Security systems, servers, security devices, and work robots

Abstract

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

Description

Technical Field

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

Background Art

[0002] Conventionally, a system has been developed for causing a work robot to execute a predetermined operation based on the operation schedule of the work robot.

[0003] For example, Patent Document 1 discloses generating operation schedule information of a robot cleaner that cleans a room based on schedule information indicating the contents of actions of a plurality of users, and controlling the driving operation of the robot cleaner based on the generated operation schedule information.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] For example, when a work robot is used in a facility that introduces a security system, it is required to more appropriately control the work robot based on information obtained from the security system.

[0006] An object of the present invention is to provide a security system, a server, a security device, and a work robot capable of more appropriately controlling a work robot. [[ID=z44]]

Means for Solving the Problems

[0007] According to one aspect of the present invention for solving the above problems, a security system is provided comprising: a work robot that is autonomously mobile and performs predetermined tasks; and a security device that monitors a target and has setting means for switching and setting a plurality of security modes according to the operator's operation, wherein the security system comprises determination means for determining whether or not time conditions related to the work robot's execution are met, and control means for controlling the execution of the work robot according to the determination result of the time conditions and the type of security mode set.

[0008] In this security system, the multiple security modes include a security set mode in which the target is monitored by security sensors, and a security deactivation mode in which no monitoring by security sensors is performed. Preferably, the control means controls the work robot to start a predetermined task when the time conditions are met and the security mode is the security set mode.

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

[0010] In this security system, it is preferable that the time condition is that the current time falls within the time period during which the work robot is permitted to operate.

[0011] In this security system, the time condition is that the current time falls within the time period during which the work robot is permitted to operate, and it is preferable that this time period is also within the time period during which switching from security set mode to security deactivation mode is prohibited.

[0012] Preferably, this security system further includes a storage means for storing the time required for a scheduled task, and the control means controls the work robot to start the task, regardless of the set security mode, if the remaining time in the time period during which the work robot is permitted to perform the task is less than or equal to the time required for any unperformed tasks.

[0013] In this security system, the determination means determines whether or not the work completion conditions of the work robot are met, and the control means, if it is determined that the completion conditions are met, controls the work robot performing a predetermined task to complete that task, and preferably the completion condition is when the security mode is set to the security release mode by the setting means while the work robot is performing a predetermined task.

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

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

[0016] According to another aspect of the present invention, a server is provided that is communicatively connected to a work robot that is autonomously mobile and performs predetermined tasks, and a security device that monitors a target and has setting means for switching and setting a plurality of security modes in accordance with the operator's operation, the server having determination means for determining whether or not time conditions related to the work robot's execution are met, and control means for controlling the work robot's execution according to the determination result of the time conditions and the type of security mode set.

[0017] According to another aspect of the present invention, there is provided a security device that is capable of autonomous movement and is communicably connected to a work robot that performs a predetermined task, the security device including: setting means for monitoring a monitoring target and switching and setting a plurality of security modes according to an operation of an operator; determination means for determining whether or not time conditions regarding the performance of the task by the work robot are satisfied; and control means for controlling the performance of the task by the work robot according to the determination result of the time conditions and the type of the set security mode.

[0018] According to another aspect of the present invention, there is provided a work robot that is capable of autonomous movement and is communicably connected to a security device having setting means for monitoring a monitoring target and switching and setting a plurality of security modes according to an operation of an operator, the work robot including: determination means for determining whether or not time conditions regarding the performance of the task by the work robot are satisfied; and control means for controlling the performance of the task by the work robot according to the determination result of the time conditions and the type of the set security mode.

Advantages of the Invention

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

Brief Description of the Drawings

[0020] [Figure 1] It is a diagram showing a schematic configuration of a security system according to an embodiment of the present invention. [Figure 2] It is an example of a work area table 120. [Figure 3] It is a plan view of an office which is an example of a work area. [Figure 4] It is a plan view of a first work area 111. [Figure 5] It is a flowchart showing an example of start determination processing by the server 10. [Figure 6] It is a flowchart showing an example of work area extraction processing by the server 10. [Figure 7]It is a flowchart showing an example of the end determination process by server 10. [Figure 8] It is a diagram showing the configuration of another security system 2. [Figure 9] It is a diagram showing the configuration of yet another security system 3.

