Abnormality detection system, abnormality detection device, and building equipment management device

Abstract

The invention provides an abnormality detection system, an abnormality detection device, and a building equipment management device. The purpose of the present invention is to improve the accuracy of determining the abnormality of a robot even if robots of different types or the like exist in a mixture among managed robots. This abnormality detection system is provided with: a building equipment management device having a trigger signal transmission unit for transmitting a trigger signal in accordance with the operating condition of building equipment; and an abnormality detection device having a trigger signal receiving unit that receives the trigger signal, and a radio wave acquisition unit that acquires radio waves transmitted from each of the plurality of robots moving in the building and received by the antenna device in response to the reception of the trigger signal. The plurality of robots belong to any one of one or more preset groups. The abnormality detection device is further provided with: a robot information acquisition unit that acquires robot information capable of specifying a group to which the robot belongs; and a determination unit that determines an abnormality of the robot on the basis of the trigger signal, the radio wave intensity, and the robot information.

Description

Technical Field

[0001] The present invention relates to an anomaly detection system, an anomaly detection device and a building equipment management device. Background Art

[0002] An abnormality detection system is known, which includes a building equipment management device and an abnormality detection device, wherein the building equipment management device has a trigger signal sending unit that sends a trigger signal according to the working status of the building equipment, and the abnormality detection device has: a trigger signal receiving unit that receives the trigger signal sent by the trigger signal sending unit; an acquisition unit that acquires radio waves sent by a robot moving in the building and received by an antenna device; and a judgment unit that judges the abnormality of the robot based on the trigger signal received by the trigger signal receiving unit and the radio wave strength of the radio wave acquired by the acquisition unit (for example, refer to patent document 1).

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 2023-163263 Summary of the Invention

[0006] However, in a system like that described in Patent Document 1, even when robots moving within a building are mixed with robots of different models, manufacturers, and specifications, robot abnormalities are determined based on the same reference value. Therefore, if robots of different models, manufacturers, and specifications are mixed among the managed robots, the accuracy of robot abnormality determination may decrease.

[0007] The present invention was developed to address this issue and aims to provide an anomaly detection system, an anomaly detection device, and a building equipment management device that can improve the accuracy of robot anomaly determination even when managed robots are mixed with robots of different models, manufacturers, and specifications.

[0008] The abnormality detection system of the present invention comprises: a building equipment management device, which has a trigger signal sending unit, and the trigger signal sending unit sends a trigger signal according to the working status of the building equipment; and an abnormality detection device, which has: a trigger signal receiving unit, which receives the trigger signal sent by the trigger signal sending unit; and a radio wave acquisition unit, which acquires radio waves sent from multiple robots moving in the building and received by the antenna device in response to the trigger signal receiving unit receiving the trigger signal, and the multiple robots respectively belong to any group of one or more pre-set groups. The abnormality detection device also comprises: a robot information acquisition unit, which acquires robot information that can determine the group to which the robot belongs; and a judgment unit, which judges the abnormality of the robot based on the trigger signal received by the trigger signal receiving unit, the radio wave intensity of the radio wave acquired by the radio wave acquisition unit, and the robot information acquired by the robot information acquisition unit.

[0009] The abnormality detection device of the present invention comprises: a trigger signal receiving unit, which receives the trigger signal sent by a building equipment management device that sends a trigger signal according to the working status of the building equipment; and a radio wave acquisition unit, which acquires radio waves sent from multiple robots moving in the building and received by an antenna device in response to the trigger signal received by the trigger signal receiving unit, wherein the multiple robots belong to any group of one or more pre-set groups. The abnormality detection device also comprises: a robot information acquisition unit, which acquires robot information that can determine the group to which the robot belongs; and a judgment unit, which judges the abnormality of the robot based on the trigger signal received by the trigger signal receiving unit, the radio wave intensity of the radio wave acquired by the radio wave acquisition unit, and the robot information acquired by the robot information acquisition unit.

[0010] The building equipment management device of the present invention comprises: a trigger start-up unit, which starts a trigger signal according to the working status of the building equipment; and a radio wave acquisition unit, which acquires radio waves sent from multiple robots moving in the building and received by the antenna device in response to the trigger start-up unit starting the trigger signal, and the multiple robots belong to any group of one or more pre-set groups. The building equipment management device also comprises: a robot information acquisition unit, which acquires robot information that can determine the group to which the robot belongs; and a judgment unit, which judges the abnormality of the robot based on the trigger signal received by the trigger start-up unit, the radio wave intensity of the radio wave acquired by the radio wave acquisition unit, and the robot information acquired by the robot information acquisition unit.

[0011] Effects of the Invention

[0012] According to the anomaly detection system, anomaly detection device, and building equipment management device of the present invention, the accuracy of robot anomaly determination can be improved even when robots of different models and the like are mixed among the robots being managed. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a diagram showing a robot movement system according to the first embodiment.

[0014] Figure 2 This is a structural diagram of the abnormality detection system according to the first embodiment.

[0015] Figure 3 This is a flowchart showing control of a robot's response to a landing call according to the first embodiment.

[0016] Figure 4 This is a flowchart showing the transmission control of the trigger signal in the first embodiment.

[0017] Figure 5 This is a flowchart showing abnormality detection control in the first embodiment.

[0018] Figure 6 This is a diagram showing an example of the abnormality determination database according to the first embodiment.

[0019] Figure 7 This is a structural diagram of the abnormality detection system according to the second embodiment.

[0020] Figure 8 This is a diagram showing an example of the reflection rate in the second embodiment.

