JP2019087114A - Robot control system - Google Patents

Abstract

To provide a robot control system in which processing in a control device (server) is not overloaded even when an amount of analysis of environmental information from a robot, which is generated around an event that requires a detailed analysis, is increased.SOLUTION: A robot control system 10 is comprised of: a plurality of autonomously moving robots 20 each including detection means 204 to 208 for detecting surrounding environment information, and transmission means 223 for transmitting the environment information detected by the detection means; and a control device 40 including analysis means 421 for analyzing the environmental information received from the plurality of robots, and analysis amount adjustment means 424 for decreasing an analysis amount of environmental information from the robot where an event requiring detailed analysis is not present around the robot, and for increasing an analysis amount of environmental information from the robot where an event requiring detailed analysis is present around the robot in the case that the event requiring detailed analysis by the analysis means is present around the robot.SELECTED DRAWING: Figure 6

Description

  The present invention relates to a robot control system.

  According to Patent Document 1, when a sensor disposed inside the robot detects an abnormal event, the abnormal event is transmitted to a plurality of cooperative robots, and the cooperative robot is currently executing the priority of the abnormal event. If the attribute of the cooperative robot is higher than the priority of the task and the attribute of the cooperative robot satisfies the attribute of the abnormal event, the robot moves to a place where the abnormal event occurs and processes and eliminates the abnormal event. A method of coordinating a cooperating robot is disclosed.

JP, 2009-018409, A

  In the present invention, robot control is performed so that processing in the control device (server) is not overloaded even if the amount of analysis of environmental information from a robot that has occurred around the event that requires detailed analysis is increased. It aims to provide a system.

The present invention according to claim 1 is a plurality of autonomously moving robots, each of which comprises: detection means for detecting ambient environment information; and transmission means for transmitting environment information detected by the detection means.
An analysis means for analyzing environmental information received from a plurality of robots, and an event requiring detailed analysis when there is an event requiring the detailed analysis by the analysis means around the robot A controller comprising analysis amount adjustment means for reducing the amount of analysis of environmental information from a robot that does not move, and increasing the amount of analysis of environmental information from a robot in the vicinity of which an event requiring detailed analysis is present;
Robot control system.

  According to a second aspect of the present invention, the control device further comprises calculation means for calculating a margin of analysis ability in the analysis means, and the analysis amount adjustment means includes events requiring detailed analysis. If the amount of analysis of environmental information from the existing robots is increased, and if the margin of the analysis ability of the analysis means becomes lower than a preset value, from the robot where there is no event that requires detailed analysis. The robot control system according to claim 1, wherein the amount of analysis of environmental information is reduced.

  According to the third aspect of the present invention, in the case where an event requiring detailed analysis is present around a specific robot among a plurality of robots, the present invention is directed to a robot having an event requiring detailed analysis in the surrounding. The robot requests that more environmental information be sent compared to the time before the existence of an event requiring the detailed analysis is recognized, and a robot that does not have an event requiring the detailed analysis in the surroundings The robot control system according to claim 1 or 2, further comprising request means for requesting to transmit less environmental information than before the existence of an event requiring the detailed analysis is recognized. It is.

  According to the fourth aspect of the present invention, in the case where an event requiring detailed analysis is present around a specific robot among a plurality of robots, the present invention is directed to a robot having an event requiring detailed analysis in the surrounding. Request that environmental information be transmitted more frequently than before the existence of an event that requires such detailed analysis is recognized, and there are no events that require detailed analysis. The robot according to claim 1 or 2, further comprising a request means for requesting the robot to transmit environment information less frequently than the time before the presence of an event requiring the detailed analysis is recognized. It is a robot control system.

  In the present invention according to claim 5, in the case where the robot is provided with an image detection means and it is not required to transmit environmental information more frequently or more frequently, the transmission means is predetermined by the image detection means. The image detection is performed when it is requested that the environmental information be transmitted more frequently or more frequently while the still image taken at a certain frequency is transmitted to the control device at a predetermined transmission frequency. The robot control system according to claim 3 or 4, wherein the means increases the frequency of photographing the still image and the transmitting means increases the frequency of transmission of the photographed still image for transmission.

  In the invention according to claim 6, when the robot is provided with an image detection means and it is not required to transmit environmental information more frequently or more frequently, the image detection means is stopped at a predetermined resolution. The image detection means captures a still image at a higher resolution when it is required to transmit the environmental information more frequently or more frequently while capturing the image. 4 or a robot control system according to 4).

