JP2022139019A - Security system, server, security device and working robot - Google Patents

Abstract

To provide a security system, a server, a security device and a working robot capable of controlling, when the abnormality in disaster prevention occurs, the operation of a working robot in accordance with a situation.SOLUTION: Disclosed is a security system including: a working robot which can autonomously move in a facility and can execute at least work operation for performing predetermined works and retreat operation for retreating from traffic lines of users of the facility; and a security device for detecting abnormality related to disaster prevention and outputting an abnormality signal. The working robot is configured to interrupt or end the work operation and execute the retreat operation when, during execution of the work operation, the security device outputs the abnormality signal.SELECTED DRAWING: Figure 1

Description

The present invention relates to security systems, servers, security devices, and work robots.

2. Description of the Related Art Conventionally, it is known to cause a robot to perform a predetermined action when an emergency situation occurs in terms of disaster prevention.

For example, in Patent Document 1, a cleaning robot has a fire sensor, and when the fire sensor determines that a fire has broken out, the cleaning robot is directed to the place where the fire broke out and guides the user to the entrance/exit. is disclosed.

Japanese Patent Application Publication No. 2018-517966

However, while there are cases where it is better for the robot to head to the site where the abnormality has occurred, there are also cases where the situation worsens if the robot goes to the site where the abnormality has occurred. For example, if a cleaning robot moves toward a place where a fire broke out as in Patent Document 1, it may hinder the evacuation of the user. Therefore, it is not preferable to make the robot take a uniform action when an emergency occurs.

SUMMARY OF THE INVENTION An object of the present invention is to provide a security system, a server, a security device, and a working robot capable of controlling the operation of the working robot in accordance with the situation when an emergency occurs.

According to one aspect of the present invention for solving such problems, the robot is capable of autonomous movement within a facility, and executes at least a work motion of performing a predetermined task and an evacuation motion of evacuating from the line of flow of users of the facility. and a security device that detects an abnormality related to disaster prevention and outputs an abnormality signal. To provide a security system that suspends or terminates work operation and executes evacuation operation.

In this security system, the evacuation operation preferably includes an operation of the working robot stopping at a position avoiding the line of flow of the user or an operation of returning to the home position of the working robot.

In this security system, the work robot acquires the current position information and, as an evacuation action, stops at a position that avoids the flow line of the user according to the positional relationship between the current position information and the home position. It is preferable to perform either of the operations of returning to the position.

In this security system, the working robot acquires current position information, and the positions avoiding the user's flow line include the end position of the passage and the preset evacuation position away from the passage,
If the distance from the current position of the work robot to the evacuation position is less than a predetermined distance, the evacuation position is set as a position that avoids the flow line of the user, and if the distance is greater than or equal to the prescribed distance, the end position of the passage is set. preferably.

In this security system, the security device has storage means for storing whether or not a user exists in the security target, and the work robot retreats when an abnormality is detected and the user exists. It is preferable to perform an action and move to the location of the anomaly if the user is not present.

According to another aspect of the present invention, there is provided a working robot capable of autonomous movement within a facility and capable of executing at least a working action of performing a predetermined work and a retreating action of retreating from the flow line of users of the facility; , a server communicably connected to a security device that detects an abnormality related to disaster prevention and outputs an anomaly signal, and interrupts or terminates a work operation being performed by a work robot when an anomaly signal is received from the security device. and a control unit for generating a control signal for executing a retraction operation, and a transmission unit for transmitting the control signal to the working robot.

According to another aspect of the present invention, the working robot is capable of autonomous movement within the facility, and communicates with a working robot capable of performing at least a work action of performing a predetermined work and an evacuation action of evacuating from the line of flow of users of the facility. A security device that can be connected as possible, a detection unit for detecting an abnormality related to disaster prevention, and when an abnormality related to disaster prevention is detected, the work robot suspends or terminates the work operation being performed and executes an evacuation operation. Provided is a security device having a control section for generating a control signal for causing a work robot, and a transmission section for transmitting the control signal to a working robot.

According to another aspect of the present invention, it is possible to autonomously move within the facility, at least perform a work operation of performing a predetermined work, and an evacuation operation of evacuating from the flow line of users of the facility. A work robot communicably connected to a security device that detects an abnormality and outputs an anomaly signal, comprising: a receiver for receiving the anomaly signal from the security device; and an operation mechanism for operating the work robot. and a control unit that controls an operation mechanism to interrupt or terminate the work operation in progress and perform a retraction operation when the receiving unit receives an abnormal signal.

The security system, server, security device, and working robot according to the present invention can control the operation of the working robot according to the situation in the event of a disaster prevention abnormality. becomes possible.

It is a figure showing a schematic structure of a security system concerning one embodiment of the present invention. 1 is a plan view of an office, which is an example of an object to be guarded by the security system; FIG. FIG. 5 is a sequence diagram showing an example of overall processing; 4 is a flowchart showing an example of anomaly signal generation processing; 4 is a flowchart showing an example of control signal generation processing; 4 is a flowchart showing an example of operation processing; It is a figure which shows the structure of the other security system 2. FIG. It is a figure which shows the structure of the other security system 3. FIG.

A security system according to an embodiment of the present invention will be described below with reference to the drawings. However, it should be understood that the invention is not limited to the drawings or the embodiments described below.

FIG. 1 is a diagram showing a schematic configuration of a security system according to one embodiment of the present invention. As shown in FIG. 1 , the security system 1 has a server 10 , a security device 20 and a working robot 30 . The server 10 is installed in a security center or the like, is connected to the security device 20 and the work robot 30 so as to be communicable, and manages the security system 1 as a whole. The security device 20 is connected for communication with the server 10, and guards an object to be guarded, such as an office, a store, or a factory. The work robot 30 is connected for communication with the server 10 via the access point 40 and performs work within the security target where the security device 20 is installed. In addition, the security device 20 is connected to various devices such as an entrance/exit operation terminal 250, a security operation unit 251, an imaging unit (camera) 252, an intrusion sensor 253, a fire sensor 254, and an equipment sensor 255 via wired/wireless communication. and connected to the sensor. Although only one security device 20 and one work robot 30 are shown in FIG. 1 , the security system 1 may have a plurality of security devices 20 and/or work robots 30 .

The server 10 is a cloud server or the like in a wide area communication network such as the Internet. The server 10 has a communication section 11 , a storage section 12 and a control section 13 .

The communication unit 11 has a communication interface circuit conforming to wired/wireless communication standards such as Ethernet (registered trademark) and IEEE802.11, and communicates with the security device 20 and the work robot 30 via a wide area communication network such as LAN and the Internet. Connect to send and receive various signals. The communication section 11 is an example of a transmission section of the server 10 .

