JP2012215959A - Security robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To allow a security robot to patrol a multi-storied building.SOLUTION: A security robot 10 includes a robot body 12, a drive section 14, and a control section 16. The drive section 14 has a planar movement mode for moving a plane surface, and a stair ascending/descending mode for ascending/descending stairs, and can move the robot body 12 across a plurality of stories. When the robot body moves to a stair location during the planar movement mode, the control section 16 changes the mode into the stair ascending/descending mode to ascend/descend the stairs.

Description

  The present invention relates to a security robot that patrols a building having a plurality of levels.

  Conventionally, for the purpose of strengthening security or reducing the load on security guards, security robots have been proposed that guard the inside of buildings. For example, Patent Document 1 proposes a security robot that patrols (moves) along a preset tour route and detects a security abnormality by a sensor group provided in the robot body.

  By the way, in recent years, large supermarkets and department stores composed of a plurality of hierarchies are increasing. When such a building composed of a plurality of floors is visited by, for example, a security robot disclosed in Patent Document 1, the robot body cannot move from one level to another level. For this reason, it is necessary to arrange a security robot for each floor, which raises a problem that the installation cost of the security robot increases.

  Patent Document 2 discloses an autonomous mobile robot that gets on and off an elevator provided in a building and autonomously moves in an area extending over a plurality of floors. However, the system disclosed in Patent Document 2 requires a complicated system such as instructing a floor for wireless movement from a robot to a boarding / alighting system control unit that controls movement of an elevator. Alternatively, when the robot makes a patrol at night, the use of the elevator may be stopped.

  Further, when the security robot discovers an intruder or the like, it is preferable to immediately prevent the intruder from committing the crime. However, the security robot of Patent Document 1 only issues an alarm even if an intruder is found, does not prevent the intruder's crime, and escapes from the management center until the guard rushes. There is a possibility. Even if a security guard arrives at the scene, there is a risk that the life of the security guard will be threatened by an intruder attack.

JP 2008-15692 A JP 2009-258821 A

  The present invention has been made in consideration of the above-described problems, and enables the patrol of a building composed of a plurality of floors, thereby expanding the security range by one robot, thereby reducing the installation cost and the like. It is an object of the present invention to provide a security robot that can accurately prevent an intruder's action when an intruder is detected.

[1] A security robot according to the present invention includes a robot main body, a drive unit that moves the robot main body, and a control unit that controls the drive of the drive unit and autonomously circulates within a predetermined security range. The predetermined security range includes a plurality of layers having different plane heights connected by stairs, and the robot body acquires the surrounding environment of the robot body as image information. And an information acquisition unit that detects a person or a fire, and a coping unit that performs an action based on a predetermined action or operation with respect to the person or the fire when the information acquisition unit detects the person or the fire. The drive unit has a plane movement mode for moving the plane and a stair climbing mode for moving up and down the stairs, and the robot body can be moved between the plurality of layers. The control unit creates map data of the predetermined security range based on the image information obtained by the information acquisition unit, and sets a tour route including the stairs based on the map data in advance. And a self-position recognition means for recognizing the position of the robot main body on the map data, a patrol route set by the patrol route creation means, and a position recognition by the self-position recognition means. And a patrol control unit that patrols the robot body by controlling the driving of the driving unit, and the patrol control unit moves to the location where the stairs are arranged during the plane movement mode. The stairs are raised and lowered by switching to the stairs raising / lowering mode.

  According to the above, the drive unit has a plane movement mode in which the plane moves and a stair ascending / descending mode for moving up and down the stairs, and the robot main body can be moved between a plurality of hierarchies. It is possible to go around the hierarchy. That is, it is possible to widen the security range in which the security robot patrols. Therefore, even in a building having a plurality of levels, it is possible to install a small number of security robots, and the installation cost of the security robots can be reduced.

  In addition, when a person (intruder) or a fire is detected, a countermeasure unit that performs a predetermined action or an action based on the operation with respect to the intruder or the fire is provided. Can take appropriate action. That is, the intruder's action can be accurately prevented by the security robot.

  Furthermore, map data that the security robot patrols based on the image information obtained by the information acquisition unit is created, and a patrol route including stairs is set in advance based on the map data. Rather than setting the patrol route, it is possible to obtain accurate map data based on the arrangement state of the actual detection target (for example, the side wall or the ceiling). The traveling route to be performed can be set with high accuracy.

  Furthermore, when patrol of the security robot, the position of the robot body can be ensured even in buildings with multiple levels by recognizing the position of the robot body on the map data created by the patrol route creation means by the self-position recognition means. The control unit can accurately control the drive unit along the map data.

[2] In the present invention, the information acquisition unit includes an image sensor that can three-dimensionally recognize an environment around the robot body, and the control unit is a three-dimensional image information captured by the image sensor. It is preferable to obtain shape data.

  Thus, by obtaining the three-dimensional shape data as image information by the image sensor, it is possible to recognize the surrounding environment of the robot body with high accuracy. For example, when the traveling route creation means creates map data, it is more accurate. High map data can be created.

[3] In the present invention, the imaging sensor images at least a side wall or a ceiling of the predetermined security range, and the patrol route creating means is based on the three-dimensional shape data of the side wall or the ceiling obtained from the imaging sensor. The map data may be created as a two-dimensional map for each layer.

  Thus, it becomes possible to create the map data excellent in versatility by creating the three-dimensional shape data of the side wall or the ceiling of the predetermined security range. That is, since the side wall and ceiling are less greatly changed in arrangement state and shape as compared with product shelves and display items, even when the product shelves and display items are moved, the three-dimensional shape data of the side walls or ceilings is displayed. It is possible to patrol using the map data created based on.

[4] In the present invention, the control unit includes storage means for storing image information picked up by the image pickup sensor, and the self-position recognition means outputs image information by the image pickup sensor during a round of the robot body. A new image may be taken, and the new image information and the image information stored in the storage unit may be collated to recognize the position of the robot body.

  As described above, when the robot main body patrols, the image sensor newly captures image information, and the new image information and the image information stored in the storage means are collated to recognize the position of the robot main body. The security robot can recognize the self-position on the map data with higher accuracy. Therefore, the control unit can move the security robot more reliably along the patrol route during the patrol.

[5] In the present invention, the information acquisition unit includes an obstacle detection sensor that detects an obstacle present on the patrol route, and the patrol control unit detects the obstacle detected by the obstacle detection sensor. You may make it control the drive of the said drive part so that the said robot main body may avoid.

  In this way, obstacles are detected by the obstacle detection sensor, and control is performed so that the robot body avoids the detected obstacles, so that even if there are obstacles on the patrol route, it can be surely avoided. It is possible to perform a good patrol with a security robot.

[6] In the present invention, a robot station that waits for the robot main body when not patrol is provided in advance in the predetermined security range, and the control unit performs the patrol when a predetermined time comes. The operation of the control means may be automatically started to make a patrol from the robot station that has been waiting.

  Thus, by autonomously patrol of the security robot at a predetermined time, the security robot can be visited during the set tour time, and the security of the security range can be further strengthened.