[0021] Figure 9 This is a diagram showing an example of changes in radio field intensity during the previous normal determination in the second embodiment.

[0022] Figure 10 This is a flowchart showing abnormality detection control according to the second embodiment.

[0023] Figure 11 This is a flowchart showing the transmission control of the abnormal operation occurrence signal in the second embodiment.

[0024] Figure 12 This is a flowchart showing the reception process of the abnormal operation occurrence signal and the update process of the abnormality determination database in the second embodiment.

[0025] Figure 13 This is a flowchart showing the calculation process of the updated reference value in the second embodiment.

[0026] Figure 14 This is a structural diagram of the building server of implementation mode 3.

[0027] Figure 15 This is a flowchart showing abnormality detection control in the third embodiment.

[0028] Label Description

[0029] 10: Building server; 11: Building server processor; 11a: Building server control unit; 11b: Trigger signal sending unit; 11c: Monitoring unit; 11d: Trigger start unit; 12: Building server storage unit; 13: Building server interface; 20: Abnormality detection device; 21: Detection device processor; 21a: Detection device control unit; 21b: Trigger signal receiving unit; 21c: Acquisition unit; 21d: Determination unit; 21e: Reporting unit; 21f: Abnormal action occurrence signal receiving unit; 21g: Update unit; 22: Detection device storage unit; 23: Detection device interface; 30: Robot; 31: First communication device; 32: Send device; 40: second antenna; 50: robot server; 51: second communication device; 60: elevator control device; 61: car; 70: access management system; 71: first antenna; 80: reporting device; 90: abnormality judgment database; 91: work category information; 92: expected radio wave strength information; 92a: group identification information; 93: abnormality judgment information; 100: abnormality detection system; 101: first system; 102: second system; 110: hands-free tag; 111: button; 112: tag sending unit; 120: hands-free tag receiver; 121: third antenna; 122: tag receiving unit; 200: robot movement system. DETAILED DESCRIPTION

[0030] The method for implementing the anomaly detection system, anomaly detection device, and building equipment management device of the present invention is described with reference to the accompanying drawings. In each figure, the same reference numerals are given to the same or equivalent parts, and repeated descriptions are appropriately simplified or omitted. In the following description, for convenience, the positional relationship of each structure is sometimes expressed based on the state shown in the figure. In addition, the present invention is not limited to the following embodiments. Within the scope of the purpose of the present invention, the various embodiments can be freely combined, any structural elements of the various embodiments can be deformed, or any structural elements of the various embodiments can be omitted.

[0031] Implementation method 1.

[0032] Hereinafter, the robot moving system 200 having the abnormality detection system 100 of embodiment 1 will be described with reference to the accompanying drawings. In addition, the same reference numerals in the various drawings represent the same or corresponding structures and steps. Figure 1 The configuration and operation of the robot movement system 200 will be briefly described. Figure 1 This is a diagram showing a robot moving system 200 including the abnormality detection system 100 according to the first embodiment.

[0033] The robot movement system 200 is a system for managing the movement of the robot 30. The robot movement system 200 includes the abnormality detection system 100 and the robot 30. In this embodiment, the robot movement system 200 manages a plurality of robots 30.

[0034] The plurality of robots 30 are grouped in advance. In other words, the plurality of robots 30 belong to any one of the one or more pre-set groups. For example, the plurality of robots 30 are grouped according to their models. That is, robots 30 of the same model belong to the same group. In addition, robots 30 of different models belong to different groups. That is, one group is set for each model. In addition, robots 30 of different models may also belong to the same group. Furthermore, the grouping of the robots 30 may also be based on information other than the model of the robot 30. For example, the grouping may be based on specific specification information, specifically, for example, based on the moving speed information (rated speed, etc.) of the robot 30.

[0035] The anomaly detection system 100 includes a first system 101 and a second system 102. The first system 101 includes a building server 10, which serves as a building equipment management device and is described later. The second system 102 includes an anomaly detection device 20, which is described later. Therefore, the anomaly detection system 100 includes the building server 10 and the anomaly detection device 20.

[0036] The first system 101 is a system for controlling building equipment. It includes a building server 10, a robot server 50, an elevator control device 60, an access management system 70, and a second communication device 51. The second communication device 51 is a communication device connected to the robot server 50. The building server 10 is connected to the robot server 50, the elevator control device 60, and the access management system 70 via wired or wireless communication. The building server 10 manages data exchange between these components.

[0037] The second system 102 is a system for detecting an abnormality of the robot 30. The second system 102 includes the abnormality detection device 20, the reporting device 80, and the second antenna 40. The second antenna 40 is connected to the abnormality detection device 20.

[0038] Robot 30 is a self-propelled robot that moves autonomously within a building. Robot 30 includes a first communication device 31 and a transmission device 32. First communication device 31 is a communication device that transmits and receives data with second communication device 51 via wireless communication. This communication device exchanges information necessary for managing the movement of robot 30 and other information between first system 101 and robot 30.

[0039] The sending device 32 is a device that sends radio waves, which is different from the abnormality detection device 20. The sending device 32 of this embodiment sends radio waves containing identification information of the robot 30. More specifically, the sending device 32 is, for example, an RFID (radiofrequency identifier) ​​tag. In addition, the abnormality detection device 20 to be described later only needs to be a device that can measure the intensity of radio waves, and is not limited to RFID tags. The sending device 32 may also be, for example, a BLE (Bluetooth (registered trademark) Low Energy) tag, etc. In addition, the robot 30 may also have a transceiver that can send and receive radio waves as the sending device 32.

