Control device, patrol system, and patrol method

Abstract

In the present invention, sharing of a charging dock is efficiently performed, and further, the patrol of inspection locations is carried out at an appropriate timing and without omissions. This control device comprises: a determination unit (421) that determines whether or not a first robot has moved close to a communication area, in accordance with prescribed movement conditions being satisfied; and an operation instruction unit (422) that instructs the first robot and a second robot of the next operations to perform, such instructions being in accordance with the content of the movement conditions and the state of progress of charging of the second robot.

Description

Control device, patrol system and patrol method

[0001] The present invention relates to a control device for controlling a robot that patrols a monitored area, a patrol system including the control device, and a patrol method.

[0002] Many social infrastructure facilities, such as sewage treatment plants, water purification plants, drainage pumping stations, and waste disposal facilities, were constructed during the period of high economic growth and are now all aging at the same time, increasing the need for appropriate maintenance. Meanwhile, with the recent worsening labor shortage due to population decline, securing personnel due to the aging population and labor shortage is becoming a major issue even at the sites responsible for maintaining social infrastructure facilities.

[0003] To solve such problems, various technologies have been developed to automate and reduce the labor required for inspections within power facilities by using self-propelled robots to check for abnormalities in the equipment being inspected, as described in Patent Document 1, for example.

[0004] Japanese Patent Application Publication No. 2022-165859

[0005] When a self-propelled robot patrols a monitored area as described above, multiple self-propelled robots may be required to accommodate the expansion and diversification of the monitored area. However, since there are limitations on the number and location of charging docks for the self-propelled robots, it is necessary to efficiently share the charging docks among multiple self-propelled robots and ensure that inspection points are patrolled at the appropriate time without missing any. However, the technical idea for solving this problem is not disclosed in Patent Document 1 or any other known technology.

[0006] One aspect of the present invention is to solve the above-mentioned problems.

[0007] In order to solve the above problem, a control device according to one embodiment of the present invention is a control device for controlling a plurality of robots patrolling a plurality of inspection locations included in a monitored area, wherein a charging dock for the robot arranged in the monitored area is provided with communication equipment that enables communication between the robot and a management device for the monitored area, and wherein, when the robots included in the plurality of robots are a first robot and a second robot, the control device is equipped with: a judgment unit that judges whether the first robot has moved to the vicinity of a communication area where communication with the communication equipment is possible when a predetermined movement condition is satisfied; and an operation instruction unit that instructs each of the first robot and the second robot on the next operation to be performed depending on the content of the movement condition determined to be satisfied by the judgment unit and the progress of charging for the second robot, if the second robot is charging at the charging dock when the first robot arrives near the communication area.

[0008] Furthermore, a patrol method according to one aspect of the present invention is a patrol method for controlling a plurality of robots to patrol a plurality of inspection locations included in a monitored area, wherein a charging dock for the robots arranged in the monitored area is provided with a communication device that enables communication between the robots and a management device for the monitored area, and the robots included in the plurality of robots are a first robot and a second robot, the method comprising: a determination step for determining whether the first robot has moved to the vicinity of a communication area where communication with the communication device is possible when a predetermined movement condition is satisfied; and an operation instruction step for instructing each of the first robot and the second robot on the next operation to be performed, depending on the content of the movement condition determined to be satisfied in the determination step and the progress of charging for the second robot, if the second robot is charging at the charging dock when the first robot arrives in the vicinity of the communication area.

[0009] According to one aspect of the present invention, charging docks can be shared efficiently, and inspection points can be inspected at appropriate times without any omissions.

