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 controlling, when abnormality occurs, operation of the working robot according to the situation in response to the kind of the abnormality.SOLUTION: Disclosed is a security system which includes: an autonomously movable working robot for executing work operation for performing predetermined works; and a security device for detecting multiple types of abnormalities. The working robot is configured so that, when the security device detects the abnormality during execution of the work operation, abnormality operation different according to different types of abnormality is executed.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, it is known to make a robot perform a predetermined operation when an abnormal situation occurs in terms of disaster prevention or crime prevention.

[0003] For example, Patent Document 1 discloses that a cleaning robot has a fire sensor, and when the fire sensor determines that a fire has occurred, the cleaning robot heads toward the location of the fire and guides the user to the entrance or exit.

[0004] Furthermore, Patent Document 2 discloses that a security robot that is vigilant around a building, when it detects an intruder, moves along a preset movement route and performs crime prevention actions against the intruder. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Special Publication No. 2018-517966 [Patent Document 2] JP 2016-139343 A Summary of the Invention [Problem to be solved by the invention]

[0006] However, there are various types of abnormalities, and while there are cases where it is better for a robot to head to the site where an abnormality occurs, there are also cases where the situation worsens if a robot heads to the site where an abnormality occurs. For example, if a cleaning robot heads to the site of a fire as in Patent Document 1, it may hinder the evacuation of users. Similarly, if a security robot heads directly toward an intruder as in Patent Document 2, the intruder may overreact to the security robot, stimulating the intruder and worsening the situation. Therefore, when an abnormality occurs, it is not preferable to make the robot take a uniform action.

[0007] An object of the present invention is to provide a security system, a server, a security device, and a work robot that, when an abnormality occurs, can control the operation of a work robot according to the situation and depending on the type of abnormality. [Means for solving the problem]

[0008] According to one aspect of the present invention for solving such problems, a security system is provided that includes an autonomously mobile work robot that performs work operations to perform a specified task, and a security device that detects multiple types of abnormalities, wherein when the security device detects an abnormality while the work robot is performing a work operation, the work robot performs different abnormality operations depending on the type of abnormality.

[0009] In this security system, the abnormality action preferably includes at least two of a work continuation action of continuing the work, a response action of moving to the location where the abnormality has occurred, and an evacuation action of moving away from the user's traffic line.

[0010] In this security system, the multiple types of abnormalities preferably include at least two types of abnormalities among abnormalities related to crime prevention, abnormalities related to disaster prevention, abnormalities related to equipment failure, and abnormalities related to emergency care.

[0011] In this security system, if the security device detects a crime prevention abnormality while the work robot is performing a work operation, the work robot will perform a countermeasure operation, whereas if the security device detects an abnormal signal related to disaster prevention, the work robot will perform an evacuation operation.

[0012] In this security system, if the security device detects a disaster prevention abnormality while the work robot is performing a work operation, it is preferable that the work robot performs an evacuation operation, whereas if the security device detects an abnormality related to equipment failure, the work robot performs a work continuation operation.

[0013] In this security system, the response action preferably includes a first response action in which the working robot moves to the location where the abnormality has occurred without performing a work action, or a second response action in which the working robot moves to the location where the abnormality has occurred while performing a work action.

[0014] In this security system, the retreat operation preferably includes an operation in which the work robot stops at a position that avoids the user's traffic path, or an operation in which the work robot returns to its home position.

[0015] In this security system, it is preferable that the work robot outputs current location information, and depending on the positional relationship between the current location information and the home position, executes one of the following evacuation actions: stopping at a position that avoids the user's traffic path, or returning the work robot to the home position.

[0016] According to another aspect of the present invention, there is provided an autonomously mobile work robot that performs work operations to perform a specified task, and a server that is communicatively connected to a security device that detects multiple types of abnormalities, the server having a receiving unit for receiving an abnormality signal from the security device according to the type of abnormality, a control unit for generating a control signal for causing the work robot performing the work operation to perform different abnormality operations according to the abnormality signal received from the security device, and a transmitting unit for transmitting the control signal to the work robot.

[0017] According to another aspect of the present invention, there is provided a security device communicatively connected to an autonomously mobile work robot that performs work operations to perform a specified task, the security device having a detection unit for detecting multiple types of abnormalities, a control unit for generating control signals for causing the work robot performing the work operation to perform different abnormality operations depending on the type of abnormality detected by the detection unit, and a transmission unit for transmitting the control signal to the work robot.

[0018] According to another aspect of the present invention, there is provided a work robot capable of performing work operations to perform a specified task and of moving autonomously, and communicatively connected to a security device that detects multiple types of abnormalities, the work robot having a receiving unit for receiving an abnormality signal from the security device according to the type of abnormality, an operating mechanism for performing the specified operation including movement of the work robot, and a control unit for controlling the operating mechanism so that the work robot itself, while performing a work operation, performs different abnormality operations according to the abnormality signal received by the receiving unit. Effect of the Invention

[0019] The security system, server, security device, and work robot of the present invention are capable of controlling the operation of the work robot according to the situation when an abnormality occurs, depending on the type of abnormality, thereby enabling appropriate response depending on the type of abnormality. [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] 1 is a plan view of an office that is an example of a target for security by the security system. [Diagram 3] FIG. 11 is a sequence diagram showing an example of an overall process. [Figure 4] 13 is a flowchart illustrating an example of an abnormality signal generating process. [Diagram 5] 13 is a flowchart illustrating an example of a control signal generating process. [Figure 6] 11 is a flowchart illustrating an example of an operation process. [Figure 7] FIG. 2 is a diagram showing the configuration of another security system 2. [Figure 8] 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, or a factory. The work robot 30 is communicatively connected to the server 10 via an access point 40, and performs work within the security target where the security device 20 is installed. The security device 20 is also connected to various devices and sensors such as an entrance / exit operation terminal 250, a security operation unit 251, an imaging unit (camera) 252, an intrusion sensor 253, a fire sensor 254, and an equipment sensor 255 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 conforming 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 transmit and receive various signals. The communication unit 11 is an example of a transmission unit of the server 10.

[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 program can be installed in the storage unit 12 by a known method via a computer-readable storage medium such as a DVD-ROM or a communication line. The memory unit 12 stores schedule information 121 including the time when the work robot 30 starts work and the movement route for the work, and a security map 122 that shows a map of the security target. The schedule information 121 stores the start time of the work operation, and the content of the work operation and / or the work location for each time. Details of the security map 122 will be described later. Note that only the time when the work is to be started may be stored as the schedule information 121, and a schedule for the work robot to perform work within the work area may be generated autonomously based on the environmental map 371. The information stored in the schedule information 121 and the schedule generated autonomously by the work robot are examples of a work schedule. The content of the work operation and / or the work location for each time stored in the schedule information 121 or generated autonomously by the work robot are examples of a work process.

[0026] 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, as functional modules of a program that runs on the processor, an acquisition unit 131 and an instruction unit 132. The operation of the control unit 13 and each unit will be described in detail later.