Embodiments for Carrying Out the Invention

[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 embodiments 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 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, factories, etc. Here, the security target is composed of one or a plurality of security sections. 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. Also, the security device 20 is connected to various devices and sensors such as a security operation unit 251, an intrusion sensor 252, and a fire sensor 253 via wired / wireless communication. 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.

[0023] [[ID=I21]] 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 IEEE 802.11, and communicates with the security device 20 and the work robot 30 via a wide-area communication network such as a LAN and the Internet to send and receive various signals.

[0025] The storage unit 12 includes semiconductor memory such as ROM, RAM, and EPROM, magnetic storage media such as magnetic disks (HDD), and / or optical storage media such as DVD-RAM. The storage unit 12 stores the code and various data of the computer program 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 known methods via computer-readable storage media such as DVD-ROM or a communication line. The storage unit 12 stores the work area table 120. The storage unit 12 is an example of a storage means.

[0026] Figure 2 shows an example of a work area table 120. The work area table 120 stores information such as work time information, security maps, and the latest status of each work area, with these information being linked to each other. The work area indicates the region where the work robot 30 will perform its tasks. The work time information includes the available work time, the time when security deactivation is prohibited, the expected arrival time, and the duration of the work. The available work time indicates the time period during which the work robot 30 is permitted to perform work. The time when security deactivation is prohibited indicates the time period during which the transition from security set mode to security deactivation mode is prohibited in the work area that is subject to security, such as during late-night hours when no user entry is expected. Details of security set mode and security deactivation mode will be described later. The expected arrival time indicates the time when the first employee is expected to arrive at the work area. The duration of the work indicates the time required for the work to be performed by the work robot 30 in the work area. In other words, the duration of the work is the time required for the scheduled work. The security map is a map that shows the area that is the target of security device 20 and the work area of ​​work robot 30. The latest status of the work area includes the security mode, set time, operator attributes, work status, etc. The security mode is set for each security area and indicates the security mode set in the security area corresponding to the work area. Here, the relationship between the work area and the security area is that the work area and the security area may be the same, or multiple work areas may be configured as a single security area. In this embodiment, the work area and the security area will be described as the same area. The set time indicates the latest time when the security mode was set in each work area. Operator attributes indicate the attributes of the operator of the security device 20 that set the security mode in each work area. Attributes include attributes related to the work of the work robot 30, such as cleaning staff, and attributes not related to the work of the work robot 30, such as security guards and general users. The work status indicates the status of the work of the work robot 30 in each work area. The work status includes not performed, in progress, and completed. The initial value of the work status is not performed.

[0027] 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 memory unit 12. A multiprocessor, multicore processor, etc. may be used as the control unit 13. Alternatively, a DSP, LSI, ASIC, FPGA, etc. may be used as the control unit 13. The control unit 13 includes an acquisition means 131 and a control means 132, which are functional modules of a program that runs on the processor.

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

[0029] In security system 1, the security mode includes at least two types of modes: security set mode and security deactivation mode. Security set mode is a mode in which the security target (monitoring target) is monitored by security sensors (intrusion sensors 252). Security deactivation mode is a mode in which the security target is not monitored by security sensors. Typically, security deactivation mode is used during the daytime when users are active in the security target, while security set mode is used at night, on holidays, etc., when all users are away from the security target. Furthermore, the types of security modes are not limited to the above two types, and other security modes such as partial security set mode may also be included. Partial security set mode is a mode used when the security target is to be partially monitored, for example, when a user is in a specific room of a building that is the security target and wants to monitor only another room. In this mode, monitoring by intrusion sensors 252 is performed only by intrusion sensors 252 located in the part of the security target specified by the user.

[0030] The communication unit 21 has a communication interface circuit that conforms to wired / wireless communication standards such as Ethernet (registered trademark) and IEEE 802.11, and communicates with the server 10 in a wide area communication network such as the Internet via LAN to send and receive various information.