[7] In the present invention, the robot body includes a rechargeable power source that supplies power to the drive unit and the control unit, and the rechargeable power source includes the robot body at the robot station upon completion of patrol. After moving, the robot station may be charged.

  In this way, after the robot body moves, charging is performed from the robot station, so that it is possible to easily charge the rechargeable power source of the security robot every time the patrol by the security robot is completed. It is possible to avoid inconveniences such as driving stoppage due to power shortage, and to make a patrol surely.

[8] In the present invention, the robot body includes a transmitter / receiver capable of communicating with an external security management room, the information acquisition unit includes a detection sensor for detecting a person or a fire, and the control unit includes: Preferably, when the person or fire is detected by the detection sensor, the security management room is notified of the abnormality via the transceiver.

  In this way, when a person (intruder) or a fire is detected by the detection sensor, the security management room is notified of the abnormality via the transceiver, so that appropriate measures can be taken for the security guards waiting in the security management room. Can be requested.

[9] In the present invention, when the detection sensor detects the person or fire and the control unit receives an operation signal for remotely operating the robot body from the security management room via the transceiver. The driving unit may be controlled based on the operation signal, and the coping unit may be driven.

  In this way, the security robot receives the operation signal to be remotely operated from the security management room and is controlled in driving, so that when a person (intruder) or fire is detected, the security robot from the security management room Can be moved to the intruder or fire detection location. In addition, when the detection sensor detects a person (intruder) or a fire, the coping unit can be driven, so that the driving of the coping unit is stopped during normal patrols to reduce power consumption and safety. In addition, by driving when an intruder or a fire is detected, the security robot can accurately prevent the intruder's action.

[10] In the present invention, the control unit transmits the image information obtained from the information acquisition unit to the security management room based on detection of the person or fire by the detection sensor or an instruction from the security management room. May be.

  In this way, by transmitting the image information obtained from the information acquisition unit to the security management room, it is possible to provide the image information to the security guards who are waiting in the security management room, and seek more appropriate measures. be able to.

[11] In the present invention, an external sensor that detects a person or a fire is provided in the predetermined security range, and the control unit is configured to transmit the transceiver when the external sensor detects a person or a fire. The detection information including the detection location may be sent via and the robot body may be moved to the detection location based on the detection information.

  In this way, even when an external sensor detects a person (intruder) or a fire, the security range of the guard range is further enhanced by using a security robot to face the intruder or fire detection location. be able to.

[12] In the present invention, the countermeasure unit includes a digester that injects a digestive agent into the fire occurrence site, and the control unit controls driving of the driving unit based on detection of fire by the detection sensor. Then, the robot main body may be moved toward the location where the fire occurs and the digestive agent may be ejected.

  Thus, it becomes possible to extinguish a fire at an early stage by injecting a digestive agent with a digestive device with respect to a fire outbreak location.

[13] In the present invention, the coping section may include a speaker that gives a voice warning to the person.

  In this way, by giving a voice warning to a person through a speaker, the intruder can be intimidated by voice, and the intruder can be informed that the intruder is being monitored. Can be deterred.

[14] In the present invention, the coping section may include a net launcher that launches a capture net to the person.

  Thus, an intruder can be captured by a capture net by firing a capture net against a person by a net launcher.

  According to the present invention, it is possible to patrol a building composed of a plurality of floors, thereby reducing the installation cost by expanding the security range, and when an intruder is detected, the behavior of the intruder can be accurately detected. Can be prevented.

It is a schematic perspective view which shows an example of the security range which the security robot 10 which concerns on embodiment of this invention patrols. It is a schematic side view which shows the security robot of FIG. It is a schematic front view which shows the security robot of FIG. It is a block diagram which shows the control system of the security robot of FIG. It is explanatory drawing which shows roughly the map data of the 1st floor part produced based on the guard range of FIG. It is a flowchart which shows the setting flow of the patrol route by the security robot of FIG. It is a flowchart which shows the operation | movement flow at the time of patrol by the security robot of FIG. It is a flowchart which shows the operation | movement flow which detects an abnormal condition at the time of the patrol by the security robot of FIG.

  Hereinafter, preferred embodiments of a security robot according to the present invention will be described in detail with reference to the accompanying drawings.

  FIG. 1 is a schematic perspective view showing an example of a security range in which the security robot 10 according to the embodiment of the present invention patrols. For example, the security robot 10 according to the present embodiment autonomously patrols a predetermined security range such as a supermarket or a department store, and performs necessary measures when an intruder or a fire is detected during the patrol. It is configured as follows.

  Here, the predetermined security range according to the present embodiment refers to the inside of the building 100 shown in FIG. In this building 100, a plurality of levels (first and second floors) having different plane heights are connected by stairs. The security robot 10 can move between the first floor and the second floor using the stairs 102, and is configured to autonomously make a patrol over a plurality of levels. The staircase 102 in the present specification includes a series of a plurality of steps formed by a stopped state of the escalator, in addition to a general staircase composed of a plurality of steps.

  As shown in FIG. 1, the security range of the security robot 10 is a space surrounded by a side wall 104 and a ceiling 106 of a building 100. In this space, for example, a plurality of merchandise shelves 108 and displays (see FIG. 1). Etc.) or the store 110 is arranged. For this reason, the patrol route is set so that the security robot 10 passes between the merchandise shelf 108, the display object, and the store 110. In FIG. 1, the second floor portion of the security range and the side wall 104 are shown by broken lines for easy understanding.

  In the security range, one or more intrusion detection sensors (external sensors) 112 that detect the intrusion of a person into the building 100 (security range) are installed. Further, a security management room 114 capable of communicating with the security robot 10 is provided outside the security range. Furthermore, a robot station 116 that waits and charges the security robot 10 when not patrol is provided in the police area.

  2 is a schematic side view showing the security robot 10 of FIG. 1, and FIG. 3 is a schematic front view showing the security robot 10 of FIG. As shown in FIGS. 2 and 3, the security robot 10 autonomously moves within a predetermined security range by controlling the robot body 12, the drive unit 14 that moves the robot body 12, and the drive of the drive unit 14. And a control unit 16 that makes the circuit go around.

  In the robot body 12, the control unit 16 is housed, and various devices are mounted that perform necessary measures when a patrol or an abnormal situation (intruder or fire) is detected. The robot body 12 includes a base 18 mounted on the upper portion of the drive unit 14, a plurality of types of sensor groups (information acquisition units) 20 provided on the upper side of the base 18, and a front side of the base 18. And a plurality of types of coping mechanisms (coping units) 22.

  The base 18 has a box-shaped housing 18 a that can accommodate the control unit 16 and other devices (internal mechanisms), and is provided on the upper portion of the drive unit 14. The casing 18a is formed of a metal material that is resistant to external impacts, and is configured to protect the control unit 16 and the internal mechanism from intruder attacks and the like.

  The sensor group 20 of the robot body 12 includes a laser sensor (imaging sensor) 24, a stereo camera (obstacle detection sensor) 26, and an infrared camera (detection sensor) 28, and is attached to predetermined positions of the base body 18. ing.