[0027] The security device 20 is an information processing device that performs security by monitoring for abnormalities such as intrusion, fire, emergency, and equipment failure using equipment such as an intrusion sensor 253 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 imaging unit 252, an intrusion sensor 253, a fire sensor 254, and an equipment sensor 255. The number of the entry / exit operation terminal 250, the security operation unit 251, the imaging unit 252, the intrusion sensor 253, the fire sensor 254, and / or the equipment sensor 255 is not limited to one, and may be multiple.

[0028] The communication unit 21 has a communication interface circuit conforming to wired / wireless communication standards such as Ethernet (registered trademark) and IEEE802.11, and is connected to the server 10 in a wide area communication network such as the Internet via a LAN to transmit and receive various information. The communication unit 21 is an example of a transmission unit of the security device 20.

[0029] 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.

[0030] In the security system 1, the security mode has 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 target is uninhabited, and the server 10 is notified of the occurrence of any abnormality detected, including an intrusion from outside the security target and within the security target. The security release mode is a mode in which the security target is occupied, and the server 10 is notified of an abnormality such as a fire, an emergency call, an emergency call, or an equipment failure, but an intrusion is not notified even if a person is detected within 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. In addition, 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 only in a certain room of the building that is the security target and another room is to be monitored. In this mode, monitoring by the intrusion sensor 253 is performed only by the intrusion sensor 253 present in the part of the security target specified by the user.

[0031] Here, if the work robot 30 is operated when the security set mode is set, there is a risk that the intrusion sensor 253 will detect the movement of the work robot and cause a false alarm. Therefore, when the work robot 30 is operated while unmanned, it is preferable to set it to the partial security set mode, which prevents false alarms while ensuring security during work.

[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, as functional modules of a program that runs on a processor, a state monitoring means 231 and an abnormality monitoring means 232. The operations of the control unit 23 and each of the means will be described in detail later.

[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 imaging unit 252, the intrusion sensor 253, the fire sensor 254, and the facility equipment sensor 255 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 the entrance or exit of the 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, IC stick container, camera, microphone, touch panel, etc., for inputting authentication information such as a user's ID, authentication code, and biometric information such as fingerprint / face / voice. The entry / exit operation terminal 250 also has an entry / exit restriction unit (not shown) such as an electric lock that is installed at the door of the entrance or exit 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 entry / exit operation terminal 250 generates an entry instruction or an exit instruction when a user performs an entry operation or an exit operation. The entry / exit operation terminal 250 may generate an entry instruction or an exit instruction when the entry or exit restriction is lifted by the entry / exit restriction unit.

[0035] The security operation unit 251 has a user input / output interface such as a touch panel and buttons, and the user performs operations such as switching the security mode on the security device 20. The security operation unit 251 may be attached to the object of security, or may be configured as a mobile terminal carried by the user. The security operation unit 251 may also have an input unit (not shown) for authentication information of a user who can operate the security device. When a security mode switching operation is performed, the security operation unit 251 generates a security mode change instruction including the changed security mode. The input unit of the security operation unit 251 can input an emergency call to request an ambulance, an emergency call instruction when a suspicious person has intruded, and the location where an abnormality has occurred. Here, when the security operation unit 251 is installed in the security target, the installation location is input as the location where the abnormality has occurred, and when it is a mobile terminal carried by the user, a position identified by a known positioning method such as beacon positioning or Wi-Fi positioning is input. In beacon positioning or Wi-Fi positioning, for example, the position is measured by triangulation or the like based on information (ID, received signal strength, etc.) from multiple beacon signal transmitters or wireless LAN access points installed in the facility. The security operation unit 251 generates an emergency call signal when an instruction to notify an emergency is input, and generates an emergency call signal when an instruction to notify an emergency is input. When the location of the abnormality is input, the emergency call signal and the emergency call signal contain location information indicating the input location of the abnormality. It should be noted that the emergency call may be automatically made when an abnormality in the user of the mobile terminal is detected by a sensor (eg, a pulse sensor, a fall detection sensor, etc.) provided in the mobile terminal, rather than being limited to a user's operation to make a call.

[0036] The imaging unit 252 is a camera or the like having a photoelectric conversion element sensitive to visible light such as a CCD element or a C-MOS element, an imaging optical system that forms an image on the photoelectric conversion element, and an A / D converter that amplifies the electrical signal output from the photoelectric conversion element and performs analog / digital (A / D) conversion, and sequentially acquires digital images in RGB format or the like that capture the monitored space of the security target. The imaging unit 252 may be a camera that utilizes infrared rays, ultrasonic waves, or the like.

[0037] The intrusion sensor 253 is a sensor for detecting an intruder who has entered a 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, a sensor that detects infrared rays being blocked by the human body, etc. When the intrusion sensor 253 detects an intruder, it generates an abnormality detection signal indicating that an intrusion has occurred. This abnormality detection signal includes location information indicating the monitoring area of ​​each intrusion sensor 253. The fire sensors 254 are sensors that detect heat, smoke, and gas leaks associated with a fire, and when they detect a fire, they generate an abnormality detection signal indicating that a fire has occurred. This abnormality detection signal contains location information indicating the monitoring area of ​​each fire sensor 254. The work robot 30 may also be equipped with a fire sensor. The facility equipment sensor 255 is a sensor that detects operational abnormalities and dead batteries of various facility equipment such as air conditioning equipment, disaster prevention equipment, and sensors, and when it detects an operational abnormality, it generates an abnormality detection signal indicating a malfunction of the equipment.

[0038] Abnormalities indicated by reports input to the security operation unit 251 and abnormalities detected by the imaging unit 252, the intrusion sensor 253, the fire sensor 254, the facility equipment sensor 255, etc. can be classified into crime prevention, disaster prevention, malfunction, and emergency. Intrusions and emergency reports are classified as abnormalities related to crime prevention, and fires and gas leaks are classified as abnormalities related to disaster prevention. Operational abnormalities of facility equipment are classified as abnormalities related to malfunction, and emergency reports are classified as abnormalities related to emergency.

[0039] The entrance / exit operation terminal 250, the security operation unit 251, the imaging unit 252, the intrusion sensor 253, the fire sensor 254, and the facility equipment sensor 255 transmit the generated entry instruction, exit instruction, instruction to change the security mode, report signal, abnormality detection signal, or digital image to the control unit 23 via the interface unit 24. That is, the security operation unit 251, the intrusion sensor 253, the fire sensor 254, and the facility equipment sensor 255 are an example of an abnormality detection unit, and detect multiple types of abnormalities. Also, the entrance / exit operation terminal 250, the security operation unit 251, and the imaging unit 252 are an example of a status detection unit, and are used to determine whether or not a user is present in the security target. The monitoring area of ​​the intrusion sensor 253 and the fire sensor 254 is set in advance by the server 10 based on the security map 122.

[0040] The working robot 30 is an autonomously mobile robot that performs various tasks such as cleaning, transporting, and inspection within a security area. The working robot 30 has a communication unit 31, an imaging unit 32, a position detection unit 33, a traveling unit 34, a working unit 35, a power supply unit 36, a memory unit 37, and a control unit 38. Here, a case where the working robot 30 is a cleaning robot will be described.

