Management Method of Autonomous Driving Device and Autonomous Driving Device

Abstract

When a power outage occurs in a building (B101), the building management device (C101) sends a power outage signal for notifying a designated automatic driving device (10) of the power outage to multiple management devices (20A, 20B, 20C, 20D). The multiple management devices (20A, 20B, 20C, 20D) each forward the power outage signal to the automatic driving device (10) in the building (B101). When the automatic driving device (10) receives the power outage signal specifying the automatic driving device (10), the automatic driving device (10) sends a power outage response signal to the management device (20) that manages the automatic driving device (10). When the management device (20) does not receive the power outage response signal from the designated automatic driving device (10) among the managed automatic driving devices (10), the management device (20) notifies the building management device (C101) of the ID of the designated automatic driving device (10). The building management device (C101) notifies the building manager of the ID of the notified automatic driving device (10).

Description

Technical Field

[0001] The present disclosure relates to a management method of an autonomous driving device and the autonomous driving device. Background Art

[0002] Conventionally, there are known automated driving devices that stop working during a power outage. For example, in the unmanned guided vehicle control system described in Patent Document 1 (Japanese Patent Application Publication No. 2002-199511), in the event of a power outage, an automatic power outage detection device (installed at the factory) sends a power outage signal to the unmanned guided vehicle. If the unmanned guided vehicle has not completed the task (pre-set tasks) instructed by the command received before the power outage, the power is turned off after completing the task.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 2002-199511 Summary of the Invention

[0006] Problems to be solved by the invention

[0007] However, in the system described in Patent Document 1 (Japanese Patent Application Laid-Open No. 2002-199511), if the autonomous vehicles installed in a building cannot receive the power outage signal, there is a risk of collision with people while the autonomous vehicles are operating within the building during a power outage. To avoid this, during a power outage, building managers are required to patrol the building to check the operating status of all autonomous vehicles.

[0008] Therefore, an object of the present disclosure is to provide a management method for an autonomous driving device and an autonomous driving device that can reduce the labor of inspection work performed by a building manager during a power outage.

[0009] Means used to solve problems

[0010] The management method of an automatic driving device disclosed in the present invention is a management method of an automatic driving device in a building system, wherein the building system includes a building management device for managing equipment in the building, a plurality of automatic driving devices arranged in the building and each belonging to any of a plurality of categories, and a plurality of management devices each managing automatic driving devices of a corresponding category, wherein the management method of the automatic driving device includes the following steps: when a power outage occurs in the building, the building management device sends a power outage signal for notifying a designated automatic driving device of the occurrence of the power outage to the plurality of management devices; the plurality of management devices each forwards the power outage signal to the automatic driving device in the building; when the automatic driving device receives the power outage signal for the designated automatic driving device, the automatic driving device sends a power outage response signal to the management device that manages the automatic driving device; when the management device does not receive the power outage response signal from the designated automatic driving device among the managed automatic driving devices, the management device notifies the building management device of the ID of the designated automatic driving device; and the building management device notifies the building manager of the ID of the notified automatic driving device.

[0011] The autonomous driving device disclosed herein is an autonomous driving device in a building system. The building system includes a building management device for managing the building, a plurality of autonomous driving devices, each of arbitrary types, located within the building, and a plurality of management devices, each of which manages the autonomous driving devices of a corresponding type. The autonomous driving device includes a wireless communication device, a memory, and a processor that executes a program in the memory. Upon receiving a power outage signal from at least one of the plurality of management devices via the wireless communication device, the processor transmits a power outage response signal to the management device managing the autonomous driving device via the wireless communication device, and executes a power outage response action predetermined based on the type of autonomous driving device.

[0012] Effects of the Invention

[0013] According to the present disclosure, it is possible to reduce the labor required for inspection work performed by a building manager during a power outage. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a diagram showing the configuration of a building system according to an embodiment.

[0015] Figure 2 1 is a diagram showing a configuration example of the automatic driving device 10 .

[0016] Figure 3 1 is a diagram showing an example of a communication API from the building management device C to the travel device management device 20 and a communication API from the travel device management device 20 to the autonomous travel device 10 .

[0017] Figure 4 It is a diagram showing examples of types of automatic driving devices.

[0018] Figure 5 1 is a diagram showing an example of the position of an automatic driving device.

[0019] Figure 6 This is a diagram showing an example of the power supply status of a building.

[0020] Figure 7 This is a diagram showing an example of the business status of a building.

[0021] Figure 8 1 is a diagram showing an example of a communication API from the autonomous driving device 10 to the driving device management device 20 .

[0022] Figure 9 It is a diagram showing an example of the state of the automatic driving system.

[0023] Figure 10 1 is a diagram showing an example of a communication API from the management device 20 for traveling devices to the building management device C.

[0024] Figure 11 It is a diagram showing an example of the state of the automatic driving system.

