Robotic collaboration facility management system

Abstract

A robot cooperation facility management system distributes an entrance / exit door suitable for a robot to pass through among a plurality of entrance / exit doors, and the robot passes through the distributed entrance / exit door without obstructing a person's passage. The robot cooperation facility management system includes a robot server, a facility robot cooperation server, and a safety server. The robot server receives an operation instruction of an entrance / exit door and an elevator from a robot control device that determines a robot's action policy. The facility robot cooperation server transmits and receives an operation instruction to and from the safety server in a case where the operation instruction is received from the robot server, performs control of the elevator based on an operation instruction from the safety server, and performs allocation control of the elevator and release of safety of the elevator and allocation control of the entrance / exit door in a case where an operation instruction from the facility robot cooperation server is received.

Description

TECHNICAL FIELD

[0001] The present application relates to a robot cooperative facility management system that performs management of a facility for a robot that moves autonomously. BACKGROUND

[0002] In recent years, many robots that move autonomously have been developed in order not to hinder people from passing through a building or a facility. For example, a security robot that patrols a facility to perform security, an environment measuring robot that measures an environment such as an air conditioning temperature of a facility, a cleaning robot that cleans a facility, a guide robot that guides a visitor, and the like have been developed.

[0003] These robots are autonomous robots, and thus there are obstacles that become various obstacles when the robots move in addition to people around the robots. If it is a building, there are many obstacles such as a door to a room, an elevator of an office building or an apartment, a gate to a room, and the like. Moreover, these obstacles are subjected to security countermeasures, and become mechanisms that cannot be passed through without security release.

[0004] Therefore, technologies that utilize or avoid such a door to a room, an elevator, a gate to a room have been developed. For example, a technology is disclosed in Patent Literature 1 in which, in order to utilize an elevator, a door is determined and utilized based on an image obtained by the robot capturing the door.

[0005] Here, in the following description, obstacles such as a door to a room, an elevator, a gate to a room are collectively described as a "gate to a room". Therefore, in the case of a door to a room or an elevator as an object, it is only necessary to make a substitution. In addition, in the case of particularly describing a door to a room or an elevator, a direct call is used.

[0006] PRIOR ART DOCUMENTS

[0007] PATENT LITERATURE

[0008] Patent Literature 1: Japanese Patent Application Publication No. 2019-130616 SUMMARY

[0009] PROBLEMS TO BE SOLVED BY THE INVENTION

[0010] In an autonomous robot, in the case of passing through a narrow passage such as a gate to a room in which a security countermeasure is implemented, the moving time is long, and people are often hindered from passing through. In addition, regarding a gate to a room in which a security countermeasure is implemented, although a robot can pass through by holding an authentication medium, the passing through takes time, and thus people can be hindered from passing through. Moreover, a robot does not grasp a congestion state of people in a gate to a room, and it is difficult to make a determination of which one of a plurality of certain gates to a room is most appropriate to utilize.

[0011] According to such a situation, it is desirable to provide an assistance system that can assign an entrance / exit room door suitable for a robot to pass through, and the robot can smoothly pass through the entrance / exit room door.

[0012] An object of the present application is to provide a robot cooperative facility management system that assigns an entrance / exit room door suitable for a robot to pass through among a plurality of entrance / exit room doors, and the robot passes through the assigned entrance / exit room door, thereby not obstructing a person's passage.

[0013] Means for solving the problem

[0014] In the present application, a robot cooperative facility management system has at least a robot server, a facility robot cooperative server, and a security server, the robot cooperative facility management system controls actions of an entrance / exit room door and an elevator, characterized in that the robot server has a function of performing control of transmitting an action instruction associated with the actions of the entrance / exit room door and the elevator based on information from a robot control device that determines a robot's action policy to the facility robot cooperative server, the facility robot cooperative server has a function of performing control of transmitting the action instruction to the security server in a case where the action instruction from the robot server is received, the security server has a function of performing control of providing at least an assignment instruction of the entrance / exit room door and the action instruction to the entrance / exit room door and control of providing an assignment instruction of the elevator to the elevator in a case where the action instruction from the facility robot cooperative server is received, and the facility robot cooperative server has a function of performing control of the elevator based on the action instruction provided to the elevator from the security server.

[0015] Effects of the invention

[0016] According to the present application, by performing assignment of an entrance / exit room door and an elevator suitable for a robot's movement, the robot can smoothly pass through the entrance / exit room door and ride the elevator without obstructing a person's passage. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a configuration diagram showing the overall configuration of a robot cooperative facility management system according to an embodiment of the present application.

