Robot Cooperation Facility Management System

Abstract

To provide a robot coordination facility management system that allocates an entry and exit gate suitable for robot passage among a plurality of entry and exit gates and makes a robot use the assigned entry and exit gate without obstructing human passage.SOLUTION: A robot coordination facility management system 14 comprises a robot server, a facility robot coordination server, a security server, a facility robot coordination system, and a security system. The robot server receives operational commands for entry and exit gates or elevators from a robot control device that determines the robot's behavior guideline. The facility robot coordination server, upon receiving an operational command from the robot server, transmits / receives operational commands to / from the security server and controls an elevator on the basis of an operational command from the security server. When receiving an operational command from the facility robot coordination server, the security server performs allocation control of an elevator, cancels security of the elevator, and allocation control of an entry and exit gate.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a robot cooperation facility management system that manages facilities for autonomously moving robots. [Background technology]

[0002] In recent years, many robots have been developed that can move autonomously within buildings such as buildings and apartments without impeding human traffic. For example, security robots that patrol the facility to provide security, environmental measurement robots that measure the facility's environment such as the temperature of the air conditioning, cleaning robots that clean the facility, and guide robots that guide visitors have been developed.

[0003] Since these robots are autonomous, in addition to the people around them, there are various obstacles that can impede the robot's movement. In buildings, there are many obstacles such as entrance and exit doors, elevators in office buildings and apartment buildings, and entrance and exit gates. Furthermore, security measures are implemented around these obstacles, and the robot cannot pass through them unless the security is deactivated.

[0004] Therefore, technologies have been developed to use or avoid such entrance / exit doors, elevators, and entrance / exit gates. For example, Patent Document 1 discloses a technology in which a robot identifies a door from an image of a nearby door to use the elevator.

[0005] In the following explanation, obstacles such as entrance / exit doors, elevators, entrance / exit gates, etc. will be collectively referred to as "entrance / exit gates." Therefore, when referring to entrance / exit doors or elevators, this should be interpreted as the term. Note that when specifically explaining entrance / exit doors or elevators, the term will be used as is. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Japanese Patent Application Laid-Open No. 2019-130616 [Summary of the Invention] [Problems to be Solved by the Invention]

[0007] In an autonomous robot, when passing through a narrow passage where security measures such as an entrance / exit gate are implemented, it often takes a long time to move, and it often occurs that it interferes with the passage of people. Also, regarding the entrance / exit gate with security measures, although the robot can be made to carry an authentication medium and pass through, it takes time to pass through, so there is a possibility of interfering with the passage of people. Furthermore, the robot does not grasp the congestion situation of people at the entrance / exit gate, and it is difficult to determine which of the multiple entrance / exit gates is the most suitable to use.

[0008] From such a situation, there is a demand for a support system that assigns an appropriate entrance / exit gate for the robot to pass through and enables the robot to smoothly pass through the entrance / exit gate.

[0009] An object of the present invention is to provide a robot cooperation facility management system that can assign an entrance / exit gate suitable for the robot to pass through among a plurality of entrance / exit gates and prevent the robot from interfering with the passage of people by using the assigned entrance / exit gate. [Means for Solving the Problems]

[0010] In the present invention, there is provided a robot-linked facility management system including at least a robot server, a facility-robot cooperation server, and a security server, which controls the operations of an entrance / exit gate and an elevator. The robot server has a function of executing control to transmit an operation command related to the operation of the entrance / exit gate or the elevator based on information from a robot control device that determines the action guidelines of the robot to the facility-robot cooperation server. The facility-robot cooperation server has a function of executing control to transmit the operation command to the security server when receiving the operation command from the robot server. The security server has a function of executing control to at least give an assignment instruction for the entrance / exit gate and give the operation command to the entrance / exit gate, and a function of executing control to give an assignment instruction for the elevator to the elevator when receiving the operation command from the facility-robot cooperation server. Further, the facility-robot cooperation server has a function of executing control of the elevator based on the operation command given to the elevator from the security server. This is the gist of the invention.

Effects of the Invention

[0011] According to the present invention, by allocating the entrance / exit gate suitable for the movement of the robot and the elevator, it is possible to smoothly pass the entrance / exit gate without disturbing the passage of people and make the robot board the elevator.