[0031] The storage unit 22 includes semiconductor memory, magnetic storage media, and / or optical storage media. The storage unit 22 stores the code and various data of the 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 known methods via a computer-readable storage medium such as a DVD-ROM or a communication line.

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

[0033] The interface unit 24 has an interface circuit conforming to a serial bus standard such as USB, and communicates with the access control terminal 250, security control unit 251, intrusion sensor 252, and fire sensor 253 to send and receive various signals. Alternatively, the interface unit 24 may have an interface circuit conforming to a wired / wireless communication standard such as Ethernet®, IEEE 802.11, or Bluetooth® instead of an interface circuit conforming to a serial bus standard.

[0034] The access control terminal 250 is installed at entrances and exits of the area under security and is an operation terminal used by users to request entry into or exit from the area under security. The access control terminal 250 has input units (not shown) such as a card reader, camera, microphone, and touch panel for inputting authentication information such as the user's ID, authentication code, and biometric information such as fingerprints / face / voice. The access control terminal 250 also has an access control unit (not shown) and a door opening / closing unit (not shown). The access control unit is an electric lock, etc., installed on the door of an entrance / exit to restrict entry into or exit from the area under security and is unlocked / locked according to unlocking / locking signals transmitted from the security device 20. The door opening / closing unit is an automatic opening / closing device, etc., that opens and closes the door of the entrance / exit of the area under security according to door opening / closing signals transmitted from the security device 20.

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

[0036] The intrusion sensor 252 is a sensor for detecting intruders who have entered the area under security, such as a sensor that detects the opening and closing of doors, windows, etc., of the area under security using a reed switch and a magnet, or a sensor that detects the heat emitted by the human body as a heat source. When the intrusion sensor 252 detects an intruder, it generates an abnormality detection signal indicating that an intrusion has occurred. The fire sensor 253 is a sensor that detects heat and smoke associated with a fire, and when it detects a fire, it generates an abnormality detection signal indicating that a fire has occurred.

[0037] The intrusion sensor 252 and the fire sensor 253 output the generated anomaly detection signals to the control unit 23 via the interface unit 24. The monitoring areas of the intrusion sensor 252 and the fire sensor 253 are pre-configured by the server 10 based on the security map 123.

[0038] The work robot 30 is an autonomous, mobile robot that performs predetermined tasks such as cleaning, transporting, and inspecting within the security area. The work robot 30 includes a communication unit 31, a position detection unit 32, a travel unit 33, a work unit 34, a power supply unit 35, a storage unit 36, and a control unit 37. This section describes the case where the work robot 30 is a cleaning robot.

[0039] The communication unit 31 has a communication interface circuit conforming to wireless communication standards such as IEEE 802.11, and communicates with the server 10 via the access point 40 and a wide-area communication network such as the Internet to send and receive various information.

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

[0041] The driving unit 33 has drive wheels and a driving motor, and by changing the rotation speed of the driving motor, the work robot 30 can be moved freely in all directions (forward, backward, left, and right) at various speeds. The driving unit 33 may also have auxiliary wheels or the like to stabilize and smooth the movement. The work unit 34 performs tasks such as cleaning, transporting, and inspection. If the work robot 30 is a cleaning robot, the work unit 34 has a suction unit for sucking up dust, a wiping unit for wiping the floor surface, etc., and performs floor cleaning work. The travel unit 33 and the work unit 34 are the operating mechanisms that enable the work robot 30 to perform tasks while moving autonomously.

[0042] The power supply unit 35 is a battery or the like that supplies power to each part of the work robot 30.

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

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

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

[0046] Figure 4 is a plan view of the first work area 111. As shown in Figure 4, the first work area 111 is provided with partitions 440 and windows 470. In addition, one or more devices for detecting abnormalities, such as a security control unit 251, an intrusion sensor 252, and a fire sensor 253, are installed in various locations in the first work area 111.

[0047] Partition 440 is a screen placed around the seats of users in the first work area 111. Window 470 is located between the first work area 111 and the outdoors, and intrusion sensors 252 monitor for intruders entering the first work area 111 through window 470.

