Security system, server, security device and work robot

Abstract

To provide a security system, a server, a security device and a working robot capable of more appropriately controlling a working robot.SOLUTION: A security system 1 includes: a working robot 30 which is autonomously movable and performs predetermined operation; a security device 20 having setting means 231 for monitoring a monitoring object and switching and setting a plurality of security modes according to the operation of an operator; determination means for determining whether or not a time condition relating to the execution of work of the working robot 30 is satisfied; and control means 132 for controlling the execution of work of the working robot 30 according to the determination result of the time condition and the kind of the set security mode.SELECTED DRAWING: Figure 1

Description

[Technical field]

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

[0002] 2. Description of the Related Art Conventionally, systems have been developed that cause a work robot to execute predetermined operations based on an operation schedule for the work robot.

[0003] For example, Patent Document 1 discloses generating operation schedule information for a robot vacuum cleaner that cleans a room based on schedule information indicating the content of the activities of multiple users, and controlling the operation of the robot vacuum cleaner based on the generated operation schedule information. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2019-217164 A Summary of the Invention [Problem to be solved by the invention]

[0005] For example, when a work robot is used in a facility that has a security system, there is a demand for more appropriate control of the work robot based on information obtained from the security system.

[0006] An object of the present invention is to provide a security system, a server, a security device, and a work robot that are capable of more appropriately controlling a work robot. [Means for solving the problem]

[0007] According to one aspect of the present invention for solving such problems, a security system is provided that has a work robot that is capable of autonomous movement and performs specified tasks, and a security device that monitors an object to be monitored and has a setting means for switching between and setting a plurality of security modes in response to an operator's operation, the security system having a determination means for determining whether a time condition related to the work performance of the work robot is satisfied, and a control means for controlling the work performance of the work robot in response to the result of the determination of the time condition and the type of security mode that has been set.

[0008] In this security system, the multiple security modes preferably include a security set mode in which the target is monitored by a security sensor, and a security off mode in which monitoring by the security sensor is not performed, and the control means preferably controls the work robot to start a specified task when a time condition is satisfied and the security mode is the security set mode.

[0009] In this security system, it is preferable that the setting means sets a security mode for each security division corresponding to the work area of ​​the work robot, the determination means determines the time condition for each work area, and the control means refers to the security mode for the security division corresponding to the work area determined to satisfy the time condition, and controls so as to start work when the security set mode is set.

[0010] In this security system, the time condition is preferably that the current time is within a time period during which work by the work robot is permitted.

[0011] In this security system, the time condition is that the current time is within a time zone in which the work robot is permitted to work, and it is preferable that the time zone in which the work robot is permitted to work is within a security release prohibition time zone in which switching from security set mode to security release mode is prohibited.

[0012] It is preferable that the security system further has a memory means for storing the amount of time required for a scheduled task, and that when the remaining time of the time period during which the work robot is allowed to work is equal to or less than the amount of time required for an unperformed task, the control means controls the work robot to start that task regardless of the type of security mode that has been set.

[0013] In this security system, the determination means determines whether or not a termination condition for the work of the work robot is satisfied, and if it is determined that the termination condition is satisfied, the control means controls the work robot performing a specified task to terminate the task, and it is preferable that the termination condition be when the security mode is set to the security off mode by the setting means while the work robot is performing the specified task.

[0014] In this security system, it is preferable that the system further has an acquisition means for acquiring attributes of the operator who performs settings using the setting means, and that when the attributes are predetermined attributes, the control means determines that the termination condition is not satisfied even if the security mode is set to security off mode by the setting means.

[0015] In this security system, it is preferable that the control means determines that the termination condition is not satisfied even if the security mode is set to security disengagement mode by the setting means if the time at which the security disengagement mode is set is within a specified time period.

[0016] According to another aspect of the present invention, there is provided a server communicatively connected to a work robot capable of autonomous movement and performing specified tasks, and a security device which monitors an object to be monitored and has a setting means for switching between and setting a plurality of security modes in response to an operator's operation, the server having a determination means for determining whether a time condition relating to the performance of work by the work robot is satisfied, and a control means for controlling the performance of work by the work robot in response to the result of the determination of the time condition and the type of security mode that has been set.

[0017] According to another aspect of the present invention, there is provided a security device that is communicatively connected to a work robot that is capable of autonomous movement and performs a specified task, the security device having: a setting means for monitoring an object to be monitored and for switching between and setting a plurality of security modes in response to an operator's operation; a determination means for determining whether a time condition related to the work performance of the work robot is satisfied; and a control means for controlling the work performance of the work robot in response to the determination result of the time condition and the type of security mode that has been set.

[0018] According to another aspect of the present invention, there is provided a work robot that is autonomously mobile and performs specified tasks, and that is communicatively connected to a security device that monitors a monitored object and has a setting means for switching between and setting a plurality of security modes in response to an operator's operation, the work robot having a determination means for determining whether a time condition for the work performance of the work robot is satisfied, and a control means for controlling the work performance of the work robot in response to the result of the determination of the time condition and the type of security mode that has been set. Effect of the Invention

[0019] The security system, server, security device, and work robot according to the present invention can control the work robot at more appropriate timing. [Brief description of the drawings]

[0020] [Figure 1] 1 is a diagram showing a schematic configuration of a security system according to an embodiment of the present invention; [Diagram 2] 2 is an example of a work area table 120. [Diagram 3] FIG. 1 is a floor plan of an office, which is an example of a work area. [Figure 4] FIG. 2 is a plan view of the first working area 111. [Diagram 5] 13 is a flowchart showing an example of a start determination process by the server 10. [Figure 6] 13 is a flowchart showing an example of a work area extraction process by the server 10. [Figure 7]13 is a flowchart showing an example of an end determination process by the server 10. [Figure 8] FIG. 2 is a diagram showing the configuration of another security system 2. [Figure 9] FIG. 13 is a diagram showing the configuration of still another security system 3. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] Hereinafter, a security system according to an embodiment of the present invention will be described with reference to the drawings. However, it should be understood that the present invention is not limited to the drawings or the embodiment described below.

