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 the operation of a working robot in accordance with a situation when the abnormality in security occurs.SOLUTION: A security system 1 includes: a working robot 30 which is autonomously movable and capable of executing at least work operation for performing predetermined works according to a work schedule, a first coping operation for moving to an abnormality occurrence place without performing the work operation and a second coping operation for moving to the abnormality occurrence place while performing the work operation; and a security device 20 which detects the abnormality related to security. The working robot 30 executes either the first coping operation or the second coping operation in place of the work operation when, during execution of the work operation, the security device 20 detects the abnormality.SELECTED DRAWING: Figure 2

Description

Technical Field

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

Background Art

[0002] Conventionally, when an abnormal situation occurs in terms of crime prevention, it is known to cause a robot to perform a predetermined operation.

[0003] For example, Patent Document 1 discloses that a security robot that guards the perimeter of a building moves along a preset movement route while performing crime prevention actions against an intruder when the intruder is detected.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, while it may be better for the robot to head towards the site of the abnormality in some cases, there are also cases where the situation deteriorates when the robot heads towards the site of the abnormality. For example, if a security robot goes straight towards an intruder as in Patent Document 1, the intruder may overreact to the security robot, stimulating the intruder and potentially worsening the situation. Therefore, it is not preferable to cause the robot to perform the same operation uniformly when an abnormality in crime prevention occurs.

[0006] An object of the present invention is to provide a security system, a server, a security device, and a work robot that can control the operation of the work robot according to the situation when an abnormality in crime prevention occurs.

Means for Solving the Problems

[0007] According to one aspect of the present invention for solving such problems, there is provided a security system including a work robot capable of autonomous movement and executing at least a work operation of performing a predetermined work according to a work schedule, a first countermeasure operation of moving to an abnormality occurrence location without performing the work operation, and a second countermeasure operation of moving to the abnormality occurrence location while performing the work operation, and a security device for detecting an abnormality related to security. When the security device detects an abnormality during the execution of the work operation, the work robot executes either the first countermeasure operation or the second countermeasure operation instead of the work operation.

[0008] In this security system, it is preferable that the security device further includes storage means for storing whether or not a user exists in the security target, and when the security device detects an abnormality and no user exists in the security target, the work robot executes the first countermeasure operation, and when a user exists in the security target, the work robot executes the second countermeasure operation.

[0009] In this security system, it is preferable that in the first countermeasure operation, the work robot moves from the current position to the abnormality occurrence location along the shortest path regardless of the work process in the work schedule, and in the second countermeasure operation, the work robot moves toward the abnormality occurrence location while performing a work operation with a partially shortened work process.

[0010] In this security system, it is preferable that the work robot includes imaging means for photographing the surroundings, and in the second countermeasure operation, the work robot moves from the current position to a position where the abnormality occurrence location can be imaged by the imaging means along the shortest path, and then executes the work operation while photographing the abnormality occurrence location.

[0011] In this security system, it is preferable that the security device includes an imaging unit for photographing the security target, and when a user exists in the security target and the abnormality occurrence location is not included in the imaging range of the imaging unit, the work robot executes the second countermeasure operation, and when the abnormality occurrence location is included in the imaging range of the imaging unit, the work robot continues the work operation without executing the second countermeasure operation.

[0012] According to another aspect of the present invention, there is provided a server communicably connected to a security device that can autonomously move and is capable of executing at least a work operation of performing a predetermined work according to a work schedule, a first countermeasure operation of moving to an abnormal occurrence location without performing the work operation, and a second countermeasure operation of moving to the abnormal occurrence location while performing the work operation, and that detects an abnormality related to security and outputs an abnormal signal. The server includes a control unit that generates a control signal for causing the work robot that is executing the work operation to execute either the first countermeasure operation or the second countermeasure operation when receiving the abnormal signal from the security device, and a transmission unit that transmits the control signal to the work robot.

[0013] According to another aspect of the present invention, there is provided a security device communicably connected to a work robot that can autonomously move and is capable of executing at least a work operation of performing a predetermined work according to a work schedule, a first countermeasure operation of moving to an abnormal occurrence location without performing the work operation, and a second countermeasure operation of moving to the abnormal occurrence location while performing the work operation. The security device includes a detection unit for detecting an abnormality related to security, a control unit that generates a control signal for causing the work robot that is executing the work operation to execute either the first countermeasure operation or the second countermeasure operation when detecting an abnormality related to security, and a transmission unit that transmits the control signal to the work robot.

[0014] According to another aspect of the present invention, there is provided a work robot that can autonomously move and is capable of executing at least a work operation of performing a predetermined work according to a work schedule, a first countermeasure operation of moving to an abnormal occurrence location without performing the work operation, and a second countermeasure operation of moving to the abnormal occurrence location while performing the work operation, and is communicably connected to a security device that detects an abnormality related to security and outputs an abnormal signal. The work robot includes a reception unit for receiving the abnormal signal from the security device, an operation mechanism for performing the operation of the work robot, and a control unit that controls the operation mechanism so that when the reception unit receives the abnormal signal, the work robot itself that is executing the predetermined work operation executes either the first countermeasure operation or the second countermeasure operation.

Advantages of the Invention

[0015] The security system, server, security device, and work robot according to the present invention can control the operation of the work robot according to the situation when a security abnormality occurs, so that an appropriate response according to the security abnormality becomes possible.

Brief Description of the Drawings

[0016]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Embodiments for Carrying Out the Invention

[0017] 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 embodiments described below.

[0018] 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 communicably connected to the security device 20 and the work robot 30 to manage the entire security system 1. The security device 20 is communicably connected to the server 10 and secures security targets such as offices, stores, and factories. The work robot 30 is communicably connected to the server 10 via an access point 40 and performs work within the security target where the security device 20 is installed. Further, the security device 20 is connected to various devices and sensors such as an entry / exit operation terminal 250, a security operation unit 251, an imaging unit (camera) 252, an intrusion sensor 253, a fire sensor 254, and a facility equipment sensor 255 via wired / wireless communication. In FIG. 1, only one security device 20 and one work robot 30 are shown, but the security system 1 may include a plurality of security devices 20 and / or work robots 30.

[0019] 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.

[0020] The communication unit 11 has a communication interface circuit conforming to a wired / wireless communication standard such as Ethernet (registered trademark) and IEEE802.11, and is communicably connected to the security device 20 and the work robot 30 via a wide area communication network such as a LAN and the Internet to transmit and receive various signals. The communication unit 11 is an example of a transmission unit of the server 10.