[0040] In this embodiment, radio waves transmitted by the transmitter 32 are received by the first antenna 71 and the second antenna 40. The first antenna 71 is an antenna provided in the entry and exit management system 70. The second antenna 40 is an antenna device installed inside the elevator car 61 controlled by the elevator control device 60.

[0041] Next, an overview of the operation will be described. In the robot movement system 200, communication between the robot 30 and the building equipment is conducted via the building server 10 and the robot server 50. The robot server 50 is the server that manages the robot 30. For example, when the robot 30 calls the elevator car 61 to move between floors, the robot 30 transmits a landing call command from the first communication device 31 to the second communication device 51. The landing call command is a command for calling the car 61 from the landing. The second communication device 51 transmits this command to the robot server 50. The robot server 50 then transmits this command to the building server 10. The building server 10 further transmits this command to the elevator control device 60. Upon receiving the landing call command from the robot 30, the elevator control device 60 registers the call in accordance with this command. The elevator control device 60 then transmits information including the car number and arrival time of the car 61 assigned to the landing call to the building server 10. The building server 10 transmits information including the car number and arrival time of the car 61 assigned to the hall call to the first communication device 31 of the robot 30 via the robot server 50 and the second communication device 51 .

[0042] When the building server 10 receives information from the elevator control device 60, including the car number and arrival time of the car 61 assigned to the landing call, the building server 10 transmits a trigger signal to the abnormality detection device 20 based on the operating status of the building equipment. Specifically, the building server 10 transmits a trigger signal to the abnormality detection device 20 based on the operating status of the elevator, which is the building equipment, and that the car 61 is moving to the floor to which the robot 30 has issued a landing call.

[0043] In this embodiment, the trigger signal includes information indicating the category of the working status of the building equipment, information identifying the second antenna 40 that is expected to receive the radio waves sent by the transmitting device 32 due to the movement of the robot 30, and information identifying the time at which the second antenna 40 is expected to receive the radio waves sent by the transmitting device 32.

[0044] Furthermore, in this embodiment, the trigger signal also includes robot information. The robot information herein refers to information that can identify the aforementioned group to which robot 30 belongs. Robot information can also include information that can identify the robot 30 performing the action. For example, each robot is pre-assigned a robot 30. Robot 30 is robot identification information that can uniquely identify each robot 30. Information that can identify a robot 30 refers to, for example, that robot 30.

[0045] The information capable of determining the group to which the robot 30 belongs may be information capable of directly determining the group or information capable of indirectly determining the group. For example, a group ID is pre-assigned to each group. The group ID is group identification information capable of uniquely determining each group. As information capable of directly determining the group, for example, the group ID itself can be cited. In addition, as information capable of indirectly determining the group, for example, information capable of identifying the robot 30, i.e., the robot 30, can be cited. In this case, the robot 30 is pre-correlated with the group ID of the group to which the robot 30 belongs. The correspondence between the robot 30 and the group ID is pre-stored in the detection device storage unit 22, etc., for example. Then, by referring to such a correspondence, the group ID of the group to which the robot 30 belongs can be determined based on the robot 30.

[0046] Specifically, the information included in the trigger signal when the building equipment responds to a landing call from the robot 30 includes information indicating a response to the robot 30's landing call, identification information of the robot 30 that made the landing call, information about the car number assigned to the car 61 making the landing call, and the arrival time of the car 61. The robot information included in the trigger signal, which identifies the robot 30, may be the same as or different from the identification information included in the radio waves transmitted from the robot 30's transmitter 32. In this description, the arrival time of the car 61 refers to the time when the car 61 arrives at the floor where the landing call was made and opens its doors.

[0047] Upon receiving the trigger signal, abnormality detection device 20 determines the expected radio wave intensity based on the time-series variation in the intensity of the radio wave expected to be received by second antenna 40, based on information indicating the type of building equipment operating status, robot information, and the time at which second antenna 40 is expected to receive the radio wave transmitted by transmitter 32, contained in the trigger signal. Furthermore, abnormality detection device 20 obtains the received radio wave from second antenna 40, identified based on the information identifying second antenna 40 contained in the trigger signal. This second antenna is the antenna expected to receive the radio wave transmitted by transmitter 32 due to the movement of robot 30. Abnormality detection device 20 then compares the time-series variation in the intensity of the radio wave actually received by the identified second antenna 40 with the expected intensity, thereby detecting an abnormality.

[0048] In summary, it is possible to determine an abnormality in the robot 30 based on the intensity of the radio waves transmitted by the transmitter 32 mounted on the robot 30. Specifically, for example, if the door of the car 61 is opened at a landing where the robot 30 has called an elevator, allowing the robot 30 to board the elevator, and if the intensity of the radio waves received by the second antenna 40 installed in the car 61 is expected to increase over time, and if there is little change in the intensity of the received radio waves, it can be determined that the robot 30 has not moved.

[0049] Next, use Figure 2 The configuration of the abnormality detection system 100 will be described in detail. Figure 2 1 is a structural diagram of the abnormality detection system 100 .

[0050] In this embodiment, anomaly detection system 100 includes the already described first system 101 and second system 102. Furthermore, first system 101 includes building server 10, robot server 50, elevator control device 60, entry and exit management system 70, and second communication device 51. Furthermore, second system 102 includes anomaly detection device 20, reporting device 80, and second antenna 40.

[0051] First, the configuration of the first system 101 will be described. The building server 10 , which serves as a building equipment management device, includes a building server processor 11 , a building server storage unit 12 , and a building server interface 13 .