  The laser sensor 24 is disposed on the base 18 and has a function of scanning (imaging) the surrounding environment of the robot body 12 as image information. As the laser sensor 24 according to the present embodiment, a so-called scanner range sensor (for example, UTM-30LX manufactured by Hokuyo Electric Co., Ltd.) that scans a horizontal field with a laser beam is employed. The laser sensor 24 is mounted on the base 18 via a high-speed pan head 24a that can rotate in the vertical direction, and the robot main body 12 is scanned in the horizontal direction by rotating the high-speed pan head 24a. Image information of the surrounding environment can be obtained as three-dimensional shape data.

  Thus, by obtaining the three-dimensional shape data as the image information by the laser sensor 24, the surrounding environment can be recognized with high accuracy. For example, when the control unit 16 creates map data, the accuracy is higher. Map data can be created. In addition to the scanner type range sensor, for example, a three-dimensional measurement camera (for example, Argo Co., Ltd .: TZG01) that can image a three-dimensional shape in real time may be applied as the imaging sensor.

  The stereo camera 26 is provided above the laser sensor 24 in order to detect an obstacle present in the moving direction of the robot body 12. The stereo camera 26 has a function of detecting the depth (sense of distance) of the imaging target by arranging two lenses 26a in the vehicle width direction (left-right direction). The security robot 10 captures (detects) an obstacle existing diagonally in front of the robot body 12 from a position above the base body 18 by the stereo camera 26, and the obstacle from the robot body 12 based on the image information of the stereo camera 26. The distance to an object can be measured. Further, the stereo camera 26 is configured so that the imaging direction can be adjusted by 360 ° by a rotation mechanism (not shown) that rotates the stereo camera 26. Thereby, after the stereo camera 26 detects an obstacle, the imaging direction can be adjusted and the obstacle can be tracked.

  The infrared camera 28 is attached to the front portion of the base 18 and has a function of detecting and visualizing infrared radiant energy generated from the object and detecting a temperature change in the surrounding environment of the robot body 12. That is, the security robot 10 can detect infrared radiation energy based on a person (intruder) or fire by capturing a temperature distribution image of the surrounding environment with the infrared camera 28 and detecting the temperature change. Moreover, the infrared camera 28 has an automatic tracking function like the stereo camera 26, and is configured to automatically track the detected intruder or fire.

  The countermeasure mechanism 22 of the robot body 12 has a function of performing various countermeasures against, for example, an intruder or a fire (hereinafter collectively referred to as an abnormal situation) detected by the infrared camera 28. The coping mechanism 22 according to the present embodiment includes a high-intensity lighting device 30 that illuminates an intruder or a location where a fire is present, a digester 32 that injects a digestive agent to the location where the fire occurs, and an intruder A speaker 34 for giving a voice warning, a sound wave gun 36 for emitting sound waves to the intruder, a high voltage generator (for example, a stun gun) 38 for giving an electric shock to the intruder, and a net launching device for firing a capture net to the intruder 40 and a tear gas ejection device 42 for ejecting tear gas to an intruder. Note that the coping mechanism 22 is not limited to the above-described configuration, and various configurations can be applied.

  The robot body 12 includes a transmitter / receiver 44 capable of wirelessly communicating with a security management room 114 provided outside, and a remote controller 46 capable of controlling the driving of the security robot 10 near the security robot 10. Is provided.

  The transmitter / receiver 44 has a function of transmitting and receiving information (for example, detection information detected by the infrared camera 28 and image information acquired by the laser sensor 24 or the stereo camera 26) between the security robot 10 and the security management room 114. is doing. When the security robot 10 detects an intruder or a fire during the patrol, the detection information is automatically transmitted to the security management room 114 together with the alarm. Further, from the security management room 114, an operation signal for remote operation (hereinafter referred to as a remote operation signal) is issued toward the security robot 10. The security robot 10 can control the drive of the control unit 16 and the drive unit 14 based on the remote operation signal by receiving the remote operation signal via the transceiver 44. That is, the security robot 10 according to the present embodiment autonomously patrols various devices (the drive unit 14, the sensor group 20, the countermeasures) by remote operation from the security management room 114 or operation by the remote control 46. The drive of the mechanism 22 and the like is controlled.

  Further, the security robot 10 is configured such that detection information is transmitted from the intrusion detection sensor 112 installed in the building 100 via the transceiver 44. When the intrusion detection sensor 112 detects an intruder or a fire, detection information including the detection location of the intrusion detection sensor 112 is sent, and the security robot 10 is moved to the detection location based on the detection information. Can do. Detection information of the intrusion detection sensor 112 may be transmitted to the security management room 114.

  Furthermore, a rechargeable power supply 48 that supplies power to the control unit 16 and the drive unit 14 is provided inside the robot body 12. The rechargeable power supply 48 is connected to a connector (not shown) formed in the housing 18a, and is configured to be charged from the outside through the connector. As shown in FIG. 1, the robot station 116 is provided with a charging device 118. When the security robot 10 returns to the robot station 116 after the patrol of the security robot 10, the connection between the connector and the charging device 118 is established. Thus, charging of the rechargeable power source 48 can be automatically started.

  On the other hand, the drive unit 14 of the security robot 10 is based on a drive device main body 52 in which the drive motor 50 is accommodated, four wheels 54 attached to the side surface of the drive device main body 52, and operation instructions from the control unit 16. A steering device 56 (see FIG. 4) for steering the wheels 54, and a relay (not shown) for bringing the drive motor 50 and the steering device 56 into a standby state or a stopped state.

  The rotation drive of the drive motor 50 is controlled by the power supply from the rechargeable power supply 48 and the drive instruction of the control unit 16. The drive device main body 52 includes a gear (not shown) inside, and transmits the rotational driving force of the drive motor 50 to the four wheels 54. That is, the drive unit 14 has an internal mechanism that performs four-wheel drive. The drive device main body 52 can implement at least two drive modes by switching gears: a plane movement mode in which the wheel 54 is rotated at high speed with low torque, and a staircase movement mode in which the wheel 54 is rotated at low speed with high torque. It has become.

  The wheels 54 attached to the drive device main body 52 are configured so that the security robot 10 can move up and down the stairs 102 during patrol. For this reason, a wheel having a relatively large outer diameter is applied as the wheel 54. In addition, the wheel 54 is formed in a concavo-convex shape in contact with the floor surface (that is, the tire surface). In other words, the wheel 54 is configured such that when the stairs 102 are moved up and down, the concavo-convex portion 54 a is caught on the stairs 102 (corner of the step). As a result, the security robot 10 can move up and down the stairs 102 as the wheel 54 rotates. In addition, the structure of the drive part 14 which raises / lowers the staircase 102 is not limited to said wheel 54, For example, the caterpillar which can take the large contact area with the staircase 102 can also be employ | adopted.

  Further, the steering device 56 is accommodated in the drive device main body 52, and the front side wheel (front wheel) 54 is rotated clockwise or counterclockwise based on an operation instruction of the control unit 16 or an operation instruction of the remote controller 46. It has a function to rotate.