Brief Description of the Drawings

[0012]

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Embodiments for Carrying Out the Invention

[0013] Embodiments of the present invention will be described in detail with reference to the drawings. However, the present invention is not limited to the following embodiments, and various modifications and application examples within the technical concept of the present invention are also included in its scope.

[0014] Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows the overall configuration of a robot cooperation facility management system. In this embodiment, a case where an autonomous robot passes through an entrance / exit gate and an elevator in a building (for example, an office building, etc.) will be described as an example.

[0015] Here, in the following description, the expression "elevator" is an abbreviation meaning "elevator", and the expression "robot" is an abbreviation meaning "robot".

[0016] In FIG. 1, the robot cooperation facility management system 14 according to this embodiment includes a facility-robot cooperation system 15 and a security system 16.

[0017] The facility-robot cooperation system 15 includes a robot server 1, a facility-robot cooperation server 2, a robot 4, a robot control device 5, a group management elevator 6, a monitoring device 7, an elevator control device 8, and a communication device 13. Here, it is also possible to integrate the robot control device 5 into the robot 4 and the elevator control device 8 into the monitoring device 7.

[0018] The security system 16 includes a security server 3, an entrance / exit gate 9, an entrance / exit control device 10, a beacon 11, and a display unit 12. The security server 3 has a management function for the entrance / exit gate 9 and a management function for the elevator 6. Therefore, the entrance / exit control device 10 and the elevator control device 8 will perform control operations based on instructions from the security server 3.

[0019] The entrance / exit control device 10 has a function of opening and closing the gate of the entrance / exit gate 9 and transmitting the operating state of the entrance / exit gate 9 to the security server 3 according to an instruction from the security server 3.

[0020] The beacon 11 establishes communication with the robot 4 when the robot 4 approaches within a predetermined range and communicates with the entrance / exit control device 10. The display unit 12 visually, and in some cases, audibly notifies that the robot 4 is passing through the entrance / exit gate (assigned dedicated gate) 9.

[0021] The communication device 13 of the robot control device 5 and the robot server 1 are connected by a communication network 17 such as a LAN (Local Area Network) or Bluetooth (Bluetooth / Registered Trademark). Also, the communication device 13 of the elevator control device 8 and the facility robot cooperation server 2 are connected by a communication network 17 such as the Internet. Furthermore, the robot server 1 and the facility robot cooperation server 2 are connected by a communication network 17 such as the Internet.

[0022] The communication device 13 of the entrance / exit control device 10 and the security server 3 are connected by a communication network 17 such as the Internet. Also, the facility robot cooperation server 2 and the security server 3 are connected by a communication network 17 such as a LAN (Local Area Network). The security server 3 is also connected to the communication device 13 of the elevator control device 8 via the Internet. Note that these communication networks are just examples, and an appropriate communication network can be adopted. Next, the main components constituting the facility robot cooperation system 15 and the security system 16 will be described.

[0023] Figure 2 shows the configuration of the robot server 1 that forms the facility robot cooperation system 15. The robot server 1 is composed of a computer device on which various processes are executed under the control of the CPU 101 and is managed on the cloud. The CPU 101 is connected to the main memory device 102 and the communication interface 103.

[0024] The main memory device 102 includes an input / output unit 102a, a building information unit 102b, a robot state monitoring unit 102c, an elevator boarding command unit 102d, an entrance / exit gate opening / closing command unit 102e, and an elevator opening / closing command unit 102f that operate based on the commands of the CPU 101.

[0025] The input / output unit 102a executes the function of transmitting and receiving various data with the robot control device 5 and the facility robot cooperation server 2 via the communication interface 103.

[0026] The building information department 102b contains various information about the entrance / exit gates 9 and elevators 6 within the building, and includes at least an entrance / exit gate identifier management table (see Figure 3) and an elevator identifier management table (see Figure 4). Furthermore, it also includes the map information of the building (2D / 3D map, etc.). Additionally, it may also include a lot of other building information.

[0027] Figure 3 shows an example of the data structure of the entrance / exit gate identifier management table. The entrance / exit gate identifier management table is used as an identifier for assigning one of the multiple entrance / exit gates 9 as a robot-exclusive entrance / exit gate, and is configured with multiple columns including building name information 801, gate door name information 802, gate door type information 803, and robot-exclusive operation permission information 804.