[0018] Figure 2 is a block diagram showing the configuration of a robot server shown in Figure 1

[0019] Figure 3 is an explanatory diagram showing the configuration of an entrance / exit room door identifier management table.

[0020] Figure 4 is an explanatory diagram showing the configuration of an elevator identifier management table.

[0021] ​Figure 5 is a block diagram showing the structure of a facility robot collaboration server. Figure 1

[0022] Figure 6 is a block diagram showing the structure of a security server. Figure 1

[0023] Figure 7 is an explanatory diagram showing the structure of utilization history data of a room entrance door.

[0024] Figure 8 is an explanatory diagram showing the structure of operation history data of an elevator.

[0025] Figure 9 is an explanatory diagram showing the structure of robot data of a robot.

[0026] Figure 10 is a block diagram showing the structure of a robot. Figure 1

[0027] Figure 11 is a block diagram showing the structure of a robot control device. Figure 1

[0028] is a block diagram showing the structure of an elevator control device. Figure 12 Figure 1

[0029] is a block diagram showing the structure of a room entrance control device. Figure 13 Figure 1

[0030] is an explanatory diagram showing the timing when a robot passes through a room entrance door. Figure 14

[0031] is an explanatory diagram showing the timing when a robot rides an elevator. Figure 15 BRIEF DESCRIPTION OF DRAWINGS

[0032] 1... robot server, 2... facility robot collaboration server, 3... security server, 4... robot, 5... robot control device, 6... group management elevator, 7... monitoring device, 8... elevator control device, 9... room entrance door, 10... room entrance control device, 11... beacon, 12... display section, 13... communication device.

[0033] DETAILED DESCRIPTION

[0034] Embodiments of the present application are explained in detail using the accompanying drawings, but the present application is not limited to the following embodiments, and various modifications, applications are included in the technical concept of the present application within the scope thereof.

[0035] ​​​​​​An embodiment of the present application will be described below based on the drawings. Figure 1 The overall structure of the robot cooperative facility management system is shown. In the present embodiment, a case where an autonomous robot travels in an entrance / exit room door and an elevator in a building (for example, an office building or the like) is described as an example.

[0036] Here, in the following description, the expression "elevator" refers to an abbreviation of "elevator car", and in the following description, the expression "robot" refers to an abbreviation of "autonomous robot".

[0037] In Figure 1 In the robot cooperative facility management system 14 of the present embodiment, a facility robot cooperative system 15 and a safety system 16 are provided.

[0038] The facility robot cooperative system 15 includes a robot server 1, a facility robot cooperative 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, the robot control device 5 can be integrated in the robot 4, and the elevator control device 8 can be integrated in the monitoring device 7.

[0039] In addition, the safety system 16 includes a safety server 3, an entrance / exit room door 9, an entrance / exit room control device 10, a beacon 11, and a display portion 12. The safety server 3 has a management function of the entrance / exit room door 9 and a management function of the elevator 6. Therefore, the entrance / exit room control device 10 and the elevator control device 8 perform control actions based on instructions from the safety server 3.

[0040] The entrance / exit room control device 10 has a function of opening and closing the door of the entrance / exit room door 9 according to an instruction from the safety server 3, or transmitting the action state of the entrance / exit room door 9 or the like to the safety server 3.

[0041] The beacon 11 establishes communication with the robot 4 when the robot 4 approaches to a predetermined range, and communicates with the entrance / exit room control device 10. In addition, the display portion 12 visually and audibly notifies the robot 4 that it has passed the entrance / exit room door (assigned dedicated door) 9 according to the situation.

[0042] The communication device 13 of the robot control device 5 is connected to the robot server 1 through a communication network 17 such as a LAN (Local Area Network) or Bluetooth (registered trademark). In addition, the communication device 13 of the elevator control device 8 is connected to the facility robot cooperative server 2 through the communication network 17 such as the Internet. Furthermore, the robot server 1 is connected to the facility robot cooperative server 2 through the communication network 17 such as the Internet.

[0043] The communication device 13 of the access control unit 10 and the security server 3 are connected via a communication network 17 such as the Internet. Additionally, the facility robot collaboration server 2 and the security server 3 are connected via 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 unit 8 via the Internet. Furthermore, these communication networks are just examples; any appropriate communication network can be used.

[0044] Next, the main structural elements constituting the facility robot collaborative system 15 and the safety system 16 will be described.

