JP5013995B2 - Monitoring system - Google Patents

Description

  The present invention relates to a monitoring system including a moving body that can autonomously move in a security area and a monitoring device that monitors the moving body.

  2. Description of the Related Art Conventionally, an autonomous mobile body that patrols a guard area is known. For example, the autonomous mobile body takes a photograph or a video while traveling around in the security area. And the guard can judge the presence or absence of abnormality by confirming the photograph etc. which were image | photographed with the autonomous mobile body in the guard room.

  For example, the autonomous mobile body described in Patent Document 1 moves along a predetermined route, and performs camera shooting when it reaches a predetermined position. Then, in response to a transmission request from an external device, an image captured in advance is transmitted.

International Publication No. 2004/032086 Pamphlet

  However, when a security guard or the like confirms an image taken by the autonomous mobile body, the autonomous mobile body has already moved to another place, and even if an abnormality is detected by the image, There was a problem that it was not possible to immediately deal with autonomous mobile objects.

  The present invention has been made in view of the above, and an object of the present invention is to provide a monitoring system capable of performing a monitoring that enables a quick response to the occurrence of an abnormality.

In order to solve the above-described problems and achieve the object, the invention according to claim 1 is a monitoring system including a moving body that can move autonomously in a security area and a monitoring device that monitors the moving body. When the mobile body reaches the priority monitoring position indicated by the position information, the position information holding means for holding position information indicating the priority monitoring position that is a position in the security area , A movement control means for stopping the movement of the mobile body, and a transmission means for transmitting a monitoring instruction for urging monitoring by the supervisor when the mobile body reaches the priority monitoring position, the monitoring device includes a receiving means for receiving the monitor instruction from the mobile, possess and output means for outputting the effect that the receiving means receives the monitoring instruction, the monitoring device, the receiving means is the Receive monitoring instructions And an instruction receiving unit that receives an instruction to resume the movement of the mobile body from a monitor, and a transmission unit that transmits the restart instruction to the mobile body when the instruction receiving unit receives the restart instruction. The moving body further includes receiving means for receiving the restart instruction from the monitoring device, and the movement control means moves the moving body when the receiving means receives the restart instruction. It is characterized by restarting .

The invention according to claim 2 is the monitoring system according to claim 1 , wherein the moving body captures an image at the priority monitoring position when the moving body reaches the priority monitoring position. The image processing apparatus further includes an imaging unit and an image holding unit that holds the image captured by the imaging unit.

The invention according to claim 3 is the monitoring system according to claim 1 , wherein the transmission unit of the monitoring device moves the movement when the instruction receiving unit does not receive the restart instruction for a predetermined time. The restart instruction is transmitted to the body.

The invention according to claim 4 is the monitoring system according to claim 3 , wherein the transmission unit performs the restart together with the restart instruction when the instruction reception unit does not receive the restart instruction for a predetermined time. Timeout information indicating that the instruction has not been received is transmitted to the mobile body, the reception means of the mobile body receives the restart instruction and the timeout information, and the mobile body receives the reception means of the mobile body. When the time-out information is received, an image capturing unit that captures an image at the priority monitoring position where the moving body is currently stopped, and an image holding unit that retains the image captured by the image capturing unit are further provided. It is characterized by having.

The invention according to claim 5 is the monitoring system according to any one of claims 1 to 4 , wherein the position information holding means of the moving body is indicated by the position information and the position information. Message identification information for identifying a message related to the priority monitoring position to be received, and the transmission unit of the mobile body determines the priority monitoring position in the position information holding unit when reaching the priority monitoring position. The message identification information associated with the position information is transmitted together with the monitoring instruction, and the receiving means of the monitoring device receives the message identification information together with the monitoring instruction from the moving body, and the monitoring device A message holding unit that holds the message identification information and the message in association with each other, and the receiving unit receives the monitoring instruction and the message. When receiving the sage identification information, characterized by further comprising a message output means for outputting a message associated with the message identification information in said message storage means.

The invention according to claim 6 is the monitoring system according to any one of claims 1 to 4 , wherein the position information holding means of the moving body is indicated by the position information and the position information. A message relating to the priority monitoring position, and when the mobile unit reaches the priority monitoring position, the transmission unit corresponds to the position information indicating the priority monitoring position in the position information holding unit. The attached message is transmitted together with the monitoring instruction, the receiving means of the monitoring apparatus receives the message together with the monitoring instruction, and the monitoring apparatus outputs the message received by the receiving means. It further has an output means.