[0048] The security map 123 includes the first security map, the second security map, and the third security map, which represent the first work area 111, the second work area 112, and the third work area 113, respectively. The security map 123 shows the shape of each security target, the location detected by sensors such as the intrusion sensor 252 and the fire sensor 253, etc. General map 124 includes a first general map representing the shared work area 114. General map 124 shows the shape of work areas other than those subject to security. Security map 123 and general map 124 further indicate the location of home position 460, the locations of fixed obstacles such as partitions 440, etc. Security map 123 and general map 124 share the same coordinates as environmental map 361, and the shapes and locations described above are shown in two-dimensional coordinates with a point in environmental map 361 as the origin. The coordinates may also be latitude and longitude, etc.

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

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

[0051] In parallel with the start determination process and the end determination process described later, the motion control means 371 of the work robot 30 outputs the current position signal and the work status signal to the server 10 via the communication unit 31, respectively. The current position signal is a signal indicating the current position of the work robot 30. The motion control means 371 generates a current position signal based on the current position detected by the position detection unit 32, and outputs the generated current position signal to the server 10 via the communication unit 31 at predetermined intervals (for example, every minute). When the server 10's acquisition means 131 receives a current position signal from the work robot 30 via the communication unit 11, it acquires the current position of the work robot 30 indicated by the current position signal and stores it in the storage unit 12. The initial value of the current position of the work robot 30 stored in the storage unit 12 is the home position 460. The work status signal includes the work area in which the work robot 30 performs the work and the status of the work in that work area. The motion control means 371 outputs a work status signal indicating that the status is in progress when the work starts, and a work status signal indicating that the status is completed when the work is completed, to the server 10 via the communication unit 31. When the server 10's acquisition means 131 receives a work status signal from the work robot 30 via the communication unit 11, it updates the work status associated with the work area included in the work status signal in the work area table 120. If the status included in the work status signal indicates "in progress," the acquisition means 131 sets the work status associated with that work area to "in progress," and if the status included in the work status signal indicates "completed," it sets the status associated with that work area to "completed."

[0052] First, the control means 132 determines whether the work robot 30 is performing work (step S11). The process in step S11 is performed at predetermined intervals, for example, every minute. The control means 132 determines that the work robot 30 is performing work in a work area if any of the work states associated with each work area in the work area table 120 is set to "in progress". The control means 132 determines that the work robot 30 is not performing work if no work states are set to "in progress" in the work area table 120. If the work robot 30 is performing work (step S11-Y), the control means 132 remains in standby mode. If the work robot 30 is not performing work (step S11-N), the acquisition means 131 acquires the current time (step S12). The current time is an example of information used to determine whether or not the time conditions for the work robot 30 to perform work are met.

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

[0054] If a work area in which work can be started is extracted during the work area extraction process (step S14-Y), the control means 132 determines which work area to start work on from among the extracted work areas (step S15). If only one work area is extracted, the control means 132 decides to start work on that work area. If there are two or more work areas extracted, the control means 132 decides to start work on the selected work area by, for example, selecting the work area closest to the current position of the work robot 30 based on the current position of the work robot 30 and the work map 122, or by considering the available work time and required work time for each work area and selecting the work area to start work on first so that work can be completed within the available work time for all work areas. Next, the control means 132 performs start control to start work in the determined work area (step S16). As a start control, the control means 132 outputs a command signal to the security device 20 via the communication unit 11 to unlock and open the door to the work area. When the setting means 231 of the security device 20 receives the command signal from the server 10 via the communication unit 21, it causes the entry / exit control unit and the door opening / closing unit to unlock and open the door via the entry / exit operation terminal 250. This enables the work robot 30 to move from its current position into the work area. In addition, as a start control, the control means 132 generates a control signal that includes identification information of the determined work area and allows the work robot 30 to start work, and outputs it to the work robot 30 via the communication unit 11. Alternatively, the control means 132 may, instead of spontaneously unlocking and opening the work area door, unlock and open the work area door in response to a request output from the work robot 30 that has received a control signal and moved near the work door. When the operation control means 371 of the work robot 30 receives a control signal from the server 10 via the communication unit 31 to start work, it moves the work robot 30 to the work area corresponding to the identification information according to the received control signal. The operation control means 371 controls the travel unit 33 to move the work robot 30 while avoiding obstacles based on the environment map 361, and controls the work unit 34 to make the work robot 30 perform a predetermined task. When the work robot 30 completes the predetermined task, the operation control means 371 outputs a work status signal indicating the completion of work to the server 10 via the communication unit 31, and makes the work robot 30 wait at the position where the work status signal was output. If there are no other work areas where work can be started, the operation control means 371 controls the travel unit 33 to return the work robot 30 to the home position 460 after outputting the work status signal, and if there are other work areas where work can be started, it moves the work robot into those work areas.