[0045] Figure 2 This describes the structure of the robot server 1 that forms the facility robot collaboration system 15. The robot server 1 consists of a computer device that performs various processes under the control of a CPU 101 and is managed in the cloud. The CPU 101 is connected to a main storage device 102 and a communication interface 103.

[0046] The main storage device 102 includes an input / output unit 102a that operates based on instructions from the CPU 101, a building information unit 102b, a robot status monitoring unit 102c, an elevator ride instruction unit 102d, an entrance / exit door opening / closing instruction unit 102e, and an elevator opening / closing instruction unit 102f.

[0047] The input / output unit 102a performs the function of sending and receiving various data with the robot control device 5 and the facility robot collaboration server 2 via the communication interface 103.

[0048] Building Information Department 102b contains various information about the building's entrance doors 9 and elevators 6, including at least the entrance door identifier management table (see...). Figure 3 ) and elevator identifier management table (refer to Figure 4 Furthermore, it includes map information for buildings (2D / 3D maps, etc.). In addition, it can contain a large amount of building information.

[0049] Figure 3 This is an example of the data structure of the entrance / exit door identifier management table. The entrance / exit door identifier management table is used to assign one of a plurality of entrance / exit doors 9 to a robot-specific entrance / exit door, and is configured to have multiple columns including building name information 801, door name information 802, door type information 803, and robot-specific operation capability information 804.

[0050] The item of the building name information 801 indicates the name of the building in which the gate is provided. The item of the gate name information 802 indicates the name uniquely named for each gate. The item of the gate type information 803 indicates the type of the gate as an object. The item of the robot exclusive operation possible information 804 indicates whether or not the robot exclusive operation of the corresponding gate is possible. For example, if it is a room entrance gate of a baffle type having a wider width than usual, the robot 4 can pass (O), and if it is a gate having a usual width, the robot 4 cannot pass (X).

[0051] Figure 4 An example of a data structure representing an elevator identifier management table. The elevator identifier management table is used as an identifier for setting the elevator 6 to the robot exclusive operation, and is configured to have a plurality of columns including the building name information 901, the elevator name information 902, the elevator type information 903, and the robot exclusive operation possible information 904.

[0052] The item of the building name information 901 indicates the name of the building in which the elevator 6 is provided. The item of the elevator name information 902 indicates the name uniquely named for each elevator 6. The item of the elevator type information 903 indicates the type of the elevator 6 as an object. The item of the robot exclusive operation possible information 904 indicates whether or not the corresponding elevator 6 is capable of (O) or incapable of (X) the robot exclusive operation.

[0053] Returning to Figure 2 The robot state monitoring section 102c performs a function of monitoring the operation state of the robot 4. The operation state of the robot 4 indicates the current position of the robot 4 (determined from the GPS information, the image information, and the like), the movement situation of the drive area of the robot 4, the remaining amount of the battery, and the like.

[0054] The elevator ride instruction section 102d performs a function of outputting, to the facility robot cooperation server 2 via the input and output section 102a, a ride instruction to the elevator 6 when the robot 4 performs movement accompanying the ride to the elevator 6. At this time, there are a case where the robot 4 passes through the room entrance gate 9 and a case where the robot 4 rides the elevator 6, and the switching is performed by the room entrance gate 9 or the elevator 6.

[0055] The gate opening and closing instruction section 102e performs a function of outputting, to the facility robot cooperation server 2 via the input and output section 102a, an opening instruction and a closing instruction of the room entrance gate 9 when the robot 4 performs movement accompanying the passage through the room entrance gate. The "opening" refers to the opening of the door of the gate, and the "closing" refers to the closing of the door of the gate.

[0056] The elevator opening and closing instruction section 102f performs a function of outputting, to the facility robot cooperation server 2 via the input and output section 102a, an opening instruction and a closing instruction of the elevator 6 when the robot 4 performs movement accompanying the ride to the elevator 6.

[0057] Next, the facility robot collaboration server 2 that constitutes the facility robot collaboration system 15 will be described. Figure 5 The structure of the facility robot collaboration server 2 that forms the facility robot collaboration system 15 is shown. The facility robot collaboration server 2 is constituted by a computer device that performs various processes under the control of a CPU 201, and is managed on a cloud. The CPU 201 is connected to a main storage device 202 and a communication interface 203.

[0058] The main storage device 202 has an input / output section 202a that acts based on an instruction of the CPU 201, a building information section 202b, a robot-specific operation instruction section 202c, a robot-specific elevator assignment section 202d, a door opening / closing instruction section 202e, an elevator control section 202f, an elevator call control section 202g, and an elevator opening / closing instruction section 202h.