[0021] The storage unit 12 includes semiconductor memories such as ROM, RAM, and EPROM, magnetic storage media such as a magnetic disk (HDD), and / or optical storage media such as DVD-RAM. The storage unit 12 stores the code of a computer program executed by the control unit 13 to control the operation of the server 10 and various data. 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 storage unit 12 stores a security map 122 representing a map of the area to be secured, and schedule information 121 including the time when the work robot 30 starts working and the movement route for the work. The schedule information 121 stores the start time of the work operation, and the content and / or work location of the work operation for each time. Details of the security map 122 will be described later. Note that only the time to start the work may be stored as the schedule information 121, and the work robot may autonomously generate a schedule for working within the work area based on the environmental map 371. The information stored in the schedule information 121 and the schedule autonomously generated by the work robot are examples of a work schedule. Also, the content and / or work location of the work operation for each time stored in the schedule information 121 or autonomously generated by the work robot are examples of a work process.

[0022] The control unit 13 includes 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. As the control unit 13, a multiprocessor, a multi-core processor, etc. may be used. Also, as the control unit 13, a DSP, an LSI, an ASIC, an FPGA, etc. may be used. The control unit 13 has an acquisition means 131 and an instruction means 132 as functional modules of a program operating on the processor.

[0023] The security device 20 is an information processing device that monitors for abnormalities such as intrusion, fire, emergency, and equipment failure by devices such as the intrusion sensor 253 installed in the area to be secured according to the security mode instructed by the user or the server 10, and performs security. 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 a facility 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 facility equipment sensor 255 is not limited to one, and may be plural.

[0024] 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.

[0025] The storage unit 22 has 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. The storage unit 22 is an example of a storage means of the security device 20.

[0026] 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, including an intrusion. 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 is notified even if an intrusion is detected due to the opening or closing of a window. 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.

[0027] 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 operation of the work robot and generate a false alarm. Therefore, when the work robot 30 operates when no one is present, it is preferable to set it to the partial security set mode to prevent false alarms while ensuring security during work.

[0028] The control unit 23 includes 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. As the control unit 23, a DSP, an LSI, an ASIC, an FPGA, etc. may be used. The control unit 23 has, as functional modules of a program operating on the processor, a state monitoring means 231 and an abnormality monitoring means 232. The state monitoring means 231 is an example of a determination means.

[0029] The interface unit 24 has an interface circuit conforming to a serial bus standard such as USB, for example, and communicates with 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 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 the interface circuit conforming to the serial bus standard.

[0030] The entry / exit operation terminal 250 is an operation terminal installed at the entrance or exit of the area to be guarded, and is used by the user to request entry into or exit from the area to be guarded. The entry / exit operation terminal 250 has an input unit (not shown) such as a card reader, an IC stick container, a camera, a microphone, and a touch panel for inputting authentication information such as the user's ID, authentication code, and biometric information such as fingerprint / face / voice. In addition, the entry / exit operation terminal 250 is installed on the door of the entrance or exit to regulate entry into or exit from the area to be guarded, and has an entry / exit regulation unit (not shown) such as an electric lock that is unlocked / locked according to the unlock / lock signal transmitted from the security device 20.

[0031] The security operation unit 251 has a user input / output interface such as a touch panel and buttons, and the user can perform operations such as switching the security mode on the security device 20. The security operation unit 251 may be installed on the area to be guarded, or may be configured as a mobile terminal held by the user. In addition, the security operation unit 251 may have an input unit (not shown) for authentication information of the user who can operate the security device. Note that the input unit of the security operation unit 251 can input an emergency call for requesting emergency transportation, an instruction for an emergency call when a suspicious person intrudes, etc., and the location where an abnormality occurs. Here, when the security operation unit 251 is installed on the area to be guarded, the installation location is input, and when it is a mobile terminal held by the user, the location specified 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 a plurality of beacon signal transmitters or wireless LAN access points installed in the facility. When an instruction for an emergency call is input, the security operation unit 251 generates an emergency call signal, and when an instruction for an emergency call is input, it generates an emergency call signal. When the location where an abnormality occurs is input, the emergency call signal and the emergency call signal include location information indicating the input location where an abnormality occurs.

[0032] The imaging unit 252 is a built-in camera or the like that includes 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 and performs analog / digital (A / D) conversion on the electrical signal output from the photoelectric conversion element, and sequentially acquires a digital image in an RGB format or the like obtained by photographing the monitoring space of the security target. Note that the imaging unit 252 may be a camera that uses infrared rays, ultrasonic waves, or the like.

[0033] The intrusion sensor 253 is a sensor that detects the opening and closing of doors, windows, etc. of the security target using a reed switch, a magnet, etc., a sensor that detects heat emitted by a human body as a heat source, a sensor that detects that infrared rays have been blocked by a human body, or the like, and is a sensor for detecting an intruder who has entered the security target. 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 sensor 254 is a sensor that detects heat and smoke accompanying the occurrence of a fire, and when it detects the occurrence of a fire, it generates an abnormality detection signal indicating that a fire has occurred. This abnormality detection signal includes location information indicating the monitoring area of each fire sensor 254. The equipment sensor 255 is a sensor that detects operational abnormalities, battery depletion, etc. of various equipment such as air conditioning equipment, disaster prevention equipment, and sensors, and when it detects an operational abnormality or the like, it generates an abnormality detection signal indicating a malfunction of the equipment.

[0034] The abnormalities indicated by the notifications input to the security operation unit 251, as well as the abnormalities detected by the imaging unit 252, the intrusion sensor 253, the fire sensor 254, the equipment sensor 255, etc., can be classified into crime prevention, disaster prevention, failure, and emergency. The occurrence of an intrusion and an emergency notification are classified as abnormalities related to crime prevention, and the occurrence of a fire and a gas leak are classified as abnormalities related to disaster prevention. Operational abnormalities of equipment are classified as abnormalities related to failure, and an emergency notification is classified as an abnormality related to emergency.

[0035] 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 notification signal, abnormality detection signal, or digital image to the control unit 23 via the interface unit 24. That is, the security operation unit 251 and the intrusion sensor 253 are examples of detection units that detect multiple types of abnormalities. Further, the entrance / exit operation terminal 250, the security operation unit 251, and the imaging unit 252 are examples of state detection units and are used to determine whether a user is present in the area to be secured. Note that the monitoring areas of the intrusion sensor 253 and the fire sensor 254 are preset by the server 10 based on the security map 122.

[0036] The work robot 30 is an autonomously movable robot that performs various tasks such as cleaning, transportation, and inspection within the area to be secured. The work robot 30 includes a communication unit 31, a position detection unit 33, a traveling unit 34, a work unit 35, a power supply unit 36, a storage unit 37, and a control unit 38. Here, the case where the work robot 30 is a cleaning robot will be described.

[0037] The communication unit 31 has a communication interface circuit conforming to a wireless communication standard such as IEEE802.11, and communicates with the server 10 via a wide area communication network such as an access point 40 and the Internet to transmit and receive various information. The communication unit 31 is an example of the receiving unit of the work robot 30.

