Patent Publication Number: US-2021178594-A1

Title: Robot, Action Detection Server, and Action Detection System

Description:
TECHNICAL FIELD 
     The present invention relates to a robot that cooperates with a plurality of sensors provided in a room, an action detection server that cooperates with the sensors and the robot, and an action detection system including the sensors, the robot, and the action detection server. 
     BACKGROUND ART 
     There is a conventional technique to manage a sensor for efficiently grasping the location and state of a user in order to grasp the activity of the user and to control an appliance in accordance with the state of each user. The technique disclosed in PTL 1 is such kind of technique. The abstract of PTL 1 describes that “There is provided a management server  20  connected with a plurality of sensors  10 . A control unit  21  in the management server  20  detects a human on the basis of sensor information acquired from the sensors  10  and executes recording processing of whereabouts in an individual information storage unit  25 . Further, the control unit  21  executes state detection processing, used device detection processing, and used amount recording processing in the individual information storage unit  25 . Then, the control unit  21  executes the tracking processing of a human. In the case of having determined that a user is identifiable, the control unit  21  executes recording processing of user information in the individual information storage unit  25 .” 
     CITATION LIST 
     Patent Literature 
     PTL 1: JP 2015-146514 A 
     SUMMARY OF INVENTION 
     Technical Problem 
     In a system that detects human actions by a sensor provided in a room, the sensor sometimes malfunctions due to an operation of an appliance provided in the room. Furthermore, in such system, when the appliance provided in the room moves in the room, the sensor sometimes malfunctions and transmits erroneous detection information. 
     For example, in a system that detects human actions with a motion detector provided in a room, when the user goes out with the window open and wind blows in from outside the window, the detector may malfunction due to the movement of the curtain induced by the wind. On the other hand, in the case where a plurality of cameras are provided in the room in order to prevent the malfunction described above, problems arise from the points of view of ensuring privacy, introduction cost, operation cost, and the like. 
     The present invention is made for the problem described above, and its object is to provide an action detection system capable of ensuring privacy of a user while preventing transmission of erroneous information caused by malfunction of a sensor. 
     Solution to Problem 
     In order to solve the problem described above, an action detection system according to the present invention is built with a plurality of sensor devices including a first sensor that detects information and a first communication means for transmitting information, and provided in anywhere in a room, a robot including a second sensor that detects information, a second communication means for transmitting and receiving information, and a movement means capable of moving in the room, and a server including a third communication means for transmitting and receiving information, the server that detects a state on the basis of detection information of the first sensor included in the plurality of sensor devices and detection information of the second sensor included in the robot. 
     Other means will be described in Description of Embodiments. 
     Advantageous Effects of Invention 
     According to the present invention, it is possible to ensure privacy of a user while preventing transmission of erroneous information caused by malfunction of a sensor. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG. 1  is a schematic view illustrating a configuration of an action detection system in a first embodiment. 
         FIG. 2  is a view illustrating a habitable room in which the detection system of the first embodiment is installed. 
         FIG. 3  is a view illustrating an example of sensor installation information (SI). 
         FIG. 4  is a view illustrating an example of event information (EI). 
         FIG. 5  is a view illustrating a habitable room in a sensor installation information (SI) mode. 
         FIG. 6  is a graph illustrating sensor information (GI). 
         FIG. 7  is a flowchart illustrating processing of a sensor information creation mode. 
         FIG. 8  is a flowchart illustrating processing of the sensor installation information mode. 
         FIG. 9  is a view illustrating a habitable room in an event information mode. 
         FIG. 10  is a graph illustrating sensor information (GI) in the event information mode. 
         FIG. 11  is a flowchart illustrating processing of the event information mode. 
         FIG. 12  is a graph to which only event information is extracted. 
         FIG. 13  is a flowchart illustrating processing in the event information mode when a mobile robot is not activated. 
         FIG. 14  is a flowchart illustrating processing in the event information mode when the mobile robot is activated. 
         FIG. 15  is a view illustrating a habitable room at the time of abnormality detection. 
         FIG. 16  is a graph to which missing event information is extracted. 
         FIG. 17  is a flowchart illustrating processing of an abnormality detection mode. 
         FIG. 18  is a schematic view illustrating the configuration of the action detection system in a second embodiment. 
         FIG. 19  is a view illustrating a habitable room in which the detection system of the second embodiment is installed. 
         FIG. 20  is a view illustrating an example of home appliance installation information (HI). 
         FIG. 21  is a view illustrating an example of event information (EI). 
         FIG. 22  is a graph of home appliance information detected by the robot. 
         FIG. 23  is a flowchart illustrating processing of a home appliance installation information mode. 
         FIG. 24  is a flowchart illustrating processing in the event information mode when the mobile robot is not activated. 
         FIG. 25  is a flowchart illustrating processing in the event information mode when the mobile robot is activated. 
     
    
    
     DESCRIPTION OF EMBODIMENTS 
     First Embodiment 
     An action detection system S of the first embodiment will be described below with reference to  FIGS. 1 to 18 . 
       FIG. 1  is a schematic view illustrating the configuration of the action detection system S. 
     As illustrated in  FIG. 1 , the action detection system S is configured to include a plurality of sensor devices  1 , a mobile robot  2 , a power feed device  3 , and an action detection server  4 . 
     The sensor device  1  is provided in a room, senses information, and transmits the information to the outside by a communication unit  14 . The mobile robot  2  is a robot having a detection unit  22 , a mechanism unit  23 , and the like, and capable of moving in the room. The mobile robot  2  is a robot having a cleaning function, for example, but it is not limited to this. It may be a pet robot or a security robot, and is not limited. 
     The power feed device  3  supplies power to the mobile robot  2 . A control unit  41  of the action detection server  4  has a communication unit  44  that communicates with the plurality of sensor devices  1  and the mobile robot  2 . On the basis of detection information of those connected sensor devices  1  and the mobile robot  2 , actions and/or the state of a mobile body such as a human, an animal, or another robot device are detected. 
     The plurality of sensor devices  1  include a control unit  11 , a detection unit  12  (first sensor), a storage unit  13 , a communication unit  14  (first communication means), and a power supply unit  15 , and the plurality of sensor devices  1  are installed in a habitable room  9  illustrated in  FIG. 2 . 
     The power supply unit  15  activates the sensor device  1  and supplies power to each unit. The communication unit  14  is a wireless or wired communication module and transmits detection information of the sensor device  1  and a unique ID (IDentifier) of the sensor device  1  to the action detection server  4 . The storage unit  13  is, for example, a read only memory (ROM) or a flash memory, and stores a unique ID of the sensor device  1  and the like. The detection unit  12  functions as a first sensor that detects indoor information. The detection unit  12  is a motion detector that detects a human and the like by, for example, infrared rays or ultrasonic waves, and the detection unit  12  can detect a mobile body such as a human and a mobile robot. The control unit  11  controls the operation of the detection unit  12 . 
     The mobile robot  2  includes a power supply unit  25 , the mechanism unit  23  (movement means), the detection unit  22  (second sensor), a control unit  21 , a storage unit  24 , a communication unit  27  (second communication means), and an operation unit  26 . The mobile robot  2  includes a secondary battery (not illustrated) in the power supply unit  25 , and operates by charging the secondary battery with the power feed device  3 . 
