Information processing method, information processing device, and program

Abstract

An information processing method according to one aspect of the present disclosure comprises: acquiring first information indicating an imaging range of a first camera which is disposed in a robot that autonomously travels and captures an image of a prescribed area (S10); and detecting an abnormality in the robot on the basis of the first information (S20).

Description

Information processing method, information processing device, and program

[0001] The present disclosure relates to an information processing method, an information processing device, and a program.

[0002] 2. Description of the Related Art Conventionally, there has been a technology for crime prevention purposes in which an intruder or the like is photographed by a drone or the like equipped with a camera (see, for example, Patent Document 1).

[0003] Patent document 1 discloses an apparatus for setting a destination to which a control body having a photographing means and a moving means is to be moved by the moving means so that the photographing means can photograph a moving subject in a space where obstacles are present.

[0004] Japanese Patent Application Laid-Open No. 2020-154966

[0005] A robot with a control unit equipped with a photographing means and a moving means moves autonomously to photograph predetermined positions and targets, and if the robot is subjected to a cyber attack or the like, it may behave abnormally, such as not photographing positions that it should be photographing.

[0006] The present disclosure provides an information processing method and the like that can detect abnormal behavior of a robot.

[0007] An information processing method according to one aspect of the present disclosure acquires first information indicating the imaging range of a first camera placed on a robot that moves autonomously and photographs a predetermined area, and detects an abnormality in the robot based on the first information.

[0008] An information processing device according to one aspect of the present disclosure includes an acquisition unit that acquires first information indicating the imaging range of a first camera placed on a robot that moves autonomously and photographs a predetermined area, and a detection unit that detects an abnormality in the robot based on the first information.

[0009] A program according to one aspect of the present disclosure is a program for causing a computer to execute the information processing method described above.

[0010] According to the present disclosure, an information processing method and the like that can detect abnormal behavior of a robot are provided.

[0011] FIG. 1 is a diagram illustrating a security system according to an embodiment. FIG. 2 is a block diagram illustrating a functional configuration of the security system according to an embodiment. FIG. 3 is a diagram illustrating a first example of monitoring content according to an embodiment. FIG. 4 is a diagram illustrating the first example of monitoring content according to an embodiment. FIG. 5 is a diagram illustrating a second example of monitoring content according to an embodiment. FIG. 6 is a diagram illustrating the second example of monitoring content according to an embodiment. FIG. 7 is a flowchart illustrating a first example of a processing procedure of an anomaly detection system according to an embodiment. FIG. 8 is a flowchart illustrating a specific example of an anomaly determination processing of an anomaly detection system according to an embodiment. FIG. 9 is a flowchart illustrating a specific example of an anomaly determination processing of an anomaly detection system according to an embodiment. FIG. 10 is a flowchart illustrating a specific example of an anomaly determination processing of an anomaly detection system according to an embodiment. FIG. 11 is a flowchart illustrating a second example of a processing procedure of an anomaly detection system according to an embodiment. FIG. 12 is a flowchart illustrating a second example of a processing procedure of an anomaly detection system according to an embodiment. FIG. 13 is a diagram illustrating a third example of monitoring content according to an embodiment. FIG. 14 is a diagram illustrating a third example of monitoring content according to an embodiment. FIG. 15 is a diagram illustrating a third example of monitoring content according to an embodiment. FIG. 16 is a diagram illustrating a fourth example of monitoring content according to an embodiment. Fig. 17 is a diagram for explaining a fourth example of monitoring content according to an embodiment. Fig. 18 is a diagram for explaining a fourth example of monitoring content according to an embodiment. Fig. 19 is a flowchart showing a third example of a processing procedure of the anomaly detection system according to an embodiment. Fig. 20 is a flowchart showing a third example of a processing procedure of the anomaly detection system according to an embodiment. Fig. 21 is a flowchart showing a specific example of anomaly determination processing of the anomaly detection system according to an embodiment. Fig. 22 is a flowchart showing a processing procedure of an information processing device according to an embodiment.

[0012] Hereinafter, the embodiments will be specifically described with reference to the drawings.

[0013] The embodiments described below are all comprehensive or specific examples. The numerical values, shapes, materials, components, component placement and connection configurations, steps, and step order shown in the following embodiments are merely examples and are not intended to limit the present disclosure. Furthermore, among the components in the following embodiments, components that are not recited in the independent claims of the present disclosure are described as optional components. Furthermore, the drawings are not necessarily strict illustrations. In the drawings, substantially identical components are denoted by the same reference numerals, and redundant descriptions may be omitted or simplified.

[0014] Furthermore, in this specification, ordinal numbers such as "first" and "second" do not refer to the number or order of components unless otherwise specified, but are used for the purpose of avoiding confusion and distinguishing between components of the same type.

[0015] Furthermore, in this specification, when a comparison is made, for example, with "above a threshold" or "below a threshold," it means that the distinction is made at the threshold, and may mean "greater than the threshold" or "below the threshold," respectively.

[0016] (Embodiment) [Configuration] First, the configuration of an anomaly detection system according to an embodiment will be described.

[0017] FIG. 1 is a diagram showing a security system 10 according to an embodiment.

[0018] The security system 10 is a system that guards a predetermined area to be monitored, such as inside a building. The security system 10 monitors the predetermined area to be monitored based on images of the area to be monitored obtained from a robot camera 210 equipped on a robot 200, a security guard camera 300 equipped on a security guard, and a fixed camera 400 fixedly installed in a building or the like.

[0019] Furthermore, in the security system 10, the anomaly detection system 100 detects an abnormality in the robot 200. Specifically, the anomaly detection system 100 acquires information indicating the performance and status of the robot camera 210, the security guard camera 300, and the fixed camera 400, as well as information indicating the operation mode of the robot 200, from the robot 200, which moves (autonomously moves) and takes pictures, and from the server device 500 that manages the robot 200, and determines whether the robot 200 is behaving (operating) abnormally based on the acquired information.

[0020] FIG. 2 is a block diagram showing the functional configuration of the security system 10 according to the embodiment.

[0021] The security system 10 includes, for example, an anomaly detection system 100, a server device 500, one or more robots 200, one or more security guard cameras 300, and one or more fixed cameras 400.

[0022] The security system 10 may include a plurality of robots 200. The security system 10 may include a plurality of security guard cameras 300. The security system 10 may include a plurality of fixed cameras 400. The security system 10 may include only one of the security guard cameras 300 and the fixed cameras 400.

[0023] The anomaly detection system 100 is a system that detects an anomaly in the robot 200. The anomaly detection system 100 is an example of an information processing device.

[0024] The anomaly detection system 100 is realized, for example, by a communication interface for communicating with each device included in the security system 10, a non-volatile memory in which a program is stored, a volatile memory that is a temporary storage area for executing the program, an input / output port for sending and receiving signals, a processor that executes the program, etc. The communication interface may be realized by an antenna and a wireless communication circuit or the like to enable wireless communication, or by a connector to which a communication line for wired communication is connected.

[0025] The communication standard used for communication in the security system 10 may be determined arbitrarily.

[0026] The anomaly detection system 100 includes an acquisition unit 110 , a detection unit 120 , an output unit 130 , a communication unit 140 , and a storage unit 150 .

[0027] The acquisition unit 110 is a processing unit that acquires various types of information. For example, the acquisition unit 110 acquires various types of information from the robot 200, the security guard camera 300, the fixed camera 400, and the server device 500 via the communication unit 140.

[0028] The acquisition unit 110 acquires, for example, images captured by each device, timestamps, camera types, camera statuses, etc. from the robot 200, the security guard cameras 300, and the fixed cameras 400. The acquisition unit 110 also acquires, from the server device 500, camera performance, camera status, and operation mode information indicating the operation mode of the robot 200.

[0029] The timestamp is information that indicates the timing and period when the camera captured the image.