The invention according to claim 7 is the monitoring system according to any one of claims 1 to 6 , wherein the position information holding means of the mobile body includes a date and time condition indicating a condition related to date and time, The movement control means is associated with the position information, and the movement control means is the position information indicated by the position information associated with the date and time condition that the moving body satisfies the current date and time in the position information holding means. When the priority monitoring position is reached, the movement of the moving body is stopped.

The invention according to claim 8 is a monitoring system comprising a moving body capable of autonomous movement within a security area and a monitoring device for monitoring the moving body, wherein the moving body is a current state of the moving body. A transmission unit configured to transmit a position to the monitoring device, and the monitoring device holds reception information for receiving the current position from the mobile body and position information indicating a priority monitoring position that is a position in the security area; Position information holding means, and transmitting means for transmitting a stop instruction to the moving body when the current position received by the receiving means matches the position information held in the position information holding means, if the current position received by the receiving unit coincides with the location information stored in the position information storing means, have a output means for outputting a monitor instruction to prompt the monitoring by the monitoring person, the monitoring device , When the receiving unit receives the monitoring instruction, the receiving unit further includes an instruction receiving unit that receives an instruction to resume the movement of the moving body from a monitor, and the transmitting unit receives the restart instruction. The restart instruction is transmitted to the mobile body, and the mobile body receives the restart instruction from the monitoring device, and the mobile body moves when the reception means receives the restart instruction. And a movement control means for resuming .

The invention according to claim 9 is the monitoring system according to claim 8 , wherein the moving body captures an image at the priority monitoring position when the moving body reaches the priority monitoring position. The image processing apparatus further includes an imaging unit and an image holding unit that holds the image captured by the imaging unit.

The invention according to claim 1 0, if a monitoring system according to claim 8, wherein the transmitting means of the monitoring device, wherein said instruction accepting means does not accept the resumption instruction given time, the The restart instruction is transmitted to the mobile body.

The invention according to claim 1 1, a monitoring system according to claim 1 0, wherein the transmitting means of the monitoring device, when the instruction accepting means does not accept the resumption instruction given time, Timeout information indicating that the restart instruction is not accepted together with the restart instruction is transmitted to the mobile body, the receiving unit of the mobile body receives the restart instruction and the timeout information, and the mobile body includes the When the receiving unit of the moving body receives the timeout information, an image capturing unit that captures an image at the priority monitoring position where the mobile unit is currently stopped and an image that holds the image captured by the capturing unit And holding means.

Further, the invention provides a monitoring system according to any one of claims 8 1 1, wherein the position information storing means of the monitoring device and the position information, the position information according to claim 1 2 And the monitoring device, when the current position received by the receiving means matches the position information held in the position information holding means, The position information holding means further includes message output means for outputting a message received corresponding to the position information.

Further, according the invention in claims 1 to 3, a monitoring system according to any one of claims 8 1 1, wherein the position information storing means of the monitoring device includes a time condition indicating a condition about the date and time The transmission unit of the monitoring device associates the current position received by the reception unit with the date and time condition that the current date and time satisfies in the position information holding unit. When the position information coincides with the position information holding means, a stop instruction is transmitted to the moving body, and the output means of the monitoring device determines that the current position received by the receiving means is the current date and time at the position information holding means. The monitoring instruction is output when it matches the position information associated with the date and time condition that is satisfied.

  According to the present invention, when the mobile body reaches the pre-registered priority monitoring position, the moving body stops here, and the monitoring device outputs a monitoring instruction that prompts monitoring by the supervisor. Therefore, since the monitor can know that the moving body has reached the priority monitoring position by the monitoring instruction, there is an effect that the abnormality at the priority monitoring position can be confirmed at this timing. Furthermore, since the moving body is stopped at the priority monitoring position at this time, if an abnormality occurs or if it is desired to check the surrounding situation, an appropriate operation is instructed to the moving body at the priority monitoring position. As a result, it is possible to perform a quick response.