[0038] 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 a digital image in RGB format or the like. The imaging unit 32 is an example of the imaging means of the work robot 30.

[0039] The position detection unit 33 has at least one input device such as a Lidar, a camera, an ultrasonic sensor, or an infrared sensor, and acquires information such as laser light and images used to derive the current position of the work robot 30 and the position of obstacles.

[0040] The traveling unit 34 has drive wheels and a traveling motor, and by changing the rotational speed of the traveling motor, the work robot 30 can be freely moved forward, backward, left, and right at various speeds. The traveling unit 34 may further have auxiliary wheels or the like in order to stabilize and smooth the traveling. The working unit 35 performs working operations such as cleaning, transporting, and inspecting. When the work robot 30 is a cleaning robot, the working unit 35 has a suction unit for sucking dust, a wiping unit for wiping the floor surface, etc., and performs a cleaning operation of the floor surface. The traveling unit 34 and the working unit 35 are operating mechanisms for the work robot 30 to perform working operations while autonomously moving.

[0041] The power supply unit 36 is a storage battery or the like for supplying power to each part of the work robot 30.

[0042] The storage unit 37 has a semiconductor memory, a magnetic storage medium, and / or an optical storage medium, etc. The storage unit 37 stores the code of the computer program executed by the control unit 38 to control the operation of the work robot 30 and various data. The computer program 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 facilities in the working area and movable obstacles such as carts and boxes. The environmental map 371 is an example of the environmental map information possessed by the work robot 30.

[0043] The control unit 38 has a processor such as a CPU and an MPU and its peripheral circuits, and the processor controls the operation of the work robot 30 by executing the computer program stored in the storage unit 37. As the control unit 38, a DSP, an LSI, an ASIC, an FPGA, etc. may be used. The control unit 38 has a position monitoring means 381 and an operation control means 382 as functional modules of a program operating on the processor.

[0044] FIG. 2 is a floor plan of an office which is an example of a security target of the security system 1. As shown in FIG. 2, the floor 101 of the office 100 is a work area. The floor 101 is separated from the outside by a wall 102, and the floor 101 is provided with equipment 410, a door 430, a partition 440, a home position (HP) 460, and a window 470. Also, one or a plurality of various 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 at various locations in the office. A storage position 420 of the work robot 30 is arranged at a position avoiding the movement path of the users on the floor 101. By arranging the storage position 420 of the work robot 30 at a position avoiding the movement path of the users, it is suppressed that the work robot 30 obstructs the movement of the users in the event of a disaster or the like. In the floor 101, the area excluding the area surrounded by the storage position 420 and the partition 440 is used as a passage.

[0045] The door 430 is arranged at the entrance / exit between the floor 101 and the outside and is unlocked / locked by the entrance / exit operation terminal 250. The partition 440 is a screen arranged around the seats of the users of the office 100. A charger (not shown) for charging the power supply unit 36 of the work robot 30 is arranged at the home position 460, and the work robot 30 waits at the home position 460 when not performing work. The window 470 is arranged between the office 100 and the outdoors, and the presence or absence of an intruder from the window 470 into the office 100 is monitored by the intrusion sensor 253.

[0046] The security map 122 is a map representing the floor 101 which is the area to be secured by the security device 20 and the working area of the work robot 30 shown in FIG. 2, 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. Further, in the security map 122, the positions of the entry / 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 facility equipment sensor 255, etc. are shown. In the security map 122, the positions of the evacuation position 420 and the home position 460, the positions of fixed obstacles such as the facility equipment 410 and the partition 440, etc. are further shown. The shape of the floor 101 and the above-described respective positions are shown in two-dimensional coordinates with a certain point in the security map 122 as the origin. The coordinates may be latitude and longitude, etc. Note that the environmental map 371 has the same coordinates as the security map 122.

[0047] The state of FIG. 2 represents the case where when the work robot 30 has advanced its work downward in the figure along the path 481 from the home position 460 and reached the passage just below the evacuation position 420 in the figure, there is an intrusion by an intruder through the window 470. If there is no intrusion, the work robot 30 is scheduled to proceed with the work using the path 481'. The intrusion by the intruder is detected by the detection of the intrusion sensor 253, and the abnormal occurrence location 480 is recognized as the vicinity of the window 470. As will be described later, when an abnormality occurs at the abnormal occurrence location 480, as the operation of the work robot 30, cases such as using the path 482 that goes to the abnormal occurrence location 480 at the shortest distance, using the path 485 that goes to the vicinity 490 of the abnormal occurrence location 480 at the shortest distance, and using the path 486 that omits a part of the planned work path 481' are conceivable. The vicinity 490 is the area within the passage among the circular areas having a predetermined radius centered on the abnormal occurrence location 480, but may be other shaped areas such as the area within the passage among the areas where the center of the circular area is the window 470. The detailed operation of the work robot 30 will be described later.

[0048] When an abnormality occurs due to an intrusion or an emergency report, in order to prevent the spread of damage, it is required to take measures such as verbally intimidating the intruder (suspicious person) and taking on-site photos to identify the cause of the abnormality. Therefore, it is required to quickly direct the work robot 30 to the site of the abnormality after the occurrence of the abnormality. On the other hand, for example, when there are users around the intruder, if the work robot 30 goes straight to the intruder's location carelessly, it may stimulate the intruder and cause harm to the users. Therefore, it is necessary to distinguish between the case of directing the work robot 30 straight to the site of the abnormality and the case of directing it to the site of the abnormality during the natural work operation of the work robot 30 according to the situation at the time of the occurrence of the abnormality.

[0049] Figure 3 is a sequence showing an example of the overall processing of the security system 1. This operation sequence is mainly executed by each control unit of each device in cooperation with each element of each device based on a program stored in each storage unit of each device in advance.

[0050] First, when the instruction means 132 of the server 10 reaches the start time indicated in the schedule information 121, it transmits a start signal for instructing the start of a predetermined work operation to the work robot 30 via the communication unit 11 (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 the current position information stored in the storage unit 37, and starts the instructed work operation. At this time, the instruction means 132 of the server 10 transmits information on the positions of fixed obstacles such as the wall 102, the facility equipment 410, and the partition 440 in the security map 122 together with the start signal to the work robot 30, and the operation control means 382 of the work robot 30 initializes the environmental map 371 based on the received information.