[0030] The camera type (more specifically, information indicating the camera type) is information indicating the type of camera, such as a predetermined identifier that uniquely identifies the camera.

[0031] The camera state (more specifically, information indicating the camera state) is dynamic information regarding the camera's shooting range. For example, the camera state is information indicating the camera's position and orientation (shooting direction). For example, the acquisition unit 110 acquires the camera state of the robot camera 210 from the robot camera 210, acquires the camera state of the security guard camera 300 from the security guard camera 300, and acquires the camera state of the fixed camera from the server device 500.

[0032] The camera performance (more specifically, information indicating the camera performance) is static information related to the camera's imaging range, such as the camera's angle of view and focal length.

[0033] The timestamp, camera type, camera status, and camera performance of the robot camera 210 are examples of information included in the first information.

[0034] The timestamp, camera type, camera status, and camera performance of each of the security guard camera 300 and the fixed camera 400 are examples of information included in the second information.

[0035] For example, the acquisition unit 110 periodically and repeatedly acquires timestamps and camera states from the robot camera 210, the security guard camera 300, and the fixed camera 400.

[0036] The operation mode indicates the operation state of the robot 200. The robot 200 can perform various operations depending on the conditions, such as determining the image capture position, image capture direction, image capture timing, and / or travel route depending on the conditions. In the present embodiment, the operation mode information indicates the operation and state of the robot 200, such as how the robot 200 autonomously travels and how it captures images of a predetermined area.

[0037] The operation mode information is information that indicates the operation mode of the robot 200. Specifically, the operation mode information is information that indicates the operation mode in which the robot 200 took the image.

[0038] The robot 200 performs, for example, guard duty, patrol duty, mobile guard duty, and emergency response duty.

[0039] The sentry operation is an operation of intensively monitoring a specific location. Specifically, the robot 200 photographs the specific location during the sentry operation. Note that, during the sentry operation, the robot 200 may travel and photograph the specific location, or may continue to photograph the specific location without traveling. Note that "traveling and photographing" may mean photographing while traveling, or may mean photographing after pausing.

[0040] The patrol operation is an operation of traveling along a predetermined route and performing monitoring. Specifically, during the patrol operation, the robot 200 travels along a predetermined route and takes photographs.

[0041] A patrol operation is an operation in which the robot 200 monitors a location of high importance while moving. Specifically, during a patrol operation, the robot 200 moves and photographs the location so as to eliminate blind spots. As described above, the predetermined area to be monitored is photographed by multiple cameras. The robot 200 and the security guard photograph the location while moving. Therefore, the robot 200 photographs the location while moving, depending on the photographing ranges of cameras other than the robot camera 210 (e.g., the security guard camera 300 and the fixed camera 400) provided in the security system 10, so as to eliminate blind spots, that is, to eliminate any areas in the predetermined area that have not been photographed for a long time.

[0042] The cameras provided in the security system 10 other than the robot camera 210 are also referred to as other cameras. The other cameras are an example of second cameras.

[0043] An emergency response operation is an operation to be performed when an unexpected event occurs, such as when the presence of a suspicious object or person is confirmed. In an emergency response operation, for example, a specific location is monitored intensively, similar to a guard duty operation.

[0044] The state of the robot 200 performing guard duty and emergency response operations is also referred to as the first operation mode. Specifically, the first operation mode is an operation mode in which the robot 200 continues to capture images of at least one of a plurality of sections (area sections) included in a predetermined area with the robot camera 210.

[0045] The state of the robot 200 performing the patrol operation is also referred to as the second operation mode. Specifically, the second operation mode is an operation mode in which the robot 200 captures an image of a predetermined area with the robot camera 210 according to the capture range of another camera (second camera) placed outside the robot 200.

[0046] In this way, for example, the robot 200 operates in any one of a plurality of operation modes including the first operation mode and the second operation mode, thereby capturing an image of a predetermined area with the robot camera 210. In this way, the robot 200 guards the predetermined area.

[0047] The acquisition unit 110 may acquire this information from any of the robot 200, the security guard camera 300, the fixed camera 400, and the server device 500. This information may also be stored in advance in the storage unit 150.

[0048] As described above, the acquisition unit 110 acquires, for example, first information indicating the imaging range of the robot camera 210 installed on the robot 200 that autonomously travels and captures images of a predetermined area. Furthermore, for example, the acquisition unit 110 acquires second information indicating the imaging range of another camera. Furthermore, for example, the acquisition unit 110 acquires operation mode information indicating the operation mode of the robot 200.

[0049] The first information may be information that directly indicates the shooting range, or information that indirectly indicates the shooting range, such as information for calculating the shooting range. For example, when acquiring a timestamp, camera type, camera status, and camera performance from the robot 200 and the server device 500, the acquisition unit 110 may acquire the first information by calculating the shooting range of the robot camera 210 based on the timestamp, camera type, camera status, and camera performance. The second information is similar to the first information.

[0050] Furthermore, for example, the first information includes first period information indicating the shooting range of the robot camera 210 during a first period, and second period information indicating the shooting range of the robot camera 210 during a second period different from the first period. The first period information and the second period information are, for example, information including a timestamp. Note that the second information may include first period information indicating the shooting range of another camera during the first period, and second period information indicating the shooting range of another camera during a second period different from the first period. The first period and the second period are, for example, the same length of time. The lengths of the first period and the second period may be determined arbitrarily.

[0051] The detection unit 120 is a processing unit that detects an abnormality in the robot 200. Specifically, the detection unit 120 determines whether an abnormality has occurred in the robot 200 based on information about the robot 200.

[0052] For example, the detection unit 120 detects an abnormality in the robot 200 based on the first information, specifically, based on the shooting range of the robot camera 210 indicated by the first information. Furthermore, for example, the detection unit 120 detects an abnormality in the robot 200 based on the first information and the operation mode information. That is, for example, the detection unit 120 detects an abnormality in the robot 200 using a method according to the operation mode of the robot 200. For example, the detection unit 120 determines the operation mode of the robot 200 based on the operation mode information, and if the determined operation mode is the first operation mode (i.e., the robot 200 operates in the first operation mode), detects an abnormality in the robot 200 using a first abnormality detection method. If the determined operation mode is a second operation mode different from the first operation mode, detects an abnormality in the robot 200 using a second abnormality detection method different from the first abnormality detection method. Specific processing by the detection unit 120 will be described later.

[0053] The output unit 130 is a processing unit that outputs various information. For example, when the detection unit 120 detects an abnormality in the robot 200, that is, when the detection unit 120 determines that an abnormality has occurred in the robot 200, the output unit 130 outputs information indicating that an abnormality has occurred in the robot 200. The notification device that acquires the information notifies the user of the security system 10 of the information indicating that an abnormality has occurred in the robot 200.

[0054] The notification device may be capable of notifying the user of an abnormality that has occurred in the robot 200. The notification device may be, for example, a display device such as a display (not shown) and / or an audio device such as a speaker.

[0055] The processing units such as the acquisition unit 110, the detection unit 120, and the output unit 130 are realized by, for example, a memory and a processor such as a CPU (Central Processing Unit) that executes a control program stored in the memory. The memory included in these processing units may be realized by a common memory, or may be realized by one or more independent memories. Furthermore, the processor included in these processing units may be realized by a common processor, or may be realized by one or more independent processors.

[0056] The communication unit 140 is a communication interface for communicating with the server device 500, the robot 200, the security guard camera 300, and the fixed camera 400. The communication unit 140 may be realized by an antenna and a wireless communication circuit for wireless communication, or may be realized by a connector to which a communication line for wired communication is connected.

[0057] The storage unit 150 is a storage device that stores various information such as threshold values, etc. The storage unit 150 is realized by a storage device such as a semiconductor memory or an HDD (Hard Disc Drive), for example.

