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 controlling, when the abnormality in disaster prevention occurs, the operation of a working robot in accordance with a situation.SOLUTION: Disclosed is a security system including: a working robot which can autonomously move in a facility and can execute at least work operation for performing predetermined works and retreat operation for retreating from traffic lines of users of the facility; and a security device for detecting abnormality related to disaster prevention and outputting an abnormality signal. The working robot is configured to interrupt or end the work operation and execute the retreat operation when, during execution of the work operation, the security device outputs the abnormality signal.SELECTED DRAWING: Figure 1

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 disaster prevention, it is known to make a robot perform a predetermined operation.

[0003] For example, Patent Document 1 discloses that a cleaning robot has a fire sensor, and when it is determined by the fire sensor that a fire has occurred, the cleaning robot is directed toward the fire occurrence location and the user is guided to the entrance / exit.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, while there are cases where it may be better for the robot to head towards the site of the abnormality, there are also cases where the situation may deteriorate if the robot heads towards the site of the abnormality. For example, if a cleaning robot heads towards the location of a fire as in Patent Document 1, it may interfere with the evacuation of the user. Therefore, it is not preferable to make the robot perform a uniform operation when an abnormality occurs in terms of disaster prevention.

[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 a work robot according to the situation when an abnormality occurs in terms of disaster prevention.

Means for Solving the Problems

[0007] According to one aspect of the present invention for solving the above problems, a security system is provided which includes a work robot that is autonomously mobile within a facility and capable of performing at least a work operation to perform a predetermined task and an evacuation operation to move away from the movement of facility users, and a security device that detects an anomaly related to disaster prevention and outputs an anomaly signal, wherein if the security device outputs an anomaly signal while the work robot is performing a work operation, the work robot will interrupt or terminate the work operation and perform an evacuation operation.

[0008] In this security system, it is preferable that the evacuation action includes the action of the work robot stopping in a position that avoids the user's path or the action of the work robot returning to its home position.

[0009] In this security system, it is preferable that the work robot acquires its current location information and, as an escape operation, performs either an action to stop at a location that avoids the user's movement path, or an action to return to the home position, depending on the positional relationship between the current location information and the home position.

[0010] In this security system, the work robot acquires current location information, and the positions that avoid the user's movement include the end of the passageway and pre-set evacuation positions located off the passageway. To avoid user traffic, it is preferable to set the robot's current position as the evacuation position if the distance from the robot's current position to the evacuation position is less than a predetermined distance, and to set the robot at the end of the passage if the distance is greater than or equal to the predetermined distance.

[0011] In this security system, the security device is equipped with a storage means for storing whether or not a user is present at the security target, and it is preferable that the work robot, when an abnormality is detected and a user is present, performs an evacuation operation, and when no user is present, performs an operation to move to the location where the abnormality occurred.

[0012] According to another aspect of the present invention, a server is provided that is autonomously mobile within a facility and capable of performing at least work operations to perform predetermined tasks and evacuation operations to move away from the movement paths of facility users, and is connected in a manner that enables communication with a security device that detects abnormalities related to disaster prevention and outputs an abnormality signal, the server having a control unit that generates a control signal to interrupt or terminate the work operation being performed by the work robot and to perform an evacuation operation when an abnormality signal is received from the security device, and a transmission unit for transmitting the control signal to the work robot.

[0013] According to another aspect of the present invention, a security device is provided that is autonomously mobile within a facility and is communicatively connected to a work robot capable of performing at least a work operation to perform a predetermined task and an evacuation operation to move away from the movement of facility users, the security device comprising: a detection unit for detecting an anomaly related to disaster prevention; a control unit that, when an anomaly related to disaster prevention is detected, generates a control signal to interrupt or terminate the work operation being performed by the work robot and to perform an evacuation operation; and a transmission unit for transmitting the control signal to the work robot.

[0014] According to another aspect of the present invention, a work robot is provided that is autonomously mobile within a facility and capable of performing at least work operations to perform predetermined tasks and evacuation operations to move away from the movement paths of facility users, and is connected in a manner that enables communication with a security device that detects abnormalities related to disaster prevention and outputs an abnormality signal, the work robot comprising: a receiving unit for receiving abnormality signals from the security device; an operating mechanism for performing the work robot's operations; and a control unit that, when the receiving unit receives an abnormality signal, controls the operating mechanism to interrupt or terminate the work operation being performed and to perform the evacuation operation. [Effects 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 disaster prevention abnormality occurs, thereby enabling an appropriate response to the disaster prevention abnormality. [Brief explanation of the drawing]

[0016] [Figure 1] This is a diagram showing the schematic configuration of a security system according to an embodiment of the present invention. [Figure 2] This is a floor plan of an office which is an example of a security target of the security system. [Figure 3] This is a sequence diagram showing an example of the overall process. [Figure 4] This is a flowchart showing an example of the abnormal signal generation process. [Figure 5] This is a flowchart showing an example of the control signal generation process. [Figure 6] This is a flowchart showing an example of the operation process. [Figure 7] This is a diagram showing the configuration of another security system 2. [Figure 8] This is a diagram showing the configuration of yet another security system 3.

Mode 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 guards security targets such as offices, stores, factories, etc. 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 entrance / 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 wired / wireless communication standards such as Ethernet (registered trademark) and IEEE802.11, 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 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 memory unit 12 stores schedule information 121, which includes the time when the work robot 30 starts work and the movement route for the work, and a security map 122, which represents a map of the area to be guarded. The schedule information 121 stores the start time of the work operation, the content of the work operation for each time period, and / or the work location. Details of the security map 122 will be described later. Alternatively, only the start time of the work may be stored as schedule information 121, and the work robot may autonomously generate a schedule for performing work within the work area based on the environment map 371.