  In the present invention according to claim 7, when the robot is provided with an image detection means, and transmission of environmental information is not required to be transmitted more frequently or more frequently, the transmission means is photographed by the image detection means. When it is requested that images be transmitted to the control device at predetermined time intervals while more or more environment information is transmitted, the transmission means is photographed by the image detection means The robot control system according to claim 3 or 4, wherein the moving image is transmitted to the control device.

  In the present invention according to claim 8, the control device includes a CPU, a memory, and a transmission / reception interface, and the analysis amount adjustment means requires a detailed analysis on the CPU, the memory, and the transmission / reception interface. While less usage is allocated for analysis of environmental information from robots that do not have events in their surroundings, greater use for analysis of environmental information from robots that have events that require detailed analysis in their surroundings The robot control system according to any one of claims 1 to 7, wherein the amount is allocated.

  In the present invention according to claim 9, the analysis amount adjustment means preferentially executes analysis of environmental information from a robot around which an event requiring detailed analysis is present, whereas detailed analysis is performed. The robot control system according to any one of claims 1 to 7, wherein the analysis of environmental information from a robot whose surrounding events are not required is performed with delay.

  The present invention according to claim 10 includes analysis request means for transmitting environment information from a robot having no event requiring detailed analysis in the surroundings to another analysis processing apparatus to request analysis. It is a robot control system in any one of claim 1 to 7.

  The present invention according to claim 11 is that, when there is an event requiring detailed analysis in the surroundings of a specific robot among a plurality of robots, the event that the request means requires detailed analysis takes on the surroundings. If a non-existent robot can move an event requiring detailed analysis near the robots around it, an event requiring the detailed analysis of the movable robot is present around the robot Robots that require movement close together and that do not move send less environmental information, or less frequently, than before the presence of an event that requires such detailed analysis. The robot control system according to claim 3 or 4, wherein transmission of environmental information is requested.

  According to the first aspect of the present invention, the processing in the control device (server) is excessive even if the amount of analysis of environmental information from the robot in which an event requiring detailed analysis has occurred is increased. It is possible to provide a robot control system that does not become a load.

  According to the second aspect of the present invention, when the amount of analysis of environmental information from the robot in which an event requiring detailed analysis occurs in the vicinity is increased, the other according to the margin of analysis ability in the control device It is possible to adjust the amount of analysis of environmental information from the robot.

  According to the third aspect of the present invention, an event requiring detailed analysis is compared with that before an event requiring detailed analysis is recognized without overloading the processing of the control device. It is possible to analyze in more detail using a lot of environmental information.

  According to the fourth aspect of the present invention, an event requiring detailed analysis is compared with that before an event requiring detailed analysis is recognized without overloading the processing of the control device. It becomes possible to analyze continuously.

  According to the fifth aspect of the present invention, the analysis of the continuous change of the still image of the event requiring the detailed analysis needs the detailed analysis without overloading the processing of the control device. It is possible to carry out more detailed than before an event is recognized.

  According to the sixth aspect of the present invention, analysis of still images of events requiring detailed analysis is recognized as events requiring detailed analysis without overloading the processing of the control device. It is possible to do more precisely with still images of higher resolution than before.

  According to the seventh aspect of the present invention, analysis of an event requiring detailed analysis is performed before an event requiring the detailed analysis is recognized without overloading the processing of the control device. In comparison, it becomes possible to perform more precisely using moving images.

  According to the present invention as set forth in claim 8, in order to analyze an event requiring a detailed analysis, the CPU, the memory and the transmission / reception interface are compared before the event requiring the detailed analysis is recognized. Can be used more often

  According to the present invention as set forth in claim 9, analysis of an event requiring detailed analysis is performed prior to analysis of environmental information from a robot having no event requiring detailed analysis in the surroundings. It is possible to

  According to the tenth aspect of the present invention, it is possible to occupy the control device in order to analyze an event requiring a detailed analysis.

  According to the present invention as set forth in claim 11, in the case where an event requiring detailed analysis occurs in the vicinity of the robot, it is moved to the vicinity of the robot without overloading the processing of the control device. It is possible to obtain and analyze environmental information on events requiring the detailed analysis from the robot of

BRIEF DESCRIPTION OF THE DRAWINGS It is whole schematic explanatory drawing of the robot control system 10 in one Embodiment of this invention. It is a figure which shows the hardware constitutions of the patrol robot 20 in one Embodiment of this invention. It is a figure showing a functional block of patrol robot 20 in one embodiment of the present invention. It is a figure which shows the hardware constitutions of the server 40 in one Embodiment of this invention. It is a figure which shows the function block diagram of the server 40 in one Embodiment of this invention. In an embodiment of the present invention, it is a flow chart which shows a flow of operation in server 40.

