JP2008250639A - Security monitoring system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a security monitoring system by a robot maintaining security and continuity of behavior information in daily life. <P>SOLUTION: In an at-home mode, the robot acquires indoor behavior information of a monitored person, and executes security operation according to the acquired behavior information (S1). When confirming that the monitored person goes out by voice recognition, a mode enters a home security mode, and the robot performs return registration (registration of a return time) and absence registration (registration of a leaving time, a predicted return time, and a place-to-go or the like) by the voice recognition, and changes over the mode to the at-home mode. In the home security mode, when the person leaves without permission or in excess of the set time, the mode enters an anxiety mode (S2-S4), In the anxiety mode, the robot executes security processing of the monitored person (in embodiment, the overtime absence is reported to a preset contact destination) (S5-S8). <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a security monitor system that acquires behavior information in daily life of a monitoring target person such as an elderly person and maintains security by a robot.

2. Description of the Related Art Conventionally, various proposals have been made on robots and the like that monitor health conditions or behaviors as systems that support daily life of elderly people at home.
For example, in Patent Document 1, when an abnormality occurs in the daily life situation or health condition of a single person such as an elderly person, the degree of urgency can be determined as care information, and the family and necessary contact information can be contacted based on the result. A care information base using a robot is disclosed.

  In addition, as security technology when going out of the elderly, etc., Patent Document 2 states that in order to reduce the burden on the caregiver (searcher), it is possible to prevent the wrinkle of the old man with a habit (searchee) from occurring. An intended apparatus is disclosed.

Patent Document 3 discloses an information communication robot apparatus, an information communication method, and an information communication robot system that output and act on information corresponding to a user's health condition and the like as a system that supports the daily life of elderly people and the like. Has been.
JP 2006-172410 A JP 2004-357268 A JP 2001-246580 A

If you intend to support the daily life of elderly people at home using devices such as robots and maintain security, you can monitor health status and behavior continuously and acquire behavior information, whether indoors or outdoors. It is desirable to accumulate information and perform actions according to behavior information. However, the technique described in Patent Document 1 can support daily life when the target elderly or the like is in a room. However, not all elderly people are always in the room and may go out, so it is impossible to grasp the behavior when they go out, and they do not know when to go out and when to go home. Security is not maintained while on the go.

  In addition, when the technique described in Patent Document 2 is applied, when the monitor target is separated from the home position by a certain distance, the transmitter of the terminal (position information transmission system) carried by the monitor target autonomously starts. However, it is possible to send outdoor actions by sending location information to the parties concerned, but regardless of the elderly with a habit, it is not possible to limit the destination of other elderly people at a certain distance There was a problem of taking away freedom of action.

  On the other hand, the information communication robot system described in Patent Document 3 is configured to detect the user's whereabouts and biological information with a wristwatch worn by the person to be monitored and transmit the detection data to the robot. Therefore, when it is outdoors (positioning by GPS: see paragraph [0068] of the patent document), it is indoor (positioning with three antennas installed indoors: see paragraph [0069] of the same specification). The target person can also be monitored.

However, in the information communication robot system described in Patent Document 3, the behavior information of the target person is detected by the wristwatch and transmitted to the robot.
(B) The subject to be monitored must always wear a wristwatch configured to detect and send the behavior information of the subject to the robot,
(B) The wristwatch acquires position information by positioning with GPS outdoors, and acquires position information by positioning with three antennas indoors and transmits the position information to the robot. Depending on the location, it may be difficult to send and receive,
(C) In order to transmit the detected behavior information to the robot, there has been a problem that the wristwatch battery is quickly consumed by transmitting radio waves almost always.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a security monitor system using a robot that can maintain the continuity and security of action information in daily life.

  In order to solve the above-described problem, the security monitor system according to the first aspect of the present invention is a security monitor system using a robot, and the robot recognizes the monitor target person following the operation of the monitor target person indoors. Action recognition unit for acquiring action information, a security processing unit for executing security processing according to the action information acquired by the action recognition unit, and an outing registration processing unit for performing outing registration when the monitoring target person goes out And a return home registration processing unit for performing return home registration when the monitoring subject returns home.