  Furthermore, it is preferable that the drive part 14 is provided with the encoder which detects the rotational speed of the wheel 54, the acceleration sensor which detects a moving direction, etc. other than said structure. As described above, the movement of the security robot 10 can be accurately controlled by feeding back the movement amount and the movement direction of the drive unit 14 with the encoder and the acceleration sensor.

  FIG. 4 is a block diagram showing a control system of the security robot 10 of FIG. As the control unit 16 of the security robot 10 device, a known computer including an arithmetic processing unit, an input / output unit, and a storage unit (ROM or RAM) (not shown) can be applied. The input / output unit of the control unit 16 includes the above-described sensor group 20 (laser sensor 24, stereo camera 26, infrared camera 28), countermeasure mechanism 22 (high brightness illumination device 30, digester 32, speaker 34, sound gun 36, Each component of the high voltage generator 38, the net launching device 40, the tear gas ejection device 42), the transceiver 44, the remote controller 46, the drive motor 50, the steering device 56, and the like is connected via a driver (not shown). Yes. The control unit 16 sends a control instruction to each of the above components to control its drive, and receives information (or a signal) based on this control instruction from each component, and performs a necessary processing flow.

  In addition, the control unit 16 is a processing unit configured using an arithmetic processing unit and a storage unit, as a traveling route creation unit (a traveling route creation unit) 64, a drive control unit 66, and a traveling control unit (a traveling control unit) 68. And an abnormal situation handling unit 70. Each of these processing units is configured by a program on a computer and functions to perform a predetermined process based on the program.

  The traveling route creation unit 64 has a function of creating map data in the building 100 (predetermined security range) based on image information (three-dimensional shape data) scanned (captured) by the laser sensor 24. That is, the security robot 10 according to the present embodiment is configured to create map data in the building 100 by circulating around the building 100 in advance at the time of initial setting before the installation of the security robot 10. ing.

  More specifically, at the time of initial setting, a user of the security robot 10 (for example, a security guard) travels with the security robot 10 on a patrol route scheduled for patrol and scans image information in the building 100. (Imaging). In this case, the security robot 10 is moved by the operation of the remote controller 46 by the user, and the image information of the surrounding environment is scanned by the laser sensor 24 during the movement. Further, for example, when the user arrives at specific points A to D shown in FIG. 1, the movement of the security robot 10 is stopped by the user, and the image information of the surrounding environment of the specific points A to D is more intensively scanned.

  In the present embodiment, the shape of the ceiling 106 (unevenness of the ceiling 106, lighting device, air conditioning duct, etc.) is mainly scanned as the surrounding environment of the predetermined security range, and the shape of the side wall 104 (pillar, A window or the like) is scanned, and the shapes of the ceiling 106 and the side wall 104 are stored in the storage unit as three-dimensional shape data. Here, for example, when the image information of the merchandise shelf 108 or the display object is acquired, when the merchandise shelf 108 or the display shelf moves, inconvenience such as re-creating map data occurs. On the other hand, if the image data of the shape of the ceiling 106 is acquired and map data is created as in the present embodiment, the same map data can be used even if the product shelf 108 or the display shelf is moved. That is, by creating map data based on the shapes of the ceiling 106 and the side wall 104, map data having excellent versatility can be obtained.

  FIG. 5 is an explanatory view schematically showing map data of the first floor portion created based on the guard range of FIG. When the traveling route creation unit 64 acquires image information (three-dimensional shape data) from the laser sensor 24, the traveling route creation unit 64 stores the image information in the storage unit. Then, when the patrol at the initial setting is completed, a plurality of specific points A to D and image information at the time of movement are connected to create two-dimensional (planar) map data (see FIG. 5). Thus, by obtaining three-dimensional shape data of a plurality of specific points A to D and creating map data, the data amount of the map data can be reduced, and the processing load on the control unit 16 can be reduced. Can do. Of course, the map data may be created without setting the specific points A to C.

  The patrol route creation unit 64 sets a patrol route for the patrol robot 10 to actually patrol from the created map data. This patrol route may simply follow the route patroled at the time of initial setting, or may be set again on the generated map data. The map data and the data of the tour route created by the tour route creation unit 64 are stored in the storage unit. Note that the set cyclic route is not limited to one route, and a plurality of routes may be stored in the storage unit. Thereby, when the patrol by the security robot 10 is performed, it is possible to prevent the intruder from understanding the patrol route of the security robot 10 by randomly reading the patrol route and changing the patrol route.

  The drive control unit 66 of the control unit 16 has a function of controlling the moving state of the drive unit 14. That is, the drive control unit 66 can move the security robot 10 by a predetermined amount by controlling the rotational drive of the drive motor 50, and can change the moving direction of the security robot 10 by controlling the steering device 56. .

  In addition, the drive control unit 66 controls the control unit 16 when the user operates the security robot 10 with the remote control 46, when a remote operation signal is received from the security management room 114, and when the user performs a remote operation. Thus, the driving of the driving unit 14 can be controlled in correspondence with the three patterns in which the driving is controlled autonomously.

  The patrol control unit 68 has a function of performing control when the security robot 10 actually patrols autonomously. The patrol control unit 68 includes a patrol setting unit 72, a self-position recognition unit (self-position recognition means) 74, an obstacle avoidance unit 76, a stair climbing control unit 78, and an abnormality determination unit 80. The patrol of the robot 10 and processing associated with the patrol are performed.

  The patrol setting unit 72 has a function of controlling the patrol start by the security robot 10. The security robot 10 is in a standby state at the robot station 116 before the patrol is performed. The patrol setting unit 72 puts the relay connected to the drive motor 50 and the steering device 56 into a standby state when the patrol start time is reached, and reads the map data and the patrol route stored in the storage unit for security. The patrol (movement) in the building 100 by the robot 10 is started.

  The patrol control unit 68 performs drive control of the drive unit 14 via the drive control unit 66 based on the patrol route read by the patrol setting unit 72. Thereby, it is possible to cause the security robot 10 to perform autonomous patrol. During this patrol, the driving unit 14 is set to the plane movement mode, and the security robot 10 is moved.

  Furthermore, the tour setting unit 72 activates the sensor group 20 (the laser sensor 24, the stereo camera 26, and the infrared camera 28) at the start of the tour, and acquires information on the surrounding environment of the robot body 12 by the sensor group 20. The drive is controlled.

  On the other hand, the self-position recognition unit 74 has a function of determining the self-position of the security robot 10 at the time of patrol and returning the determination result to the patrol setting unit 72. In this case, the self-position recognizing unit 74 newly scans (images) the image information of the patrol route with the laser sensor 24 during patrol, and collates the new image information with the image information stored in the storage unit to check the map. The position of the robot body 12 on the data is recognized. In particular, a plurality of specific points A to D are set in the patrol route of the security robot 10 according to the present embodiment, and image information is acquired mainly for the specific points A to D. And has detailed shape data of the surrounding environment. For this reason, the self-position recognition unit 74 collates the new image information obtained by scanning the specific points A to D with the image information of the specific points A to D stored in the storage unit, and the two images match. It is possible to accurately determine that the security robot 10 has moved to the specific points A to D.