[0055] If no work area is found that can be started during the work area extraction process (step S14-N), the control means 132 proceeds to step S17 without executing steps S15 and S16.

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

[0057] Figure 6 is a flowchart showing an example of the work area extraction process performed by server 10. The work area extraction process is performed for each work area in step S13 of Figure 5. First, the control means 132 determines whether the work status associated with the target work area is set to "not performed" in the work area table 120 (step S21). If the work status is not set to "not performed" (step S21-Y), the control means 132 does not extract the target work area as a work area where work can be started (step S27), and terminates the series of processes. If the work status is set to "not performed" (step S21-N), the control means 132 determines whether the current time is within the workable time period indicated in the work time information 121 (step S22). The current time being within the workable time period is one example of a time condition. Here, the time period during which security deactivation is prohibited may be set as the workable time period.

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

[0059] If the security mode is the security set mode (step S23-Y), the control means 132 determines whether a predetermined time has elapsed since the security device 20 was set to the security set mode (step S24). The control means 132 performs this determination using the set time, which is set in the work area table 120 in association with the target work area, as the time when the security device 20 was set to the security set mode. The predetermined time is set to, for example, the time (e.g., 30 minutes) during which the security set mode is temporarily activated, such as when a user goes out for a meal.

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

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

[0062] In this way, the control means 132 determines the time conditions for the work robot 30 to perform its tasks, and controls the work robot 30 to perform its tasks according to the time conditions and the type of security mode set. Since the type of security mode can be used to estimate whether or not there is a user inside the area to be secured, the security system 1 can control the operation of the work robot 30 according to the user's presence in the room. In particular, the control means 132 controls the work robot 30 to start a predetermined task when the security device 20 is in security set mode. When the security device 20 is set to security set mode, it is assumed that there are no users within the area to be guarded. Therefore, the security system 1 can have the work robot 30 perform tasks in a situation where there is a low possibility that the work robot 30 will not be able to perform tasks in areas where users are present, or that the work robot 30's movements will interfere with users.

[0063] Furthermore, the control means 132 controls the execution of work by the work robot 30, with the condition that the current time falls within the time period during which the work robot 30 is permitted to perform work. This prevents the security system 1 from allowing the work robot 30 to start work during times when work is not permitted. Furthermore, the control means 132 controls the work robot 30 based on the time condition that the current time is within the workable time period and within the security deactivation prohibition time period. The security deactivation prohibition time period is a time period during which the transition from security set mode to security deactivation mode is prohibited at the security target, so it is assumed that users are not present at the security target during this time period. As a result, the security system 1 can have the work robot 30 perform work in a state where there is a low possibility that the work robot 30 will not be able to perform work in the location where a user is present, or that the operation of the work robot 30 will interfere with the user.

[0064] Furthermore, even if the security device 20 is not in security set mode, the control means 132 will cause the work robot 30 to start work if the time until the expected arrival time is less than the required work time. If the condition for the work robot 30 to start work were that the security device 20 enters security set mode, the work robot 30 may not be able to perform the work if the user being guarded works through the night, etc. By causing the work robot 30 to start work if the time until the expected arrival time is less than the required work time, the security system 1 can ensure that the work robot 30 performs the work reliably.