[0022] FIG. 1 is a diagram showing a schematic configuration of a security system according to an embodiment of the present invention. As shown in FIG. 1, the security system 1 includes a server 10, a security device 20, and a work robot 30. The server 10 is installed in a security center or the like, and is communicatively connected to the security device 20 and the work robot 30 to manage the entire security system 1. The security device 20 is communicatively connected to the server 10 and guards a security target such as an office, a store, a factory, etc. Here, the security target is composed of one or more security areas. The work robot 30 is communicatively connected to the server 10 via an access point 40, and performs work within the security target in which the security device 20 is installed. In addition, the security device 20 is connected to various devices and sensors such as a security operation unit 251, an intrusion sensor 252, and a fire sensor 253 via wired / wireless communication. Although only one security device 20 and one work robot 30 are shown in FIG. 1, the security system 1 may include multiple security devices 20 and / or work robots 30.

[0023] The server 10 is a cloud server or the like in a wide area communication network such as the Internet. The server 10 includes a communication unit 11, a storage unit 12, and a control unit 13.

[0024] The communication unit 11 has a communication interface circuit that conforms to wired / wireless communication standards such as Ethernet (registered trademark) and IEEE802.11, and is connected to communicate with the security device 20 and the work robot 30 via a wide area communication network such as a LAN or the Internet to send and receive various signals.

[0025] The storage unit 12 has semiconductor memory such as ROM, RAM, EPROM, etc., magnetic storage media such as magnetic disks (HDD), and / or optical storage media such as DVD-RAM, etc. The storage unit 12 stores computer program codes and various data executed by the control unit 13 to control the operation of the server 10. The computer programs can be installed in the storage unit 12 by a known method via computer-readable storage media such as DVD-ROM or communication lines. The storage unit 12 stores a work area table 120. The storage unit 12 is an example of a storage means.

[0026] 2 is an example of the work area table 120. In the work area table 120, work time information, a security map, the latest status of the work area, etc. are stored in association with each other for each of a plurality of work areas. The work area indicates the area in which the work robot 30 performs work. The work time information includes possible work time periods, prohibited time periods for lifting security, expected start time, and required work time. The possible work time periods indicate the time periods during which the work robot 30 is permitted to perform work. The prohibited time periods for lifting security indicate the time periods during which transition from security set mode to security release mode is prohibited in the work area to be guarded, such as late night hours when users are not expected to enter. Details of the security set mode and security release mode will be described later. The expected start time indicates the time when the first employee is expected to arrive at the work area. The required work time indicates the time required for the work robot 30 to perform work in the work area. In other words, the required work time is the time required for the planned work. The security map is a map showing the area that is the target of security by the security device 20 and the work area of ​​the work robot 30. The latest state of the work area includes the security mode, the set time, the operator attribute, the work state, etc. The security mode is set for each security section, and indicates the security mode set in the security section corresponding to the work area. Here, as the relationship between the work area and the security section, the work area and the security section may be the same, or a plurality of work areas may be configured as one security section. In this embodiment, the work area and the security section are described as being the same area. The set time indicates the latest time when the security mode was set in each work area. The operator attribute indicates the attribute of the operator of the security device 20 who set the security mode in each work area. The attribute includes attributes related to the work of the work robot 30, such as a cleaner, and attributes unrelated to the work of the work robot 30, such as a security guard or a general user. The work state indicates the state of the work of the work robot 30 in each work area. The work state includes not performed, in progress, and completed. The initial value of the work state is not performed.

[0027] The control unit 13 has a processor such as a CPU and its peripheral circuits, and the processor controls the operation of the server 10 by executing a computer program stored in the storage unit 12. A multiprocessor, a multicore processor, or the like may be used as the control unit 13. Furthermore, a DSP, an LSI, an ASIC, an FPGA, or the like may be used as the control unit 13. The control unit 13 has an acquisition unit 131 and a control unit 132 as functional modules of a program that runs on the processor.

[0028] The security device 20 is an information processing device that performs security by monitoring for abnormalities such as intrusion and fire using equipment such as an intrusion sensor 252 installed in the security target according to a security mode instructed by a user or the server 10. The security device 20 has a communication unit 21, a storage unit 22, a control unit 23, and an interface unit 24. The security device 20 further has an entry / exit operation terminal 250, a security operation unit 251, an intrusion sensor 252, and a fire sensor 253. The entry / exit operation terminal 250, the security operation unit 251, the intrusion sensor 252, and the fire sensor 253 are arranged for each work area that is the security target. The number of security operation units 251, intrusion sensors 252, and / or fire sensors 253 in one security target is not limited to one, and may be multiple.

[0029] In the security system 1, the security mode includes at least two types of modes, a security set mode and a security release mode. The security set mode is a mode in which the security sensor (intrusion sensor 252) monitors the security target (monitoring target). The security release mode is a mode in which the security sensor does not monitor the security target. Usually, the security release mode is used during the day when the user is active at the security target, and the security set mode is used at night or on holidays when all users leave the security target. The types of security modes are not limited to the above two types, and other security modes such as a partial security set mode may be included. The partial security set mode is a mode used when the security target is partially guarded, for example, when the user is present in a specific room of a building that is the security target and wishes to monitor only another room. In this mode, monitoring by the intrusion sensor 252 is performed only by the intrusion sensor 252 present in the part of the security target specified by the user.

[0030] The communication unit 21 has a communication interface circuit conforming to wired / wireless communication standards such as Ethernet (registered trademark) and IEEE802.11, and is connected to a server 10 in a wide area communication network such as the Internet via a LAN to transmit and receive various information.

[0031] The storage unit 22 includes a semiconductor memory, a magnetic storage medium, and / or an optical storage medium, etc. The storage unit 22 stores the code and various data of a computer program executed by the control unit 23 to control the operation of the security device 20. The computer program can be installed in the storage unit 22 by a known method via a computer-readable storage medium such as a DVD-ROM or a communication line.