[0052] The building server processor 11 is a CPU (Central Processing Unit), but it could also be a central processing unit, processing unit, computing unit, microprocessor, microcomputer, or DSP. The building server processor 11 is connected to the building server storage unit 12 and the building server interface 13 to exchange information. The functions of the building server processor 11 are implemented through the collaboration of hardware such as the CPU and software. The software is described as a program and is stored, for example, in the building server storage unit 12 or in a memory (not shown) included in the building server 10. The building server processor 11 implements its various functions by reading and executing the stored program.

[0053] The building server processor 11 includes a building server control unit 11 a , a trigger signal transmitting unit 11 b , and a monitoring unit 11 c as its functions. Furthermore, the building server processor 11 includes a software module for overall control of the building server 10 .

[0054] The trigger signal transmitter 11b includes a software module for transmitting a trigger signal according to the operating status of a building device. Specifically, the trigger signal transmitter 11b includes a software module for determining whether a building device is operating to trigger, a software module for generating a trigger signal, and a software module for transmitting a trigger signal.

[0055] The monitoring unit 11 c includes a software module that obtains the operating status of the robot 30 from the robot server 50 .

[0056] The building server storage unit 12 is a storage device composed of one or both of nonvolatile and volatile memory. Specifically, for example, the building server storage unit 12 may be a nonvolatile or volatile semiconductor memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), or EEPROM (Electrically Erasable Programmable Read Only Memory), or a magnetic disk, floppy disk, optical disk, CD (Compact Disk), minidisc, or DVD (Digital Versatile Disk). The building server storage unit 12 stores information used in the processing of the building server processor 11 and information generated by the processing of the building server processor 11.

[0057] The building server interface 13 includes wire terminals for connecting to the robot server 50, the elevator control device 60, the entry and exit management system 70, and the abnormality detection device 20. Alternatively, the building server interface 13 can be used as a wireless communication device to connect to other components via wireless communication.

[0058] The robot server 50 is a server device that manages the robot 30 that moves within the building. The robot server 50 is connected to the building server 10 and one or more second communication devices 51 installed in the building in a manner that allows for wired or wireless communication. The robot server 50 mediates the exchange of information between the robot 30 and the building server 10. That is, when a request for a building device is sent from the robot 30, the robot server 50 sends the request to the building server 10. In addition, when there is a request from the building server 10 for the robot 30, the robot server 50 sends the request to the robot 30. In addition, the robot server 50 can also adjust the movement of multiple robots 30. In addition, in this embodiment, the robot server 50 is a server managed by an administrator different from the administrator of the building server 10. In addition, multiple robot servers 50 can also be set up.

[0059] The second communication device 51 is a communication device that wirelessly transmits and receives information with the first communication device 31 mounted on the robot 30. In this embodiment, a single second communication device 51 is installed within the building, enabling communication regardless of the robot 30's location within the building. Alternatively, multiple second communication devices 51 may be installed within the building, similar to the second antenna 40 described below, to transmit and receive information when the robot 30 passes nearby.

[0060] The elevator control device 60 operates a drive device (not shown) to move the elevator car 61. The elevator control device 60 moves the elevator car 61 in accordance with commands transmitted from the robot 30 via the landing operating panel and car operating panel (not shown), as well as the robot server 50 and the building server 10. Furthermore, in this embodiment, the elevator control device 60 also serves as a group management device that distributes landing calls from humans or robots 30 to multiple cars 61. In this embodiment, when a landing call is made from the robot 30, the elevator control device 60 transmits the car number of the car 61 assigned to the landing call and the time when the car 61 will arrive at the floor where the landing call was made to the building server 10.

[0061] The entry and exit management system 70 includes a first antenna 71 installed at a gate in a building. The entry and exit management system 70 is a system that uses the first antenna 71 to receive radio waves transmitted from the transmitter 32 of the robot 30, and opens the gate when the identification information contained in the radio waves is pre-set identification information that allows passage through the gate. The entry and exit management system 70 opens the gate when the first antenna 71 receives radio waves from the transmitter 32 of the robot 30 when a passage request is sent from the robot 30 via the robot server 50 and the building server 10. In addition, in this embodiment, the entry and exit management system 70 is a system that stores the entry and exit rooms of the robot 30 based on the identification information contained in the radio waves received by the first antenna 71. In addition, in this embodiment, the first antenna 71 is the same as the second antenna 40 described later.

[0062] Next, the configuration of the second system 102 will be described. The abnormality detection device 20 includes a detection device processor 21 , a detection device storage unit 22 , and a detection device interface 23 .

[0063] The detection device processor 21 is a CPU, but may also be a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, or a DSP. The detection device processor 21 is connected to the detection device storage unit 22 and the detection device interface 23 to exchange information. The functions of the detection device processor 21 are realized through the collaboration of hardware such as the CPU and software. The software is described as a program and is stored, for example, in the detection device storage unit 22 or in a memory (not shown) provided by the abnormality detection device 20. The detection device processor 21 realizes the various functions of the detection device processor 21 by reading and executing the stored program.

[0064] The detection device processor 21 includes a detection device control unit 21a, a trigger signal receiving unit 21b, an acquisition unit 21c, a determination unit 21d, and a notification unit 21e. The detection device processor 21 also includes a software module for overall control of the abnormality detection device 20.