[0028] The item of the building name information 801 indicates the name of the building where the gate is installed. The item of the door name information 802 indicates the name uniquely assigned to each gate. The item of the door type information 803 indicates the type of the target gate door. The item of the robot-exclusive operation permission information 804 indicates whether robot-exclusive operation of the corresponding gate door is possible. For example, for a flapper-type entrance / exit gate that is wider than normal, the robot 4 can pass (○), and for a normal width, the robot 4 cannot pass (×).

[0029] Figure 4 shows an example of the data structure of the elevator identifier management table. The elevator identifier management table is used as an identifier for making the elevator 6 operate in a robot-exclusive mode, and is configured with multiple columns including building name information 901, elevator name information 902, elevator type information 903, and robot-exclusive operation permission information 904.

[0030] The item of building name information 901 indicates the name of the building where the elevator 6 is installed. The item of elevator name information 902 indicates the name uniquely assigned to each elevator 6. The item of elevator type information 903 indicates the type of the target elevator 6. The item of robot-only operation availability information 904 indicates whether the corresponding elevator 6 can perform robot-only operation (○) or not (×).

[0031] Returning to FIG. 2, the robot state monitoring unit 102c executes a function of monitoring the operating state of the robot 4. The operating state of the robot 4 indicates the current position of the robot 4 (determined from GPS information, image information, etc.), the operating status of the driving area of the robot 4, the remaining battery level, and the like.

[0032] When the robot 4 moves with boarding the elevator 6, the elevator boarding command unit 102d executes a function of outputting an elevator boarding command to the facility robot cooperation server 2 via the input / output unit 102a. At this time, the robot 4 may pass through the entrance / exit gate 9 or board the elevator 6, and it is switched by the entrance / exit gate 9 or the elevator 6.

[0033] When the robot 4 moves with passing through the entrance / exit gate, the gate opening / closing command unit 102e executes a function of outputting a door opening command and a door closing command for the entrance / exit gate 9 to the facility robot cooperation server 2 via the input / output unit 102a. "Door opening" means opening the gate door, and "door closing" means closing the gate door.

[0034] When the robot 4 moves with boarding the elevator 6, the elevator opening / closing command unit 102f executes a function of outputting a door opening command and a door closing command for the elevator 6 to the facility robot cooperation server 2 via the input / output unit 102a.

[0035] Next, the facility-robot cooperation server 2 that constitutes the facility-robot cooperation system 15 will be described. FIG. 5 shows the configuration of the facility-robot cooperation server 2 that forms the facility-robot cooperation system 15. The facility-robot cooperation server 2 is composed of a computer device in which various processes are executed under the control of the CPU 201 and is managed on the cloud. The CPU 201 is connected to the main memory device 202 and the communication interface 203.

[0036] The main memory device 202 includes an input / output unit 202a, a building information unit 202b, a robot dedicated operation instruction unit 202c, a robot dedicated elevator allocation unit 202d, a gate opening / closing instruction unit 202e, an elevator control unit 202f, an elevator call control unit 202g, and an elevator opening / closing instruction unit 202h that operate based on instructions from the CPU 201.

[0037] The input / output unit 202a executes the function of transmitting and receiving data with the robot server 1, the security server 3, and the elevator control device 8 via the communication interface 203.

[0038] The building information unit 202b stores various information about the entrance / exit gates 9 and elevators 6 in the building, and stores the same information as the building information unit 102b stored in the robot server 1.

[0039] When the robot dedicated operation instruction unit 202c receives an elevator boarding instruction from the robot server 1, it executes the function of outputting a robot dedicated operation instruction to the security server 2.

[0040] When the robot dedicated elevator allocation unit 202d receives a robot dedicated elevator allocation from the security server 3, it performs a robot dedicated elevator allocation for the elevator 6. Further, it collates the allocated elevator 6 with the elevator information in the elevator identifier management table included in the building information unit 202b to execute the function of specifying the elevator 6 to be allocated.

[0041] When the gate opening / closing instruction unit 202e receives the door opening command and the door closing command for the entrance / exit gate 9 from the robot server 1, it executes the function of outputting the door opening command and the door closing command for the entrance / exit gate to the security server 3.

[0042] The elevator control unit 202f issues an operation command to the elevator control device 8 and executes the function of controlling the elevator 6. Here, the facility robot cooperation server 2 is configured such that the elevator 6 cannot be controlled without a security release command from the security server 3.

[0043] When the elevator call control unit 202g receives an elevator boarding command from the robot server 1, it executes the function of outputting an elevator call command to the security server 3.