The storage unit 12 includes semiconductor memories such as ROM, RAM, and EPROM, magnetic storage media such as magnetic disks (HDD), and/or optical storage media such as DVD-RAM. The storage unit 12 stores computer program codes and various data executed by the control unit 13 to control the operation of the server 10 . The computer program can be installed in the storage section 12 by a known method via a computer-readable storage medium such as a DVD-ROM or a communication line.
The storage unit 12 stores schedule information 121 including the time at which the work robot 30 starts work and the movement route for the work, and a security map 122 representing a map of a security target. The schedule information 121 stores the start time of the work action, and the contents of the work action and/or the work place for each time. Details of the security map 122 will be described later. It is also possible to store only the work start time as the schedule information 121 and autonomously generate a schedule for the work robot to work within the work area based on the environment map 371 .

The control unit 13 has a processor such as a CPU and its peripheral circuits, and the processor controls the operation of the server 10 by executing computer programs stored in the storage unit 12 . A multiprocessor, a multicore processor, or the like may be used as the control unit 13 . A DSP, LSI, ASIC, FPGA, or the like may be used as the control unit 13 .
The control unit 13 has an acquisition unit 131 and an instruction unit 132 as functional modules of a program running on the processor. Operations of the control unit 13 and each means will be described in detail later.

The security device 20 performs security by monitoring abnormalities such as intrusion, fire, first aid, equipment failure, etc., by devices such as the intrusion sensor 253 installed in the security target according to the security mode instructed by the user or the server 10. It is an information processing device. The security device 20 has a communication section 21 , a storage section 22 , a control section 23 and an interface section 24 . The security device 20 further includes an entry/exit operation terminal 250 , a security operation unit 251 , an imaging unit 252 , an intrusion sensor 253 , a fire sensor 254 , and an equipment sensor 255 . The number of entry/exit operation terminal 250, security operation unit 251, imaging unit 252, intrusion sensor 253, fire sensor 254, and/or equipment sensor 255 is not limited to one, and may be plural.

The communication unit 21 has a communication interface circuit conforming to wired/wireless communication standards such as Ethernet (registered trademark) and IEEE 802.11, and communicates with the server 10 in a wide area communication network such as the Internet via a LAN. Send and receive information. The communication section 21 is an example of a transmission section of the security device 20 .

The storage unit 22 has a semiconductor memory, a magnetic storage medium and/or an optical storage medium. The storage unit 22 stores computer program codes and various data that the control unit 23 executes to control the operation of the security device 20 . The computer program can be installed in the storage unit 22 by a known method via a computer-readable storage medium such as a DVD-ROM or a communication line.

In the security system 1, the security mode has at least two types of modes: a security set mode and a security release mode. The security set mode is a mode in which the security target is unmanned and the occurrence of an abnormality is notified to the server 10 in response to detection of all anomalies including intrusion from outside the security target and inside the security target. In the security cancellation mode, the security target is manned, and if an abnormality such as a fire, emergency call, emergency call, or equipment failure is detected, the server 10 is notified, but even if a person is detected in the security target, the intrusion is prohibited. It is a mode that does not notify. Normally, the guard release mode is used during the daytime when users are active in the guarded area, and the guarded set mode is used at night or on holidays when all the users are away from the guarded area.

The control unit 23 has a processor such as a CPU or a multiprocessor and its peripheral circuits. A DSP, LSI, ASIC, FPGA, or the like may be used as the control unit 23 .
The control unit 23 has a state monitoring means 231 and an abnormality monitoring means 232 as functional modules of programs that operate on the processor. The operation of the control unit 23 and each means will be described in detail later.

The interface unit 24 has an interface circuit conforming to a serial bus standard such as USB, for example, and communicates with an entrance/exit operation terminal 250, a security operation unit 251, an imaging unit 252, an intrusion sensor 253, a fire sensor 254, and an equipment sensor 255. to transmit and receive various signals. The interface unit 24 may have an interface circuit conforming to wired/wireless communication standards such as Ethernet (registered trademark), IEEE802.11, Bluetooth (registered trademark), etc., instead of the interface circuit conforming to the serial bus standard. .

The room entrance/exit operation terminal 250 is an operation terminal installed at the entrance or the like of the security target, and used by the user to request entry into or exit from the security target. The entry/exit operation terminal 250 includes input units such as a card reader, an IC stick container, a camera, a microphone, a touch panel, etc. (Fig. not shown). In addition, the entry/exit operation terminal 250 is installed at a door or the like in order to regulate entry into or exit from a security target, and unlocks/locks it according to an unlock/lock signal transmitted from the security device 20 . It has an entrance/exit control unit (not shown) such as an electric lock that is locked. The entry/exit operation terminal 250 generates an entry instruction or an exit instruction when the user performs an entry operation or an exit operation. Alternatively, the entry/exit operation terminal 250 may generate an entry instruction or an exit instruction when the entry/exit regulation is lifted by the entry/exit regulation unit.

The security operation unit 251 has a user input/output interface such as a touch panel and buttons, and the user operates the security device 20 such as switching the security mode. Also, the security operation unit 251 may have an input unit (not shown) for authentication information of a user who can operate the security device. When the security mode switching operation is performed, the security operation unit 251 generates a security mode change instruction including the security mode after the change.
The input unit of the security operation unit 251 can input an emergency report for requesting emergency transport, an emergency report when a suspicious person has entered, and an abnormality occurrence location.
The security operation unit 251 generates an emergency call signal when an emergency call instruction is input, and an emergency call signal when an emergency call instruction is input. When an abnormality occurrence location is input, the emergency call signal and the emergency call signal include location information indicating the input abnormality occurrence location.

The imaging unit 252 includes a photoelectric conversion element sensitive to visible light, such as a CCD element or a C-MOS element, an imaging optical system that forms an image on the photoelectric conversion element, and an electric current output from the photoelectric conversion element. It is a camera or the like having an A/D converter that amplifies a signal and converts it from analog to digital (A/D), and sequentially acquires digital images such as RGB images of a surveillance space to be guarded. Note that the imaging unit 252 may be a camera using infrared rays, ultrasonic waves, or the like.