[0025] Figure 12 This is a flowchart showing the operation steps of the building management device C.

[0026] Figure 13 This is a flowchart showing the operation procedure of the traveling device management device 20 .

[0027] Figure 14 This is a flowchart showing the operation procedure of the automatic driving device 10 .

[0028] Figure 15 This is a diagram showing the first operation example.

[0029] Figure 16 This is a diagram showing an example of the power outage signal S1 transmitted in the first operation example.

[0030] Figure 17 1 is a diagram showing an example of the power outage response signal R1 transmitted in the first operation example.

[0031] Figure 18 This is a diagram showing the second operation example.

[0032] Figure 19 This is a diagram showing the third operation example.

[0033] Figure 20 1 is a diagram showing an example of the non-responding device notification signal R2 transmitted in the third operation example. DETAILED DESCRIPTION

[0034] Hereinafter, embodiments will be described with reference to the drawings.

[0035] Implementation method.

[0036] Figure 1 It is a diagram showing the configuration of a building system according to an embodiment.

[0037] This building system includes automatic driving devices 10A, 10B, 10C, and 10D, building management devices C101, C102, etc., and an automatic driving device management system 120.

[0038] Building management device C101 manages and controls the equipment in building B101. Building management device C102 manages and controls the equipment in building B102. Building management devices C101, C102, etc. are collectively referred to as building management device C. Buildings B101, B102, etc. are collectively referred to as building B.

[0039] Autonomous driving systems 10A, 10B, 10C, and 10D are located in buildings B101, B102, and so on, respectively. Autonomous driving system 10A is a security system, performing security duties within the building. Autonomous driving system 10B is a cleaning system, performing cleaning duties within the building. Autonomous driving system 10C is a delivery system, performing delivery duties within the building. Autonomous driving system 10D is a guidance system, performing guidance duties within the building. Autonomous driving systems 10A, 10B, 10C, and 10D are collectively referred to as autonomous driving systems 10.

[0040] The management system 120 for automated vehicles includes a management device 20A for automated vehicles used for security, a management device 20B for automated vehicles used for cleaning, a management device 20C for automated vehicles used for delivery, and a management device 20D for automated vehicles used for guidance. The management device 20A for automated vehicles used for security manages the automated vehicles 10A used for security deployed in multiple buildings B101, B102, etc. The management device 20B for automated vehicles used for cleaning manages the automated vehicles 10B used for cleaning deployed in multiple buildings B101, B102, etc. The management device 20C for automated vehicles used for delivery manages the automated vehicles 10C used for delivery deployed in multiple buildings B101, B102, etc. The management device 20D for automated vehicles used for guidance manages the automated vehicles 10D used for guidance deployed in multiple buildings B101, B102, etc. When collectively referring to these automatic driving device management devices 20A, 20B, 20C, and 20D, they are described as a driving device management device 20 .

[0041] The aforementioned components of the building system can communicate via the Internet, for example. Building management devices C101, C102, etc. can be deployed in the cloud or installed within the corresponding buildings B101 and B102, operating from an emergency power source during a power outage. The autonomous driving system management system 120 can also be deployed in the cloud.

[0042] When a power outage occurs in building B, the following process is performed.

[0043] When a power outage occurs in building B, the building management device C will send a power outage signal to notify the designated automatic driving device 10 of the power outage, and at the same time send the power outage signal to the management device 20A of the alarm automatic driving device, the management device 20B of the cleaning automatic driving device, the management device 20C of the delivery automatic driving device, and the management device 20D of the guidance automatic driving device.

[0044] Afterwards, the management device 20 of the plurality of driving devices transmits a power outage signal to the automatic driving devices 10 in the building B respectively.

[0045] Thereafter, upon receiving a power outage signal specifying the automatic driving device 10 , the automatic driving device 10 transmits a power outage response signal to the driving device management device 20 that manages the automatic driving device 10 , and executes a power outage operation predetermined according to the type of the automatic driving device.

[0046] Thereafter, when the driving device management device 20 does not receive a power outage response signal from a designated automatic driving device 10 among the managed automatic driving devices 10 , the management device 20 notifies the building management device C of the ID of the designated automatic driving device.

[0047] Thereafter, the building management device C notifies the building manager of the ID of the notified automatic driving device.

[0048] When power restoration occurs in building B, the following processing is performed.

[0049] When power restoration occurs in building B, the building management device C will send a power restoration signal to notify the designated automatic driving device 10 of the power restoration, and the management device 20A of the alarm automatic driving device, the management device 20B of the cleaning automatic driving device, the management device 20C of the delivery automatic driving device, and the management device 20D of the guidance automatic driving device.

[0050] Afterwards, the management device 20 of the plurality of driving devices transmits a power restoration signal to the automatic driving devices 10 in the building B respectively.