[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 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 an instruction means 132 as functional modules of a program running on the processor. The operation of the control unit 13 and each means will be described in detail later.

[0023] The security device 20 is an information processing device that monitors for abnormalities such as intrusion, fire, medical emergencies, and equipment failures using equipment such as intrusion sensors 253 installed on the target area, in accordance with a security mode instructed by the user or server 10. 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 imaging unit 252, an intrusion sensor 253, a fire sensor 254, and an equipment sensor 255. The number of access control terminals 250, security operation units 251, imaging units 252, intrusion sensors 253, fire sensors 254, and / or equipment sensors 255 is not limited to one, but may be multiple.

[0024] The communication unit 21 has a communication interface circuit conforming 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. The communication unit 21 is an example of the transmission unit of the security device 20.

[0025] 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.

[0026] In security system 1, the security mode has at least two types of modes: security set mode and security deactivation mode. Security set mode is a mode in which the security target is unoccupied and the system notifies the server 10 of any abnormality detected, including intrusion from outside the security target and within the security target. Security deactivation mode is a mode in which the security target is occupied and the system notifies the server 10 of any abnormality detected, such as a fire, medical emergency, emergency call, or equipment failure, but does not notify the server of intrusion even if a person is detected within the security target. 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.

[0027] 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 includes a status monitoring means 231 and an abnormality monitoring means 232, which are functional modules of the program running on the processor. The operation of the control unit 23 and each means will be described in detail later.

[0028] 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, imaging unit 252, intrusion sensor 253, fire sensor 254, and equipment sensor 255 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.

[0029] 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, IC stick container, 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) such as an electric lock, which is installed on doors at entrances and exits 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. When a user performs an entry or exit operation, the access control terminal 250 generates an entry instruction or an exit instruction. Alternatively, the access control terminal 250 may generate an entry instruction or an exit instruction when the access control unit releases the restriction on entry or exit.

[0030] The security operation unit 251 has a user input / output interface such as a touch panel or buttons, and the user performs operations on the security device 20, such as switching security modes. The security operation unit 251 may also have an input unit (not shown) for authentication information of users who can operate the security device. When a security mode switching operation is performed, the security operation unit 251 generates a security mode change instruction, including the changed security mode. Furthermore, the input section of the security control unit 251 allows input of emergency calls to request ambulance transport, instructions for emergency calls in the event of an intruder, and the location of the incident. The security control unit 251 generates an emergency call signal when an emergency call instruction is received, and generates an emergency call signal when an emergency call instruction is received. If the location of the abnormality is entered, the emergency call signal and the emergency call signal include location information indicating the entered location of the abnormality.

[0031] The imaging unit 252 is a camera or the like that has 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-to-digital (A / D) conversion, and sequentially acquires digital images in RGB format or the like of the monitored space of the security target. The imaging unit 252 may also be a camera that uses infrared or ultrasonic waves.

[0032] The intrusion sensor 253 is a sensor for detecting intruders who have entered the area under security, and includes sensors that detect the opening and closing of doors, windows, etc., of the area under security using reed switches and magnets, sensors that detect heat emitted by the human body as a heat source, and sensors that detect when infrared rays are blocked by the human body. When the intrusion sensor 253 detects an intruder, it generates an anomaly detection signal indicating that an intrusion has occurred. This anomaly detection signal includes location information indicating the monitoring area of ​​each intrusion sensor 253. The fire sensor 254 is a sensor that detects heat, smoke, and gas leaks associated with a fire. When it detects 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 work robot 30 may also be equipped with fire sensors. The equipment sensor 255 is a sensor that detects malfunctions and battery depletion of various equipment such as air conditioning equipment, fire prevention equipment, and sensors. When it detects a malfunction, it generates an abnormality detection signal indicating equipment failure.

[0033] Anomalies indicated by notifications input to the security control unit 251, as well as anomalies detected by the imaging unit 252, intrusion sensor 253, fire sensor 254, and equipment sensor 255, etc., can be classified into crime prevention, disaster prevention, malfunction, and emergency. Intrusions and emergency notifications are classified as crime prevention anomalies, while fires and gas leaks are classified as disaster prevention anomalies. Malfunctions in equipment are classified as malfunction anomalies, and emergency notifications are classified as emergency anomalies.

[0034] The access control terminal 250, security operation unit 251, imaging unit 252, intrusion sensor 253, fire sensor 254, and equipment sensor 255 transmit generated access instructions, exit instructions, security mode change instructions, notification signals, anomaly detection signals, or digital images to the control unit 23 via the interface unit 24. In other words, the security operation unit 251, intrusion sensor 253, fire sensor 254, and equipment sensor 255 are examples of anomaly detection units and can detect multiple types of anomalies. The access control terminal 250, security operation unit 251, and imaging unit 252 are examples of state detection units and are used to determine whether or not a user is present in the area being guarded. The monitoring areas of the intrusion sensor 253 and fire sensor 254 are pre-set by the server 10 based on the security map 122.

[0035] The work robot 30 is an autonomous, mobile robot that performs various tasks such as cleaning, transporting, and inspecting within the security area. The work robot 30 includes a communication unit 31, an imaging unit 32, a position detection unit 33, a travel unit 34, a work unit 35, a power supply unit 36, a storage unit 37, and a control unit 38. Here, we will describe the case where the work robot 30 is a cleaning robot.

[0036] 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. The communication unit 31 is an example of a receiving unit of the work robot 30.

[0037] The imaging unit 32 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 the electrical signal output from the photoelectric conversion element and performs analog-to-digital (A / D) conversion, and acquires digital images in RGB format or the like.

[0038] The position detection unit 33 has at least one input device such as a Lidar, camera, ultrasonic sensor, infrared sensor, or GPS, and acquires information such as laser light and images used to determine the current position of the work robot 30 and the position of obstacles.