[0058] The robot 200 is a mobile object that travels autonomously and photographs a predetermined area. Specifically, the robot 200 guards the predetermined area by photographing the predetermined area while traveling autonomously using a robot camera 210 disposed on the robot 200.

[0059] The robot 200 includes a robot camera 210 , a control unit 220 , a driving unit 230 , a communication unit 240 , and a memory unit 250 .

[0060] The robot camera 210 is a camera that is placed on the robot 200 and captures images of a predetermined area. The robot 200 may be equipped with one or more robot cameras 210.

[0061] The control unit 220 is a processing unit that controls the robot 200. For example, the control unit 220 acquires operation mode information from the server device 500 via the communication unit 240, and controls the robot 200 to operate in the operation mode indicated by the acquired operation mode information. For example, the control unit 220 controls the robot camera 210 and the driving unit 230 according to the operation mode. Also, for example, the control unit 220 transmits a timestamp and the camera status of the robot camera 210 to the anomaly detection system 100 via the communication unit 240.

[0062] The control unit 220 is realized by, for example, a memory and a processor such as a CPU that executes a control program stored in the memory.

[0063] The driving unit 230 is a driving mechanism such as tires that causes the robot 200 to move.

[0064] The communication unit 240 is a communication interface for communicating with the anomaly detection system 100 and the server device 500. The communication unit 240 may be realized by an antenna and a wireless communication circuit for wireless communication, or may be realized by a connector to which a communication line for wired communication is connected.

[0065] The storage unit 250 is a storage device that stores various information such as the camera type of the robot camera 210 and the camera performance of the robot camera 210. The storage unit 250 is realized by a storage device such as a semiconductor memory or an HDD, for example.

[0066] The server device 500 is a computer that stores information about each device included in the security system 10. For example, each server device 500 is realized by a communication interface for communicating with each device included in the security system 10, non-volatile memory in which programs are stored, volatile memory that is a temporary storage area for executing the programs, input / output ports for sending and receiving signals, a processor that executes the programs, etc. The communication interface may be realized by, for example, an antenna and a wireless communication circuit that enables wireless communication, or by a connector to which a communication line for wired communication is connected.

[0067] The server device 500 includes a communication unit 510 , a control unit 520 , and a DB 530 .

[0068] The communication unit 510 is a communication interface for communicating with the anomaly detection system 100 and the robot 200. The communication unit 510 may be realized by an antenna and a wireless communication circuit for wireless communication, or may be realized by a connector to which a communication line for wired communication is connected.

[0069] The control unit 520 is a processing unit that controls the server device 500. For example, the control unit 520 transmits operation mode information to the robot 200 via the communication unit 510, thereby causing the robot 200 to operate in the operation mode indicated by the operation mode information. Furthermore, for example, the control unit 520 transmits operation mode information indicating the camera performance of the fixed camera 400 and the operation mode of the robot 200 to the anomaly detection system 100 via the communication unit 510.

[0070] The control unit 520 is realized by, for example, a memory and a processor such as a CPU that executes a control program stored in the memory.

[0071] The DB 530 is a storage device that stores various information (database) such as camera performance, etc. The DB 530 is realized by a storage device such as a semiconductor memory or an HDD, for example.

[0072] [Processing Procedure] Next, the processing procedure of the anomaly detection system 100 will be described.

[0073] First Operation Mode First, the operation of the anomaly detection system 100 when the robot 200 operates in the first operation mode will be described.

[0074] For example, when the robot 200 operates in the first operation mode, the detection unit 120 detects an abnormality in the robot 200 based on the first period information and the second period information. For example, the detection unit 120 determines whether an abnormality has occurred in the robot 200 based on the shooting range of the robot camera 210 in the first period indicated by the first period information and the shooting range of the robot camera 210 in the second period indicated by the second period information.

[0075] Furthermore, for example, when the robot 200 is operating in the first operating mode, the detection unit 120 detects an abnormality in the robot 200 by calculating, based on the first information, a section monitoring degree (also called a robot area section monitoring degree) for each of a plurality of sections included in a specified area, which indicates the proportion of the period during which the robot camera 210 photographed the section relative to a specified period, and then detects an abnormality in the robot 200 based on the section monitoring degree.

[0076] The number, area, shape, etc. of the sections included in the predetermined area may be determined arbitrarily. In this embodiment, the predetermined area is divided into a plurality of sections in advance.

[0077] The predetermined period may be arbitrarily determined in advance.

[0078] The area surveillance level is the percentage of an area that was photographed by a single robot 200 (e.g., if the security system 10 has multiple robots 200, one of the multiple robots 200) within a specified period of time, and is calculated from the percentage of an area that is included in the robot's photographing range of a single robot 200 within a specified period of time.

[0079] The robot imaging range is the imaging range of all of the one or more robot cameras 210 equipped on the robot 200. In other words, the robot imaging range is the range in which the imaging ranges of the one or more robot cameras 210 equipped on the robot 200 overlap each other.

[0080] For example, if ten photographs are taken by one or more robot cameras 210 equipped on the robot 200 during a specified period, and the images generated in six of those photographs include a specified area, i.e., if the specified area is photographed six times out of the ten times, the robot area section monitoring level is calculated to be 60%.

[0081] In addition, when the robot 200 is equipped with multiple robot cameras 210, and all the robot cameras 210 take pictures at the same time, the number of times that pictures are taken by all the robot cameras 210 may be counted as the number of times pictures are taken by the robot 200.

[0082] In the following, the section surveillance degree calculated from the proportion of sections that were photographed by a single camera (for example, if the robot 200 is equipped with multiple robot cameras 210, one of the multiple robot cameras 210) within a specified period of time and that are included in the camera's camera shooting range within a specified period of time is also referred to as the camera section surveillance degree.

[0083] For example, if 10 photographs are taken by a single camera over a specified period, and the images produced in six of those photographs include a specified area, i.e., the specified area is photographed six times out of the ten times, the camera area monitoring rate is calculated to be 60%.

[0084] The camera coverage is the coverage of a single camera. The camera coverage is calculated based on, for example, the camera performance and camera status. For example, the robot coverage is calculated by superimposing the coverages of one or more robot cameras 210 arranged on the robot 200.

[0085] Furthermore, for example, when detecting an abnormality in the robot 200, the detection unit 120 calculates a robot area coverage rate, which indicates the ratio of the shooting range of the robot camera 210 to the area of ​​a specified area, based on the first information, and detects an abnormality in the robot 200 based on the robot area coverage rate.

[0086] The robot area coverage rate is the ratio of the area photographed by a single robot 200 during a specified period to the area of ​​a specified area. The robot area coverage rate is calculated from the ratio of the area where the robot photographing range of a single robot 200 during a specified period overlaps with the specified area to the entire specified area.

[0087] For example, when detecting an abnormality in the robot 200, when the robot 200 is operating in the first operating mode, the detection unit 120 determines that the robot 200 is normal if the robot area coverage rate is less than a first threshold value, and determines that the robot 200 is abnormal if the robot area coverage rate is equal to or greater than the first threshold value.

[0088] The first threshold value may be determined arbitrarily and is not particularly limited. Information indicating the first threshold value is stored in advance in the storage unit 150, for example.

[0089] The first threshold is an example of a robot area coverage rate threshold.

[0090] The robot area coverage rate threshold is a threshold used by the detection unit 120 to determine whether the robot 200 is monitoring a sufficient range of a predetermined area, using the robot area coverage rate of the robot 200 .

[0091] 3 and 4 are diagrams illustrating a first example of the monitoring content according to the embodiment. Specifically, Fig. 3 is a diagram illustrating the robot area block monitoring level in a first period. Fig. 4 is a diagram illustrating the robot area block monitoring level in a second period after photography has been performed as in the example shown in Fig. 3.