  Exemplary embodiments of a monitoring system according to the present invention will be explained below in detail with reference to the accompanying drawings.

(First embodiment)
FIG. 1 is a diagram illustrating an overall configuration of a monitoring system 1 according to the first embodiment. The monitoring system 1 includes a monitoring device 10 and a mobile robot 20. The mobile robot 20 is a mobile body that can move autonomously, circulates within a predetermined security area, and notifies the monitoring device 10 when the various sensors 22a to 22d detect an abnormality. Furthermore, the mobile robot 20 appropriately captures moving images and still images.

  The monitoring device 10 is installed in a security center. The monitoring device 10 and the mobile robot 20 are connected via a network such as a wireless LAN (Local Area Network). In the security center, a security guard performs remote monitoring of the security area by using the monitoring device 10 to confirm an image taken by the mobile robot 20.

  FIG. 2 is a block diagram illustrating a functional configuration of the monitoring device 10. The monitoring device 10 includes a communication unit 100, a monitor 102, a speaker 104, an instruction receiving unit 106, a sensor information processing unit 110, a security processing unit 120, and a travel control unit 130.

  The communication unit 100 transmits / receives various information to / from the mobile robot 20. The monitor 102 displays images taken by the mobile robot 20 and various information. The speaker 104 performs audio output such as a security alarm. The instruction receiving unit 106 is a user interface such as a mouse or a keyboard, for example, and receives input from an administrator or a security guard of the monitoring device 10.

  The sensor information processing unit 110 acquires detection results obtained by the various sensors 22 a to 22 d of the mobile robot 20. Then, the detection result is passed to the security processing unit 120 and the travel control unit 130. When an abnormality is detected, the security processing unit 120 instructs the speaker 104 to output a security alarm sound.

  The travel control unit 130 controls the travel of the mobile robot 20 based on the detection result and information received by the communication unit 100 from the monitoring device 10. More specifically, the communication unit 100 receives a monitoring instruction that prompts monitoring by a guard when the mobile robot 20 reaches a priority monitoring position that is a point to be monitored with particular care. The guard can recognize from the monitoring instruction that the mobile robot 20 has reached the priority monitoring position. When the communication unit 100 receives the monitoring instruction, the guard checks the presence or absence of an abnormality by, for example, checking the image of the priority monitoring position photographed by the mobile robot 20. Thereafter, the traveling control unit 130 instructs the communication unit 100 to transmit a restart instruction to the stopped mobile robot 20 to instruct the resumption of patrol.

  The travel control unit 130 includes a priority monitoring position setting unit 132, a position information holding unit 134, a message extraction unit 136, and a restart processing unit 138 as functions for this purpose. The priority monitoring position setting unit 132 sets, as the priority monitoring position, a position to be monitored with priority in accordance with the input content received by the instruction receiving unit 106 from an operator such as a guard or an administrator. Furthermore, the contents to be checked differ depending on the location, such as whether the window is broken or not, and whether the door is forgotten to be closed. Therefore, the focus monitoring position setting unit 132 sets a message indicating the contents to be confirmed in association with the focus monitoring position in accordance with the input content from the operator.

  The sensor information processing unit 110, the security processing unit 120, and the travel control unit 130 are realized by cooperation of a CPU, a ROM, and a RAM. Specifically, a program for executing processing of each unit is stored in the ROM, and the CPU controls each unit in accordance with the program in the ROM. The RAM stores various data necessary for control.

  FIG. 3 is a diagram showing the focus monitoring position setting screen 140 displayed on the monitor 102. The operator can set the priority monitoring position while referring to the priority monitoring position setting screen 140. On the priority monitoring position setting screen 140, a security area map 142 is displayed.

  The operator designates the priority monitoring position on the map 142 and further inputs a message to be displayed on the monitor of the monitoring apparatus 10 at the priority monitoring position in the message column 144. For example, when a point where frequent extinguishers are frequently used is designated as the priority monitoring position, "Please check that fire extinguishers are installed frequently. "Message.