[0032] The control unit 23 has a processor such as a CPU or a multiprocessor and its peripheral circuits, and the processor controls the operation of the security device 20 by executing a computer program stored in the storage unit 22. A DSP, an LSI, an ASIC, an FPGA, or the like may be used as the control unit 23. The control unit 23 has a setting means 231 as a functional module of a program that runs on the processor.

[0033] The interface unit 24 has an interface circuit conforming to a serial bus standard such as USB, and is communicatively connected to the entrance / exit operation terminal 250, the security operation unit 251, the intrusion sensor 252, and the fire sensor 253 to transmit and receive various signals. Note that the interface unit 24 may have an interface circuit conforming to a wired / wireless communication standard such as Ethernet (registered trademark), IEEE802.11, Bluetooth (registered trademark), etc., instead of an interface circuit conforming to the serial bus standard.

[0034] The entry / exit operation terminal 250 is installed at an entrance or the like of a security target, and is an operation terminal through which a user requests entry into or exit from the security target. The entry / exit operation terminal 250 has an input unit (not shown) such as a card reader, a camera, a microphone, a touch panel, etc., for inputting authentication information such as a user's ID, an authentication code, and biometric information such as a fingerprint, face, or voice. The entry / exit operation terminal 250 also has an entry / exit restriction unit (not shown) and a door opening / closing unit (not shown). The entry / exit restriction unit is an electric lock or the like that is installed at a door at an entrance or the like to restrict entry into or exit from the security target, and is unlocked / locked according to an unlock / lock signal transmitted from the security device 20. The door opening / closing unit is an automatic opening / closing device or the like that opens and closes the door at the entrance or the door of the security target according to a door opening / closing signal transmitted from the security device 20.

[0035] The security operation unit 251 has a user input / output interface such as a touch panel and buttons, and an operator of the security device performs operations such as switching security modes on the security device 20. The security operation unit 251 is attached to the object of security, but may also be configured as a portable terminal carried by the operator. The security operation unit 251 also has an input unit (not shown) for the operator's identification information. The input unit is, for example, a card reader, and reads the identification information stored in an IC (Integrated Circuit) card held by the operator and inputs it to the security device 20. The identification information includes a user ID that identifies the operator and the operator's attributes.

[0036] The intrusion sensor 252 is a sensor for detecting an intruder who has entered the security target, such as a sensor that detects the opening and closing of a door, window, etc. of the security target using a reed switch and a magnet, a sensor that detects heat emitted by the human body as a heat source, etc. When the intrusion sensor 252 detects an intruder, it generates an abnormality detection signal indicating that an intrusion has occurred. The fire sensor 253 is a sensor that detects heat and smoke accompanying the outbreak of a fire, and upon detecting the outbreak of a fire, generates an abnormality detection signal indicating that a fire has occurred.

[0037] The intrusion sensor 252 and the fire sensor 253 output the generated abnormality detection signal to the control unit 23 via the interface unit 24. The monitoring areas of the intrusion sensor 252 and the fire sensor 253 are set in advance by the server 10 based on the security map 123.

[0038] The working robot 30 is an autonomously mobile robot that performs predetermined tasks such as cleaning, transporting, and inspection within a security area. The working robot 30 has a communication unit 31, a position detection unit 32, a traveling unit 33, a working unit 34, a power supply unit 35, a memory unit 36, and a control unit 37. Here, a case where the working robot 30 is a cleaning robot will be described.

[0039] The communication unit 31 has a communication interface circuit conforming to wireless communication standards such as IEEE802.11, and is connected to the server 10 via an access point 40 and a wide area communication network such as the Internet to transmit and receive various information.

[0040] The position detection unit 32 has at least one of input devices such as Lidar, a camera, an ultrasonic sensor, an infrared sensor, etc. The position detection unit 32 detects the current position and the positions of obstacles by using input laser light, images, etc., and generates an environmental map 361 by a method such as SLAM (Simultaneous Localization and Mapping).

[0041] The running unit 33 has drive wheels and a running motor, and by changing the rotational speed of the running motor, the working robot 30 can be moved freely in all directions at various speeds. The running unit 33 may further have auxiliary wheels, etc., to stabilize and smoothen running. The working unit 34 performs tasks such as cleaning, transporting, and inspection. When the working robot 30 is a cleaning robot, the working unit 34 has a suction unit for sucking in dust, a wiping unit for wiping the floor surface, and the like, and performs floor cleaning work. The traveling unit 33 and the working unit 34 are operating mechanisms that enable the working robot 30 to perform tasks while moving autonomously.

[0042] Power supply unit 35 is a storage battery or the like for supplying power to each part of work robot 30.

[0043] The storage unit 36 ​​includes semiconductor memory, magnetic storage media, and / or optical storage media, etc. The storage unit 36 ​​stores various data and computer program codes that are executed by the control unit 37 to control the operation of the working robot 30. The computer programs may be installed in the storage unit 36 ​​by a known method via a computer-readable storage medium such as a DVD-ROM or a communication line. The storage unit 36 ​​stores an environmental map 361 having the positions of obstacles, including fixed obstacles such as walls and equipment within the work area, and movable obstacles such as carts and boxes. The environmental map 361 further stores the position of each work area in association with identification information of the work area.

[0044] The control unit 37 has a processor such as a CPU or MPU and its peripheral circuits, and the processor controls the operation of the work robot 30 by executing a computer program stored in the memory unit 36. The control unit 37 may be implemented using a DSP, an LSI, an ASIC, an FPGA, or the like. The control unit 37 has an operation control means 371 as a functional module of a program that runs on a processor.