[0010] FIG. 1 is a diagram illustrating an overview of a patrol system according to an embodiment of the present invention. FIG. 2 is a block diagram illustrating an example of the configuration of a main part of a robot provided in the patrol system shown in FIG. 1. FIG. 3 is a block diagram illustrating an example of the configuration of a main part of a control device provided in the patrol system shown in FIG. 1. FIG. 4 is a flowchart illustrating an example of a patrol method for patrolling a plurality of inspection locations included in a monitored area using a robot. FIG. 5 is a flowchart illustrating details of the processing of step S3 shown in FIG. 4. FIG. 6 is a flowchart illustrating the processing subsequent to the processing of step S14 of the processing of step S3 shown in FIG. 4.

[0011] Hereinafter, one embodiment of the present invention will be described in detail.

[0012] (Patrol System) Fig. 1 is a diagram showing an outline of a patrol system 1 according to one embodiment of the present invention. The patrol system 1 is a system for inspecting a plurality of inspection points included in a monitored area TA. As shown in Fig. 1, the patrol system 1 includes a plurality of robots 10, a charging dock 20, a management device 30, and a control device 40.

[0013] The multiple robots 10 patrol multiple inspection locations included in the monitored area TA. In this embodiment, the robots included in the multiple robots 10 are a first robot 10A and a second robot 10B. The charging dock 20 is a dock for charging the robots 10. The management device 30 is a device that manages the monitored area TA. The control device 40 is a device that controls the multiple robots 10.

[0014] 1 , the monitored area TA is located underground. The monitored area TA includes a waiting area SA where the charging dock 20 is located, a first area TA1 located below the waiting area SA, and a second area TA2 located below the first area TA1. A management area MA where the management device 30 is located is located on the ground above the waiting area SA.

[0015] The positional relationship between the monitored area TA, waiting area SA, and management area MA is not limited to the example shown in Figure 1. For example, the management area MA may be located underground, and the waiting area SA may be located above ground. Also, the management area MA and waiting area SA may be located on the same floor. Furthermore, part of the monitored area TA may be located on the same floor as the management area MA and / or waiting area SA.

[0016] 1, the first area TA1 and the second area TA2 are each shown as a single floor. However, the division of the first area TA1 and the second area TA2 is not limited to this. One or both of the first area TA1 and the second area TA2 may include multiple floors. Furthermore, some or all of the first area TA1 and the second area TA2 may be located on the same floor.

[0017] The charging dock 20 is provided with a communication device 21 that enables communication between the management device 30 and the robot 10. The robot 10 can communicate with the management device 30 via the communication device 21 in the vicinity of the charging dock 20, for example, in a first area TA1. However, the robot 10 cannot communicate with the communication device 21 in a location away from the charging dock 20, for example, in a second area TA2. That is, the first area TA1 is a communication area where communication with the communication device 21 is possible. On the other hand, the second area TA2 is an area where communication with the outside, including the communication device 21, is not possible.

[0018] Furthermore, the robot 10 can receive radio waves from GPS satellites 100 in the management area MA and the standby area SA. However, the robot 10 may not be able to receive radio waves from GPS satellites 100 in the monitored area TA. In Fig. 1, it is assumed that radio waves from GPS satellites 100 cannot be received in the entire monitored area TA. However, there may be areas within the monitored area TA where radio waves from GPS satellites 100 can be received.

[0019] The patrol system 1 further includes a communication antenna 50. The communication antenna 50 is disposed on the ground. When the robot 10 is located on the ground, the communication antenna 50 mediates communication between the robot 10 and the management device 30. In this case, communication between the robot 10 and the communication antenna 50 is performed, for example, via a mobile phone line.

[0020] (Robot) Fig. 2 is a block diagram illustrating the configuration of the main parts of the robot 10. As shown in Fig. 2, the robot 10 includes a communication unit 11, an imaging unit 12, a movement mechanism 13, a control unit 14, and a storage unit 15. The robot 10 also includes components that are included in a typical robot, such as a battery.

[0021] The communication unit 11 communicates with the outside of the robot 10. Specifically, the communication unit 11 communicates with, for example, the communication device 21, the communication antenna 50, and the GPS satellite 100. The communication unit 11 may include a separate antenna for each communication partner.

