of the surrounding area as a three-dimensional point cloud, comprising: a mismatching part specifying step in which a mismatching part specifying unit included in the robot compares the surrounding point cloud information with reference point cloud information that has been created in advance to indicate the shape of the area to be monitored as a three-dimensional point cloud, and specifies inspection parts where the surrounding point cloud information and the reference point cloud information do not match; an imaging step of capturing an image of the inspection point identified in the mismatch point identifying step by an imaging unit provided in the robot.

Images