[0039] The driving unit 34 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 34 may also have auxiliary wheels or the like to stabilize and smooth the movement. The work unit 35 performs tasks such as cleaning, transporting, and inspection. If the work robot 30 is a cleaning robot, the work unit 35 has a suction unit for sucking up dust, a wiping unit for wiping the floor surface, etc., and performs floor cleaning tasks. The travel unit 34 and the work unit 35 are the operating mechanisms that enable the work robot 30 to perform tasks while autonomously moving.

[0040] The power supply unit 36 ​​is a battery or the like that supplies power to each part of the work robot 30.

[0041] The storage unit 37 includes semiconductor memory, magnetic storage media, and / or optical storage media. The storage unit 37 stores the code and various data of the computer program executed by the control unit 38 to control the operation of the work robot 30. The computer program may be installed in the storage unit 37 by known methods via a computer-readable storage medium such as a DVD-ROM or a communication line. The memory unit 37 stores an environmental map 371 that contains 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 371 also contains locations such as the evacuation position 420 and the home position 460.

[0042] The control unit 38 includes a processor such as a CPU or MPU and its peripheral circuits, and the processor controls the operation of the work robot 30 by executing a computer program stored in the memory unit 37. A DSP, LSI, ASIC, FPGA, etc. may be used as the control unit 38. The control unit 38 includes a position monitoring means 381 and an operation control means 382, ​​which are functional modules of a program running on the processor. The operation of the control unit 38 and each of the means will be described in detail later.

[0043] Figure 2 is a floor plan of an office, which is an example of an area to be protected by security system 1. As shown in Figure 2, floor 101 of office 100 is the work area of ​​the work robot 30. Floor 101 is separated from the outside by a wall 102, and floor 101 is equipped with equipment 410, a door 430, a partition 440, a home position (HP) 460, and a window 470. In addition, one or more devices for detecting abnormalities, such as an access control terminal 250, a security control unit 251, an imaging unit 252, an intrusion sensor 253, a fire sensor 254, and an equipment sensor 255, are installed in various places in the office. An evacuation position 420 for the work robot 30 is located in a place that avoids the flow of users on floor 101. Note that the evacuation position 420 is not limited to a place off the passageway as shown in Figure 2, but may be configured as an evacuation position at the end of a passageway. By positioning the work robot 30's evacuation position 420 in a location that avoids user traffic routes, the work robot 30 is less likely to obstruct user movement in the event of a disaster. On floor 101, the area excluding the area enclosed by the equipment 410, evacuation position 420, and partition 440 is used as a passageway. User traffic routes refer to the passageways that users are expected to normally use when moving around the facility. For example, a predetermined percentage of the passageway width (for example, 80% on each side, with the center of the passageway as the reference point) is designated as the user traffic route.

[0044] Door 430 is located at the entrance / exit between floor 101 and the outside and is unlocked / locked by entry / exit control terminal 250. Partition 440 is a screen placed around the seats of office 100 users. A charger (not shown) for charging the power supply unit 36 ​​of the work robot 30 is located at home position 460, and the work robot 30 waits at home position 460 when not performing work. Window 470 is located between office 100 and the outside and an intrusion sensor 253 monitors for intruders entering office 100 through window 470.

[0045] The security map 122 is a map representing the floor 101, which is the target of the security device 20 shown in Figure 2 and the work area of ​​the work robot 30, and is pre-stored in the storage unit 12 of the server 10. The security map 122 shows the shape of the floor 101 of the office 100. The security map 122 also shows the locations of the access control terminal 250 and the security control unit 251, the locations captured by the imaging unit 252, the locations detected by the intrusion sensor 253, the fire sensor 254, and the equipment sensor 255. The security map 122 further shows the locations of the evacuation position 420 and the home position 460, the locations of fixed obstacles such as the wall 102, equipment 410, and partitions 440. The shape of floor 101 and the locations described above are represented by a two-dimensional coordinate system with a point in the security map 122 as the origin. The coordinates may also be latitude and longitude, etc. The security map 122 shares the same coordinates as the environmental map 371 stored in the memory unit 37 of the work robot 30.

[0046] Figure 2 shows the situation when the work robot 30 has moved from HP 460 along path 481 to approximately directly below the evacuation position 420 in the diagram, and an intruder has entered through window 470. The intruder's entry is detected by the intrusion sensor 253, and the location of the anomaly 480 is recognized as being near window 470. As will be described later, if an anomaly occurs at location 480, the work robot 30 may take one of the following actions: use path 482 to reach location 480 via the shortest route; use path 483 to evacuate to evacuation position 420; or use path 484 to move to location 480 while continuing to work. The detailed operation of the work robot 30 will be described later.

[0047] When a fire or gas leak or other disaster prevention anomaly is detected, it is necessary to confirm the situation at the site (e.g., by taking photographs). However, since such anomalies often necessitate the evacuation of users, there is a risk that the work robot 30 may hinder the evacuation of users while it is on its way to confirm the situation at the site. Therefore, in the event of a disaster prevention anomaly, it is necessary to control the work robot 30 in a way that takes into account the situation of users and does not hinder their evacuation.

[0048] Figure 3 is a sequence diagram showing an example of the overall processing of security system 1. This operation sequence is executed mainly by the control units of each device in cooperation with the elements of each device, based on programs that are pre-stored in the memory units of each device.