     The power supply unit  25  activates the mobile robot  2  and supplies power to each unit of the mobile robot  2 . The mechanism unit  23  is for moving in the room and is composed of, for example, a motor and wheels. The mechanism unit  23  functions as a movement means movable inside the habitable room  9 . 
     The detection unit  22  functions as a second sensor that detects indoor information. The detection unit  22  is a group of sensors for detecting the position of the mobile robot  2  and detecting the action of a mobile body such as a human and an animal. The control unit  21  is, for example, a central processing unit (CPU) that analyzes detection information of the detection unit  22 , and controls the operation of the mobile robot  2  on the basis of the analyzed information. The storage unit  24  is, for example, a random access memory (RAM) or a flash memory, and stores information analyzed by the control unit  21 . The communication unit  27  is a communication module of Wi-Fi (registered trademark), for example, and transmits and receives information between the control unit  21  and the action detection server  4 . The operation unit  26  is a switch, a button, or the like for the user to operate the mobile robot  2 . 
     The power feed device  3  supplies power to the mobile robot  2 . The power feed device  3  includes a detection unit  31  and a communication unit  32 . The detection unit  31  is a sensor that detects the position of the mobile robot  2 . The communication unit  32  is a communication module of Wi-Fi (registered trademark), for example, and transmits and receives information between the control unit  21  and the action detection server  4 . 
     It is to be noted that the detection unit  22  of the mobile robot  2  is configured to include a group of sensors such as infrared, ultrasonic, laser, acceleration, camera, and voice recognition, and a group of sensors that detect the operation of the mechanism unit  23 . The detection unit  22  is a detection means including a position sensor for detecting geometric information of a space in which the mobile robot  2  itself has moved. This allows the mobile robot  2  to move in the room. The control unit  21  can recognize its self position by using operation information of the mechanism unit  23  and detection information of the group of sensors. As a result, the control unit  21  of the mobile robot  2  causes the detection unit  22  to analyze the geometric information of the habitable room  9  and causes the storage unit  24  to store the analyzed geometric information (living space map). This allows the control unit  21  to recognize the position of the mobile robot  2  itself. When the communication unit  27  receives destination information (geometric information), the mobile robot  2  can move to the destination. 
     The control unit  21  of the mobile robot  2  can transmit spatial information (GI) of its self position to the action detection server  4  via the communication unit  27 . Furthermore, the control unit  21  of the mobile robot  2  also includes a recognition means for causing the detection unit  22  to recognize, using an image and a voice, actions of the mobile body such as a human and an animal. This allows the control unit  21  of the mobile robot  2  to transmit the information on the state of the mobile body having been detected to the action detection server  4  via the communication unit  27 . Upon receiving information on the state, the control unit  41  of the action detection server  4  can transmit the information on the state to the outside via an external communication unit  45 . 
     The action detection server  4  is configured to include the control unit  41 , a storage unit  42 , a timer  43 , the communication unit  44  (third communication means), and the external communication unit  45 . The communication unit  44  is a communication module of Wi-Fi (registered trademark), for example, and receives information transmitted from the sensor device  1  and the mobile robot  2 , and transmits information to the mobile robot  2 . The communication unit  44  functions as the third communication means capable of communicating with the plurality of sensor devices  1  provided in the room and the mobile robot  2 . 
     The external communication unit  45  is, for example, a network interface card (NIC), and transmits/receives information to/from an external network other than the network built with the sensor device  1  and the mobile robot  2 . The control unit  41  analyzes information received from the sensor device  1 , the mobile robot  2 , and the external communication unit  45 , and controls the mobile robot  2  on the basis of the analysis result. The control unit  41  functions as a control means for detecting actions of a mobile body on the basis of sensor information (first detection information) detected by the plurality of sensor devices  1  and information (second detection information) detected by the detection unit  22  of the mobile robot  2 . 
     The storage unit  42  stores input information from the external communication unit  45  and control information of the control unit  41 . The storage unit  42  is a storage means for storing sensor position information indicating the positions where the plurality of sensor devices  1  are installed, and the correspondence relationship between geometric information of the space where the mobile robot  2  has moved and information on the positions where the plurality of sensor devices  1  are provided. The control unit  41  stores, in the storage unit  42 , a position where each sensor device  1  is provided, as position information expressed by a coordinate system of the space that the mobile robot  2  has detected by the position sensor. The timer  43  recognizes the occurrence time point of an event. 
     It is to be noted that each function of the action detection server  4  may be incorporated in the mobile robot  2  or the sensor device  1 . 
       FIG. 2  is a view illustrating the habitable room  9  in which the action detection system S of the first embodiment is installed. 
     While the habitable room  9  is a room of a home or the like, it may be a company office, a warehouse or the like and is not limited. In the habitable room  9 , seven sensor devices  1 - 1  to  1 - 7  and the power feed device  3  are installed, and the mobile robot  2  circulates along the route indicated by the thick arrow. The positions of the mobile robot  2  and a human at each event time point Et 1  to Et 8  are illustrated on the route of the thick arrow. 
     In the habitable room  9 , the sensor devices  1 - 7 ,  1 - 1 , and  1 - 2  are installed in a living room, and the power feed device  3  is installed in the vicinity of the sensor device  1 - 7 . Furthermore, the sensor device  1 - 3  is installed in a kitchen, and the sensor device  1 - 4  is installed in a dining room in the back of the kitchen. The sensor device  1 - 5  is installed in a corridor down stairs, and the sensor device  1 - 6  is installed in an entrance. It is to be noted that each sensor device  1 - 1  to  1 - 7  is simply referred to as the sensor device  1  when they are not particularly distinguished. 
     The sensor device  1 - 7  is given NS 7  as a unique ID. A feature space NR 7 , which is a detection range of the sensor device  1 - 7 , is the left side of a living room as indicated by the broken line. 
     The sensor device  1 - 1  is given NS 1  as a unique ID. A feature space NR 1 , which is a detection range of the sensor device  1 - 1 , is the right side of the living room as indicated by the broken line. 
     The sensor device  1 - 2  is given NS 2  as a unique ID. A feature space NR 2 , which is a detection range of the sensor device  1 - 2 , is the right side of the living room as indicated by the broken line. 
     The sensor device  1 - 3  is given NS 3  as a unique ID. A feature space NR 3 , which is a detection range of the sensor device  1 - 2 , is the kitchen as indicated by the broken line. 
     The sensor device  1 - 4  is given NS 4  as a unique ID. A feature space NR 4 , which is a detection range of the sensor device  1 - 4 , is the dining room as indicated by the broken line. 
     The sensor device  1 - 5  is given NS 5  as a unique ID. A feature space NR 5 , which is a detection range of the sensor device  1 - 5 , is the corridor as indicated by the broken line. 
     The sensor device  1 - 6  is given NS 6  as a unique ID. A feature space NR 6 , which is a detection range of the sensor device  1 - 6 , is the entrance as indicated by the broken line. 