[0045] FIG. 3 is a plan view of an office, which is an example of a work area. As shown in FIG. 3, a floor 101 of an office 100 is a work area for a work robot 30. The floor 101 is divided into a first work area 111, a second work area 112, a third work area 113, and a shared work area 114. The first work area 111, the second work area 112, and the third work area 113 are also targets of security by the security system 1. A first door 431, a second door 432, and a third door 433 are provided at the entrances between the first work area 111, the second work area 112, the third work area 113, and the shared work area 114, respectively. The first door 431, the second door 432, and the third door 433 are unlocked / locked by an entry / exit restriction unit of the entry / exit operation terminal 250, and opened / closed by a door opening / closing unit. Floor 101 is further provided with an access point (AP) 40, a home position (HP) 460, and an elevator (EV) 480 that can move to work areas on other floors. A charger (not shown) for charging power supply unit 35 of work robot 30 is disposed in home position 460, and work robot 30 waits at home position 460 when not performing work.

[0046] Fig. 4 is a plan view of the first work area 111. As shown in Fig. 4, the first work area 111 is provided with a partition 440 and a window 470. Furthermore, one or more of various devices for detecting abnormalities, such as a security operation unit 251, an intrusion sensor 252, and a fire sensor 253, are installed in various places in the first work area 111.

[0047] Partition 440 is a screen arranged around the seats of users in first work area 111. Window 470 is arranged between first work area 111 and the outdoors, and intrusion sensor 252 monitors for the presence or absence of an intruder entering first work area 111 through window 470.

[0048] The security map 123 includes a first security map, a second security map, and a third security map which respectively represent the first work area 111, the second work area 112, and the third work area 113. The security map 123 shows the shape of each security target, the position detected by sensors such as the intrusion sensor 252 and the fire sensor 253, etc. The general map 124 includes a first general map representing the shared work area 114. The general map 124 shows the shape of the work area that is not subject to security. The security map 123 and the general map 124 further show the location of the home position 460, the locations of fixed obstacles such as the partition 440, etc. The security map 123 and the general map 124 have coordinates in common with the environmental map 361, and the shapes and each position described above are shown in two-dimensional coordinates with a certain point in the environmental map 361 as the origin. The coordinates may be latitude and longitude, etc.

[0049] 5 is a flowchart showing an example of a start determination process by the server 10. This operation flow is executed mainly by the control unit 13 of the server 10 in cooperation with each element of the server 10, based on a program previously stored in the storage unit 12 of the server 10. This operation flow is started at a predetermined time.

[0050] In parallel with the start determination process and the end determination process described later, the setting means 231 of the security device 20 switches between a plurality of security modes in response to the operation of the operator, and sets them for the work area to be guarded. The setting means 231 also outputs to the server 10 via the communication unit 21 a security status signal indicating the work area for which the security mode has been switched, the security mode after the switch, and the identification information of the operator input when switching the security mode. When the acquisition means 131 of the server 10 receives a security status signal from the security device 20 via the communication unit 11, it acquires the work area and security mode indicated by the security status signal, and sets the acquired security mode and the time of reception of the security status signal to the security mode and set time associated with that work area in the work area table 120. The acquisition means 131 also acquires the attribute of the operator from the identification information indicated by the security status signal, and sets the acquired attribute of the operator to the operator attribute associated with that work area in the work area table 120.

[0051] In parallel with the start determination process and the end determination process described below, the movement control means 371 of the working robot 30 outputs a current position signal and a work status signal to the server 10 via the communications unit 31. The current position signal is a signal that indicates the current position of the working robot 30. The operation control means 371 generates a current position signal based on the current position detected by the position detection unit 32, and outputs the generated current position signal to the server 10 via the communication unit 31 at predetermined intervals (for example, one-minute intervals). When the acquisition means 131 of the server 10 receives a current position signal from the work robot 30 via the communication unit 11, it acquires the current position of the work robot 30 indicated by the current position signal and stores it in the memory unit 12. The initial value of the current position of the work robot 30 stored in the memory unit 12 is the position of the home position 460. The work status signal includes the work area where the work robot 30 will perform the work and the status of the work in that work area. The operation control means 371 outputs to the server 10 via the communication unit 31 a work status signal indicating that the status is in progress when the work starts, and a work status signal indicating that the status is completed when the work is completed. When the acquisition means 131 of the server 10 receives a work status signal from the work robot 30 via the communication unit 11, it updates the work status associated with the work area included in the work status signal in the work area table 120. When the status included in the work status signal indicates in progress, the acquisition means 131 sets the work status associated with the work area to in progress, and when the status included in the work status signal indicates completed, it sets the status associated with the work area to completed.

[0052] First, the control means 132 determines whether the work robot 30 is performing work (step S11). The process of step S11 is executed at a predetermined interval, for example, every minute. If any of the work states associated with each work area in the work area table 120 is set to "in progress," the control means 132 determines that the work robot 30 is performing work in that work area. If all work states in the work area table 120 are not set to "in progress," the control means 132 determines that the work robot 30 is not performing work. If the working robot 30 is performing a task (step S11-Y), the control means 132 waits. If the working robot 30 is not performing a task (step S11-N), the acquisition means 131 acquires the current time (step S12). The current time is an example of information for determining whether or not a time condition related to the performance of the task by the working robot 30 is satisfied.

[0053] Next, the control means 132 executes a work area extraction process for each work area set in the work area table 120, and extracts a work area where work can be started at the present time (step S13). Details of the work area extraction process will be described later. The control means 132 that performs the process of step S13 is an example of a determination means. Next, the control means 132 judges whether or not a work area where work can be started has been extracted in the work area extraction process (step S14).