  When the priority monitoring position is designated by the operator, the priority monitoring position setting unit 132 acquires the coordinates of the priority monitoring position as position information via the instruction receiving unit 106. Further, the priority monitoring position setting unit 132 acquires, together with the position information, a message input in a state where the priority monitoring position is designated via the instruction receiving unit 106. The priority monitoring position setting unit 132 stores the acquired position information and message in association with the message ID for identifying the message in the position information holding unit 134. The priority monitoring position setting unit 132 further transmits the position information and the message ID to the mobile robot 20 via the communication unit 100. Thus, the priority monitoring position can be set by a guard. Therefore, the guard can appropriately add or delete the priority monitoring position according to the security situation.

  FIG. 4 is a diagram illustrating a data configuration of the position information holding unit 134. The position information holding unit 134 holds position information, a message ID, and a message in association with each other. As another example, position information may not be held. That is, only the message ID and the message may be held in association with each other.

  The message extraction unit 136 in FIG. 2 acquires the message ID from the communication unit 100 when the communication unit 100 receives the monitoring instruction and the message ID from the mobile robot 20. The message extraction unit 136 extracts a message associated with the message ID acquired from the position information holding unit 134 and causes the monitor 102 to display the message. The resumption processing unit 138 transmits a resumption instruction for patrol in the security area by the mobile robot 20 to the mobile robot 20 via the communication unit 100 in accordance with the instruction from the guard received by the instruction reception unit 106.

  FIG. 5 is a block diagram illustrating a functional configuration of the mobile robot 20. The mobile robot 20 includes a communication unit 200, a movement control unit 210, a position information holding unit 220, a camera 230, and an image holding unit 240. The communication unit 200 transmits / receives various data to / from the monitoring device 10. For example, instructions such as patrol start, stop, and restart are received from the monitoring device 10. When the priority monitoring position is reached, a monitoring instruction is transmitted to the monitoring device 10. The movement control unit 210 controls the movement of the mobile robot 20.

  FIG. 6 is a diagram illustrating a data configuration of the position information holding unit 220. As illustrated in FIG. 6, the position information holding unit 220 holds position information and a message ID in association with each other. These pieces of information are set by the priority monitoring position setting unit 132 of the monitoring device 10. The camera 230 captures a moving image or a still image as appropriate. The image holding unit 240 holds an image taken by the camera 230. The movement control unit 210, the position information holding unit 220, and the image holding unit 240 are realized by the cooperation of a CPU, a ROM, and a RAM.

  FIG. 7 is a flowchart showing processing of the monitoring system 1. Note that at the start of this process, it is assumed that each information is set in the position information holding unit 134 and the position information holding unit 220 of the mobile robot 20 by the priority monitoring position setting unit 132 of the monitoring device 10.

  When the patrol by the mobile robot 20 is started by an instruction from the monitoring device 10 (step S100), the movement control unit 210 identifies its own position based on the detection results by the various sensors 22a to 22d. When the self position coincides with the priority monitoring position indicated by the position information held in the position information holding unit 220, that is, when it reaches the priority monitoring position (Yes in step S102), the movement control unit 210 moves the mobile robot 20. The movement is stopped (step S104). Next, the communication unit 200 transmits a monitoring instruction to the monitoring device 10 (step S106). At this time, the position information holding unit 220 transmits the message ID associated with the position information of the priority monitoring position together with the monitoring instruction.

  When the monitoring device 10 receives the monitoring instruction and the message ID (step S106), the speaker 104 outputs an alarm indicating the monitoring instruction and notifies the security guard that priority monitoring should be performed (step 110). The monitoring instruction may be a monitor display. As described above, the output form is not limited to the embodiment as long as it is output in a form capable of notifying the security guard that priority monitoring should be performed.

  Next, the message extraction unit 136 extracts the message specified by the message ID received by the communication unit 100 from the position information holding unit 134 (step S112), and displays the message on the monitor 102 (step S114). FIG. 8 is a diagram illustrating a display example of a message. In this way, by displaying the message on the monitor, the guard can grasp which part of the image taken by the mobile robot 20 should be checked with particular care, so that the confirmation process can be performed. Efficiency can be improved, and oversight of abnormalities can be prevented.