[0092] 3 and 4, in this example, the predetermined area A is divided into 12 sections, section A1 to section A12, in advance. The robot 200, for example, photographs at least one of sections A1 to A12 while traveling through the predetermined area A. For example, the robot 200 photographs multiple sections, such as section A1 and section A2, simultaneously, or photographs only some of the sections, such as section A2 only.

[0093] 3, during the first period, the robot area section monitoring degree for section A2 is 100%, the robot area section monitoring degree for sections A1, A7, and A8 is 50%, and the robot area section monitoring degree for sections A3, A4, A5, A6, A9, A10, A11, and A12 is 0%. In other words, during the first period, the robot 200 always photographs section A2, photographs sections A1, A7, and A8 once every other time, and does not photograph sections A3, A4, A5, A6, A9, A10, A11, or A12. For example, if the robot 200 generates images by taking 10 photographs during the first period, i.e., generates 10 images, section A2 appears in all 10 images, sections A1, A7, and A8 appear in five of the 10 images, and sections A3, A4, A5, A6, A9, A10, A11, and A12 do not appear in any of the 10 images.

[0094] In the example shown in Figure 4, during the second period, the robot area partition monitoring degree for section A2 is 100%, the robot area partition monitoring degree for sections A3, A8, and A9 is 50%, and the robot area partition monitoring degree for sections A1, A4, A5, A6, A7, A10, A11, and A12 is 0%.

[0095] For example, in the first operating mode, the robot 200 normally operates in such a way that certain areas, such as area A2, where suspicious objects are present or where a security gate is located, are photographed more frequently than other areas.

[0096] In the example shown in FIGS. 3 and 4, the robot area coverage rate in each of the first and second periods is calculated to be 33%.

[0097] 5 and 6 are diagrams illustrating a second example of the monitoring content according to the embodiment. Specifically, Fig. 5 is a diagram illustrating the robot area block monitoring level in a first period. Fig. 6 is a diagram illustrating the robot area block monitoring level in a second period after photography has been performed as in the example shown in Fig. 5.

[0098] In the example shown in Figure 5, during the first period, the robot area partition monitoring degree for section A2 is 100%, the robot area partition monitoring degree for sections A1, A3, A7, A8, and A9 is 50%, and the robot area partition monitoring degree for sections A4, A5, A6, A10, A11, and A12 is 0%.

[0099] In the example shown in Figure 6, during the second period, the robot area partition monitoring level for sections A2, A3, A4, A5, A8, A9, A10, and A11 is 50%, and the robot area partition monitoring level for sections A1, A6, A7, and A12 is 0%.

[0100] As described above, in the second example, section A2 is photographed more frequently than the other sections during the first period as in the first example, but in the second period, there is no section that is photographed more frequently than the other sections, as was section A2 during the first period. When there is no section that is photographed more frequently than the other sections in this way, the detection unit 120 determines that an abnormality has occurred in the robot 200 (i.e., determines that the robot 200 is abnormal).

[0101] 5, the robot area coverage rate in the first period is calculated to be 50%. On the other hand, in the example shown in Fig. 6, the robot area coverage rate in the second period is calculated to be 80%. For example, if the robot area coverage rate is not constant but changes in this way, the detection unit 120 determines that the robot 200 is abnormal.

[0102] In addition, in FIGS. 3 to 6, lines are drawn between adjacent sections for the sake of explanation, but this does not indicate that there are partitions in the real space.

[0103] FIG. 7 is a flowchart illustrating a first example of a processing procedure of the anomaly detection system 100 according to the embodiment.

[0104] First, the acquisition unit 110 acquires the first period information and the second period information from each of the one or more robots 200 included in the security system 10 (S110).

[0105] Next, the detection unit 120 starts processing for the robot 200 operating in the first operation mode among the one or more robots 200 provided in the security system 10 (S120).

[0106] Specifically, the detection unit 120 detects an abnormality in the robot 200 that operated in the second operation mode in the first period and the second period (S130). More specifically, the detection unit 120 determines whether or not each of the one or more robots 200 that operated in the first operation mode is abnormal.

[0107] Once the detection unit 120 has finished determining whether each of the one or more robots 200 operating in the first operating mode is abnormal, it terminates processing for the robot 200 operating in the first operating mode among the one or more robots 200 provided in the security system 10 (S140).

[0108] 8 to 10 are flowcharts showing a specific example of the abnormality determination process of the anomaly detection system 100 according to the embodiment. Specifically, Fig. 8 to Fig. 10 are flowcharts showing details of step S130 shown in Fig. 7.

[0109] First, the detection unit 120 calculates the robot image capturing range for the first period based on the camera image capturing range for the first period included in the first period information (S210).

[0110] Next, the detection unit 120 starts processing for each section in the predetermined area (S220).

[0111] Specifically, the detection unit 120 calculates the robot area section monitoring level for each section in the first period based on the robot shooting range in the first period (S230).

[0112] After the detection unit 120 has finished calculating the robot area section monitoring degree for each section in the first period, it ends the process for each section in the predetermined area (S240).

[0113] Next, the detection unit 120 determines whether the robot area block monitoring level of each block in the first period is all less than the robot area block monitoring level threshold (S250).

[0114] The robot area section monitoring level threshold is a threshold used by the detection unit 120 to determine whether the robot 200 is continuously monitoring each section using the robot area section monitoring level.

[0115] If the determination result in step S250 is true (Yes in S260), that is, if the detection unit 120 determines that the robot area block monitoring levels of all blocks in the first period are less than the robot area block monitoring level threshold, the detection unit 120 ends the process. In other words, in this case, the detection unit 120 determines that the robot 200 is normal (i.e., not abnormal), and ends the process.

[0116] On the other hand, if the judgment result in step S250 is not true (No in S260), that is, if the detection unit 120 determines that the robot area partition monitoring level of each partition in the first period is all equal to or higher than the robot area partition monitoring level threshold, the detection unit 120 proceeds to step S270 shown in Figure 9.

[0117] If the answer to step S260 is No, the detection unit 120 calculates the robot image capturing range for the second period based on the camera image capturing range for the second period included in the second period information (S270).

[0118] Next, the detection unit 120 starts processing for each section in the predetermined area (S280).

[0119] Specifically, the detection unit 120 calculates the robot area section monitoring level for each section in the second period based on the robot shooting range in the second period (S290).

[0120] After the detection unit 120 has finished calculating the robot area section monitoring degree for each section in the second period, it ends the process for each section in the predetermined area (S300).

[0121] Next, the detection unit 120 determines whether or not the robot area block monitoring level of each block in the second period that is equal to or greater than the robot area block monitoring level threshold is the same block as in the first period (S310).

[0122] If the determination result in step S310 is true (Yes in S320), that is, if the detection unit 120 determines that, among the robot area block monitoring levels of each block in the second period, blocks that are equal to or greater than the robot area block monitoring level threshold are the same blocks as those in the first period, the detection unit 120 ends the process. In other words, in this case, the detection unit 120 determines that the robot 200 is normal, and ends the process.

[0123] On the other hand, if the judgment result in step S310 is not true (No in S320), that is, if the detection unit 120 determines that among the robot area partition monitoring levels of each partition in the second period, the partitions that are above the robot area partition monitoring level threshold are not the same partitions as in the first period, the detection unit 120 proceeds to step S330 shown in Figure 10.

[0124] If the answer to step S320 is No, the detection unit 120 calculates the robot area coverage rate for the second period based on the robot shooting range for the second period included in the second period information (S330).

[0125] Next, the detection unit 120 determines whether the robot area coverage rate in the second period is equal to or greater than the robot area coverage rate threshold (S340).