     Due to the above, the plurality of sensor devices  1 - 1  to  1 - 7  installed in the habitable room  9  can transmit, to the action detection server  4 , information in which the unique ID (NS) of each sensor device  1  is given to detection information (SD) of the sensor device  1 . 
       FIG. 3  is a view illustrating an example of sensor installation information (SI). 
     The action detection server  4  is provided with the storage unit  42 . The storage unit  42  stores, in advance, sensor installation information (SI) indicating the relationship between the individual ID (NR 1  to NR 7 ) for the feature spaces of the habitable room  9  and the unique ID (NS) of the installed sensor device  1 . 
     To the sensor installation information (SI), geometric information (GI) related to detection area information (RS) can be additionally stored. Furthermore, since the control unit  41  of the action detection server  4  is provided with the timer  43 , the time point when data (NSi, SDi) of the sensor devices  1  are received can be additionally stored as the event occurrence time point (Et). 
       FIG. 4  is a view illustrating an example of event information (EI). 
     The event information (EI) illustrated in  FIG. 4  can be stored and held as data related to detection of human actions. The event information (EI) is managed as data for each sensor unique ID (NS). The event information (EI) is configured by storing and holding the ID (NRj) for each feature space of the habitable room  9 , data (SD) of each sensor device  1 , and the event occurrence time point (Et). It is to be noted that as illustrated in  FIG. 3 , the feature space (NR) and the sensor ID (NS) may not correspond to each other in a one-to-one relationship. 
     The addition of the spatial information (GI) to the sensor installation information (SI) will be described with reference to the flowcharts of  FIGS. 7 and 8 .  FIG. 5  illustrates an outline of the operations of the sensor device  1  and the mobile robot  2  at the time of generation of the sensor installation information.  FIG. 6  illustrates detection information of each sensor (NSi) for each time series. As illustrated in  FIGS. 5 and 6 , when the action detection server  4  receives a sensor installation information creation mode via the external communication unit  45 , the control unit  41  of the action detection server  4  sets a sensor installation information flag Sf. When the sensor installation information flag Sf is set, the control unit  41  of the action detection server  4  transmits an activation signal to the mobile robot  2 , and after the mobile robot  2  is activated, the control unit  41  stands by in a state of receiving responses of the sensor device  1  and the mobile robot  2 . 
     As illustrated in  FIG. 5 , in accordance with the operation of the mobile robot  2 , the sensor device  1 - 7  (NS 7 ), the sensor device  1 - 1  (NS 1 ), . . . , the sensor device  1 - 6  (NS 6 ), and the sensor device  1 - 7  (NS 7 ) sequentially react. 
     As illustrated in  FIG. 6 , the control unit  41  of the action detection server  4  receives the sensor detection data (NSi, SDi) in accordance with the reaction of each sensor device  1 . At the time of reception of the sensor detection data (NSi, SDi), the control unit  41  acquires the event occurrence time point (Et) from the timer  43  and requests the mobile robot  2  to transmit its self position. 
     The mobile robot  2  is provided with the detection unit  22  that detects the position with respect to the power feed device  3 , and can recognize its self position in the coordinate system illustrated in  FIG. 5 . In the control unit  21  of the mobile robot  2  upon receiving this request, the detection unit  22  measures coordinates (X, Y) with the power feed device  3  as the origin and an absolute distance R between the mobile robot  2  and the power feed device  3 . Thereafter, the control unit  21  responds the measured coordinates (X, Y) and the absolute distance R to the action detection server  4 . 
     As illustrated in  FIG. 7 , the control unit  41  of the action detection server  4  identifies the unique ID of the sensor device  1  that has detected the data from the received sensor detection data (NSi, SDi). The control unit  41  reads detection area coordinate information of the sensor device  1  corresponding to the sensor unique ID in the sensor installation information (SI). The detection area coordinate information includes a minimum value Rmin and a maximum value Rmax of the absolute distance R, a minimum value Xmin and a maximum value Xmax of the coordinate X, and a minimum value Ymin and a maximum value Ymax of the coordinate Y. 
     The control unit  41  compares the detection area information having been read with coordinate data (GI (R, X, Y)) received from the mobile robot  2  (S 10 ). The control unit  41  determines whether or not the following expressions (1) and (2) are established, and confirms the reaction range (S 11 ). The control unit  41  updates the detection area information (Rmax, Rmin, Xmin, Xmax, Ymax, Ymin) and gives geometric information to the sensor installation information (SI) (S 12 ). 
       [Expression 1] 
       | R−R   max |&gt;ε  (1)
 
       [Expression 2] 
       | R−R   min |&gt;ε  (2)
 
     As described above, by associating the detection information of the sensor device  1  with the coordinate information, the detection area of each sensor device  1  can be associated with the spatial coordinates of a living space map (LS) generated by the mobile robot  2 . 
       FIG. 8  is a flowchart illustrating the processing of the sensor installation information (GI) mode. 
     In the sensor installation information mode, processing is performed as follows. After receiving the sensor installation mode, the control unit  41  of the action detection server  4  sets the sensor installation information flag Sf (S 40 ). 
     In Step S 41 , the control unit  41  of the action detection server  4  determines whether or not the mobile robot  2  is in a power feed state. If determining that the mobile robot  2  is in the power feed state (Yes), the control unit  41  of the action detection server  4  proceeds to the processing of Step S 43 , and if determining that the mobile robot  2  is activated (No), the control unit  41  proceeds to the processing of Step S 42 . 
     In Step S 42 , the control unit  41  of the action detection server  4  commands the mobile robot  2  to move to the power feed position, and the process returns to Step S 41 . Thus, the control unit  41  stands by until the mobile robot  2  becomes in the power feed state. 
     In Step S 43 , the control unit  41  of the action detection server  4  acquires the event occurrence time point (Et) by the timer  43 , and acquires the sensor detection data (NSi, SDi) from each sensor device  1 . The control unit  41  holds the acquired sensor data as (Et, NSi, SDi) and proceeds to the processing of Step S 44 . 
     In Step S 44 , the control unit  41  of the action detection server  4  requests the spatial information from the mobile robot  2 , acquires the spatial information (GI (R, X, Y)) from the mobile robot  2 , and proceeds to the processing of Step S 45 . 
     In Step S 45 , the control unit  41  of the action detection server  4  calls the sensor installation information of the sensor ID (NSi) that is the detection target, and proceeds to the processing of Step S 451 . 
     In Step S 451 , the control unit  41  of the action detection server  4  reads the detection area information (RS), and then proceeds to the processing of Step S 46 . The detection area information (RS) includes information of (Rmax, Rmin, Xmin, Xmax, Ymax, Ymin). 
     In Step S 46 , the control unit  41  of the action detection server  4  determines whether or not a detection value has been input and stored in the detection area information (RS). If the detection area information (RS) does not exist (No), the control unit  41  proceeds to the processing of Step S 48 . If the detection value is stored in the detection area information (RS) (Yes), the control unit  41  proceeds to the processing of Step S 47 . 