  Thus, the security robot 10 can recognize the self-position on the map data with high accuracy based on the patrol route by the patrol setting unit 72 and the position recognition of the self-position recognition unit 74. That is, the control unit 16 can reliably move the robot body 12 along the patrol path during patrol.

  Further, the obstacle avoiding unit 76 acquires imaging information (image information) by the stereo camera 26 at the time of patrol, and determines whether an obstacle exists in the moving direction (on the patrol route) of the security robot 10. It has a function to do. As described above, since the stereo camera 26 can detect the depth (a sense of distance) with the obstacle, the obstacle avoiding unit 76 is connected to the robot body 12 when there is an obstacle on the patrol path. The relative distance from the obstacle is measured, and the drive of the drive controller 66 is controlled so as to avoid the obstacle. In this case, when the obstacle is detected by the stereo camera 26, the obstacle avoiding unit 76 interrupts the movement control on the patrol route by the patrol control unit 68, thereby preferentially taking the avoidance action on the robot body 12. Can be made.

  The obstacle avoiding unit 76 controls the driving of the driving unit 14 so as to appropriately move according to the size of the obstacle detected by the stereo camera 26 in the obstacle avoiding action. For example, when the obstacle avoiding unit 76 determines that the obstacle detected by the stereo camera 26 is small and the security robot 10 can avoid the obstacle by slightly deviating from the patrol route, the necessary amount of movement while maintaining the patrol route is maintained. Only avoids obstacles.

  On the other hand, when the stereo camera 26 detects a large obstacle, the drive of the drive unit 14 is controlled so that the robot body 12 is temporarily removed from the patrol path. When the patrol route is deviated, the patrol control unit 68 creates another route based on the image information (three-dimensional shape data) of the surrounding environment by the laser sensor 24 and the stored map data. The drive of the drive unit 14 is controlled so as to return to the circulation path. As described above, the obstacle avoiding unit 76 performs an appropriate avoidance action according to the obstacle, so that the patrol by the security robot 10 can be reliably performed.

  The obstacle avoiding unit 76 has a function of adjusting the imaging direction of the stereo camera 26 by controlling the rotation mechanism so as to track the detected (imaging) obstacle. Thus, the obstacle can be detected by the stereo camera 26 until the robot body 12 avoids the obstacle, and the contact between the robot body 12 and the obstacle can be reliably prevented.

  Based on the position recognition of the security robot 10 by the self-position recognition unit 74 and the read map data, the stair lift control unit 78 is automatically activated when it arrives at the installation location of the staircase 102 on the patrol route. The The stair lift control unit 78 detects the staircase 102 using, for example, the stereo camera 26, and further switches the drive of the drive unit 14 from the plane movement mode to the stair drive mode. As a result, the drive unit 14 is controlled to move at a low speed with a high torque (for example, a moving speed that is about 1/3 of the moving speed in the plane movement mode), and starts to move up and down the stairs 102.

  As described above, when the stairs 102 is raised or lowered, the uneven shape formed on the wheel 54 is caught by the corner of the stairs 102, so that the security robot 10 can be raised and lowered. At this time, the self-position recognition unit 74 scans the surrounding environment of the robot body 12 with the laser sensor 24, collates the scanned image information with the image information stored in the storage unit, and Recognize self position. Thereby, the security robot 10 can recognize the posture when the stairs 102 is raised and lowered. The security robot 10 may include a gyro sensor that detects the tilt (posture) of the security robot 10. By detecting the posture of the security robot 10 in this way, the stairs 102 can be raised and lowered without tilting the security robot 10 extremely.

  Further, the abnormality determination unit 80 of the patrol control unit 68 has a function of continuously monitoring the temperature distribution of the surrounding environment of the robot body 12 by driving the infrared camera 28 during patrol. Here, in the temperature distribution image of the surrounding environment imaged by the infrared camera 28, when an intruder or a fire is present, only the location thereof shows a large temperature rise. Therefore, the abnormality determination unit 80 can determine the occurrence of an abnormal situation by detecting the change in the temperature distribution. For example, the abnormality determination unit 80 determines that the temperature increase indicates that the temperature increase is an intruder, and if the temperature increase is extremely high compared to the surrounding environment, the abnormality determination unit 80 indicates the temperature increase. Is identified as a fire.

  When the abnormality determining unit 80 determines an intruder or a fire, the control unit 16 switches from the control at the time of patrol by the patrol control unit 68 to the control by the abnormal situation handling unit 70.

  The abnormal situation handling unit 70 gives a drive instruction to the handling mechanism 22 (high-intensity lighting device 30, digester 32, speaker 34, sonic gun 36, high-voltage generator 38, net launching device 40, tear gas ejection device 42). The first coping control unit 82a to the seventh coping control unit 82g, and the movement coping unit 84 that automatically moves the security robot 10 toward an intruder or fire.

  The abnormal situation handling unit 70 controls the first handling control unit 82a to the seventh handling control unit 82g in accordance with the detection of the abnormal situation, so that the high-intensity illumination device 30, the digester 32, the speaker 34, the sonic gun 36, the high voltage The generator 38, the net launching device 40, and the tear gas ejecting device 42 are set in a drivable state, and the security management room 114 is notified via the transceiver 44 that an abnormal situation has been detected. Further, based on the information captured (detected) by the infrared camera 28, the location where the abnormal situation has occurred is specified on the map data, and information on this location is also transmitted to the security management room 114.

  In this way, when the intruder or fire is detected, the security robot 10 enables the response mechanism 22 to be driven by the abnormal situation response unit 70, thereby stopping the response mechanism 22 during normal patrol. Therefore, power consumption can be reduced and safety can be improved.

  For example, when it is determined by the abnormality determination unit 80 that an intruder has entered, the abnormal situation handling unit 70 drives the automatic tracking function of the infrared camera 28 and images the periphery while tracking the moving intruder. . Detection information (temperature distribution image) captured by the infrared camera 28 is transmitted to the security management room 114 via the transceiver 44.

  In addition, the movement handling unit 84 of the abnormal situation handling unit 70 can drive the driving unit 14 by the abnormal situation handling unit 70 from the driving of the driving unit 14 by the patrol control unit 68 without the input of a remote operation signal from the security management room 114. The driving motor 50 and the steering device 56 are autonomously controlled by switching to 14 driving. Accordingly, the security robot 10 can be moved toward the intruder, and the security robot 10 can be opposed to the intruder. In this case, when a remote operation signal is input from the security management room 114 during the autonomous control, the movement handling unit 84 gives priority to the remote operation signal to drive the drive unit 14. Can be controlled.

  Further, for example, even when it is determined by the abnormality determination unit 80 that a fire has occurred, the abnormal situation handling unit 70 fixes the imaging direction of the infrared camera 28 at the location where the fire occurred, and the drive unit by the movement handling unit 84 14 is controlled to bring the security robot 10 closer to the location where the fire occurred. Image information captured by the infrared camera 28 is transmitted to the security management room 114 via the transceiver 44.