[0051] Afterwards, when the automatic driving device 10 receives the power restoration signal specifying the automatic driving device 10, it sends a power restoration response signal to the management device 20 that manages the driving device of the automatic driving device 10, and performs the power restoration action predetermined according to the type of the automatic driving device.

[0052] Thereafter, when the driving device management device 20 does not receive the power restoration response signal from the designated automatic driving device 10 among the managed automatic driving devices 10 , the building management device C is notified of the ID of the designated automatic driving device.

[0053] After that, the building management device C notifies the building manager of the ID of the notified autonomous driving device. The notification may be made by displaying a message on a display device or outputting an audio message from a speaker.

[0054] Figure 2 1 is a diagram showing a configuration example of the automatic driving device 10 .

[0055] The automatic driving device 10 includes a wireless communication device 11, a control device 12, and a drive unit 15. The control device 12 includes a memory 13 and a processor 14.

[0056] The memory 13 stores a program. The processor 14 executes the program in the memory 13. The operation of the control device 12 described below is performed by the processor 14 executing the program in the memory 13.

[0057] The wireless communication device 11 communicates via the Internet or the building's intranet with the management device 20A for automated vehicles used for security, the management device 20B for automated vehicles used for cleaning, the management device 20C for automated vehicles used for delivery, and the management device 20D for automated vehicles used for guidance within the automated vehicle management system 120. For example, even if the automated vehicle 10 is the automated vehicle used for security 10A, the wireless communication device 11 can communicate not only with the management device 20A for automated vehicles used for security, but also with the management device 20B for automated vehicles used for cleaning, the management device 20C for automated vehicles used for delivery, and the management device 20D for automated vehicles used for guidance.

[0058] The driving unit 15 generates a driving force for the autonomous driving device 10 to travel. The driving unit 15 includes, for example, wheels for moving the autonomous driving device 10 and a motor for driving the wheels. The motor can be operated by receiving power supplied from the battery 18.

[0059] The battery 18 supplies electric power for operating each device constituting the autonomous driving device 10 .

[0060] When the control device 12 receives a power outage signal from at least one of the management devices 20A, 20B, 20C, and 20D of multiple driving devices through the wireless communication device 11, the control device 12 sends a power outage response signal to the management device 20 of the driving device that manages the automatic driving device 10 through the wireless communication device 11, and performs the action during the power outage that is predetermined according to the type of the automatic driving device 10.

[0061] When the control device 12 receives a power restoration signal from at least one of the management devices 20A, 20B, 20C, and 20D of multiple driving devices through the wireless communication device 11, the control device 12 sends a power restoration response signal to the management device 20 of the driving device that manages the automatic driving device 10 through the wireless communication device 11, and performs the power restoration action predetermined according to the type of the automatic driving device 10.

[0062] The communication between the building management device C and the travel device management device 20 and the communication between the travel device management device 20 and the automatic travel device 10 are performed using signals in accordance with a communication API (Application Programming Interface).

[0063] Figure 3 1 is a diagram showing an example of a communication API from the building management device C to the travel device management device 20 and a communication API from the travel device management device 20 to the autonomous travel device 10 .

[0064] The communication API includes the building ID indicating the destination building, the type of the destination autonomous driving device, the position of the destination autonomous driving device, the power supply status of the destination building, and the business status of the destination building.

[0065] Figure 4 1 is a diagram showing examples of types of autonomous driving systems. The types of autonomous driving systems include general, security, cleaning, delivery, and guidance.

[0066] Figure 5 This diagram shows an example of the positions of the autonomous driving system. The positions of the autonomous driving system include all areas, including the office area on the first floor, the store area on the first floor, the public area on the first floor, the office area on the second floor, the store area on the second floor, and the public area on the second floor.

[0067] Figure 6This diagram shows an example of a building's power status. A building's power status typically includes power outages and power restorations. When "normal" is specified as the building's power status, the signal sent via this communication API is a normal signal. When "power outage" is specified as the building's power status, the signal sent via this communication API is a power outage signal. When "power restoration" is specified as the building's power status, the signal sent via this communication API is a power restoration signal.

[0068] Figure 7 This diagram shows an example of the business status of a building. The business status of a building includes opening and closing.

[0069] The communication API from the driving device management device 20 to the autonomous driving device 10 does not need to include the building ID. This is because the driving device management device 20 sends a signal only to the autonomous driving device 10 in a designated building.

[0070] Figure 8 1 is a diagram showing an example of a communication API from the autonomous driving device 10 to the driving device management device 20. The communication API includes the ID of the autonomous driving device, the type of the autonomous driving device, the position of the autonomous driving device, and the status of the autonomous driving device.

[0071] Figure 9 1 is a diagram showing an example of the state of an automatic driving system. The state of the automatic driving system includes a power outage mode and a power recovery mode.