     In Step S 47 , the control unit  41  of the action detection server  4  compares the detection area information (RS) with the spatial information (GI, (R, X, Y)). The control unit  41  checks whether the position information (GI, (R, X, Y)) of the mobile robot  2  is within the range of the detection area information (RS), i.e., within the past geometric information range. If it is not within the past geometric information range (No), the control unit  41  of the action detection server  4  proceeds to the processing of Step S 48 . If it is within the past geometric information range, the control unit  41  of the action detection server  4  proceeds to the processing of Step S 50 . 
     In Step S 48 , the control unit  41  of the action detection server  4  updates data by replacing the stored detection area information (RS) with the spatial information (GI (R, X, Y)) from the mobile robot  2 , and proceeds to the processing of Step S 49 . 
     In Step S 49 , the control unit  41  of the action detection server  4  integrates and calculates the area of the search area, and proceeds to the processing of Step S 50 . 
     In Step S 50 , the control unit  41  of the action detection server  4  evaluates whether the integrated value of the search area matches the total area of the search space. If the integrated value of the search area matches the total area of the search space (Yes), the control unit  41  of the action detection server  4  proceeds to the processing of Step S 51 . If the integrated value of the search area does not match the total area of the search space (No), the control unit  41  of the action detection server  4  returns to the processing of Step S 41 . 
     In Step S 51 , the control unit  41  of the action detection server  4  clears the sensor installation information flag Sf, and ends the sensor installation information mode. 
     By using the above-described sensor installation information (SI), the control unit  41  of the action detection server  4  separately detects the reaction of the sensor device  1  with respect to the mobile robot  2  and the reaction of the sensor device  1  with respect to the action of the mobile body such as a human or an animal. Therefore, the control unit  41  can store the detection information of the sensor device  1  with respect to the action of the mobile body as the event information (EI). The procedure of separating the information detected by the sensor device  1  into the action of the mobile body and other data will be described below with reference to the flowcharts of  FIGS. 11, 13, and 14 . 
       FIG. 9  illustrates an outline of the reaction of the sensor device  1  when the mobile robot  2  and a human are acting simultaneously. 
     In the habitable room  9 , seven sensor devices  1 - 1  to  1 - 7  and the power feed device  3  are installed, and the mobile robot  2  circulates along the route indicated by the thick arrow. The position at each event time point Et 1  to Et 8  is illustrated on the route of the thick arrow. The route of the mobile robot  2  illustrated in  FIG. 9  is different from the route illustrated in  FIG. 2 . This is because the sensor installation information mode has been completed and the mode has transitioned to the event information mode. 
       FIG. 10  illustrates detection information of the detected sensor (NSi) for each time series. 
     As illustrated in  FIG. 10 , each sensor device  1  reacts to each event time point every time the mobile robot  2  moves. That is, at the event time point Et 1 , the sensor device  1 - 7  (NS 7 ) reacts. At the event time point Et 2 , the sensor device  1 - 1  (NS 1 ) reacts. At the event time point Et 3 , the sensor device  1 - 2  (NS 2 ) reacts. At the event time point Et 4 , the sensor device  1 - 3  (NS 3 ) reacts. At the event time point Et 5 , the sensor device  1 - 4  (NS 4 ) reacts. At the event time point Et 6 , the sensor device  1 - 5  (NS 5 ) reacts. At the event time point Et 7 , the sensor device  1 - 6  (NS 6 ) reacts. At the event time point Et 8 , the sensor device  1 - 7  (NS 7 ) reacts. 
     Similarly, when the human acts, the sensor device  1 - 5  (NS 5 ) reacts at the event time point Et 3 . At the event time point Et 4 , the sensor device  1 - 6  (NS 6 ) reacts. 
     The control unit  41  of the action detection server  4  receives the spatial information (GI (R, X, Y)) of the self position of the mobile robot  2  every time it receives the detection information of the sensor devices  1 - i  (NSi). Thereafter, the control unit  41  compares the detection area (RS) stored in the sensor installation information (SI) with the spatial information (GI (R, X, Y)). Due to this, the control unit  41  generates the event information (EI) in which the data reacted by the operation of the mobile robot  2  and the other data are separated, and stores it in the storage unit  42  as the event information (EI). 
       FIG. 12  is a graph to which only event information (EI) is extracted. 
     As illustrated in  FIG. 12 , the sensor device  1 - 5  (NS 5 ) is reacting at the event time point Et 3 . At the event time point Et 4 , the sensor device  1 - 6  (NS 6 ) is reacting. This is detection information excluding the information of the detection of the mobile robot  2 , and is information indicating that a human, an animal, or the like has been detected. In this manner, the control unit  41  can detect the action of the mobile body such as a human or an animal. 
     The event information mode described above is processed in  FIGS. 13 and 14  below. 
       FIG. 13  is a flowchart illustrating processing the event information (EI) mode when the mobile robot  2  is not activated. 
     In the event information (EI) mode, the control unit  41  of the action detection server  4  receives (NSi, Et, SD), in Step S 60 , the sensor detection information from the sensor device  1 , and proceeds to the processing of Step S 61 . 
     In Step S 61 , the control unit  41  of the action detection server  4  checks the presence/absence of activation to the mobile robot  2 . If the mobile robot  2  is not activated (No), the control unit  41  proceeds to the processing of Step S 62 . If the mobile robot  2  is activated (Yes), the control unit  41  proceeds to Step S 70  illustrated in  FIG. 14 . 
     In Step S 62 , the control unit  41  of the action detection server  4  judges whether or not it is the sensor installation information mode. If the sensor installation information flag Sf has not been set, the control unit  41  judges that the mode is the sensor installation information mode, and returns to the processing of Step S 60 . If the sensor installation information flag Sf has been cleared, the control unit  41  proceeds to the processing of Step S 63 . 
     In Step S 63 , the control unit  41  of the action detection server  4  requests past storage data of the target sensor (NSi) to the event information (EI), and proceeds to the processing of Step S 631 . 
     In Step S 631 , the control unit  41  of the action detection server  4  reads the past storage data of the target sensor (NSi) from the event information (EI), and proceeds to the processing of Step S 64 . 
     In Step S 64 , the control unit  41  of the action detection server  4  calculates comparison data from the past storage data, and proceeds to the processing of Step S 65 . The control unit  41  calculates the comparison data by averaging the received detection information (NSi, Et, SD), for example. 
     In Step S 65 , the control unit  41  of the action detection server  4  compares the detection information (NSi, Et, SD) with the comparison data (CD). If the difference exceeds a threshold value ε 1  (Yes), the control unit  41  judges that an unusual action has been detected, and proceeds to Step S 67 . The control unit  41  changes in Step S 67  the mode to an abnormality mode, and sets an abnormality mode flag EMf to 1. 
     If the difference is equal to or less than the threshold value ε 1  (Yes), the control unit  41  of the action detection server  4  judges that it is a normal state, and adds the detection information to the event information (EI) (S 66 ). Thereafter, the control unit  41  returns to the processing of Step S 60 . 
       FIG. 14  is a flowchart illustrating processing in the event information (EI) mode when the mobile robot  2  is activated. 
     In Step S 70 , the control unit  41  of the action detection server  4  checks whether or not it is an abnormality processing mode by whether or not the abnormality mode flag EMf is set. If the control unit  41  judges that it is the abnormal processing mode (Yes), it transitions to the abnormality mode of  FIG. 17 . If the control unit  41  judges that it is not the abnormal processing mode (No), it proceeds to the processing of Step S 71 . 