[0044] When the elevator opening / closing instruction unit 202h receives an elevator opening / closing command from the robot server 1, it executes the function of outputting an entrance / exit gate opening / closing command to the security server 3.

[0045] Next, the security server 3 that forms the security system 16 in cooperation with the facility robot cooperation system 15 will be described.

[0046] Figure 6 shows the configuration of the security server 3. The security server 3 is composed of a computer device in which various processes are executed under the control of the CPU 301 and is managed on the cloud. The CPU 301 is connected to the main memory device 302 and the communication interface 303.

[0047] The main memory device 302 includes an input / output unit 302a, a building information unit 302b, an operation data storage unit 302c, a robot data storage unit 302d, a gate allocation unit 302e, an elevator allocation unit 302f, a security control unit 302g, an elevator control unit 302h, and a gate control unit 302i that operate based on the instructions of the CPU.

[0048] The input / output unit 302a executes the function of transmitting and receiving data between the facility robot cooperation server 2, the entrance / exit management device 10, and the elevator control device 8 via the communication interface 303.

[0049] The building information unit 302b stores various information about the entrance / exit gates 9 and elevators 6 in the building, and stores the same information as the building information unit 102b stored in the robot server 1.

[0050] The operation data storage unit 302c has the function of storing the usage history of the entrance / exit gate 9 obtained from the entrance / exit gate 9 and the operation history of the elevator obtained by the monitoring device 7 of the elevator 6.

[0051] Figure 7 shows an example of the data structure of the usage history of the entrance / exit gate 9. It is used to manage the usage history of each entrance / exit gate 9, and is configured with a plurality of columns including the usage time 1001 and the user ID 1002 corresponding to various information included in the usage information. In the usage history of the entrance / exit gate 9, one record (row) corresponds to the usage history information of which user used any one of the entrance / exit gates 9.

[0052] Also, Figure 8 shows an example of the data structure of the operation history of the elevator 6. It is used to manage the operation history of each elevator, and is configured with a plurality of columns including the operation time 1101, the departure floor 1102, the arrival floor 1103, and the number of passengers 1104 corresponding to various information included in the operation information.

[0053] In the operation history of the elevator 6, one record (row) corresponds to the operation history information of one trip of the elevator car from departing from any floor to arriving at any floor.

[0054] Returning to Figure 6, the robot data storage unit 302d stores the basic data of the robot 4. The basic data includes the type of the robot, size, moving speed, type of sensor, etc.

[0055] Figure 9 shows an example of the data structure of robot data. The robot data is used to determine whether a robot can pass through any of the entrance / exit gates 9. The data is composed of a plurality of columns including robot name 1201, robot type 1202, size 1203, moving speed 1204, and maximum speed 1205. In the robot data, one record (row) corresponds to robot individual identification information such as the size and moving speed of a robot of any type.

[0056] When the gate allocation unit 302e receives a robot-specific operation command from the facility robot cooperation server 2, it executes a function of allocating the most suitable entrance / exit gate 9 for the robot 4 to pass through from the building information unit 302b, the operation data storage unit 302302c, and the robot data storage unit 302d.

[0057] When the elevator allocation unit 302f receives a robot-specific operation command from the facility robot cooperation server, it executes a function of allocating the most suitable elevator 6 for the robot 4 to board from the building information unit 302b, the operation data storage unit 302302c, and the robot data storage unit 302d.

[0058] The security control unit 302g executes a function of temporarily releasing security so that the facility robot cooperation server 2 can control the elevator 6.

[0059] The elevator control unit 302h issues an operation command to the elevator control device 8 and executes a function of controlling the elevator 6. Also, the gate control unit 302i executes a function of controlling the entrance / exit gate 9.

[0060] Next, the robot 4 that forms the facility robot cooperation system 15 will be described.

[0061] Figure 10 shows the configuration of the robot 4 that constitutes the facility-robot cooperation system 15. The robot 4 is composed of a computer device in which various processes are executed under the control of the CPU 401 and is managed within the building. The CPU 401 is connected to the main memory device 402, the input / output device 403, and the communication interface 404.

[0062] The main memory device 402 includes an input / output unit 402a and a drive control unit 402b that operate based on instructions from the CPU.

[0063] The input / output unit 402a executes the function of transmitting and receiving data with the robot control device 5 via the communication interface. Also, the drive control unit 402b executes the function of controlling the drive mechanism of the robot 4.