The intrusion sensor 253 includes a sensor that detects the opening and closing of doors and windows to be guarded by reed switches, magnets, etc., a sensor that detects heat generated by the human body as a heat source, a sensor that detects that infrared rays are blocked by the human body, and the like. A sensor for detecting an intruder who has intruded into a security target. Upon detecting an intruder, the intrusion sensor 253 generates an anomaly detection signal indicating that an intrusion has occurred. This abnormality detection signal includes location information indicating the monitoring area of each intrusion sensor 253 .
The fire sensor 254 is a sensor that detects heat, smoke, and gas leaks associated with the occurrence of fire, and upon detecting the occurrence of fire, generates an abnormality detection signal indicating that the fire has occurred. This abnormality detection signal includes location information indicating the monitored area of each fire sensor 254 . The working robot 30 may also be equipped with a fire sensor.
The facility equipment sensor 255 is a sensor that detects malfunctions of various equipment such as air conditioning equipment, disaster prevention equipment, sensors, and the like, and detects battery depletion. do.

Abnormalities indicated by reports input to the security operation unit 251 and abnormalities detected by the imaging unit 252, the intrusion sensor 253, the fire sensor 254, the equipment sensor 255, etc. can be classified into crime prevention, disaster prevention, failure and emergency. can. Incidents of intrusions and emergency calls are classified as anomalies related to crime prevention, and occurrences of fires and gas leaks are classified as anomalies related to disaster prevention. Operational anomalies of equipment and the like are classified as failure-related anomalies, and emergency calls are classified as emergency-related anomalies.

The entry/exit operation terminal 250, the security operation unit 251, the imaging unit 252, the intrusion sensor 253, the fire sensor 254, and the facility equipment sensor 255 generate entry instructions, room exit instructions, security mode change instructions, notification signals, abnormality detection signals, or A digital image is transmitted to the control section 23 via the interface section 24 . That is, the security operation unit 251, the intrusion sensor 253, the fire sensor 254, and the equipment sensor 255 are examples of anomaly detection units, and detect a plurality of types of anomalies. Also, the entry/exit operation terminal 250, the security operation unit 251, and the imaging unit 252 are examples of the state detection unit, and are used to determine whether or not a user exists as a security target. Note that the monitoring areas of the intrusion sensor 253 and the fire sensor 254 are set in advance by the server 10 based on the security map 122 .

The working robot 30 is an autonomously movable robot that performs various tasks such as cleaning, transportation, and inspection within the security target. The working robot 30 has a communication section 31 , an imaging section 32 , a position detection section 33 , a traveling section 34 , a working section 35 , a power supply section 36 , a storage section 37 and a control section 38 . Here, a case where working robot 30 is a cleaning robot will be described.

The communication unit 31 has a communication interface circuit conforming to a wireless communication standard such as IEEE802.11, and communicates with the server 10 via a wide area communication network such as the Internet via the access point 40 to transmit and receive various information. . The communication section 31 is an example of a receiving section of the working robot 30 .

The imaging unit 32 includes a photoelectric conversion element sensitive to visible light, such as a CCD element or a C-MOS element, an imaging optical system that forms an image on the photoelectric conversion element, and an electric field output from the photoelectric conversion element. and an A/D converter that amplifies and analog-to-digital (A/D) converts the signal, such as a built-in camera, to obtain a digital image, such as in RGB format.

The position detection unit 33 has at least one input device such as a lidar, a camera, an ultrasonic sensor, an infrared sensor, or a GPS. Acquire information such as light and images.

The traveling unit 34 has drive wheels and a traveling motor, and by changing the rotation speed of the traveling motor, the working robot 30 can be freely moved back and forth and left and right at various speeds. The traveling part 34 may further have auxiliary wheels or the like to stabilize and smoothen the traveling.
The work unit 35 performs work operations such as cleaning, transportation, and inspection. When the working robot 30 is a cleaning robot, the working part 35 has a suction unit for sucking dust, a wiping unit for wiping the floor surface, and the like, and performs floor cleaning work. The traveling unit 34 and the working unit 35 are operation mechanisms for the working robot 30 to perform working operations while autonomously moving.

The power supply unit 36 is a storage battery or the like for supplying electric power to each unit of the working robot 30 .

The storage unit 37 has a semiconductor memory, a magnetic storage medium and/or an optical storage medium. The storage unit 37 stores computer program codes and various data that the control unit 38 executes to control the operation of the working robot 30 . The computer program may be installed in the storage unit 37 by a known method via a computer-readable storage medium such as a DVD-ROM or a communication line.
The storage unit 37 stores an environment map 371 having positions of obstacles including fixed obstacles such as walls and equipment in the work area and movable obstacles such as carts and boxes. The environment map 371 also has positions such as a retreat position 420 and a home position 460 .

The control unit 38 has a processor such as a CPU and an MPU and peripheral circuits thereof, and the processor controls the operation of the work robot 30 by executing computer programs stored in the storage unit 37 . A DSP, LSI, ASIC, FPGA, or the like may be used as the control unit 38 .
The control unit 38 has a position monitoring means 381 and an operation control means 382 as functional modules of programs that operate on the processor. The operation of the control section 38 and each means will be described in detail later.

FIG. 2 is a plan view of an office, which is an example of an object to be guarded by the security system 1. As shown in FIG. As shown in FIG. 2, floor 101 of office 100 is a work area for work robot 30 . A floor 101 is separated from the outside by a wall 102 , and is provided with equipment 410 , a door 430 , a partition 440 , a home position (HP) 460 and a window 470 . In addition, at various locations in the office, one or a plurality of various devices for detecting abnormalities such as an entry/exit operation terminal 250, a security operation unit 251, an imaging unit 252, an intrusion sensor 253, a fire sensor 254, and an equipment sensor 255 are installed. be. A retreat position 420 for the work robot 30 is arranged at a position avoiding the flow line of the user on the floor 101 . Note that the retracted position 420 is not limited to a location away from the passage as shown in FIG. By arranging the evacuation position 420 of the working robot 30 at a position that avoids the flow line of the user, the working robot 30 is prevented from interfering with the movement of the user in the event of a disaster or the like. On the floor 101, areas other than the positions surrounded by the equipment 410, the evacuation position 420 and the partition 440 are used as passageways. In addition, the line of flow of users refers to the passageway that users are expected to normally move when moving within the facility. 80% on each side of the reference) is the flow line of the user.

The door 430 is arranged at the entrance between the floor 101 and the outside, and is unlocked/locked by the entry/exit operation terminal 250 . Partitions 440 are screens arranged around the seats of users of office 100 . A charger (not shown) for charging the power supply section 36 of the working robot 30 is arranged at the home position 460, and the working robot 30 waits at the home position 460 when not performing work. A window 470 is arranged between the office 100 and the outdoors, and an intrusion sensor 253 monitors whether or not an intruder enters the office 100 through the window 470 .