     In Step S 71 , the control unit  41  of the action detection server  4  judges whether or not it is the sensor installation information mode. If the sensor installation information flag Sf has been set (Yes), the control unit  41  judges that it is the sensor installation information mode, and returns to the processing of Step S 60 . If the sensor installation information flag Sf has been cleared (No), the control unit  41  proceeds to the processing of Step S 72 . 
     In Step S 72 , the control unit  41  of the action detection server  4  requests the self position information GI (R, X, Y) to the mobile robot  2 . When acquiring the self position information GI (R, X, Y) from the mobile robot  2 , the control unit  41  proceeds to the processing of Step S 73 . 
     In Step S 73 , the control unit  41  of the action detection server  4  discriminates the detection information of the sensor device  1  reacting due to the mobile robot  2  from the self position information GI (R, X, Y) of the mobile robot  2  and the sensor installation information (SI). The control unit  41  discriminates that the detection information of the sensor devices  1  other than the sensor device  1  reacting due to the mobile robot  2  is action detection information (MI) of the mobile body such as a human or an animal, and proceeds to the processing of Step S 74 . 
     In Step S 74 , the control unit  41  of the action detection server  4  requests, to the event information (EI), data to be compared with the action detection information (MI). 
     In Step S 741 , the control unit  41  acquires the requested data, and proceeds to the processing of Step S 75 . 
     In Step S 75 , the control unit  41  of the action detection server  4  calculates the comparison data (CD) from the data obtained from the event information (EI), and proceeds to the processing of Step S 76 . 
     In Step S 76 , the control unit  41  of the action detection server  4  compares the action detection information (MI) with the comparison data (CD). If the result of the comparison exceeds a threshold value ε 2  (Yes), the control unit  41  of the action detection server  4  judges that it is an abnormal state, proceeds to the processing of Step S 78 , sets the processing state to the abnormality mode, and sets the abnormality mode flag EMf to 1. If the result of the comparison is equal to or less than the threshold value ε 2  (No), the control unit  41  proceeds to the processing of Step S 77 . 
     In Step S 77 , the control unit  41  of the action detection server  4  adds the action detection information (MI) to the event information (EI), and returns to the processing of Step S 60 . 
     The control unit  41  of the action detection server  4  having shifted the processing to the abnormality mode performs the following processing as in  FIGS. 15 to 17 . 
       FIG. 15  illustrates the flow of processing at the time of an abnormal state in which there is no reaction of NS 6  (sensor device  1 - 6 ) between Et 4  and Et 5  in a case where there is a reaction of NS 5  (sensor device  1 - 5 ) between Et 4  and Et 5  in a daily action (event information (EI)). 
       FIG. 16  illustrates detection information of the detected sensor (NSi) for each time series. 
     As illustrated in  FIG. 16 , if there is no sensor detection reaction between Et 4  and Et 5 , the control unit  41  of the action detection server  4  compares the event information (EI) with the detection information (NSi, SD). If the difference between the event information (EI) and the detection information (NSi, SD) exceeds the threshold value, the control unit  41  judges that it is an abnormal action, and communicates the sensor installation information (SI (R, X, Y)) to the mobile robot  2  towards (NSi) where the abnormal action was found. If the event information (EI) and the detection information (NSi, SD) coincide with each other, the control unit  41  of the action detection server  4  continues the detection mode. 
     The above abnormality diagnosis mode is processed as follows in  FIG. 17 . 
     The control unit  41  of the action detection server  4  requests, in Step S 80 , the self position (GI (R, X, Y)) of the mobile robot  2 , acquires the current position of the mobile robot  2 , and proceeds to the processing of Step S 81 . 
     In Step S 81 , the control unit  41  of the action detection server  4  performs multiple branch in accordance with the abnormality mode flag. If the abnormality mode flag EMf is 1, the control unit  41  of the action detection server  4  proceeds to the processing of Step S 82 . If the abnormality mode flag EMf is 2, the control unit  41  of the action detection server  4  proceeds to the processing of Step S 85 . If the abnormality mode flag EMf is 3, the control unit  41  of the action detection server  4  proceeds to the processing of Step S 87 . 
     In Step S 82 , the control unit  41  of the action detection server  4  transmits, to the mobile robot  2 , the fact that it is the abnormal state diagnosis mode, and transmits target coordinates GIo (NSi, R, X, Y) and a passing prediction sensor (PS) (S 83 ). Furthermore, the control unit  41  sets the abnormality mode flag EMf to 2 (S 84 ), and transitions to the event information mode. 
     In Step S 85 , the control unit  41  of the action detection server  4  compares the self position (GI) of the mobile robot  2  with the target coordinates (GIo), thereby judging whether or not the mobile robot  2  exists in the abnormality search area. If the difference between the self position (GI) and the target coordinate (GIo) is equal to or less than a threshold value ε 3  (No), the control unit  41  judges that the mobile robot  2  has moved to the abnormality search area, changes the abnormality mode flag EMf to 3 (S 86 ), and transitions to the event information mode. If the difference between the self position (GI) and the target coordinate (GIo) exceeds the threshold value ε 3  (Yes), the control unit  41  judge that the mobile robot  2  has not reached the abnormality search area, and transitions to the event information mode. 
     In Step S 87 , the control unit  41  of the action detection server  4  judges that it is the abnormality search mode, and checks the presence/absence of an abnormality. For checking the presence/absence of an abnormality, the abnormality may be detected by using an image and a voice by an image sensor or a voice sensor provided in the detection unit  22  of the mobile robot  2 . If an abnormality is detected in Step S 87  (Yes), the control unit  41  proceeds to the processing of Step S 88  to create an abnormality report, informs an external service of the abnormality by the external communication unit  45  provided in the action detection server  4  (S 88 ), and transitions to the event information mode. 
     If no abnormality is detected in Step S 87  (No), the control unit  41  proceeds to the processing of Step S 89  to create a search report, and transmits the search report to an external service by the external communication unit  45  provided in the action detection server  4 . After transmitting the search report, the control unit  41  of the action detection server  4  proceeds to the processing of Step S 90 , resets the abnormality diagnosis mode (S 90 ), and transitions to the event information mode. 
     In the action detection system S of the present invention, the plurality of sensor devices  1  provided in the habitable room  9  cooperate with the mobile robot  2  having a movement means moving in the habitable room  9 . This allows the action detection system S to ensure the privacy of the user while preventing the transmission of erroneous information caused by the malfunction of the sensor device  1 . 
     Second Embodiment 
       FIG. 18  is a schematic view illustrating the configuration of the action detection system in the second embodiment. In the second embodiment, a plurality of home appliances  8  are installed in the habitable room in place of the plurality of sensor devices  1 , and operation information and detection information of the home appliances are detected in place of detection information of the sensor devices, thereby detecting human actions. The plurality of home appliances  8  include various functions as home appliances in addition to the functions of the sensor device  1  in the first embodiment. 