[0072] When the power outage mode is designated as the state of the autonomous driving system, the signal sent via the communication API is a power outage response signal. When the power supply recovery mode is designated as the state of the autonomous driving system, the signal sent via the communication API is a power supply recovery response signal.

[0073] Figure 10 1 is a diagram showing an example of a communication API from the driving device management device 20 to the building management device C. The communication API includes the ID of the automatic driving device, the type of the automatic driving device, the position of the automatic driving device, and the status of the automatic driving device.

[0074] Regarding the unresponsive autonomous driving device 10 , the position of the autonomous driving device is the final confirmed position of the autonomous driving device.

[0075] Figure 11This diagram shows an example of an autonomous driving system's status. The autonomous driving system's status includes power outage mode, power recovery mode, and no response. When the autonomous driving system's status includes power outage mode, the signal sent via this communication API is a power outage response signal. When the autonomous driving system's status includes power recovery mode, the signal sent via this communication API is a power recovery response signal. When the autonomous driving system's status includes no response, the signal sent via this communication API is a non-responding device notification signal.

[0076] Figure 12 This is a flowchart showing the operation steps of the building management device C.

[0077] In step S201 , when the building management device C receives a notification of a power outage from the equipment in the managed building B, the process proceeds to step S202 .

[0078] In step S202, the building management device C sends a power outage signal (in Figure 3 The communication API includes power outages as the power supply status of the building) and is sent to the management device 20A of the warning automatic driving device, the management device 20B of the cleaning automatic driving device, the management device 20C of the delivery automatic driving device, and the management device 20D of the guidance automatic driving device.

[0079] In step S207 , when the building management device C receives the notification of power restoration, the process proceeds to step S208 .

[0080] In step S208, the building management device C will restore the power supply signal (at Figure 3 The communication API includes power restoration as the power supply status of the building) and is sent to the management device 20A of the warning automatic driving device, the management device 20B of the cleaning automatic driving device, the management device 20C of the delivery automatic driving device, and the management device 20D of the guidance automatic driving device.

[0081] In step S203, the building management device C receives a non-responding device notification signal (in step S204) from one of the management device 20A for the alarm automated driving device, the management device 20B for the cleaning automated driving device, the management device 20C for the delivery automated driving device, and the management device 20D for the guidance automated driving device. Figure 10 If the communication API includes no response as the state of the automatic driving device, the processing enters step S204.

[0082] In step S204, the building management device C notifies the building manager of the building management device C of the alarm, along with the ID of the autonomous driving device, the type of the autonomous driving device, and the location of the autonomous driving device (final confirmed location) included in the non-responding device notification signal. This allows the building manager to dispatch a worker to the location identified based on the location of the autonomous driving device in building B to inspect the status of the autonomous driving device 10 identified based on the ID of the autonomous driving device.

[0083] In step S205, the building management device C receives a power outage response signal (at the time of the power outage response signal) from one of the management device 20A for the alarm automated driving device, the management device 20B for the cleaning automated driving device, the management device 20C for the delivery automated driving device, and the management device 20D for the guidance automated driving device. Figure 8 The communication API includes a power outage mode as the state of the automatic driving device) or a power supply recovery response signal (in Figure 8 In the case where the communication API includes the recovery power supply mode as the state of the automatic driving device, the processing enters step S206.

[0084] In step S206, the building management device C sends the power outage response signal (in Figure 10 The communication API includes a power outage mode as the state of the automatic driving device) or a power supply recovery response signal (in Figure 10 The ID of the automatic driving device, the type of the automatic driving device, and the position of the automatic driving device included in the communication API (including the recovery power supply mode as the status of the automatic driving device) are notified to the building manager of the building management device C.

[0085] In step S209 , if the control end instruction is received, the process ends; otherwise, if the control end instruction is not received, the process returns to step S201 .

[0086] Figure 13 This is a flowchart showing the operation procedure of the traveling device management device 20 .

[0087] In step S301, the management device 20A of the alarm automatic driving device, the management device 20B of the cleaning automatic driving device, the management device 20C of the delivery automatic driving device, and the management device 20D of the guidance automatic driving device receive a power outage signal from the building management device C (in Figure 3 If the communication API includes a power outage as the power supply status of the building, the processing enters step S302.

[0088] In step S302, the management device 20A for the autonomous vehicles used for warning, the management device 20B for the autonomous vehicles used for cleaning, the management device 20C for the autonomous vehicles used for delivery, and the management device 20D for the autonomous vehicles used for guidance forward the power outage signal to the autonomous vehicles 10 located in the building whose building ID is included in the power outage signal. In addition to forwarding the power outage signal to the autonomous vehicles 10 managed by the management device 20A for the autonomous vehicles used for warning, the management device 20B for the autonomous vehicles used for cleaning, the management device 20C for the autonomous vehicles used for delivery, and the management device 20D for the autonomous vehicles used for guidance, each forwards the power outage signal to the autonomous vehicles 10 managed by the management device for the other autonomous vehicles. Thus, for example, even if an abnormality occurs in the management device 20A of the warning automatic driving device and the power outage signal cannot be forwarded to the warning automatic driving device 10, the power outage signal is forwarded to the warning automatic driving device 10 from the management device 20B of the cleaning automatic driving device, the management device 20C of the delivery automatic driving device, and the management device 20D of the guidance automatic driving device where no abnormality occurs.