[0126] If the determination result in step S340 is true (Yes in S350), that is, if the detection unit 120 determines that the robot area coverage rate in the second time period is equal to or greater than the robot area coverage rate threshold, the detection unit 120 determines that the robot 200 is abnormal (S360). For example, if the detection unit 120 determines that the robot 200 is abnormal, that is, if the detection unit 120 detects an abnormality in the robot 200, the output unit 130 causes the notification device to notify the user that the robot 200 is abnormal, and ends the process.

[0127] On the other hand, if the determination result in step S340 is not true (No in S350), that is, if the detection unit 120 determines that the robot area coverage rate in the second time period is less than the robot area coverage rate threshold, that is, if the detection unit 120 has not detected an abnormality in the robot 200, the detection unit 120 terminates the processing without, for example, causing the notification device to notify the user that the robot 200 is abnormal. Note that, if the detection unit 120 determines that the robot 200 is normal, the output unit 130 may cause the notification device to notify the user that the robot 200 is normal.

[0128] 11 and 12 are flowcharts illustrating a second example of the processing procedure of the anomaly detection system 100 according to the embodiment.

[0129] First, the acquisition unit 110 acquires the first period information and the second period information from each of the one or more robots 200 included in the security system 10 (S410).

[0130] Next, the detection unit 120 performs the following processing on the robot 200 operating in the first operation mode out of the one or more robots 200 provided in the security system 10.

[0131] The detection unit 120 starts processing for the first period and the second period (S420). Specifically, the detection unit 120 performs the processes of steps S420 to S470.

[0132] The detection unit 120 calculates the robot image capturing range for each of the first period and the second period based on the camera image capturing range included in the first period information and the second period information (S430).

[0133] Next, the detection unit 120 starts processing for each section in the predetermined area (S440).

[0134] Specifically, the detection unit 120 calculates the robot area section monitoring level for each section in the first period and the second period based on the robot shooting range in each of the first period and the second period (S450).

[0135] After the detection unit 120 has finished calculating the robot area section monitoring degree for each section in the first period and the second period, it ends the processing for each section in the predetermined area (S460).

[0136] Next, the detection unit 120 calculates the robot area coverage rate for each of the first period and the second period based on the robot shooting range for each of the first period and the second period (S470).

[0137] After completing the processing of steps S420 to S470 for the first and second periods, the detection unit 120 ends the processing for the first and second periods (S480) and proceeds to step S490 shown in FIG.

[0138] After step S480, the detection unit 120 determines whether the robot area partition monitoring levels of each partition in the first and second periods that are equal to or above the robot area partition monitoring level threshold are the same in the first and second periods (S490).

[0139] If the judgment result in step S490 is not true (No in S500), that is, if it is determined that the number of sections in the first period and the second period that have a robot area section monitoring level above the robot area section monitoring level threshold are not the same between the first period and the second period, the detection unit 120 determines whether the robot area coverage rates in the first period and the second period are all above the robot area coverage rate threshold (S510).

[0140] If the determination result in step S510 is true (Yes in S520), that is, if the detection unit 120 determines that the robot area coverage rates in the first period and the second period are all equal to or greater than the robot area coverage rate threshold, it determines that the robot 200 is abnormal (S530).

[0141] On the other hand, if the determination result in step S490 is true (Yes in S500), that is, if the detection unit 120 determines that the number of sections in the first and second periods with robot area section monitoring levels equal to or greater than the robot area section monitoring level threshold is the same in the first and second periods, or if the determination result in step S510 is not true (No in S520), that is, if the detection unit 120 determines that at least one of the robot area coverage rates in the first and second periods is less than the robot area coverage rate threshold, the detection unit 120 terminates the process. In other words, in such cases, the detection unit 120 determines that the robot 200 is normal.

[0142] <Second Operation Mode> Next, the operation of the anomaly detection system 100 when the robot 200 operates in the second operation mode will be described.

[0143] For example, when the robot 200 operates in the second operation mode, the detection unit 120 detects an abnormality in the robot 200 by calculating a robot area coverage rate, which indicates the ratio of the camera's shooting range to the area of ​​a specified area, based on the first information, in the same way as when the robot 200 operates in the first operation mode, and detects an abnormality in the robot 200 based on the robot area coverage rate.

[0144] For example, when detecting an abnormality in the robot 200, if the robot 200 is operating in the second operating mode and the robot area coverage rate is equal to or greater than a second threshold, the detection unit 120 determines that the robot 200 is normal, and if the robot area coverage rate is less than the second threshold, the detection unit 120 determines that the robot 200 is abnormal.

[0145] The second threshold value may be determined arbitrarily and is not particularly limited. Information indicating the second threshold value is stored in advance in the storage unit 150, for example.

[0146] The second threshold is an example of a robot area coverage rate threshold.

[0147] The first threshold value and the second threshold value may be the same value or different values.

[0148] Furthermore, when the robot 200 operates in the second operation mode, the detection unit 120 detects an abnormality in the robot 200 based on the first information and the second information, for example. That is, when detecting an abnormality in the robot 200, the detection unit 120 also uses information from other cameras (for example, the shooting range of other cameras) to determine whether or not the robot 200 is abnormal.

[0149] For example, when the robot 200 is operating in the second operating mode, the detection unit 120 detects an abnormality in the robot 200 by calculating an area coverage rate that indicates the ratio of the total range of the shooting range of the robot camera 210 and the shooting range of other cameras to the area of ​​a specified area based on the first information, and detects an abnormality in the robot 200 based on the area coverage rate.

[0150] The area coverage rate is an example of a system area coverage rate.

[0151] The area coverage rate is the ratio of the area photographed by any of the cameras (robot 200 and other cameras) equipped in the security system 10 to the entire predetermined area during a predetermined period of time.

[0152] Furthermore, for example, when the robot 200 is operating in the second operating mode, the detection unit 120 determines whether there is an abnormality in the robot 200 based on an overlap rate (also called the robot imaging range overlap rate) that indicates the proportion of the area where the imaging range of the robot camera 210 overlaps with the imaging range of another camera relative to the imaging range of the robot camera 210.

[0153] The overlap rate is the proportion of the robot camera range of a single robot 200 that overlaps with the camera camera ranges of other cameras that are not placed on that robot 200. In other words, the overlap rate is the proportion of the camera camera ranges (areas) of other cameras that overlap with the robot camera range of robot camera 210 relative to the robot camera range (area) of robot camera 210.

[0154] 13 to 15 are diagrams illustrating a third example of monitoring content according to the embodiment. Specifically, FIG. 14 is a diagram illustrating a robot area section monitoring level based on the imaging range of the robot camera 210. FIG. 15 is a diagram illustrating a robot area section monitoring level based on the imaging range of another camera. In this example, FIG. 15 is a diagram illustrating a robot area section monitoring level based on the imaging range of another robot 200 different from the robot 200 targeted for abnormality detection. In the third example, a predetermined area B is photographed by two robots: the robot 200 targeted for abnormality detection and another robot 200 different from the robot 200 targeted for abnormality detection. FIG. 13 is a diagram illustrating a robot area section monitoring level based on the imaging range of the robot camera 210 and the imaging range of the other camera. That is, FIG. 13 is a diagram illustrating a robot area section monitoring level based on a total range obtained by adding together the imaging range shown in FIG. 14 and the imaging range shown in FIG. 15.

[0155] 13 to 15, in this example, the predetermined area B is pre-divided into six sections, section B1 to section B6. The robot 200, for example, photographs at least one of sections B1 to B6 while traveling through the predetermined area B. For example, the robot 200 may photograph multiple sections, such as section B1 and section B2, simultaneously, or may photograph only some of the sections, such as section B2 only.

[0156] In the example shown in FIG. 13, the robot area section monitoring degree for sections B2 and B5 is 100%, and the robot area section monitoring degree for sections B1, B3, B4, and B6 is 50%.