  The first countermeasure control unit 82a activates the high-intensity lighting device 30 based on the input of the remote operation signal from the security management room 114, and irradiates the intruder or fire with high-intensity lighting. This can illuminate the threat and intruder against the intruder. Since the surroundings are bright and easy to see due to the irradiation of the high-intensity illumination device 30, the captured image of the intruder or fire by the stereo camera 26 or the like becomes clear, and the intruder or fire can be easily recognized even from the security management room 114. it can.

  The second countermeasure control unit 82b activates the digester 32 based on the input of the remote operation signal from the security management room 114, and injects a fire extinguishing agent against the fire. Thereby, it becomes possible to extinguish a fire early (for example, before a guard rushes).

  In addition, the abnormal situation handling unit 70 drives the handling mechanism 22 provided in the robot body 12, and, for example, an intruder attacks the security robot 10 or the guards rushed by using a weapon or the like. Necessary actions can be taken when trying. For example, the third countermeasure control unit 82 c outputs the audio signal from the security management room 114 received via the transceiver 44 to the speaker 34. As a result, the intruder can be intimidated by voice, and the intruder can be informed that the intruder is being monitored. At this stage, it is also possible to prevent the intruder from being committed.

  The fourth countermeasure control unit 82d activates the sonic gun 36 based on the input of the remote operation signal from the security management room 114, and outputs a loud sound wave to the intruder. As a result, it is possible to further confuse intruders and inform the outside of the guard range that an abnormal situation has occurred.

  The fifth countermeasure control unit 82e drives the high voltage generator 38 based on the input of the remote operation signal from the security management room 114. Thereby, an electric shock can be given to an intruder, and an intruder's attack can be made more jealous.

  For example, when the intruder tries to destroy the guard robot 10 with a weapon or the like or tries to escape, the sixth countermeasure control unit 82f The net launcher 40 is activated based on the input of the remote operation signal. Thereby, it becomes possible to fire a capture net against the intruder, and the intruder can be captured.

  For example, when the intruder tries to commit a crime (theft or destruction), the seventh countermeasure control unit 82g activates the tear gas ejection device 42 based on the input of the remote operation signal from the security management room 114. Thereby, it becomes possible to inject tear gas to an intruder, and can prevent the intruder's crime more reliably.

Here, the following are mentioned as a specific apparatus example of the various apparatuses which comprise the security robot 10.
-Drive unit 14, steering device 56: manufactured by Tsukisui Canycom Corp.-Laser sensor 24: UTM-30LX manufactured by Hokuyo Electric Co., Ltd.
Stereo camera 26: Viewplus Bumblebee XB3
Infrared camera 28: NEC AIVO HX0830M2
-High-intensity lighting device 30: AD-1 manufactured by Attack
Speaker 34: SP-600 manufactured by Takenaka Engineering Co., Ltd.
・ High voltage generator 38: stun gun (manufactured by Black Eagle)
-Net launcher 40: NET-110 manufactured by Takenaka Engineering Co., Ltd.
A system for realizing a wireless remote control signal from the security management room 114:
KRC-1 manufactured by Kondo Kagakusha
The security robot 10 according to the present embodiment is basically configured as described above. Next, the operation of the security robot 10 will be described with reference to the flowcharts of FIGS.

  FIG. 6 is a flowchart showing a flow of setting a patrol route by the security robot 10 of FIG. Before the security robot 10 according to the present embodiment is installed in the building 100 (predetermined security range), as an initial setting, a patrol route on which the security robot 10 circulates is set.

  Upon receiving an initial setting operation from the user, the control unit 16 sets the relay of the drive unit 14 in a standby state via the drive control unit 66 and starts the movement of the security robot 10 (step S10). At the same time, the laser sensor 24 is also activated so that image information of the surrounding environment of the robot body 12 can be acquired.

  When the security robot 10 is moved, the laser sensor 24 is driven to scan (image) the shape of the ceiling 106 and the shape of the side wall 104 as image information (three-dimensional shape data) (step S11). In this case, by performing scanning while moving by the drive unit 14, relatively coarse image information (for example, a level at which the lighting device or alarm device on the ceiling 106 can be identified) can be obtained instead of high-precision image information. . Thereby, the image information of the location where the security robot 10 has moved is continuously stored in the storage unit.

  Next, when the security robot 10 moves and arrives at a specific point assumed by the user, the driving of the security robot 10 is stopped based on the operation of the user, and it is instructed to be the specific point. Above, the laser sensor 24 is driven and the surrounding environment of a specific point is scanned (step S12). At this specific point, the security robot 10 is stopped and scanning is performed, so that high-accuracy image information (for example, the pattern or unevenness (beam) of the wall of the ceiling 106, metal fittings attached to the side wall 104, etc.) To get. Thus, accurate three-dimensional shape data of the specific point is stored in the storage unit.

  If the staircase 102 is present at a specific point, it is determined whether or not the staircase 102 is to be raised or lowered based on the user's operation (step S13). Is repeated. On the other hand, when ascending / descending the stairs 102, the driving of the security robot 10 is switched from the plane movement mode to the stairs elevation mode, and the process proceeds to step S14.

  When the ascending / descending of the staircase 102 is started by the driving unit 14, the surrounding environment is scanned by the laser sensor 24 when the staircase 102 is elevated (step S14). Thereby, the image information at the time of raising and lowering the stairs 102 is also stored in the storage unit. In addition, after the security robot 10 moves up and down the stairs 102, the surrounding environment is similarly scanned by the laser sensor 24.

  Thereafter, based on the user's operation, it is determined whether or not to continue scanning by the laser sensor 24 (step S15). When the scanning is continued, the process returns to step S11 and the same flow is repeated. On the other hand, when ending the scan, it is determined that the movement (patrolling) by the security robot 10 has ended, and the process proceeds to step S16.

  Next, the control unit 16 creates two-dimensional (planar) map data from the three-dimensional shape data scanned by the traveling route creation unit 64 (step S16). In this case, the map data (see FIG. 5) can be easily formed by connecting the two specific points obtained by scanning the image information with high precision and the specific points by the coarsely scanned moving section.

  Finally, the patrol route creation unit 64 sets a patrol route (for example, the patrol route shown in FIG. 5) through which the security robot 10 patrols from the created map data (step S17). Thereby, the traveling route creation unit 64 can set a traveling route when actually traveling around the building 100. This cyclic route is stored in the storage unit.

  As described above, the security robot 10 according to the present embodiment creates the map data that the security robot 10 circulates based on the image information obtained by the laser sensor 24, and includes the stairs 102 including the stairs 102 based on the map data. By setting the route in advance, for example, it is more accurate based on the arrangement state of the actual detection target (for example, the side wall 104 and the ceiling 106) than inputting the design drawing of the building 100 and setting the patrol route. Since accurate map data can be obtained, a patrol route through which the security robot 10 patrols over a plurality of hierarchies can be set with high accuracy.

  FIG. 7 is a flowchart showing an operation flow during patrol by the security robot 10 of FIG. Next, the operation | movement at the time of patrol of the security robot 10 is demonstrated.