[0089] In step S306, the management device 20A of the automatic driving device for warning, the management device 20B of the automatic driving device for cleaning, the management device 20C of the automatic driving device for delivery, and the management device 20D of the automatic driving device for guidance receive the power restoration signal from the building management device C (in Figure 3 If the communication API includes power restoration as the power supply status of the building, the processing enters step S307.

[0090] In step S307, the management device 20A for the automated vehicles used for warning, the management device 20B for the automated vehicles used for cleaning, the management device 20C for the automated vehicles used for delivery, and the management device 20D for the automated vehicles used for guidance transmit the power restoration signal to the automated vehicles 10 located in the building whose building ID is included in the power restoration signal. In addition to transmitting the power restoration signal to the automated vehicles 10 managed by each of the management devices 20A for warning, the management device 20B for the automated vehicles used for cleaning, the management device 20C for the automated vehicles used for delivery, and the management device 20D for the automated vehicles used for guidance, each also transmits the power restoration signal to the automated vehicles 10 managed by the other management devices. Thus, for example, even if an abnormality occurs in the management device 20A of the warning automatic driving device and the power outage signal cannot be forwarded to the warning automatic driving device 10, the power restoration signal is forwarded to the warning automatic driving device 10 from the management device 20B of the cleaning automatic driving device, the management device 20C of the distribution automatic driving device, and the management device 20D of the guidance automatic driving device where no abnormality occurs.

[0091] In step S303, the driving device management device 20 receives a power outage response signal (at the time of the power outage response signal) from the managed automatic driving device 10 located at the position of the automatic driving device included in the power outage signal or the power restoration signal, if the type of the automatic driving device included in the power outage signal or the power restoration signal is the type of the managed automatic driving device. Figure 8 The communication API includes a power outage mode as the state of the automatic driving device) or a power supply recovery response signal (in Figure 8 When the communication API includes the restoration power supply mode as the state of the automatic driving device, the process proceeds to step S304. That is, when any of the following four conditions is met, the process proceeds to step S304.

[0092] (a) The management device 20A of the warning automatic driving device receives a power outage response signal or a power supply restoration response signal from the warning automatic driving device 10 located at the position of the automatic driving device included in the power outage signal or the power supply restoration signal when the type of the automatic driving device included in the power outage signal or the power supply restoration signal is "all" or "warning".

[0093] (b) The management device 20B of the automatic cleaning device receives a power outage response signal or a power restoration response signal from the automatic cleaning device 10 located at the position of the automatic cleaning device included in the power outage signal or the power restoration signal when the type of the automatic cleaning device included in the power outage signal or the power restoration signal is "all" or "cleaning".

[0094] (c) The management device 20C of the delivery automatic driving device receives a power outage response signal or a power restoration response signal from the delivery automatic driving device 10 located at the position of the automatic driving device included in the power outage signal or the power restoration signal when the type of the automatic driving device included in the power outage signal or the power restoration signal is "all" or "delivery".

[0095] (d) The management device 20D of the guiding automatic driving device receives a power outage response signal or a power supply restoration response signal from the guiding automatic driving device 10 located at the position of the automatic driving device included in the power outage signal or the power supply restoration signal when the type of the automatic driving device included in the power outage signal or the power supply restoration signal is "all" or "guidance".

[0096] In step S304 , the management device 20 of the traveling device forwards the received power outage response signal or power restoration response signal to the building management device C.

[0097] If the type of the autonomous vehicle included in the power outage signal or power restoration signal is the type of the autonomous vehicle being managed, and the driving device management device 20 does not receive a power outage response signal or a power restoration response signal from the autonomous vehicle 10 being managed that is located at the position of the autonomous vehicle included in the power outage signal or power restoration signal, the process proceeds to step S305. Specifically, the process proceeds to step S305 if any of the following four conditions are met.

[0098] (a) The management device 20A for the warning automatic driving device does not receive a power outage response signal or a power supply restoration response signal from the warning automatic driving device 10 located at the position of the automatic driving device included in the power outage signal or the power supply restoration signal when the type of the automatic driving device included in the power outage signal or the power supply restoration signal is "all" or "warning".

[0099] (b) The management device 20B of the automatic cleaning device does not receive a power outage response signal or a power restoration response signal from the automatic cleaning device 10 located at the position of the automatic cleaning device included in the power outage signal or the power restoration signal when the type of the automatic cleaning device included in the power outage signal or the power restoration signal is "all" or "cleaning".