[0059] The input / output section 202a performs a function of performing transmission and reception processing of data with the robot server 1, the security server 3, and the elevator control device 8 via the communication interface 203.

[0060] The building information section 202b is various information of the entrance / exit room door 9 and the elevator 6 in the building, and stores the same information as the building information section 102b stored in the robot server 1.

[0061] The robot-specific operation instruction section 202c performs a function of outputting a robot-specific operation instruction to the security server 3 when an elevator ride instruction is received from the robot server 1.

[0062] The robot-specific elevator assignment section 202d performs robot-specific elevator assignment to the elevator 6 when a robot-specific elevator assignment is received from the security server 3. In addition, a function of performing comparison of the assigned elevator 6 and elevator information included in an elevator identifier management table of the building information section 202b, and determining the assigned elevator 6 is performed.

[0063] The door opening / closing instruction section 202e performs a function of outputting an opening instruction and a closing instruction of the entrance / exit room door to the security server 3 when the opening instruction and the closing instruction of the entrance / exit room door 9 are received from the robot server 1.

[0064] The elevator control section 202f performs a function of performing control processing of the elevator 6 by giving an operation instruction to the elevator control device 8. Here, the facility robot collaboration server 2 is configured so that control of the elevator 6 cannot be performed if there is no release instruction of security from the security server 3.

[0065] The elevator call control section 202g performs a function of outputting an elevator call instruction to the security server 3 when an elevator ride instruction is issued from the robot server 1.

[0066] The elevator opening / closing instruction section 202h performs a function of outputting an entrance / exit door opening / closing instruction to the safety server 3 when receiving an elevator opening / closing instruction from the robot server 1.

[0067] Next, the safety server 3 that forms a safety system 16 that cooperates with the facility robot cooperation system 15 will be described.

[0068] Figure 6 The structure of the safety server 3 is shown. The safety server 3 is constituted by a computer device that performs various processes under the control of a CPU 301, and is managed on a cloud. The CPU 301 is connected to a main storage device 302 and a communication interface 303.

[0069] The main storage device 302 has an input / output section 302a that acts based on a CPU instruction, a building information section 302b, a running data storage section 302c, a robot data storage section 302d, a door assignment section 302e, an elevator assignment section 302f, a safety control section 302g, an elevator control section 302h, and a door control section 302i.

[0070] The input / output section 302a performs a function of performing data transmission / reception processing of the facility robot cooperation server 2 and the entrance / exit control device 10 and the elevator control device 8 via the communication interface 303.

[0071] The building information section 302b is various information of the entrance / exit door 9 and the elevator 6 in the building, and stores the same information as the building information section 102b stored in the robot server 1.

[0072] The running data storage section 302c has a function of saving a utilization history of the entrance / exit door 9 acquired from the entrance / exit door 9, and saving a running history of the elevator acquired by the monitoring device 7 of the elevator 6.

[0073] Figure 7 An example of a data structure showing the utilization history of the entrance / exit door 9 is shown. For managing the utilization history of each entrance / exit door 9, a plurality of columns including a utilization time 1001 and a user ID 1002 are provided in correspondence with various information included in the utilization information. In the entrance / exit door 9 utilization history, one record (row) corresponds to the utilization history information of which entrance / exit door 9 is utilized by which user.

[0074] In addition, Figure 8 An example of a data structure showing the running history of the elevator 6 is shown. For managing the running history of each elevator, a plurality of columns including a running time 1101, a departure floor 1102, an arrival floor 1103, and a number of passengers 1104 are provided in correspondence with various information included in the running information.

[0075] In the operation history of the elevator 6, one record (row) corresponds to the operation history information of one operation of the car of any one of the elevators from any one floor to any one floor.

[0076] Returning Figure 6 The robot data storage section 302d stores basic data of the robot 4. The basic data includes the kind of the robot, the size, the moving speed, the kind of the sensor, and the like.

[0077] Figure 9 An example of a data structure representing the robot data. The robot data is used to determine whether the robot can pass through any of the entrance / exit hall doors 9. The data is configured to have a plurality of columns including a robot name 1201, a robot kind 1202, a size 1203, a moving speed 1204, and a maximum speed 1205. In the robot data, one record (row) corresponds to the size, the moving speed, and the like of the robot individual identification information of the robot in any kind.

[0078] The door assignment section 302e performs a function of assigning the function of the entrance / exit hall door 9 most suitable for the robot 4 to pass through, based on the building information section 302b, the operation data storage section 302c, and the robot data storage section 302d, when a robot-specific operation instruction is received from the facility robot cooperation server 2.