  In this case, the security robot 10 stands by at the robot station 116, and the control unit 16 activates the drive unit 14 by the patrol setting unit 72 (that is, puts the relay in a standby state) at a predetermined patrol time. At the same time, the map data and the patrol route stored in the storage unit are read (step S20).

  Then, the control unit 16 moves the security robot 10 via the drive control unit 66 based on the read patrol route (step S21). In this case, the driving of the driving unit 14 is set to the plane movement mode.

  During patrol by the security robot 10, the patrol control unit 68 drives the laser sensor 24 to scan the surrounding environment of the robot body 12 (step S22).

  The control unit 16 compares the image information scanned at the time of the tour with the image information captured at the time of initial setting and stored in the storage unit, and recognizes its own position on the map data (step S23).

  Also, when the patrol robot 10 is patroling, the obstacle avoiding unit 76 acquires image information obtained by the stereo camera 26 to determine whether an obstacle exists in the moving direction (on the patrol route) of the patrol robot 10. (Step S24). If there is an obstacle, the process proceeds to step S25 in order to take an avoidance action, and if there is no obstacle, the process proceeds to step S26 in order to perform a patrol.

  In step S25, the obstacle avoiding unit 76 controls the driving of the driving unit 14, and the obstacle avoiding action is performed. In this case, the distance from the robot body 12 to the obstacle is measured by the stereo camera 26, the avoidance direction of the security robot 10 is determined, and an appropriate operation instruction is given to the steering device 56. Further, after avoiding the obstacle, the surrounding environment is scanned by the laser sensor 24, and the circuit returns to the patrol route while referring to the map data.

  Further, in step S26, it is determined whether the security robot 10 has moved near the stairs 102. If the security robot 10 has not moved near the stairs 102, the process returns to step S21 and the same steps are repeated.

  On the other hand, when it is determined that the security robot 10 has arrived near the stairs 102, the drive unit 14 is stopped once, and the stair lift control unit 78 switches from the plane movement mode to the stair lift mode. As a result, the staircase 102 is raised and lowered (step S27).

  After ascending / descending the stairs 102, the stairs ascending / descending mode is switched to the plane moving mode, and the patrol is continued (step S28).

  Thereafter, based on the read tour route, it is determined whether or not the patrol by the security robot 10 is continued (step S29). If the tour is continued, the procedure returns to step S21 and the same steps are repeated.

  On the other hand, when the patrol is completed based on the patrol route, the patrol control unit 68 guides the robot station 116 to return, waits at the robot station 116, and charges the rechargeable power supply 48 from the charging device 118 of the robot station 116. Is performed (step S30).

  As described above, when the security robot 10 patrols, the position of the robot body 12 on the map data created by the patrol route creation unit 64 is recognized by the self-position recognition unit 74, so that even the building 100 having a plurality of hierarchies can be used. The position of the main body 12 can be reliably recognized, and the control unit 16 can accurately control the drive unit 14 along the map data.

  Further, charging is performed from the robot station 116 after the patrol is completed, so that it is possible to avoid the inconvenience such as driving stoppage due to power shortage during patrol of the security robot and to perform the patrol with certainty.

  FIG. 8 is a flowchart showing an operation flow for detecting an abnormal situation during patrol by the security robot 10 of FIG. Next, an operation flow of the security robot 10 for an abnormal situation that occurs during patrol will be described. The subsequent operation flow merely illustrates one countermeasure pattern of the security robot 10 in response to an abnormal situation. For example, the security robot 10 can be operated in various ways depending on the situation of the abnormal situation or an operation by a guard. Of course, the operation can be performed.

  First, in step S40 in FIG. 10, the environment around the robot body 12 is imaged by the infrared camera 28.

  Then, the abnormality determination unit 80 determines a change in the temperature distribution of the image information captured by the infrared camera 28 and detects an abnormal situation (person or fire) (step S41). Here, when the abnormality determination part 80 does not detect a person or a fire, it returns to step S40 and the same process is repeated.

  On the other hand, when the abnormality determination unit 80 detects a person or a fire, the abnormal situation handling unit 70 transmits an alarm signal to the security management room 114 via the transceiver 44 (step S42).

  In the security management room 114, a remote operation signal is transmitted to the security robot 10 at the site, and the security robot 10 is switched to wireless operation (remote operation) (step S43). Based on this remote operation signal, the security robot 10 moves to a location where an abnormal situation has occurred.

  Then, the place where the abnormal situation has occurred is imaged by the stereo camera 26 (step S44). At the time of this imaging, the high-intensity illumination device 30 may be driven to irradiate the high-intensity light to a place where an abnormal situation has occurred.

  Further, based on the detection information of the infrared camera 28 and the image information of the stereo camera 26, the abnormality determination unit 80 determines whether the location detected by the infrared camera 28 is an intruder or a fire (step S45). In addition, this discrimination | determination can perform discrimination | determination more reliably, for example, when a security guard confirms the image information which the stereo camera 26 imaged in the security management room 114. FIG. If it is determined that there is a fire, the process proceeds to step S46. If it is determined that the person is an intruder, the process proceeds to step S47. If the abnormal situation detected by the infrared camera 28 is a false alarm, the process returns to step S40 and the same process is resumed.

  In step S46, the remote control from the security management room 114 or the abnormal situation handling unit 70 performs a fire extinguishing action on the fire occurrence location. In this case, the second countermeasure control unit 82b is driven by a remote operation from the security management room 114, and the digestive agent 32 is jetted by the digester 32. Further, when the occurrence of a fire is notified to the security management room 114 via the transceiver 44, the security management room 114 notifies the fire department.

  On the other hand, in step 47, the security management room 114 is notified via the transmitter / receiver 44 that the person is an intruder, and the countermeasure mechanism 22 can be driven to prepare for the implementation of the countermeasure action for the intruder. In the security management room 114, based on the notification of the intruder, the security guard is rushed to the site (site) where the security robot 10 has transmitted, and the police are notified accordingly.

  Further, the advanced countermeasures are driven by the first countermeasure control unit 82a, and the security robot 10 is run toward the criminal while irradiating the intruder by irradiating high brightness light (step S48).

  Then, the third countermeasure control unit 82c causes the intruder to generate a warning sound from the speaker 34 (step S49). In this case, when a security guard in the security management room 114 emits a threatening sound toward the microphone, this voice signal is received by the transceiver 44 and a voice signal is output from the speaker 34 of the security robot 10. .

  After the warning of the guard, the third countermeasure control unit 82c generates a warning message recorded in advance from the speaker 34 with a loud sound (step S50). Thereby, an intruder can be further threatened.

  In the security management room 114, whether or not the security robot 10 is attacked by an intruder depending on the state of the image transmitted from the security robot 10 (stereo camera 26) (whether the video is distorted or not). Can be determined.

  If the user is under attack, the process proceeds to the next step S51, where the sonic gun 36 is controlled by the fourth countermeasure control unit 82d, and a sound wave (for example, noise of 110 db or more) is output to the intruder.

  Further, the fifth countermeasure control unit 82e drives the high voltage generator 38 to give an electric shock to the intruder. Thereby, an intruder's attack can be suppressed (step S52).