[0041] The communication unit 31 has a communication interface circuit conforming to wireless communication standards such as IEEE802.11, and communicates with the server 10 via the access point 40 and a wide area communication network such as the Internet to transmit and receive various information. The communication unit 31 is an example of a receiving unit of the working robot 30.

[0042] The imaging unit 32 is a built-in camera or the like having a photoelectric conversion element sensitive to visible light, such as a CCD element or a C-MOS element, an imaging optical system that forms an image on the photoelectric conversion element, and an A / D converter that amplifies the electrical signal output from the photoelectric conversion element and performs analog / digital (A / D) conversion, and acquires digital images in RGB format or the like.

[0043] The position detection unit 33 has at least one input device such as Lidar, a camera, an ultrasonic sensor, an infrared sensor, GPS, etc., and acquires information such as laser light and images used to derive the current position of the work robot 30 and the positions of obstacles, etc.

[0044] The running unit 34 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 34 may further have auxiliary wheels, etc., to stabilize and smoothen running. The working unit 35 performs work operations such as cleaning, transporting, inspection, etc. When the working robot 30 is a cleaning robot, the working unit 35 has a suction unit for sucking in dust, a wiping unit for wiping the floor surface, etc., and performs floor cleaning work. The traveling unit 34 and the working unit 35 are an operating mechanism that enables the working robot 30 to perform work operations while moving autonomously.

[0045] The power supply unit 36 ​​is a storage battery or the like for supplying power to each part of the work robot 30.

[0046] The storage unit 37 includes semiconductor memory, magnetic storage media, and / or optical storage media, etc. The storage unit 37 stores various data and computer program codes that are executed by the control unit 38 to control the operation of the working robot 30. The computer programs may be installed in the storage unit 37 by a known method via a computer-readable storage medium such as a DVD-ROM or a communication line. The storage unit 37 stores an environmental map 371 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 371 also has the positions of an evacuation position 420, a home position 460, etc.

[0047] Control unit 38 has a processor such as a CPU or MPU and its peripheral circuits, and the processor controls the operation of work robot 30 by executing a computer program stored in memory unit 37. Control unit 38 may also be implemented by a DSP, LSI, ASIC, FPGA, or the like. The control unit 38 has, as functional modules of a program that runs on a processor, a position monitoring means 381 and an operation control means 382. The operation of the control unit 38 and each of the means will be described in detail later.

[0048] FIG. 2 is a plan view of an office, which is an example of a security target of the security system 1. As shown in FIG. 2, a floor 101 of the office 100 is a work area for the working robot 30. The floor 101 is separated from the outside by a wall 102, and is provided with equipment 410, a door 430, a partition 440, a home position (HP) 460, and a window 470. In addition, one or more devices for detecting abnormalities, such as an entrance / exit operation terminal 250, a security operation unit 251, an imaging unit 252, an intrusion sensor 253, a fire sensor 254, and an equipment sensor 255, are installed in various places in the office. An evacuation position 420 for the working robot 30 is placed at a position that avoids the movement line of users on the floor 101. The evacuation position 420 is not limited to a place isolated from the movement path as shown in FIG. 2, and may be configured as an evacuation position at the end of a passage. By locating the evacuation position 420 of the work robot 30 in a position that is away from the user's movement line, the work robot 30 is prevented from interfering with the movement of users in the event of a disaster, etc. On the floor 101, the area excluding the facility equipment 410, the evacuation position 420, and the position surrounded by the partition 440 is used as a passageway. Note that the user's movement line refers to the passageway along which users are normally expected to move when moving within the facility, and for example, a predetermined percentage of the passageway width (for example, 80% on each side of the center of the passageway) is set as the user's movement line.

[0049] Door 430 is located at the entrance between floor 101 and the outside, and is locked / unlocked by entrance / exit operation terminal 250. Partition 440 is a screen placed around the seats of users in office 100. A charger (not shown) for charging power supply unit 36 ​​of work robot 30 is placed in home position 460, and work robot 30 waits in home position 460 when not performing work. Window 470 is placed between office 100 and the outdoors, and intrusion sensor 253 monitors for the presence or absence of an intruder entering office 100 through window 470.

[0050] 2 and the working area of ​​the working robot 30, and is stored in advance in the storage unit 12 of the server 10. The security map 122 shows the shape of the floor 101 of the office 100. The security map 122 also shows the positions of the entrance / exit operation terminal 250 and the security operation unit 251, the positions imaged by the imaging unit 252, the positions detected by the intrusion sensor 253, the fire sensor 254, and the equipment sensor 255, etc. The security map 122 further shows the positions of the evacuation position 420 and the home position 460, the positions of fixed obstacles such as the wall 102, the equipment 410, and the partition 440, etc. The shape of floor 101 and each of the above-mentioned positions are indicated by two-dimensional coordinates with a certain point in security map 122 as the origin. The coordinates may be latitude and longitude, etc. The security map 122 has coordinates in common with the environmental map 371 stored in memory unit 37 of the work robot 30.

[0051] The state in Figure 2 shows a case where an intruder intrudes through window 470 when working robot 30 has proceeded with its work from HP 460 via route 481 to approximately directly below evacuation position 420 in the figure. The intrusion of the intruder is detected by intrusion sensor 253, and abnormality occurrence location 480 is recognized as being near window 470. As will be described later, when an abnormality occurs at abnormality occurrence location 480, possible actions of working robot 30 include using route 482 which is the shortest distance to abnormality occurrence location 480, using route 483 which retreats to evacuation position 420, or using route 484 to move to abnormality occurrence location 480 while continuing work. The actions of working robot 30 will be described later in detail.

[0052] 3 is a sequence diagram showing an example of the overall processing of the security system 1. This operation sequence is executed mainly by each control unit of each device in cooperation with each element of each device, based on a program stored in advance in each storage unit of each device.

[0053] First, when the start time indicated in the schedule information 121 arrives, the instruction means 132 of the server 10 transmits a start signal via the communication unit 11 to instruct the work robot 30 to start a predetermined work operation (step S100). When the operation control means 382 of the work robot 30 receives the start signal from the server 10 via the communication unit 31, it initializes the environmental map 371 and current position information, etc. stored in the memory unit 37, and starts the instructed work operation. At this time, the instruction means 132 of the server 10 transmits to the work robot 30 information such as the positions of fixed obstacles such as the walls 102, equipment 410, and partitions 440 on the security map 122, the positions of the evacuation position 420 and the home position 460, together with the start signal, and the operation control means 382 of the work robot 30 initializes the environmental map 371 based on the received information. The control unit 38 of the working robot 30 may initialize the environmental map 371 in advance based on information received from the server 10 or other devices via the communication unit 11, or information obtained from the operation unit (not shown) of the working robot 30. The control unit 38 may also store the positions of fixed obstacles in advance by running the robot through the working area in advance to build an environmental map.

[0054] The operation control means 382 of the working robot 30 controls the traveling unit 34 to make the working robot 30 travel so as to avoid obstacles based on the environmental map 371, and controls the working unit 35 to perform work operations. The position monitoring means 381 periodically acquires the current position of the working robot 30 and the positions of obstacles using a technique such as SLAM (Simultaneous Localization and Mapping) based on information acquired from the position detection unit 33. The position monitoring means 381 stores the acquired current position in the memory unit 37, and if the position of the obstacle changes, it updates the environmental map 371 stored in the memory unit 37 (step S101).