The security map 122 is a map representing the floor 101 to be guarded by the security device 20 and the work area of the work robot 30 shown in FIG. The security map 122 shows the shape of the floor 101 of the office 100 . The security map 122 also shows the positions of the entry/exit operation terminal 250 and the security operation unit 251, the positions captured by the imaging unit 252, the positions detected by the intrusion sensor 253, the fire sensor 254, and the equipment sensor 255. be The security map 122 further shows the positions of the retreat position 420 and the home position 460, the positions of fixed obstacles such as the walls 102, the equipment 410, the partitions 440, and the like.
The shape of the floor 101 and each position described above are indicated by two-dimensional coordinates with a certain point in the security map 122 as the origin. The coordinates may be latitude and longitude, or the like. The security map 122 has common coordinates with the environment map 371 stored in the storage unit 37 of the working robot 30 .

The state of FIG. 2 represents a case where an intruder enters through the window 470 when the work robot 30 is proceeding from the HP 460 through the path 481 to the area immediately below the evacuation position 420 in the drawing. . An intrusion by an intruder is detected by detection by the intrusion sensor 253 , and the abnormality occurrence location 480 is recognized as the vicinity of the window 470 . As will be described later, when an abnormality occurs at an abnormality occurrence location 480 , the operation of the work robot 30 is to use a route 482 that takes the shortest route to the abnormality occurrence location 480 , and to use a route 483 that retracts to the evacuation position 420 . In this case, it is conceivable that the route 484 is used to move to the location 480 where the abnormality occurred while continuing the work. A detailed operation of the working robot 30 will be described later.

When an abnormality in the disaster prevention system such as a fire or gas leak is detected, it is required to check the situation at the site (such as by taking pictures). There is a risk that it will hinder the evacuation of the user while heading to. Therefore, it is necessary to control the working robot 30 so as not to hinder evacuation based on the situation of the user when there is an abnormality in the disaster prevention system.

FIG. 3 is a sequence diagram showing an example of overall processing of the security system 1. As shown in FIG. This operation sequence is executed mainly by each controller of each device in cooperation with each element of each device based on a program stored in advance in each storage of each device.

First, at the start time indicated in the schedule information 121, the instruction means 132 of the server 10 transmits a start signal for instructing the start of a predetermined work operation to the work robot 30 via the communication unit 11 (step S100). Upon receiving the start signal from the server 10 via the communication unit 31, the operation control unit 382 of the work robot 30 initializes the environment map 371 and current position information stored in the storage unit 37, and performs the instructed work operation. Start. At this time, the instruction means 132 of the server 10 transmits the position information of the fixed obstacles such as the walls 102, the equipment 410, the partitions 440, etc. on the security map 122 together with the start signal, the position of the evacuation position 420, the home position 460, etc. The information is transmitted to the work robot 30, and the motion control means 382 of the work robot 30 initializes the environment map 371 based on the received information. Note that the control unit 38 of the work robot 30 is based on information received in advance from the server 10 or another device via the communication unit 11 or information acquired from an operation unit (not shown) of the work robot 30. , the environment map 371 may be initialized in advance. Further, the control unit 38 may previously store the positions of fixed obstacles by running in the work area and constructing an environment map in advance.

The operation control means 382 of the working robot 30 controls the traveling section 34 to avoid obstacles based on the environment map 371 to make the working robot 30 travel, and controls the working section 35 to perform working operations. The position monitoring means 381 periodically acquires the current position of the work robot 30 and the positions of obstacles by a method such as SLAM (Simultaneous Localization and Mapping) based on the information acquired from the position detector 33 . The position monitoring means 381 stores the acquired current position in the storage unit 37, and updates the environment map 371 stored in the storage unit 37 when the position of the obstacle changes (step S101).

The position monitoring means 381 outputs a current position signal indicating the acquired current position to the server 10 via the communication section 31 (step S102).
On the other hand, the acquisition means 131 of the server 10 receives the current position signal from the work robot 30 via the communication unit 11, and stores the current position of the work robot 30 indicated by the received current position signal as current position information in the storage unit 12. Store (step S103).

The instruction unit 132 determines the operation to be performed by the working robot 30 based on the content of the working operation to be performed at the current time indicated in the schedule information 121 or the location to be moved and the current position of the working robot 30 . The instructing unit 132 transmits an operation signal for causing the working robot 30 to perform the determined operation to the working robot 30 via the communication unit 11 (step S104). When receiving a motion signal from the server 10 via the communication unit 31, the motion control means 382 of the work robot 30 executes the instructed motion such as continuing or changing the work motion or moving to an instructed place. . Note that this processing can be omitted when the work robot autonomously generates and implements a work schedule.

The state monitoring means 231 of the security device 20 monitors whether or not the user has operated the security device 20 to switch the security mode. 251 receives an instruction to change the security mode (step S105).
When receiving the instruction to change the security mode, the state monitoring unit 231 changes the security mode of the security device 20 to the changed security mode included in the received change instruction (step S106).
The state monitoring means 231 generates a state signal indicating the security mode, and outputs it to the server 10 via the communication section 21 (step S107). The security mode is set by the user through the input section of the security operation section 251 .
On the other hand, the acquisition means 131 of the server 10 receives the state signal from the security device 20 via the communication unit 11, determines whether or not the user is present in the security object according to the received state signal, and determines whether or not the user is present in the room. It is stored in the storage unit 12 as information (step S108). At this time, when the state signal indicates the security set mode, the acquisition means 131 assumes that the user does not exist in the guarded object, and when the state signal indicates the guarded release mode, the user exists in the guarded object. .

In addition, the state monitoring means 231 of the security device 20 monitors whether or not the user has performed a room entry operation or a room exit operation on the room entry/exit operation terminal 250, and when the user has performed a room entry operation or a room exit operation, a A room entry instruction or a room exit instruction is received from the operation terminal 250 . Further, the state monitoring means 231 periodically receives the image captured by the imaging section 252 from the imaging section 252 (step S109).
When an instruction to enter a room, an instruction to leave a room, or an image is received, the state monitoring means 231 generates a user signal indicating the state of congestion of users or the state of movement of users, and outputs it to the server 10 via the communication unit 21 ( step S110). When receiving an entry instruction or an exit instruction, the state monitoring unit 231 calculates the number of persons present in the security target based on the number of room entry instructions and room exit instructions received so far. The state monitoring means 231 generates a user signal to indicate that the room is crowded when the number of people in the room exceeds a predetermined number, and to indicate that it is not crowded when the number of people in the room is equal to or less than the predetermined number. . In addition, the state monitoring means 231 sequentially receives images from the imaging unit 252, detects a changed region in each image by background subtraction processing or inter-frame subtraction processing, and detects a predetermined change region from among the detected changed regions. Extract a person region having a size of . The state monitoring means 231 tracks the corresponding person areas between the images, and detects the amount of movement of each person from the amount of change in the position of the person areas. The state monitoring means 231 indicates that the user moves a lot when the average value, median value or maximum value of the amount of movement of each person exceeds a predetermined threshold value, and monitors the average value, median value or maximum value of the amount of movement of each person. If the value is less than or equal to a predetermined threshold, then a user signal is generated to indicate that the user is moving less.
On the other hand, the acquisition means 131 of the server 10 receives the user signal from the security device 20 via the communication unit 11, and determines whether or not the users are crowded and/or whether the user is stored in the storage unit 12 (step S111).
Note that the acquisition unit 131 of the server 10 may receive the room entry instruction and room exit instruction or the image, and may determine whether or not the user is present in the security target in step S107 based on the received information.

