Access management system and access management device

Abstract

An access management system and an access management device. Provided is a technology that is advantageous in managing access of other access bodies in the case where an autonomous mobile body that utilizes a specific function passes. The access management system has: an autonomous mobile body that issues report information when a specific function is utilized; an access management device that has an identification ID master file in which information of identification IDs of a plurality of access bodies is registered; and an access restriction device that restricts access to a management area. The access management device sets, in control information, whether or not access is possible to be non-permission of access for an identification ID that is not in the management area, among the respective identification IDs registered in the identification ID master file, in the case where it is determined that the report information is received and the autonomous mobile body enters the management area. The access restriction device restricts access to the management area for the identification ID for which non-permission of access is set in the control information.

Description

Technical Field

[0001] This application relates to an access control system and access control device for managing the entry and exit of autonomous mobile bodies or people. Background Technology

[0002] Patent Document 1 discloses technology related to an access control system. In this access control system, the authentication process for a person or mobile body holding a portable terminal to enter or exit an area is based on pre-set authentication information.

[0003] Patent Document 1: International Publication No. 2020 / 213516

[0004] There are situations where autonomous mobile vehicles utilize specific functions such as hazardous material recovery. When an autonomous mobile vehicle is using these specific functions, there are sometimes requests to allow passage for other vehicles in a manner different from the usual one. The technology in Patent Document 1 presents the following problem: when utilizing the specific functions of an autonomous mobile vehicle, it is necessary to flexibly determine whether to allow passage for other vehicles. Summary of the Invention

[0005] This application was made to solve the above-mentioned problems, and its purpose is to provide a technology that is advantageous in managing the passage of other passages under the passage of autonomous mobile bodies utilizing specific functions.

[0006] The access control system of this application comprises: an autonomous mobile body having a transmitting unit that issues report information when a specific function is used; an access control device having an identification ID master file that registers information on the identification IDs of multiple access entities, including the autonomous mobile body; and a access restriction device that restricts access to a managed area based on the identification IDs. The access control device comprises: a receiving unit that receives report information; a judging unit that, upon judging that a report information has been received and the autonomous mobile body has entered the managed area, associates information on whether access is prohibited to the managed area with information on whether access is permitted; and a control instruction unit that, upon associating the information on whether access is prohibited with information on whether access is permitted, sets access permission to prohibited for each identification ID registered in the identification ID master file that has not entered the managed area, and sends the control information to the access restriction device. The access restriction device comprises a access control unit that, when the access permission for an identification ID is set to prohibited in the control information, prohibits access to the managed area for that identification ID.

[0007] Furthermore, the access control device of this application can communicate with autonomous mobile bodies and access restriction devices. The autonomous mobile body has a transmitting unit that sends report information when a specific function is used. The access restriction device restricts the entry and exit of multiple access bodies, including the autonomous mobile body, to the management area. The access control device has: a storage unit that stores an identification ID master file, which registers the identification IDs of the multiple access bodies, including the autonomous mobile body; a receiving unit that receives report information; a judging unit that, when judging that a report information has been received and the autonomous mobile body has entered the management area, matches the prohibition of access to the management area with access permission setting information; and a control instruction unit that, when the prohibition of access and access permission setting information are matched, sets access permission to prohibit access in the control information corresponding to the identification IDs registered in the identification ID master file that have not entered the management area, and sends the control information to the access restriction device.

[0008] Invention Effects

[0009] According to the technology of this application, it is possible to provide an advantageous technology for managing the passage of other passageways while an autonomous mobile body with specific functions is passing through. Attached Figure Description

[0010] Figure 1 This is a diagram illustrating an example of the structure of the access management system in the implementation method.

[0011] Figure 2 This is a diagram showing an example of the external structure of the passage restriction device 100.

[0012] Figure 3 This is a schematic diagram showing the internal structure of the storage unit 212.

[0013] Figure 4 This is a flowchart illustrating the function of the transmitter 302 of the autonomous mobile body 300.

[0014] Figure 5 This is a flowchart illustrating the function of the position issuing unit 304 of the autonomous moving body 300.

[0015] Figure 6 This is a flowchart illustrating the function of the notification unit 306 of the autonomous mobile body 300.

[0016] Figure 7 This is a flowchart illustrating the function of the passage control unit 102 of the passage restriction device 100.

[0017] Figure 8 This is a flowchart illustrating the function of the passage detection unit 104 of the passage restriction device 100.

[0018] Figure 9 This is a flowchart illustrating the function of the receiving unit 202 of the access control device 200.

[0019] Figure 10 This is a flowchart illustrating the function of the position detection unit 204 of the access control device 200.

[0020] Figure 11 This is a flowchart illustrating the function of the judgment unit 206 of the access control device 200.

[0021] Figure 12 This is a flowchart illustrating the function of the control instruction section 208 of the access management device 200.

[0022] Figure 13 This is a flowchart illustrating the function of the access control unit 210 of the access control device 200.

[0023] Figure 14 This is a schematic diagram illustrating a configuration example of the access management system 10.

[0024] Figure 15 This is a diagram showing an example of the hardware resources of the access control device 200.

[0025] Figure 16 This is another example of the hardware resources of the access control device 200.

[0026] Label Explanation

[0027] 10: Access control system; 100: Access restriction device; 102: Access control unit; 104: Access detection unit; 200: Access management device; 202: Receiving unit; 204: Position detection unit; 206: Judgment unit; 208: Control instruction unit; 210: Access management unit; 212: Storage unit; 300: Autonomous moving body; 302: Issuing unit; 304: Position issuing unit; 306: Notification unit; 308: Specific function execution unit; 400: Processing circuit; 401: Processor; 402: Memory; 403: Dedicated hardware; 1000: Channel; 1002: Housing; 1004, 1006: Flapper gate; 1008, 1010: Card reader. Detailed Implementation

[0028] The embodiments will now be described with reference to the accompanying drawings. Furthermore, common elements in all figures will be labeled with the same reference numerals, and repeated descriptions will be omitted.