[0022] The imaging unit 12 captures an image of the inspection location. Any known imaging device for capturing visible light images can be used as the imaging unit 12, without any particular restrictions. The imaging unit 12 may also include an imaging device, such as a thermal camera, that can capture an image showing the temperature distribution of the inspection location. In this case, if an abnormality occurs in the temperature of the inspection location due to, for example, a water leak, the abnormality can be recognized from the image, and appropriate measures can be taken.

[0023] The moving mechanism 13 is a mechanism for moving the robot 10. The moving mechanism 13 may be a quadrupedal walking mechanism. That is, the robot 10 may be a quadrupedal walking robot. In this case, the high degree of freedom of movement of a quadrupedal walking robot can be utilized to inspect a variety of locations. For example, if the monitored area TA has multiple floors, the robot 10 can move between floors by ascending and descending stairs. However, if there are no steps or other obstacles on the route to patrol the inspection locations, the moving mechanism 13 may be wheels instead of a quadrupedal walking mechanism. Furthermore, if the route to patrol the inspection locations includes high places or narrow spaces, the moving mechanism 13 of the robot 10 may be a propeller mechanism, like a drone.

[0024] The control unit 14 controls the operation of the robot 10. The control unit 14 also detects abnormalities at multiple inspection locations included in the monitored area TA. The control unit 14 detects abnormalities at the inspection locations based on images of the inspection locations captured by the imaging unit 12. The inspection locations are, for example, displays that display measurement values ​​from measuring instruments installed in the monitored area TA, such as ammeters, pressure gauges, thermometers for bearings, or remaining chemical level gauges in tanks.

[0025] The control unit 14 controls the movement of the robot 10. Specifically, the control unit 14 controls the movement mechanism 13 to move the robot 10 from the charging dock 20 in the waiting area SA to patrol the monitoring area TA along a preset route. When the control unit 14 detects an abnormality in an inspection location, it controls the movement of the robot 10 to move to the vicinity of the first area TA1.

[0026] Furthermore, the control unit 14 can detect an abnormality in the robot 10. When the control unit 14 detects an abnormality in the robot 10, the control unit 14 controls the movement of the robot 10 so that the robot 10 moves to the vicinity of the first area TA1.

[0027] Furthermore, the control unit 14 can detect when the remaining battery charge of the robot 10 falls below a predetermined level. When the control unit 14 detects that the remaining battery charge of the robot 10 falls below the predetermined level, it controls the movement of the robot 10 so that it moves to the vicinity of the first area TA1. When the control unit 14 detects that the robot 10 has finished patrolling, it controls the movement of the robot 10 so that it moves to the vicinity of the first area TA1.

[0028] The memory unit 15 stores information necessary for the control of the robot 10 by the control unit 14. For example, the memory unit 15 may store a route for patrolling inspection points. The robot 10 does not necessarily have to include the memory unit 15. If the robot 10 does not include the memory unit 15, it may be communicably connected to an external storage device that stores information necessary for the control of the robot 10 by the control unit 14.

[0029] (Control Device) Fig. 3 is a block diagram illustrating the configuration of the main parts of the control device 40. The control device 40 is, for example, a server, and as shown in Fig. 3, includes a communication unit 41 and a control unit 42. The communication unit 41 communicates with the outside of the control device 40. Specifically, the communication unit 41 communicates with, for example, the management device 30. The control unit 42 includes a determination unit 421 and an operation instruction unit 422. The operation instruction unit 422 instructs each of the first robot 10A and the second robot 10B to perform an operation via the communication unit 41, the management device 30, and the communication device 21.

[0030] (Patrol Method) Figure 4 is a flowchart illustrating a patrol method for patrolling a plurality of inspection locations included in a monitored area TA using the robot 10. In the patrol method shown in Figure 4, the operation instruction unit 422 instructs the first robot 10A to patrol and instructs the second robot 10B to charge (S1). As a result, the first robot 10A departs from the charging dock 20 to start patrolling, and the second robot 10B starts charging at the charging dock 20.