[0064] The input / output device 403 includes a camera 403a, various sensors 403b, a drive mechanism unit 403c, and a wireless communication unit 403d.

[0065] The camera 403a has the function of the robot 4 photographing the surrounding environment to obtain an image. The various sensors 4-03b have the function for the robot 4 to obtain more detailed information on the surrounding environment, such as an infrared sensor and a sound wave sensor. It also includes sensors necessary for driving control of the robot, such as a GPS sensor and a gyro sensor.

[0066] The drive mechanism unit 403c has the function of moving the robot 4 based on a control command from the drive control unit 402b. The drive mechanism unit 403c includes at least an electric motor that drives the wheels. Furthermore, a brake mechanism can also be provided as needed. The wireless communication unit 403d has the function of transmitting and receiving data with the beacon 9 attached to the entrance / exit gate 9.

[0067] Next, the robot control device 5 that constitutes the facility-robot cooperation system 15 will be described.

[0068] Figure 11 shows the configuration of the robot control device 5 that forms the facility-robot cooperation system 15. The robot control device 5 is composed of a computer device in which various processes are executed under the control of the CPU 501 and is managed within the building. The CPU 501 is connected to the main memory device 502 and the communication interface 503.

[0069] The main memory device 502 includes an input / output unit 502a, a movement instruction unit 502b, a gate identification unit 502c, and an elevator identification unit 502d that operate based on the instructions of the CPU.

[0070] The input / output unit 502a executes data transmission and reception processing between the robot 4 and the robot server 1 via the communication interface 503. Also, when the destination of the robot 4 is determined, the movement instruction unit 502b executes a function of searching for the optimal route to the destination and instructing the optimal route to the robot 4.

[0071] The gate identification unit 502c executes a function of identifying the assigned entrance / exit gate 9 based on the surrounding information acquired from the camera 403a and various sensors 403b that the robot 4 has. Also, the elevator identification unit 502d executes a function of identifying the assigned elevator 6 based on the surrounding information acquired from the camera 403a and various sensors 403b that the robot 4 has.

[0072] Next, the elevator control device 8 that forms the facility-robot cooperation system 15 will be described. Figure 12 shows the configuration of the elevator control device 8 that constitutes the facility-robot cooperation system 15. The elevator control device 8 is composed of a computer device in which various processes are executed under the control of the CPU 601 and is managed within the building. The CPU 601 is connected to the main memory device 602 and the communication interface 603.

[0073] The main memory device 602 includes an input / output unit 602a, an elevator control unit 602b, and a security monitoring unit 602c that operate based on the instructions of the CPU 601.

[0074] The input / output unit 602a executes the function of transmitting and receiving data to and from the facility robot cooperation server 2 and the security server 3 via the communication interface 603.

[0075] The elevator control unit 602b executes the function of controlling the elevator, and can also control the elevator 6 upon receiving an operation command from the elevator control unit 302h of the security server 3. Also, when the security is released by the security control unit 302g of the security server 3, it can execute the control of the elevator 6 upon receiving an instruction from the facility robot cooperation server 2.

[0076] The security monitoring unit 602c executes the function of monitoring so as not to receive instructions from sources other than the security server 3. When receiving an instruction to release the security from the security server 3, it executes the function of temporarily releasing the security and receiving an instruction from the facility robot cooperation server 2.

[0077] Next, the configuration of the entrance / exit control device 10 that forms the security system 16 will be described.

[0078] FIG. 13 shows the configuration of the entrance / exit control device 10 that constitutes the facility robot cooperation system 15. The entrance / exit control device 10 is composed of a computer device in which various processes are executed under the control of the CPU 701 and is managed within the building. The CPU 701 is connected to the main storage device 702 and the communication interface 703.

[0079] The main storage device 702 includes an input / output unit 702a and a gate control unit 702b that operate based on instructions from the CPU 701.

[0080] The input / output unit 702a executes the function of transmitting and receiving data to and from the security server 3 and the entrance / exit gate 9 via the communication interface 703. Also, the gate control unit 702b controls the entrance / exit gate 9 and executes the function of controlling the entrance / exit gate 9 upon receiving an operation command from the gate control unit 302i of the security server 3.

[0081] Regarding the specific control of the robot 4, the entrance / exit gate 9, and the elevator 6 in the robot cooperation facility management system having the configuration as described above. Note that, in this case, the control when passing through the entrance / exit gate 9 and the control when boarding the elevator 6 are executed.