[0029] Implementation

[0030] 1. Example of the structure of the access control system in the implementation method

[0031] Figure 1 This is a diagram illustrating a structural example of the access control system in the embodiment. The access control system 10 includes a passage restriction device 100, an access control device 200, and an autonomous mobile body 300. The passage restriction device 100 is configured to communicate with the access control device 200. The access control device 200 is configured to communicate with both the passage restriction device 100 and the autonomous mobile body 300.

[0032] The access restriction device 100 is a device that restricts the passage of a vehicle by allowing or prohibiting entry into a managed area. The access restriction device 100 is, for example, a gate-type restriction device with a baffle gate, installed at the entrance or exit of the managed area. The managed area is, for example, an area containing hazardous materials. Examples of vehicles passing through include autonomous mobile bodies 300 and other people, or autonomous mobile bodies.

[0033] Figure 2 This figure shows an example of the external structure of the access control device 100. The access control device 100 shown in the figure includes a housing 1002 forming a passage 1000 through an entrance and an exit, barrier gates 1004 and 1006, and card readers 1008 and 1010. Barrier gates 1004 and 1006 are respectively provided on the entrance side and exit side of the passage 1000. Card readers 1008 and 1010 are respectively provided on the entrance side and exit side of the housing 1002. Card readers 1008 and 1010 are examples of ID acquisition units that obtain identification IDs from the passage. In the following description, the direction of passage 1000 from the entrance to the exit is referred to as the entrance direction, and the direction from the exit to the entrance is referred to as the exit direction.

[0034] The access vehicle carries an ID card containing a unique identification ID that can be read by card readers 1008 and 1010, or a terminal with built-in ID card functionality. If the access vehicle is an autonomous mobile vehicle, the ID card functionality can also be built into the autonomous mobile vehicle. When the access restriction device 100 determines that the access vehicle is allowed to enter based on the identification ID of the ID card read by card reader 1008, it opens the barrier gates 1004 and 1006 in the entry direction. Furthermore, when the access restriction device 100 determines that the access vehicle is allowed to exit based on the identification ID of the ID card read by card reader 1010, it opens the barrier gates 1004 and 1006 in the exit direction.

[0035] The access control device 100 has an access control unit 102 and an access detection unit 104 as its functional blocks. The access management device 200 manages whether access to and from the managed area is permitted in association with an identification ID. As an example, the access management device 200 is implemented by a server device. The access management device 200 is located in the same building as the building equipped with the access control device 100. Alternatively, the access management device 200 may be located in a different building than the building equipped with the access control device 100. As another example, the access management device 200 may also be implemented via a server in the cloud.

[0036] The access control device 200 has a receiving unit 202, a position detection unit 204, a judgment unit 206, a control instruction unit 208, an access control unit 210, and a storage unit 212 as its functional blocks. Figure 3 This is a schematic diagram illustrating the internal structure of the storage unit 212. As shown in the diagram, the storage unit 212 stores the autonomous mobile body master file M1, the access restriction device master file M2, the distance restriction master file M3, the identification ID master file M4, and the entry data D1. The autonomous mobile body master file M1, the access restriction device master file M2, the distance restriction master file M3, and the identification ID master file M4 are pre-registered. The entry data D1 is updated appropriately.

[0037] The autonomous mobile body 300 is a device that moves within a building equipped with a access restriction device 100. The autonomous mobile body 300 is a robot or mobile device with autonomous movement capabilities. The autonomous movement capabilities of the autonomous mobile body 300 are not limited. The autonomous mobile body 300 is configured to perform specific functions within the building. These specific functions may include, for example, functions related to work involving the recovery, handling, or disposal of hazardous materials, or tasks that require restricting access from other vehicles. The autonomous mobile body 300 may, for example, enter a managed area via the access restriction device 100 to perform these specific functions.

[0038] The autonomous mobile body 300 has a transmitting unit 302, a position transmitting unit 304, a notification unit 306, and a specific function execution unit 308 as its functional blocks.

[0039] 2. Functions of the Access Management System 10

[0040] The following also refers to Figures 4 to 13 The functions of the access management system 10 are explained.

[0041] 2-1. Issuance Section 302

[0042] Figure 4 This is a flowchart illustrating the function of the transmitter 302 of the autonomous moving body 300. The transmitter 302 executes... Figure 4The steps shown involve issuing a report indicating that a specific function has been utilized. Specifically, in step S001, the issuing unit 302 determines whether the specific function execution unit 308 has utilized the specific function. If the determination result is not true, the processing in step S001 is executed again. On the other hand, if the determination is true, the process proceeds to step S002.

[0043] In step S002, the issuing unit 302 generates report information storing the autonomous mobile entity identifier of the autonomous mobile entity 300. Here, the autonomous mobile entity identifier is a unique identifier corresponding to the autonomous mobile entity 300. In step S003, the issuing unit 302 sends the report information generated in step S002 to the access control device 200.

[0044] 2-2. Position issuing unit 304

[0045] Figure 5 This is a flowchart illustrating the function of the position issuing unit 304 of the autonomous moving body 300. The position issuing unit 304 performs... Figure 5 The steps shown involve transmitting location information of the autonomous mobile unit 300. Specifically, in step S101, the location transmitting unit 304 measures the position coordinates P2 (X2, Y2, Z2) of the autonomous mobile unit 300. The method for measuring the position coordinates is not limited. For example, the location transmitting unit 304 estimates the position coordinates P2 using a GPS device provided with the autonomous mobile unit 300. In the next step S102, the location transmitting unit 304 transmits the location information including the position coordinates P2 to the access control device 200.

[0046] 2-3. Notification Department 306

[0047] Figure 6 This is a flowchart illustrating the function of the notification unit 306 of the autonomous mobile unit 300. The notification unit 306 performs... Figure 6 The steps shown involve notification processing, such as alerting or warning the surroundings from the autonomous mobile body 300. Specifically, in step S201, the notification unit 306 determines whether it has received the notification information (described later) from the access control device 200. If the determination result is not true, the processing in step S201 is executed again. On the other hand, if the determination is true, the process proceeds to step S202.

[0048] In the next step S202, the notification unit 306 determines whether the notification request contained in the notification information is a notification start request or a notification stop request. As a result, if the notification request is a notification start request, the process proceeds to step S203; if the notification request is a notification stop request, the process proceeds to step S204.