Here, the security target for determining whether or not a user exists may be the entire facility to be guarded, the room or floor including the location of the abnormality, or the location of the abnormality. It may be a predetermined peripheral range. When the entire facility to be guarded is targeted, for example, in any of the security targets of the facility, when the guard is canceled, when a person is photographed by the imaging unit 252, when the room entry instruction exceeds the room exit instruction, guarding is performed. It is determined that a user exists in the object. Also, when a room or floor is targeted, any security target of the facility in the above description may be replaced with the target room or floor. In addition, when targeting a predetermined range around the location where the abnormality occurred, it is necessary to identify the user's position by detecting a person using an image, etc., and determine whether or not the user exists within the predetermined range around the location where the abnormality occurred. Just do it.

In addition, the abnormality monitoring means 232 of the security device 20 monitors the entrance/exit operation terminal 250, the security operation unit 251, the imaging unit 252, the intrusion sensor 253, the fire sensor 254, and the facility equipment sensor 255, and when an abnormality occurs, each unit receives an anomaly detection signal or notification signal from (step S112).
When the abnormality detection signal or the notification signal is received, the abnormality monitoring means 232 executes abnormality signal generation processing (step S113). In the abnormality signal generation process, the abnormality monitoring means 232 generates an abnormality signal including type information indicating the type of abnormality and location information indicating the location of the abnormality. The details of the abnormal signal generation process will be described later.
Next, the abnormality monitoring means 232 outputs the abnormality signal generated in the abnormality signal generation process to the server 10 via the communication section 21 (step S114).
On the other hand, the instruction unit 132 of the server 10 receives the anomaly signal from the security device 20 via the communication unit 11, and executes control signal generation processing according to the type of anomaly included in the received anomaly signal (step S115). ). In the control signal generation process, the instruction means 132 generates a control signal for controlling the work robot 30 to perform an operation according to the abnormality signal, the status signal, and the user signal. The control signal includes operation information indicating the operation to be executed by the working robot 30 and location information indicating the location of the abnormality. Details of the control signal generation process will be described later.
Next, the instruction unit 132 outputs the control signal generated in the control signal generation process to the work robot 30 via the communication unit 11 (step S116).
On the other hand, the motion control means 382 of the work robot 30 receives the control signal from the server 10 via the communication unit 31, and executes motion processing according to the motion included in the received control signal (step S117). In the motion processing, the motion control means 382 causes the work robot 30 to execute the motion included in the received control signal. Details of the operation processing will be described later.

The location where the abnormality occurred indicates the location where the input was made in the case of input by the input unit of the security operation unit 251, and indicates the corresponding location by image analysis when the abnormality is found in the image acquired by the imaging unit 252, as shown in FIG. In the case of abnormality detection by the intrusion sensor 253 as in the case of 2, the arrangement position of the intrusion sensor is indicated. Further, the location where the abnormality occurred indicates the location of the fire sensor when the fire sensor 254 detects a fire, and indicates the location where the equipment 410 is located when the equipment sensor 255 detects an abnormality. As will be described later, the security device 20 also outputs location information indicating the location of the occurrence of the abnormality together with the abnormality signal.

FIG. 4 is a flowchart showing an example of abnormal signal generation processing by the security device 20. As shown in FIG. The operation flow shown in FIG. 4 is executed in step S113 of the sequence diagram shown in FIG.

First, the abnormality monitoring means 232 identifies the type of the received abnormality detection signal or notification signal (step S201).
If the received signal is an anomaly detection signal indicating that an intrusion has occurred, the anomaly monitoring means 232 sets intrusion as the type information (step S202).
On the other hand, when the received signal is an emergency report signal, the abnormality monitoring means 232 sets emergency report as the type information (step S203).
On the other hand, if the received signal is an anomaly detection signal indicating that a fire has occurred, the anomaly monitoring means 232 sets fire as the type information (step S204).
On the other hand, if the received signal is an anomaly detection signal indicating that an equipment failure has occurred, the anomaly monitoring means 232 sets failure as type information (step S205).
On the other hand, when the received signal is an emergency call signal, the abnormality monitoring means 232 sets emergency call as the type information (step S206).
Next, the abnormality monitoring means 232 sets the location information included in each received signal as the location information included in the abnormality signal. An anomaly signal including the set type information and location information is generated (step S207), and the series of steps ends. If the received signal is an emergency call signal or emergency call signal, and if there is no anomaly occurrence location input from the input unit of the security operation unit 251, the anomaly monitoring means 232 detects the location included in the anomaly signal. Set blank for information.

FIG. 5 is a flowchart showing an example of control signal generation processing by the server 10. As shown in FIG. The operation flow shown in FIG. 5 is executed in step S115 in the sequence diagram shown in FIG.

First, the instruction unit 132 identifies the type of abnormality indicated by the type information included in the received abnormality signal (step S301).

If the type of abnormality is intrusion, the instruction unit 132 reads out the room presence information stored in the storage unit 12 in step S108 of FIG. 3, and determines whether or not the user is present in the security target (step S302). . If the user does not exist in the guard target, the instruction unit 132 sets, as the action information, the first coping action of moving to the location where the abnormality occurred without performing any work action (step S303). On the other hand, if there is a user to be guarded, the instruction unit 132 sets, as the action information, a second coping action of moving to the location where the abnormality occurred while performing the work action (step S304).
As a result, when an intruder invades and the user is not present, the security system 1 can direct the work robot 30 to the position of the intruder to deal with the intruder. On the other hand, when an intruder invades and if a user is present, the security system 1 makes the intruder think that the work robot 30 is working, thereby stimulating the intruder and notifying the user. It is possible to move the work robot 30 to the position of the intruder while suppressing harm.