  When the security guard knows that the critical monitoring position has been reached by the warning, the point to be monitored is confirmed on the monitor display, and the image taken by the mobile robot 20 is confirmed to confirm that there is no abnormality. At this time, the security guard focuses on the part indicated in the message by pointing the camera 230 of the mobile robot 20 to the monitoring point. If there is an abnormality, the mobile robot 20 is instructed to deal with the situation or deal with itself to resolve the abnormality. When there is no abnormality and when the abnormality is resolved, the security guard inputs a restart instruction to the instruction receiving unit 106. When a restart instruction is made (step S116, Yes), the restart processing unit 138 transmits a restart instruction to the mobile robot 20 via the communication unit 100 (step S120).

  On the other hand, there may be a case where the guard is unable to respond to the monitoring instruction, such as when the guard is responding to another abnormality. Therefore, when a predetermined time has elapsed without a restart instruction, that is, when a timeout has occurred (step S118, Yes), the restart processing unit 138 automatically issues a restart instruction regardless of input from the security guard. Transmit (step S120). In this case, the restart processing unit 138 transmits information indicating that a timeout has occurred together with a restart instruction.

  In the mobile robot 20, when a timeout has occurred in the monitoring device 10 (step S 130, Yes), the camera 230 captures an image at the priority monitoring position (step S 132) and stores it in the image holding unit 240. (Step S134). Thereafter, the movement control unit 210 resumes movement, that is, patrol (step S136). If no timeout has occurred (step S130, No), the tour is resumed without taking an image (step S136). When all the tours in the security area are completed (step S138), the process is completed.

  In the monitoring system 1 according to the present embodiment, when the mobile robot 20 reaches the priority monitoring position, the mobile robot 20 continues to stop at the priority monitoring position until a restart instruction is received. Therefore, when the security guard tries to confirm the presence / absence of an abnormality from the image taken by the camera 230 of the mobile robot 20 at the priority monitoring position, the mobile robot 20 has already passed the priority monitoring position and the image is confirmed. The inconvenience that it is impossible can be solved.

  Furthermore, when a time-out occurs without a restart instruction input by the security guard, the security guard later checks whether there is an abnormality from the image held in the image holding unit 240 by taking an image. be able to.

  As described above, the present invention has been described using the embodiment, but various changes or improvements can be added to the above embodiment.

  As such a first modification, the camera 230 of the mobile robot 20 according to the present embodiment captures an image and holds it in the image holding unit 240 only when a time-out occurs, but instead, It is also possible to always take a moving image or a still image during patrol. Furthermore, in this case, information indicating that a timeout has occurred may be held in association with the image taken at the priority monitoring position where the timeout has occurred.

  As another example, the camera 230 of the mobile robot 20 may take an image only at the priority monitoring position and cause the image holding unit 240 to hold the image. Also in this case, information indicating that a timeout has occurred may be held in association with the image taken at the priority monitoring position where the timeout has occurred.

  As another example, a mode for capturing an image only at time-out, a mode for always capturing an image, and a mode for capturing an image at the priority monitoring position may be selectable.

  As a second modification, in the present embodiment, the position information holding unit 220 of the mobile robot 20 holds the position information and the message ID in association with each other. A message may be stored in association with each other. In this case, when the mobile robot 20 reaches the priority monitoring position, the communication unit 200 transmits the position information and the message to the monitoring device 10, and the monitoring device 10 receives the message received from the mobile robot 20. It is displayed on the monitor 102. In this case, the position information holding unit 134 of the monitoring device 10 may not hold the message ID and the message.

  As a third modification, the priority monitoring position setting unit 132 of the monitoring device 10 further sets a date and time condition indicating the date and time when the priority monitoring position should be monitored when setting the priority monitoring position and the message. May be. For example, it is assumed that the focus monitoring position is different between daytime and nighttime. Further, when the security area is an office, it is assumed that the priority monitoring positions are different between business days and holidays. Therefore, different priority monitoring positions are set according to the date and time.

  FIG. 9 is a diagram showing a focus monitoring position setting screen 150 according to the third modification. The priority monitoring position setting screen 150 is provided with a date and time condition field 156 in addition to the map 152 and the message field 154. The operator sets a date / time condition on the date / time condition field 156. For example, when the date and time at which the selected priority monitoring position is to be monitored is a predetermined date and time, the date and time are designated. In addition, when monitoring should be performed only on Sundays, Sunday is designated as the execution day. Thus, the operator can set a desired date and time as the date and time condition.