[0049] In step S203, the notification unit 306 instructs to start notification. In step S204, the notification unit 306 instructs to stop notification. The notification method is not limited. For example, the notification unit 306 may start or stop notification based on the sounding of an alarm or the illumination of a red light on the autonomous mobile body 300. Alternatively, the notification unit 306 may instruct a notification unit installed in a building, a notification unit on an autonomous mobile body serving as another mode of transportation, or a notification unit on a portable terminal held by a person serving as another mode of transportation to start or stop notification.

[0050] 2-4. Traffic Control Unit 102

[0051] Figure 7 This is a flowchart illustrating the function of the passage control unit 102 of the passage restriction device 100. The passage control unit 102 performs... Figure 7 The steps shown involve setting whether entry and exit to the managed area is permitted. Specifically, in step S301, the access control unit 102 determines whether control information (described later) has been received. If the determination result is not true, step S301 is executed again. On the other hand, if the determination result is true, the process proceeds to step S302.

[0052] In the next step S302, the access control unit 102 determines whether the access permission information contained in the control information permits or prohibits access. As a result, if the access permission information permits access, the process proceeds to step S303; if the access permission information prohibits access, the process proceeds to step S304.

[0053] In step S303, the access control unit 102 sets the access restriction device 100 to allow entry and exit using the set object identification ID included in the control information. In step S304, the access control unit 102 sets the access restriction device 100 to prohibit entry and exit using the set object identification ID included in the control information.

[0054] 2-5. Passage Inspection Department 104

[0055] Figure 8 This is a flowchart illustrating the function of the passage detection unit 104 of the passage restriction device 100. The passage detection unit 104 performs... Figure 8The steps shown involve transmitting passage information to the access control device 100. Specifically, in step S401, the access detection unit 104 determines whether a person has already entered or exited the access control device 100. Here, the access detection unit 104 determines whether the card readers 1008 and 1010 have read the identification ID. Alternatively, the access detection unit 104 determines whether a person has already passed through the access control device 100 based on the detection information from the passage sensors installed in the channel 1000. As a result, if the determination is not correct, step S401 is executed again. On the other hand, if the determination is correct, the process proceeds to step S402.

[0056] In step S402, the access detection unit 104 determines whether the passage of the access control device 100 is for entering or exiting the management area. Here, the access detection unit 104 determines which of the card readers 1008 and 1010 has read the identification ID. As a result, if the card reader 1008 has read the identification ID, the access category is determined to be entry, and the process proceeds to step S403. On the other hand, if the card reader 1010 has read the identification ID, the access category is determined to be exit, and the process proceeds to step S404.

[0057] In step S403, the access detection unit 104 sends access information that matches the access category of entry with the identification ID read by the card reader 1008 to the access management device 200. In step S404, the access detection unit 104 sends access information that matches the access category of exit with the identification ID read by the card reader 1010 to the access management device 200.

[0058] 2-6. Receiving Unit 202

[0059] Figure 9 This is a flowchart illustrating the function of the receiving unit 202 of the access control device 200. The receiving unit 202 performs... Figure 9 The steps shown involve receiving report information. Specifically, in step S501, the receiving unit 202 determines whether it has received report information from the transmitting unit of the autonomous mobile body 300. If the determination is incorrect, step S501 is executed again. Conversely, if the determination is correct, it is determined that the autonomous mobile body 300 has utilized a specific function, and the process proceeds to step S502.

[0060] In step S502, the receiving unit 202 sends the autonomous mobile entity identifier contained in the received report information to the judgment unit 206.

[0061] 2-7. Position Detection Unit 204

[0062] Figure 10 This is a flowchart illustrating the function of the position detection unit 204 in the access control device 200. The position detection unit 204 performs... Figure 10 The steps shown involve performing a position detection process to determine whether the autonomous mobile body 300 is close to or far from the access restriction device 100. In the autonomous mobile body master file M1, the autonomous mobile body identifier and identification ID of the autonomous mobile body 300 with specific functions are registered together. In step S601, the position detection unit 204 obtains the autonomous mobile body identifier and identification ID from the autonomous mobile body master file M1.

[0063] Table 1 shows an example of the autonomous mobile entity master file M1.

[0064] Table 1

[0065] ■Autonomous Mobile Entity Master File M1

[0066] Autonomous moving body identifier Identify ID A001 0001

[0067] In step S602, the position detection unit 204 determines whether the entry data D1 contains the identification ID obtained in step S601. The entry data D1 registers the identification ID currently being entered into the management area.

[0068] Table 2 shows an example of entry data D1.

[0069] Table 2

[0070] ■Entry Data D1

[0071] Identify ID 0001

[0072] If the determination in step S602 is true, it is determined that the autonomous mobile entity 300 with the identification ID obtained in step S601 has entered the management area, and the processing in step S602 is executed again. On the other hand, if the determination in step S602 is false, it is determined that the autonomous mobile entity 300 with the identification ID obtained in step S601 has not entered the management area, and the process proceeds to step S603.

[0073] In step S603, the position detection unit 204 receives the position information sent by the position sending unit 304 of the autonomous mobile body 300 and obtains the position coordinates P2 (X2, Y2, Z2) of the autonomous mobile body 300 contained in the position information.

[0074] In step S604, the position detection unit 204 obtains the position coordinates P1(X1, Y1, Z1) of the passage restriction device 100 from the passage restriction device master file M2. The position coordinates P1(X1, Y1, Z1) of the passage restriction device 100 are registered in the passage restriction device master file M2.

[0075] Table 3 shows an example of the main file M2 for the traffic restriction device.

[0076] Table 3

[0077] ■Traffic restriction device master file M2

[0078] Position coordinates P1 (0，0，0)

[0079] In step S605, the position detection unit 204 obtains the distance threshold L1 from the distance restriction master file M3. The distance restriction master file M3 is a threshold pre-registered to detect whether the autonomous moving body 300 and the passage restriction device 100 are at close or far distance.

[0080] Table 4 shows an example of a distance-limited master file M3.