  Further, if it is determined that the intruder continues to commit the crime, the process proceeds to the next step S53, where the sixth countermeasure control unit 82f is driven and the optimum position (fired) is captured to capture the intruder by the net. The security robot 10 is moved to a place where the net arrival position is the position of the intruder, and the net launching device 40 is driven. As a result, the intruder can be captured by the net, and the crime of the intruder can be prevented.

  If the intruder does not stop the crime through the above steps S50 to S53, the tear gas injection device 42 is driven by the seventh countermeasure control unit 82g to inject the tear gas to the intruder (step S54). Thereby, it becomes possible to prevent the criminal offense with a higher probability.

  When an intruder tries to escape, monitoring in the security management room 114 through the security robot 10 is continued, but the intruder is in a state where movement is restricted by the net, so let's escape. However, as expected, the police officers and guards reported in step S47 were arrested and arrested.

  As described above, according to the security robot 10 according to the present embodiment, it is possible to prevent an intruder's crime by remote operation from the security management room 114, extend the time required for the crime, Crime can be prevented by waiting for the arrival of police officers and guards.

  As described above, according to the security robot 10 according to the present embodiment, the drive unit 14 has the plane movement mode in which the plane moves and the stair ascending / descending mode for moving up and down the stairs. Since it can be moved between hierarchies, the patrol robot 10 can make patrols over a plurality of hierarchies. That is, the security range in which the security robot 10 performs patrol can be expanded. Therefore, it is possible to install a small number of security robots 10 even in a building 100 having a plurality of floors, and the installation cost of the security robots 10 can be reduced. In addition, by having various repelling mechanisms, when an intruder is detected, the intruder's action can be accurately prevented.

  The present invention is not limited to the above-described embodiment, and it is needless to say that various configurations and processes can be employed without departing from the gist of the present invention.

DESCRIPTION OF SYMBOLS 10 ... Security robot 12 ... Robot main body 14 ... Drive part 16 ... Control part 18 ... Base | substrate 20 ... Sensor group 22 ... Coping mechanism 24 ... Laser sensor 26 ... Stereo camera 28 ... Infrared camera 30 ... High-intensity illumination device 32 ... Digestive device 34 ... Speaker 36 ... Sonic gun 38 ... High voltage generator 40 ... Net firing device 42 ... Tear gas injection device 44 ... Transmitter / receiver 48 ... Rechargeable power supply 50 ... Drive motor 54 ... Wheel 56 ... Steering device 64 ... Cyclic route creation unit 68 ... Patrol control unit 70 ... Abnormal situation handling unit 74 ... Self-position recognition unit 76 ... Obstacle avoiding unit 78 ... Stair climbing control unit 100 ... Building (predetermined security range) 102 ... Stair 104 ... Side wall 106 ... Ceiling 112 ... Intrusion Detection sensor 114 ... Security management room 116 ... Robot station 118 ... Charging equipment A to D ... Specific point

Claims (14)

A security robot comprising a robot body, a drive unit that moves the robot body, and a control unit that autonomously circulates within a predetermined security range by controlling the drive of the drive unit,
The predetermined security range is configured by connecting a plurality of layers having different plane heights by stairs,
The robot main body acquires an environment surrounding the robot main body as image information, and an information acquisition unit that detects a person or a fire;
A coping unit that performs an action based on a predetermined action or operation for the person or fire when the person or fire is detected by the information acquisition unit;
The drive unit has a plane movement mode for moving the plane, and a stair climbing mode for moving up and down the staircase, and the robot body can be moved between the plurality of layers,
The control unit creates map data of the predetermined security range based on the image information obtained by the information acquisition unit, and patrol route creation means for presetting a tour route including the stairs based on the map data;
Self-position recognition means for recognizing the position of the robot body on the map data during the round of the robot body;
Based on the patrol route set by the patrol route creation means and the position recognition by the self-position recognition means, the patrol control means for controlling the drive of the drive unit and patrol the robot body,
The patrol control means switches to the stair ascending / descending mode and ascends and descends the stairs when moving to the location where the stairs are arranged during the plane movement mode. The security robot according to claim 1,
The information acquisition unit includes an imaging sensor that can three-dimensionally recognize the surrounding environment of the robot body,
The control unit obtains three-dimensional shape data as the image information captured by the imaging sensor. The security robot according to claim 2,
The imaging sensor images at least a side wall or a ceiling of the predetermined security range,
The patrol route creating means creates the map data as a two-dimensional map for each layer based on the three-dimensional shape data of the side wall or the ceiling obtained from the imaging sensor. In the security robot according to claim 2 or 3,
The control unit includes storage means for storing image information captured by the imaging sensor,
The self-position recognition unit newly captures image information with the imaging sensor when the robot body is patroled, and collates the new image information with the image information stored in the storage unit to check the robot body. A security robot that recognizes its position. In the security robot according to any one of claims 1 to 4,
The information acquisition unit includes an obstacle detection sensor that detects an obstacle present on the patrol route,
The patrol control means controls the drive of the drive unit so that the robot body avoids an obstacle detected by the obstacle detection sensor. In the security robot according to any one of claims 1 to 5,
In the predetermined security range, a robot station that waits for the robot main body when not patrol is arranged in advance,
The control unit automatically starts operation of the patrol control unit when a predetermined time comes, and patrols from the robot station that has been waiting. The security robot according to claim 6,
The robot body has a rechargeable power source for supplying power to the drive unit and the control unit,
The security robot according to claim 1, wherein the rechargeable power source is charged from the robot station after the robot body has moved to the robot station upon completion of patrol. In the security robot according to any one of claims 1 to 7,
The robot body includes a transmitter / receiver capable of communicating with an external security management room.
The information acquisition unit includes a detection sensor for detecting a person or a fire,
The said control part notifies the abnormality to the said security management room via the said transmitter / receiver, when the said person or fire is detected by the said detection sensor, The security robot characterized by the above-mentioned. The security robot according to claim 8,
When the detection sensor detects the person or fire and receives an operation signal for remotely operating the robot main body from the security management room via the transceiver, the control unit is configured based on the operation signal. A security robot characterized by controlling driving of a driving unit and enabling driving of the coping unit. The security robot according to claim 9,
The control unit transmits the image information obtained from the information acquisition unit to the security management room based on detection of the person or fire by the detection sensor or an instruction of the security management room. robot. In the security robot according to any one of claims 8 to 10,
The predetermined security range is provided with an external sensor for detecting a person or fire,
When the external sensor detects a person or a fire, the control unit sends detection information including a detection location via the transceiver, and moves the robot body to the detection location based on the detection information. Security robot characterized by. The security robot according to claim 8,
The coping section includes a digester that injects a digestive agent into the fire occurrence site,
The control unit controls driving of the driving unit based on detection of a fire by the detection sensor, moves the robot body toward a location where the fire occurs, and jets the digestive agent. Security robot. The security robot according to claim 8,
The security robot according to claim 1, wherein the coping section includes a speaker that gives a voice warning to the person. The security robot according to claim 8,
The security robot according to claim 1, wherein the handling unit includes a net launcher that launches a capture net to the person.

Images