[0055] The location monitoring means 381 outputs a current location signal indicating the acquired current location to the server 10 via the communication unit 31 (step S102). Meanwhile, the acquisition means 131 of the server 10 receives a current position signal from the work robot 30 via the communication unit 11, and stores the current position of the work robot 30 indicated in the received current position signal as current position information in the memory unit 12 (step S103).

[0056] The instruction means 132 determines an action to be performed by the working robot 30 based on the content of the work action to be performed at the current time indicated in the schedule information 121 or the location to move to, and the current position of the working robot 30. The instruction means 132 sends an action signal to the working robot 30 via the communication unit 11 to cause the working robot 30 to perform the determined action (step S104). When the action signal is received from the server 10 via the communication unit 31, the action control means 382 of the working robot 30 carries out the instructed action, such as continuing or changing the work action, or moving to an instructed location. Note that this process can be omitted when the schedule for the working robot to perform work is generated and executed autonomously.

[0057] The status monitoring means 231 of the security device 20 monitors whether the user has performed an operation to switch the security mode on the security device 20, and when the user has performed an operation such as switching the security mode, receives an instruction to change the security mode from the security operation unit 251 (step S105). When an instruction to change the security mode is received, the state monitoring means 231 changes the security mode of the security device 20 to the changed security mode included in the received change instruction (step S106). The status monitoring means 231 generates a status signal indicative of the security mode, and outputs it to the server 10 via the communication unit 21 (step S107). The security mode is set by the user through the input unit of the security operation unit 251. Meanwhile, the acquisition means 131 of the server 10 receives a status signal from the security device 20 via the communication unit 11, and determines whether or not a user is present at the guard object according to the received status signal, and stores the determined status as presence information in the storage unit 12 (step S108). At this time, when the status signal indicates the security set mode, the acquisition means 131 determines that a user is not present at the guard object, and when the status signal indicates the security release mode, determines that a user is present at the guard object.

[0058] Moreover, the status monitoring means 231 of the security device 20 monitors whether the user has performed an entry operation or an exit operation on the entry / exit operation terminal 250, and when the user has performed an entry operation or an exit operation, receives an entry instruction or an exit instruction from the entry / exit operation terminal 250. Furthermore, the status monitoring means 231 periodically receives images captured by the imaging unit 252 from the imaging unit 252 (step S109). When an entry instruction, an exit instruction, or an image is received, the status monitoring means 231 generates a user signal indicating the user congestion state or the user movement state, and outputs it to the server 10 via the communication unit 21 (step S110). When an entry instruction or an exit instruction is received, the status monitoring means 231 calculates the number of people present in the guard target based on the number of entry instructions and exit instructions received so far. The status monitoring means 231 generates a user signal to indicate that the room is crowded when the number of people present exceeds a predetermined number, and indicates that the room is not crowded when the number of people present is equal to or less than the predetermined number. In addition, the status monitoring means 231 sequentially receives images from the imaging unit 252, detects a changed area where a change has occurred in each image by background difference processing or inter-frame difference processing, and extracts a person area having a predetermined size from the detected changed area. The status monitoring means 231 tracks the corresponding person areas between each image, and detects the movement amount of each person from the change amount of the position of the person area. The status monitoring means 231 generates a user signal to indicate that the user is moving a lot when the average, median or maximum of the amount of movement of each person exceeds a predetermined threshold, and to indicate that the user is moving a little when the average, median or maximum of the amount of movement of each person is below the predetermined threshold. Meanwhile, the acquisition means 131 of the server 10 receives a user signal from the security device 20 via the communication unit 11, and stores in the memory unit 12 whether or not there is congestion among users and / or whether or not there is a lot of movement of users according to the received user signal (step S111). The acquisition means 131 of the server 10 may receive an entry instruction and an exit instruction or an image, and determine whether or not a user is present in the guard target in step S107 based on the received information.

[0059] Here, the security target for determining whether or not a user is present may be the entire facility of the security target, a room or floor including the abnormality occurrence location, or a predetermined range around the abnormality occurrence location. When the entire facility of the security target is the target, for example, when any of the security targets of the facility is in security off mode, when a person is photographed by the imaging unit 252, or when the entry instruction exceeds the exit instruction, it is determined that the user is present in the security target. When a room or floor is the target, any of the security targets of the facility in the above description may be replaced with the target room or floor. When the specified range around the abnormality occurrence location is the target, the position of the user may be identified by person detection using an image, and it may be determined whether or not the user is present within the specified range around the abnormality occurrence location.

[0060] In addition, the abnormality monitoring means 232 of the security device 20 monitors the entry / exit operation terminal 250, the security operation unit 251, the imaging unit 252, the intrusion sensor 253, the fire sensor 254 and the equipment sensor 255, and receives an abnormality detection signal or a report signal from each unit when an abnormality occurs (step S112). When the abnormality detection signal or the notification signal is received, the abnormality monitoring means 232 executes an abnormality signal generation process (step S113). In the abnormality signal generation process, the abnormality monitoring means 232 generates an abnormality signal including type information indicating the type of abnormality and location information indicating the location where the abnormality occurred. The details of the abnormality signal generation process will be described later. Next, the abnormality monitoring means 232 outputs the abnormality signal generated in the abnormality signal generation process to the server 10 via the communication unit 21 (step S114). Meanwhile, the instruction means 132 of the server 10 receives the abnormality signal from the security device 20 via the communication unit 11, and executes a control signal generation process according to the type of abnormality contained in the received abnormality signal (step S115). In the control signal generation process, the instruction means 132 generates a control signal for controlling the work robot 30 to perform an operation according to the abnormality signal, the status signal, and the user signal. The control signal includes operation information indicating the operation to be performed by the work robot 30 and location information indicating the location where the abnormality has occurred. The control signal generation process will be described in detail later. Next, the instruction means 132 outputs the control signal generated in the control signal generation process to the working robot 30 via the communication unit 11 (step S116). Meanwhile, the movement control means 382 of the working robot 30 receives a control signal from the server 10 via the communication unit 31, and executes movement processing according to the movement included in the received control signal (step S117). In the movement processing, the movement control means 382 causes the working robot 30 to execute the movement included in the received control signal. The movement processing will be described in detail later.

[0061] The location of the abnormality indicates the location where the input was made in the case of input by the input unit of the security operation unit 251, indicates the relevant location based on image analysis in the case of an abnormality being found in an image acquired by the imaging unit 252, and indicates the location of the intrusion sensor in the case of an abnormality being detected by the intrusion sensor 253 as in the case of Fig. 2. Furthermore, the location of the abnormality indicates the location of the fire sensor in the case of a fire being detected by the fire sensor 254, and indicates the location of the facility equipment 410 in the case of an abnormality being detected by the facility equipment sensor 255. Note that the security device 20 also outputs location information indicating the location of the abnormality together with the abnormality signal, as will be described later.