[0065] The trigger signal receiving unit 21b includes a software module that receives the trigger signal sent from the building server 10. As described above, the trigger signal includes robot information. Furthermore, robot information is information that can identify the group to which the robot 30 belongs. Therefore, the trigger signal receiving unit 21b in the exemplary configuration described herein also functions as a robot information acquisition unit that receives the trigger signal sent by the trigger signal sending unit 11b and simultaneously acquires robot information that can identify the group to which the robot 30 belongs.

[0066] Furthermore, the robot information acquisition unit is not limited to acquiring robot information using a trigger signal. Alternatively, for example, information that can identify the group to which the robot 30 belongs, such as a QR code indicating the aforementioned group ID, may be printed or displayed on the surface of the robot 30, and the robot information may be acquired by reading the QR code on the surface of the robot 30 using, for example, a camera. Furthermore, if each group of robots 30 has different appearance characteristics (for example, if the robots 30 are grouped by model, each model having a different appearance), the model of the robot 30 may be determined by applying image recognition processing to an image of the robot 30 captured by a camera, and the model information may be acquired as the robot information that can identify the group to which the robot 30 belongs.

[0067] The acquisition unit 21c includes a software module for specifying a time at which radio waves are expected to be received and a second antenna 40 at which radio waves are expected to be received, and a software module for acquiring the radio waves received by the second antenna 40 from the specified second antenna 40 at the specified time.

[0068] The determination unit 21 d includes a software module that determines an abnormality in the robot 30 based on the trigger signal received by the trigger signal receiving unit 21 b and the radio wave intensity of the radio wave acquired by the acquisition unit 21 c .

[0069] The reporting unit 21e includes a software module that transmits a command to the reporting device 80 described later to perform a report when the determination unit 21d determines that an abnormality exists.

[0070] The detection device storage unit 22 is a storage device composed of one or both of nonvolatile and volatile memories. Specifically, for example, the detection device storage unit 22 is a nonvolatile or volatile semiconductor memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), and EEPROM (Electrically Erasable Programmable Read Only Memory), or a magnetic disk, floppy disk, optical disk, CD (Compact Disk), minidisc, and DVD (Digital Versatile Disk). The detection device storage unit 22 stores the abnormality determination database 90, which will be described later. It also stores information used in the processing of the detection device processor 21 and information generated by the processing of the detection device processor 21.

[0071] The detection device interface 23 includes a wire terminal for connecting to the second antenna 40 and the reporting device 80. Alternatively, the detection device interface 23 may be used as a wireless communication device and connected to other components by wireless communication.

[0072] The second antenna 40 is an antenna device installed in a building. In this embodiment, a plurality of second antennas 40 are installed in the building. In this description, the second antenna 40 installed in the car 61 among the second antennas 40 is also simply referred to as the second antenna 40.

[0073] The second antenna 40 receives the radio waves transmitted from the transmitter 32. Specifically, the radio waves transmitted from the transmitter 32 are, for example, LF (Long Frequency) radio waves, which are long waves. In this case, the second antenna 40 is an LF antenna.

[0074] The reporting device 80 is a device that issues reports in accordance with commands sent from the reporting unit 21e. Specifically, the reporting device 80 in this embodiment is a speaker device. Furthermore, the reporting device 80 can be any device that can issue reports, and may also be a monitor, a light, or the like.

[0075] Next, use Figures 3 to 5 The operation of this embodiment will be described. Figure 3 This is a flowchart showing the response control of the robot 30 to the landing call performed by the building server control unit 11 a of the building server 10 .

[0076] In step S11, the building server control unit 11a waits for the robot 30 to make a landing call via the robot server 50. The building server control unit 11a repeats step S11 until a landing call is made. If a landing call is made, the process proceeds to step S12. Furthermore, the building server control unit 11a stores information identifying the robot 30 making the landing call, specifically, the identification number or the robot 30 itself, in the building server storage unit 12. If the landing call made by the robot 30 is unauthorized, the building server control unit 11a may repeat step S11 without proceeding to step S12.

[0077] In step S12, the building server control unit 11a transmits the robot 30's landing call to the elevator control device 60. Specifically, the building server control unit 11a transmits information about the floor to which the robot 30 has made the landing call to the elevator control device 60. The building server control unit 11a then proceeds to step S13. If the robot 30 requests dedicated operation, this information may also be transmitted to the elevator control device 60. Furthermore, if information such as the weight of the robot 30 is also used for allocation by the elevator control device 60, this information may also be transmitted.

[0078] In step S13, the building server control unit 11a receives the car number and arrival time of the car 61 assigned to the landing call, which are transmitted from the elevator control unit 60. The building server control unit 11a then stores the received car number and arrival time of the car 61 in the building server storage unit 12, and the process proceeds to step S14.

[0079] In step S14, the building server control unit 11a transmits the car number and arrival time of the car 61 assigned to the landing call to the robot 30 via the robot server 50. Then, the building server control unit 11a returns the process to step S11.

[0080] Next, use Figure 4 The operation of the trigger signal transmitting unit 11b will be described. Figure 4 3 is a flowchart showing the control of trigger signal transmission by the trigger signal transmitting unit 11 b.

[0081] In step S21, the trigger signal transmitting unit 11b waits for the building equipment to operate as a trigger. If the building equipment to operate as a trigger exists, the trigger signal transmitting unit 11b advances the process to step S22.

[0082] In this embodiment, one of the building equipment operations that triggers this process is the elevator control device 60's response to the robot 30's landing call. For example, the trigger signal transmitter 11b uses the presence or absence of step S13 processing by the building server control unit 11a as a flag, and if step S13 processing has been completed, the process proceeds to step S22. In the following description, the elevator control device 60's response to the robot 30's landing call is described as a building equipment operation, but the building equipment operation that triggers this process may also be another operation.