  A robot control system 10 according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is an overall schematic view of a robot control system 10 according to the present embodiment. The robot control system 10 shown in FIG. 1 includes a plurality of, for example, four patrol robots 20A to 20D, and a server (control device) 40 connected to each of the patrol robots 20A to 20D via a network 30. In addition, each of the patrol robots 20A to 20D autonomously move the allocated area. Note that “autonomous movement” means that a user can determine a predetermined route or a route to a specific destination without receiving continuous or continuous instructions from the server 40, and move along the route.

  In FIG. 1, the first patrol robot 20A patrols the area A, the second patrol robot 20B patrols the area B, the third patrol robot 20C patrols the area C, and the fourth patrol robot 20D The region D is circulated. In the following description, the configurations of the first patrol robot 20A to the fourth patrol robot 20D are substantially the same, and thus it is simply called the patrol robot 20 unless it is necessary to distinguish which patrol robot it is. The detailed configuration thereof will also be described using the same reference numerals.

  Next, the configuration and function of the patrol robot 20 will be described with reference to FIGS. FIG. 2 shows the hardware configuration of the patrol robot 20. As shown in FIG. As shown in FIG. 2, the patrol robot 20 includes a control microprocessor 201, a memory 202, a storage device 203, an image camera 204, an infrared camera 205, a temperature sensor 206, a smoke sensor 207, an audio sensor 208, a moving device 209, and a speaker. A display 210 and a communication interface 212 are connected to the control bus 213.

  The control microprocessor 201 controls the function and operation of each part of the patrol robot 20 by executing a control program stored in the storage device 203.

  The memory 202 temporarily stores data detected by the image camera 204, the infrared camera 205, the temperature sensor 206, the smoke sensor 207, and the sound sensor 208. Furthermore, the memory 202 temporarily stores requests and instructions for each of the patrol robots 20 received from the server 40.

  The storage device 203 is configured by a hard disk (HDD) or a solid state drive (SDD), and stores a control program for controlling each part of the patrol robot 20. Further, the storage device 203 stores map information of the areas A to D in which the patrol robot 20 travels cyclically.

  The image camera 204, the infrared camera 205, the temperature sensor 206, the smoke sensor 207, and the voice sensor 208 constitute detection means for detecting environmental information around the patrol robot 20 in the present invention.

  The image camera 204 captures a situation around the traveling robot 20 as a still image or a moving image, and temporarily stores the image in the memory 202.

  The infrared camera 205 captures an infrared ray generated from an object or the like around the patrol robot 20 as a still image or a moving image, and temporarily stores it in the memory 202.

  The temperature sensor 206 measures the temperature of the area in which the patrol robot 20 travels, that is, the temperature around the patrol robot 20 at preset time intervals, and temporarily stores the information in the memory 202.

  The smoke sensor 207 is, for example, of a photoelectric type or an ionization type, detects whether or not smoke or dust is generated around the patrol robot 20, and the amount thereof, and temporarily detects the detection result in the memory 202. Remember to

  The voice sensor 208 detects sounds and voices around the patrol robot 20. The voice sensor 208 may be a microphone. The detected voice data is temporarily stored in the memory 202.

  The moving device 209 includes a tire, a motor for driving the tire, a transmission mechanism, a brake, a direction control device, and a current position detection device, and in the area to which the patrol robot 20 is assigned by an instruction of a movement control unit described later. Move it.

  When the speaker 210 receives an instruction to notify an abnormal situation from the server 40, the speaker 210 notifies the surrounding area of the abnormal situation by notifying or reproducing a warning sound (for example, a siren). Alternatively, when an instruction to notify detailed information on an abnormal situation is received from the server 40, the necessary information is provided to surrounding people by reproducing a warning message including the received detailed information.

  The display device 211 is configured of a signal light and / or a liquid crystal panel. Information corresponding to an instruction from the server 40 is displayed on the display device 211. For example, when an instruction to notify an abnormal situation is received from the server 40, the display lamp is blinked to notify the surrounding area of the abnormal situation. Alternatively, when an instruction to display detailed information on an abnormal situation is received from the server 40, the received detailed information is displayed on the liquid crystal panel, and necessary information is provided to surrounding people.

  The communication interface 212 performs communication control for the patrol robot 20 to exchange information with the server 40 via the network 30.

  FIG. 3 shows a functional block diagram of the patrol robot 20. As shown in FIG. As shown in FIG. 3, the traveling robot 20 executes the control program stored in the storage device 203 in the control microprocessor 201 to obtain a movement control unit 221, an environment information acquisition control unit 222, a transmission / reception unit 223, and a notification. It functions as the control unit 224.