[0079] The elevator assignment section 302f performs a function of assigning the elevator 6 most suitable for the robot 4 to ride, based on the building information section 302b, the operation data storage section 302c, and the robot data storage section 302d, when a robot-specific operation instruction is received from the facility robot cooperation server.

[0080] The safety control section 302g performs a function of temporarily releasing the safety to enable the facility robot cooperation server 2 to perform control of the elevator 6.

[0081] The elevator control section 302h performs a function of giving an operation instruction to the elevator control device 8 to perform control processing of the elevator 6. In addition, the door control section 302i performs a function of performing control processing of the entrance / exit hall door 9.

[0082] Next, the robot 4 that forms the facility robot cooperation system 15 will be described.

[0083] Figure 10 The structure of the robot 4 that constitutes the facility robot cooperation system 15 is shown. The robot 4 is constituted by a computer device that performs various processing under the control of a CPU 401 and is managed within the building. The CPU 401 is connected to a main storage device 402, an input / output device 403, and a communication interface 404.

[0084] The main storage device 402 has an input / output section 402a that acts based on instructions from a CPU, and a drive control section 402b.

[0085] The input / output section 402a performs a function of performing transmission and reception processing of data with the robot control device 5 via the communication interface. In addition, the drive control section 402b performs a function of performing control processing of the drive mechanism of the robot 4.

[0086] The input / output device 403 has a camera 403a, various sensors 403b, a drive mechanism section 403c, and a wireless communication section 403d.

[0087] The camera 403a has a function of the robot 4 capturing the surrounding environment and obtaining an image. The various sensors 403b have a function of the robot 4 more specifically obtaining information of the surrounding environment, such as an infrared sensor, a sound wave sensor, and the like. In addition, a sensor required for drive control of the robot, such as a GPS sensor, a gyro sensor, and the like, is also included.

[0088] The drive mechanism section 403c has a function of moving the robot 4 based on a control instruction from the drive control section 402b. The drive mechanism section 403c has at least an electric motor that drives a wheel. Furthermore, a brake mechanism can also be provided as needed. The wireless communication section 403d has a function of performing transmission and reception of data with the beacon 11 attached to the entrance / exit door 9.

[0089] Next, the robot control device 5 that constitutes the facility robot cooperation system 15 will be described.

[0090] Figure 11 The structure of the robot control device 5 that forms the facility robot cooperation system 15 is shown. The robot control device 5 is constituted by a computer device that performs various processing under the control of a CPU 501, and is managed within a building. The CPU 501 is connected to a main storage device 502 and a communication interface 503.

[0091] The main storage device 502 has an input / output section 502a that acts based on instructions from a CPU, a movement instruction section 502b, a door determination section 502c, and an elevator determination section 502d.

[0092] The input / output section 502a performs transmission and reception processing of data between the robot 4 and the robot server 1 via the communication interface 503. In addition, the movement instruction section 502b performs a function of searching for an optimal route to a destination when the destination of the robot 4 is determined, and instructing the optimal route to the robot 4.

[0093] The door determination section 502c determines the function of the assigned access door 9 based on the surrounding information acquired from the camera 403a and various sensors 403b possessed by the robot 4. In addition, the elevator determination section 502d determines the function of the assigned elevator 6 based on the surrounding information acquired from the camera 403a and various sensors 403b possessed by the robot 4.

[0094] Next, the elevator control device 8 that forms the facility robot cooperation system 15 will be described. Figure 12 The structure of the elevator control device 8 that constitutes the facility robot cooperation system 15 is shown. The elevator control device 8 is constituted by a computer device that performs various processes under the control of a CPU 601, and is managed within the building. The CPU 601 is connected to a main storage device 602 and a communication interface 603.

[0095] The main storage device 602 has an input / output section 602a, an elevator control section 602b, and a safety monitoring section 602c that act based on instructions from the CPU 601.

[0096] The input / output section 602a performs the function of transmitting and receiving data with the facility robot cooperation server 2 and the safety server 3 via the communication interface 603.

[0097] The elevator control section 602b performs the function of controlling the elevator, and in addition, can receive an action instruction from the elevator control section 302h of the safety server 3 to control the elevator 6. In addition, when the safety of the safety control section 302g of the safety server 3 is released, the elevator control section 602b can perform control of the elevator 6 upon receiving an instruction from the facility robot cooperation server 2.