[0082] Here, the control such as the allocation instruction of the entrance / exit gate and the elevator, the call instruction of the elevator, the gate door open instruction, the gate door close instruction, the elevator door open instruction, the elevator door close instruction, and the security release / resumption described below falls within the category of "operation instructions".

[0083] FIG. 14 is a diagram showing the sequence when the robot 4 passes through the entrance / exit gate 9. In the present embodiment, in a building where the entrance / exit gate 9 and the elevator 6 are provided side by side, it is assumed that the entrance / exit gate is installed in front of the elevator 6 when the robot 4 heads for a specific floor.

[0084] When the robot 4 heads for a specific floor, the robot server 1 outputs an elevator boarding command to the facility robot cooperation server 2 in [S101]. Next, the facility robot cooperation server 2 that has received the elevator boarding command outputs a dedicated operation command for the entrance / exit gate 9 and the elevator 6 to the security server 3 in [S102].

[0085] The security server 3 that has received the dedicated operation command for the robot executes the allocation of the dedicated entrance / exit gate 9 for the robot to the entrance / exit gate 9 in [S103] based on at least the entrance / exit gate identifier management table (see FIG. 3), the entrance / exit gate history data (see FIG. 7), and the robot data (see FIG. 9).

[0086] Also, the security server 3 executes the allocation of the dedicated elevator 6 for the robot to the elevator 6 in [S104] based on at least the elevator identifier management table (see FIG. 4), the operation history data (see FIG. 8), and the robot data (see FIG. 9).

[0087] Here, the elevator 6 includes an elevator control device 8, and the elevator control device 8 controls the movement of the car and the opening and closing of the doors. The same applies in FIG. 15.

[0088] Next, when the robot 4 approaches the entrance / exit gate 9 by moving and enters the detection range of the beacon 11 attached to the entrance / exit gate 9 which is in robot-exclusive operation, a display indicating that the robot-exclusive operation is being performed is executed on the display 12 attached to the entrance / exit gate at [S105].

[0089] At this time, in the gate allocation unit 302e of the security server 3, by determining the congestion status of the entrance / exit gate 9 from the entrance / exit gate history data, the robot 4 can avoid passing through the entrance / exit gate 9 during the congestion period and start passing through the entrance / exit gate 9 after avoiding the congestion period.

[0090] Also, in the case of the robot 4 that can pass at a predetermined moving speed or higher, since it does not obstruct the passage of humans, it can also pass even during congestion. In the elevator allocation unit 302e, an appropriate elevator is allocated from the operation history data of the elevator 6.

[0091] At the same time as the robot 4 enters the detection range of the beacon 11 attached to the entrance / exit gate 9 which is in robot-exclusive operation, the entrance / exit gate 9 that has received the robot-exclusive allocation at [S106] starts the robot-exclusive operation.

[0092] Next, the robot server 1 outputs a gate door open command for the entrance / exit gate 9 to the facility robot cooperation server 2 at [S107]. Then, the facility robot cooperation server 2 that has received the gate door open command for the entrance / exit gate 9 outputs a gate door open command for the entrance / exit 9 to the security server 3 at [S108].

[0093] Furthermore, the security server 3 that has received the gate opening command for the entrance / exit gate 9 outputs a gate opening command for the entrance / exit gate 9 dedicated to the robot assigned in [S109]. The entrance / exit gate 9 that has received the gate opening command opens the gate of the entrance / exit gate 9 according to this instruction.

[0094] According to the instruction in [S109], after the gate of the entrance / exit gate 9 opens in [S110], the robot starts moving in [S111] and passes through the entrance / exit gate. At this time, while the robot 4 is passing through the entrance / exit gate 9, the robot server 1 continuously outputs the gate opening command for the entrance / exit gate 9 to the facility robot cooperation server 2 at regular time intervals in [S112].

[0095] Then, the facility robot cooperation server 2 that has received this continuous gate opening command issues a gate opening command for the entrance / exit gate 9 to the security server 3 in [S113]. The security server that has received the entrance / exit gate opening command issues a gate opening command for the entrance / exit gate 9 dedicated to the robot assigned in [S114], and keeps the entrance / exit gate in the open state until the robot passes through the entrance / exit gate.