[0065] Furthermore, the control means 132 controls the execution of work by the work robot 30, using the time condition that a predetermined time has elapsed since the security device 20 was set to security set mode. In this case, the security system 1 will not start the work of the work robot 30 until a predetermined time has elapsed since the security device 20 was set to security set mode. This reduces the possibility that the work robot 30 may not be able to perform work in the area where the user is located, or that the operation of the work robot 30 may interfere with the user, when the user temporarily leaves the area to be guarded and returns to the area shortly thereafter.

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

[0067] Furthermore, if the work area is located on multiple floors, the control means 132 may, when determining the work area in step S15 of Figure 5, prioritize selecting a work floor located on the same floor as the work robot 30 over work floors located on other floors.

[0068] Figure 7 is a flowchart showing an example of the termination determination process by the server 10. This operation flow is executed mainly by the control unit 13 of the server 10 in cooperation with each element of the server 10, based on a program that is pre-stored in the storage unit 12 of the server 10. This operation flow is executed for work areas where the work robot 30 has been controlled to start work in the start determination process, and starts when the control means 132 outputs a control signal to the work robot 30 to start work.

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

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

[0071] If the operator's attributes are those of a predetermined type (step S33-Y), the control means 132 determines that the termination conditions are not met and decides not to terminate the work of the work robot 30 yet (step S37), and returns the process to step S31. If the operator's attributes are not those of a predetermined type (step S33-N), the control means 132 determines whether the time set to the security deactivation mode falls within a predetermined time period (step S34). The predetermined time period is a time period when it is assumed that there are few users of the security target, such as the time period from late night to early morning, a time period that is more than a predetermined time away from the commuting time, or a time period that is normally expected to be set to the security set mode. The control means 132 performs this determination using the set time that is set in the work area table 120 in association with the target work area as the time when the security device 20 is set to the security deactivation mode.

[0072] If the time set for the security deactivation mode falls within a predetermined time period (step S34-Y), the control means 132 determines that the termination conditions are not met and decides not to terminate the work of the work robot 30 yet (step S37), and returns the process to step S31. If the time set for the security release mode is not within the predetermined time period (step S37-N), the control means 132 decides to terminate the work of the work robot 30 (step S35). Next, the control means 132 executes termination control for the work robot 30 (step S36) and terminates the series of processes. As termination control for the work robot 30, the control means 132 generates a control signal to terminate the work of the work robot 30 and outputs it to the work robot 30 via the communication unit 11. When the operation control means 371 of the work robot 30 receives a control signal from the server 10 via the communication unit 31 to terminate the work, it terminates the work of the work robot 30 in accordance with the received control signal. Next, the operation control means 371 outputs a work status signal indicating the end of work to the server 10 via the communication unit 31, and has the work robot 30 wait at the position where the work status signal was output. After outputting the work status signal, the operation control means 371 may control the travel unit 33 to return the work robot 30 to the home position 460. This concludes the explanation of the series of processes.

[0073] In this way, the control means 132 acquires information for determining the completion conditions of the work of the work robot 30, and controls the work robot 30 to complete the predetermined work according to the completion conditions. As a result, the security system 1 can forcibly terminate the work of the work robot 30 if the work robot 30 reaches a state where it should terminate before completing the predetermined work.

[0074] Furthermore, the control means 132 terminates the work of the work robot 30 when the security mode of the security device 20 is set to the security deactivation mode by the setting means 231 while the work robot 30 is performing a predetermined task. When the security device 20 is set to the security deactivation mode, it is assumed that a user will enter the area to be guarded, so the security system 1 can prevent the operation of the work robot 30 from interfering with the user by terminating the work of the work robot 30. Furthermore, if the operator set to the security release mode has a predetermined attribute, the control means 132 will not terminate the work of the work robot 30, even if the security mode is set to the security release mode by the setting means 231. In this case, the work robot 30 will continue working, so the security system 1 enables an operator such as a cleaner set to the security release mode to work in cooperation with the work robot 30. Furthermore, even if the security mode is set to the de-security mode by the setting means 231, the control means 132 will not terminate the work of the work robot 30 if the time set to the de-security mode falls within a predetermined time period. The predetermined time period is a time when it is assumed that there will be few users of the area to be guarded, so even if the work robot 30 continues to work during this time, there is a high probability that there will be few users of the area to be guarded. For this reason, the security system 1 can allow the work robot 30 to continue working in a state where there is a low possibility that the work robot 30 will not be able to perform work in a place where users are present, or that the operation of the work robot 30 will interfere with users.