  The invention according to claim 2 is the security monitor system of the invention according to claim 1, wherein the action recognition unit includes a dialogue processing unit that performs dialogue with the monitoring target person by voice recognition, and the outing registration processing unit includes: The home registration processing unit performs home registration based on the dialogue result with the monitoring target person by the dialogue processing unit based on the dialogue result with the monitoring target person by the dialogue processing unit. .

According to a third aspect of the present invention, in the security monitor system according to the first aspect of the invention, the action recognition unit interacts with the monitoring target person by image recognition means for recognizing the captured image and voice recognition. The outing registration processing unit performs outing registration based on the result of the dialog with the monitor target person by the dialog processing unit, and the return home registration processing unit returns the monitor target person's home image of the indoor action recognition unit. Performing home registration of the monitoring target person who has been home-recognized by the image recognition result by the recognition means.
It is characterized by that.

  According to a fourth aspect of the present invention, in the security monitor system of the first aspect, the outing registration processing unit authenticates the person to be monitored based on the image recognition result by the indoor action recognition unit and is personally authenticated. The monitor target person is registered for going out, and the return home registration processing unit performs return registration of the monitor target person who has been recognized to return home by image recognition by the indoor action recognition unit.

  According to a fifth aspect of the present invention, in the security monitor system according to any one of the first to fourth aspects, the outing registration processing unit registers the outing start time, and the return home registration processing unit includes the current time and the outing start. If the difference from the time exceeds the specified time, non-return information including the time to go out is sent to the security processing unit. When the non-return information is received from the home return registration processing unit, the security processing unit generates non-return notification information and has registered First, the data is transmitted via a communication line.

  According to a sixth aspect of the present invention, in the security monitor system according to any of the first to third aspects, the outing registration processing unit has a planned time to go home and / or an outing destination obtained from the outing start time and the conversation result. If the difference between the current time and the planned return time exceeds a predetermined time, the return home registration processing unit sends non-return information including the start time and the planned return time and / or the destination to the security processing unit. When the processing unit receives the non-return information from the return home registration processing unit, it generates non-return notification information and notifies the registered contact address via the communication line.

  According to the present invention, the robot not only acquires behavior information from the monitoring target person at home and performs a security operation according to the behavior information, but also can grasp the outing / returning home information of the monitoring target person. Sex can be maintained.

<Definition of terms>
(1) Robot
It is an autonomous robot and is preferably a self-propelled type, but may be a fixed type (not self-propelled and provided at a fixed location).
(2) Indoor
It means the interior of a building such as a house or a condominium (group housing) or a facility (nursing facility, etc.) used by a plurality of persons to be monitored.
(3) Outdoor
Outside the building.
(4) going out
It means an action registered for going out, which will be described later. Outings without an outing registration are classified as “unknown destinations” and are in the category of abnormal situations (subject to notification to related parties).

<Outline of the invention>
In the security monitor system of the present invention, the robot has three modes: a home mode, an answering machine mode, and an anxiety mode according to the behavior of the person being monitored.
In the home mode, the robot acquires the behavior information of the person to be monitored indoors, and executes a security operation according to the acquired behavior information (see step S1 in FIG. 3).
In the answering machine mode, the robot performs out-of-office registration (registration of going-out start time, scheduled return time, going-out destination, etc.) and return home registration (registration of return time) by voice recognition, and shifts to the home mode. In addition, when there is an outing without permission or when the outing time is exceeded in the answering machine mode, the mode shifts to the worry mode (see steps S2 to S4 in FIG. 3).
In the worry mode, the robot executes the security process of the person to be monitored (in the embodiment, notifies the registered related party that the outing time has been exceeded (see steps S5 to S8 in FIG. 3).

  In addition, it may be configured to perform out-of-home registration (outing start time, scheduled home time, where to go, etc.) and return home registration (registration of home time) by image recognition instead of voice recognition during out-of-home registration and return home registration. it can. In addition, it is possible to perform out-of-office registration (registration of outing start time, scheduled home time, outing destination, etc.) and return home registration (registration of home time) by image recognition during home registration, and by voice recognition during home registration.

  FIG. 1 is a schematic front view of a robot according to the present invention. A robot 10 includes, on a head 10-1, imaging lenses 11-1 and 11-2 that constitute an imaging unit, and a microphone that constitutes an audio input / output unit. 12 and a speaker 13, and the body unit 10-2 is provided with a display unit 14 that displays a guidance message, a warning message, an image of the monitor target person, and the like for the monitor target person.