[0051] The operation control means 382 of the work robot 30 controls the traveling unit 34 based on the environmental map 371 to drive the work robot 30 while avoiding obstacles, and controls the working unit 35 to perform a working operation. The position monitoring means 381 periodically acquires the current position of the work robot 30 and the position of obstacles by a method such as SLAM (Simultaneous Localization and Mapping) based on the information obtained from the position detection unit 33. The position monitoring means 381 stores the acquired current position in the storage unit 37, and updates the environmental map 371 stored in the storage unit 37 when the position of the obstacle changes (step S101). When the current position is acquired, the position monitoring means 381 outputs a current position signal indicating the acquired current position to the server 10 via the communication unit 31 (step S102). On the other hand, the acquisition means 131 of the server 10 receives the current position signal from the work robot 30 via the communication unit 11, and stores the current position of the work robot 30 indicated by the received current position signal in the storage unit 12. Further, the instruction means 132 determines the operation to be executed by the work robot 30 from the content of the work operation to be executed at the current time indicated in the schedule information 121 or the place to be moved and the current position of the work robot 30. The instruction means 132 transmits an operation signal for causing the work robot 30 to execute the determined operation to the work robot 30 via the communication unit 11 (step S103). When the operation control means 382 of the work robot 30 receives the operation signal from the server 10 via the communication unit 31, it executes the instructed operation.

[0052] The state monitoring means 231 of the security device 20 monitors whether the user has performed an operation to switch the security mode of the security device 20, and receives an instruction to change the security mode from the security operation unit 251 when the user has performed an operation such as switching the security mode (step S104). When receiving the instruction to change the security mode, the state monitoring means 231 changes the security mode of the security device 20 to the mode specified by the received change instruction (step S105). The status monitoring means 231 generates a status signal indicating the security mode and outputs it to the server 10 via the communication unit 21 (step S106). The security mode is set by the user through the input unit of the security operation unit 251. On the other hand, the acquisition means 131 of the server 10 receives the status signal from the security device 20 via the communication unit 11, determines whether or not there is a user in the security target according to the received status signal, and stores it in the storage unit 12 (step S107). Specifically, when it is a status signal indicating the security set mode, it is determined that there is no user, and when it is a status signal indicating the security release mode or the partial security set mode, it is determined that there is a user. The acquisition means 131 is an example of the determination means.

[0053] In addition, 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 receives an entry instruction or an exit instruction from the entry / exit operation terminal 250 when the user has performed an entry operation or an exit operation. Further, the status monitoring means 231 periodically receives the image captured by the imaging unit 252 from the imaging unit 252 (step S108). When receiving an entry instruction, an exit instruction, or an image, the status monitoring means 231 generates a user signal indicating the congestion status or movement status of the user, and outputs it to the server 10 via the communication unit 21 (step S109). When receiving an entry instruction or an exit instruction, the status monitoring means 231 calculates the number of people present in the security target based on the number of entry instructions and exit instructions received so far. When the number of people present exceeds a predetermined number, the status monitoring means 231 generates a user signal indicating that it is congested, and when the number of people present is equal to or less than the predetermined number, generates a user signal indicating that it is not congested. Further, the status monitoring means 231 sequentially receives images from the imaging unit 252, detects a change 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 change areas. The status monitoring means 231 tracks the corresponding person areas between the images, and detects the movement amount of each person from the change amount of the position of the person area. When the average value, median value, or maximum value of the movement amounts of each person exceeds a predetermined threshold, the status monitoring means 231 generates a user signal indicating that the movement of the user is large, and when the average value, median value, or maximum value of the movement amounts of each person is equal to or less than the predetermined threshold, generates a user signal indicating that the movement of the user is small. On the other hand, the acquisition means 131 of the server 10 receives the user signal from the security device 20 via the communication unit 11, and stores in the storage unit 12 whether the user is congested and / or whether the movement of the user is large according to the received user signal (step S110). Note that the acquisition means 131 of the server 10 may receive an entry instruction, an exit instruction, or an image, and determine whether a user exists in the security target in step S107 based on the received information.

[0054] Here, the security target for determining whether a user is present may be the entire facility to be secured, a room or floor that includes the location where an abnormality has occurred, or a predetermined range around the location where an abnormality has occurred. When the entire facility to be secured is the target, for example, in any of the security targets of the facility, when in the security release mode or when a person is photographed by the imaging unit 252, it is determined that a user is present in the security target when the entry instruction exceeds the exit instruction. Also, 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. Also, when a predetermined range around the location where an abnormality has occurred is the target, the position of the user may be specified by detecting a person from an image or the like, and it may be determined whether a user is present within the predetermined range around the location where an abnormality has occurred.

[0055] Also, 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 facility equipment sensor 255, and receives an abnormality detection signal or a notification signal from each unit when an abnormality occurs (step S111). When an abnormality detection signal or a notification signal is received, the abnormality monitoring means 232 executes an abnormality signal generation process (step S112). In the abnormality signal generation process, the abnormality monitoring means 232 generates an abnormality signal including type information indicating the type of abnormality, location information indicating the location where the abnormality has occurred, and occupancy information indicating whether a user is present in the security target. 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 S113). On one hand, the instruction means 132 of the server 10 receives an abnormal signal from the security device 20 via the communication unit 11, and executes a control signal generation process according to the type of abnormality included in the received abnormal signal (step S114). In the control signal generation process, the instruction means 132 generates a control signal for controlling the work robot 30 to execute an operation according to the abnormal signal, the status signal, and the user signal. The control signal includes operation information indicating the operation to be executed by the work robot 30 and location information indicating the location where the abnormality occurred. The details of the control signal generation process will be described later. Next, the instruction means 132 outputs the control signal generated in the control signal generation process to the work robot 30 via the communication unit 11 (step S115). On the other hand, the operation control means 382 of the work robot 30 receives a control signal from the server 10 via the communication unit 31, and executes an operation process according to the operation included in the received control signal (step S116). In the operation process, the operation control means 382 causes the work robot 30 to execute the operation included in the received control signal. The details of the operation process will be described later.

[0056] The location where the abnormality occurred indicates the input location in the case of input by the input unit of the security operation unit 251, the corresponding location by image analysis when the abnormality is detected by the image obtained by the imaging unit 252, and the arrangement position of the intrusion sensor in the case of abnormality detection by the intrusion sensor 253 as shown in FIG. 2. Further, the location where the abnormality occurred indicates the arrangement position of the fire sensor when a fire is detected by the fire sensor 254, and the location where the facility equipment 410 is located in the case of abnormality detection by the facility equipment sensor 255. Note that the security device 20 outputs the location information indicating the location where the abnormality occurred together with the abnormal signal as will be described later.

[0057] FIG. 4 is a flowchart showing an example of the abnormal signal generation process by the security device 20. The flow of the operation shown in FIG. 4 is executed in step S112 of the flowchart shown in FIG. 3.