[0100] (c) The management device 20C of the delivery automatic driving device does not receive a power outage response signal or a power restoration response signal from the delivery automatic driving device 10 located at the position of the automatic driving device included in the power outage signal or the power restoration signal when the type of the automatic driving device included in the power outage signal or the power restoration signal is "all" or "delivery".

[0101] (d) The management device 20D for the guiding automatic driving device does not receive a power outage response signal or a power supply restoration response signal from the guiding automatic driving device 10 located at the position of the automatic driving device included in the power outage signal or the power supply restoration signal when the type of the automatic driving device included in the power outage signal or the power supply restoration signal is "all" or "guidance".

[0102] In step S305, the management device 20 of the traveling device sends a non-response device notification signal (in Figure 10 The communication API includes no response as the status of the automatic driving device) and sends it to the building management device C. The non-responding device notification signal includes the ID, type and location of the automatic driving device for determining the automatic driving device that has not sent the power outage response signal or the power restoration response signal.

[0103] In step S308 , if the control end instruction is received, the process ends; otherwise, if the control end instruction is not received, the process returns to step S301 .

[0104] Figure 14 This is a flowchart showing the operation procedure of the automatic driving device 10 .

[0105] In step S101, when the control device 12 of the automatic driving device 10 receives a power outage signal from at least one of the management device 20A of the automatic driving device for warning, the management device 20B of the automatic driving device for cleaning, the management device 20C of the automatic driving device for delivery, and the management device 20D of the automatic driving device for guidance through the wireless communication device 11, the processing enters step S102.

[0106] In step S102, when the automatic driving device 10 is designated as the destination in the power outage signal, that is, when the "type of automatic driving device" and "position of automatic driving device" contained in the power outage signal are consistent with the type and position of the automatic driving device 10, the processing enters step S103.

[0107] In step S103, the control device 12 of the automatic driving device 10 transmits a power outage response signal to the management device 20 that manages the driving device of the automatic driving device 10 via the wireless communication device 11. In the case where the automatic driving device 10 is an automatic driving device for warning, the power outage response signal is transmitted to the management device 20A of the automatic driving device for warning. In the case where the automatic driving device 10 is an automatic driving device for cleaning, the power outage response signal is transmitted to the management device 20B of the automatic driving device for cleaning. In the case where the automatic driving device 10 is an automatic driving device for delivery, the power outage response signal is transmitted to the management device 20C of the automatic driving device for delivery. In the case where the automatic driving device 10 is an automatic driving device for guidance, the power outage response signal is transmitted to the management device 20D of the automatic driving device for guidance.

[0108] In step S104 , the control device 12 of the automatic driving device 10 shifts to the power outage mode.

[0109] In step S105, the control device 12 of the autonomous driving device 10 causes the autonomous driving device 10 to execute the task determined during the power outage mode. For example, the autonomous driving device 10A in warning mode can operate at a low speed during the power outage mode while illuminating the surrounding area with its lighting. The autonomous driving device 10B in cleaning mode can also stop during the power outage mode and illuminate the autonomous driving device 10B with its lighting to prevent collisions.

[0110] In step S106, when the control device 12 of the automatic driving device 10 receives a power restoration signal from at least one of the management device 20A of the automatic driving device for warning, the management device 20B of the automatic driving device for cleaning, the management device 20C of the automatic driving device for delivery, and the management device 20D of the automatic driving device for guidance through the wireless communication device 11, the processing enters step S107.

[0111] In step S107, when the automatic driving device 10 is designated as the destination in the restoration power supply signal, that is, when the "type of automatic driving device" and "position of automatic driving device" contained in the restoration power supply signal are consistent with the type and position of the automatic driving device 10, the processing enters step S108.

[0112] In step S108, the control device 12 of the automatic driving device 10 transmits a power supply restoration response signal to the management device 20 of the driving device that manages the automatic driving device 10 via the wireless communication device 11. If the automatic driving device 10 is an automatic driving device for warning, the power supply restoration response signal is transmitted to the management device 20A of the automatic driving device for warning. If the automatic driving device 10 is an automatic driving device for cleaning, the power supply restoration response signal is transmitted to the management device 20B of the automatic driving device for cleaning. If the automatic driving device 10 is an automatic driving device for delivery, the power supply restoration response signal is transmitted to the management device 20C of the automatic driving device for delivery. If the automatic driving device 10 is an automatic driving device for guidance, the power supply restoration response signal is transmitted to the management device 20D of the automatic driving device for guidance.

[0113] In step S109 , the control device 12 of the automatic driving device 10 shifts to the recovery power supply mode.

[0114] In step S110 , the control device 12 of the automatic driving device 10 causes the automatic driving device 10 to execute the determined task in the restoration power supply mode.