[0098] The safety monitoring section 602c performs the function of monitoring without accepting an instruction from outside the safety server 3. Upon receiving an instruction to release the safety from the safety server 3, the safety monitoring section 602c temporarily releases the safety to perform the function of accepting an instruction from the facility robot cooperation server 2.

[0099] Next, the structure of the access door control device 10 that forms the safety system 16 will be described.

[0100] Figure 13 The structure of the access door control device 10 that constitutes the facility robot cooperation system 15 is shown. The access door control device 10 is constituted by a computer device that performs various processes under the control of a CPU 701, and is managed within the building. The CPU 701 is connected to a main storage device 702 and a communication interface 703.

[0101] The main storage device 702 has an input / output section 702a and a door control section 702b that act based on instructions from the CPU 701.

[0102] The input / output section 702a performs a function of performing the transmission and reception processing of data of the security server 3 and the access door 9 via the communication interface 703. In addition, the door control section 702b performs the control of the access door 9, and performs a function of receiving the action instruction of the door control section 302i from the security server 3, and performing the control of the access door 9.

[0103] The specific control of the robot 4 and the access door 9 and the elevator 6 in the robot collaboration facility management system having the above structure will be described. In this case, the control in the case where the access door 9 is passed and the control in the case where the elevator 6 is ridden are performed.

[0104] Here, the control of the distribution instruction of the access door and the elevator, the call instruction of the elevator, the door opening instruction of the door, the door closing instruction of the door, the door opening instruction of the elevator, the door closing instruction of the elevator, the safety release / resumption, and the like described below are in the category of "action instruction".

[0105] Figure 14 is a diagram showing the sequence when the robot 4 passes the access door 9. In the present embodiment, in the building in which the access door 9 and the elevator 6 are provided at the same time, the access door is provided in front of the elevator 6 when the robot 4 is heading for a specific floor.

[0106] When the robot 4 is heading for a specific floor, the robot server 1 outputs the elevator ride instruction to the facility robot collaboration server 2 in [S101]. Next, the facility robot collaboration server 2 that has received the elevator ride instruction outputs the robot-specific operation instruction of the access door 9 and the elevator 6 to the security server 3 in [S102].

[0107] The security server 3 that has received the robot-specific operation instruction performs the distribution of the access door 9 specific to the robot based on at least the access door identifier management table (refer to Figure 3 ), the access door history data (refer to Figure 7 ), and the robot data (refer to Figure 9 ) with respect to the access door 9 in [S103].

[0108] In addition, the security server 3 performs the distribution of the elevator 6 specific to the robot based on at least the elevator identifier management table (refer to Figure 4 ), the operation history data (refer to Figure 8 ), and the robot data (refer to Figure 9 ) with respect to the elevator 6 in [S104].

[0109] Further, here, the elevator 6 includes the elevator control device 8, and the movement of the car and the opening and closing of the door are performed by the elevator control device 8. In Figure 15The same applies to China.

[0110] Next, when the robot 4 moves and approaches the entrance door 9, entering the detection range of the beacon 11 attached to the entrance door 9 which is used for robot-only operation, in [S105] a display indicating that robot-only operation is being implemented is executed on the display unit 12 attached to the entrance door.

[0111] At this time, in the door distribution unit 302e of the security server 3, the congestion status of the entrance and exit door 9 is determined based on the historical data of the entrance and exit door. Thus, the robot 4 can also refrain from passing through the entrance and exit door 9 during the congestion period and begin passing through the entrance and exit door 9 after avoiding the congestion period.

[0112] Furthermore, in the case of robot 4, which is capable of moving at a predetermined speed or higher, it can also pass through congested areas without obstructing pedestrian traffic. In elevator allocation unit 302f, appropriate elevators are allocated based on the operating history data of elevator 6.

[0113] As robot 4 enters the detection range of beacon 11 attached to the robot-dedicated entrance / exit door 9, the robot-dedicated entrance / exit door 9, which has been assigned a robot-dedicated function, begins robot-dedicated operation in [S106].

[0114] Next, in [S107], robot server 1 outputs a door opening command for entrance door 9 to facility robot collaboration server 2. Then, upon receiving the door opening command for entrance door 9, facility robot collaboration server 2 outputs a door opening command for entrance door 9 to security server 3 in [S108].

[0115] Furthermore, in [S109], the security server 3, having received the door opening command from the entrance / exit door 9, outputs the door opening command to the assigned robot-specific entrance / exit door 9. Upon receiving the door opening command, the entrance / exit door 9 opens its door according to the instruction.