[0083] In step S22, the trigger signal transmitting unit 11b generates a trigger signal, causing the process to proceed to step S23. The trigger signal includes information indicating the type of operating status of the building equipment, robot information, information identifying the second antenna 40 that is expected to receive the radio waves transmitted by the transmitting device 32 due to the robot 30's movement, and information identifying the time at which the second antenna 40 is expected to receive the radio waves transmitted by the transmitting device 32.

[0084] Specifically, the trigger signal transmitter 11b determines information indicating the type of building equipment operating status based on the building equipment operation processed as a flag in step S21. In this description, the information indicating the type of building equipment operating status indicates that the operation is a response to a landing call from the robot 30. Furthermore, the trigger signal transmitter 11b determines information identifying the robot 30 that is operating based on the identification information of the robot 30 that issued the landing call, which was stored in the building server storage unit 12 by the building server control unit 11a in step S11. Then, based on the car number and arrival time of the car 61 assigned to the landing call, which were stored in the building server storage unit 12 by the building server control unit 11a in step S14, the trigger signal transmitter 11b determines information identifying the second antenna 40 that is expected to receive the radio waves transmitted by the transmitter 32 due to the robot 30's operation, and information identifying the time at which the second antenna 40 is expected to receive the radio waves transmitted by the transmitter 32. Then, the signal including this information is temporarily stored in the building server storage unit 12 as a trigger signal.

[0085] In step S23 , the trigger signal transmitting unit 11 b transmits the trigger signal generated in step S22 to the abnormality detecting device 20 , and returns the process to step S21 .

[0086] Next, use Figure 5 The operation of the abnormality detection device 20 will be described. Figure 5 1 is a flowchart showing abnormality detection control performed by the abnormality detection device 20 .

[0087] In step S31, the trigger signal receiving unit 21b waits for a trigger signal. If a trigger signal is sent from the building server 10, the trigger signal receiving unit 21b receives the trigger signal via the detection device interface 23. The trigger signal receiving unit 21b then stores the information contained in the received trigger signal in the detection device storage unit 22, and the process proceeds to step S32.

[0088] In step S32, the acquisition unit 21c acquires the radio waves transmitted by the transmitter 32 of the robot 30 from the second antenna 40, and the process proceeds to step S33. Specifically, the acquisition unit 21c identifies the second antenna 40 and the time based on the information identifying the second antenna 40 expected to receive the radio waves transmitted by the transmitter 32 due to the movement of the robot 30, as well as the information identifying the time when the second antenna 40 is expected to receive the radio waves transmitted by the transmitter 32, which were stored in the detection device storage unit 22 by the trigger signal receiving unit 21b in step S21 and included in the trigger signal.

[0089] In the exemplary configuration described herein, the trigger signal includes information on the arrival time of the elevator car assigned to the landing call and the car 61. Based on the elevator car assigned to the landing call, the acquisition unit 21c identifies the second antenna 40 installed in the car 61 corresponding to that elevator car from a database pre-stored in the detection device storage unit 22. The acquisition unit 21c then acquires radio wave intensity information of the radio waves received by the second antenna 40 via the detection device interface 23 during the period from the arrival time of the car 61, i.e., the time from when the car 61 arrives at the landing and opens its doors, until a predetermined time has elapsed, and stores the information in the detection device storage unit 22.

[0090] At this time, the acquisition unit 21c refers to the robot information included in the trigger signal to identify the robot 30 that is operating, and stores the radio wave strength information of the radio wave transmitted by the operating robot 30 in the detection device storage unit 22. Specifically, the acquisition unit 21c refers to the identification information included in the trigger signal and stores the radio wave strength information of the radio wave containing the same identification information in the detection device storage unit 22. In the description of the present invention, acquiring radio waves includes acquiring radio wave strength information of radio waves received by the second antenna 40, as in the present embodiment. For example, RSSI (Received Signal Strength Indicator) can be used as the radio wave strength information.

[0091] In step S33, the determination unit 21d determines the expected radio wave intensity corresponding to the trigger signal based on the trigger signal received by the trigger signal receiving unit 21b, and the process proceeds to step S34. Specifically, the determination unit 21d refers to the information indicating the type of working status of the building equipment and the robot information contained in the trigger signal, and determines the expected radio wave intensity according to the trigger signal. Figure 6 The abnormality determination database 90 shown specifies the expected radio wave intensity corresponding to the trigger signal.

[0092] The abnormality determination database 90 stores, in association with each other, operating category information 91 indicating the operating status of building equipment, estimated radio wave intensity information 92 indicating the estimated radio wave intensity corresponding to a trigger signal, and abnormality determination information 93 indicating the abnormality determination result. In this embodiment, the estimated radio wave intensity information 92 is pre-set for each group to which the robot 30 belongs. The group to which the robot 30 belongs is determined based on the group ID, i.e., the group identification information 92a. Therefore, if Figure 6 As shown, the estimated radio wave intensity information 92 is set for each group identification information 92a.

[0093] The determination unit 21d compares the information indicating the building equipment operating status type contained in the trigger signal with the operation type information 91. Furthermore, the determination unit 21d compares the robot information contained in the trigger signal with the group identification information 92a. Based on the abnormality determination database 90, the determination unit 21d determines the predicted radio wave intensity information 92 corresponding to the matching operation type information 91 and the matching group identification information 92a. The determination unit 21d then compares the predicted radio wave intensity information 92 with the actual radio wave intensity information stored in the detection device storage unit 22 by the acquisition unit 21c in step S32. The determination unit 21d determines whether the robot 30 has an abnormality based on the abnormality determination information 93 corresponding to the predicted radio wave intensity information 92 that matches the actual radio wave intensity. In the exemplary configuration described herein, the determination unit 21d determines the type of abnormality in addition to the presence or absence of an abnormality.