[0115] In step S111 , if a control end instruction is received, the process ends; otherwise, if a control end instruction is not received, the process returns to step S101 .

[0116] Figure 15 This is a diagram showing the first operation example. Figure 16This diagram shows an example of a power outage signal S1 sent in the first example operation. Power outage signal S1 includes "102" as the building ID, "All" as the type of autonomous driving device, "Office Area on the 2nd Floor" as the location of the autonomous driving device, "Power Outage" as the building's power status, and "Open" as the building's business status. Assume that the autonomous driving device 10 in alert mode is located in the office area on the 2nd floor of the building with building ID 102. Figure 17 This diagram shows an example of a power outage response signal R1 transmitted in the first example operation. Power outage response signal R1 includes "289" as the autonomous vehicle ID, "alert" as the autonomous vehicle type, "office area on the second floor" as the autonomous vehicle location, and "power outage mode" as the autonomous vehicle status.

[0117] The building management device C102 of the building B102 sends a message to the management device 20A of the automatic driving device for warning, the management device 20B of the automatic driving device for cleaning, the management device 20C of the automatic driving device for delivery, and the management device 20D of the automatic driving device for guidance. Figure 16 The power outage signal S1 is shown.

[0118] The management device 20A of the automatic driving device for warning, the management device 20B of the automatic driving device for cleaning, the management device 20C of the automatic driving device for delivery, and the management device 20D of the automatic driving device for guidance transfer the data to the automatic driving device 10 of the building B102 with the building ID "102". Figure 16 The power outage signal S1 is shown.

[0119] The automatic driving device 10 for warning in the office area on the second floor designated by the power outage signal S1 sends a signal to the management device 20A for warning automatic driving devices. Figure 17 The power outage response signal R1 is shown.

[0120] The management device 20A of the automatic driving device for warning which receives the power failure response signal R1 transmits the signal to the building management device C102 of the building B102. Figure 17 The power outage response signal R1 is shown.

[0121] Figure 18 This diagram illustrates the second example operation. The power outage signal S1 and power outage response signal R1 in the second example operation are identical to those in the first example operation. In the second example operation, as in the first example operation, it is assumed that the autonomous driving device 10 in alert mode is located in the office area on the second floor of a building with building ID 102.

[0122] The building management device C102 of the building B102 sends a message to the management device 20A of the automatic driving device for warning, the management device 20B of the automatic driving device for cleaning, the management device 20C of the automatic driving device for delivery, and the management device 20D of the automatic driving device for guidance. Figure 16 The power outage signal S1 is shown.

[0123] Since the management device 20A for the warning automatic driving device, the management device 20B for the cleaning automatic driving device, and the management device 20C for the delivery automatic driving device have abnormalities, the power outage signal S1 is not forwarded. The management device 20D for the guidance automatic driving device forwards the power outage signal S1 to the automatic driving device 10 of the building B102 with the building ID "102". Figure 16 The power outage signal S1 is shown.

[0124] The automatic driving device 10 for warning in the office area on the second floor designated by the power outage signal S1 sends a signal to the management device 20A for warning automatic driving devices. Figure 17 The power outage response signal R1 is shown.

[0125] The management device 20A of the automatic driving device for warning which receives the power failure response signal R1 transmits the signal to the building management device C102 of the building B102. Figure 17 The power outage response signal R1 is shown.

[0126] Figure 19 This diagram illustrates the third example operation. The power outage signal S1 in the third example operation is the same as the power outage signal S1 in the first example operation. In the third example operation, as in the first example operation, it is assumed that the autonomous driving device 10 in alert mode is located in the office area on the second floor of a building with building ID 102. Figure 20 This figure shows an example of a non-responding device notification signal R2 transmitted in the third example operation. Non-responding device notification signal R2 includes "289" as the autonomous driving device ID, "alert" as the autonomous driving device type, "office area on the second floor" as the final confirmed location of the autonomous driving device, and "no response" as the autonomous driving device status.

[0127] The building management device C102 of the building B102 sends a message to the management device 20A of the automatic driving device for warning, the management device 20B of the automatic driving device for cleaning, the management device 20C of the automatic driving device for delivery, and the management device 20D of the automatic driving device for guidance. Figure 16 The power outage signal S1 is shown.

[0128] The management device 20A of the automatic driving device for warning, the management device 20B of the automatic driving device for cleaning, the management device 20C of the automatic driving device for delivery, and the management device 20D of the automatic driving device for guidance transfer the data to the automatic driving device 10 of the building B102 with the building ID "102". Figure 16 The power outage signal S1 is shown.

[0129] Since an abnormality has occurred in the automatic driving device 10 for warning in the office area on the second floor specified by the power outage signal S1, the power outage response signal R1 is not transmitted to the management device 20A for automatic driving devices for warning.