On the other hand, if the type of abnormality is an emergency report, the instruction means 132 sets the second coping operation as the operation information (step S305). If the type of abnormality is an emergency report, the user who instructed the report must exist in the work area. Set the second countermeasure operation.

On the other hand, if the type of abnormality is a fire, the instruction means 132 reads out the room presence information stored in the storage unit 12 in step S108 of FIG. S306). When the user does not exist in the security object, the instruction unit 132 sets the first coping operation as the operation information (step S307). On the other hand, if there is a user to be guarded, the instruction unit 132 reads the information stored in the storage unit 12 in step S111 of FIG. 3, and determines whether or not the user is crowded (step S308). When the users are not crowded, the instruction unit 132 sets the first coping operation as the operation information (step S307). On the other hand, if the users are congested, the instruction unit 132 reads the information stored in the storage unit 12 in step S111 of FIG. 3, and determines whether or not the users move frequently (step S309). When the movement of the user is small, the instruction unit 132 sets the first coping operation as the operation information (step S307). On the other hand, when the user moves a lot, the instructing unit 132 sets the evacuation operation as the operation information (steps S310 to S314).

The retraction operation is an operation of retracting to a position away from the flow line of the user. and a third retraction motion in which the working robot 30 avoids and stops at the end of the passage. Note that the home position is a place where the working robot 30 waits when it is not working, and is located outside the line of flow of the user. Evacuation) can be prevented. In this way, as the retraction operation, the robot moves to a position out of the flow line of the user and stops so as not to hinder the movement of the user.

Here, even when moving to the evacuation destination, it is required to consider so as not to hinder the evacuation of the user. Therefore, the instruction means 132 calculates the distance between the current position of the work robot 30 and the position of the home position 460 in the security map 122 based on the current position information stored in the storage unit 12 in step S103 of FIG. Then, it is determined whether or not the calculated distance is less than a predetermined distance (step S310). If the calculated distance is less than the predetermined distance, the instructing unit 132 sets the first evacuation operation as the evacuation operation (step S311). On the other hand, if the distance between the current position and home position 460 is greater than or equal to the predetermined distance, instruction means 132 calculates the distance between the current position and evacuation position 420 in security map 122, and determines whether the calculated distance is less than the predetermined distance. (step S312). Here, if there are a plurality of evacuation positions 420, the distance between the evacuation position 420 closest to the working robot 30 and the current position is calculated. If the calculated distance is less than the predetermined distance, the instructing unit 132 sets the second evacuation operation as the evacuation operation (step S313). On the other hand, if the distance between the current position and the retraction position 420 is greater than or equal to the predetermined distance, the instructing means 132 sets the third retraction movement as the retraction movement (step S314).

As a result, the security system 1 can retract the working robot 30 to an appropriate location while minimizing movement of the working robot 30 according to the current position of the working robot 30 . Here, the retraction position in the third retraction operation is the end position of the passage closest to the current position (that is, the distance traveled by the working robot 30 is the shortest), or the passage width that can be specified from the environment map 371 and is greater than or equal to a predetermined width. An end position (that is, the working robot 30 is unlikely to interfere with evacuation) or the like is used. In this manner, the evacuation position is set in consideration of whether the work robot 30 needs to move to the evacuation position and whether the evacuation position is likely to hinder evacuation. In addition, a passage with a width less than a predetermined width or within a predetermined range from an exit may be excluded from the evacuation position because users who have evacuated tend to congregate there or interfere with evacuation.
In the present invention, the second retraction motion of moving to the predetermined retraction position 420 and stopping, and the third retraction motion of avoiding the end of the path and stopping the work robot 30 are regarded as movement to the predetermined retraction position. may be handled.
One or both of steps S308 and S309 may be omitted.

In this way, the instruction means 132 executes the coping operation of moving to the location where the abnormality occurs when it is determined by the state signal that the user is not present, and the state signal indicates that the user is present. When determined, the working robot 30 is controlled so as to execute the evacuation operation. As a result, the security system 1 prevents the working robot 30 from interfering with the evacuation of the user in the event of a disaster, and moves the working robot 30 to the location where the abnormality occurs when the user is not present. It can be moved to respond appropriately to disasters.
In particular, even if there are users present, the instruction means 132 executes coping operations when it is determined by the user signal that the users are not crowded or that the movement of the users is small. The working robot 30 is controlled so that the As a result, even if a user is present, the security system 1 moves the working robot 30 to the location where the abnormality occurred, if the working robot 30 does not hinder the evacuation of the user, and prevents a disaster. can be appropriately addressed.
On the other hand, when the instruction means 132 determines from the user signal that the users are congested or the users move a lot, the instruction means 132 controls the working robot 30 so as to execute the evacuation operation. In particular, the instruction means 132 causes the working robot 30 to move to the home position 460, the retreating position 420, or the end of the path and stop according to its current position in the evacuation operation. Control. As a result, the security system 1 can prevent the work robot 30 from interfering with the evacuation of the user, especially when the traffic of the user is large.

On the other hand, if the type of abnormality is a failure, the instruction unit 132 sets work continuation operation as operation information (step S315).
On the other hand, if the type of abnormality is an emergency call, the instruction unit 132 sets the first coping operation as the operation information (step S316).
Next, the instruction means 132 sets the location information included in the received abnormal signal as the location information included in the control signal, generates a control signal including the set operation information and location information (step S317), step.
Thus, the instruction means 132 controls the working robot 30 according to the abnormality signal and the status signal received from the security device 20 .

FIG. 6 is a flowchart showing an example of operation processing by the working robot 30. As shown in FIG. The operation flow shown in FIG. 6 is executed in step S117 in the sequence diagram shown in FIG.

First, the motion control means 382 identifies the type of motion indicated by the motion information included in the received control signal (step S401).
If the identified action is the first coping action, the action control means 382 controls the traveling section 34 and the working section 35 to execute the first coping action (step S402), and ends the series of steps. The operation control means 382 stops the operation of the working unit 35, calculates the shortest route from the current position of the working robot 30 to the location of the abnormality indicated by the location information included in the control signal from the environment map 371, and calculates the calculated route. control the running portion 34 and the working portion 35 to move through the .
On the other hand, if the specified action is the second coping action, the action control means 382 controls the traveling section 34 and the working section 35 to execute the second coping action (step S403), and ends the series of steps. . The operation control means 382 continues the operation of the working unit 35, calculates the shortest route from the current position of the working robot 30 to the location of the abnormality indicated by the location information included in the control signal from the environment map 371, and calculates the calculated route. control the running portion 34 and the working portion 35 to move through the .
In these cases, the work robot 30 may transmit an image of the abnormal location captured by the imaging unit 32 to the server 10, the security device 20, etc. after arriving at the abnormal location (imaging means). Thereby, the security system 1 can notify the administrator of the situation of the location where the abnormality occurred.