Although not shown, the body 10-2 is provided with a communication interface 34 (see FIG. 2) for connecting to a communication line and a charging unit. Moreover, you may make it equip the trunk | drum lower part with the self-propelled part (or leg part) which follows a user's movement and self-propels. When the self-propelled part (or the leg part) is provided, the charging part can be returned to the charging part and charged before the voltage drops. Further, an LED light emitting unit (not shown) for blinking or the like is provided in the head unit 10-1 or the body unit 10-2 in order to concentrate the attention of the person to be monitored on the robot when going out or warning. It may be.

  FIG. 2 is a diagram showing an embodiment of the internal configuration of the robot 10. The robot 10 converts an image signal obtained by converting an optical image captured via the imaging lenses 11-1 and 11-2 into an electrical signal. An image capturing unit 20, an image processing unit 21 that processes image signals from the image capturing unit to obtain image data and records the image data in a memory, an image recognition processing unit 22 that performs image recognition processing, and an indoor result from the image recognition result. The behavior information acquisition unit 23 for obtaining the behavior information (behavior information) of the person to be monitored and the input voice from the microphone 12 are processed and voice recognition is performed to generate (or take out) the voice according to the input voice. 13, a dialog processing unit 24 that performs output from the monitor 13, an outing registration processing unit 25 that performs outing registration processing when the monitoring target person goes out, a return registration processing unit 26 that performs return registration processing when the monitoring target person returns, robot The robot control unit 28 that controls the mechanical operation of the robot 20 and the robot drive 29 that mechanically drives the robot 20 under the control of the robot control unit 28, and the processing results of the behavior information acquisition unit 22 and the return home registration processing unit 26 A security processing unit 27 that acquires behavior information of a certain monitoring target person, executes security processing according to the behavior information, and a time for generating a time and giving a time signal to the outing registration processing unit 25 and the return home registration processing unit 26 A generation unit 33 and a communication interface 34 for transmitting information to a related party according to the security level output from the security processing unit 27 are provided.

  The imaging unit 20 captures an image of the monitor subject following the movement of the monitor subject indoors based on a predetermined time interval or a control signal from the security processing unit 27, and sends an image signal to the image processing unit.

The image processing unit 21, the image recognition processing unit 22, the behavior information acquisition unit 23, and the dialogue processing unit 24 constitute an indoor behavior recognition unit 30.
The display unit 16 can display a guidance message, a warning message, an image of the person to be monitored, or the like by an output from the security processing unit 27, or can perform a warning by blinking the screen.

  The image processing unit 21 includes an image memory, performs image processing on the image captured by the imaging unit 20, and records the captured image in the image memory. Since not all images can be recorded due to restrictions on the recording capacity of the image memory, the captured image is configured to be recorded in the image memory cyclically. For the image processing operation of the image processing unit 21, a known image processing technique in a digital camera can be applied.

  The image recognition processing unit 22 has an image recognition dictionary in which the face image of the person to be monitored and the whole body are photographed and patterned from various directions. When the robot 10 is stationary (or fixed) at a predetermined position indoors, the image recognition processing unit 22 includes two images captured through the imaging lens 11-1 or 11-2 and an image recognition dictionary. The monitor target person is identified by comparing with the pattern image of the monitor target person registered in (1). Further, the image recognition processing unit 22 sends a control signal to the imaging / image processing unit 21 so as to capture the identified monitor subject as a central image. Thereby, the image recognition processing unit 22 also functions as a kind of imaging control means. The image recognition processing unit 22 also functions as a personal authentication unit that authenticates the person to be monitored.

  The behavior information acquisition unit 23 has an indoor map in which position information such as indoor floor plans is registered. The behavior information acquisition unit 22 obtains the parallax from the monitor target person image (center image) captured by the image processing unit 21 to acquire the orientation of the monitor target person with respect to the robot, and between the imaging lenses 11-1 and 11-2. The distance to the robot can be obtained based on the distance x. Then, from the current position of the robot, the orientation and distance of the acquired monitoring target person, and the positional information such as the indoor floor plan registered in the indoor map, the behavior information of the monitoring target person (position information and the current indoor location (which room, Information on which part) is available. Note that distance data from the distance sensor provided in the image processing unit 21 may be used as the distance x to the person to be monitored. The behavior information (behavior information) acquired by the behavior information acquisition unit 23 is sent to the outing registration processing unit 25 and the security processing unit 27.