[0130] The management device 20A of the automatic driving device for warning that has not received the power outage response signal R1 forwards the signal to the building management device C102 of the building B102. Figure 20 The non-responding device notification signal R2 is shown.

[0131] Variation example.

[0132] The following modifications are also within the scope of the present disclosure.

[0133] (1) Power outage signal

[0134] When the business status of the building included in the power outage signal is "closed", the autonomous driving device 10 will not collide with a person, and therefore may maintain the normal mode even if the power outage signal is received.

[0135] (2) In the embodiment, the driving device management device 20 not only forwards the power outage signal and the power restoration signal to the managed autonomous driving devices 10 but also forwards the power outage signal and the power restoration signal to the unmanaged autonomous driving devices 10. However, the present invention is not limited thereto. The driving device management device 20 may also forward the power outage signal and the power restoration signal only to the managed autonomous driving devices 10.

[0136] (3) In the embodiment, the autonomous driving device 10 always sends a power outage response signal or a power restoration response signal to the management device 20 that manages the autonomous driving device 10, regardless of which driving device management device 20 receives the power outage signal or the power restoration signal from. However, the autonomous driving device 10 is not limited thereto. Alternatively, upon receiving the power outage signal or the power restoration signal, the autonomous driving device 10 may send the power outage response signal or the power restoration response signal to the management device 20 of the driving device that sent the power outage signal or the power restoration signal.

[0137] The embodiments disclosed this time are illustrative in all aspects and should not be construed as restrictive. The scope of the present disclosure is indicated by the claims rather than the above description, and all modifications within the meaning and scope equivalent to the claims are intended to be encompassed.

[0138] Description of Reference Numerals

[0139] 10, 10A, 10B, 10C, 10D automatic driving device, 11 wireless communication device, 12 control device, 13 memory, 14 processor, 15 drive unit, 18 battery, 20, 20A, 20B, 20C, 20D driving device management device, 120 automatic driving device management system, B, B101, B102, ID building, C, C101, C102 building management device.

Claims

1. A method for managing an automatic driving device, the method being a method for managing an automatic driving device in a building system, the building system comprising a building management device for managing equipment within the building, a plurality of automatic driving devices disposed within the building and each belonging to any of a plurality of types, and a plurality of management devices each managing the automatic driving device of a corresponding type, wherein: The management method of the automatic driving device comprises the following steps: When a power outage occurs in the building, the building management device sends a power outage signal for notifying a designated autonomous driving device of the power outage to the plurality of management devices. Each of the plurality of management devices forwards the power outage signal to the automatic driving device in the building; The automatic driving device, upon receiving the power outage signal specifying the automatic driving device, transmits a power outage response signal to the management device that manages the automatic driving device; When the management device does not receive the power outage response signal from the designated automatic driving device among the managed automatic driving devices, the management device notifies the building management device of the ID of the designated automatic driving device; as well as The building management device notifies the building manager of the ID of the notified automatic driving device.

2. The method for managing an automatic driving device according to claim 1, wherein: The management method of the automatic driving device further comprises the following steps: Upon receiving the power outage signal designating the automatic driving device, the automatic driving device executes an operation in response to a power outage that is predetermined according to the type of the automatic driving device.

3. The method for managing an automatic driving device according to claim 1, wherein: The power outage signal includes the type of the automatic driving device and the position of the automatic driving device to specify the automatic driving device.

4. The method for managing an automatic driving device according to claim 1, wherein: The power outage response signal includes the ID of the autonomous driving device, the type of the autonomous driving device, and the location of the autonomous driving device.

5. The method for managing an automatic driving device according to claim 1, wherein: The management method of the automatic driving device further comprises the following steps: When power supply to the building is restored, the building management device sends a power restoration signal for notifying the designated automatic driving device of the restoration of power supply to the multiple management devices; The multiple management devices each forward the power restoration signal to the multiple automatic driving devices in the building; The automatic driving device, upon receiving the power restoration signal specifying the automatic driving device, sends a power restoration response signal to the management device that manages the automatic driving device; When the management device does not receive the power restoration response signal from the designated automatic driving device among the managed automatic driving devices, the management device notifies the building management device of the ID of the designated automatic driving device; as well as The building management device notifies the building manager of the ID of the notified automatic driving device.

6. The method for managing an automatic driving device according to claim 5, wherein: The power restoration signal includes the type of the automatic driving device and the position of the automatic driving device to specify the automatic driving device.

7. The method for managing an automatic driving device according to claim 5, wherein: The power restoration response signal includes the ID of the autonomous driving device, the type of the autonomous driving device, and the location of the autonomous driving device.

8. The method for managing an automatic driving device according to any one of claims 1 to 7, wherein: The step of forwarding the power outage signal comprises the following steps: Each of the plurality of management devices transfers the power outage signal to managed and unmanaged autonomous driving devices in the building.

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