[0049] First, when the start time indicated in the schedule information 121 arrives, the instruction means 132 of the server 10 transmits a start signal to the work robot 30 via the communication unit 11 to instruct it to start a predetermined work operation (step S100). When the operation control means 382 of the work robot 30 receives the start signal from the server 10 via the communication unit 31, it initializes the environment map 371 and current position information stored in the storage unit 37 and starts the instructed work operation. At this time, along with the start signal, the instruction means 132 of the server 10 transmits to the work robot 30 information on the positions of fixed obstacles such as walls 102, equipment 410, and partitions 440 on the security map 122, as well as information on evacuation positions 420 and home positions 460, and the operation control means 382 of the work robot 30 initializes the environment map 371 based on the received information. Furthermore, the control unit 38 of the work robot 30 may pre-initialize the environmental map 371 based on information received in advance from the server 10 or other devices via the communication unit 11, or information acquired from the operation unit (not shown) of the work robot 30. In addition, the control unit 38 may pre-store the positions of fixed obstacles by constructing an environmental map by having the robot travel within the work area in advance.

[0050] The operation control means 382 of the work robot 30 controls the travel unit 34 to avoid obstacles based on the environmental map 371, causing the work robot 30 to move and the work unit 35 to perform work operations. The position monitoring means 381 periodically acquires the current position of the work robot 30 and the position of obstacles using methods such as SLAM (Simultaneous Localization and Mapping) based on information acquired from the position detection unit 33. The position monitoring means 381 stores the acquired current position in the storage unit 37, and if the position of an obstacle changes, it updates the environmental map 371 stored in the storage unit 37 (step S101).

[0051] The location monitoring means 381 outputs a current location signal indicating the acquired current location to the server 10 via the communication unit 31 (step S102). Meanwhile, the acquisition means 131 of the server 10 receives a current position signal from the work robot 30 via the communication unit 11, and stores the current position of the work robot 30 indicated by the received current position signal as current position information in the storage unit 12 (step S103).

[0052] The instruction means 132 determines the action to be performed by the work robot 30 based on the content of the work operation to be performed or the location to be moved to at the current time indicated in the schedule information 121, and the current position of the work robot 30. The instruction means 132 transmits an action signal to the work robot 30 via the communication unit 11 to cause the work robot 30 to perform the determined action (step S104). When the operation control means 382 of the work robot 30 receives an action signal from the server 10 via the communication unit 31, it performs the instructed action, such as continuing or changing the work operation or moving to the instructed location. Note that this process can be omitted if the work robot autonomously generates and performs the work schedule.

[0053] The status monitoring means 231 of the security device 20 monitors whether the user has performed an operation to switch the security mode on the security device 20, and if the user has performed an operation such as switching the security mode, it receives an instruction to change the security mode from the security operation unit 251 (step S105). When an instruction to change the security mode is received, the status monitoring means 231 changes the security mode of the security device 20 to the changed security mode included in the received instruction (step S106). 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 S107). The security mode is set by the user via the input unit of the security operation unit 251. Meanwhile, the acquisition means 131 of the server 10 receives a status signal from the security device 20 via the communication unit 11, and determines whether or not a user is present in the security target according to the received status signal, and stores it in the storage unit 12 as occupancy information (step S108). At this time, the acquisition means 131 determines that there is no user in the security target if the status signal indicates security set mode, and determines that there is a user in the security target if the status signal indicates security deactivated mode.

[0054] Furthermore, the status monitoring means 231 of the security device 20 monitors whether a user has performed an entry or exit operation on the entry / exit operation terminal 250, and receives an entry or exit instruction from the entry / exit operation terminal 250 when the user has performed an entry or exit operation. In addition, the status monitoring means 231 periodically receives images captured by the imaging unit 252 from the imaging unit 252 (step S109). When an entry instruction, exit instruction, or image is received, the status monitoring means 231 generates a user signal indicating the congestion status or movement status of users and outputs it to the server 10 via the communication unit 21 (step S110). When an entry instruction or exit instruction is received, the status monitoring means 231 calculates the number of people present in the security target based on the number of entry and exit instructions received so far. The status monitoring means 231 generates a user signal indicating congestion if the number of people present exceeds a predetermined number, and indicating that it is not crowded if the number of people present is less than or equal to the predetermined number. The status monitoring means 231 also sequentially receives images from the imaging unit 252, detects change regions where changes have occurred in each image by background subtraction processing or inter-frame subtraction processing, and extracts person regions of a predetermined size from the detected change regions. The status monitoring means 231 tracks the corresponding person regions between each image and detects the amount of movement of each person from the amount of change in the position of the person region. The status monitoring means 231 generates user signals to indicate that the user is moving a lot if the average, median, or maximum value of each person's movement exceeds a predetermined threshold, and to indicate that the user is moving little if the average, median, or maximum value of each person's movement is below the predetermined threshold. Meanwhile, the acquisition means 131 of the server 10 receives a user signal from the security device 20 via the communication unit 11, and stores in the storage unit 12 whether or not the user is crowded and / or whether or not the user is moving around a lot, according to the received user signal (step S111). The server 10's acquisition means 131 may receive entry and exit instructions or images, and based on the received information, determine whether or not a user is present in the security target in step S107.

[0055] Here, the security target for determining whether or not a user is present may be the entire facility, the room or floor containing the location of the anomaly, or a predetermined area surrounding the location of the anomaly. When the entire facility is the security target, for example, if the security is deactivated or a person is photographed by the imaging unit 252 in any of the security targets within the facility, or if the number of entry instructions exceeds the number of exit instructions, it is determined that a user is present in the security target. When a room or floor is the target, one of the security targets within the facility in the above explanation should be replaced with the room or floor in question. When a predetermined area surrounding the location of the anomaly is the target, the location of the user should be identified by image-based person detection, etc., and it should be determined whether or not a user is present within the predetermined area surrounding the location of the anomaly.