[0075] Furthermore, if the security mode is the de-security mode (step S32-Y), the control means 132 may determine whether the time set to the de-security mode falls within a predetermined time period without determining whether the operator's attributes are predetermined (step S34). Furthermore, if the operator's attributes are not those of a predetermined type (step S33-N), the control means 132 may decide to terminate the work of the work robot 30 without determining whether the time set for the security release mode falls within a predetermined time period (step S35). Furthermore, if the security mode is the de-security mode (step S32-Y), the control means 132 may decide to terminate the work of the work robot 30 without performing the processes in steps S33 and S34 (step S35).

[0076] As described above, the server 10 according to the present invention acquires information for determining the time conditions for the work performed by the work robot 30, and controls the work performed by the work robot according to the time conditions and the type of security mode set. Since the presence status of the user being protected can be estimated from the security mode, the security system 1 can control the operation of the work robot 30 according to the presence status of the user, thereby enabling more appropriate control of the work robot 30. For example, when operating a work robot 30 in a workplace, users of the workplace may stay and work due to unexpected overtime or other reasons. In this case, if the work robot 30 performs its work based on the initially generated operating schedule, there is a possibility that the work robot 30 may not be able to perform its work in the area where users are present, or that the work robot 30's movements may interfere with users' work. The security system 1 can control the operation of the work robot 30 according to the presence status of users, so that the work robot 30 can perform its work when these possibilities are low.

[0077] Furthermore, the security system 1 may be configured to provide services in the form of cloud computing by distributing multiple servers 10 across a network, with each server 10 collaborating to share the processing shown in Figure 5. In particular, the security system 1 may have separate servers 10 for managing the security devices 20 and servers 10 for controlling the work robots 30, with each server 10 cooperating with the others to manage the security devices 20 and the work robots 30.

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

[0079] Figure 8 shows the configuration of security system 2 according to another embodiment of the present invention. The same names are used for the components corresponding to security system 1 in the above embodiment, and the following description will focus on the differences from security system 1 in the above embodiment. In this embodiment, the security system 2 includes a security device 20-2 and a work robot 30-2 that communicate wirelessly with each other, and the security device 20-2 fully implements the functions related to the control signals of the server 10 in the above embodiment.

[0080] The communication unit 21-2 of the security device 20-2 and the communication unit 31-2 of the work robot 30-2 have communication interface circuits conforming to their respective short-range wireless communication standards, such as IEEE 802.11, Bluetooth (registered trademark), and low-power radio. The communication units 21-2 and 31-2 communicate with each other to send and receive various signals. The storage unit 22-2 of the security device 20-2 stores the work area table 220-2. The control unit 23-2 of the security device 20-2 has, in addition to the setting means 231-2, an acquisition means 232-2 and a control means 233-2.

[0081] In security system 2, instead of outputting a security status signal to server 10, the setting means 231-2 of security device 20-2 notifies the acquisition means 232-2 of the input identification information and the security mode after switching. In addition, instead of receiving the security status signal, the acquisition means 232-2 uses the notified identification information and security mode to acquire the operator's attributes and security mode. In other words, in the security system 2, the security device 20-2 monitors the operation of switching security modes and controls the work robot 30-2 by generating and outputting control signals to control the work performed by the work robot 30-2 according to the time conditions and the type of security mode set.

[0082] Similar to security system 1, security system 2 can estimate the occupancy status of the user being protected from the security mode, and therefore can control the operation of the work robot 30-2 according to the user's occupancy status.

[0083] Figure 9 shows the configuration of security system 3 according to yet another embodiment of the present invention. In this embodiment, security system 3, like security system 2, has security devices 20-3 and a work robot 30-3 that communicate wirelessly with each other. In this embodiment, the work robot 30-3 implements all of the functions related to the control signals of server 10 in the above embodiment.