[0054] If a work area where work can be started is extracted in the work area extraction process (step S14-Y), the control means 132 determines the work area where work will be started from among the extracted work areas (step S15). If one work area is extracted, the control means 132 determines to start work in that work area. If two or more work areas are extracted, the control means 132 determines to start work in the selected work area by, for example, selecting the work area closest to the current position of the work robot 30 based on the current position of the work robot 30 and the work map 122, or by selecting the work area to be worked on first, taking into account the available work time zones and work required time of each work area, so that work can be completed in each available work time zone in each work area. Next, the control means 132 executes start control to start work in the determined work area (step S16). As start control, the control means 132 outputs a command signal to unlock and open the door to the work area to the security device 20 via the communication unit 11. When the setting means 231 of the security device 20 receives a command signal from the server 10 via the communication unit 21, it causes the entry / exit regulation unit and the door opening / closing unit to unlock and open the door via the entry / exit operation terminal 250. This makes it possible for the work robot 30 to move from its current position into the work area. As start control, the control means 132 also generates a control signal including identification information of the determined work area for the work robot 30 to start work, and outputs this to the work robot 30 via the communication unit 11. In addition, instead of autonomously unlocking and opening the door to the work area, the control means 132 may unlock and open the door to the work area in response to a request output from the work robot 30 that has received a control signal and moved near the work door. When the movement control means 371 of the working robot 30 receives a control signal to start work from the server 10 via the communication unit 31, it moves the working robot 30 to a work area corresponding to the identification information in accordance with the received control signal. The movement control means 371 controls the traveling unit 33 to make the working robot 30 travel while avoiding obstacles based on the environmental map 361, and controls the working unit 34 to make the working robot 30 perform a predetermined work. When the working robot 30 completes a predetermined work, the movement control means 371 outputs a work status signal indicating the end of the work to the server 10 via the communication unit 31, and makes the working robot 30 wait at the position where the work status signal was output. If there is no other work area where work can be started, the movement control means 371 outputs the work status signal and then controls the traveling unit 33 to return the working robot 30 to the home position 460, and if there is another work area where work can be started, it moves the working robot 30 into that work area.

[0055] When a work area where work can be started is not extracted in the work area extraction process (step S14-N), the control means 132 shifts the process to step S17 without executing the processes of steps S15 and S16.

[0056] Next, control means 132 determines whether or not there are any work areas whose work status is unperformed remaining in work area table 120 (step S17). If there are any work areas whose work status is unperformed remaining (step S17-Y), control means 132 returns the process to step S11. On the other hand, if there are no work areas whose work status is unperformed remaining (step S17-N), control means 132 ends the series of processes. This concludes the explanation of the series of processes.

[0057] 6 is a flowchart showing an example of the work area extraction process by the server 10. The work area extraction process is executed for each work area in step S13 of FIG. First, the control means 132 determines whether or not the work state associated with the target work area is set to "not done" in the work area table 120 (step S21). If the work status is not set to not yet performed (Y in step S21), the control means 132 does not extract the target work area as a work area in which work can be started (step S27), and ends the series of processes. If the work status is set to not yet performed (step S21-N), the control means 132 judges whether or not the current time is within the available work time zone indicated in the work time information 121 (step S22). The current time being within the available work time zone is an example of a time condition. Here, the security lifting prohibition time zone may be set as the available work time zone.

[0058] If the current time is not within the available work time zone (step S22-N), the control means 132 does not extract the target work area as a work area where work can be started (step S27), and ends the series of processes. If the current time is within the available work time zone (Y in step S22), the control means 132 determines whether the security mode set in association with the target work area in the work area table 120 is the security set mode (step S23).

[0059] If the security mode is the security set mode (step S23-Y), the control means 132 judges whether or not a predetermined time has elapsed since the security device 20 was set to the security set mode (step S24). The control means 132 performs this judgment using the set time associated with the target work area in the work area table 120 as the time when the security device 20 was set to the security set mode. The predetermined time is set to a time (e.g., 30 minutes) for which the security set mode is temporarily set, for example, when the user goes out to eat.

[0060] If a predetermined time has passed since the security set mode was set (step S24-Y), the control means 132 extracts the target work area as a work area in which work can be started (step S26), and ends the series of processes. If the security mode is not the security set mode (step S23-N), or if a predetermined time has not elapsed since the security set mode was set (step S24-N), the control means 132 determines whether or not the time from the current time to the expected start time indicated in the work time information 121 is less than the required time indicated in the work time information 121 (step S25). The time from the current time to the expected start time indicated in the work time information 121 is an example of the remaining time in a time zone during which work by the work robot 30 is permitted.

[0061] If the time until the expected start time is less than the required time (step S25-Y), the control means 132 extracts the target work area as a work area where work can be started (step S26), and ends the series of processes. If the time until the expected start time is equal to or longer than the required time (step S25-N), the control means 132 does not extract the target work area as a work area where work can be started (step S27), and ends the series of processes. This concludes the explanation of the series of processes.

[0062] In this way, the control means 132 determines the time conditions for the work performed by the working robot 30, and controls the work performed by the working robot 30 according to the time conditions and the type of security mode that has been set. Since it is possible to estimate whether or not a user is present within the security target from the type of security mode, the security system 1 can control the operation of the working robot 30 according to the user's presence status. In particular, when the security device 20 is in the security set mode, the control means 132 controls the work robot 30 to start a predetermined task. When the security device 20 is set to the security set mode, it is assumed that there is no user within the area to be guarded. Therefore, the security system 1 can cause the work robot 30 to perform a task in a state where there is a low possibility that the work robot 30 will be unable to perform a task in a location where a user is present, or that the operation of the work robot 30 will interfere with the user.

[0063] Furthermore, the control means 132 controls the work of the work robot 30, with the start condition being that the current time is within a time period in which the work robot 30 is available for work. This allows the security system 1 to prevent the work robot 30 from starting work during a time period in which work is not permitted to be performed. Furthermore, the control means 132 controls the work robot 30 under the time condition that the current time is within the workable time zone and within the security release prohibited time zone. The security release prohibited time zone is a time zone during which the guarded object is prohibited from switching from security set mode to security release mode, so it is assumed that the user is not present at the guarded object during this time zone. This allows the security system 1 to have the work robot 30 carry out work in a state where it is unlikely that the work robot 30 will be unable to carry out work in a location where a user is present, or that the operation of the work robot 30 will interfere with the user.