  The movement control unit 221 controls the movement device 209 of the patrol robot 20. Specifically, by controlling the driving of the motor and the direction control device while comparing the information of the current position detected by the current position detection device with the map information of the predetermined area stored in the storage device 203, The patrol robot 20 is autonomously moved along a preset patrol route. In addition, when requested to go to the designated destination from the server 40, the movement control unit 221 is configured to receive information on the current position detected by the current position detection device and the predetermined area stored in the storage device 203. The traveling robot 20 is moved toward a designated purpose by controlling each part of the moving device while comparing with the map information. When receiving an instruction from the server 40 to stay at a specified position, control is performed to keep the patrol robot 20 at the specified position.

  The environment information acquisition control unit 222 determines the type, the degree of detail, and the frequency of the environment information to be acquired, and requests information from various sensors according to the determination. Here, “environmental information” is detected by the image camera 204, still images and moving images captured by the infrared camera 205, the temperature around the patrol robot 20 acquired by the temperature sensor 206, and the smoke sensor 207. Sensor information representing the state of the environment around the patrol robot 20, which is acquired using various sensors provided in the patrol robot 20, such as information on the presence or absence and amount of smoke, voice information detected by the voice sensor 208, etc. Say.

  Specifically, the environment information acquisition control unit 222 detects which information with which sensor among the image camera 204, the infrared camera 205, the temperature sensor 206, the smoke sensor 207, and the sound sensor 208 with the degree of detail. The frequency of acquisition is determined, and the acquisition of environmental information is requested to the determined sensor at the determined frequency.

  For example, when the environment information acquisition unit 222 is not required to transmit more or more environment information, the image camera may acquire a still image at a predetermined frequency (for example, every one second). In step 204, the infrared camera 205 is instructed to transmit to the server 40 at a transmission frequency determined in advance by the transmission / reception unit 223 described later. On the other hand, when it is requested to transmit environmental information more frequently or more frequently, the environmental information acquisition unit 222 raises the still image photographing frequency to the image camera 204 and the infrared camera 205 (for example, The transmission / reception unit 323, which will be described later, increases the transmission frequency of the photographed still image and transmits it to the server 40.

  Alternatively, when the environment information acquisition unit 222 is not required to transmit more or more environment information, the environment information acquisition unit 222 requests the image camera 204 and the infrared camera 205 to acquire a still image with a predetermined resolution. To direct. On the other hand, when it is requested to transmit environmental information more frequently or at a higher frequency, the environmental information acquisition unit 222 causes the image camera 204 and the infrared camera 205 to capture still images with higher resolution. Instruct

  Furthermore, when the environment information acquisition unit 222 is not required to transmit more or more environment information, the image camera 204 and the infrared camera 205 acquire still images at predetermined time intervals. Then, the still image is transmitted to the server 40 at predetermined time intervals by the transmission / reception unit 223 described later. On the other hand, when it is requested to transmit environmental information more frequently or more frequently, the environmental information acquisition unit 222 instructs the image camera 204 and the infrared camera 205 to take moving images, A transmission / reception unit 223 described later transmits the captured moving image to the server 40.

  In addition, even if it is not required to transmit more or frequently the environment information, moving image information is always taken and streaming transmission is sent to the server 40, and it is requested to transmit more or more frequency the environment information. In this case, moving image information having a high resolution or a low compression rate may be transmitted to the server 40.

  Furthermore, when transmitting voice information other than image information, information regarding the presence or absence of smoke, ambient temperature information, odor information, etc. to the server 40 as environmental information, more environmental information is transmitted at a higher frequency or more frequently. Send environment information to the server 40 at a lower bit rate if not required, and send environment information to the server 40 at a higher bit rate if required to send more or more environment information. You may do so.

  The transmission / reception unit 223 transmits, to the server 40, environment information detected by the environment information acquisition control unit 222 from various sensors that are detection units. The transmitting and receiving unit 223 also receives various requests from the server 40. The request from the server 40 may be, for example, a request to transmit more environment information or less environment information, a request to transmit environment information more frequently or less frequently, a specific cycle An instruction to move near the robot 20 and an instruction to notify of an emergency state are included.

  When the notification control unit 224 receives an instruction to notify an emergency state from the server 40, the notification control unit 224 issues an alarm sound (for example, a siren) from the speaker 210, that is, reproduces it or blinks a display light of the display device 211. Control to Further, the notification control unit 224 broadcasts a warning message including detailed information from the speaker 210 or displays it on the liquid crystal panel of the display device 211 when receiving an instruction to notify the detailed information on the emergency state from the server 40. Control to

  FIG. 4 is a diagram showing a hardware configuration of the server 40 in the present embodiment. As shown in FIG. 4, the server 40 includes a CPU 401, a memory 402, a storage device 403, a communication interface 404, and a user interface 405, which are connected to the control bus 406, respectively.