[0062] Here, the actions that the work robot 30 is made to perform in response to the abnormality signal will be described. As an example, types of abnormalities can be classified into crime prevention, disaster prevention, breakdown, and emergency. When such an abnormality occurs, some kind of action is required, but since the characteristics of each abnormality are different, it is not desirable to take a uniform action, and it is required that the work robot 30 perform different abnormality actions (response actions or evacuation actions) depending on the abnormality. Below, the actions that the work robot 30 is made to perform for each abnormality will be described while comparing the characteristics of each type of abnormality.

[0063] Crime prevention-related abnormalities and disaster prevention-related abnormalities have in common the fact that they both require a highly urgent response. However, while crime prevention-related abnormalities require responses such as using audio to warn intruders and taking pictures of the site to identify the cause of the abnormality in order to prevent the damage from spreading, disaster prevention-related abnormalities require actions that do not hinder the evacuation of users, as it is expected that users will evacuate all at once. Thus, the actions required of the work robot 30 for crime prevention-related abnormalities and disaster prevention-related abnormalities are significantly different, even though the urgency is high. Therefore, taking into account the characteristics of such abnormalities, a countermeasure action of moving to the location of the abnormality is performed in the case of a crime prevention-related abnormality, whereas an evacuation action of evacuating to a location that is less likely to hinder the movement of users is performed in the case of a disaster prevention-related abnormality.

[0064] Disaster prevention-related abnormalities and equipment failure-related abnormalities are common in that they are both abnormalities related to the facility. However, while disaster prevention-related abnormalities require the robot to act in a way that does not impede the evacuation of users as described above, equipment failure-related abnormalities require the robot to continue working without dealing with the abnormality, because moving to the location of the abnormality does not allow the robot to respond to the abnormality, and the robot will simply be unable to perform normal work adequately. Thus, disaster prevention-related abnormalities and equipment failure-related abnormalities are abnormalities related to the facility, but the actions required of the robot 30 are significantly different. Therefore, taking into account the characteristics of such abnormalities, in the case of a disaster prevention-related abnormality, the robot performs an evacuation action to evacuate to a location that is less likely to impede the movement of users, whereas in the case of an equipment failure-related abnormality, the robot performs a work continuation action to continue the current work as is.

[0065] Moreover, anomalies related to crime prevention (particularly emergency calls) and anomalies related to emergency care are common in that they are both caused by people (people's calls). However, in the case of an anomaly related to crime prevention, if the work robot rushes to the scene carelessly, there is a risk that it may provoke a suspicious person and cause harm to people in the vicinity, so while heading to the location where the anomaly has occurred, the work robot is required to behave in a way that does not make the suspicious person think that the work robot is heading toward it. On the other hand, in the case of an anomaly related to emergency care, since the anomaly is of high urgency that concerns the life or death of the caller, the work robot is required to head to the location where the anomaly has occurred as quickly as possible, take pictures to confirm the caller's condition, connect to the monitoring center, and request help from surrounding users. In this way, although anomalies related to crime prevention (particularly emergency calls) and anomalies related to emergency care are caused by people, the actions required of the work robot are significantly different. Therefore, taking into account the characteristics of such anomalies, in the case of an emergency care, the second response action of heading to the location where the anomaly has occurred is executed as part of the work robot's natural work actions, whereas in the case of an emergency care, the first response action of heading to the location where the anomaly has occurred via the shortest route is executed.

[0066] 4 is a flowchart showing an example of an abnormality signal generation process by the security device 20. The operational flow shown in FIG. 4 is executed in step S113 of the sequence diagram shown in FIG.

[0067] First, the abnormality monitoring means 232 identifies the type of the received abnormality detection signal or report signal (step S201). If the received signal is an abnormality detection signal indicating that an intrusion has occurred, the abnormality monitoring means 232 sets "intrusion" as the type information (step S202). On the other hand, if the received signal is an emergency notification signal, the abnormality monitoring means 232 sets the type information to emergency notification (step S203). On the other hand, if the received signal is an abnormality detection signal indicating that a fire has occurred, the abnormality monitoring means 232 sets fire as the type information (step S204). On the other hand, if the received signal is an abnormality detection signal indicating that a device failure has occurred, the abnormality monitoring means 232 sets failure as the type information (step S205). On the other hand, if the received signal is an emergency call signal, the abnormality monitoring means 232 sets the type information to emergency call (step S206). Next, the abnormality monitoring means 232 sets the location information included in each received signal as the location information included in the abnormality signal. An abnormality signal including the set type information and location information is generated (step S207), and the series of steps ends. Note that if the received signal is an emergency call signal or an ambulance call signal, and if the location of the abnormality is not input from the input unit of the security operation unit 251, the abnormality monitoring means 232 sets blank as the location information included in the abnormality signal.

[0068] 5 is a flowchart showing an example of a control signal generation process by the server 10. The operational flow shown in FIG. 5 is executed in step S115 of the sequence diagram shown in FIG.

[0069] First, the indication means 132 identifies the type of abnormality indicated by the type information included in the received abnormality signal (step S301).

[0070] If the type of abnormality is an intrusion, the instruction means 132 reads out the presence information stored in the storage unit 12 in step S108 of Fig. 3, and judges whether or not a user is present in the security target (step S302). If a user is not present in the security target, the instruction means 132 sets, as the operation information, a first response action of moving to the location where the abnormality has occurred without performing a work action (step S303). On the other hand, if a user is present in the security target, the instruction means 132 sets, as the operation information, a second response action of moving to the location where the abnormality has occurred while performing a work action (step S304). As a result, when an intruder intrudes and there is no user present, the security system 1 can move the work robot 30 directly to the intruder's location and quickly respond by threatening the intruder with audio or taking a picture of the site. For example, the work robot's audio output unit (not shown) can output a predetermined sound to scare the intruder, or control the imaging unit 32 to point it at the intruder's location and take a picture of the intruder. On the other hand, when there is a user present when an intruder intrudes, the security system 1 can move the work robot 30 to the intruder's location and check the site by making the intruder think that the work robot 30 is working by moving the robot in a natural working motion, thereby preventing the intruder from being stimulated and causing harm to the user.

[0071] On the other hand, if the type of abnormality is an emergency call, the instruction unit 132 sets the second handling action as the operation information (step S305). If the type of abnormality is an emergency call, the user who instructed the call is necessarily present in the work area, so the instruction unit 132 sets the second handling action as the operation information without determining whether or not the user is present in the work area.