     As illustrated in  FIG. 18 , the action detection system S is configured to include the plurality of home appliances  8 , the mobile robot  2 , the power feed device  3 , and the action detection server  4 . 
     The home appliance  8  is installed in a habitable room to realize various functions, for example, a television, a lighting, an air conditioner, and the like. The home appliance  8  transmits operation information when the home appliance  8  itself is operated to the outside by the communication unit  14 . The mobile robot  2  is a robot having the detection unit  22 , the mechanism unit  23 , and the like, and capable of moving in the habitable room (living environment). The power feed device  3  supplies power to the mobile robot  2 . The control unit  41  of the action detection server  4  has a communication unit  44  that communicates with the plurality of home appliances  8  and the mobile robot  2 . On the basis of detection information of those connected home appliances  8  and the mobile robot  2 , actions and/or the state of a mobile body such as a human, an animal, or another robot device are detected. 
     The plurality of home appliances  8  include a control unit  81 , a detection unit  82 , a storage unit  83 , a communication unit  84 , a power supply unit  85 , and a wireless tag  86 . The power supply unit  85  activates the home appliance  8  and supplies power to each unit of the home appliance  8 . The communication unit  84  is a wireless or wired communication module and transmits operation information for the home appliance  8  and a unique ID of the home appliance  8  to the action detection server  4 . The storage unit  83  is, for example, a ROM or a flash memory, and is built with the storage unit  83  for storing the unique ID of the home appliance  8 , the detection unit  82 , and the control unit  81  that controls the operation of the detection unit  82 , and a plurality of them are installed in the habitable room  9  illustrated in  FIG. 19 . 
     The detection unit  22  of the mobile robot  2  is a group of sensors for detecting the position of the mobile robot  2  and the action of a mobile body such as a human and an animal. The detection unit  22  further has a function of detecting the wireless tag  86  included in the home appliance  8 . The mobile robot  2  is configured similarly to that of the first embodiment except for the detection unit  22 , and operates similarly to that of the first embodiment. 
     The power feed device  3  supplies power to the mobile robot  2 . The power feed device  3  is configured similarly to that of the first embodiment and operates similarly to that of the first embodiment. 
     The detection unit  22  of the mobile robot  2  is configured to include a group of sensors such as infrared, ultrasonic, laser, acceleration, camera, and voice recognition, and a group of sensors that detect the operation of the mechanism unit  23 . This can cause the control unit  21  of the mobile robot  2  capable of moving in the room to recognize its self position by using operation information of the mechanism unit  23  and detection information of the group of sensors. As a result, the control unit  21  allows the detection unit  22  to analyze the geometric information of the habitable room  9  and the storage unit  24  to store the analyzed geometric information (living space map), and can recognize its self position. When the communication unit  27  receives destination information (geometric information), the mobile robot  2  can move to the destination. 
     The control unit  21  of the mobile robot  2  can transmit spatial information (GI) of its self position to the action detection server  4  via the communication unit  27 . Furthermore, the control unit  21  of the mobile robot  2  also includes a recognition means for causing the detection unit  22  to recognize, using an image and a voice, actions of the mobile body such as a human and an animal. This allows the control unit  21  of the mobile robot  2  to transmit the information on the state of the mobile body having been detected to the action detection server  4  via the communication unit  27 . Upon receiving information on the state, the control unit  41  of the action detection server  4  can transmit the information on the state to the outside via an external communication unit  45 . 
     The action detection server  4  is configured to include the control unit  41 , a storage unit  42 , a timer  43 , the communication unit  44 , and the external communication unit  45 . The communication unit  44  is a communication module of Wi-Fi (registered trademark), for example, and receives information transmitted from the home appliance  8  and the mobile robot  2 , and transmits information to the mobile robot  2 . 
     The external communication unit  45  is, for example, a network interface card (NIC), and transmits/receives information to/from an external network other than the network built with the home appliance  8  and the mobile robot  2 . The control unit  41  analyzes information received from the home appliance  8 , the mobile robot  2 , and the external communication unit  45 , and controls the mobile robot  2  on the basis of the analysis result. The storage unit  42  stores input information from the external communication unit  45  and control information of the control unit  41 . The timer  43  recognizes the occurrence time point of an event. 
       FIG. 19  is a view illustrating the habitable room  9  in which the action detection system S of the second embodiment is installed. 
     In the habitable room  9 , seven home appliances  8 - 1  to  8 - 7  and the power feed device  3  are installed, and the mobile robot  2  circulates along the route indicated by the thick arrow. The position at each event time point Et 1  to Et 8  is illustrated on the route of the thick arrow. 
     In the habitable room  9 , the home appliances  8 - 7 ,  8 - 1 , and  8 - 2  are installed in the living room, and the power feed device  3  is installed in the vicinity of the home appliance  8 - 7 . Furthermore, the home appliance  8 - 3  is installed in the kitchen, and the home appliance  8 - 4  is installed in the dining room in the back of the kitchen. The home appliance  8 - 5  is installed in the corridor down stairs, and the home appliance  8 - 6  is installed in the entrance. It is to be noted that each home appliance  8 - 1  to  8 - 7  is simply referred to as the home appliance  8  when they are not particularly distinguished. 
     The home appliance  8 - 7  is given NH 7  as a unique ID. A feature space ND 7 , which is a range where the mobile robot  2  can detect the home appliance  8 - 7 , is the left side of the living room as indicated by the broken line. 
     The home appliance  8 - 1  is given NH 1  as a unique ID. A feature space ND 1 , which is a range where the mobile robot  2  can detect the home appliance  8 - 1 , is the right side of the living room as indicated by the broken line. 
     The home appliance  8 - 2  is given NH 2  as a unique ID. A feature space ND 2 , which is a range where the mobile robot  2  can detect the home appliance  8 - 2 , is the right side of the living room as indicated by the broken line. 
     The home appliance  8 - 3  is given NH 3  as a unique ID. A feature space ND 3 , which is a range where the mobile robot  2  can detect the home appliance  8 - 3 , is the kitchen as indicated by the broken line. 
     The home appliance  8 - 4  is given NH 4  as a unique ID. A feature space ND 4 , which is a range where the mobile robot  2  can detect the home appliance  8 - 4 , is the dining room as indicated by the broken line. 
     The home appliance  8 - 5  is given NH 5  as a unique ID. A feature space ND 5 , which is a range where the mobile robot  2  can detect the home appliance  8 - 2 , is the corridor as indicated by the broken line. 
     The home appliance  8 - 6  is given NH 6  as a unique ID. A feature space ND 6 , which is a range where the mobile robot  2  can detect the home appliance  8 - 2 , is the entrance as indicated by the broken line. 
     By building the action detection system S with the configuration described above, the mobile robot  2  can detect the positions of the plurality of home appliances  8 - 1  to  8 - 7  installed in the habitable room  9 . Furthermore, each home appliance  8  can transmit, to the action detection server  4 , information in which the unique ID (NH) of the home appliance  8  is given to operation information and detection information (HD) of the home appliance. 
       FIG. 20  is a view illustrating an example of home appliance installation information (HI). 