  FIG. 10 is a diagram schematically illustrating a data configuration of the position information holding unit 135 of the monitoring apparatus according to the third modification. FIG. 11 is a diagram schematically illustrating a data configuration of the position information holding unit 221 of the mobile robot according to the third modification. The position information holding unit 135 of the monitoring device holds the date and time conditions in association with the position information, the message ID, and the message. Similarly, the position information holding unit 221 of the mobile robot holds the date and time conditions in association with the position information and the message ID.

  Then, the movement control unit 210 confirms whether or not the priority monitoring position indicated in the position information associated with the date and time condition that the current date and time satisfies has been reached during the patrol of the mobile robot 20. Thereby, the priority monitoring according to the date and time becomes possible.

(Second Embodiment)
In the monitoring system according to the second embodiment, the mobile robot transmits its current position to the security device. Then, in the security device, it is determined whether or not the priority monitoring position has been reached.

  FIG. 12 is a diagram illustrating a functional configuration of the monitoring device 11 according to the second embodiment. The travel control unit 131 of the monitoring device 11 includes a priority monitoring position specifying unit 140 in addition to the priority monitoring position setting unit 132, the position information holding unit 141, the message extraction unit 136, and the restart processing unit 138. FIG. 13 is a diagram schematically illustrating a data configuration of the position information holding unit 141. The position information holding unit 141 holds position information and a message in association with each other.

  The communication unit 100 receives the current position from the mobile robot. The priority monitoring position specifying unit 140 compares the current position received by the communication unit 100 with the position information held by the position information holding unit 134, and determines that the mobile robot has reached the priority monitoring position if they match. Then, the communication unit 100 is caused to transmit a stop instruction indicating that the mobile robot stops. FIG. 14 is a block diagram illustrating a functional configuration of the mobile robot 21 according to the second embodiment. The mobile robot 21 does not include a position information holding unit.

  FIG. 15 is a flowchart illustrating processing of the monitoring system according to the second embodiment. When patrol by the mobile robot 21 is started by an instruction from the monitoring device 11 (step S200), the movement control unit 210 identifies the self position based on the detection results by the various sensors 22a to 22d (step S202). Next, the communication unit 200 transmits the self position as the current position to the monitoring device 11 (step S204). When the communication unit 10 of the monitoring device 11 receives the current position, the priority monitoring position specifying unit 140 determines whether or not the current position matches the position information held by the position information holding unit 141. If the two match, that is, if the mobile robot 21 has reached the priority monitoring position (Yes in step S210), the priority monitoring position specifying unit 140 causes the communication unit 100 to transmit a stop instruction to the mobile robot 21 ( Step S212).

  In step S210, if the current position does not match the position information held by the position information holding unit 134, that is, if the mobile robot 21 has not reached the priority monitoring position (No in step S210), the monitoring device. 11 waits until the current position is received from the mobile robot 21 again.

  When the communication unit 200 of the mobile robot 21 receives a stop instruction from the monitoring device 11 (step S220, Yes), the movement control unit 210 stops the movement of the mobile robot 21 (step S222). If no stop instruction is received from the monitoring device 11 (No at Step S220), the process returns to Step S202.

  On the other hand, in the monitoring device 11, after transmitting the stop instruction (step S210), or in parallel with this, the speaker 104 outputs an alarm indicating the monitoring instruction and notifies the security guard that priority monitoring should be performed. (Step 230).

  Next, the message extraction unit 136 extracts a message associated with the position information that matches the current position in the position information holding unit 134 (step S232), and displays the message on the monitor 102 (step S234). Next, when a restart instruction is input from the security guard to the instruction receiving unit 106 (step S236, Yes), the restart processing unit 138 transmits a restart instruction to the mobile robot 21 via the communication unit 100 (step S240). .

  On the other hand, when a timeout occurs (step S238, Yes), the restart processing unit 138 automatically transmits a restart instruction regardless of input from the security guard (step S240). In this case, the restart processing unit 138 transmits information indicating that a timeout has occurred along with the restart instruction via the communication unit 100.