[0064] Furthermore, even if the security device 20 is not in security set mode, the control means 132 causes the working robot 30 to start work if the time until the expected start time is less than the time required for the work. If the condition for starting work by the working robot 30 is that the security device 20 is in security set mode, there is a possibility that the working robot 30 will not be able to perform the work if the user being guarded works all night. By causing the working robot 30 to start work if the time until the expected start time is less than the required time, the security system 1 can reliably cause the working robot 30 to perform the work.

[0065] The control means 132 also controls the work carried out by the working robot 30, using as a time condition that a predetermined time has elapsed since the security device 20 was set to the security set mode. In this case, the security system 1 will not start the work robot 30 until a predetermined time has elapsed since the security device 20 was set to the security set mode. This makes it possible for the security system 1 to reduce the possibility that the work robot 30 will be unable to work in the location where the user is present or that the operation of the work robot 30 will get in the way of the user when the user temporarily leaves the location and returns to the location in a short time.

[0066] In addition, when the security device 20 is in the security set mode (step S23-Y), the control means 132 may extract the target work area as a work area where work can be started (step S26) without determining whether a predetermined time has elapsed since the security set mode was set. Furthermore, when the security device 20 is not in the security set mode (step S23-N), the control means 132 does not need to determine the time until the expected start time of work, and does not need to extract the target work area as a work area where work can be started (step S27). Furthermore, in the process of step S25, the control means 132 may use the time until the end of the available work time zone indicated in the working time information 121 instead of the time until the estimated start time indicated in the working time information 121.

[0067] Furthermore, if the work area exists on multiple floors, when determining the work area in step S15 of FIG. 5, the control means 132 may preferentially select a work floor that is on the same floor as the floor on which the work robot 30 exists over work floors that are on other floors.

[0068] 7 is a flow chart showing an example of the end determination process by server 10. This operational flow is executed mainly by control unit 13 of server 10 in cooperation with each element of server 10, based on a program previously stored in memory unit 12 of server 10. This operational flow is executed for a work area in which working robot 30 has been controlled to start work in the start determination process, and is started when control means 132 outputs a control signal to working robot 30 to start work.

[0069] First, the control means 132 determines whether or not the work status associated with the target work area is set to completed in the work area table 120 (step S31). If the work status associated with the target work area is set to completed (step S31-Y), the control means 132 determines that the work robot 30 has performed all of the predetermined work in the target work area and has voluntarily completed the work, and ends the series of processes. If the work status associated with the target work area is not set to complete (step S31-N), the control means 132 judges whether the acquired security mode is the security off mode (step S32). Setting the security mode to the security off mode by the setting means 231 of the security device 20 while the work robot 30 is performing a predetermined task is one example of a termination condition.

[0070] If the security mode is not the security off mode (step S32-N), the control means 132 determines that the work of the working robot 30 is not yet finished (step S37), and the process proceeds to step S31. If the security mode is the security off mode (step S32-Y), the control means 132 determines whether the operator attribute set in association with the target work area in the work area table 120 is a predetermined attribute (step S33). The predetermined attribute is an attribute related to the work of the work robot 30. If the work robot is a cleaning robot, the predetermined attribute is a cleaner, etc.

[0071] If the operator's attribute is a predetermined attribute (step S33-Y), the control means 132 determines that the end condition is not satisfied and decides not to end the work of the working robot 30 yet (step S37), and returns the process to step S31. If the operator's attribute is not a predetermined attribute (step S33-N), the control means 132 judges whether the time when the security release mode was set is within a predetermined time period (step S34). The predetermined time period is a time period when it is expected that there are few users to be guarded, such as a time period from late night to early morning, a time period that is more than a predetermined time away from the work hours, a time period when it is usually expected that the security set mode is set, etc. The control means 132 performs this judgment using the set time that is associated with the target work area in the work area table 120 as the time when the security device 20 was set to the security release mode.

[0072] If the time when the security disengagement mode is set is within the specified time period (step S34-Y), the control means 132 determines that the termination condition is not satisfied and decides not to terminate the work of the work robot 30 yet (step S37), and returns the process to step S31. If the time set for security off mode is not within a predetermined time period (step S37-N), the control means 132 decides to end the work of the work robot 30 (step S35). Next, the control means 132 executes termination control of the work robot 30 (step S36) and ends the series of processes. As termination control for the work robot 30, the control means 132 generates a control signal for ending the work of the work robot 30 and outputs it to the work robot 30 via the communication unit 11. When the movement control means 371 of the working robot 30 receives a control signal to end a task from the server 10 via the communications unit 31, it ends the task of the working robot 30 in accordance with the received control signal. Next, the movement control means 371 outputs a work status signal indicating the end of the task to the server 10 via the communications unit 31, and causes the working robot 30 to wait at the position where it output the work status signal. After outputting the work status signal, the movement control means 371 may control the traveling unit 33 to return the working robot 30 to the home position 460. This concludes the explanation of the series of processes.

[0073] In this way, the control means 132 obtains information for determining the end conditions for the work of the working robot 30, and controls the working robot 30 to end a predetermined work according to the end conditions. This allows the security system 1 to force the working robot 30 to end the work if it reaches a state where it should end the work before the working robot 30 completes the predetermined work.

[0074] Furthermore, the control means 132 ends the work of the working robot 30 when the security mode is set to security off mode by the setting means 231 of the security device 20 while the working robot 30 is performing a specified task, as a termination condition. When the security device 20 is set to security off mode, it is assumed that a user will enter an area to be guarded, so by ending the work of the working robot 30, the security system 1 can prevent the operation of the working robot 30 from interfering with the user. Furthermore, if the attributes of the operator who set the security release mode are predetermined attributes, the control means 132 will not end the work of the work robot 30 even if the security mode is set to the security release mode by the setting means 231. In this case, the work robot 30 continues working, so the security system 1 allows the operator, such as a cleaner, who set the security release mode to work in cooperation with the work robot 30. Furthermore, even if the security mode is set to security off mode by the setting means 231, the control means 132 will not end the work of the working robot 30 if the time when the security off mode was set is within a predetermined time period. Since the predetermined time period is a time period when it is assumed that there are few users to be guarded, there is a high possibility that there will be few users to be guarded even if the working robot 30 continues working during this time period. For this reason, the security system 1 can allow the working robot 30 to continue working in a state where it is unlikely that the working robot 30 will be unable to work in a place where users are present or that the operation of the working robot 30 will get in the way of users.