On the other hand, if the identified action is a retraction action, the motion control means 382 controls the traveling section 34 and the working section 35 to interrupt the work and execute the retraction action (steps S404 to S406), and a series of steps exit. In this case, the operation control means 382 terminates the operation of the working section 35 . When the first retraction motion is set as the retraction motion, the motion control means 382 calculates the shortest route from the current position of the work robot 30 to the home position 460 from the environment map 371, and moves along the calculated route. The traveling part 34 and the working part 35 are controlled so that they are stopped by pressing. On the other hand, when the second retraction motion is set as the retraction motion, the motion control means 382 calculates the shortest route from the current position of the work robot 30 to the retraction position 420 from the environment map 371, and follows the calculated route. The traveling part 34 and the working part 35 are controlled to move and stop. Also, when the third retraction motion is set as the retraction motion, the motion control means 382 detects the wall 102 or partition 440 closest to the work robot 30 based on the current position information and the environment map 371 . The motion control means 382 controls the traveling part 34 and the working part 35 so as to avoid the edge of the passage and stop by moving to the detected position at the shortest distance.
On the other hand, if the specified action is to continue the work, the action control means 382 controls the traveling section 34 and the working section 35 to continue the work in progress (step S407), and terminates the series of steps.

The route along which the work robot 30 moves may be calculated by the server 10 based on the security map 122 and instructed by a control signal. In that case, the operation control means 382 controls the traveling section 34 to move along the route included in the control signal.

In the office 100 shown in FIG. 2, for example, when the intrusion sensor 253 detects an intruder at the abnormal location 480, the work robot 30 receives a control signal from the server 10 instructing the first coping operation or the second coping operation. Received and moved to anomaly location 480 through path 482 . On the other hand, the work robot 30 moves to the evacuation position 420 along the path 483 when receiving the control signal instructing the second evacuation operation from the server 10 .

As described above, in the security system 1 according to the present invention, when an emergency such as a fire occurs, the presence or absence of a user in the work area of the working robot 30, the congestion status of the work area, Depending on the movement status of the user, the working robot 30 is evacuated and stopped so as not to hinder the evacuation of the user, or is moved to the location where the abnormality occurs if there is little risk of hindering the evacuation of the user. It is possible to make them respond appropriately to disasters that occur. Further, in the security system 1, depending on the positional relationship between the current position of the working robot 30 and the evacuation position 420 or the home position 460, the working robot 30 can be returned to the home position or retreated to the prescribed evacuation position 420 or the end of the passage. Since it is stopped by pressing, it is possible to suppress it so as not to hinder the evacuation of the user. In this manner, the security system 1 can operate the working robot 30 differently depending on the user's situation and the position of the working robot 30, particularly when an abnormality in disaster prevention occurs. Appropriate response becomes possible.

Although preferred embodiments of the present invention have been described above, the present invention is not limited to these embodiments.
For example, the security system 1 disperses and arranges a plurality of servers 10 on a network so that services can be provided in the form of cloud computing, and each server 10 cooperates to perform each process shown in FIG. may be shared. In particular, the security system 1 is provided with a server 10 that manages the security device 20 and a server 10 that controls the work robot 30 separately, and the servers 10 cooperate with each other to manage the security device 20 and the work robot 30. You may

In the above-described embodiment, the security system 1 includes the server 10 , the security device 20 and the work robot 30 , and the server 10 , which is communicatively connected between the security device 20 and the work robot 30 , receives an error message from the security device 20 . A control signal was generated based on a signal, a state signal, a user signal, etc., and the generated control signal was transmitted to the working robot 30 to control the working robot 30 . However, the security device 20 and the working robot 30 may be directly connected for communication and transmit/receive an abnormality signal, a control signal, and the like without going through the server 10 . In this case, the security device 20 or the work robot 30 may implement all of the functions related to the generation of control signals and the like in the server 10 of the above embodiment, and the security device 20 may implement a part of the functions and implement the other functions. A working robot 30 may be realized.

FIG. 7 is a diagram showing the configuration of a security system 2 according to another embodiment of the invention. The same names are used for the components corresponding to those of the security system 1 of the above embodiment, and the points different from the security system 1 of the above embodiment will be mainly described below.
In this embodiment, the security system 2 includes a security device 20-2 and a work robot 30-2 that are wirelessly connected to each other. 2 are all realized.

The communication unit 21-2 of the security device 20-2 and the communication unit 31-2 of the work robot 30-2 are compatible short-range wireless communication standards such as IEEE802.11, Bluetooth (registered trademark), specified low-power radio, and the like. It has a communication interface circuit conforming to A communication unit 21-2 and a communication unit 31-2 are a transmission unit and a reception unit that connect communication between the security device 20-2 and the work robot 30-2 to transmit and receive various signals.
Storage unit 22-2 of security device 20-2 stores schedule information 221-2 and security map 222-2.
The controller 23-2 of the security device 20-2 has an acquisition means 233-2 and an instruction means 234-2 in addition to the state monitoring means 231-2 and the abnormality monitoring means 232-2.

In the security system 2, in step S100 of the operation sequence shown in FIG. 3, the instruction means 234-2 of the security device 20-2 transmits a start signal to the work robot 30-2 via the communication section 21-2.
Further, in step S102, the position monitoring means 381-2 of the work robot 30-2 outputs the current position signal to the security device 20-2 via the communication unit 31-2, and in step S103, the security device 20-2 Acquisition means 233-2 stores the current position of working robot 30-2 in storage unit 22-2. Further, in step S104, the instructing means 234-2 determines the action to be executed by the working robot 30-2, and transmits an action signal to the working robot 30-2 via the communication section 21-2.
In step S107, the state monitoring means 231-2 of the security device 20-2 determines whether or not a user is present in the security target without outputting a state signal, and stores the information in the storage unit 22 as presence information. -2.
Further, in step S110, the state monitoring means 231-2 checks whether or not the users are congested and/or whether or not the users move a lot without outputting a user signal. -2. Further, in step S106, it may be determined whether or not the user is present in the security target from the information or the image of the room entry instruction and the exit instruction.
Further, in step S114, the abnormality monitoring means 232-2 outputs an abnormality signal to the instruction means 132, and in steps S115 and S116, the instruction means 234-2 executes control signal generation processing to transmit the control signal to the communication unit 21. -2 to the work robot 30-2.