  The CPU 401 controls the operation of each unit of the server 40 based on the control program stored in the storage device 403. The memory 402 temporarily stores environmental information and the like received from the plurality of patrol robots 20.

  The storage device 403 is configured by a hard disk drive (HDD) or a solid state drive (SDD), and stores a control program for controlling each part of the server 40.

  The communication interface 404 connects the server 40 and the patrol robot 20 via the network 30, and performs communication control for communication.

  The user interface 405 includes a display device such as a liquid crystal monitor and an input device such as a keyboard, a mouse, and a touch pad. The display device displays a login screen for logging in to the patrol robot 20, an image of the surroundings captured by the image camera 204 of the patrol robot 20, and the like. The input device can also be used to log in to the patrol robot 20 by the server 40 and input login information for remote control, or to perform remote control for controlling movement of the patrol robot 20.

  FIG. 5 shows a functional configuration diagram of the server 40 in the present embodiment. As shown in FIG. 5, the server 40 causes the CPU 401 to execute the control program stored in the storage device 403, whereby the analysis unit 421, the determination unit 422, the calculation unit 423, the analysis amount adjustment unit 424, the request unit 425, and the analysis. It functions as the request unit 426.

  The analysis unit 421 analyzes the environmental information received from the plurality of patrol robots 20, and determines the presence or absence of an abnormality, and if there is an abnormality, the state of the abnormality. Specifically, for example, the still image taken by the image camera 204 and the infrared camera 205 of the patrol robot 20 is analyzed, and the occurrence of abnormality is analyzed. In addition, when a moving image is captured by the image camera 204 and the infrared camera 205 of the patrol robot 20, the moving image is analyzed to analyze in detail the state of the occurring abnormality.

  Note that "analyzing" is a calculation process to find out the possibility of an abnormal situation such as presence or absence of abnormal heat generation, presence of a suspicious person, smoke, abnormal sound, etc. using environmental information received from the patrol robot 20. is there. Furthermore, it includes calculation processing for searching for a possibility of a preset event, for example, a certain lost item, or a possibility of the presence of a person or an animal.

  The determination unit 422 determines the presence or absence of an event requiring a detailed analysis from the result analyzed by the analysis unit 421. Here, the “detailed analysis” refers to a calculation process for the server 40 to acquire more environmental information from the patrol robot 20 and to determine the state of the abnormal situation, the degree, and the response method. Then, in order to perform this detailed analysis, computer resources such as the CPU 401 of the server 40 and the memory 402 that constitute the server 40 are used more.

  An event requiring detailed analysis includes, for example, an abnormal situation such as a suspicious person, an abnormal heat generation in an apparatus, an apparatus or a part of the apparatus having a high temperature, or smoke generation. It is. In addition, events requiring detailed analysis are not limited to abnormal situations, and more information is available, such as when it is recognized that a pre-registered object is present, or when an unrecognizable object is present. It also includes events that require acquisition and comprehensive judgment.

  When the environment information received from the patrol robot 20 is analyzed by the analysis unit 421 of the server 40, the calculation unit 423 calculates a margin of analysis capability in the analysis unit 421. For example, when receiving a still image or a moving image from the patrol robot 20, when the still image or the moving image is analyzed, to what extent the CPU 401 is dedicated for the analysis processing and how much margin is generated, or And how much the memory 402 is occupied and how much margin is to be generated. Furthermore, when performing the above-described analysis processing, the calculation unit 423 may use the communication band with the patrol robot 20 only to receive the environment information from the patrol robot 20 and transmit other instructions. Calculate how much margin is to be generated.

  The analysis amount adjustment unit 424 is a patrol robot in which there is an event requiring a more detailed analysis when the event requiring a more detailed analysis by the analysis unit 421 is present around the patrol robot 20. While reducing the analysis amount in the analysis unit 421 of the environmental information from 20 and reducing the analysis amount in the analysis unit 421 of the environmental information from the traveling robot 20 in the vicinity of which events requiring more detailed analysis exist Do.

  Specifically, the analysis amount adjustment unit 424 uses the CPU 401, the memory 402, and the communication interface 404 less for analysis of environment information from the patrol robot 20 that does not have an event requiring detailed analysis. While the usage is allocated, a larger usage is allocated for the analysis of environmental information from the traveling robot 20 in which events requiring detailed analysis are present.