  In the mobile robot 21, when a timeout occurs in the monitoring device 11 (step S 250, Yes), the camera 230 captures an image at the priority monitoring position (step S 252) and stores it in the image holding unit 240. (Step S254). Thereafter, the movement control unit 210 resumes movement, that is, patrol (step S256). If no timeout has occurred (step S250, No), the circulation is resumed without taking an image (step S256). When all the tours in the security area are completed (step S258), the process is completed.

  The remaining configuration and processing of the security system according to the second embodiment are the same as the configuration and processing of the security system 1 according to the first embodiment.

1 is a diagram illustrating an overall configuration of a monitoring system 1. FIG. 2 is a block diagram illustrating a functional configuration of a monitoring device 10. FIG. It is a figure which shows the priority monitoring position setting screen 140 displayed on the monitor. It is a figure which shows the data structure of the position information holding part. 2 is a block diagram showing a functional configuration of a mobile robot 20. FIG. It is a figure which shows the data structure of the position information holding part 220. FIG. 3 is a flowchart showing processing of the monitoring system 1. It is a figure which shows the example of a display of a message. It is a figure which shows the important point monitoring position setting screen 150 concerning the 3rd example of a change. It is a figure which shows typically the data structure of the position information holding | maintenance part 135 of the monitoring apparatus 10 concerning the 3rd modification. It is a figure which shows typically the data structure of the positional information holding | maintenance part 221 of the mobile robot 20 concerning the 3rd modification. It is a figure which shows the function structure of the monitoring apparatus 11 concerning 2nd Embodiment. It is a figure which shows typically the data structure of the position information holding | maintenance part 141. FIG. It is a block diagram which shows the function structure of the mobile robot 21 concerning 2nd Embodiment. It is a flowchart which shows the process of the monitoring system concerning 2nd Embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Monitoring system 10,11 Monitoring apparatus 20,21 Mobile robot 22a-22d Sensor 100 Communication part 102 Monitor 104 Speaker 106 Instruction reception part 110 Sensor information processing part 120 Security processing part 130 Travel control part 132 Priority monitoring position setting part 134,135 141 Position information holding unit 136 Message extraction unit 138 Resume processing unit 140 Emphasis monitoring position specifying unit 200 Communication unit 210 Movement control unit 220 Position information holding unit 230 Camera 240 Image holding unit

Claims (13)