[0075] In addition, when the security mode is the security disengagement mode (step S32-Y), the control means 132 may determine whether the time when the security disengagement mode was set is a predetermined time period (step S34) without determining whether the operator's attributes are predetermined attributes. In addition, if the operator's attributes are not predetermined attributes (step S33-N), the control means 132 may decide to end the work of the work robot 30 (step S35) without determining whether the time when the security release mode was set is within a predetermined time period. Furthermore, if the security mode is the security off mode (step S32-Y), the control means 132 may decide to end the work of the working robot 30 (step S35) without executing the processes of steps S33 and S34.

[0076] As explained above, the server 10 according to the present invention obtains information for determining the time conditions for the work performed by the work robot 30, and controls the work performed by the work robot according to the time conditions and the type of security mode that has been set. Since the presence status of the user of the security target can be estimated from the security mode, the security system 1 can control the operation of the work robot 30 according to the presence status of the user, thereby more appropriately controlling the work robot 30. For example, when the working robot 30 is operated in a workplace, the user of the workplace may have to stay behind to work due to sudden overtime or the like. In this case, if the working robot 30 performs work based on the operation schedule that was initially generated, the user may be present at the work location, and the working robot 30 may not be able to perform work in the location where the user is present, or the operation of the working robot 30 may get in the way of the user. The security system 1 can control the operation of the working robot 30 according to the presence of the user, so it is possible to have the working robot 30 perform work when these possibilities are low.

[0077] Note that the security system 1 may have multiple servers 10 distributed over a network so as to provide services in the form of cloud computing, with the servers 10 working together to share the processes shown in Fig. 5. In particular, the security system 1 may have a server 10 that manages the security devices 20 and a server 10 that controls the work robots 30, which are provided separately, with the servers 10 working together to manage the security devices 20 and the work robots 30.

[0078] In the above embodiment, the security system 1 has a server 10, a security device 20, and a work robot 30. Furthermore, the server 10, which is communicatively connected between the security device 20 and the work robot 30, generates a control signal based on a security status signal etc. received from the security device 20, and outputs the generated control signal to the work robot 30 to control the work robot 30. However, the security device 20 and the work robot 30 may be communicatively connected directly, and may transmit and receive security status signals, control signals, etc. without going through the server 10. In this case, all of the functions related to the generation of control signals etc. in the server 10 in the above embodiment may be realized by the security device 20 or the work robot 30, or some of the functions may be realized by the security device 20 and other functions may be realized by the work robot 30.

[0079] 8 is a diagram showing the configuration of a security system 2 according to another embodiment of the present invention. The same names are used for components corresponding to those in the security system 1 of the above embodiment, and the following description will focus on the differences from the security system 1 of the above embodiment. In this embodiment, the security system 2 has a security device 20-2 and a work robot 30-2 that are wirelessly connected to each other for communication, and the security device 20-2 realizes all of the functions related to the control signals of the server 10 in the above embodiment.

[0080] The communication unit 21-2 of the security device 20-2 and the communication unit 31-2 of the work robot 30-2 have communication interface circuits that comply with corresponding short-range wireless communication standards such as IEEE802.11, Bluetooth (registered trademark), specific low-power radio, etc. The communication units 21-2 and 31-2 communicate between the security device 20-2 and the work robot 30-2 to transmit and receive various signals. The storage unit 22-2 of the security device 20-2 stores a work area table 220-2. The control unit 23-2 of the security device 20-2 has, in addition to a setting means 231-2, an acquisition means 232-2 and a control means 233-2.

[0081] In the security system 2, the setting means 231-2 of the security device 20-2 notifies the acquisition means 232-2 of the input identification information and the switched security mode, instead of outputting a security status signal to the server 10. Also, the acquisition means 232-2 acquires the operator's attributes and the security mode using the notified identification information and security mode, instead of receiving a security status signal. That is, in the security system 2, the security device 20-2 monitors the operation of switching the security mode, and controls the work robot 30-2 by generating and outputting a control signal for controlling the work performance of the work robot 30-2 according to the time conditions and the type of security mode that has been set.

[0082] Like the security system 1, the security system 2 can estimate the presence status of the user of the security target from the security mode, and can therefore control the operation of the working robot 30-2 according to the presence status of the user.

[0083] 9 is a diagram showing the configuration of a security system 3 according to yet another embodiment of the present invention. In this embodiment, similar to the security system 2, the security system 3 has a security device 20-3 and a work robot 30-3 that are wirelessly connected to each other for communication. In this embodiment, the work robot 30-3 realizes all of the functions related to the control signals of the server 10 in the above embodiment.

[0084] The communication unit 21-3 of the security device 20-3 and the communication unit 31-3 of the work robot 30-3 have communication interface circuits that comply with corresponding short-range wireless communication standards. The communication units 21-3 and 31-3 communicate between the security device 20-3 and the work robot 30-3 to transmit and receive various signals. The memory unit 36-3 of the work robot 30-3 stores a work area table 362-3 in addition to an environmental map 361-3. The control unit 37-3 of the working robot 30 has, in addition to a motion control means 371-3, an acquisition means 372-3 and a control means 373-3.