[0058] First, the abnormality monitoring means 232 identifies the type of the received abnormality detection signal or notification signal (step S201). When 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, when the received signal is an emergency notification signal, the abnormality monitoring means 232 sets "emergency notification" as the type information (step S203). On the other hand, when 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, when the received signal is an abnormality detection signal indicating that a failure of a device has occurred, the abnormality monitoring means 232 sets "failure" as the type information (step S205). On the other hand, when the received signal is a first aid notification signal, the abnormality monitoring means 232 sets "first aid notification" as the type information (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. Further, based on the location information, occupancy information indicating whether or not a user exists in the area to be guarded is set, and an abnormality signal including the set type information, location information, and occupancy information is generated (step S207), and a series of steps is terminated. When the received signal is an emergency notification signal or a first aid notification signal and there is no input of the abnormality occurrence location 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.

[0059] FIG. 5 is a flowchart showing an example of the control signal generation process by the server 10. The flow of the operation shown in FIG. 5 is executed in step S114 of the flowchart shown in FIG. 3.

[0060] First, the instruction means 132 identifies the type of abnormality indicated by the type information included in the received abnormality signal (step S301).

[0061] When the type of the abnormality is an intrusion, the instruction means 132 reads out the information stored in the storage unit 12 in step S107 of FIG. 3, and determines whether or not there is a user at the target of security (step S302). The instruction means 132 is an example of a determination means. When there is no user at the target of security, the instruction means 132 sets, as operation information, a first coping operation of moving to the abnormality occurrence location by the shortest path without performing a work operation (step S303). On the other hand, when there is a user at the target of security, the instruction means 132 sets, as operation information, a second coping operation of moving to the abnormality occurrence location while performing a work operation (step S304). The second coping operation includes any one of the first operation to the fourth operation described later. The first operation is an operation in which the work robot 30 moves from the current position to a position where the abnormality occurrence location can be imaged by the imaging unit 32 by the shortest path based on the environmental map 371, and then executes a work operation while imaging the abnormality occurrence location. The position where imaging is possible is in the vicinity of the abnormality occurrence location (for example, within a radius of 5 m from the abnormality occurrence location), and is determined based on the obstacle information in the environmental map 371. Specifically, when there is no obstacle in the vicinity of the abnormality occurrence location, the entire vicinity becomes a position where imaging is possible, and when there is an obstacle, the area excluding the area outside the obstacle becomes a position where imaging is possible. In the example of FIG. 2, it is a case where the outer edge of the vicinity 490 of the abnormality occurrence location is moved to and imaging is attempted using the path 485. The second operation is an operation in which the work robot 30 moves from the current position to the abnormality occurrence location or its vicinity by a path obtained by omitting a part of the planned work path based on the environmental map 371. In the example of FIG. 2, it is a case where the work content is not changed and the shortened path 486 is used. The third operation is an operation in which the work robot 30 moves to the location where an abnormality has occurred in a shorter time than originally planned before the occurrence of the abnormality by changing the work operation set by the operation signal without changing the movement path and executing the changed work operation. Examples of changing the work operation include reducing the work area, reducing the time when the time for performing the work operation is set, changing the work operation to one that can be executed in a shorter time, and omitting some work operations when a plurality of work operations are set. Reducing the work area includes omitting work operations in a predetermined number of sub-areas when the work area is divided into a plurality of sub-areas, and reducing the time for performing the work operation includes reducing the work time per unit area. In the example of FIG. 2, it is a case where the work operation is shortened while passing through the original path 481'. The fourth operation is an operation in which the work robot 30 performs work while imaging the location where an abnormality has occurred by the imaging unit 32 based on the environmental map 371 without changing the movement path, if possible. An example of a work operation in which the location 480 where an abnormality has occurred can be imaged is a work operation in which the work robot 30 sets its own orientation so that the location where an abnormality has occurred is included in the viewing angle of the imaging unit 32. In the example of FIG. 2, it is a case where imaging is performed while passing through the original path 481' when the location 480 where an abnormality has occurred is included in the viewing angle of the imaging unit 32.

[0062] Thereby, when an intruder intrudes and there is no user present, the security system 1 can directly move the work robot 30 to the position of the intruder and quickly take actions such as intimidating the intruder by voice and photographing the scene. On the other hand, when an intruder intrudes and there is a user present, the security system 1 moves the work robot 30 during natural work operations to make the intruder think that the work robot 30 is working, thereby stimulating the intruder and suppressing the intruder from causing harm to the user, while moving the work robot 30 to the position of the intruder to perform on-site confirmation.

[0063] On the one hand, when the type of abnormality is an emergency report, the instruction means 132 sets the second countermeasure operation as operation information (step S305). When the type of abnormality is an emergency report, since the user who issued the report is always present in the security target, the instruction means 132 sets the second countermeasure operation as operation information without determining whether the user exists in the security target.

[0064] On the other hand, when the type of abnormality is a fire, the instruction means 132 reads the information stored in the storage unit 12 in step S107 of FIG. 3 and determines whether a user exists in the security target (step S306). If no user exists in the security target, the instruction means 132 sets the first countermeasure operation as operation information (step S307). On the other hand, if a user exists in the security target, the instruction means 132 reads the information stored in the storage unit 12 in step S110 of FIG. 3 and determines whether the users are congested (step S308). If the users are not congested, the instruction means 132 sets the first countermeasure operation as operation information (step S307). On the other hand, if the users are congested, the instruction means 132 reads the information stored in the storage unit 12 in step S110 of FIG. 3 and determines whether the movement of the users is frequent (step S309). If the movement of the users is less, the instruction means 132 sets the first countermeasure operation as operation information (step S307). On the other hand, if the movement of the users is frequent, the instruction means 132 sets the evacuation operation as operation information (step S310). The evacuation operation includes any one of a first evacuation operation in which the work robot 30 stops by avoiding to the end of the passage, a second evacuation operation in which the work robot 30 returns to the home position 460 and stops, and a third evacuation operation in which the work robot 30 moves to a predetermined evacuation position 420 and stops. The security system 1 can cause the work robot 30 to execute an appropriate evacuation operation according to the use of the security system 1. Note that either or both of steps S308 and S309 may be omitted.

[0065] In this way, when the instruction means 132 determines, based on the status signal, that the user is not present, it causes the work robot 30 to execute a coping operation of moving to the location where the abnormality has occurred, and when it determines, based on the status signal, that the user is present, it causes the work robot 30 to execute an evacuation operation. Thus, the security system 1 can suppress the situation where the work robot 30 hinders the evacuation of the user when a disaster occurs, and can move the work robot 30 to the location where the abnormality has occurred to appropriately respond to the disaster when the user is not present. In particular, when the instruction means 132 determines, based on the user signal, that the user is present but the situation is one where the user is not congested or the movement of the user is small, it causes the work robot 30 to execute a coping operation. Thus, the security system 1 can move the work robot 30 to the location where the abnormality has occurred to appropriately respond to the disaster when the work robot 30 does not hinder the evacuation of the user even when the user is present. On the other hand, when the instruction means 132 determines, based on the user signal, that the user is congested or the movement of the user is large, it causes the work robot 30 to execute an evacuation operation. In particular, in the evacuation operation, the instruction means 132 controls the work robot 30 so that the work robot 30 moves to a predetermined evacuation position 420 and stops. Thus, the security system 1 can suppress the situation where the work robot 30 hinders the evacuation of the user, especially when the movement of the user is large.