[0056] Furthermore, the abnormality monitoring means 232 of the security device 20 monitors the access control terminal 250, the security control unit 251, the imaging unit 252, the intrusion sensor 253, the fire sensor 254, and the equipment sensor 255, and receives an abnormality detection signal or notification signal from each unit when an abnormality occurs (step S112). When an abnormality detection signal or notification signal is received, the abnormality monitoring means 232 executes an abnormality signal generation process (step S113). In the abnormality signal generation process, the abnormality monitoring means 232 generates an abnormality signal that includes type information indicating the type of abnormality and location information indicating the location where the abnormality occurred. Details of the abnormality signal generation process will be described later. Next, the abnormality monitoring means 232 outputs the abnormality signal generated in the abnormality signal generation process to the server 10 via the communication unit 21 (step S114). Meanwhile, the instruction means 132 of the server 10 receives 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 S115). In the control signal generation process, the instruction means 132 generates a control signal to control the work robot 30 to perform actions corresponding to the abnormal signal, status signal, and user signal. The control signal includes action information indicating the action to be performed by the work robot 30 and location information indicating the location where the abnormality occurred. 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 S116). Meanwhile, the motion control means 382 of the work robot 30 receives control signals from the server 10 via the communication unit 31 and executes motion processing according to the actions included in the received control signals (step S117). In the motion processing, the motion control means 382 causes the work robot 30 to execute the actions included in the received control signals. Details of the motion processing will be described later.

[0057] The location of the anomaly will indicate the input location if the input is made by the security operation unit 251, the location determined by image analysis if the anomaly is detected by an image acquired by the imaging unit 252, and the location of the intrusion sensor if the anomaly is detected by the intrusion sensor 253 as in Figure 2. Furthermore, the location of the anomaly will indicate the location of the fire sensor if a fire is detected by the fire sensor 254, and the location of the equipment 410 if the anomaly is detected by the equipment sensor 255. The security device 20 will also output location information indicating the location of the anomaly along with the anomaly signal, as will be described later.

[0058] Figure 4 is a flowchart showing an example of the abnormal signal generation process by the security device 20. The operation flow shown in Figure 4 is executed in step S113 of the sequence diagram shown in Figure 3.

[0059] First, the anomaly monitoring means 232 identifies the type of anomaly detection signal or notification signal received (step S201). If the received signal is an anomaly detection signal indicating that an intrusion has occurred, the anomaly monitoring means 232 sets the type information to intrusion (step S202). On the other hand, if the received signal is an emergency notification signal, the abnormality monitoring means 232 sets the type information to emergency notification (step S203). On the other hand, if the received signal is an abnormality detection signal indicating that a fire has occurred, the abnormality monitoring means 232 sets the type information to fire (step S204). On the other hand, if the received signal is an abnormality detection signal indicating that a device malfunction has occurred, the abnormality monitoring means 232 sets the type information to "fault" (step S205). On the other hand, if the received signal is an emergency call signal, the abnormality monitoring means 232 sets the type information to emergency call (step S206). Next, the abnormality monitoring means 232 sets the location information included in each received signal as location information included in the abnormality signal. It generates an abnormality signal including the set type information and location information (step S207), and the series of steps ends. If the received signal is an emergency notification signal or an emergency call signal, and there is no input of the location of the abnormality from the input of the security operation unit 251, the abnormality monitoring means 232 sets a blank as the location information included in the abnormality signal.

[0060] Figure 5 is a flowchart showing an example of the control signal generation process by server 10. The operation flow shown in Figure 5 is executed in step S115 of the sequence diagram shown in Figure 3.

[0061] First, the instruction means 132 identifies the type of anomaly indicated by the type information contained in the received anomaly signal (step S301).

[0062] If the type of anomaly is an intrusion, the instruction means 132 reads the occupancy information stored in the storage unit 12 in step S108 of Figure 3 and determines whether or not a user is present in the security target (step S302). If there is no user in the security target, the instruction means 132 sets a first response action as action information, which is to move to the location where the anomaly occurred without performing any work operations (step S303). On the other hand, if there is a user in the security target, the instruction means 132 sets a second response action as action information, which is to move to the location where the anomaly occurred while performing work operations (step S304). As a result, if a user is not present when an intruder enters, the security system 1 can direct the work robot 30 directly to the intruder's location and have it deal with the intruder. On the other hand, if a user is present when an intruder enters, the security system 1 can move the work robot 30 to the intruder's location while preventing the intruder from provoking the user and potentially harming them by making the intruder believe that the work robot 30 is working.

[0063] On the other hand, if the type of abnormality is an emergency notification, the instruction means 132 sets the second response action as operation information (step S305). When the type of abnormality is an emergency notification, the user who issued the notification is always present in the work area, so the instruction means 132 sets the second response action as operation information without determining whether or not a user is present in the work area.

[0064] On the other hand, if the type of abnormality is a fire, the instruction means 132 reads the occupancy information stored in the storage unit 12 in step S108 of Figure 3 and determines whether or not there is a user in the security target (step S306). If there is no user in the security target, the instruction means 132 sets the first countermeasure action as the action information (step S307). On the other hand, if there is a user in the security target, the instruction means 132 reads the information stored in the storage unit 12 in step S111 of Figure 3 and determines whether or not there is congestion with users (step S308). If there is no congestion with users, the instruction means 132 sets the first countermeasure action as the action information (step S307). On the other hand, if there is congestion with users, the instruction means 132 reads the information stored in the storage unit 12 in step S111 of Figure 3 and determines whether or not there is a lot of user movement (step S309). If there is little user movement, the instruction means 132 sets the first countermeasure action as the action information (step S307). On the other hand, if there is a lot of user movement, the instruction means 132 sets a retreat operation as operation information (steps S310 to S314).

[0065] The evacuation operation is an operation to move to a position away from the user's path, and includes one of the following: a first evacuation operation in which the work robot 30 returns to the home position 460 and stops; a second evacuation operation in which the work robot 30 moves to a predetermined evacuation position 420 and stops; and a third evacuation operation in which the work robot 30 moves to the edge of the passage and stops. The home position is a place where the work robot 30 waits when not performing work, and since it is located away from the user's path, returning to the home position and stopping prevents it from obstructing the user's movement (evacuation). In this way, the evacuation operation is designed to avoid obstructing the user's movement by moving to a position away from the user's path and stopping there.