[0081] Table 4

[0082] ■Distance Limitation Main File M3

[0083] Distance threshold L1 1.1

[0084] In step S606, the position detection unit 204 calculates the distance L2 between position coordinates P2 and position coordinates P1, and determines whether the distance L2 is shorter than the distance threshold L1. As a result, if the determination is true, it is determined that the position of the autonomous mobile body 300 is close to the passage restriction device 100, and the process proceeds to step S607. On the other hand, if the determination is false, it is determined that the position of the autonomous mobile body 300 is far from the passage restriction device 100, and the process proceeds to step S608.

[0085] In step S607, the position detection unit 204 generates distance information including the autonomous moving body identifier obtained in step S601 and the distance category as near distance, and sends it to the determination unit 206. In step S608, the position detection unit 204 generates distance information including the autonomous moving body identifier obtained in step S601 and the distance category as far distance, and sends it to the determination unit 206.

[0086] 2-8. Judgment Section 206

[0087] Figure 11 This is a flowchart illustrating the function of the judgment unit 206 in the access control device 200. The judgment unit 206 performs... Figure 11The steps shown involve determining whether passage is permitted by the passage restriction device 100. Specifically, in step S701, the determination unit 206 determines whether an autonomous mobile entity identifier has been received from the receiving unit 202. As a result, if the determination is not true, the process proceeds to step S708; if the determination is true, the process proceeds to step S702.

[0088] In step S702, the determination unit 206 determines whether the received autonomous mobile entity identifier is registered in the autonomous mobile entity master file M1. As a result, if the determination is false, the process returns to step S701; if the determination is true, the process proceeds to step S703.

[0089] In step S703, the determination unit 206 refers to the autonomous mobile entity master file M1 and obtains the identification ID corresponding to the received autonomous mobile entity identifier. In the next step S704, the determination unit 206 refers to the entry data D1 and obtains the identification ID of the currently entered entity.

[0090] In the next step S705, the determination unit 206 determines whether the autonomous mobile body 300 has entered the management area. Specifically, the determination unit 206 determines whether the identification ID obtained in step S703 is included in the identification ID obtained in step S704. As a result, if the determination is true, it is determined that the autonomous mobile body 300 has entered the management area, and the process proceeds to step S706. On the other hand, if the determination is false, it is determined that the autonomous mobile body 300 has not entered the management area, and the process proceeds to step S707.

[0091] In step S706, the determination unit 206 sends passage permission setting information corresponding to prohibiting passage to the control instruction unit 208. In step S707, the determination unit 206 sends passage permission setting information corresponding to permitting passage to the control instruction unit 208.

[0092] In step S708, the determination unit 206 determines whether distance information has been received from the position detection unit 204. If the determination is false, the process returns to step S701. If the determination is true, the process proceeds to step S709. In step S709, the determination unit 206 determines whether the distance category included in the received distance information is short-range. If the determination is true, the process proceeds to step S706. If the determination is false, the process proceeds to step S707.

[0093] 2-9. Control Instruction Unit 208

[0094] Figure 12This is a flowchart illustrating the function of the control instruction unit 208 of the access control device 200. The control instruction unit 208 performs pass / fail operations. Figure 12 The control information sending process shown in steps S801 to S803 is used to send control information, and the notification information sending process is used to send notification information by executing steps S801 and S804 to S805.

[0095] In step S801, the control instruction unit 208 obtains access permission setting information from the judgment unit 206. In step S802, the control instruction unit 208 determines the identification IDs registered in the identification ID master file M4 that are not registered in the entry data D1. Here, the identification ID master file M4 pre-registers identification IDs corresponding to multiple access devices passing through the access restriction device 100. The control instruction unit 208 obtains the identification ID that differs between the identification ID registered in the identification ID master file M4 and the identification ID registered in the entry data D1 as the identification ID to be set.

[0096] Table 5 shows an example of identifying the ID master file M4.

[0097] Table 5

[0098] ■ Identify ID master file M4

[0099] Identify ID 0001 0002 ……

[0100] In step S803, the control instruction unit 208 generates an identification ID of the setting object obtained in step S802 that corresponds to the control information on whether passage is permitted or denied contained in the passage permission setting information obtained in step S801, and sends it to the passage restriction device 100.

[0101] In step S804, the control instruction unit 208 determines whether the passage permission setting information obtained in step S801 indicates that passage is prohibited. As a result, if the determination is true, the process proceeds to step S805; if the determination is false, the process proceeds to step S806.

[0102] In step S805, notification information including a start indication for notification processing is sent to the autonomous mobile body 300. On the other hand, in step S806, notification information including a stop indication for notification processing is sent to the autonomous mobile body 300.

[0103] 2-10. Traffic Management Department 210

[0104] Figure 13This is a flowchart illustrating the function of the access control unit 210 of the access control device 200. The access control unit 210 performs access data update processing. Specifically, in step S901, the access control unit 210 determines whether access information has been obtained from the access restriction device 100. As a result, if the determination is not true, the process returns to S901. On the other hand, if the determination is true, the process proceeds to step S902.

[0105] In step S902, the access control unit 210 determines whether the access category contained in the acquired access information is entry. If the determination is correct, the process proceeds to step S903. Conversely, if the determination is incorrect, the access category is determined to be exit, and the process proceeds to step S904.

[0106] In step S903, the access management unit 210 registers the identification ID contained in the access information obtained in step S901 into the entry data D1. In step S904, the access management unit 210 deletes the identification ID contained in the access information obtained in step S901 from the entry data D1.

[0107] 3. Example of the operation of the access control system in the implementation method

[0108] Next, several examples of actions performed in the access control system 10 of this embodiment will be described. Figure 14 This diagram schematically illustrates a configuration example of the access control system 10. In the example shown, the building where the access control system 10 is configured is divided into nine zones, each zone being configured to allow passage between itself and at least one of its adjacent zones. Furthermore, in Figure 14 In this context, areas within a building are defined in the XY coordinate system. Within a building, floors can also be defined using the Z coordinate.

[0109] exist Figure 14 In this configuration, the access restriction device 100 is positioned between the (0,0) and (0,1) zones. The (0,0) zone corresponds to the managed area. Hazardous material OBJ is detected in the (0,0) managed area. The autonomous mobile unit 300 utilizes specific functions in the detection, retrieval, and handling of the hazardous material OBJ. Figure 14 In the example, the current position of the autonomous mobile body 300 is in the region with coordinates (0, 1). The access control device 200 is located in the region with coordinates (1, 0). The current position of the person H1, who is acting as a passageway, is in the region with coordinates (1, -1).