  The dialogue processing unit 24 includes a response language dictionary composed of response voice data corresponding to the question voice and a dictionary in which a voice pattern and a word correspond to each other, and is connected to the microphone 12 and the speaker 13, and is input via the microphone 12. Voice features are extracted and noise is removed to separate the voices, compared with the voice patterns registered in the voice pattern dictionary, and the voice corresponding to the voice pattern with a high degree of coincidence is used as a keyword. Is taken out and reproduced through the speaker 13, so that the user can interact with the person to be monitored. In addition to the conversational voice, the dialogue processing unit 24 can also recognize whether or not it is a voice of the person to be monitored and a process for recognizing surrounding sounds (for example, performing personal authentication by voice, opening / closing sound of the door) Can recognize people coming in and out). The speech recognition result in the dialogue processing unit 24 is sent to the outing registration processing unit 25, the return home registration processing unit 25, and the behavior information acquisition unit 23. Note that the dialogue processing by the dialogue processing unit 24 is not limited to the above-described method, and a known dialogue processing method (for example, paragraphs [0044] and [0045] in the section of the detailed description of the invention of Japanese Patent Laid-Open No. 2002-261966. Reference).

  The security processing unit 27 includes a communication control unit (not shown) for transmitting information to a related party via the communication interface 34 in accordance with the security level corresponding to the acquired behavior information. The security processing unit 27 also includes indoor behavior information input from the behavior information acquisition unit 23, abnormal sound input from the dialogue unit 24, personal authentication result input from the outing registration processing unit 25, or outing input from the return home registration processing unit 26. Execute security processing according to the action information at the time. In addition, the security processing unit 27 sends a control signal for driving the robot 10 to the robot control unit 28 in accordance with the acquired behavior information.

  As an example of the security processing, for example, when the behavior information that the person to be monitored is out of the bathroom is not obtained even after a predetermined time has elapsed after obtaining the behavior information that the person being monitored is in the bathroom, a warning sound is output from the speaker 13. If it does not come out of the bathroom even after a predetermined time, the method (phone contact by generated voice, sending mail via the Internet, etc.) specified via the communication interface 34 to the related party (registered institution or relative, etc.) ) To make an emergency notification. The same applies when the toilet time is too long or when the bedtime is abnormally long. The same applies to the abnormal behavior of the person being monitored.

  As an example of security processing, when the dialogue target 24 receives an input such as a rescue request voice such as “help”, “stress”, “someone”, etc. of the person to be monitored from the dialogue unit 24, the related party (registered institution) Alternatively, an urgent notification is made to a relative or the like by a method designated by way of the communication interface 34 (telephone contact using generated voice, mail transmission via the Internet, etc.).

  As an example of security processing, when information indicating that the person to be monitored is going out without authentication is obtained from the outing registration processing unit 25, a warning or guidance message is output from the speaker 13. In addition, a warning or guidance message is output from the speaker 13 to a person who wants to enter the room without returning home. Furthermore, a warning sound can be output as a suspicious person or an intruder to a person who does not register for return home, or an emergency contact can be made to related organizations.

  As an example of security processing, when information indicating that the outing time of the monitoring target person is too long is obtained from the return home registration processing unit 25, the registered parties (relatives, acquaintances, care providers, police) and the like are notified. . Also, if you are unable to recognize the person being monitored and are not registered for going out indoors and do not return after a certain period of time, the person who has registered that you are not going to go (relatives, acquaintances, care providers, Contact the police).

(Embodiment 1)
The robot of this embodiment is intended for the elderly who live alone as a monitoring target person, to become a partner of the monitoring target person, or to notify the family or hospital where the monitoring target person is separated. It has been developed. It also specifies home automation functions such as TV on / off and bath / air conditioner on / off on behalf of the person being monitored.

FIG. 3 shows a flowchart of an operation example of the security monitor system according to the present invention.
In FIG. 3, the robot 10 follows the movement of the person to be monitored indoors, images the person to be monitored by the imaging unit 20, recognizes the image converted into digital data by the image processing unit 21, and recognizes the image by the image recognition unit 22. The behavior information acquisition unit 23 acquires the behavior information and records it in the behavior information memory. Moreover, the security operation | movement according to the acquired indoor action information is performed. Note that it is desirable that the imaging unit 20 be configured to take an image of the person to be monitored at predetermined time intervals and not to take an image or to record in the behavior information memory when the person to be monitored is almost stationary ( S1).