[0157] In the example shown in FIG. 14, the robot area section monitoring degree for sections B1, B2, B4, and B5 is 50%, and the robot area section monitoring degree for sections B3 and B6 is 0%.

[0158] In the example shown in FIG. 15, the robot area section monitoring degree for sections B2, B3, B5, and B6 is 50%, and the robot area section monitoring degree for sections B1 and B4 is 0%.

[0159] The section surveillance degree calculated from the shooting range of the security guard camera 300 and other cameras such as fixed cameras is also referred to as the robot area section surveillance degree.

[0160] For example, in the second operation mode, if the robot 200 is operating normally, it operates so that the entire predetermined area B is captured by the cameras provided in the security system 10, as shown in Fig. 13. Therefore, if the predetermined area B is large and each camera provided in the security system 10 cannot capture the entire predetermined area B at one time, the area coverage rate will increase over time.

[0161] In the example shown in FIG. 13, the area coverage rate is calculated to be 100%.

[0162] In the example shown in FIG. 14, the robot area coverage rate is calculated to be 66%.

[0163] In the example shown in FIG. 15, the robot area coverage rate (other camera area coverage rate) is calculated to be 66%.

[0164] In the example shown in FIGS. 14 and 15, the robot imaging range overlap rate is calculated to be 50%.

[0165] 16 to 18 are diagrams illustrating a fourth example of monitoring content according to the embodiment. Specifically, FIG. 17 is a diagram illustrating the robot area section monitoring level based on the imaging range of the robot camera 210. FIG. 18 is a diagram illustrating the robot area section monitoring level based on the imaging range of another camera. In this example, FIG. 18 is a diagram illustrating the robot area section monitoring level based on the imaging range of another robot 200 different from the robot 200 that is the target of abnormality detection. In the third example, a predetermined area B is photographed by two robots: the robot 200 that is the target of abnormality detection and another robot 200 different from the robot 200. FIG. 16 is a diagram illustrating the robot area section monitoring level based on the imaging range of the robot camera 210 and the imaging range of the other camera. That is, FIG. 16 is a diagram illustrating the robot area section monitoring level based on the total range obtained by adding together the imaging range shown in FIG. 17 and the imaging range shown in FIG. 18.

[0166] In the example shown in Figure 16, the robot area section monitoring degree for section B4 is 100%, the robot area section monitoring degree for sections B1, B3, and B5 is 50%, and the robot area section monitoring degree for sections B3 and B6 is 0%.

[0167] In the example shown in FIG. 17, the robot area section monitoring degree for section B4 is 50%, and the robot area section monitoring degrees for sections B1, B2, B3, B5, and B6 are 0%.

[0168] In the example shown in FIG. 18, the robot area section monitoring degree for sections B1, B2, B4, and B5 is 50%, and the robot area section monitoring degree for sections B3 and B6 is 0%.

[0169] In the example shown in FIG. 16, the area coverage rate is calculated to be 66%.

[0170] In the example shown in FIG. 17, the robot area coverage rate is calculated to be 16%.

[0171] In the example shown in FIG. 18, the robot area coverage rate (other camera area coverage rate) is calculated to be 66%.

[0172] In the examples shown in FIGS. 17 and 18, the robot shooting range overlap rate is calculated to be 100%.

[0173] As described above, in the fourth example, the robot area coverage rate based on the shooting range of the robot camera 210 is lower than in the third example, and the area coverage rate is also lower than in the third example. For example, when the area coverage rate does not increase over time, the detection unit 120 determines whether the area coverage rate is equal to or greater than a predetermined threshold (also referred to as an area coverage rate threshold), and when the area coverage rate is equal to or greater than the predetermined threshold, determines that the robot 200 is normal, and when the area coverage rate is less than the predetermined threshold, determines that an abnormality has occurred in the robot 200. Alternatively, when the area coverage rate is less than the predetermined threshold, the detection unit 120 further determines whether an abnormality has occurred in the robot 200.

[0174] Furthermore, in Example 4, the robot image capture range overlap rate is higher than in Example 3. For example, when the area coverage rate does not increase over time, the detection unit 120 determines whether the robot image capture range overlap rate is equal to or greater than a predetermined threshold (also referred to as the robot image capture range overlap rate threshold), and when the robot image capture range overlap rate is equal to or greater than the predetermined threshold, determines that an abnormality has occurred in the robot 200.

[0175] The area coverage threshold and the robot image capture range overlap rate may be set arbitrarily and are not particularly limited. Information indicating the area coverage threshold and the robot image capture range overlap rate is stored in advance in the storage unit 150, for example.

[0176] In addition, in FIGS. 13 to 8, lines are drawn between adjacent sections for the sake of explanation, but this does not indicate that there are partitions in the real space.

[0177] 19 and 20 are flowcharts illustrating a third example of the processing procedure of the anomaly detection system 100 according to the embodiment.

[0178] First, the acquisition unit 110 acquires information (first information or second information) from one or more robots 200 included in the security system 10 (S610). Note that the information included in the first information and the second information may be information for a first period, information for a second period, or information for both the first and second periods. Subsequent processing is performed based on the information for the same period.

[0179] Next, the detection unit 120 starts processing for the robot 200 operating in the second operation mode among the one or more robots 200 provided in the security system 10 (S620).

[0180] Specifically, the detection unit 120 calculates the robot image capturing range of each of the one or more robots 200 based on the camera image capturing range included in the first information and the second information (S630).

[0181] When the detection unit 120 has finished calculating the robot shooting range of each of the one or more robots 200 operating in the second operation mode, it terminates processing for the robot 200 operating in the second operation mode among the one or more robots 200 provided in the security system 10 (S640).

[0182] Next, the detection unit 120 starts processing for the cameras other than the robot camera 210 provided in the security system 10 (S650).

[0183] Specifically, the acquisition unit 110 acquires the camera shooting range (specifically, the second information) from cameras other than the robot camera 210 equipped in the security system 10, such as the security guard camera 300 and the fixed camera 400, and / or from the server device 500 (S660).

[0184] When the acquisition unit 110 has finished acquiring the camera shooting range from the cameras other than the robot camera 210 equipped in the security system 10 and / or from the server device 500, it terminates processing for the cameras other than the robot camera 210 equipped in the security system 10 (S670) and proceeds to step S680 shown in Figure 20.

[0185] After step S670, the detection unit 120 starts processing for each area (S680). For example, there may be cases where the security system 10 covers multiple areas. In such cases, the following processing is performed for each area. Specifically, the detection unit 120 performs the processing of steps S690 to S740.

[0186] The detection unit 120 calculates the area coverage rate based on the robot camera 210's robot shooting range and the camera shooting ranges of the other cameras, that is, based on the shooting ranges of each camera provided in the security system 10 (S690).

[0187] Next, the detection unit 120 determines whether the area coverage rate is equal to or greater than the area coverage rate threshold (S700).

[0188] If the determination result in step S700 is true (Yes in S710), that is, if the detection unit 120 determines that the area coverage rate is equal to or greater than the area coverage rate threshold, the detection unit 120 ends the process. That is, in this case, the detection unit 120 determines that the robot 200 is normal.

[0189] On the other hand, if the determination result in step S700 is not true (No in S710), that is, if the detection unit 120 determines that the area coverage rate is not greater than or equal to the area coverage rate threshold, it starts processing for the robot 200 operating in the second operating mode among the one or more robots 200 provided in the security system 10 (S720).

[0190] Specifically, the detection unit 120 detects an abnormality in the robot 200 operating in the second operation mode (S730). More specifically, the detection unit 120 determines whether or not each of the one or more robots 200 operating in the second operation mode is abnormal.

[0191] Once the detection unit 120 has finished determining whether each of the one or more robots 200 operating in the second operation mode is abnormal, it terminates processing for the robot 200 operating in the second operation mode among the one or more robots 200 provided in the security system 10 (S740).