[0110] 3-1. Example of the first action

[0111] In the first example, the autonomous mobile body 300 passes through the access restriction device 100 to enter the managed area (0,0). Within the managed area, the autonomous mobile body 300 uses a specific function to handle hazardous material OBJ. While the autonomous mobile body 300 is using the specific function within the managed area, the access control system 10 prohibits other vehicles from passing through the access restriction device 100.

[0112] The autonomous mobile body master file M1, the access restriction device master file M2, the distance restriction master file M3, and the identification ID master file M4 are pre-registered in the storage unit 212. The entry data D1 is blank in the initial state when the autonomous mobile body 300 has not entered the access restriction device 100 and has not passed through it.

[0113] As a basic operation, the access control device 100 obtains the identification ID when it displays the identification ID of the access person to the card reader 1008, and compares the identification ID with the setting result of the access permission setting process. Furthermore, it controls the barrier gate 1004 such that if the identification ID is set to allow access, the access person with that identification ID is allowed to enter; and if the identification ID is set to prohibit access, the access person with that identification ID is prohibited from entering.

[0114] At the initial start of operation, the access restriction device 100 is configured to allow passage using the identification ID registered in the master file M4. This is also in the state before the vehicle enters the managed area. The autonomous mobile unit 300 carries an ID card containing an autonomous mobile unit identifier = A001 and an identification ID = 0001.

[0115] When the autonomous mobile unit 300 enters the access control device 100, it displays identification ID = 0001 to the card reader 1008 of the access control device 100. Since the access control device 100 is configured to allow access with identification ID = 0001, the access control device 100 permits the autonomous mobile unit 300 to pass. The access detection unit 104 performs access information transmission processing. Specifically, the access detection unit 104 detects the entry with identification ID = 0001 and sends access information containing identification ID = 001 and access information = entry to the access management unit 210.

[0116] Access Management Department 210 performs entry data update processing. Specifically, Access Management Department 210 receives access information containing Identification ID = 0001 and Access Information = Entry, and registers Identification ID = 0001 in Entry Data D1.

[0117] When the autonomous mobile unit 300 utilizes a specific function through the specific function execution unit 308, the sending unit 302 performs specific function utilization sending processing. Specifically, the sending unit 302 detects that the autonomous mobile unit 300 has utilized the specific function and sends a report containing the autonomous mobile unit identifier = A001 to the receiving unit 202.

[0118] The receiving unit 202 detects that it has received a report message containing the autonomous mobile entity identifier = A001 through the report information receiving process. Then, the receiving unit 202 sends the autonomous mobile entity identifier = A001 to the judgment unit 206.

[0119] The judgment unit 206 performs a passage permission determination process. Specifically, in step S701 of the passage permission determination process, it is detected that the autonomous mobile entity identifier = A001 is received from the receiving unit 202. In step S702, it is detected that the autonomous mobile entity identifier = A001 is registered in the autonomous mobile entity master file M1. In step S703, referring to the autonomous mobile entity master file M1, the identification ID = 0001 of the autonomous mobile entity 300 is obtained from the autonomous mobile entity identifier = A001. In step S704, referring to the entry data D1, the entry identification ID = 0001 is obtained. In step S705, it is identified that the autonomous mobile entity 300 has entered the area. In step S706, the passage permission setting information for prohibiting passage is sent to the control instruction unit 208.

[0120] The control instruction unit 208 performs control information transmission processing and notification information transmission processing. Specifically, in the control information transmission processing, firstly, in step S801, access permission setting information for prohibition is obtained. In step S802, the difference identification IDs registered in the identification ID master file M4 (0001, 0002, 0003, ...) and the identification ID registered in the entry data D1 (0001) are obtained (0002, 0003, ...). In step S803, control information containing identification IDs 0002, 0003, ... and access permission setting information for prohibition is sent to the access control unit 102. In the notification information transmission processing, in step S804, access permission setting information for prohibition is identified, and in step S805, notification information containing a start instruction for notification processing is sent to the notification unit 306.

[0121] The access control unit 102 performs an entry / exit permission verification process. In the entry / exit permission verification process, in steps S301 and S302, it identifies received entry / exit permission information for identification IDs = 0002, 0003, ... and prohibition of entry / exit. Then, in step S303, the access restriction device 100 is set to prohibit entry / exit for identification IDs = 0002, 0003, ...

[0122] The notification unit 306 executes the notification execution process. During the notification execution process, it identifies that a notification message containing a notification start request has been received and instructs the notification to begin.

[0123] According to the first action example of the access control system 10 described above, when the autonomous mobile body 300 uses a specific function to handle hazardous materials, other access vehicles identified with identification IDs = 0002 and 0003 are prevented from entering through the access restriction device 100. This prevents other access vehicles from approaching the hazardous materials. Furthermore, since the handling of hazardous materials is communicated through notification, other access vehicles are alerted and informed of the reason for being prohibited from entering.

[0124] 3-2. Example of the second action

[0125] In the second action example, the autonomous mobile body 300 travels through the access restriction device 100 and retrieves the hazardous material OBJ in the management area (0,0) using a specific function. While carrying the hazardous material OBJ, the autonomous mobile body 300 travels through the access restriction device 100 and exits the management area (0,0), moving to the area (0,1). At this time, since the distance between the access restriction device 100 and the autonomous mobile body 300 is below a certain distance, the access restriction device 100 continues to prohibit other vehicles from passing through the entry / exit management system 10.

[0126] The autonomous mobile unit 300 enters the management area and uses the specific function to handle the hazardous material OBJ, which is the same as in the first action example. In the second action example, the autonomous mobile unit 300 then exits the access control device 100 while carrying the hazardous material OBJ, and stops using the specific function. At this time, the autonomous mobile unit 300 displays identification ID = 0001 to the card reader 1010 of the access control device 100. Since the access control device 100 is set to allow access with identification ID = 0001, the access control device 100 allows the autonomous mobile unit 300 to pass. The access detection unit 104 performs access information transmission processing. Specifically, the access detection unit 104 detects that an exit has occurred with identification ID = 0001 and sends access information containing identification ID = 001 and access information = exit to the access management unit 210.