  The outing registration processing unit 25 checks the behavior information of the monitor target person received from the behavior information acquisition unit 23, and if there is information that the monitor target person has recognized the image heading toward the entrance, the dialog processing unit 24 indicates the intention of going out. A question request signal for inquiring about presence / absence, whereabouts, estimated time to go home, etc. is sent to cause dialogue with the person to be monitored through the speaker 13 and the microphone 12, and there is no intention of going out from the response voice from the person to be monitored If the determination result is obtained, the process proceeds to step S6. When there is an intention to go out, the current time obtained from the time generation unit 33 is registered (recorded) in the memory as the outing start time, and when the outing destination and the return time are obtained through dialogue, the memory is associated with the outing start time. And proceed to step S3. As a method of determining the intention to go out by dialogue with the person to be monitored, first, a question voice (for example, “Is going out?”) That asks the intention to go out is output from the speaker 13 via the dialogue processing unit 24, and then the object to be monitored. When the person's response voice is input from the microphone 12, the dialogue processing unit 24 performs voice recognition and sends the recognition result to the outing registration processing unit 25 and the behavior information acquisition unit 23, so that the outing registration processing unit 25 is the dialogue processing unit 24. If the response result of the response voice means a simple intention to go out (for example, “Yes”, “Yes”, etc.), the question request to ask the dialogue processing unit 24 about the destination and the time to go home again. A signal is sent and a question voice (for example, “Where are you going, when are you going to return?”) Is output from the speaker 13 via the dialogue processing unit 24. When the recognition result of the response voice of the person to be monitored with respect to the question voice from the robot 10 includes the place to go out and the scheduled time to go home, they are related to the start time to go out and registered in the memory. Also, if there is no response to a question asking about going out for a predetermined time (for example, 5 seconds) (that is, if it is silent), the question is asked again. ”,“ I'm at home ”,“ Sojida ”,“ Noisy ”, etc.), the process proceeds to step S6 with no intention to go out (step S2).

  The return home registration processing unit 26 compares the outing time T of the monitoring target person after the outing registration with the predetermined time K. When T ≦ K, the process proceeds to step S4, and when T> K, the security processing unit The non-return information including the outing start time, the outing excess time, and the like (and the return time and the outing time, if any) are passed to 27, and the process proceeds to step S5 (step S3).

  The dialogue processing unit 24 is configured to recognize and process not only the conversation voice but also surrounding sounds, and can recognize the person's entry and exit from the door opening / closing sound. After receiving the recognition result indicating that the sound of the front door opening is recognized from the dialogue processing unit 24, the return home registration processing unit 26 receives the voice of the person to be monitored “for example,“ I ’m right ”,“ I ’m home ”,“ I was cold ” Upon receiving the recognition results such as “I was tired”, “Yareyare”, etc., home return registration is performed and the process returns to step S1. If return home registration has not been performed (that is, if the user has not yet returned home), the process returns to step S3. Returning home registration can be performed by registering (recording) the current time obtained from the time generating unit 33 in the memory in association with the going-out start time as the return time (step S4).

  If T> K in step S3, that is, if the outing time is exceeded, the security processing unit 27 registers the non-return information received from the return home registration processing unit 26 (outing start time, outing time, etc. (scheduled home time and outing time are registered). If not, they will also be a non-return message message for telephone contact or non-return message message data for e-mail (for example, “It ’s been 4 hours since XX went out at 10:00 am, but he ’s gone home.” No. Please check the contact ”, etc.), and send it to the registered parties (relatives, acquaintances, care providers, police, etc.) via the communication interface 34, and return to step S4. If there are a plurality of monitoring subjects, the return home registration processing unit 24 also transmits the ID of the monitoring subject registered at the time of outing registration to the security processing unit 27 as non-return information (step S5).