[0066] Here, when moving to an evacuation location, care must be taken not to obstruct the evacuation of users. Therefore, the instruction means 132 calculates the distance between the current position of the work robot 30 and the home position 460 in the security map 122 based on the current position information stored in the memory unit 12 in step S103 of Figure 3, and determines whether the calculated distance is less than a predetermined value (step S310). If the calculated distance is less than the predetermined value, the instruction means 132 sets the first evacuation operation as the evacuation operation (step S311). On the other hand, if the distance between the current position and the home position 460 is greater than or equal to the predetermined value, the instruction means 132 calculates the distance between the current position and the evacuation position 420 in the security map 122, and determines whether the calculated distance is less than a predetermined value (step S312). Here, if there are multiple evacuation positions 420, the distance between the current position and the evacuation position 420 closest to the work robot 30 is calculated. If the calculated distance is less than a predetermined value, the instruction means 132 sets a second retraction operation as the retraction operation (step S313). On the other hand, if the distance between the current position and the retraction position 420 is greater than or equal to a predetermined value, the instruction means 132 sets a third retraction operation as the retraction operation (step S314).

[0067] This allows the security system 1 to evacuate the work robot 30 to an appropriate location while minimizing its movement, depending on the work robot 30's current position. Here, the evacuation position in the third evacuation operation may be the end of the passage closest to the current position (i.e., the position with the shortest travel distance for the work robot 30), or the end of a passage with a width greater than or equal to a predetermined value, which can be identified from the environmental map 371 (i.e., a position where the work robot 30 is less likely to obstruct evacuation). In this way, the evacuation position is set considering the movement required for the work robot 30 to reach the evacuation position and whether the evacuation position is likely to obstruct evacuation. In addition, passages with a width less than a predetermined value and areas within a predetermined range from an exit may be excluded from the evacuation position because they are likely to be crowded with evacuating users and may obstruct evacuation. In the present invention, the second retraction operation, in which the robot moves to a predetermined retraction position 420 and stops, and the third retraction operation, in which the work robot 30 moves to the edge of the passage and stops, may be treated as movement to a predetermined retraction position. Note that either or both of steps S308 or S309 may be omitted.

[0068] In this way, the instruction means 132 controls the work robot 30 so that if it determines from the status signal that there are no users present, it will perform a countermeasure action to move to the location of the abnormality, and if it determines from the status signal that there are users present, it will perform an evacuation action. As a result, the security system 1 can prevent the work robot 30 from hindering the evacuation of users in the event of a disaster, while also being able to move the work robot 30 to the location of the abnormality when there are no users present to respond appropriately to the disaster. In particular, the instruction means 132 controls the work robot 30 to perform a response action if it determines from user signals that the area is not crowded or that there is little user movement, even if users are present. As a result, even if users are present, the security system 1 can move the work robot 30 to the location of the abnormality and respond appropriately to the disaster, provided that the work robot 30 does not hinder the evacuation of users. On the other hand, if the instruction means 132 determines from user signals that the area is crowded or that there is a lot of user movement, it controls the work robot 30 to perform an evacuation operation. In particular, during the evacuation operation, the instruction means 132 controls the work robot 30 to move to the home position 460, the evacuation position 420, or the edge of the passageway and stop, depending on its current position. This makes it possible for the security system 1 to prevent the work robot 30 from obstructing the evacuation of users, especially when there is a lot of user traffic.

[0069] On the other hand, if the type of abnormality is a malfunction, the instruction means 132 sets the operation to continue operation as operation information (step S315). On the other hand, if the type of abnormality is an emergency call, the instruction means 132 sets the first response action as operation information (step S316). Next, the instruction means 132 sets the location information included in the received abnormal signal as location information included in the control signal, generates a control signal including the set operation information and location information (step S317), and ends the series of steps. In this manner, the instruction means 132 controls the work robot 30 in accordance with the abnormal signal and status signal received from the security device 20.

[0070] Figure 6 is a flowchart showing an example of the operation process performed by the work robot 30. The operation flow shown in Figure 6 is executed in step S117 of the sequence diagram shown in Figure 3.

[0071] First, the operation control means 382 identifies the type of operation indicated by the operation information included in the received control signal (step S401). If the identified action is a first corrective action, the motion control means 382 controls the travel unit 34 and the work unit 35 to execute the first corrective action (step S402), and ends the series of steps. The motion control means 382 stops the operation of the work unit 35, calculates the shortest path from the current position of the work robot 30 to the location of the abnormality indicated in the location information included in the control signal from the environmental map 371, and controls the travel unit 34 and the work unit 35 to move along the calculated path. On the other hand, if the identified action is a second corrective action, the motion control means 382 controls the travel unit 34 and the work unit 35 to execute the second corrective action (step S403), and ends the series of steps. The motion control means 382 continues the operation of the work unit 35, calculates the shortest path from the current position of the work robot 30 to the location of the abnormality indicated in the location information included in the control signal from the environmental map 371, and controls the travel unit 34 and the work unit 35 to move along the calculated path. In these cases, after arriving at the location where the abnormality occurred, the work robot 30 may transmit an image of the location captured by the imaging unit 32 to the server 10, security device 20, etc. (imaging means). This allows the security system 1 to notify the administrator of the situation at the location where the abnormality occurred.