[0127] Access Management Department 210 performs entry data update processing. Specifically, Access Management Department 210 receives access information containing Identification ID = 0001 and Access Information = Exit, and deletes Identification ID = 0001 from the entry data D1.

[0128] The position detection unit 204 performs position detection processing. In the position detection processing, in step S601, the autonomous mobile entity identifier = A001 and identification ID = 0001 are obtained from the autonomous mobile entity master file M1. In step S602, it is identified that identification ID = 0001 is not registered in the entry data D1. In step S603, position information including the position coordinates P2(0,1) of the autonomous mobile entity identifier = A0001 is obtained from the position issuing unit 304.

[0129] In step S604, the position coordinates P1(0, 0) of the access restriction device 100 are read from the access restriction device master file M2. In step S605, the distance threshold L1 = 1.1 is read from the distance restriction master file M3. In step S606, the distance L2 = sqrt((1-0)) between the autonomous moving body 300 and the access restriction device 100 is identified. 2 +(0-0) 2 The distance information, including the autonomous moving body identifier A001 and the distance category (near distance) obtained in step S601, is sent to the determination unit 206. The distance information is less than the distance threshold L1 = 1.1.

[0130] The determination unit 206 performs a passage permission determination process. In this process, in step S701, if the autonomous mobile body 300 has not utilized a specific function, it is identified that the autonomous mobile body identifier = A001 has not been received from the receiving unit 202. Then, in step S707, it is identified that distance information including the autonomous mobile body identifier = A001 and the distance category has been received from the position detection unit 204. In step S708, the distance category is identified as short distance, and in step S706, passage permission setting information (prohibiting passage) is sent to the control instruction unit 208.

[0131] The control information transmission processing and notification information transmission processing in the control instruction unit 208, the entry / exit permission processing in the access control unit 102, and the notification execution processing in the notification unit 306 perform the same actions as the first action example.

[0132] According to the second operational example of the access control system 10 described above, after the autonomous mobile body 300 has processed the hazardous material OBJ using a specific function, and while it remains within a certain distance from the access restriction device 100, other vehicles with identification IDs of 0002, 0003, ... will still be unable to enter through the access restriction device 100. This reduces the likelihood of other vehicles approaching the autonomous mobile body 300 which is holding the hazardous material OBJ. Furthermore, notification can prompt other vehicles to pay attention to the approach to the autonomous mobile body 300.

[0133] 3-3. Example of the third action

[0134] In the third action example, the autonomous mobile body 300 travels through the access restriction device 100 and uses a specific function to retrieve the hazardous material OBJ in the management area (0,0). While carrying the hazardous material OBJ, the autonomous mobile body 300 travels through the access restriction device 100 and exits the management area (0,0), moving to the area (1,1). At this time, since the distance between the access restriction device 100 and the autonomous mobile body 300 becomes greater than a certain distance, the entry / exit management system 10 lifts the restriction on other vehicles from the access restriction device 100.

[0135] The autonomous mobile unit 300's actions of entering the management area and using specific functions to handle the hazardous material OBJ are the same as in the first action example. Furthermore, the passage information transmission processing and entry data update processing performed by the autonomous mobile unit 300 when it subsequently leaves the access restriction device 100 while carrying the hazardous material OBJ are the same as in the second action example.

[0136] The position detection unit 204 performs position detection processing. In the position detection processing, in step S601, the autonomous mobile entity identifier = A001 and identification ID = 0001 are obtained from the autonomous mobile entity master file M1. In step S602, it is identified that identification ID = 0001 is not registered in the entry data D1. In step S603, position information including the position coordinates P2(1,1) of the autonomous mobile entity identifier = A0001 is obtained from the position issuing unit 304.

[0137] In step S604, the position coordinates P1(0, 0) of the access restriction device 100 are read from the access restriction device master file M2. In step S605, the distance threshold L1 = 1.1 is read from the distance restriction master file M3. In step S606, the distance L2 = sqrt((1-0)) between the autonomous moving body 300 and the access restriction device 100 is identified. 2 +(1-0) 2 =sqrt(2) is greater than the distance threshold L1 = 1.1. In step S607, the distance information, which includes the autonomous moving body identifier = A001 and the distance category = long distance obtained in step S601, is sent to the judgment unit 206.

[0138] The determination unit 206 performs a passage permission determination process. In this process, in step S701, if the autonomous mobile body 300 has not utilized a specific function, it is identified that the autonomous mobile body identifier = A001 has not been received from the receiving unit 202. Then, in step S707, it is identified that distance information including the autonomous mobile body identifier = A001 and the distance category has been received from the position detection unit 204. In step S708, the distance category is identified as long distance, and in step S706, passage permission setting information is sent to the control instruction unit 208.

[0139] The control information transmission processing and notification information transmission processing in the control instruction unit 208, the entry / exit permission processing in the access control unit 102, and the notification execution processing in the notification unit 306 perform the same actions as the first action example.

[0140] According to the third action example of the access control system 10 described above, after the autonomous mobile body 300 has handled the hazardous material OBJ using a specific function, and continues to move a certain distance away from the access restriction device 100, other vehicles whose identification IDs are identified as 0002, 0003, ... are permitted to enter through the access restriction device 100. This prevents situations where other vehicles are prohibited from passing for an extended period even after the autonomous mobile body 300 has left the access restriction device 100.

[0141] 4. Variations

[0142] The access control system 10 of this embodiment can also be modified as follows.

[0143] 4-1. Hardware resources of the access management system 10

[0144] Figure 15 This diagram illustrates an example of the hardware resources of the access control device 200. The access control device 200 has a processing circuit 400 comprising a processor 401 and a memory 402 as its hardware resources. The processing circuit 400 may also include multiple processors 401. The processing circuit 400 may also include multiple memories 402.

[0145] In this embodiment, the parts indicated by reference numerals 202 to 210 represent the functions of the access control device 200. The function of the storage unit 212 is implemented by the memory 402. The functions of the parts indicated by reference numerals 202 to 210 can be implemented by software, firmware, or a combination of software and firmware described as a program. This program is stored in the memory 402. The access control device 200 implements the functions of the parts indicated by reference numerals 202 to 210 by executing the program stored in the memory 402 by the processor 401 (computer).