  Alternatively, if the analysis amount adjustment unit 424 increases the analysis amount in the analysis unit 421 of the environmental information from the patrol robot 20 determined to have an event requiring a more detailed analysis in the surroundings, the analysis of the analysis unit 421 When the capacity margin is lower than a preset value, the amount of analysis in the analysis unit 421 of the environment information from the patrol robot 20 in which there is no event requiring a more detailed analysis is reduced.

  Furthermore, the analysis amount adjustment unit 424 needs more detailed analysis while priority is given to analysis of environmental information from the traveling robot 20 around which events requiring more detailed analysis are present. The analysis of environmental information from the patrol robot 20 in which events do not exist is delayed and executed. Here, the “analysis amount” refers to the amount of information processing, CPU usage, and memory usage per unit time when performing calculation processing using the CPU 401 and the memory 402 of the server 40.

  The request unit 425 needs the detailed analysis when an event requiring a more detailed analysis is present around the specific traveling robot 20 among the plurality of traveling robots 20 as a result of the analysis in the analyzing unit 421. To the patrol robot 20 where there is an event to be taken, and more environmental information is obtained and transmitted, or more frequently, than before a point in time before the presence of the event requiring the detailed analysis is recognized Request the robot to acquire and transmit at the same time, and for a robot that does not have an event that requires more detailed analysis, compared to a time before the existence of an event that requires the detailed analysis is recognized Request to acquire and transmit less environmental information, or to acquire and transmit less frequently.

  The request unit 425 further causes an event requiring a more detailed analysis to be present, when there is an event requiring a more detailed analysis around a specific one of the plurality of patrol robots 20. If the unmanned patrol robot 20 can move near the patrol robot 20 where events requiring more detailed analysis are present, the more detailed analysis is required for the movable patrol robot 20 While the event requires movement near the patrol robot 20 present in the surroundings, the patrol robot 20 that does not move is compared with the time before the existence of the event requiring the more detailed analysis is recognized. Request less environmental information transmission, or less frequent environmental information transmission.

  If the analysis request unit 426 increases the amount of analysis in the analysis unit 421 and the margin of the analysis capability of the analysis unit 421 becomes lower than a preset value, events requiring more detailed analysis will be around. Environmental information from the patrol robot 20 which does not exist is transmitted to another analysis processing apparatus, for example, a cloud server (not shown) connected via the network 30 to the server 40 in the present embodiment, and a request for analysis is sent. Do.

  Next, with reference to FIG. 6, the flow of processing in the server 40 of the robot control system 10 of the present embodiment will be described. FIG. 6 is a flowchart showing the flow of the operation in the server 40.

  In step S601, the server 40 receives environment information from the plurality of patrol robots 20 and temporarily stores the information in the memory 402, and analyzes the environment information stored in the memory 402 by the analysis unit 421.

  In step S602, the determination unit 422 determines, using the analysis result of the analysis unit 421, whether or not an event requiring a more detailed analysis has occurred around the specific patrol robot 20. Events requiring more detailed analysis include, for example, abnormal events such as fever, smoke, abnormal noise, and intrusion of a suspicious person.

  If it is determined that an event requiring a more detailed analysis is present around a specific traveling robot 20, the process proceeds to step S603. For example, it is assumed that an abnormal heat generation of a certain device is determined to occur around the patrol robot 20A. In that case, the process proceeds to step S603. On the other hand, if it is determined that an event requiring a more detailed analysis does not exist around the specific patrol robot 20, the process proceeds to step S608.

  In step S603, when the analysis unit 421 analyzes more or more frequent environmental information from the traveling robot 20 that is recognized as the presence of an event that requires more detailed analysis, the calculation unit 423 is relevant. The margin of analysis capability in the analysis unit 421 is calculated.

  For example, when a moving image is received and analyzed from the traveling robot 20 which is recognized as having an event requiring a more detailed analysis, the CPU 401 is occupied for the analysis processing and how much margin is generated for the analysis processing. Or, how much the memory 402 is dedicated and how much margin is generated is calculated.

  In addition, when performing the above-described analysis processing, how much the communication unit with the patrol robot 20 is exclusively used for reception of environmental information with the patrol robot 20 and transmission of other instructions Calculate how much margin is to be generated.

  For example, as described above, when it is recognized that abnormal heat generation is occurring in an apparatus around the patrol robot 20A, the calculating unit 423 does not recognize an event requiring a more detailed analysis. In addition to the analysis of environmental information received from the patrol robots 20B to 20D, moving images taken by the image camera 204 and the infrared camera 205 of the patrol robot 20A, continuous temperature data detected by the temperature sensor 206, and the smoke sensor 207 When the analysis unit 421 analyzes the continuous smoke amount data, the analysis unit 421 calculates a margin of analysis capability.