[0116] As instructed in [S109], after the door of the entrance / exit gate 9 is opened in [S110], the robot begins to move through the entrance / exit gate in [S111]. At this time, while the robot 4 is passing through the entrance / exit gate 9, the robot server 1 continuously outputs the door opening command of the entrance / exit gate 9 to the facility robot collaboration server 2 at constant time intervals in [S112].

[0117] Then, the facility robot cooperation server 2 that received the continuous door opening instruction of the entrance / exit room door 9 outputs a door opening instruction of the entrance / exit room door 9 to the security server 3 in [S113], and the security server that received the entrance / exit room door opening instruction opens the door of the assigned robot-specific entrance / exit room door 9 in [S114] and sets the entrance / exit room door to an open state before the robot passes through the entrance / exit room door.

[0118] After the robot 4 completes the passing through of the entrance / exit room door 9 in [S115], the robot server 1 outputs a door closing instruction of the entrance / exit room door 9 to the facility robot cooperation server 2 in [S116]. Then, the facility robot cooperation server 2 that received the door closing instruction of the entrance / exit room door 9 outputs a door closing instruction to the security server 3 in [S117].

[0119] Next, when the security server 3 receives the door closing instruction from the facility robot cooperation server 2, the security server 3 outputs an entrance / exit room door closing instruction to the entrance / exit room door 9 in [S118] and cancels the assignment of the robot-specific entrance / exit room door 9. Also, the entrance / exit room door 9 that received the door closing instruction closes the door thereof in [S119] and sets the display indicating the meaning of the implementation of the robot-specific operation displayed on the display attached to the entrance / exit room door 9 to non-display, and the robot-specific operation of the entrance / exit room door 9 ends.

[0120] By executing such a timing, the robot 4 is assigned the entrance / exit room door through which the robot 4 can pass and can smoothly pass through the entrance / exit room door.

[0121] Then, the robot 4 that passed through the entrance / exit room door 9 moves toward the elevator 6 and rides the assigned elevator 6. Figure 15 is a diagram showing the timing when the robot 4 rides the elevator 6. Also, in the present embodiment, the elevator 6 is set to be unable to be controlled by the facility robot cooperation server 2 at ordinary times, and the control of the elevator 6 is performed by the security server 3.

[0122] In Figure 14 the passing through of the entrance / exit room door 9 is completed in [S119] shown in the drawing, the robot 4 reaches the vicinity of the elevator assigned to the robot-specific operation in [S201], and the elevator 6 assigned in [S104] starts the robot-specific operation in [S202]. Figure 14

[0123] Next, the robot server 1 outputs an elevator call instruction to the facility robot cooperation server 2 in [S203]. Then, the facility robot cooperation server 2 that received the elevator call instruction outputs an elevator call instruction to the security server 3 in [S204].

[0124] ​The safety server 3 that received the elevator call instruction outputs the elevator call instruction to the elevator 6 at [S205]. After the elevator 6 to which the call corresponds is assigned arrives, the elevator 6 performs the door opening operation of opening the door of the elevator 6 assigned exclusively for the robot.

[0125] After the door of the elevator 6 is opened, the robot 4 starts to ride the elevator 6 at [S207]. At this time, the robot server continues to output the elevator door opening instruction to the facility robot cooperation server 2 at [S208] before the robot 4 finishes riding the elevator 6. The elevator door opening instruction at this time is an instruction to keep the door open during the process of the robot 4 riding the elevator 6.

[0126] The facility robot cooperation server 2 that received the elevator door opening instruction outputs the elevator door opening instruction to the safety server 3 at [S209]. The safety server 3 that received the elevator door opening instruction releases the safety at [S210] with respect to the elevator 6, enabling the control of the elevator 6 from the facility robot cooperation server 2.

[0127] Also, the safety server 3 outputs the elevator door opening instruction to the facility robot cooperation server 2 at [S211]. The facility robot cooperation server 2 that received the instruction outputs the elevator door opening instruction to the elevator 6 at [S212], continuing to open the door of the elevator 6.

[0128] After the robot 4 finishes riding the elevator 6 at [S213], the robot server 1 outputs the elevator door closing instruction to close the door to the facility robot cooperation server 2 at [S214]. Then, the facility robot cooperation server 2 that received the elevator door closing instruction outputs the elevator door closing instruction to the safety server 3 at [S215].

[0129] The safety server 3 that received the elevator door closing instruction releases the safety with respect to the elevator 6 at [S216], and outputs the elevator door closing instruction to the facility robot cooperation server 2 at [S217].