[0096] After the robot 4 completes passing through the entrance / exit gate 9 in [S115], the robot server 1 outputs a gate closing command to close the gate of the entrance / exit gate 9 to the facility robot cooperation server 2 in [S116]. Then, the facility robot cooperation server 2 that has received the gate closing command for the entrance / exit gate 9 outputs a gate closing command to the security server 3 in [S117].

[0097] Next, when the security server 3 receives the gate closing command from the facility robot cooperation server 2, the security server 3 outputs a gate closing command for the entrance / exit gate 9 to the entrance / exit gate 9 in [S118], and at the same time releases the assignment of the entrance / exit gate 9 dedicated to the robot. Furthermore, the entrance / exit gate 9 that has received the gate closing command closes its own gate in [S119], the display indicating that the dedicated robot operation is being carried out on the display attached to the entrance / exit gate 9 becomes invisible, and the dedicated robot operation of the entrance / exit gate 9 ends.

[0098] By executing such a sequence, the robot 4 is assigned an entrance / exit gate through which it can pass, enabling it to smoothly pass through the entrance / exit gate.

[0099] Then, the robot 4 that has passed through the entrance / exit gate 9 moves towards the elevator 6 and gets on the assigned elevator 6. FIG. 15 is a diagram showing the sequence when the robot 4 gets on the elevator 6. In this embodiment, it is assumed that the elevator 6 cannot be controlled by the facility robot cooperation server 2 during normal times, and the elevator 6 is controlled by the security server 3.

[0100] When the robot 4 completes passing through the entrance / exit gate 9 in [S119] shown in FIG. 14 and arrives near the elevator assigned exclusively for the robot in [S201], the elevator 6 assigned in [S104] of FIG. 14 starts a dedicated robot operation in [S202].

[0101] Next, the robot server 1 outputs an elevator call command to the facility robot cooperation server 2 in [S203]. Then, the facility robot cooperation server 2 that has received the elevator call command outputs an elevator call command to the security server 3 in [S204].

[0102] The security server 3 that has received the elevator call command outputs an elevator call command to the elevator 6 in [S205]. After the assigned elevator 6 arrives in response to this call, the elevator 6 performs a door opening operation to open the door of the elevator 6 assigned exclusively for the robot.

[0103] After the door of elevator 6 opens, at [S207], robot 4 starts boarding elevator 6. At this time, until robot 4 finishes boarding elevator 6, at [S208], the robot server continuously outputs an elevator door open command to facility robot cooperation server 2. The elevator door open command at this time is for preventing the door of elevator 6 from closing while robot 4 is boarding.

[0104] Upon receiving the elevator door open command, facility robot cooperation server 2 outputs an elevator door open command to security server 3 at [S209]. Upon receiving the elevator door open command, security server 3 executes security release for elevator 6 so that facility robot cooperation server 2 can control elevator 6 at [S210].

[0105] Furthermore, security server 3 outputs an elevator door open command to facility robot cooperation server 2 at [S211]. Upon receiving this, facility robot cooperation server 2 outputs an elevator door open command to elevator 6 at [S212], keeping the door of elevator 6 open.

[0106] After robot 4 finishes boarding elevator 6 at [S213], robot server 1 outputs an elevator door close command to close the door to facility robot cooperation server 2 at [S214]. Then, upon receiving the elevator door close command, facility robot cooperation server 2 outputs an elevator door close command to security server 3 at [S215].

[0107] Upon receiving the elevator door close command, security server 3 releases the security for elevator 6 at [S216], and at the same time outputs an elevator door close command to facility robot cooperation server 2 at [S217].

[0108] Upon receiving the elevator door closing instruction, the facility robot cooperation server 2 outputs an elevator door closing instruction to the elevator 6 at [S218]. Then, at [S219], it executes a door closing operation to close the door of the elevator 6. Finally, after the door of the elevator 6 is closed, the security server 3 resumes security control at [S220 so that the elevator 6 cannot be controlled from the facility robot cooperation server 2.

[0109] By executing such a sequence, the robot 4 can smoothly board the assigned elevator.

[0110] In addition to the above-described embodiment, the functions of the robot server shown in FIG. 1 can be held in the robot control device 5 and mounted on the robot 4, and the above-described control can be executed by communicating with the beacon 11 of the entrance / exit gate 9 using an RF module, or the above-described control can be executed by exchanging robot-specific information with the beacon 11 using an RFID module.