     The action detection server  4  is provided with the storage unit  42 . The storage unit  42  stores home appliance installation information (HI) indicating the relationship between the individual ID (ND 1  to ND 7 ) for the feature spaces of the habitable room  9  and the unique ID (NH) of the installed home appliance  8 . 
     To the home appliance installation information (HI), geometric information (GI) related to detection area information (RH) can be additionally stored. Furthermore, since the control unit  41  of the action detection server  4  is provided with the timer  43 , the time point when data (NHi, HDi) of the home appliances  8  are received can be additionally stored as the event occurrence time point (Et). 
       FIG. 21  is a view illustrating an example of event information (EI). 
     The event information (EI) illustrated in  FIG. 21  is stored and held as data related to detection of human actions. The event information (EI) is managed as data for each unique ID (NH) of the electric appliance  8 , and is configured by storing and holding the ID (ND) for each feature space of the habitable room  9 , data (HD) of each home appliance  8 , and the event occurrence time point (Et).  FIG. 22  is a graph illustrating a time series of detection of the home appliance  8  by the robot. 
     When the action detection server  4  receives a home appliance installation information creation mode via the external communication unit  45 , the control unit  41  of the action detection server  4  sets a home appliance installation information flag Hf. When the home appliance installation information flag Hf is set, the control unit  41  of the action detection server  4  transmits an activation signal to the mobile robot  2 , and after the mobile robot  2  is activated, the control unit  41  stands by in a state of receiving responses of the home appliance  8  and the mobile robot  2 . As illustrated in  FIG. 21 , in accordance with the operation of the mobile robot  2 , the home appliance  8 - 7  (NH 7 ), the home appliance  8 - 1  (NH 1 ), the home appliance  8 - 2  (NH 2 ), . . . the home appliance  8 - 6  (NH 6 ), and the home appliance  8 - 7  (NH 7 ) sequentially react. 
     As illustrated in  FIG. 22 , the control unit  41  of the action detection server  4  receives the home appliance detection data (NHi, HDi) in accordance with detection of each home appliance  8  by the mobile robot  2 . At the time of reception of the home appliance detection data (NHi, HDi), the control unit  41  acquires the event occurrence time point (Et) from the timer  43  and requests the mobile robot  2  to transmit its self position. The mobile robot  2  is provided with the detection unit  22  that detects the position with respect to the power feed device  3 , and can recognize its self position in the coordinate system illustrated in  FIG. 19 . In the control unit  21  of the mobile robot  2  upon receiving this request, the detection unit  22  measures coordinates (X, Y) with the power feed device  3  as the origin and an absolute distance R between the mobile robot  2  and the power feed device  3 . Thereafter, the control unit  21  responds the measured coordinates (X, Y) and the absolute distance R to the action detection server  4 . 
       FIG. 23  is a flowchart illustrating processing of a home appliance installation information mode. 
     In the home appliance installation information mode, processing is performed as follows. After receiving the home appliance installation information mode, the control unit  41  of the action detection server  4  sets the home appliance installation information flag Hf (S 140 ). 
     In Step S 141 , the control unit  41  of the action detection server  4  determines whether or not the mobile robot  2  is in a power feed state. If determining that the mobile robot  2  is in the power feed state (Yes), the control unit  41  of the action detection server  4  proceeds to the processing of Step S 143 , and if determining that the mobile robot  2  is activated (No), the control unit  41  proceeds to the processing of Step S 142 . 
     In Step S 142 , the control unit  41  of the action detection server  4  commands the mobile robot  2  to move to the power feed position, and the process returns to Step S 141 . Thus, the control unit  41  stands by until the mobile robot  2  becomes in the power feed state. 
     In Step S 143 , the control unit  41  of the action detection server  4  acquires the event occurrence time point (Et) by the timer  43 , and acquires the home appliance operation data (NSi, HDi) from each home appliance  8 . The control unit  41  holds the acquired operation data as (Et, NHi, HDi) and proceeds to the processing of Step S 144 . 
     In Step S 144 , the control unit  41  of the action detection server  4  requests the spatial information from the mobile robot  2 , acquires the spatial information (GI (R, X, Y)) from the mobile robot  2 , and proceeds to the processing of Step S 145 . 
     In Step S 145 , the control unit  41  of the action detection server  4  calls the home appliance installation information of the home appliance ID (NHi) that is the detection target, and proceeds to the processing of Step S 1451 . 
     In Step S 1451 , the control unit  41  of the action detection server  4  reads the detection area information (RH), and then proceeds to the processing of Step S 146 . The detection area information (RH) includes information of (Rmax, Rmin, Xmin, Xmax, Ymax, Ymin). 
     In Step S 146 , the control unit  41  of the action detection server  4  determines whether or not a detection value has been input and stored in the detection area information (RH). If the detection area information (RH) does not exist (No), the control unit  41  proceeds to the processing of Step S 148 . If the detection value is stored in the detection area information (RH) (Yes), the control unit  41  proceeds to the processing of Step S 147 . 
     In Step S 147 , the control unit  41  of the action detection server  4  compares the detection area information (RH) with the spatial information (GI, (R, X, Y)). By this comparison, the control unit  41  checks whether the position information (GI, (R, X, Y)) of the mobile robot  2  is within the range of the detection area information (RH), i.e., within the past geometric information range. If it is not within the past geometric information range (No), the control unit  41  of the action detection server  4  proceeds to the processing of Step S 148 . If it is within the past geometric information range (Yes), the control unit  41  of the action detection server  4  proceeds to the processing of Step S 150 . 
     In Step S 148 , the control unit  41  of the action detection server  4  updates data by replacing the stored detection area information (RH) with the spatial information (GI (R, X, Y)) from the mobile robot  2 , and proceeds to the processing of Step S 149 . 
     In Step S 149 , the control unit  41  of the action detection server  4  integrates and calculates the total area of the search area, and proceeds to the processing of Step S 150 . 
     In Step S 150 , the control unit  41  of the action detection server  4  evaluates whether the integrated value of the search area matches the total area of the search space. If the integrated value of the search area matches the total area of the search space (Yes), the control unit  41  of the action detection server  4  proceeds to the processing of Step S 151 . If the integrated value of the search area does not match the total area of the search space (No), the control unit  41  of the action detection server  4  returns to the processing of Step S 141 . 
     In Step S 151 , the control unit  41  of the action detection server  4  clears the home appliance installation information flag Hf, and ends the home appliance installation information mode. 
     By using the above-described home appliance installation information (HI), the control unit  41  of the action detection server  4  can detect the position where the home appliance  8  is installed. 
       FIG. 24  is a flowchart illustrating processing in the event information (EI) mode when the mobile robot  2  is not activated. 
     In the event information (EI) mode, the control unit  41  of the action detection server  4  receives (NHi, Et, HD), in Step S 160 , the operation information from the home appliance  8 , and proceeds to the processing of Step S 161 . 
     In Step S 161 , the control unit  41  of the action detection server  4  checks the presence/absence of activation to the mobile robot  2 . If the mobile robot  2  is not activated (No), the control unit  41  proceeds to the processing of Step S 163 . If the mobile robot  2  is activated (Yes), the control unit  41  proceeds to Step S 70  illustrated in  FIG. 14 . 