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

[0085] In security system 3, instead of outputting a work status signal to server 10, the operation control means 371-3 of work robot 30-3 notifies the acquisition means 372-3 of the work status of work robot 30-3. In addition, instead of receiving the work status signal and acquiring the work status of the work area indicated by the work status signal, the acquisition means 372-3 acquires the work status of the notified work area. Furthermore, instead of outputting a current position signal to the server 10, the operation control means 371-3 of the work robot 30-3 notifies the acquisition means 372-3 of the current position of the work robot 30-3. The acquisition means 372-3 receives the current position signal and, instead of acquiring the current position of the work robot 30-3 indicated by the current position signal, acquires the notified current position. Furthermore, in the operation flow shown in Figure 5, the control means 373-3 of the work robot 30-3 instructs the operation control means 371-3 to start the work of the work robot 30-3 as the start control of the work robot 30-3 (step S16). The operation control means 371-3 starts the work of the work robot 30-3 in response to the instruction from the control means 373-3. Furthermore, in the operation flow shown in Figure 7, the control means 373-3 instructs the operation control means 371-3 to terminate the work of the work robot 30 as the termination control (step S36) of the work robot 30. The operation control means 371-3 terminates the work of the work robot 30 in response to the instruction from the control means 373-3.

[0086] Similar to security system 1, security system 3 can estimate the occupancy status of the user being protected from the security mode, and therefore can control the operation of the work robot 30-3 according to the user's occupancy status.

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

[0088] 1, 2, 3 Security system; 10 Server; 12, 22-2, 36-3 Memory unit (storage means); 20, 20-2, 20-3 Security device; 30, 30-2, 30-3 Work robot; 131, 232-2, 372-3 Acquisition means; 132, 233-2, 373-3 Control means (determination means); 231, 231-2, 231-3 Setting means

Claims

1. An autonomously mobile work robot that performs designated tasks other than security within the monitored area, A security system having a security device having a setting means for switching between multiple security modes, including a security set mode which is set when the monitored target is unoccupied and the monitored target is monitored by a security sensor, and a security deactivation mode which is set when the monitored target is occupied and the security sensor is not monitored, When the security mode is the security set mode, a control means allows the work robot to perform the predetermined task, assuming that there are no users within the monitored area. A security system characterized by having the following features.

2. The control means controls the work robot to restrict the performance of the predetermined work when the security mode is the security deactivation mode, assuming that there is a user within the monitored area. The security system according to claim 1.

3. The work robot is provided with a determination means for determining whether or not it is the start time for the work, The control means controls the work robot to start the predetermined work when the work start timing is reached and the security mode is the security set mode, assuming that there are no users within the monitored area. The security system according to claim 1 or 2.

4. A server connected to a security device that can communicate with a work robot capable of autonomous movement and performing predetermined tasks other than security within a monitored area, and a security device having setting means for switching between multiple security modes, including a security set mode which is set when the monitored area is unmanned and monitors the monitored area using security sensors, and a security deactivation mode which is set when the monitored area is manned and does not monitor the monitored area using security sensors, When the security mode is the security set mode, a control means allows the work robot to perform the predetermined task, assuming that there are no users within the monitored area. A server characterized by having the following features.

5. It can communicate with autonomous, mobile work robots that perform designated tasks other than security within the monitored area. A connected security device, A setting means for switching between multiple security modes, including a security set mode, which is set when the monitored area is unoccupied and monitors the area using security sensors, and a security deactivation mode, which is set when the monitored area is occupied and does not monitor the area using security sensors. When the security mode is the security set mode, a control means allows the work robot to perform the predetermined task, assuming that there are no users within the monitored area. A security device characterized by having the following features.

6. A work robot that is autonomously mobile and performs predetermined tasks other than security within a monitored area, which is communicably connected to a security device having setting means for switching between and setting a plurality of security modes, including a security set mode which is set when the monitored area is unoccupied and monitors the monitored area using a security sensor, and a security deactivation mode which is set when the monitored area is occupied and does not monitor the monitored area using the security sensor, A control means that controls the system to start the predetermined operation assuming that there are no users within the monitored area when the security mode is the security set mode, A work robot characterized by having the following features.

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