[0146] The processor 401 is also known as a CPU (Central Processing Unit), central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, or DSP. The memory 402 can be a semiconductor memory, magnetic disk, floppy disk, optical disk, compact disk, mini-disk, or DVD. Suitable semiconductor memories include RAM, ROM, flash memory, EPROM, and EEPROM.

[0147] Figure 16 This is another example of the hardware resources of the access control device 200. In Figure 16 In the example shown, the access control device 200 has a processing circuit 400 that includes a processor 401, a memory 402, and dedicated hardware 403. Figure 16 An example is shown where a portion of the functions of the access control device 200 are implemented using dedicated hardware 403. All the functions of the access control device 200 can also be implemented using dedicated hardware 403. The dedicated hardware 403 can be a single circuit, a composite circuit, a programmable processor, a parallel programmable processor, an ASIC, an FPGA, or a combination thereof.

[0148] Hardware resources of the autonomous mobile body 300 and Figure 15 or Figure 16 The example shown is the same. The autonomous mobile unit 300 has processing circuitry including a processor and memory as hardware resources. The autonomous mobile unit 300 implements the functions of the parts shown in reference numerals 302 to 308 by having the processor execute a program stored in memory. The autonomous mobile unit 300 may also have processing circuitry including a processor, memory, and dedicated hardware as hardware resources. Some or all of the functions of the autonomous mobile unit 300 may also be implemented using dedicated hardware.

[0149] The hardware resources of the passage restriction device 100 and Figure 15 or Figure 16 The example shown is the same. The access restriction device 100 has processing circuitry including a processor and memory as hardware resources. The access restriction device 100 implements the functions of the parts shown by reference numerals 102 and 104 by having the processor execute a program stored in memory. The access restriction device 100 may also have processing circuitry including a processor, memory, and dedicated hardware as hardware resources. Some or all of the functions of the access restriction device 100 may also be implemented by dedicated hardware.

[0150] In addition, the access management system 10 may also integrate all or part of the functions of the access management device 200 into the autonomous mobile body 300 or the access restriction device 100.

[0151] 4-2. Traffic restriction device 100

[0152] The access control system 10 may also have multiple access restriction devices 100. For example, in Figure 14 In the configuration example shown, an additional passage restriction device 100 can also be added between the (0,1) region and the (-1,1) region. In this case, for example in the second operation example, if the autonomous moving body 300 uses a specific function again after moving to the (0,1) region, the additional passage restriction device can also prevent the moving body from the (-1,1) region to the (0,1) region.

[0153] 4-3. Distance threshold L1

[0154] The value of the distance threshold L1 registered in the distance restriction master file M3 is unrestricted. For example, when the distance threshold L1 is set to 0, regardless of the location information of the autonomous mobile body 300, after the autonomous mobile body 300 leaves the passage restriction device 100, the passage permission setting of the passage restriction device 100 will be changed to permission.

[0155] 5. Other

[0156] The preferred embodiments have been described in detail above, but this application is not limited to the embodiments described above. Various modifications and substitutions can be made to the embodiments described above without departing from the scope of the claims.

[0157] The various methods of this application are summarized in the appendix below.

[0158] (Postscript 1)

[0159] An access control system, wherein the access control system has:

[0160] An autonomous mobile body that has a transmitter that issues report information when utilizing specific functions;

[0161] Access control device, which has an identification ID master file, wherein the identification ID master file registers information of the identification IDs of multiple access entities, including the autonomous mobile entity; and

[0162] Access restriction device, which restricts entry and exit to the managed area based on the identification ID.

[0163] The access control device has the following features:

[0164] The receiving unit receives the report information;

[0165] The judgment unit, upon determining that it has received the report information and that the autonomous mobile body has entered the management area, will associate the prohibition of passage with the passage permission setting information for the management area; and

[0166] The control instruction unit, when it associates prohibition of passage with the passage permission setting information, sets the passage permission to prohibition in the passage permission control information corresponding to each of the identification IDs registered in the identification ID master file that has not entered the management area, and sends the control information to the passage restriction device.

[0167] The access restriction device has an access control unit that, when the access permission of the identification ID is set to be prohibited in the control information, prohibits access to the management area based on the identification ID.

[0168] (Postscript 2)

[0169] In the access control system described in Appendix 1

[0170] The determination unit is configured to, when determining that the report information has been received and the autonomous mobile body has not entered the management area, associate the permission to pass through the management area with the information on whether the passage can be set.

[0171] The control instruction unit is configured to: when there is a correspondence between permitted passage and the passage permission setting information, set the passage permission in the control information to permitted passage, and send the control information to the passage restriction device.

[0172] The access control unit is configured to: when the received identification ID is configured to allow access in the control information, grant access to the management area to the access body with the identification ID.

[0173] (Note 3)

[0174] In the access control system described in Appendix 1 or Appendix 2

[0175] The access restriction device includes an access detection unit, which sends access information that correlates the identification ID with the actual entry and exit records of the access vehicle into the managed area.

[0176] The access control device includes a passage management unit. Based on the passage information, the passage management unit registers the identification ID of the access entity that has entered the management area into the entry data, and deletes the identification ID of the access entity that has left the management area from the entry data.

[0177] The judgment unit determines whether the autonomous mobile body has entered the management area based on the entry data.

[0178] (Postscript 4)

[0179] In the access control system described in Appendix 3

[0180] The control instruction unit is configured to: determine the passageway that has not entered the management area based on the entry data.

[0181] (Note 5)

[0182] In any of the access control systems described in Appendix 1 to Appendix 4

[0183] The autonomous mobile body has a position transmitting unit that transmits position information containing the current position of the autonomous mobile body.

[0184] The access control device includes a position detection unit that receives the position information. If the distance between the access restriction device and the current position is less than a distance threshold, the position detection unit sets the distance category of the autonomous mobile body to "near range" in the distance information.

[0185] The determination unit is configured such that, when it is determined that the distance category of the distance information is set to near distance in the absence of the report information, the prohibition of passage is associated with the passage permission setting information.