[0072] On the other hand, if the type of abnormality is a fire, the instruction means 132 reads out the presence information stored in the storage unit 12 in step S108 of FIG. 3, and judges whether or not a user is present in the security target (step S306). If no user is present in the security target, the instruction means 132 sets the first response action as the operation information (step S307). On the other hand, if a user is present in the security target, the instruction means 132 reads out the information stored in the storage unit 12 in step S111 of FIG. 3, and judges whether or not the user is crowded (step S308). If the user is not crowded, the instruction means 132 sets the first response action as the operation information (step S307). On the other hand, if the user is crowded, the instruction means 132 reads out the information stored in the storage unit 12 in step S111 of FIG. 3, and judges whether or not the user is moving a lot (step S309). If the user is moving a little, the instruction means 132 sets the first response action as the operation information (step S307). On the other hand, if the user moves a lot, the instruction means 132 sets an evacuation operation as the operation information (steps S310 to S314). The evacuation operation is an operation to evacuate to a position away from the user's traffic line, and includes any one of a first evacuation operation in which the work robot 30 returns to the home position 460 and stops, a second evacuation operation in which the work robot 30 moves to a predetermined evacuation position 420 and stops, and a third evacuation operation in which the work robot 30 avoids the edge of the passage and stops. The home position is a place where the work robot 30 waits when not performing work, and is located away from the user's traffic line, so returning to the home position and stopping can prevent the robot from interfering with the movement (evacuation) of the user. In this way, the evacuation operation is performed by moving to a position away from the user's traffic line and stopping there to avoid interfering with the movement of the user.

[0073] Here, when moving to the evacuation destination, it is required to take care not to hinder the evacuation of the user. Therefore, the instruction means 132 calculates the distance between the current position of the work robot 30 and the position of the home position 460 in the security map 122 based on the current position information stored in the memory unit 12 in step S103 of FIG. 3, and judges whether the calculated distance is less than a predetermined value (step S310). If the calculated distance is less than the predetermined value, the instruction means 132 sets the first evacuation operation as the evacuation operation (step S311). On the other hand, if the distance between the current position and the home position 460 is equal to or greater than the predetermined value, the instruction means 132 calculates the distance between the current position and the evacuation position 420 in the security map 122, and judges whether the calculated distance is less than the predetermined value (step S312). Here, if there are multiple evacuation positions 420, the distance between the evacuation position 420 closest to the work robot 30 and the current position is calculated. If the calculated distance is less than the predetermined distance, the instruction unit 132 sets the second evacuation operation as the evacuation operation (step S313). On the other hand, if the distance between the current position and the evacuation position 420 is equal to or greater than the predetermined distance, the instruction unit 132 sets the third evacuation operation as the evacuation operation (step S314).

[0074] This allows the security system 1 to evacuate the working robot 30 to an appropriate location depending on the current position of the working robot 30. Here, the evacuation position in the third evacuation operation is the end position of the passage closest to the current position (i.e., the distance traveled by the working robot 30 is the shortest), the end position of a passage that can be identified from the environmental map 371 and has a predetermined passage width or more (i.e., the working robot 30 is less likely to hinder evacuation), etc. In this way, the evacuation position is set taking into consideration the movement required by the working robot 30 to the evacuation position and whether the evacuation position is likely to hinder evacuation. Also, passages with passage widths less than the predetermined width or within a predetermined range from an exit may be excluded from the evacuation positions because they are likely to be crowded with evacuating users or to hinder evacuation. In addition, in the present invention, the second evacuation operation in which the work robot 30 moves to and stops at a specified evacuation position 420, and the third evacuation operation in which the work robot 30 avoids the edge of the passage and stops there, may be treated as movements to the specified evacuation positions. Note that either or both of steps S308 and S309 may be omitted.

[0075] In this way, the instruction means 132 controls the work robot 30 to execute a response action of moving to the location where the abnormality has occurred when it is determined from the status signal that the user is not present, and to execute an evacuation action when it is determined from the status signal that the user is present. In this way, the security system 1 can appropriately respond to a disaster by moving the work robot 30 to the location where the abnormality has occurred when the user is not present, while preventing the work robot 30 from interfering with the evacuation of users in the event of a disaster. In particular, when the instruction means 132 determines based on a user signal that the situation is not crowded with users or that there is little movement of users, even if users are present, it controls the work robot 30 to execute a response action. This allows the security system 1 to move the work robot 30 to the location where the abnormality has occurred and respond appropriately to the disaster, even if users are present, as long as the work robot 30 does not hinder the evacuation of the users. On the other hand, when the instruction means 132 determines from the user signal that the area is crowded with users or that there is a lot of user movement, it controls the work robot 30 to perform an evacuation operation. In particular, the instruction means 132 controls the work robot 30 so that, in the evacuation operation, the work robot 30 moves to and stops at the home position 460, the evacuation position 420, or the end of the passage depending on its own current position. This makes it possible for the security system 1 to prevent the work robot 30 from interfering with the evacuation of users, particularly when there is a large amount of user traffic.

[0076] On the other hand, if the type of abnormality is a malfunction, the instruction means 132 sets a work continuation action as the action information (step S315). On the other hand, if the type of abnormality is an emergency call, the instruction means 132 sets the first response action as the action information (step S316). Next, the instruction means 132 sets the location information contained in the received abnormality signal as the location information contained in the control signal, generates a control signal including the set operation information and location information (step S317), and ends the series of steps. In this way, the instruction means 132 controls the working robot 30 in response to the abnormality signal and status signal received from the security device 20.

[0077] 6 is a flow chart showing an example of operation processing by the working robot 30. The flow of operation shown in FIG. 6 is executed in step S117 in the sequence diagram shown in FIG.

[0078] First, the operation control means 382 identifies the type of operation indicated by the operation information contained in the received control signal (step S401). If the identified operation is the first countermeasure operation, the operation control means 382 controls the traveling unit 34 and the working unit 35 to execute the first countermeasure operation (step S402), and ends the series of steps. The operation control means 382 stops the operation of the working unit 35, calculates the shortest route from the current position of the work robot 30 to the location where the abnormality has occurred, which is indicated in the location information included in the control signal, from the environmental map 371, and controls the traveling unit 34 and the working unit 35 to move along the calculated route. Note that the shortest route here is preferably a route that can reach the location where the abnormality has occurred in the shortest distance or the shortest time, but is not limited thereto. Route candidates that provide a required distance or required time from the current position to the location where the abnormality has occurred within a certain range (for example, within +10% of the shortest distance or the shortest time) may be generated, and a route selected from the route candidates may be regarded as the shortest route. On the other hand, if the identified operation is the second countermeasure operation, the operation control means 382 controls the traveling unit 34 and the working unit 35 to execute the second countermeasure operation (step S403), and ends the series of steps. The operation control means 382 calculates a route from the current position of the working robot 30 to the location where the abnormality has occurred, indicated by the location information included in the control signal, from the environmental map 371 while continuing the operation of the working unit 35, and controls the traveling unit 34 and the working unit 35 to move along the calculated route. For example, the operation control means 382 executes the changed work operation by setting a route that omits part of the planned work route, or by setting the movement route to be unchanged and shortening the work operation set by the operation signal. This allows the operation control means 382 to move quickly to the location where the abnormality has occurred while moving naturally. In these cases, after the work robot 30 arrives at the location where the abnormality has occurred, it may transmit an image of the location where the abnormality has occurred captured by the imaging unit 32 to the server 10, the security device 20, etc. (imaging means). This enables the security system 1 to notify the administrator of the situation at the location where the abnormality has occurred.