[0072] On the other hand, if the identified operation is a retraction operation, the operation control means 382 controls the travel unit 34 and the work unit 35 to interrupt the work and perform the retraction operation (steps S404 to S406), and ends the series of steps. In this case, the operation control means 382 ends the operation of the work unit 35. If a first retraction operation is set as the retraction 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 environment map 371, and controls the travel unit 34 and the work unit 35 to move along the calculated path and stop. On the other hand, if a second retraction operation is set as the retraction operation, the operation control means 382 calculates the shortest path from the current position of the work robot 30 to the retraction position 420 from the environment map 371, and controls the travel unit 34 and the work unit 35 to move along the calculated path and stop. Furthermore, if a third escape operation is set as the escape operation, the motion control means 382 detects the wall 102 or partition 440 closest to the work robot 30 based on the current position information and the environment map 371. The motion control means 382 controls the travel unit 34 and the work unit 35 to move to the detected position by the shortest distance, thereby avoiding the passage and stopping. On the other hand, if the identified action is to continue the work, the operation control means 382 controls the travel unit 34 and the work unit 35 to continue the work being performed (step S407), and ends the series of steps.

[0073] The path that the work robot 30 travels may be calculated by the server 10 based on the security map 122 and instructed by a control signal. In that case, the motion control means 382 controls the travel unit 34 to move according to the path included in the control signal.

[0074] In the office 100 shown in Figure 2, for example, when the intrusion sensor 253 detects an intruder at the location of the anomaly 480, the work robot 30 receives a control signal from the server 10 instructing it to perform either a first or second countermeasure action, and moves to the location of the anomaly 480 via the path 482. On the other hand, if the work robot 30 receives a control signal from the server 10 instructing it to perform a second evacuation action, it moves to the evacuation position 420 via the path 483.

[0075] As described above, in the security system 1 according to the present invention, when a fire or other disaster-related abnormality occurs, the security system 1 can, depending on whether or not there are users in the work area of ​​the work robot 30, the congestion level of the work area, the movement status of users, etc., move the work robot 30 to a safe place and stop so as not to hinder the evacuation of users, or, if there is little risk of hindering evacuation, move to the location where the abnormality occurred and deal with the disaster appropriately. Furthermore, in the security system 1, depending on the positional relationship between the current position of the work robot 30 and the evacuation position 420 or home position 460, the security system 1 can return the work robot 30 to the home position or move to a predetermined evacuation position 420 or the edge of a passage and stop, thereby further suppressing any obstruction to the evacuation of users. In this way, the security system 1 can operate the work robot 30 differently depending on the situation of users and the position of the work robot 30, especially when a disaster-related abnormality occurs, thus enabling appropriate responses according to the situation.

[0076] Although preferred embodiments of the present invention have been described above, the present invention is not limited to these embodiments. For example, the security system 1 may distribute multiple servers 10 across a network so that it can provide services in the form of cloud computing, and each server 10 may cooperate to share the processing shown in Figure 3. In particular, the security system 1 may have separate servers 10 for managing the security device 20 and servers 10 for controlling the work robot 30, and each server 10 may cooperate with each other to manage the security device 20 and the work robot 30.

[0077] In the above embodiment, the security system 1 includes a server 10, a security device 20, and a work robot 30. The server 10, which is connected via communication between the security device 20 and the work robot 30, generates control signals based on abnormal signals, status signals, user signals, etc., received from the security device 20, and transmits 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 transmit and receive abnormal signals, control signals, etc., without going through the server 10. In this case, all of the functions related to the generation of control signals in the server 10 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.

[0078] Figure 7 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.

[0079] 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 are transmitting and receiving units that communicate between the security device 20-2 and the work robot 30-2 to send and receive various signals. The storage unit 22-2 of the security device 20-2 stores schedule information 221-2 and security map 222-2. The control unit 23-2 of the security device 20-2 has, in addition to the status monitoring means 231-2 and the abnormality monitoring means 232-2, an acquisition means 233-2 and an instruction means 234-2.

[0080] In security system 2, in step S100 of the operation sequence shown in Figure 3, the instruction means 234-2 of security device 20-2 transmits a start signal to work robot 30-2 via communication unit 21-2. Furthermore, 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, in step S104, the instruction means 234-2 determines the operation to be performed by the work robot 30-2 and transmits an operation signal to the work robot 30-2 via the communication unit 21-2. Furthermore, in step S107, the status monitoring means 231-2 of the security device 20-2 determines whether or not a user is present in the security target without outputting a status signal, and stores this as occupancy information in the storage unit 22-2. Furthermore, in step S110, the status monitoring means 231-2 stores in the storage unit 22-2 whether or not the area is crowded with users and / or whether or not there is a lot of user movement, without outputting a user signal. Alternatively, in step S106, it may be determined whether or not there are users in the area being monitored based on information or images of entry and exit instructions. Furthermore, in step S114, the abnormality monitoring means 232-2 outputs an abnormality signal to the instruction means 132, and in steps S115 and S116, the instruction means 234-2 executes a control signal generation process and outputs a control signal to the work robot 30-2 via the communication unit 21-2.

[0081] In other words, in the security system 2, when the security device 20-2 detects an abnormality, it generates a control signal to control the work robot 30-2 according to the detection result of the status detection unit, and controls the work robot 30-2 in response to the detection of an abnormality and the detection of a user. Furthermore, in the security system 2, the path that the work robot 30-2 moves may be calculated by the security device 20-2 and instructed by a control signal. In that case, the motion control means 382-2 controls the travel unit 34-2 to move according to the path included in the control signal.

[0082] Figure 8 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.

[0083] 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 their respective short-range wireless communication standards, and are transmitting and receiving units that communicate between the security device 20-3 and the work robot 30-3 to send and receive various signals. The memory unit 37-3 of the work robot 30-3 stores schedule information 372-3 and security map 373-3 in addition to the environmental map 371-3. The control unit 38-3 of the work robot 30 includes, in addition to the position monitoring means 381-3 and the motion control means 382-3, an acquisition means 383-3 and an instruction means 384-3.