[0186] (Note 6)

[0187] In any of the access control systems described in Appendix 1 to Appendix 5

[0188] The control instruction unit is configured to send a notification start instruction to the autonomous mobile body when the passage permission setting information corresponds to passage prohibition.

[0189] The autonomous mobile body has a notification unit that, based on the received start instruction, instructs the start of the notification.

[0190] (Note 7)

[0191] In the access control system described in Appendix 6

[0192] The control instruction unit is configured to send the reported stop instruction to the autonomous mobile body when the access permission setting information corresponds to access permission.

[0193] The notification unit is configured to, based on the received stop instruction, instruct the cessation of the notification.

[0194] (Note 8)

[0195] An access control device is available that can communicate with autonomous mobile entities and a passage restriction device. The autonomous mobile entity has a transmitter that issues a report when a specific function is used. The passage restriction device restricts the entry and exit of multiple entities, including the autonomous mobile entity, into a controlled area. The access control device includes:

[0196] The storage unit stores an identification ID master file, which registers the identification IDs of multiple access entities, including the autonomous mobile entity.

[0197] The receiving unit receives the report information;

[0198] The judgment unit, upon determining that it has received the report information and that the autonomous mobile body has entered the management area, will associate the prohibition of passage with the passage permission setting information for the management area; and

[0199] The control instruction unit, when it is associated with the pass-through setting information, sets the pass-through permission to pass-through as prohibited when there is pass-through permission control information for each of the identification IDs registered in the identification ID master file that has not entered the management area, and sends the control information to the pass-through restriction device.

[0200] (Note 9)

[0201] In the access control device described in Appendix 8

[0202] The determination unit is configured to, when determining that the report information has been received and the autonomous mobile body has not entered the management area, associate the permission to pass through the management area with the information on whether the passage can be set.

[0203] The control instruction unit is configured to: when there is a correspondence between the permission to pass and the pass-allowance setting information, set the pass-allowance setting in the control information and send the control information to the pass restriction device.

Claims

1. An access control system, wherein, This access control system has the following features: An autonomous mobile body that has a transmitter that issues report information when utilizing specific functions; Access control device, which has an identification ID master file, wherein the identification ID master file registers information of the identification IDs of multiple access entities, including the autonomous mobile entity; and Access restriction device, which restricts entry and exit to the managed area based on the identification ID. The access control device has the following features: The receiving unit receives the report information; The judgment unit, upon determining that it has received the report information and that the autonomous mobile body has entered the management area, will associate the prohibition of passage and the passage permission setting information for the management area; as well as The control instruction unit, when it associates prohibition of passage with the passage permission setting information, sets the passage permission to prohibition in the passage permission control information corresponding to each of the identification IDs registered in the identification ID master file that has not entered the management area, and sends the control information to the passage restriction device. The access restriction device has an access control unit. When the access permission of the identification ID is set to prohibit access in the control information, the access control unit prohibits access to the management area for the identification ID.

2. The access control system according to claim 1, wherein, The determination unit is configured to, when determining that the report information has been received and the autonomous mobile body has not entered the management area, associate the permission to pass through the management area with the information on whether the passage can be set. The control instruction unit is configured to: when there is a correspondence between permitted passage and the passage permission setting information, set the passage permission in the control information to permitted passage, and send the control information to the passage restriction device. The access control unit is configured to: when the received identification ID is configured to allow access in the control information, grant access to the management area to the access body with the identification ID.

3. The access control system according to claim 1 or 2, wherein, The access restriction device includes an access detection unit, which sends access information that correlates the identification ID with the actual entry and exit records of the access vehicle into the managed area. The access control device includes a passage management unit. Based on the passage information, the passage management unit registers the identification ID of the access entity that has entered the management area into the entry data, and deletes the identification ID of the access entity that has left the management area from the entry data. The judgment unit determines whether the autonomous mobile body has entered the management area based on the entry data.

4. The access control system according to claim 3, wherein, The control instruction unit is configured to: determine the passageway that has not entered the management area based on the entry data.

5. The access control system according to claim 1 or 2, wherein, The autonomous mobile body has a position transmitting unit that transmits position information containing the current position of the autonomous mobile body. The access control device includes a position detection unit that receives the position information. If the distance between the access restriction device and the current position is less than a distance threshold, the position detection unit sets the distance category of the autonomous mobile body to "near range" in the distance information. The determination unit is configured such that, when it is determined that the distance category of the distance information is set to near distance in the absence of the report information, the prohibition of passage is associated with the passage permission setting information.

6. The access control system according to claim 1 or 2, wherein, The control instruction unit is configured to send a notification start instruction to the autonomous mobile body when the passage permission setting information corresponds to passage prohibition. The autonomous mobile body has a notification unit that, based on the received start instruction, instructs the start of the notification.

7. The access control system according to claim 6, wherein, The control instruction unit is configured to send the reported stop instruction to the autonomous mobile body when the access permission setting information corresponds to access permission. The notification unit is configured to, based on the received stop instruction, instruct the cessation of the notification.

8. An access control device capable of communicating with an autonomous mobile body and a passage restriction device, wherein the autonomous mobile body has a transmitter that issues a report message when a specific function is used, and the passage restriction device restricts the entry and exit of multiple access bodies, including the autonomous mobile body, into a controlled area, wherein... The access control device has the following features: The storage unit stores an identification ID master file, which registers the identification IDs of multiple access entities, including the autonomous mobile entity. The receiving unit receives the report information; The judgment unit, upon determining that it has received the report information and that the autonomous mobile body has entered the management area, will associate the prohibition of passage and the passage permission setting information for the management area; as well as The control instruction unit, when it is associated with the pass-through setting information, sets the pass-through permission to pass-through as prohibited when there is pass-through permission control information for each of the identification IDs registered in the identification ID master file that has not entered the management area, and sends the control information to the pass-through restriction device.

9. The access control device according to claim 8, wherein, The determination unit is configured to, when determining that the report information has been received and the autonomous mobile body has not entered the management area, associate the permission to pass through the management area with the information on whether the passage can be set. The control instruction unit is configured to: when there is a correspondence between the permission to pass and the pass-allowance setting information, set the pass-allowance setting in the control information and send the control information to the pass restriction device.

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