  In step S2, if the outing registration processing unit 24 determines that the person to be monitored does not intend to go out, the security processing unit 27 receives information from the behavior information acquisition unit 23 that the person to be monitored is not indoors (for example, outing registration) When receiving the action information indicating that the image that has gone out from the entrance or the window without being recognized has been recognized (step S6), the time counting by the absence time counter is started from the time when the information is received, Even when the value of the absence time counter exceeds a predetermined time (for example, 1 hour), if the behavior information indicating that the monitoring subject has returned to the indoors is not received from the behavior information acquisition unit 23, the process goes to step S8 as unknown whereabouts, If the behavior information indicating that the person to be monitored has returned indoors is received from the behavior information acquisition unit 23 within the predetermined time, the absent time counter is cleared and step S1 is executed. When the control is returned via step S8, a determination operation is performed as a predetermined time = the value of the absence time counter at the time when the control returns via step S8, and the monitoring information is obtained from the behavior information acquisition unit 23. When the behavior information indicating that the user has returned to the indoors has been received, the absence time counter is cleared to return to the unknown person and the process proceeds to step S8 (step S7).

  If it is determined in step S7 that the whereabouts are unknown, the security processing unit 27 detects the missing notification message for the telephone contact including the absence occurrence time and the absence time based on the values of the current time and the absence time counter, or the whereabouts for the mail. Generate unknown notification message data (for example, Mr. XX has left the house at around 10:15 and is missing. Already 1 hour has passed but has not returned. Please check the contact) 34 to the related parties (relatives, acquaintances, care providers, police, etc.) registered via step 34. The process returns to step S6, and if it is determined in step S7 that the unknown person has returned home, the security processing unit 27 calls Unidentified person return notification message voice or email non-notification notification message data (for example, Mr. XX is at home at 12:20 Generates ¥ was), parties that are registered via the communication interface 34 (relatives, send acquaintances, care operators, police, etc.), the flow returns to step S1 (step S8).

  In step S4, the return home registration processing unit 26 receives the recognition result indicating that the sound of the front door opening has been received from the dialogue processing unit 24, and the monitor target even after a predetermined time (for example, 15 seconds) has passed. If the recognition result indicating that the person is returning home is not received, the request signal is sent to the dialogue processing unit 24, and the dialogue processing unit 24 sends the voice (eg, “who” ? "," Who are you, call the police if you enter without permission? "), And if there is no response from the monitored person even after a predetermined time (for example, 5 seconds), it is determined that the suspicious person has entered Then, the suspicious person intrusion information can be sent to the security processing unit 27, and when the person to be monitored can be authenticated by voice recognition, it can be configured to return home and return to step S1. Further, in this case, when the security processing unit 27 receives the suspicious person intrusion information, the security processing unit 27 generates a warning sound through the speaker 13 and also transmits an unknown person return notification message voice for telephone contact or non-return notification message data for e-mail (for example, , "It seems that a suspicious person has invaded Mr. XX in the 2nd and 5th floors of YY Mansion, 2-24-7, Honmachi 3)." It can be configured to transmit to (condominium manager, security company, police, etc.) and return to step S1.

(Embodiment 2)
In the example shown in the flowchart of FIG. 3, the outing registration processing unit 25 and the return home registration processing unit 26 confirm the intention of going out and return home by voice recognition, but the robot 10 is not provided with the dialog processing unit 24. In the case where the robot 10 is configured not to operate the dialogue processing unit 24 at the time of going out registration and returning home registration, it is configured to confirm the going out and returning home of the person to be monitored by the identity authentication by the image recognition without voice recognition. You can also

  In this case, for example, the step S2 in FIG. 3 is performed, for example, “The outing registration processing unit 25 checks the behavior information of the monitoring target person received from the behavior information acquisition unit 23 and recognizes that the monitoring target person has recognized the image toward the entrance. If the action information indicating that the person to be monitored has opened the door and exited the room is received from the action information acquisition unit 23 after the person authentication by the image recognition is performed, the current time is set to the start time of going out. And registering (recording) in the memory and proceeding to step S3, and when the user cannot be authenticated or when a predetermined time (for example, 1 minute) or more has passed, the behavior information indicating that the door has been opened and the room has been exited If not received from 23, the process proceeds to step S6, and step S4 is set to “return home registration processing unit 26 receives action information indicating that a door has been opened and a person has entered from action information acquiring unit 23. Then, the person is authenticated through image recognition, and if the person is authenticated, the current time is registered in the memory in association with the start time registered in the memory as the return time, and the process returns to step S1. " What is necessary is just to comprise. In step S4, if the personal authentication cannot be performed, it is determined that the suspicious person has been intruded and the suspicious person intrusion information is transmitted to the security processing unit 27. It can comprise so that it may return to step S1.