  In step S604, calculation unit 423 determines whether there is a margin in the analysis capability in analysis unit 421. If it is determined that there is a margin, processing proceeds to step S608, and if it is determined that there is no margin. The process proceeds to step S605.

  In step S605, the analysis amount adjustment unit 424 lowers the priority of the analysis process of the environmental information from the patrol robot 20 where there is no event requiring a more detailed analysis in the surroundings, and the analysis amount in the analysis unit 421 is reduced. The request unit 425 requests the traveling robot 20 to acquire less environmental information and transmit the environmental information less frequently, or to acquire the environmental information at a lower frequency, as there is no event requiring a more detailed analysis. Request to send.

  For example, for the patrol robots 20B to 20D, environmental information from the image camera 204, infrared camera 205, temperature sensor 206, smoke sensor 207, and audio sensor 208, which were acquired every one second, is acquired every three seconds. Request to send.

  In addition, the analysis request unit 426 may request another cloud server (not shown) to analyze environmental information from the patrol robot 20 in the vicinity of which there is no event requiring a more detailed analysis. For example, the environment information acquired from the patrol robots 20B to 20D is transmitted to another cloud server to request analysis.

  In step S606, the analysis amount adjustment unit 424 raises the priority of analysis processing of environmental information received from the traveling robot 20 in the vicinity of an event requiring a more detailed analysis, and the analysis unit 421 performs more analysis processing. Make analysis possible.

  In step S 607, the request unit 425 acquires a larger amount of environmental information and transmits it or transmits it more frequently and transmits it to the traveling robot 20 in the vicinity of which an event requiring a more detailed analysis is present. To request. For example, as described above, in the patrol robot 20A, a still image is taken by the image camera 204 and the infrared camera 205 and transmitted to the server 40 every one second before abnormal heat generation is recognized in a certain device. If it is recognized that an abnormal heat is generated in the device, the image camera 204 and the infrared camera 205 request that the moving image be photographed and transmitted to the server 40.

  In step S608, the analysis unit 421 executes normal analysis processing or detailed analysis processing of the environment information received from the patrol robot 20, and ends the processing.

  In the above description, in the server 40, the amount and frequency of environmental information received from each of the patrol robots 20 are adjusted or the amount of analysis processing is adjusted so that the processing capacity does not exceed the limit. Although the method has been described, the result of the analysis process is used to notify the patrol robot 20, which has an event requiring detailed analysis processing, that the event is occurring. The request may be made by the request unit 425.

  For example, if it is determined that abnormal heat generation is occurring in an apparatus around the patrol robot 20A, and it is determined that notification of an abnormal situation is necessary as a result of detailed analysis processing in the server 40, the server 40 The request unit 425 transmits a warning message including information indicating an abnormal situation and detailed information describing the abnormal situation to the patrol robot 20A, and requests for notification of an abnormal situation.

  When the patrol robot 20A receives the request, the notification control unit 224 controls the notification sound (for example, siren) to be emitted from the speaker 210, that is, reproduced so as to reproduce, or to blink the indicator light of the display device 211. Further, the notification control unit 224 performs control of broadcasting a warning message including detailed information from the speaker 210 or displaying it on the liquid crystal panel of the display device 211, and notifies the surroundings that an abnormal situation has occurred.

  Furthermore, if there is an event requiring more detailed analysis around a specific patrol robot 20, more detailed analysis of the patrol robot 20 requiring no detailed analysis is required. The mobile robot 20 that can move near the mobile robot 20 where there is an event to be generated may be requested to move near the mobile robot 20. For example, as described above, when there is a device that generates abnormal heat around the patrol robot 20A, the request unit 425 of the server 40 can move the patrol robot 20 (for example, the patrol robot) that can move near the patrol robot 20A. 20B) is specified, and the robot 20B moves closer to the robot 20A and requests to acquire more environment information or acquire and transmit environment information with higher frequency.

  In that case, the request unit 425 of the server 40 compares the time when abnormal heat generation of the device is recognized for the patrol robot 20 (for example, the patrol robots 20C and 20D) that does not move near the patrol robot 20A. It is requested to acquire less environmental information or to acquire and transmit environmental information less frequently.