[0031] Next, the determination unit 421 determines whether the first robot 10A has moved to the vicinity of the first area TA1 by satisfying a predetermined movement condition (S2, determination step). If the determination unit 421 determines that the first robot 10A has not moved to the vicinity of the first area TA1 (NO in S2), the process of step S2 continues.

[0032] On the other hand, when the determination unit 421 determines that the first robot 10A has moved to the vicinity of the first area TA1 (YES in S2), consider the case where the second robot 10B is being charged at the charging dock 20 when the first robot 10A arrives near the first area TA1. In this case, the operation instruction unit 422 instructs each of the first robot 10A and the second robot 10B on the next operation to be performed, depending on the content of the movement condition determined to be satisfied by the determination unit 421 and the progress of charging of the second robot 10B (S3, operation instruction step).

[0033] According to the above configuration, when the first robot 10A arrives near the first area TA1, i.e., before entering the charging dock 20, the operation instructing unit 422 instructs each of the first robot 10A and the second robot 10B on the next operation to be performed. Moreover, the operation instructing unit 422 takes into consideration the movement conditions that triggered the first robot 10A to move to the first area TA1 and the progress of charging of the second robot 10B, so that the charging dock 20 can be shared efficiently and inspection points can be patrolled at the appropriate time without omission.

[0034] (Step S3) Fig. 5 is a flowchart illustrating the details of the process of step S3. Fig. 6 is a flowchart illustrating the process of step S3 subsequent to the process of step S14. In step S3, first, the operation instruction unit 422 determines whether the content of the movement condition determined to be satisfied by the determination unit 421 is a decrease in the remaining battery power of the first robot 10A (S11).

[0035] Specifically, the operation instruction unit 422 executes step S11 depending on whether the communication unit 41 of the control device 40 has received information from the communication unit 11 of the first robot 10A indicating that the remaining battery charge of the first robot 10A has fallen below a predetermined level.

[0036] Consider a case where the operation instruction unit 422 determines that the movement condition is not a decrease in the remaining battery power of the first robot 10A (NO in S11). In this case, the operation instruction unit 422 determines whether the movement condition determined to be satisfied by the determination unit 421 is an abnormality in an inspection location or an abnormality in the first robot 10A itself, detected by the first robot 10A (S12).

[0037] Specifically, the operation instruction unit 422 executes step S12 depending on whether the communication unit 41 has received from the communication unit 11 information indicating that there has been an abnormality in the inspection location or information indicating that there is an abnormality in the first robot 10A itself.

[0038] Consider a case where the operation instruction unit 422 determines that the content of the movement condition is an abnormality in an inspection location or an abnormality in the first robot 10A itself, detected by the first robot 10A (YES in S12). In this case, the operation instruction unit 422 instructs the first robot 10A to move into the first area TA1 and to notify the management device 30 of the detected abnormality, as an operation to be performed after the first robot 10A arrives near the first area TA1 (S13).

[0039] As a result, the first robot 10A starts moving into the first area TA1 and communicates the detected abnormality to the management device 30. Therefore, the abnormality detected by the first robot 10A is quickly communicated to the management device 30, so that the abnormality can also be dealt with quickly.

[0040] After the first robot 10A communicates the detected abnormality to the management device 30, it is preferable that the worker inspect the inspection location where the abnormality was detected by the first robot 10A. In this case, when the worker finishes inspecting the inspection location where the abnormality was detected, the worker inputs information that the inspection has been completed into the management device 30. The management device 30 communicates information indicating that the inspection has been completed to the first robot 10A and the second robot 10B.

[0041] Thereafter, if the second robot 10B is being charged at the charging dock 20, the first robot 10A waits near the charging dock 20. When the second robot 10B finishes charging and starts patrolling, the first robot 10A moves to the charging dock 20 and starts charging at the charging dock 20. Then, when the first robot 10A finishes charging, it starts patrolling.