[0085] In the security system 3, the movement control means 371-3 of the work robot 30-3 notifies the acquisition means 372-3 of the work status of the work robot 30-3 instead of outputting a work status signal to the server 10. Also, the acquisition means 372-3 receives a work status signal, and instead of acquiring the work status of the work area indicated by the work status signal, acquires the work status of the notified work area. Furthermore, the movement control means 371-3 of the work robot 30-3 notifies the acquisition means 372-3 of the current position of the work robot 30-3 instead of outputting a current position signal to the server 10. The acquisition means 372-3 also receives the current position signal, and acquires the notified current position instead of acquiring the current position of the work robot 30-3 indicated by the current position signal. 5, the control means 373-3 for the work robot 30-3 instructs the movement control means 371-3 to start the work of the work robot 30-3 as start control (step S16) for the work robot 30-3. The movement control means 371-3 starts the work of the work robot 30-3 in response to the instruction from the control means 373-3. 7, the control means 373-3 instructs the movement control means 371-3 to end the work of the working robot 30-3 as end control (step S36). The movement control means 371-3 ends the work of the working robot 30-3 in response to the instruction from the control means 373-3.

[0086] Like the security system 1, the security system 3 can estimate the presence status of the user of the security target from the security mode, and can therefore control the operation of the working robot 30-3 according to the presence status of the user.

[0087] As described above, various modifications can be made to the embodiments within the scope of the present invention. [Explanation of symbols]

[0088] 1, 2, 3 security system, 10 server, 12, 22-2, 36-3 memory unit (storage means), 20, 20-2, 20-3 security device, 30, 30-2, 30-3 work robot, 131, 232-2, 372-3 acquisition means, 132, 233-2, 373-3 control means (determination means), 231, 231-2, 231-3 setting means

Claims

1. A work robot capable of autonomous movement and performing predetermined tasks other than security within a monitored area; A security system comprising: a security device that monitors a target to be monitored, and has a setting means for switching between a plurality of security modes, including a security set mode that is set when the target to be monitored is unoccupied and monitors the target to be monitored by a security sensor in response to an operation by an operator, and a security release mode that is set when the target to be monitored is occupied and does not monitor the target to be monitored by the security sensor, a determination means for determining whether a time condition related to the execution of a task by the working robot is satisfied; a control means for controlling the work robot to start the predetermined task when the time condition is satisfied and the security mode is the security set mode, assuming that no user is present within the monitored area; and A security system comprising:

2. The specified work other than security includes at least one of cleaning, transportation, and inspection, The security system according to claim 1 .

3. the setting means sets a security mode for each security zone corresponding to a work area of ​​the work robot, The determination means determines the time condition for each of the work areas, the control means refers to the security mode for the security section corresponding to the work area determined to satisfy the time condition, and controls so as to start the work when the security set mode is set.

3. A security system according to claim 1 or 2.

4. 4. The security system according to claim 1, wherein the time condition is that the current time is within a time period during which work by the work robot is permitted.

5. the time condition is that the current time is within a time period in which work by the work robot is permitted; A security system as described in any one of claims 1 to 3, wherein the time period during which the work robot is permitted to work is a security release prohibition time period during which switching from the security set mode to the security release mode is prohibited.

6. Further, a storage means for storing a work required time for a scheduled work is provided, The security system according to any one of claims 1 to 5, wherein the control means controls the work robot to start the work regardless of the type of security mode set when the remaining time of a time period during which the work robot is allowed to work becomes equal to or less than the time required for an unperformed task.

7. the determination means determines whether or not a completion condition for the work of the working robot is satisfied; when it is determined that the termination condition is satisfied, the control means controls the work robot performing the predetermined task to terminate the task; the termination condition is that the security mode is set to the security release mode by the setting means while the work robot is performing the predetermined task, A security system according to any one of claims 1 to 3.

8. The apparatus further includes an acquisition unit for acquiring an attribute of an operator who performs setting by the setting unit, When the attribute is a predetermined attribute, the control means determines that the termination condition is not satisfied even if the security mode is set to the security off mode by the setting means. The security system according to claim 7.

9. The control means determines that the termination condition is not satisfied when the security mode is set to the security disabling mode by the setting means, but the time when the security disabling mode is set is within a predetermined time period.

9. A security system according to claim 7 or 8.

10. A server communicably connected to a security device having a setting means for switching between a plurality of security modes, the setting means including a security set mode which is set when the monitored object is unoccupied and monitors the monitored object with a security sensor, and a security off mode which is set when the monitored object is occupied and does not monitor the monitored object with the security sensor, in response to an operator's operation, and a server communicably connected to the security device; a determination means for determining whether a time condition related to the execution of a task by the working robot is satisfied; a control means for controlling the work robot to start the predetermined task when the time condition is satisfied and the security mode is the security set mode, assuming that no user is present within the monitored area; and A server comprising:

11. A security device that is communicably connected to a work robot that is autonomously movable and performs a predetermined task other than security within a monitored area, a setting means for switching between a plurality of security modes, including a security set mode for monitoring a target to be monitored and for monitoring the target by a security sensor when the target is unoccupied in response to an operation by an operator, and a security release mode for not monitoring the target by the security sensor when the target is occupied; a determination means for determining whether a time condition related to the execution of a task by the working robot is satisfied; a control means for controlling the work robot to start the predetermined task when the time condition is satisfied and the security mode is the security set mode, assuming that no user is present within the monitored area; and A security device comprising:

12. A work robot that is autonomously mobile and communicatively connected to a security device having setting means for switching between a plurality of security modes, the security modes including a security set mode that monitors a target to be monitored and monitors the target with a security sensor when the target is unoccupied, and a security off mode that does not monitor the target with a security sensor when the target is occupied, in response to an operator's operation, and a security off mode that does not monitor the target with the security sensor when the target is occupied, and the robot is capable of moving autonomously and performs a predetermined task other than security within the target to be monitored, a determination means for determining whether a time condition related to the execution of a task by the working robot is satisfied; a control means for controlling, when the time condition is satisfied and the security mode is the security set mode, to start the predetermined operation as if no user is present within the monitored area; A working robot comprising:

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