DESCRIPTION OF SYMBOLS 10 robot control system 20, 20A-20D patrol robot 30 network 40 server 201 microprocessor for control 202 memory 203 memory device 204 image camera 205 infrared camera 206 temperature sensor 207 smoke sensor 208 voice sensor 209 moving device 210 speaker 211 display device 212 communication Interface 213 control bus 221 movement control unit 222 environment information acquisition control unit 223 transmission / reception unit 224 notification control unit 401 CPU
402 memory 403 storage device 404 communication interface 405 user interface 406 control bus 421 analysis unit 422 determination unit 423 calculation unit 424 analysis amount adjustment unit 425 request unit 426 analysis request unit

Claims (11)

A plurality of autonomously moving robots each provided with detection means for detecting surrounding environment information, and transmission means for transmitting the environment information detected by the detection means.
An analysis means for analyzing environmental information received from a plurality of robots, and an event requiring detailed analysis when there is an event requiring the detailed analysis by the analysis means around the robot A controller comprising analysis amount adjustment means for reducing the amount of analysis of environmental information from a robot that does not move, and increasing the amount of analysis of environmental information from a robot in the vicinity of which an event requiring detailed analysis is present;
Robot control system having: The control device further comprises calculation means for calculating a margin of analysis ability in the analysis means,
When the analysis amount adjustment means increases the analysis amount of environmental information from a robot around which an event requiring detailed analysis exists, the margin of the analysis ability of the analysis means is lower than a preset value. The robot control system according to claim 1, wherein the amount of analysis of environmental information from the robot where there is no event requiring detailed analysis is reduced.   If there is an event requiring detailed analysis around a specific robot among a plurality of robots, the detailed analysis is required for the robot having an event requiring the detailed analysis around the robot. Request that more environmental information be sent as compared to the point before the occurrence of the event, and for the robot that does not have an event requiring detailed analysis in the surrounding area, the detailed analysis The robot control system according to claim 1 or 2, further comprising request means for requesting to transmit less environmental information than a time before the presence of the required event is recognized.   If there is an event requiring detailed analysis around a specific robot among a plurality of robots, the detailed analysis is required for the robot having an event requiring the detailed analysis around the robot. Request the environment information to be sent more frequently compared to the time before the existence of the event, and for the robot where there is no event requiring detailed analysis in the surrounding area, the detailed analysis The robot control system according to claim 1 or 2, further comprising request means for requesting environment information to be transmitted less frequently than a time point before the presence of an event requiring an event is recognized. The robot is provided with an image detection means.
When it is not required to transmit environmental information more frequently or more frequently, the control means controls the still image taken at a predetermined frequency by the image detection means at a predetermined transmission frequency. When it is requested to transmit environmental information more or more frequently while transmitting to the device, the image detection means raises the still image photographing frequency and the transmission means makes the photographing. The robot control system according to claim 3 or 4, wherein the transmission frequency of the still image is increased. The robot is provided with an image detection means.
When it is not required to transmit more or more frequency information, the image detection means shoots a still image at a predetermined resolution, while more or more frequency information is transmitted. 5. The robot control system according to claim 3, wherein the image detection unit captures a still image at a higher resolution when it is requested to transmit environmental information. The robot is provided with an image detection means.
When transmission of environmental information is not required to transmit more or more frequently, the transmission means transmits the still image captured by the image detection means to the control device at a predetermined time interval. 5. The transmission device according to claim 3, wherein the transmission unit transmits a moving image captured by the image detection unit to the control device when it is requested to transmit environmental information more frequently or more frequently. Robot control system. The control device includes a CPU, a memory, and a transmission / reception interface.
The analysis amount adjustment means assigns less usage to the CPU, the memory, and the transmission / reception interface for analysis of environmental information from a robot that does not have an event requiring detailed analysis. The robot control system according to any one of claims 1 to 7, wherein an event requiring detailed analysis allocates a larger amount of usage for analysis of environmental information from a robot present in the surroundings.   While the analysis amount adjustment means preferentially executes analysis of environmental information from a robot whose surrounding events requiring detailed analysis are present, there are no surrounding events requiring detailed analysis. The robot control system according to any one of claims 1 to 7, wherein analysis of environmental information from the robot is performed in a delayed manner.   The analysis request means according to any one of claims 1 to 7, further comprising: analysis request means for transmitting environment information from a robot having no event requiring detailed analysis around to another analysis processing device to request analysis. Robot control system. When there is an event requiring detailed analysis around a specific robot among multiple robots,
The request means is for a movable robot when a robot that does not have an event requiring detailed analysis in its surroundings can move near a robot that has an event requiring detailed analysis around. An event requiring the detailed analysis requires movement close to the robot present, and for a non-moving robot, a time before the existence of an event requiring the detailed analysis is recognized 5. The robot control system according to claim 3, wherein transmission of less environmental information or transmission of environmental information less frequently is required.

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