[0042] Consider a case where the operation instruction unit 422 determines that the content of the movement condition is not an abnormality in the inspection location detected by the first robot 10A, nor is it an abnormality in the first robot 10A itself detected by the first robot 10A (NO in S12). In this case, the content of the movement condition is that the first robot 10A has completed its patrol as originally planned, and the control device 40 does not execute any special processing. In this case, the first robot 10A returns to the charging dock 20.

[0043] Also, consider a case where the operation instruction unit 422 determines that the content of the movement condition is a decrease in the remaining battery power of the first robot 10A (YES in S11). In this case, the operation instruction unit 422 plans an alternative route that the second robot 10B can patrol based on the remaining battery power of the second robot 10B at the time the first robot 10A arrives near the first area TA1 (S14). This allows the second robot 10B to start patrolling without waiting until the battery of the second robot 10B is fully charged, making it possible to detect abnormalities in inspection locations as quickly as possible.

[0044] After planning the alternative route, the operation instruction unit 422 determines whether the alternative patrol time is within a predetermined range of the scheduled patrol time (S15), as shown in Fig. 6. Here, the patrol time required for the second robot 10B to complete the patrol of the alternative route is defined as the alternative patrol time, and the patrol time required for the second robot 10B to complete the patrol route that was scheduled for the second robot 10B before the alternative route was planned in step S14 is defined as the scheduled patrol time.

[0045] If the operation instruction unit 422 determines that the alternative patrol time is within a predetermined range of the scheduled patrol time (YES in S15), it instructs the second robot 10B to patrol along the alternative route (S16). As a result, the second robot 10B starts patrolling along the alternative route. After processing in step S16, the control device 40 exchanges the roles of the first robot 10A and the second robot 10B, and repeats the processing from step S1.

[0046] On the other hand, if the operation instruction unit 422 determines that the alternative patrol time exceeds a predetermined range with respect to the scheduled patrol time (NO in S15), it instructs the first robot 10A to wait before moving to the charging dock 20 so that the second robot 10B can continue to be charged at the charging dock 20 (S17). If the result of S15 is NO, for example, the alternative patrol time may exceed a predetermined multiple (e.g., 1.5 times) of the scheduled patrol time.

[0047] In step S17, the first robot 10A stops moving to the charging dock 20 and waits. In addition, the second robot 10B can be caused to start patrolling the alternative route with the remaining battery power required for patrolling the alternative route secured. After processing in step S17, the control device 40 repeats the processing from step S15.

[0048] If the answer to step S2 is YES and the second robot 10B is not being charged at the charging dock 20 when the first robot 10A arrives near the first area TA1, the control device 40 does not execute any special processing. In this case, the first robot 10A returns to the charging dock 20.

[0049] As described above, the first robot 10A and the second robot 10B alternately patrol. When the first robot 10A is charging, the second robot 10B patrols, and when the second robot 10B is charging, the first robot 10A patrols. Furthermore, the first robot 10A and the second robot 10B exchange information indicating whether they are charging at the charging dock 20.

[0050] <Variation> Between step S11 and step S14, the operation instruction unit 422 may determine whether there are any unpatrolled inspection locations on the planned patrol route of the first robot 10A at the time when the first robot 10A arrives near the first area TA1.

[0051] If the operation instruction unit 422 determines that there is an unpatrolled inspection location, an alternative route is planned in step S14 so as to include the unpatrolled inspection location. As a result, in step S16, the second robot 10B starts patrolling along the alternative route that includes the unpatrolled inspection location.

[0052] In this way, by having the second robot 10B patrol the inspection locations that have not yet been visited by the first robot 10A, it is possible to efficiently patrol the monitoring target area TA. On the other hand, if the operation instruction unit 422 determines that there are no inspection locations that have not yet been visited, the process of step S14 is executed.