[0066] On the other hand, when the type of the abnormality is a failure, the instruction means 132 sets a continuous operation as operation information (step S311). On the other hand, when the type of the abnormality is an emergency call, the instruction means 132 sets a first coping operation as operation information (step S312). Next, the instruction means 132 sets the location information included in the received abnormality signal as the location information included in the control signal, generates a control signal including the set operation information and location information (step S313), and ends the series of steps. In this way, the instruction means 132 controls the work robot 30 according to the abnormal signal and the status signal received from the security device 20.

[0067] FIG. 6 is a flowchart showing an example of the operation process by the work robot 30. The flow of the operation shown in FIG. 6 is executed in step S116 of the flowchart shown in FIG. 3.

[0068] First, the operation control means 382 identifies the operation indicated by the operation information included in the received control signal (step S401). When 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 a series of steps. The operation control means 382 stops the operation of the working unit 35, calculates the shortest path from the current position of the work robot 30 to the abnormal occurrence location 480 indicated by 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 through the calculated path. Here, the shortest path is preferably a path that can reach the abnormal occurrence location in the shortest distance or the shortest time, but is not limited thereto. A path candidate in which the required distance or the required time from the current position to the abnormal occurrence location is within a certain range (for example, within +10% from the shortest distance or the shortest time) may be generated, and the one selected from the path candidates may be used as the shortest path. On the other hand, when 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 a series of steps. The operation control means 382 continues the operation of the working unit 35, calculates the path from the current position of the work robot 30 to the abnormal occurrence location or its vicinity indicated by 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 through the calculated path. In these cases, after the work robot 30 arrives at the abnormal occurrence location 480 or its vicinity 490, the work robot 30 may transmit an image of the abnormal occurrence location 480 captured by the imaging unit 32 to the server 10, the security device 20, etc. Thereby, the security system 1 can notify the administrator of the situation at the abnormal occurrence location. In particular, when the second countermeasure operation includes the first operation, the work robot 30 moves from the current position to a position where it can image the abnormality occurrence location along the shortest path and performs the work operation while taking pictures. As a result, while being able to quickly check the situation of the abnormality occurrence location, it does not go straight to the abnormality occurrence location, and when it reaches the vicinity, it takes pictures while performing the work operation, so the risk of inadvertently stimulating the intruder can be reduced. When the second countermeasure operation includes the second operation, the work robot 30 moves from the current position to the abnormality occurrence location or its vicinity along a path that omits a part of the planned work path. Since the path along which the work robot 30 moves becomes shorter, the security system 1 can notify the administrator of the situation of the abnormality occurrence location earlier than when the work robot 30 moves along the planned work path. When the second countermeasure operation includes the third operation, since the work robot 30 moves to the abnormality occurrence location in a shorter time than the plan before the abnormality occurs, the security system 1 can notify the administrator of the situation of the abnormality occurrence location earlier than when the third operation is not performed. When the second countermeasure operation includes the fourth operation, the work robot 30 performs a work operation that enables imaging of the abnormality occurrence location. As a result, the abnormality occurrence location is likely to be included in the image captured by the work robot 30, so the security system 1 can more reliably notify the administrator of the situation of the abnormality occurrence location. On the other hand, when the specified operation is an evacuation operation, the operation control means 382 controls the traveling unit 34 and the working unit 35 to interrupt the work and execute the evacuation operation (step S404), and ends a series of steps. In this case, the operation control means 382 ends the operation of the working unit 35. When the first evacuation operation is set as the evacuation operation, the operation control means 382 detects the wall 102 or the partition 440 closest to the work 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 at the shortest distance and stop avoiding the end of the passage. On the other hand, when the second evacuation operation is set as the evacuation operation, the operation control means 382 calculates the shortest path from the current position of the work robot 30 to the home position 460 from the environmental map 371, and controls the traveling unit 34 and the working unit 35 to move along the calculated path and stop. Further, when the third evacuation operation is set as the evacuation operation, the operation control means 382 calculates the shortest path from the current position of the work robot 30 to the evacuation position 420 from the environmental map 371, and controls the traveling unit 34 and the working unit 35 to move along the calculated path and stop. On the other hand, when the specified operation is work continuation, the operation control means 382 controls the traveling unit 34 and the working unit 35 to continue the ongoing work (step S405), and ends a series of steps.

[0069] Note that the path along which the work robot 30 moves may be calculated by the server 10 and indicated by a control signal. In that case, the operation control means 382 controls the traveling unit 34 to move along the path included in the control signal.

[0070] In the office 100 shown in FIG. 2, when the intrusion sensor 253 detects an intruder at the abnormal occurrence location 480, the work robot 30 receives a control signal instructing the first response operation or the second response operation from the server 10, and moves to the abnormal occurrence location 480 through the path 482. Alternatively, in this scenario, the work robot 30 receives a control signal instructing the second response operation and moves to the vicinity 490 of the abnormal occurrence location 480 through the path 485 or to the abnormal occurrence location 480 through the path 486. On the other hand, when the work robot 30 receives a control signal instructing the third evacuation operation from the server 10, it moves to the evacuation position 420.

[0071] As described above, when an abnormality related to security occurs, the server 10 according to the present invention generates a control signal according to whether or not there is a user in the guarded object and transmits it to the work robot 30. Since the security system 1 can control the operation of the work robot 30 according to the presence or absence of a user when an abnormality occurs, an appropriate response according to the situation becomes possible.

[0072] Also, the security map 122 may include information on the shooting range of the imaging unit 252, and the server 10 may compare the abnormal occurrence location 480 with the shooting range of the imaging unit 252 and determine whether or not the abnormal occurrence location 480 is included in the shooting range. In the above embodiment, in a state where a user exists, the second response operation is executed from the viewpoint of performing on-site confirmation (such as shooting) while considering the user. However, when the abnormal occurrence location 480 is included in the shooting range of the imaging unit 252, it is considered that the intruder can be photographed, so the necessity of going to the abnormal occurrence location 480 for shooting is reduced. Therefore, in such a case, if the user exists, the operation of going to the abnormal occurrence location 480 is not executed, and the control is performed so as to continue the work operation. If the user does not exist, the control is performed so as to execute the first response operation to perform a voice intimidation or the like on the intruder. When continuing the work operation, based on the schedule information 121, if the abnormal occurrence location 480 is included in the movement path, it is preferable to reset the movement path that avoids the abnormal occurrence location 480.