[0094] In the example described here, the information indicating the type of the operating status of the building equipment indicates a response to a landing call of the robot 30. Figure 6 The "Floor Call Response" is consistent with the work category information 91. Figure 6 The estimated radio wave intensity information 92 corresponding to the corresponding work type information 91 and the abnormality determination information 93 corresponding to the estimated radio wave intensity information 92 indicate the following: for robot 30 belonging to group ID "1," if the temporal variation in radio wave intensity is "greater than -4 and less than or equal to 4," it is determined that "robot 30 is abnormal and has stopped." Furthermore, if the temporal variation in radio wave intensity is "greater than 4 and less than or equal to 12," it is determined that "robot 30 is abnormal and movement is malfunctioning." If the temporal variation in radio wave intensity is "greater than 12 and less than or equal to 40," it is determined that "robot 30 is normal." If the temporal variation in radio wave intensity is "less than or equal to -4 or greater than 40," it is determined that "robot 30 is abnormal and has lost control."

[0095] Furthermore, the figure shows the following: for robot 30 belonging to group ID "2," if the time-series variation in radio wave intensity is "greater than -6 and less than or equal to 6," it is determined that "robot 30 is abnormal and has stopped." Furthermore, the figure shows the following: if the time-series variation in radio wave intensity is "greater than 6 and less than or equal to 18," it is determined that "robot 30 is abnormal and movement is malfunctioning." If the time-series variation in radio wave intensity is "greater than 18 and less than or equal to 45," it is determined that "robot 30 is normal." If the time-series variation in radio wave intensity is "less than or equal to -6 or greater than 45," it is determined that "robot 30 is abnormal and has lost control."

[0096] Furthermore, the figure shows the following cases: for robots 30 belonging to other groups whose group IDs are neither "1" nor "2," if the time-series variation in radio wave intensity is "greater than -3 and less than or equal to 3," it is determined that "robot 30 is abnormal and has stopped." Furthermore, the figure shows the following cases: if the time-series variation in radio wave intensity is "greater than 3 and less than or equal to 10," it is determined that "robot 30 is abnormal and movement is malfunctioning." If the time-series variation in radio wave intensity is "greater than 10 and less than or equal to 30," it is determined that "robot 30 is normal." If the time-series variation in radio wave intensity is "less than or equal to -3 or greater than 30," it is determined that "robot 30 is abnormal and has lost control."

[0097] In step S34, the determination unit 21d determines whether the robot 30 is abnormal based on the trigger signal received by the trigger signal receiving unit 21b and the radio wave intensity obtained by the acquisition unit 21c. If the determination unit 21d determines that an abnormality exists, the process proceeds to step S35. On the other hand, if the determination unit 21d determines that there is no abnormality, the process proceeds to step S31. The determination unit 21d determines whether the robot 30 is abnormal by comparing the estimated radio wave intensity information 92 determined based on the trigger signal in step S33 with the radio wave intensity obtained by the acquisition unit 21c.

[0098] The determination unit 21d calculates the difference between the maximum value and the minimum value of the radio wave intensity information stored in the detection device storage unit 22 by the acquisition unit 21c as the time-series change in radio wave intensity, compares it with the threshold information stored as the estimated radio wave intensity information 92, and determines whether the robot 30 has an abnormality. If the robot 30 has an abnormality, the determination unit 21d stores the abnormality type in the detection device storage unit 22, and the process proceeds to step S35.

[0099] In this embodiment, the expected radio wave intensity is threshold information indicating the magnitude of the temporal variation in radio wave intensity over a predetermined period of time. Furthermore, the expected radio wave intensity is not limited thereto and may also be the maximum or minimum value of the radio wave intensity, or the number of peaks in the temporal variation in the radio wave intensity. Furthermore, the expected radio wave intensity may be the radio wave intensity used for normal determination. In this case, the determination unit 21d may also make an abnormal determination based on the difference from the expected radio wave intensity.

[0100] In step S35, the reporting unit 21e outputs a command to the reporting device 80 to report, and the process returns to step S31. Specifically, the reporting unit 21e transmits a command to the reporting device 80 containing the abnormality type information stored by the determination unit 21d in step S34 in the detection device storage unit 22. Upon receiving the command, the reporting device 80 outputs a message through the speaker indicating that an abnormality has been detected in the robot 30. The message can be different depending on the abnormality type information included in the reporting command.

[0101] As described above, according to this embodiment, it is possible to determine an abnormality in the robot 30 based on the radio wave intensity transmitted by the transmitter 32 mounted on the robot 30. In this case, robot information that can identify the group to which the robot 30 belongs is obtained, and abnormalities in the robot 30 are determined based on the trigger signal, the radio wave intensity, and the robot information. This allows for setting an abnormality determination threshold for each group to which the robot 30 belongs. This improves the accuracy of abnormality determination in the robot 30, even when the robot movement system 200 manages robots 30 of different models, manufacturers, and specifications.

[0102] In this embodiment, since abnormality detection is performed when a trigger signal is sent to the abnormality detection device 20, the load on the device can be reduced compared to a case where abnormality detection is always performed. In addition, the trigger signal makes the estimated radio wave intensity, which serves as an indicator for determining whether the acquired radio wave intensity is normal, clear, allowing accurate abnormality detection. In addition, it is also clear at which time the radio wave intensity should be acquired.