     In Step S 162 , the control unit  41  of the action detection server  4  judges whether or not it is the home appliance installation information mode. If the home appliance installation information flag Hf has been set (Yes), the control unit  41  judges that it is the home appliance installation information mode, and returns to the processing of Step S 160 . If the home appliance installation information flag Hf has been cleared (No), the control unit  41  proceeds to the processing of Step S 163 . 
     In Step S 163 , the control unit  41  of the action detection server  4  requests past operation data for the target home appliance  8  (NHi) to the event information (EI), and proceeds to the processing of Step S 1631 . 
     In Step S 1631 , the control unit  41  of the action detection server  4  reads the past operation data for the target home appliance  8  (NHi) from the event information (EI), and proceeds to the processing of Step S 164 . 
     In Step S 164 , the control unit  41  of the action detection server  4  calculates comparison data from the past operation data, and proceeds to the processing of Step S 165 . The control unit  41  calculates the comparison data by averaging the received detection information (NHi, Et, HD), for example. 
     In Step S 165 , the control unit  41  of the action detection server  4  compares the detection information (NHi, Et, HD) with the comparison data (CD). If the difference exceeds the threshold value ε 1  (Yes), the control unit  41  judges that an unusual operation has been detected, and proceeds to the processing of Step S 167 . 
     In Step S 167 , the control unit  41  changes the mode to the abnormality mode, and sets the abnormality mode flag EMf to 1. 
     In Step S 165 , if the difference is equal to or less than the threshold value ε 1  (No), the control unit  41  of the action detection server  4  judges that it is a normal state, and adds the detection information to the event information (EI) (S 166 ). Thereafter, the control unit  41  proceeds to the processing of Step S 160 . 
       FIG. 25  is a flowchart illustrating processing in the event information (EI) mode when the mobile robot  2  is activated. 
     In Step S 170 , the control unit  41  of the action detection server  4  checks whether or not it is an abnormality processing mode by whether or not the abnormality mode flag EMf is set. If the control unit  41  judges that it is the abnormal processing mode, it transitions to the abnormality mode (see  FIG. 18 ) similar to that of the first embodiment. If the control unit  41  judges that it is not the abnormal processing mode, it proceeds to the processing of Step S 171 . 
     In Step S 171 , the control unit  41  of the action detection server  4  judges whether or not it is the home appliance installation information mode. If the home appliance installation information flag Hf has been set (Yes), the control unit  41  judges that it is the home appliance installation information mode, and returns to the processing of Step S 160  illustrated in  FIG. 24 . If the home appliance installation information flag Hf has been cleared (No), the control unit  41  proceeds to the processing of Step S 172 . 
     In Step S 172 , the control unit  41  of the action detection server  4  requests the self position information GI (R, X, Y) to the mobile robot  2 . When acquiring the self position information GI (R, X, Y) from the mobile robot  2 , the control unit  41  proceeds to the processing of Step S 173 . 
     In Step S 173 , the control unit  41  of the action detection server  4  discriminates the detection information of the home appliance  8  reacting due to the mobile robot  2  from the self position information GI (R, X, Y) of the mobile robot  2  and the home appliance installation information (HI). The control unit  41  discriminates that the detection information of the home appliances  8  other than the home appliance  8  reacting due to the mobile robot  2  is the action detection information (MI) of the mobile body such as a human or an animal, and proceeds to the processing of Step S 174 . 
     In Step S 174 , the control unit  41  of the action detection server  4  requests, to the event information (EI), data to be compared with the action detection information (MI). 
     In Step S 1741 , the control unit  41  acquires the requested data, and proceeds to the processing of Step S 175 . 
     In Step S 175 , the control unit  41  of the action detection server  4  calculates the comparison data (CD) from the data obtained from the event information (EI), and proceeds to the processing of Step S 176 . 
     In Step S 176 , the control unit  41  of the action detection server  4  compares the action detection information (MI) with the comparison data (CD). If the result of the comparison exceeds the threshold value ε 2  (Yes), the control unit  41  of the action detection server  4  judges that it is an abnormal state, proceeds to the processing of Step S 178 , sets the processing state to the abnormality mode, and sets the abnormality mode flag EMf to 1. If the compared result is equal to or less than the threshold value ε 2  (No), the control unit  41  proceeds to the processing of Step S 177 . 
     In Step S 177 , the control unit  41  of the action detection server  4  adds the action detection information (MI) to the event information (EI), and returns to the processing of Step S 160  illustrated in  FIG. 24 . 
     (Variation) 
     The present invention is not limited to the embodiments described above, and includes various variations. For example, the embodiments described above have been described in detail for the purpose of explaining the present invention in an easy-to-understand manner, and are not necessarily limited to those including all the components described above. A part of the configuration of a certain embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of a certain embodiment. It is also possible to add, delete, or replace another configuration to, from, or with a part of the configuration of each embodiment. 
     Each of the components, functions, processing units, processing means, and the like described above may partially or entirely be implemented by hardware such as an integrated circuit. Each of the components, functions, and the like described above may be implemented by software by the processor interpreting and executing a program that implements each function. Information such as programs, tables, and files that implement each function can be put in a recording device such as a memory, a hard disk, and a solid state drive (SSD), or a recording medium such as a flash memory card and a digital versatile disk (DVD). 
     In each embodiment, the control lines and the information lines that are considered to be necessary for explanation are illustrated, and not all the control lines and the information lines in the product are necessarily illustrated. In practice, it may be considered that almost all the components are interconnected. 
     Variations of the present invention include the following (a) to (e). 
     (a) The mobile robot  2  may execute processing of the event information mode and processing of the abnormality mode without providing the action detection server  4 . 
     (b) Each sensor device  1  may autonomously execute processing of the event information mode and processing of the abnormality mode without providing the action detection server  4 . 
     (c) The communication unit  44  and the external communication unit  45  of the action detection server  4  may be common. 
     (d) The mobile robot  2  of the first embodiment may include a wireless tag, and the sensor device  1  may detect the wireless tag. This allows the sensor device  1  to reliably detect the mobile robot  2 . 
     (e) The sensor position information stored in the storage unit may be modified when a change in the sensor position is detected even after the sensor installation information mode ends. 
     REFERENCE SIGNS LIST 
     
         
         S action detection system 
           1 ,  1 - 1  to  1 - 7  sensor device 
           11  control unit 
           12  detection unit (first sensor) 
           13  storage unit 
           14  communication unit (first communication means) 
           15  power supply unit 
           2  mobile robot 
           21  control unit 
           22  detection unit (second sensor) 
           23  mechanism unit 
           24  storage unit 
           25  power supply unit 
           26  operation unit 
           27  communication unit (second communication means) 
           3  power feed device 
           31  detection unit 
           32  communication unit 
           4  action detection server 
           41  control unit 
           42  storage unit 
           43  timer 
           44  communication unit (third communication means) 
           45  external communication unit (external communication means) 
           5  external power supply 
           8 ,  8 - 1  to  8 - 7  home appliances (sensor devices) 
           81  control unit 
           82  detection unit (first sensor) 
           83  storage unit 
           84  communication unit (first communication means) 
           85  power supply unit 
           9  habitable room