[0111] In the present invention, there is provided a robot cooperation facility management system including at least a robot server, a facility robot cooperation server, and a security server, which controls the operations of an entrance / exit gate and an elevator. The robot server has a function of executing control to transmit an operation command related to the operations of the entrance / exit gate and the elevator based on information from a robot control device that determines the action guidelines of the robot to the facility robot cooperation server. The facility robot cooperation server has a function of executing control to transmit the operation command to the security server when receiving the operation command from the robot server. The security server has a function of executing control to give at least an assignment instruction for the entrance / exit gate and an operation command to the entrance / exit gate, and a function of executing control to give an assignment instruction for the elevator to the elevator when receiving the operation command from the facility robot cooperation server. Further, the facility robot cooperation server has a function of executing control of the elevator based on the operation command given to the elevator from the security server.

[0112] According to this, by allocating entrance / exit gates suitable for the movement of the robot and elevators, the robot can smoothly pass through the entrance / exit gates without obstructing the passage of humans, and can board the elevator.

[0113] In addition, the present invention is not limited to the several embodiments described above, and includes various modifications. The above embodiments have been described in detail for easy understanding of the present invention, and are not necessarily limited to those having all the configurations described. Also, a part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of one embodiment. It is also possible to add, delete, or replace other configurations for the configuration of each embodiment.

Explanation of Reference Numerals

[0114] 1... Robot server, 2... Facility robot cooperation server, 3... Security server, 4... Robot, 5... Robot control device, 6... Group management elevator, 7... Monitoring device, 8... Elevator control device, 9... Entrance / exit gate, 10... Entrance / exit control device, 11... Beacon, 12... Liquid crystal panel, 13... Communication device.

Claims

1. A robot-linked facility management system that includes at least a robot server, a facility robot cooperation server, and a security server, and controls the operation of the entrance / exit gate, The robot server has a function of executing control to transmit a gate operation command related to the operation of the entrance / exit gate based on information from a robot control device that determines the action guidelines of the robot to the facility robot cooperation server, The facility robot cooperation server has a function of executing control to transmit the gate operation command to the security server when receiving the gate operation command from the robot server, When receiving the gate operation command from the facility robot cooperation server, the security server has a function of executing at least an assignment instruction to assign the entrance / exit gate dedicated to the robot and control to give the gate operation command to the assigned entrance / exit gate A robot-linked facility management system characterized by this.

2. The robot-linked facility management system according to Claim 1, The robot server further has a function of executing control to transmit an elevator operation command related to the operation of the elevator based on information from the robot control device that determines the action guidelines of the robot to the facility robot cooperation server, When receiving the elevator operation command from the facility robot cooperation server, the security server has a function of executing control to give an assignment instruction to assign the elevator dedicated to the robot to the elevator, Furthermore, the facility robot cooperation server has a function of executing control of the elevator assigned based on the elevator operation command from the security server. A robot-linked facility management system characterized by this.

3. The robot-linked facility management system according to Claim 2, The security server transmits an elevator operation command to release the security to the assigned elevator, and based on this release of the security, the facility robot cooperation server executes control of the elevator assigned based on the elevator operation command from the security server A robot-linked facility management system characterized by this.

4. The robot-linked facility management system according to Claim 2, The elevator operation command given to the assigned elevator includes a door opening command for opening the door of the elevator and a door closing command for closing the door. A robot cooperation facility management system characterized by the above.

5. The robot cooperation facility management system according to claim 1, The gate operation command given to the assigned entrance / exit gate includes a door opening command for opening the gate of the entrance / exit gate and a door closing command for closing the gate. A robot cooperation facility management system characterized by the above.

6. The robot cooperation facility management system according to claim 1, The assignment of the entrance / exit gate is determined using at least the entrance / exit gate identifier management table of the entrance / exit gate, the usage history data of the entrance / exit gate, and the robot data of the robot. A robot cooperation facility management system characterized by the above.

7. The robot cooperation facility management system according to claim 2, The assignment of the elevator is determined using at least the elevator identifier management table of the elevator, the operation history data of the elevator, and the robot data of the robot. A robot cooperation facility management system characterized by the above.

8. The robot cooperation facility management system according to claim 1, The assigned entrance / exit gate is equipped with a beacon, and when the approach of the robot is detected by the beacon, it is displayed on the display unit provided on the entrance / exit gate that it is a dedicated operation for the robot. A robot cooperation facility management system characterized by the above.

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