[0053] The waiting area SA may also be a communication area that allows communication with the communication device 21. Furthermore, the charging dock 20 may be located in the first area TA1.

[0054] [Example of implementation by software] The functions of the robot 10 and the control device 40 (hereinafter referred to as the "device") can be realized by a program that causes a computer to function as the device, and a program that causes a computer to function as each control block of the device (particularly each part included in the control unit 42, or the control unit 14).

[0055] In this case, the device includes a computer having at least one control device (e.g., a processor) and at least one storage device (e.g., a memory) as hardware for executing the program. The functions described in the above embodiment are realized by executing the program using the control device and storage device.

[0056] The program may be non-transitory and may be recorded on one or more computer-readable recording media. The recording media may or may not be included in the device. In the latter case, the program may be supplied to the device via any wired or wireless transmission medium.

[0057] Furthermore, some or all of the functions of the control blocks can be realized by logic circuits. For example, an integrated circuit in which a logic circuit that functions as each of the control blocks is formed is also included in the scope of the present invention. In addition, the functions of the control blocks can also be realized by, for example, a quantum computer.

[0058] Furthermore, each process described in the above embodiment may be executed by AI (Artificial Intelligence). In this case, the AI ​​may run on the control device or on another device (for example, an edge computer or a cloud server).

[0059] [Summary] The present invention can also be expressed as follows.

[0060] A control device according to aspect 1 of the present invention is a control device for controlling a plurality of robots patrolling a plurality of inspection locations included in a monitored area, wherein a charging dock for the robot arranged within the monitored area is provided with communication equipment that enables communication between the robot and a management device for the monitored area, and wherein, when the robots included in the plurality of robots are a first robot and a second robot, the control device is equipped with a judgment unit that judges whether the first robot has moved to the vicinity of a communication area where communication with the communication equipment is possible when a predetermined movement condition is satisfied, and an operation instruction unit that instructs each of the first robot and the second robot on the next operation to be performed depending on the content of the movement condition determined to be satisfied by the judgment unit and the progress of charging for the second robot, if the second robot is charging at the charging dock when the first robot arrives near the communication area.

[0061] In the control device of aspect 2 of the present invention, in aspect 1, if the content of the movement condition determined to be satisfied by the judgment unit is a decrease in the remaining battery level of the first robot, the operation instruction unit may plan an alternative route that the second robot can patrol with the remaining battery level of the second robot at the time of arrival.

[0062] In a control device according to aspect 3 of the present invention, in aspect 2, the patrol time required to complete the patrol of the alternative route is defined as the alternative patrol time, and the patrol time required to complete the patrol route that the second robot had planned before the alternative route was planned is defined as the planned patrol time. If the alternative patrol time is within a predetermined range of the planned patrol time, the operation instruction unit may instruct the second robot to patrol the alternative route, and if the alternative patrol time exceeds the predetermined range of the planned patrol time, the operation instruction unit may instruct the first robot to wait before moving to the charging dock so that charging of the second robot at the charging dock can continue.

[0063] In the control device according to aspect 4 of the present invention, in aspect 2, if there are any unpatrolled inspection locations on the planned patrol route of the first robot at the time of arrival, the operation instruction unit may plan the alternative route to include the unpatrolled inspection locations.

[0064] In the control device of aspect 5 of the present invention, in any of aspects 1 to 4, if the content of the movement condition determined to be satisfied by the judgment unit is an abnormality at the inspection location or an abnormality in the first robot itself detected by the first robot, the operation instruction unit may instruct the first robot to move into the communication area and to communicate the detected abnormality to the management device as an operation to be performed after the arrival point.

[0065] A patrol system according to aspect 6 of the present invention may be any of aspects 1 to 5, and may include the control device, the first robot, the second robot, the charging dock, and the management device.