[0192] After completing the processes of steps S690 to S740, the detection unit 120 ends the process for each area (S750).

[0193] 21 is a flowchart showing a specific example of the abnormality determination process of the abnormality detection system 100 according to the embodiment. Specifically, FIG. 21 is a flowchart showing details of step S730 shown in FIG.

[0194] First, the detection unit 120 calculates the robot area coverage rate based on the robot photographing range (S810).

[0195] Next, the detection unit 120 determines whether the robot area coverage rate is equal to or greater than the robot area coverage rate threshold (S820).

[0196] If the determination result in step S820 is true (Yes in S830), that is, if the detection unit 120 determines that the robot area coverage rate is equal to or greater than the robot area coverage rate threshold, it calculates the robot shooting range overlap rate based on the robot shooting range of the robot 200 and the camera shooting ranges of the other cameras (S840).

[0197] Next, the detection unit 120 determines whether the robot image capturing range overlap rate is equal to or greater than the robot image capturing range overlap rate threshold (S850).

[0198] If the determination result in step S850 is true (Yes in S860), that is, if the detection unit 120 determines that the robot shooting range overlap rate is greater than or equal to the robot shooting range overlap rate threshold, it determines that the robot 200 is abnormal (S870).

[0199] On the other hand, if the determination result in step S820 is not true (No in S830), that is, if the detection unit 120 determines that the robot area coverage rate is less than the robot area coverage rate threshold, or if the determination result in step S850 is not true (No in S860), that is, if the detection unit 120 determines that the robot image capture range overlap rate is less than the robot image capture range overlap rate threshold, the detection unit 120 ends the process. In other words, in such cases, the detection unit 120 determines that the robot 200 is normal.

[0200] In the process of detecting an abnormality when the robot 200 operates in the first operation mode, the detection unit 120 may perform the process of detecting an abnormality as described above for the case where the robot 200 operates in the second operation mode. In the process of detecting an abnormality when the robot 200 operates in the second operation mode, the detection unit 120 may perform the process of detecting an abnormality as described above for the case where the robot 200 operates in the first operation mode.

[0201] 22 is a flowchart showing the processing procedure of the information processing device according to the embodiment. The anomaly detection system 100 is an example of an information processing device.

[0202] First, the information processing device (e.g., the acquisition unit 110) acquires first information indicating the shooting range of the first camera (robot camera 210) placed on the robot 200 that moves autonomously and takes pictures of a specified area (S10).

[0203] Next, the information processing device (for example, the detection unit 120) detects an abnormality in the robot 200 based on the first information (S20).

[0204] The information processing device includes, for example, a processor and a memory, and the processor performs the above-mentioned processing using the memory.

[0205] [Effects, etc.] Hereinafter, examples of techniques that can be obtained from the disclosure of this specification will be given, and effects, etc. that can be obtained from the exemplified techniques will be described.

[0206] Technique 1 is an information processing method that acquires (S10) first information indicating the imaging range of a first camera placed on a robot 200 that moves autonomously and captures images of a predetermined area, and detects an abnormality in the robot 200 based on the first information (S20).

[0207] The first camera is, for example, a robot camera 210 .

[0208] An autonomously moving robot 200 may behave unexpectedly due to an external cyberattack, virus, or the like. A robot like the robot 200 that guards a predetermined area guards the predetermined area by capturing images of a range according to conditions. For example, in security work, it is important to "eliminate blind spots." Therefore, the inventors discovered that an abnormality in the robot 200 can be detected using the "field of view," i.e., the capturing range of the camera mounted on the robot 200, rather than the "position" of the robot 200. For example, the robot 200 works in conjunction with other cameras to capture images in a predetermined area so that there are no blind spots, i.e., no uncaptured areas. Therefore, for example, an information processing method according to one aspect of the present disclosure monitors whether the robot 200 is operating in a manner that eliminates blind spots. For example, the information processing method according to one aspect of the present disclosure overlaps the capturing range of the robot camera 210 with the capturing range of a camera (e.g., the fixed camera 400) installed in the facility, and detects an abnormality in the robot 200 that leaves a blind spot. In this way, according to the information processing method according to one aspect of the present disclosure, abnormal behavior of the robot 200, that is, an abnormality in the robot 200, can be detected.

[0209] Technology 2 is an information processing method according to Technology 1, in which the robot 200 operates in one of a plurality of operation modes, including (i) a first operation mode in which the robot 200 continues to photograph at least one of a plurality of sections included in a predetermined area with the first camera, and (ii) a second operation mode in which the robot 200 photographs a predetermined area with the first camera according to the photographing range of a second camera positioned other than the robot 200, thereby photographing the predetermined area with the first camera, and the information processing method further acquires operation mode information indicating the operation mode of the robot 200, and in detecting an abnormality in the robot, detects an abnormality in the robot 200 based on the first information and the operation mode information.

[0210] The second camera is, for example, a security guard camera 300 or a fixed camera 400 .

[0211] The first operation mode is, for example, an operation mode in which the robot 200 performs guard duty.

[0212] The second operation mode is, for example, an operation mode in which the robot 200 performs a patrol operation.

[0213] The way in which the robot 200 captures an image of a predetermined area differs depending on the operation mode. Therefore, when detecting an abnormality in the robot 200, the abnormality is detected using a method that corresponds to the operation mode of the robot 200. In other words, the determination criteria are changed depending on the task being performed by the robot 200. This allows for accurate detection of an abnormality in the robot 200.

[0214] Technology 3 is an information processing method described in Technology 2, in which the first information includes first period information indicating the shooting range of the first camera in a first period and second period information indicating the shooting range of the first camera in a second period different from the first period, and in detecting an abnormality in the robot 200, when the robot 200 operates in a first operation mode, an abnormality in the robot 200 is detected based on the first period information and the second period information.

[0215] In the above-described guarding operation of the robot 200, if the robot 200 is operating normally, there will be areas with a high robot area section monitoring degree regardless of the passage of time, and the robot area coverage rate will be less than a predetermined value. Therefore, by comparing the robot area section monitoring degree calculated based on the shooting range for two different periods, an abnormality in the robot 200 can be detected, and thus an abnormality in the robot 200 can be detected with high accuracy.

[0216] Technique 4 is an information processing method according to Technique 2 or 3, in which the specified area includes multiple sections, and in detecting an abnormality in the robot 200, a section monitoring degree indicating the proportion of the period during which the first camera photographed the section relative to a specified period is calculated for each of the multiple sections based on the first information, and an abnormality in the robot 200 is detected based on the section monitoring degree.

[0217] The section monitoring level is, for example, the robot area section monitoring level.

[0218] This allows for accurate detection of abnormalities in the robot 200.

[0219] Technique 5 is an information processing method described in any of Techniques 2 to 4, in which, in detecting an abnormality in the robot 200, a robot area coverage rate indicating the ratio of the shooting range of the first camera to the area of ​​a specified area is calculated based on the first information, and an abnormality in the robot 200 is detected based on the robot area coverage rate.

[0220] This allows for accurate detection of abnormalities in the robot 200.

[0221] Technology 6 is an information processing method described in Technology 5, in which, in detecting an abnormality in the robot 200, when the robot 200 is operating in a first operating mode, if the robot area coverage rate is less than a first threshold value, the robot 200 is determined to be normal, and if the robot area coverage rate is equal to or greater than the first threshold value, the robot 200 is determined to be abnormal.

[0222] The first threshold is, for example, a robot area coverage threshold.

[0223] This allows for accurate detection of abnormalities in the robot 200.

[0224] Technique 7 is an information processing method described in Technique 5 or 6, in which, in detecting an abnormality in the robot 200, when the robot 200 is operating in the second operating mode, if the robot area coverage rate is equal to or greater than a second threshold value, the robot 200 is determined to be normal, and if the robot area coverage rate is less than the second threshold value, the robot 200 is determined to be abnormal.