[0073] In the case of an abnormality related to an intrusion, it is required to preserve traces such as the footprints of the intruder. Therefore, when using a cleaning robot as the work robot, there is a risk that the traces of the intruder will be erased when the work operation is executed. Therefore, considering the type of work robot, in the case of a cleaning robot, the work operation may not be executed in the second countermeasure operation.

[0074] Note that the security system 1 may distribute and arrange a plurality of servers 10 on the network so as to be able to provide services in the form of cloud computing, and each server 10 may cooperate to share each process shown in FIG. 3. In particular, the security system 1 may separately provide a server 10 that manages the security device 20 and a server 10 that controls the work robot 30, and each server 10 may cooperate with each other to manage the security device 20 and the work robot 30.

[0075] In the above embodiment, the security system 1 includes a server 10, a security device 20, and a work robot 30. The server 10 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 directly communicatively connected to transmit and receive an abnormal signal, a control signal, etc. without going through the server 10. In this case, all of the functions related to the generation of the control signal and the like in the server 10 of 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.

[0076] FIG. 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 the components corresponding to the security system 1 of the above embodiment, and hereinafter, the description will focus on the differences from the security system 1 of the above embodiment. In this embodiment, the security system 2 includes a security device 20-2 and a work robot 30-2 that are wirelessly communication-connected to each other, and the security device 20-2 realizes all the functions related to the control signal of the server 10 in the above embodiment.

[0077] 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 conforming to mutually compatible short-range wireless communication standards such as IEEE802.11, Bluetooth (registered trademark), and specific low-power wireless. The communication unit 21-2 and the communication unit 31-2 are a transmission unit and a reception unit that communicatively connect 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 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.

[0078] 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. Also, 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 storage unit 22-2. Also, the instruction means 234-2 determines the operation to be executed by the work robot 30-2 and transmits an operation signal to the work robot 30-2 via the communication unit 21-2. Also, in step S106, the state monitoring means 231-2 of the security device 20-2 determines whether or not there is a user present in the security target without outputting a state signal and stores it in the storage unit 22-2. Also, in step S109, the state monitoring means 231-2 stores in the storage unit 22-2 whether the user is congested and / or whether the user moves frequently without outputting a user signal. Further, in step S106, it may be determined whether a user exists as a security target from the information or image of the entry instruction and the exit instruction. Also, in step S113, the abnormality monitoring means 232-2 outputs an abnormality signal to the instruction means 132, and in steps S114 and S115, 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 according to the detection result of the state detection unit, and controls the work robot 30-2 according to the detection of the abnormality and the detection of the user. Also, the path along which the work robot 30-2 moves in the security system 2 may be calculated by the security system 2 and indicated by a control signal. In that case, the operation control means 382-3 controls the traveling unit 34-3 to move along the path included in the control signal.

[0079] FIG. 8 is a diagram showing the configuration of a security system 3 according to still another embodiment of the present invention. In the present embodiment, the security system 3 has a security device 20-3 and a work robot 30-3 that are wirelessly communication-connected to each other, similarly to the security system 2. In the present embodiment, the work robot 30-3 realizes all the functions related to the control signal of the server 10 in the above embodiment.

[0080] 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 conforming to corresponding short-range wireless communication standards, and are a transmission unit and a reception unit that communicate and connect between the security device 20-3 and the work robot 30-3 to transmit and receive various signals. The storage 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 work robot 30 has an acquisition means 383-3 and an instruction means 384-3 in addition to the position monitoring means 381-3 and the operation control means 382-3.

[0081] In the security system 3, in step S100 of the operation sequence shown in FIG. 3, the operation control means 382-3 of the work robot 30-3 spontaneously starts the work operation. Also, in step S102, the position monitoring means 381-3 of the work robot 30-3 stores the current position of the work robot 30-3 in the storage unit 37-3 without outputting a current position signal. Also, the instruction means 384-3 determines the operation to be executed from the content of the work operation being executed and the current position of the work robot 30, and executes the determined operation. Also, in step S106, the state monitoring means 231-3 of the security device 20-3 outputs a state signal to the work robot 30-3 via the communication unit 21-3. In step S107, the acquisition means 383-3 of the work robot 30-3 stores in the storage unit 37-3 whether or not there is a user in the security target. Also, in step S109, the state monitoring means 231-3 outputs a user signal to the work robot 30-3 via the communication unit 21-3. In step S110, the acquisition means 383-3 of the work robot 30-3 stores in the storage unit 37-3 whether or not the users are congested and / or whether or not the movement of the users is frequent. Also, in step S113, the abnormality monitoring means 232-3 outputs an abnormality signal to the work robot 30-3 via the communication unit 21-3. In steps S114 and S115, the instruction means 384-3 of the work robot 30-3 executes a control signal generation process and outputs a control signal to the operation control means 382-3. That is, in this case, when the communication unit 31-3 receives an abnormality signal, a state signal, and a user signal, the work robot 30-3 controls the operation mechanism so as to execute an operation according to the abnormality signal, the state signal, and the user signal.

[0082] Similar to security system 1, security systems 2 and 3 can control the operations of work robots 30-2 and 30-3 according to the presence or absence of users when an abnormality occurs, enabling appropriate responses according to the situation.

[0083] As described above, within the scope of the present invention, various changes can be made according to the implemented forms.

Explanation of Signs

[0084] 1 Security system, 10 Server, 11 Communication unit (transmission unit), 13 Control unit, 20 Security device, 22 Storage unit (storage means), 23 Control unit, 30 Work robot, 31 Communication unit (reception unit), 32 Imaging unit (imaging means), 34 Travel unit (operation mechanism), 35 Work unit (operation mechanism), 38 Control unit, 131 Acquisition means (judgment means), 132 Instruction means (judgment means), 231 State monitoring means (judgment means), 251 Security operation unit (detection unit), 253 Intrusion sensor (detection unit), 371 Environmental map (environmental map information)

Claims

1. A security system including a work robot capable of autonomous movement and capable of executing at least a work operation of performing a predetermined work according to a work schedule, a first countermeasure operation of moving to an abnormality occurrence location without performing the work operation, and a second countermeasure operation of moving to the abnormality occurrence location while performing the work operation, and a security device that detects an abnormality related to security. When the security device detects the abnormality during the execution of the work operation, the work robot executes either the first countermeasure operation or the second countermeasure operation instead of the work operation. In the first countermeasure operation, the work robot moves from the current position to the abnormality occurrence location along the shortest path regardless of the work process in the work schedule. In the second countermeasure operation, the work robot moves to the abnormality occurrence location while performing the work operation with a part of the work process shortened. A security system characterized by the above.