[0066] A patrol method according to aspect 7 of the present invention is a patrol method for controlling a plurality of robots to patrol a plurality of inspection locations included in a monitored area, wherein a charging dock for the robots arranged in the monitored area is provided with communication equipment that enables communication between a management device for the monitored area and the robots, and wherein the robots included in the plurality of robots are a first robot and a second robot, the patrol method includes a determination step for determining whether the first robot has moved to the vicinity of a communication area where communication with the communication equipment is possible by satisfying a predetermined movement condition, and an operation instruction step for instructing each of the first robot and the second robot on the next operation to be performed, depending on the content of the movement condition determined to be satisfied in the determination step and the progress of charging for the second robot, if the second robot is charging at the charging dock when the first robot arrives in the vicinity of the communication area.

[0067] The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims. Configurations obtained by appropriately combining multiple technical means disclosed in the embodiments are also included in the technical scope of the present invention.

[0068] REFERENCE SIGNS LIST 1 Patrol system 10 Robot 10A First robot 10B Second robot 20 Charging dock 21 Communication device 30 Management device 40 Control device 421 Determination unit 422 Operation instruction unit TA Monitoring target area

Claims

1. A control device for controlling a plurality of robots patrolling a plurality of inspection locations included in a monitored area, wherein a charging dock for the robot arranged within the monitored area is provided with communication equipment that enables communication between the robot and a management device for the monitored area, and the robots included in the plurality of robots are a first robot and a second robot, the control device comprising: a judgment unit that judges whether the first robot has moved to the vicinity of a communication area where communication with the communication equipment is possible when a predetermined movement condition is satisfied; and an operation instruction unit that, when the second robot is charging at the charging dock at the time the first robot arrives near the communication area, instructs each of the first robot and the second robot on the next action to be taken depending on the content of the movement condition determined to be satisfied by the judgment unit and the progress of charging of the second robot.

2. The control device described in claim 1, wherein, when the content of the movement condition determined to be satisfied by the judgment unit is a decrease in the remaining battery power of the first robot, the operation instruction unit plans an alternative route that the second robot can patrol based on the remaining battery power of the second robot at the time of arrival.

3. The control device described in claim 2, wherein the patrol time required to complete the patrol of the alternative route is defined as an alternative patrol time, and the patrol time required to complete the patrol route that the second robot had planned before the alternative route was planned is defined as a planned patrol time, and the operation instruction unit instructs the second robot to patrol the alternative route if the alternative patrol time is within a predetermined range of the planned patrol time, and instructs the first robot to wait before moving to the charging dock so that charging of the second robot at the charging dock can continue if the alternative patrol time exceeds the predetermined range of the planned patrol time.

4. The control device described in claim 2, wherein, if there are any unvisited inspection locations on the planned patrol route of the first robot at the time of arrival, the operation instruction unit plans the alternative route so as to include the unvisited inspection locations.

5. The control device according to claim 1, wherein, when the content of the movement condition determined to be satisfied by the judgment unit is an abnormality at the inspection location or an abnormality in the first robot itself detected by the first robot, the operation instruction unit instructs the first robot to move into the communication area and to communicate the detected abnormality to the management device as an action to be performed after the arrival point.

6. A patrol system comprising: the control device according to claim 1; the first robot and the second robot; the charging dock; and the management device.

7. A patrol method for controlling a plurality of robots to patrol a plurality of inspection locations included in a monitored area, wherein a charging dock for the robots arranged in the monitored area is provided with communication equipment that enables communication between a management device for the monitored area and the robots, and the robots included in the plurality of robots are a first robot and a second robot, the patrol method comprising: a determination step for determining whether the first robot has moved to the vicinity of a communication area where communication with the communication equipment is possible by satisfying a predetermined movement condition; and an operation instruction step for instructing each of the first robot and the second robot on the next action to be taken, depending on the content of the movement condition determined to be satisfied in the determination step and the progress of charging of the second robot, if the second robot is being charged at the charging dock when the first robot arrives in the vicinity of the communication area.

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