[0225] The second threshold is, for example, a robot area coverage threshold.

[0226] This allows for accurate detection of abnormalities in the robot 200.

[0227] Technique 8 is an information processing method described in any of Techniques 2 to 7, further acquiring second information indicating the shooting range of the second camera, and detecting an abnormality in the robot 200 when the robot 200 is operating in the second operating mode, based on the first information and the second information.

[0228] As described above, for example, the robot 200 works in conjunction with other cameras to capture images of a predetermined area so that there are no blind spots. Therefore, by detecting an abnormality in the robot 200 based on the first information and the second information, the abnormality in the robot 200 can be detected with high accuracy.

[0229] The second camera may also include a robot camera 210 provided on a robot 200 other than the robot 200 for which an abnormality is to be detected.

[0230] Technique 9 is an information processing method described in Technique 8, in which, in detecting an abnormality in robot 200, a system area coverage rate indicating the ratio of the total range of the shooting range of the first camera and the shooting range of the second camera to the area of ​​a specified area is calculated based on the first information and the second information, and an abnormality in robot 200 is detected based on the system area coverage rate.

[0231] During the patrol operation of the robot 200, if the robot 200 is operating normally, the system area coverage rate increases over time. Therefore, when the robot 200 operates in the second operation mode, an abnormality in the robot 200 can be detected accurately by detecting the abnormality in the robot 200 based on the system area coverage rate.

[0232] Technique 10 is an information processing method described in Technique 8 or 9, in which, in detecting an abnormality in robot 200, an overlap rate indicating the proportion of the area where the shooting range of the first camera and the shooting range of the second camera overlap with respect to the shooting range of the first camera is calculated, and an abnormality in robot 200 is determined based on the overlap rate.

[0233] The overlap rate is, for example, the robot shooting range overlap rate.

[0234] This allows for accurate detection of abnormalities in the robot 200.

[0235] Technology 11 is an information processing device that includes an acquisition unit 110 that acquires first information indicating the imaging range of a first camera placed on a robot 200 that travels autonomously and captures images of a predetermined area, and a detection unit 120 that detects abnormalities in the robot 200 based on the first information.

[0236] The information processing device is, for example, an anomaly detection system 100 .

[0237] This provides the same effects as the information processing method according to one aspect of the present disclosure.

[0238] Technique 12 is a program for causing a computer to execute the information processing method according to any one of techniques 1 to 11.

[0239] This provides the same effects as the information processing method according to one aspect of the present disclosure.

[0240] (Other Embodiments) Although the embodiments have been described above, the present disclosure is not limited to the above-described embodiments.

[0241] Furthermore, the security system 10 may or may not include a server device 500.

[0242] Furthermore, for example, the anomaly detection system 100 described in the above embodiment may be realized as a single device that includes all of the components, or may be realized by allocating each function to multiple devices and having these multiple devices work together.

[0243] In the above-described embodiment, the processing performed by a specific processing unit may be performed by another processing unit. The order of multiple processing operations may be changed, or multiple processing operations may be performed in parallel.

[0244] Furthermore, the communication standard used by each device may be any standard and is not particularly limited.

[0245] In the above-described embodiments, each component may be realized by executing a software program suitable for that component, or by a program execution unit such as a CPU or processor reading and executing a software program recorded on a recording medium such as a hard disk or semiconductor memory.

[0246] Furthermore, each component may be realized by hardware. For example, each component may be a circuit (or integrated circuit). These circuits may form a single circuit as a whole, or each may be a separate circuit. Furthermore, each of these circuits may be a general-purpose circuit or a dedicated circuit.

[0247] Furthermore, the general or specific aspects of the present disclosure may be realized as an apparatus, a system, a method, an integrated circuit, a computer program, or a non-transitory recording medium such as a computer-readable CD-ROM, etc. Furthermore, the general or specific aspects of the present disclosure may be realized as any combination of an apparatus, a system, a method, an integrated circuit, a computer program, and a recording medium.

[0248] In addition, this disclosure also includes forms obtained by applying various modifications to each embodiment that a person skilled in the art would think of, or forms realized by arbitrarily combining the components and functions of each embodiment within the scope of this disclosure.

[0249] The present disclosure is useful for a device for monitoring a security robot.

[0250] 10 Security system 100 Anomaly detection system 110 Acquisition unit 120 Detection unit 130 Output unit 140, 240, 510 Communication unit 150, 250 Storage unit 200 Robot 210 Robot camera 220, 520 Control unit 230 Driving unit 300 Security guard camera 400 Fixed camera 500 Server device 530 DB

Claims

1. An information processing method comprising: acquiring first information indicating a shooting range of a first camera disposed on a robot that travels autonomously and photographs a predetermined area; and detecting an abnormality in the robot based on the first information.

2. The information processing method of claim 1, wherein the robot photographs the specified area with the first camera by operating in one of a plurality of operation modes including: (i) a first operation mode in which the robot continues to photograph at least one of a plurality of sections included in the specified area with the first camera; and (ii) a second operation mode in which the robot photographs the specified area with the first camera in accordance with a photographing range of a second camera positioned other than the robot, the information processing method further comprising: acquiring operation mode information indicating the operation mode of the robot; and detecting an abnormality in the robot by detecting the abnormality in the robot based on the first information and the operation mode information.

3. The information processing method of claim 2, wherein the first information includes first period information indicating the shooting range of the first camera in a first period and second period information indicating the shooting range of the first camera in a second period different from the first period, and in detecting an abnormality in the robot, when the robot operates in the first operating mode, an abnormality in the robot is detected based on the first period information and the second period information.

4. The information processing method of claim 2, wherein the specified area includes a plurality of sections, and in detecting an abnormality in the robot, a section monitoring degree indicating the proportion of the period during which the first camera photographed the section relative to a specified period is calculated for each of the plurality of sections based on the first information, and an abnormality in the robot is detected based on the section monitoring degree.

5. The information processing method of claim 2, wherein in detecting an abnormality in the robot, a robot area coverage rate indicating the ratio of the shooting range of the first camera to the area of ​​the specified area is calculated based on the first information, and an abnormality in the robot is detected based on the robot area coverage rate.

6. The information processing method of claim 5, wherein in detecting an abnormality in the robot, when the robot is operating in the first operating mode, the robot is determined to be normal when the robot area coverage rate is less than a first threshold value, and the robot is determined to be abnormal when the robot area coverage rate is equal to or greater than the first threshold value.

7. The information processing method of claim 5, wherein, in detecting an abnormality in the robot, when the robot is operating in the second operating mode, the robot is determined to be normal when the robot area coverage rate is equal to or greater than a second threshold value, and the robot is determined to be abnormal when the robot area coverage rate is less than the second threshold value.

8. The information processing method of claim 2, further comprising obtaining second information indicating a shooting range of the second camera, and detecting an abnormality in the robot based on the first information and the second information when the robot is operating in the second operating mode.

9. The information processing method of claim 8, wherein in detecting an abnormality in the robot, a system area coverage rate indicating the ratio of the total range of the shooting range of the first camera and the shooting range of the second camera to the area of ​​the specified area is calculated based on the first information and the second information, and an abnormality in the robot is detected based on the system area coverage rate.

10. The information processing method of claim 8, wherein in detecting an abnormality in the robot, an overlap rate indicating the proportion of the overlapping range between the first camera's shooting range and the second camera's shooting range relative to the first camera's shooting range is calculated, and an abnormality in the robot is determined based on the overlap rate.

11. An information processing device comprising: an acquisition unit that acquires first information indicating the shooting range of a first camera placed on a robot that travels autonomously and photographs a specified area; and a detection unit that detects an abnormality in the robot based on the first information.

12. A program for causing a computer to execute the information processing method according to any one of claims 1 to 10.