2. A security system including a work robot capable of autonomous movement and capable of executing at least a work operation of performing a predetermined work according to a work schedule, a first countermeasure operation of moving to an abnormality occurrence location without performing the work operation, and a second countermeasure operation of moving to the abnormality occurrence location while performing the work operation, and a security device that detects an abnormality related to security. The work robot further includes imaging means for photographing the surroundings. When the security device detects the abnormality during the execution of the work operation, the work robot executes either the first countermeasure operation or the second countermeasure operation instead of the work operation. In the second countermeasure operation, the work robot moves from the current position to a position where the abnormality occurrence location can be imaged by the imaging means along the shortest path, and then executes the work operation while photographing the abnormality occurrence location. A security system characterized by the above.

3. A security system including a work robot capable of autonomous movement and capable of executing at least a work operation of performing a predetermined work according to a work schedule, a first countermeasure operation of moving to an abnormality occurrence location without performing the work operation, and a second countermeasure operation of moving to the abnormality occurrence location while performing the work operation, and a security device that detects an abnormality related to security. The security device further includes storage means for storing whether or not a user exists in the security target. The work robot When the security device detects the abnormality during the execution of the work operation, the work robot executes either the first countermeasure operation or the second countermeasure operation instead of the work operation. When the security device detects the abnormality and there is no user present at the security target, the first countermeasure operation is executed, and when there is a user present at the security target, the second countermeasure operation is executed. A security system characterized by this.

4. The security device includes an imaging unit that captures images of the security target. When there is a user present at the security target and the location where the abnormality occurs is not included in the imaging range of the imaging unit, the work robot executes the second countermeasure operation, and when the location where the abnormality occurs is included in the imaging range of the imaging unit, the work robot continues the work operation without executing the second countermeasure operation. The security system according to claim 3.

5. A work robot that is capable of autonomous movement and can execute at least a work operation of performing a predetermined work according to a work schedule, a first countermeasure operation of moving to the location where the abnormality occurs without performing the work operation, and a second countermeasure operation of moving to the location where the abnormality occurs while performing the work operation, and a server communicably connected to a security device that detects an abnormality related to crime prevention and outputs an abnormality signal. When receiving the abnormality signal 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 either the first countermeasure operation or the second countermeasure operation. A transmission unit for transmitting the control signal to the work robot. The control unit generates a control signal for causing the work robot to move from the current position to the location where the abnormality occurs along the shortest path regardless of the work process in the work schedule in the first countermeasure operation, and to move to the location where the abnormality occurs while performing the work operation with a part of the work process shortened in the second countermeasure operation. A server characterized by this.

6. A work robot having imaging means for capturing images of the surroundings, capable of autonomous movement, and capable of executing at least a work operation of performing a predetermined work according to a work schedule, a first countermeasure operation of moving to the location where the abnormality occurs without performing the work operation, and a second countermeasure operation of moving to the location where the abnormality occurs while performing the work operation, and a server communicably connected to a security device that detects an abnormality related to crime prevention and outputs an abnormality signal. When receiving the abnormality signal 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 either the first countermeasure operation or the second countermeasure operation. A transmitter for transmitting the control signal to the work robot, The control unit causes the work robot to move from the current position to the position where the abnormal occurrence location can be imaged by the imaging means in the shortest path in the second countermeasure operation, and then generates a control signal for causing the work robot to execute the work operation while imaging the abnormal occurrence location. A server characterized by having the above. **Claim 7** A security device communicably connected to a work robot that is capable of autonomous movement and can execute at least a work operation of performing a predetermined work according to a work schedule, a first countermeasure operation of moving to an abnormal occurrence location without performing the work operation, and a second countermeasure operation of moving to the abnormal occurrence location while performing the work operation, A detection unit for detecting an abnormality related to crime prevention, When an abnormality related to crime prevention is detected, a control unit that generates a control signal for causing the work robot that is executing the work operation to execute either the first countermeasure operation or the second countermeasure operation, A transmitter for transmitting the control signal to the work robot, In the first countermeasure operation, the control unit causes the work robot to move from the current position to the abnormal occurrence location along the shortest path regardless of the work process in the work schedule, and in the second countermeasure operation, the control unit generates a control signal for causing the work robot to move toward the abnormal occurrence location while performing the work operation with a partially shortened work process. A security device characterized by the above. **Claim 8** A work robot having imaging means for imaging the surroundings, communicably connected to a security device that is capable of autonomous movement and can execute at least a work operation of performing a predetermined work according to a work schedule, a first countermeasure operation of moving to an abnormal occurrence location without performing the work operation, and a second countermeasure operation of moving to the abnormal occurrence location while performing the work operation, A detection unit for detecting an abnormality related to crime prevention, When an abnormality related to crime prevention is detected, a control unit that generates a control signal for causing the work robot that is executing the work operation to execute either the first countermeasure operation or the second countermeasure operation, A transmitter for transmitting the control signal to the work robot, The control unit generates a control signal for causing the work robot to move from the current position to a position where the abnormal occurrence location can be imaged by the imaging means along the shortest path in the second countermeasure operation, and then execute the work operation while imaging the abnormal occurrence location. A security device characterized by the above.

9. A work robot that is capable of autonomous movement and can execute at least a work operation of performing a predetermined work according to a work schedule, a first countermeasure operation of moving to an abnormal occurrence location without performing the work operation, and a second countermeasure operation of moving to the abnormal occurrence location while performing the work operation, and is communicably connected to a security device that detects an abnormality related to crime prevention and outputs an abnormal signal, A receiving unit for receiving the abnormal signal from the security device; An operating mechanism for operating the work robot; When the receiving unit receives the abnormal signal, a control unit that controls the operating mechanism to execute either the first countermeasure operation or the second countermeasure operation with respect to itself that is performing the work operation. In the first countermeasure operation, the control unit heads from the current position to the abnormal occurrence location along the shortest path regardless of the work process in the work schedule, and in the second countermeasure operation, controls the operating mechanism to head to the abnormal occurrence location while performing the work operation with a partially shortened work process. A work robot characterized by the above.

10. A work robot that is capable of autonomous movement and can execute at least a work operation of performing a predetermined work according to a work schedule, a first countermeasure operation of moving to an abnormal occurrence location without performing the work operation, and a second countermeasure operation of moving to the abnormal occurrence location while performing the work operation, and is communicably connected to a security device that detects an abnormality related to crime prevention and outputs an abnormal signal, A receiving unit for receiving the abnormal signal from the security device; An operating mechanism for operating the work robot; When the receiving unit receives the abnormal signal, a control unit that controls the operating mechanism to execute either the first countermeasure operation or the second countermeasure operation with respect to itself that is performing the work operation; Imaging means for imaging the surroundings; In the second countermeasure operation, the operating mechanism is controlled to move from the current position to a position where the abnormal occurrence location can be imaged by the imaging means along the shortest path, and then execute the work operation while imaging the abnormal occurrence location. A work robot characterized by the above.

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