That is, in the security system 2, when the security device 20-2 detects an abnormality, it generates a control signal for controlling the work robot 30-2 according to the detection result of the state detection unit, detects the abnormality, and The work robot 30-2 is controlled according to the user's detection.
Further, in the security system 2, the route along which the work robot 30-2 moves may be calculated by the security device 20-2 and instructed by a control signal. In that case, the motion control means 382-2 controls the traveling section 34-2 to move along the route included in the control signal.

FIG. 8 is a diagram showing the configuration of security system 3 according to still another embodiment of the present invention. In this embodiment, similarly to the security system 2, the security system 3 has a security device 20-3 and a working robot 30-3 that are wirelessly connected to each other. In this embodiment, the work robot 30-3 implements all the functions related to the control signal of the server 10 in the above embodiment.

The communication unit 21-3 of the security device 20-3 and the communication unit 31-3 of the work robot 30-3 have communication interface circuits conforming to the corresponding short-range wireless communication standards. A transmitting unit and a receiving unit that communicate with the work robot 30-3 to transmit and receive various signals.
The storage unit 37-3 of the work robot 30-3 stores the schedule information 372-3 and the security map 373-3 in addition to the environment map 371-3.
The control unit 38-3 of the work robot 30 has an acquisition means 383-3 and an instruction means 384-3 in addition to the position monitoring means 381-3 and the motion control means 382-3.

In the security system 3, in step S100 of the operation sequence shown in FIG. 3, the operation control means 382-3 of the working robot 30-3 spontaneously starts working operation based on the schedule information 372-3.
Further, in step S102, the position monitoring means 381-3 of the work robot 30-3 does not output the current position signal, and in step S103, the current position of the work robot 30-3 is used as current position information in the storage unit 37-3. Store in 3. Further, in step S104, the instructing means 384-3 determines the action to be performed based on the content of the work action being performed and the current position of the working robot 30, and executes the decided action.
Further, in step S107, the state monitoring means 231-3 of the security device 20-3 outputs a state signal to the work robot 30-3 via the communication unit 21-3, and in step S108, the work robot 30-3 Acquisition means 383-3 determines whether or not there is a user in the guarded object, and stores it in storage unit 37-3 as room presence information.
Further, in step S110, the state monitoring means 231-3 outputs the user signal to the working robot 30-3 via the communication section 21-3, and in step S111, the obtaining means 383- 3 stores in the storage unit 37-3 whether or not the users are crowded and/or whether or not the users move a lot.
Also, in step S114, the abnormality monitoring means 232-3 outputs an abnormality signal to the working robot 30-3 via the communication section 21-3. In steps S115 and S116, the instruction means 384-3 of the work robot 30-3 executes control signal generation processing and outputs a control signal to the motion control means 382-3.
That is, in this case, when the communication unit 31-3 receives the abnormality signal, the status signal, and the user signal, the work robot 30-3 performs an operation corresponding to the abnormality signal, the status signal, and the user signal. Controls the operating mechanism.

As with the security system 1, the security systems 2 and 3 can control the operation of the work robots 30-2 and 30-3 according to the presence or absence of a user when an abnormality occurs. Appropriate handling becomes possible.

As described above, various modifications can be made within the scope of the present invention according to the embodiment.

1 security system 10 server 11 communication unit (transmitting unit) 13 control unit 20 security device 23 control unit (state detection unit) 30 working robot 31 communication unit (receiving unit) 34 traveling unit (operation mechanism) , 35 work unit (operation mechanism), 38 control unit, 251 security operation unit (abnormality detection unit), 253 intrusion sensor (abnormality detection unit), 254 fire sensor (abnormality detection unit), 255 equipment sensor (abnormality detection unit)

Claims (8)

a working robot capable of autonomous movement within a facility and capable of executing at least a work action of performing a predetermined work and an evacuation action of retreating from a flow line of users of the facility;
A security system including a security device that detects an abnormality related to disaster prevention and outputs an anomaly signal,
When the security device outputs the abnormal signal during execution of the work motion, the working robot interrupts or ends the work motion and executes the evacuation motion.
A security system characterized by: 2. The security system according to claim 1, wherein said evacuation operation includes an operation of stopping said working robot at a position avoiding said user's flow line or an operation of returning said working robot to its home position. The working robot is
Get current location information,
As the retraction operation, either an operation of stopping at a position avoiding the flow line of the user or an operation of returning to the home position according to the positional relationship between the current position information and the home position. 3. The security system of claim 2, performing The working robot acquires current position information,
The position avoiding the user's flow line includes an end position of the passage and a retreat position preset at a position away from the passage,
If the distance from the current position of the working robot to the retracted position is less than a predetermined distance, the retracted position is set as a position that avoids the flow line of the user. 4. Security system according to claim 2 or 3, which sets an end position. The security device comprises storage means for storing whether or not a user exists in the security target,
When the abnormality is detected and the user is present, the working robot executes the evacuation operation, and when the user is not present, executes the operation of moving to the location where the abnormality occurred. A security system according to any one of claims 1-4. A working robot capable of moving autonomously within a facility and capable of performing at least a work action to perform a predetermined work and an evacuation action to evacuate from the flow line of users of the facility; A server communicably connected to a security device that outputs an abnormal signal,
a control unit that, when receiving the abnormal signal from the security device, interrupts or terminates the work operation being performed by the work robot and generates a control signal for executing the evacuation operation;
a transmitter for transmitting the control signal to the working robot;
A server characterized by having: A security device that is communicatively connected to a working robot capable of autonomous movement within a facility and capable of performing at least a work action of performing a predetermined work and an evacuation action of evacuating from the flow line of users of the facility. hand,
a detection unit for detecting anomalies related to disaster prevention;
a control unit that generates a control signal for interrupting or terminating the work operation being performed by the working robot and executing the evacuation operation when an abnormality related to disaster prevention is detected;
a transmission unit for transmitting the control signal to the working robot;
A security device characterized by: It is capable of autonomous movement within the facility, capable of executing at least a work action of performing a predetermined work and an evacuation action of evacuating from the flow line of users of the facility, and detecting an abnormality related to disaster prevention and issuing an anomaly signal. A working robot communicably connected to an output security device,
a receiving unit for receiving the abnormal signal from the security device;
an operating mechanism for operating the working robot;
a control unit that controls the operating mechanism to interrupt or terminate the work operation being performed and perform the evacuation operation when the receiving unit receives the abnormal signal;
A work robot characterized by:

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