[0079] On the other hand, if the identified operation is an evacuation operation, the operation control means 382 controls the traveling unit 34 and working unit 35 to interrupt the work and perform the evacuation operation (steps S404 to S406), and ends the series of steps. In this case, the operation control means 382 ends the operation of the working unit 35. If the first evacuation operation is set as the evacuation operation, the operation control means 382 calculates the shortest route from the current position of the working robot 30 to the home position 460 from the environmental map 371, and controls the traveling unit 34 and working unit 35 to move along the calculated route and stop. On the other hand, if the second evacuation operation is set as the evacuation operation, the operation control means 382 calculates the shortest route from the current position of the working robot 30 to the evacuation position 420 from the environmental map 371, and controls the traveling unit 34 and working unit 35 to move along the calculated route and stop. Furthermore, when the third evacuation operation is set as the evacuation operation, the operation control means 382 detects the wall 102 or partition 440 closest to the working robot 30 based on the current position information and the environmental map 371. The operation control means 382 controls the traveling unit 34 and the working unit 35 to move to the detected position over the shortest distance and stop at the edge of the passage. On the other hand, if the identified motion is to continue the work, the motion control means 382 controls the traveling unit 34 and the working unit 35 to continue the ongoing work (step S407), and ends the series of steps.

[0080] The route along which the work robot 30 moves may be calculated by the server 10 based on the security map 122 and instructed by a control signal. In this case, the operation control means 382 controls the traveling unit 34 so as to move according to the route included in the control signal.

[0081] 2, for example, in a scene where the intrusion sensor 253 detects an intruder at an abnormality location 480, the work robot 30 receives a control signal from the server 10 instructing the first or second response operation, and moves to the abnormality location 480 via route 482 or route 484. On the other hand, when the work robot 30 receives a control signal from the server 10 instructing the second evacuation operation, it moves to the evacuation position 420 via route 483.

[0082] As explained above, in the security system 1 of the present invention, when an abnormality occurs, the work robot 30 can be made to operate differently depending on the type of abnormality. Therefore, in the case of an intrusion, emergency call, or ambulance call, the work robot 30 can be moved to the location of the abnormality to deal with it appropriately, while in the case of disaster prevention, the work robot 30 can be made to retreat and stop, preventing it from interfering with the evacuation of users.

[0083] Although the preferred embodiments of the present invention have been described above, the present invention is not limited to these embodiments. For example, in the above embodiment, the instruction means 132 of the server 10 identifies the location of the abnormality occurrence location 480, and the movement control means 382 of the work robot 30 identifies the location of the evacuation destination and calculates the route, but the present invention is not limited to this. The division of roles for determining the movement destination and its route when instructing the work robot 30 to perform an action that requires movement, such as a countermeasure action and an evacuation action, can be varied in various ways between the instruction means 132 of the server 10 and the movement control means 382 of the work robot 30. For example, in the control signal generation process of step S115 in Fig. 3, the instruction means 132 of the server 10 can determine the abnormality occurrence location 480, the home position 460, the evacuation position 420, or the position of the end of the passage as the movement destination of the work robot 30, and its route. In this case, the instruction means 132 can specify the location of the destination using the security map 122 instead of the environmental map 371 and calculate the route to the destination in the same way as the operation control means 382 of the working robot 30 specified the location of the destination using the environmental map 371 and calculated the route to the destination in the operation processing of the above embodiment, and include the location of the destination and the route in the control signal. The route may be indicated by the coordinates of a series of passing points in the environmental map 371, and a series of coordinates may be included in one control signal, or the route may be divided into a plurality of control signals and transmitted to the working robot 30, for example, by including one coordinate in one control signal. In the operation processing, the operation control means 382 of the working robot 30 controls the traveling unit 34 to follow the route specified by the environmental map 371 while avoiding obstacles, according to the destination and route included in the control signal received from the server 10, and moves the robot 30 to the specified destination. 3, the motion control means 382 of the working robot 30 receives only the position of home position 460 along with the start signal from the server 10 and stores this in advance in the environmental map 371. Alternatively, the position of home position 460 may be stored in advance in the environmental map, and the position of home position 460 may be set as the origin of the coordinates of the environmental map. Note that if the working robot 30 has other means for avoiding obstacles, the environmental map 371 does not need to be used. Furthermore, the work robot 30 may travel within the work area in advance to build an environmental map, thereby pre-memorizing the positions of fixed obstacles in the work area, such as the walls 102, equipment 410, and partitions 440. In this case, the instruction means 132 of the server 10 may include only the destination position in the control signal, and the movement control means 382 of the work robot 30 may use the environmental map 371 to calculate a route to the destination included in the control signal.

[0084] Furthermore, in order to provide services in the form of cloud computing, the security system 1 may have multiple servers 10 distributed over a network, with each server 10 working together to share the various processes shown in Fig. 3. In particular, the security system 1 may have a server 10 that manages the security device 20 and a server 10 that controls the work robot 30, which are provided separately, and the servers 10 work together to manage the security device 20 and the work robot 30. The server 10 that controls the work robot 30 and the work robot 30 may be communicatively connected via wireless LAN or short-range wireless communication, etc.

[0085] In the above embodiment, the security system 1 has a server 10, a security device 20, and a work robot 30, and the server 10, which is communicatively connected between the security device 20 and the work robot 30, generates a control signal based on an abnormal signal, a status signal, a user signal, etc. received from the security device 20, and transmits 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 abnormal signals, control signals, etc. without going through the server 10. In this case, all of the functions related to the generation of control signals in the server 10 in the above embodiment may be realized by the security device 20 or the work robot 30, or some functions may be realized by the security device 20 and other functions may be realized by the work robot 30.

[0086] 7 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.

[0087] 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 are a transmitting unit and a receiving unit that communicate between the security device 20-2 and the work robot 30-2 and transmit and receive various signals. The storage unit 22-2 of the security device 20-2 stores schedule information 221-2 and a security map 222-2. The control unit 23-2 of the security device 20-2 has an acquisition means 233-2 and an instruction means 234-2 in addition to a state monitoring means 231-2 and an abnormality monitoring means 232-2.

[0088] In the security system 2, in step S100 of the operation sequence shown in FIG. 3, the instruction means 234-2 of the security device 20-2 transmits a start signal to the work robot 30-2 via the communication unit 21-2. In step S102, the position monitoring means 381-2 of the work robot 30-2 outputs a current position signal to the security device 20-2 via the communication unit 31-2, and in step S103, the acquisition means 233-2 of the security device 20-2 stores the current position of the work robot 30-2 in the memory unit 22-2. In step S104, the instruction means 234-2 determines an operation to be performed by the work robot 30-2, and transmits an operation signal to the work robot 30-2 via the communication unit 21-2. Furthermore, in step S107, the status monitoring means 231-2 of the security device 20-2 determines whether or not a user is present in the area to be guarded without outputting a status signal, and stores this as presence information in the storage unit 22-2. In step S110, the state monitoring means 231-2 stores in the storage unit 22-2 whether or not users are crowded and / or whether or not users are moving around a lot, without outputting a user signal. In step S106, it may be determined whether or not a user is present in the security target from the information or image of the entry instruction and the exit instruction. Furthermore, in step S114 the abnormality monitoring means 232-2 outputs an abnormality signal to the instruction means 132, and in steps S115 and S116 the instruction means 234-2 executes a control signal generation process and outputs a control signal to the work robot 30-2 via the communication unit 21-2. That is, in the security system 2, when the security device 20-2 detects an abnormality, it generates a control signal for controlling the work robot 30-2 in accordance with the detection result of the status detection unit, and controls the work robot 30-2 in accordance with the detection of the abnormality and the detection of a user. In the security system 2, the route along which the work robot 30-2 moves may be calculated by the security device 20-2 and instructed by a control signal. In this case, the motion control means 382-2 controls the traveling unit 34-2 to move according to the route included in the control signal.