A monitoring system comprising a mobile body capable of autonomous movement within a security area and a monitoring device for monitoring the mobile body,
The moving body is
Position information holding means for holding position information indicating a priority monitoring position which is a position in the security area;
A movement control means for stopping movement of the moving body when the moving body reaches the priority monitoring position indicated in the position information;
A transmission means for transmitting a monitoring instruction for urging monitoring by the supervisor to the monitoring device when the mobile body reaches the priority monitoring position;
The monitoring device
Receiving means for receiving the monitoring instruction from the mobile body;
Possess and output means for outputting the effect that the receiving means receives the monitoring instruction,
The monitoring device
After the receiving means receives the monitoring instruction, an instruction receiving means for receiving an instruction to resume movement of the moving body from a monitor;
A transmission means for transmitting the restart instruction to the mobile body when the instruction receiving means receives the restart instruction;
Further comprising
The moving body is
Further comprising receiving means for receiving the restart instruction from the monitoring device;
The said movement control means restarts the movement of the said mobile body, when the said receiving means receives the said restart instruction | indication . The moving body is
When the mobile body reaches the priority monitoring position, an imaging unit that captures an image at the priority monitoring position;
The monitoring system according to claim 1, further comprising image holding means for holding the image taken by the photographing means. Wherein said transmission means of the monitoring device, the monitoring system according to claim 1 wherein the instruction receiving means when not accept the resumption instruction predetermined time, characterized by transmitting the restart instruction to the moving body. The transmission unit of the monitoring device transmits timeout information indicating that the resumption instruction is not accepted together with the resumption instruction to the mobile body when the instruction acceptance unit does not accept the resumption instruction for a predetermined time.
The receiving means of the mobile body receives the restart instruction and the timeout information,
The moving body is
When the receiving unit of the moving body receives the timeout information, an imaging unit that captures an image at the priority monitoring position where the moving body is currently stopped;
The monitoring system according to claim 3 , further comprising an image holding unit that holds the image shot by the shooting unit. The position information holding means of the mobile body holds the position information in association with message identification information for identifying a message related to the priority monitoring position indicated in the position information,
When the transmission unit of the mobile body reaches the priority monitoring position, the position information holding unit transmits the message identification information associated with the position information indicating the priority monitoring position together with the monitoring instruction. And
The receiving means of the monitoring device receives the message identification information together with the monitoring instruction from the mobile body,
The monitoring device includes message holding means for holding the message identification information and the message in association with each other;
When the receiving means receives the monitoring instruction and the message identification information, the message holding means further comprises a message output means for outputting a message associated with the message identification information. The monitoring system according to any one of claims 1 to 4 . The position information holding unit of the mobile body holds the position information and a message related to the priority monitoring position indicated in the position information in association with each other,
When the transmission means of the mobile body reaches the priority monitoring position, the position information holding means transmits the message associated with the position information indicating the priority monitoring position together with the monitoring instruction.
The receiving means of the monitoring device receives the message together with the monitoring instruction;
The monitoring system according to any one of claims 1 to 4 , wherein the monitoring device further includes message output means for outputting the message received by the receiving means. The position information holding means of the mobile body holds a date and time condition indicating a date and time condition and the position information in association with each other,
The movement control means, when the moving body reaches the priority monitoring position indicated by the position information associated with the date and time condition that the current date and time satisfies in the position information holding means, The monitoring system according to any one of claims 1 to 6 , wherein the movement is stopped. A monitoring system comprising a mobile body capable of autonomous movement within a security area and a monitoring device for monitoring the mobile body,
The mobile body has a transmission means for transmitting the current position of the mobile body to the monitoring device,
The monitoring device
Receiving means for receiving the current position from the mobile body;
Position information holding means for holding position information indicating a priority monitoring position which is a position in the security area;
Transmitting means for transmitting a stop instruction to the mobile body when the current position received by the receiving means matches the position information held in the position information holding means;
If the current position received by the receiving means matches with the position information stored in the position information storing means, have a output means for outputting a monitor instruction to prompt the monitoring by the monitoring person,
The monitoring device
After the receiving unit receives the monitoring instruction, the receiving unit further includes an instruction receiving unit that receives an instruction to resume the movement of the moving body from a monitor.
The transmission means transmits the resume instruction to the mobile body when the instruction accepting means accepts the resume instruction,
The moving body is
Receiving means for receiving the restart instruction from the monitoring device;
A movement control means for resuming the movement of the moving body when the receiving means receives the restart instruction;
Monitoring system characterized in that it further comprises a. The moving body is
When the mobile body reaches the priority monitoring position, an imaging unit that captures an image at the priority monitoring position;
The monitoring system according to claim 8 , further comprising image holding means for holding the image taken by the photographing means. The monitoring system according to claim 8 , wherein the transmission unit of the monitoring device transmits the restart instruction to the moving body when the instruction receiving unit does not receive the restart instruction for a predetermined time. The transmission unit of the monitoring device transmits timeout information indicating that the resumption instruction is not accepted together with the resumption instruction to the mobile body when the instruction acceptance unit does not accept the resumption instruction for a predetermined time.
The receiving means of the mobile body receives the restart instruction and the timeout information,
The moving body is
When the receiving unit of the moving body receives the timeout information, an imaging unit that captures an image at the priority monitoring position where the moving body is currently stopped;
Monitoring system according to claim 1 0, characterized in that it further comprises an image storage means for storing the image captured by the imaging means. The position information holding unit of the monitoring device holds the position information and a message related to the priority monitoring position indicated in the position information in association with each other,
When the current position received by the receiving unit coincides with the position information held in the position information holding unit, the monitoring apparatus receives the position information in the position information holding unit. monitoring system according to any one of claims 8 1 1, further comprising a message output means for outputting a message. The position information holding means of the monitoring device holds a date and time condition indicating a date and time condition in association with the position information,
The transmitting means of the monitoring device, when the current position received by the receiving means matches the position information associated with the date and time condition that the current date and time satisfies in the position information holding means, Send a stop instruction to the moving body,
The output means of the monitoring device, when the current position received by the receiving means matches the position information associated with the date and time conditions that the current date and time satisfies in the position information holding means, The monitoring system according to any one of claims 8 to 11, wherein a monitoring instruction is output.

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