<Modification>
In the first embodiment, the out-going registration and the home-going registration are performed by voice recognition. In the second embodiment, the out-going registration and the home-going registration are performed by the personal authentication by the image recognition. However, the out-going registration processing unit performs the out-going registration by the voice recognition. The return home registration processing unit can also be configured to perform return home registration through personal authentication based on image recognition.

  In this case, only step S4 of FIG. 3 is performed. When the return home registration processing unit 26 receives the behavior information that the door is opened from the behavior information acquisition unit 23 and the person has entered, the image recognition is performed based on the image recognition of the entering / exiting person. The user authentication is performed, and when the user authentication is successful, the current time is registered in the memory in association with the going-out start time registered in the memory as the return time, and the process returns to step S1. In step S4, if the personal authentication cannot be performed, it is determined that the suspicious person has been intruded and the suspicious person intrusion information is transmitted to the security processing unit 27. Then, the process returns to step S1 ”, and steps S1 to S3 and steps S5 to S8 may be the same as those in FIG.

  Even if an advanced voice recognition or image recognition function is not provided, the robot 10 is provided with an outing button and a return button. When the person to be monitored presses the outing button when going out, the outing registration process is performed, and the return button is pressed when returning. It is also possible to perform the return home registration process.

It is a front schematic diagram of the robot based on this invention. It is a figure which shows one Example of the internal structure of a robot. It is a flowchart which shows the operation example of a robot.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Robot 12 Microphone 13 Speaker 20 Imaging part 23 Behavior information acquisition part 24 Dialog processing part 25 Outing registration process part 2
26 Home Return Registration Processing Unit 30 Indoor Action Recognition Unit 31 Security Processing Unit

Claims (6)

A security monitoring system using a robot,
The robot is
An action recognition unit for recognizing the person to be monitored and acquiring action information following the operation of the person to be monitored indoors;
A security processing unit that executes security processing according to the behavior information acquired by the behavior recognition unit;
An outing registration processing unit for performing outing registration when the monitoring target person goes out;
A home registration processing unit for performing home registration when the monitor target person returns home,
A security monitor system comprising: The behavior recognition unit includes a dialogue processing unit that conducts dialogue with a monitoring target person by voice recognition,
The outing registration processing unit performs outing registration according to the dialogue result with the monitoring target person by the dialogue processing unit,
The home return registration processing unit performs home return registration of the monitoring target person based on a result of the dialog with the monitoring target person by the dialog processing unit.
The security monitor system according to claim 1. The action recognizing unit includes an image processing unit for recognizing a captured image and a captured image and a dialogue processing unit for performing a dialogue with a monitor target person by voice recognition.
The outing registration processing unit performs outing registration according to the dialogue result with the monitoring target person by the dialogue processing unit,
The return home registration processing unit performs return registration of the monitor target person who has been recognized to return home from the image recognition result of the image recognition means of the indoor action recognition unit.
The security monitor system according to claim 1. The action recognition unit includes image recognition means for recognizing an image and a captured image,
The outing registration processing unit performs the out-going registration of the monitor target person who has been able to authenticate the person who has been authenticated by performing the image recognition result by the indoor action recognition unit,
The return home registration processing unit performs return home registration of the monitor target person who has been returned home based on the image recognition result by the indoor action recognition unit.
The security monitor system according to claim 1. The outing registration processing unit registers the outing start time,
If the difference between the current time and the going-out start time exceeds a predetermined time, the return home registration processing unit sends non-return information including the going-out time to the security processing unit,
5. The security processing unit according to claim 1, wherein, when receiving the return information from the return home registration processing unit, the security processing unit generates return notification information and transmits it to a registered contact via a communication line. Security monitor system. The outing registration processing unit registers the outing start time and the scheduled return time and / or outing obtained from the conversation result,
When the difference between the current time and the scheduled return time exceeds a predetermined time, the return home registration processing unit sends out non-return information including an outing start time and a planned return time and / or a destination to the security processing unit,
4. The security processing unit according to claim 1, wherein the security processing unit generates non-return notification information upon receiving non-return information from the return home registration processing unit, and notifies a registered contact through a communication line. Security monitor system.

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