[0130] The facility robot cooperation server 2 that received the elevator door closing instruction outputs the elevator door closing instruction to the elevator 6 at [S218]. Then, the door closing operation of closing the door of the elevator 6 is performed at [S219]. Finally, after the door of the elevator 6 is closed, the safety server 3 resumes the safety control, enabling the control of the elevator 6 from the facility robot cooperation server 2 not to be performed with respect to the elevator 6 at [S220].

[0131] By performing such a timing, the robot 4 can ride the assigned elevator smoothly.

[0132] In addition to the above-described embodiment, it is also possible to Figure 1The functions of the robot server shown are held in the robot control device 5 and mounted on the robot 4, and the above-described control is executed using an RF module to communicate with the beacon 11 of the entrance / exit door 9, or using an RFID module to exchange robot-specific information with the beacon 11.

[0133] In the present application, the robot cooperative facility management system is provided with at least a robot server, a facility robot cooperative server, and a security server, the robot cooperative facility management system controls the actions of the entrance / exit door and the elevator, the robot server is provided with a function of executing control to send an action instruction associated with the actions of the entrance / exit door and the elevator based on information from a robot control device that determines a robot action policy to the facility robot cooperative server, the facility robot cooperative server is provided with a function of executing control to send the action instruction to the security server in a case where the action instruction from the robot server is received, the security server is provided with a function of executing control to provide at least an assignment instruction of the entrance / exit door and the action instruction to the entrance / exit door and control to provide an assignment instruction of the elevator to the elevator in a case where the action instruction from the facility robot cooperative server is received, and the facility robot cooperative server is further provided with a function of executing control of the elevator based on the action instruction provided to the elevator from the security server.

[0134] Thus, by performing assignment of the entrance / exit door and the elevator suitable for the movement of the robot, the robot can smoothly pass through the entrance / exit door and ride the elevator without hindering the passage of people.

[0135] Furthermore, the present application is not limited to the above-described several embodiments, and includes various modifications. The above-described embodiments are embodiments that are described in detail for easy understanding of the present application, and are not limited to necessarily having all the structures described. Also, a part of the structure of an embodiment can be replaced with the structure of another embodiment, and the structure of another embodiment can be added to the structure of an embodiment. As to the structure of each embodiment, addition, deletion, and replacement of other structures can be performed.

Claims

1. A robot cooperative facility management system having at least a robot server, a facility robot cooperative server, and a security server, the robot cooperative facility management system controlling an action of an entrance / exit room door, characterized in that the robot server has a function of performing control of transmitting an action instruction associated with the action of the entrance / exit room door based on information from a robot control device that determines a robot action policy to the facility robot cooperative server, the facility robot cooperative server has a function of performing control of transmitting the action instruction to the security server in a case where the action instruction from the robot server is received, the security server has a function of performing control of providing at least an assignment instruction of the entrance / exit room door and the action instruction to the entrance / exit room door in a case where the action instruction from the facility robot cooperative server is received.

2. The robot cooperative facility management system according to claim 1, characterized in that the robot server further has a function of performing control of transmitting an action instruction associated with an action of an elevator based on information from a robot control device that determines a robot action policy to the facility robot cooperative server, the security server has a function of performing control of providing an assignment instruction of the elevator to the elevator in a case where the action instruction from the facility robot cooperative server is received, the facility robot cooperative server further has a function of performing control of the elevator based on the action instruction provided from the security server to the elevator.

3. The robot cooperative facility management system according to claim 2, characterized in that the security server transmits the action instruction of releasing security of the elevator to the elevator, and based on the release of the security, the facility robot cooperative server performs control of the elevator based on the action instruction of the elevator from the security server.

4. The robot cooperative facility management system according to claim 2, characterized in that the action instruction provided to the elevator is an open door instruction of opening a door of the elevator and a close door instruction of closing the door.

5. The robot cooperative facility management system according to claim 1, characterized in that the action instruction provided to the entrance / exit room door is an open door instruction of opening the entrance / exit room door and a close door instruction of closing the door.

6. The robot cooperative facility management system according to claim 1, characterized in that the assignment of the entrance / exit room door is derived using at least an entrance / exit room door identifier management table of the entrance / exit room door, utilization history data of the entrance / exit room door, and robot data of the robot.

7. The robot cooperative facility management system according to claim 2, characterized in that the assignment of the elevator is derived using at least an elevator identifier management table of the elevator, operation history data of the elevator, and robot data of the robot. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ 8. The robot collaboration facility management system of claim 1, wherein the assigned access door has a beacon, and when the approach of the robot is sensed by the beacon, a display provided on the access door displays a robot-only operation mode.

Images