[0089] 8 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.

[0090] 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 conform to corresponding short-range wireless communication standards, and are a transmitter and a receiver that communicate between the security device 20-3 and the work robot 30-3 to send and receive various signals. The memory unit 37-3 of the work robot 30-3 stores schedule information 372-3 and a security map 373-3 in addition to the environmental map 371-3. The control unit 38-3 of the working robot 30 has, in addition to position monitoring means 381-3 and motion control means 382-3, an acquisition means 383-3 and an instruction means 384-3.

[0091] In the security system 3, in step S100 of the operation sequence shown in FIG. 3, the operation control means 382-3 of the working robot 30-3 spontaneously starts a work operation based on the schedule information 372-3. Furthermore, in step S102, the position monitoring means 381-3 of the work robot 30-3 does not output a current position signal, and in step S103, the current position of the work robot 30-3 is stored in the memory unit 37-3 as current position information. Furthermore, in step S104, the instruction means 384-3 determines an operation to be executed based on the content of the work operation being executed and the current position of the work robot 30, and executes the determined operation. In addition, in step S107, the status monitoring means 231-3 of the security device 20-3 outputs a status signal to the work robot 30-3 via the communication unit 21-3, and in step S108, the acquisition means 383-3 of the work robot 30-3 determines whether or not a user is present in the security target and stores this as presence information in the memory unit 37-3. Furthermore, in step S110, the status monitoring means 231-3 outputs a user signal to the work robot 30-3 via the communication unit 21-3, and in step S111, the acquisition means 383-3 of the work robot 30-3 stores in the memory unit 37-3 whether or not there is congestion of users and / or whether or not there is a lot of movement of users. Furthermore, in step S114, the abnormality monitoring means 232-3 outputs an abnormality signal to the work robot 30-3 via the communication unit 21-3. In steps S115 and S116, the instruction means 384-3 of the work robot 30-3 executes a control signal generation process and outputs a control signal to the motion control means 382-3. That is, in this case, when the communication unit 31-3 receives an abnormality signal, a status signal, and a user signal, the working robot 30-3 controls the operating mechanism to perform an operation according to the abnormality signal, the status signal, and the user signal.

[0092] Like the security system 1, the security systems 2 and 3 can control the operation of the work robots 30-2 and 30-3 depending on the presence or absence of a user when an abnormality occurs, making it possible to respond appropriately according to the situation.

[0093] As described above, various modifications can be made to the embodiments within the scope of the present invention. [Explanation of symbols]

[0094] 1 Security system, 10 server, 11 communication unit (transmission unit), 13 control unit, 20 security device, 23 control unit (status detection unit), 30 work robot, 31 communication unit (reception unit), 34 travel unit (operation mechanism), 35 work unit (operation mechanism), 38 control unit, 251 security operation unit (abnormality detection unit), 253 intrusion sensor (abnormality detection unit), 254 fire sensor (abnormality detection unit), 255 facility equipment sensor (abnormality detection unit)

Claims

1. a working robot capable of moving autonomously and performing a work operation to perform a predetermined task; A security system including a security device that detects multiple types of abnormalities, When the security device detects the abnormality while the work robot is performing the work operation, the work robot performs an abnormality operation that differs depending on the type of the abnormality, The abnormality action includes at least two of a work continuation action of continuing the work action, a countermeasure action of moving to a location where the abnormality has occurred, and an evacuation action of evacuating from a user's traffic line. A security system characterized by:

2. The security system according to claim 1 , wherein the plurality of types of abnormalities include at least two types of abnormalities among an abnormality related to crime prevention, an abnormality related to disaster prevention, an abnormality related to equipment failure, and an abnormality related to emergency care.

3. The security system of claim 2, wherein the work robot performs the response operation when the security device detects an abnormality related to crime prevention while performing the work operation, and performs the evacuation operation when the security device detects an abnormal signal related to disaster prevention.

4. The security system described in claim 2, wherein the work robot performs the evacuation operation when the security device detects a disaster prevention abnormality while performing the work operation, and performs the work continuation operation when the security device detects an abnormality related to equipment failure.

5. The security system according to claim 2 or 3, wherein the response action includes a first response action in which the work robot moves to the location where the abnormality has occurred without performing a work action, or a second response action in which the work robot moves to the location where the abnormality has occurred while performing a work action.

6. The security system according to any one of claims 1 to 5, wherein the evacuation operation includes an operation of the work robot stopping at a position that avoids the user's traffic flow, or an operation of the work robot returning to a home position.

7. The working robot outputs current position information, The security system according to any one of claims 1 to 6, wherein, depending on the positional relationship between the current location information and a home position, the evacuation action is performed by either stopping at a position that avoids the user's traffic path, or returning the work robot to a home position.

8. A server connected to an autonomously movable work robot that performs a work operation to perform a predetermined work and a security device that detects multiple types of abnormalities, a receiving unit for receiving an abnormality signal corresponding to a type of abnormality from the security device; a control unit that generates a control signal for causing the work robot that is executing the work operation to execute a different abnormality operation in response to the abnormality signal received from the security device; a transmitter for transmitting the control signal to the working robot, The abnormality action includes at least two of a work continuation action of continuing the work action, a countermeasure action of moving to a location where the abnormality has occurred, and an evacuation action of evacuating from a user's traffic line. A server comprising:

9. A security device communicably connected to an autonomously movable work robot that performs a work operation to perform a predetermined work, A detection unit for detecting a plurality of types of abnormalities; a control unit that generates a control signal for causing the working robot that is performing the work operation to execute a different abnormality operation depending on the type of abnormality detected by the detection unit; and a transmitter for transmitting the control signal to the working robot, The abnormality action includes at least two of a work continuation action of continuing the work action, a countermeasure action of moving to a location where the abnormality has occurred, and an evacuation action of evacuating from a user's traffic line. A security device characterized by:

10. A work robot capable of performing a work operation to perform a predetermined work and moving autonomously, and connected to a security device capable of detecting a plurality of types of abnormalities so as to be capable of communicating therewith, a receiving unit for receiving an abnormality signal corresponding to the type of abnormality from the security device; an operating mechanism for performing a predetermined operation including movement of the working robot; a control unit that controls the operating mechanism so as to perform a different abnormality operation in response to the abnormality signal received by the receiving unit with respect to the operating mechanism that is performing the work operation, The abnormality action includes at least two of a work continuation action of continuing the work action, a countermeasure action of moving to a location where the abnormality has occurred, and an evacuation action of evacuating from a user's traffic line. A working robot characterized by:

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