[0084] In security system 3, in step S100 of the operation sequence shown in Figure 3, the operation control means 382-3 of the work robot 30-3 spontaneously starts work operations based on the schedule information 372-3. Furthermore, 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 as current position information in the storage unit 37-3 in step S103 without outputting a current position signal. Also, in step S104, the instruction means 384-3 determines the operation to be performed based on the content of the work operation being performed and the current position of the work robot 30, and then executes the determined operation. Furthermore, in step S107, the status monitoring means 231-3 of the security device 20-3 outputs a status signal to the work robot 30-3 via the communication unit 21-3, and in step S108, the acquisition means 383-3 of the work robot 30-3 determines whether or not a user is present in the security target and stores it as occupancy information in the storage unit 37-3. Furthermore, in step S110, the status monitoring means 231-3 outputs a user signal to the work robot 30-3 via the communication unit 21-3, and in step S111, the acquisition means 383-3 of the work robot 30-3 stores in the storage unit 37-3 whether or not the user is crowded and / or whether or not the user is moving around a lot. Furthermore, in step S114, the abnormality monitoring means 232-3 outputs an abnormality signal to the work robot 30-3 via the communication unit 21-3. In steps S115 and S116, the instruction means 384-3 of the work robot 30-3 executes a control signal generation process and outputs a control signal to the operation control means 382-3. In other words, in this case, when the communication unit 31-3 receives an abnormal signal, a status signal, and a user signal, the work robot 30-3 controls its operating mechanism to perform actions corresponding to the abnormal signal, status signal, and user signal.

[0085] Similar to security system 1, security systems 2 and 3 can control the operation of work robots 30-2 and 30-3 depending on whether or not there are users present when an abnormality occurs, thus enabling appropriate responses according to the situation.

[0086] As described above, various modifications can be made within the scope of the present invention to suit the implementation. [Explanation of symbols]

[0087] 1 Security system, 10 Server, 11 Communication unit (transmitter), 13 Control unit, 20 Security device, 23 Control unit (status detection unit), 30 Work robot, 31 Communication unit (receiver), 34 Travel unit (operating mechanism), 35 Work unit (operating mechanism), 38 Control unit, 251 Security operation unit (anomaly detection unit), 253 Intrusion sensor (anomaly detection unit), 254 Fire sensor (anomaly detection unit), 255 Equipment sensor (anomaly detection unit)

Claims

1. A work robot capable of autonomous movement within a facility and performing at least a work action to carry out a predetermined task, and an evacuation action to move away from the movement of facility users, A robot control system including a device that outputs abnormal signals related to disaster prevention, The aforementioned work robot acquires current position information, and if the device outputs the abnormal signal while the work operation is being performed, it interrupts or terminates the work operation and performs the retraction operation. The aforementioned evacuation operation includes the operation of the work robot stopping in a position that avoids the user's path. The position that avoids the user's movement path during the aforementioned evacuation operation is set from among the pre-set evacuation positions according to the current position of the work robot. A robot control system characterized by the following features.

2. The robot control system according to claim 1, wherein the position avoiding the user's movement path during the aforementioned evacuation operation is set according to the positional relationship between the current position of the work robot and the evacuation position.

3. The robot control system according to claim 1 or 2, wherein the position avoiding the user's movement path during the aforementioned evacuation operation is set to an evacuation position where the distance from the current position of the work robot is less than a predetermined distance.

4. The robot control system according to any one of claims 1 to 3, wherein the retraction position includes a position outside the passageway.

5. The robot control system according to any one of claims 1 to 3, wherein the retraction position includes the end position of the passageway.

6. A work robot capable of autonomous movement within a facility and capable of performing at least predetermined tasks and retreat actions to move away from the movement paths of facility users, and a server connected to a device that outputs abnormal signals related to disaster prevention, When the abnormal signal is received from the aforementioned device, the control unit generates a control signal to interrupt or terminate the work operation being performed by the work robot and to execute the retraction operation, It has a transmitting unit for transmitting the control signal to the work robot, The aforementioned evacuation operation includes the operation of the work robot stopping in a position that avoids the user's path. The position that avoids the user's movement path during the aforementioned evacuation operation is set from among the pre-set evacuation positions according to the current position of the work robot. A server characterized by the following features.

7. An information processing device connected in a communication manner to a work robot that is capable of autonomously moving within a facility and performing at least work actions to carry out predetermined tasks, and evacuation actions to move away from the movement paths of facility users, A detection unit for detecting abnormalities related to disaster prevention, A control unit that, upon detecting an anomaly related to disaster prevention, generates a control signal to interrupt or terminate the work operation being performed by the work robot and to execute the evacuation operation, It has a transmitting unit for transmitting the control signal to the work robot, The aforementioned evacuation operation includes the operation of the work robot stopping in a position that avoids the user's path. The position that avoids the user's movement path during the aforementioned evacuation operation is set from among the pre-set evacuation positions according to the current position of the work robot. An information processing device characterized by the following:

8. A work robot capable of autonomous movement within a facility, capable of performing at least predetermined tasks and retreating from the paths of facility users, and connected in a manner that enables communication with a device that outputs abnormal signals related to disaster prevention, A receiving unit for receiving the abnormal signal from the aforementioned device, An operating mechanism for performing the aforementioned work robot, The receiving unit has a control unit that controls the operating mechanism to interrupt or terminate the operation being performed and to execute the retraction operation when it receives the abnormal signal, The aforementioned evacuation operation includes the operation of the work robot stopping in a position that avoids the user's path. The position that avoids the user's movement path during the aforementioned evacuation operation is set from among the pre-set evacuation positions according to the current position of the work robot. A work robot characterized by the following features.

Images