[0103] Compared with the abnormality determination device that always obtains the radio wave intensity to determine whether there is an abnormality, this embodiment is particularly useful in being able to determine abnormalities other than loss of control. In the abnormality determination device that always obtains the radio wave intensity to determine whether there is an abnormality, it is possible to detect a sudden change in the radio wave intensity and determine an abnormality for movement at a speed that is not performed by a normal robot 30. In addition, a normal robot 30 sometimes stops or moves at a slower speed than usual. Therefore, even if a robot 30 whose radio wave intensity received by the second antenna 40 does not change or a robot 30 whose radio wave intensity changes slowly is detected, it is difficult to immediately determine that it is abnormal. In contrast, according to this embodiment, since the expected radio wave intensity is determined by the trigger signal, it can be determined as abnormal in the case where a temporal change of the radio wave intensity that is predetermined to be normal cannot be detected.

[0104] According to the present embodiment, since the trigger signal includes information for identifying the robot 30 , even in an environment where a plurality of robots 30 are walking, it is possible to determine whether a specific robot 30 has an abnormality.

[0105] According to this embodiment, since the trigger signal includes information for identifying the second antenna 40, where the second antenna 40 is an antenna that is expected to receive the radio waves sent by the transmitting device 32 due to the movement of the robot 30, it is possible to use the second antenna 40 set up in multiple locations to determine abnormalities in the robot 30.

[0106] In the present embodiment, since the first antenna 71 of the entry and exit management system 70 is the same as the second antenna 40 , the first antenna 71 of the entry and exit management system 70 can be used.

[0107] Furthermore, since the report is issued by outputting a command to the reporting device 80 , the facility manager can be notified of the abnormality of the robot 30 and can take prompt measures.

[0108] In the present embodiment, since the second antenna 40 is installed in the car 61 , it is possible to determine an abnormality related to the operation of the robot 30 boarding the car 61 .

[0109] Implementation method 2.

[0110] In the second embodiment described here, the structure of the first embodiment described above is such that the abnormality determination database 90 can be dynamically updated during system operation. The following description of the abnormality detection system of this second embodiment focuses on the differences from the first embodiment. Structures whose description is omitted are, in principle, the same as those of the first embodiment. In the following description, structures that are the same as or correspond to those of the first embodiment are generally denoted by the same reference numerals as those used in the description of the first embodiment.

[0111] use Figure 7The structure of this embodiment will be described. Figure 7 : is a structural diagram of the abnormality detection system 100 of this embodiment. In this embodiment, the structure of the building server 10, which serves as a building equipment management device, is the same as that of Embodiment 1. In addition, in this embodiment, the structure of the abnormality detection device 20 is also the same as that of Embodiment 1, including a building server processor 11, a building server storage unit 12, and a building server interface 13. Here, as described above, the building server storage unit 12 stores the abnormality determination database 90. The abnormality determination database 90 is data that establishes a correspondence between the expected radio wave intensity and the trigger signal and robot information. In this way, the building server storage unit 12 is an example of a storage unit that stores the expected radio wave intensity corresponding to the trigger signal and robot information.

[0112] In this embodiment, the abnormality detection system 100 includes a hands-free tag 110 and a hands-free tag receiver 120. The hands-free tag 110 is carried by, for example, a maintenance worker for building equipment. Alternatively, the hands-free tag 110 may be, for example, an RFID tag installed on the robot 30 as a transmitter 32. The hands-free tag 110 includes a button 111 and a tag transmitter 112. When the button 111 is pressed, the tag transmitter 112 generates an abnormality occurrence signal and transmits a radio wave containing the generated abnormality occurrence signal.

[0113] The hands-free tag receiver 120 includes a third antenna 121 and a tag receiving unit 122. The third antenna 121 receives radio waves transmitted from the hands-free tag 110. The tag receiving unit 122 then receives the abnormal operation occurrence signal contained in the radio waves received by the third antenna 121. The hands-free tag receiver 120 can communicate with the abnormality detection device 20 in a wired or wireless manner. In the illustrated example, the tag receiving unit 122 of the hands-free tag receiver 120 is shown communicating directly with the detection device processor 21 of the abnormality detection device 20. However, the hands-free tag receiver 120 may also communicate with the detection device processor 21 via the detection device interface 23. The hands-free tag receiver 120 transmits the abnormal operation occurrence signal received by the tag receiving unit 122 to the abnormality detection device 20.

[0114] In this embodiment, the detection device processor 21 includes, as its functions, a detection device control unit 21a, a trigger signal receiving unit 21b, an acquisition unit 21c, a determination unit 21d, and a reporting unit 21e, as well as an abnormal operation occurrence signal receiving unit 21f and an updating unit 21g. The abnormal operation occurrence signal receiving unit 21f includes a software module for receiving the abnormal operation occurrence signal transmitted from the hands-free tag receiver 120. In other words, the abnormal operation occurrence signal receiving unit 21f receives the abnormal operation occurrence signal transmitted from the hands-free tag 110 via the hands-free tag receiver 120.

[0115] The updating unit 21g includes a software module that uses the radio wave intensity obtained by the obtaining unit 21c to update the estimated radio wave intensity information 92 stored in the abnormality determination database 90 in the detection device storage unit 22. When the abnormal operation occurrence signal receiving unit 21f receives the abnormal operation occurrence signal, the updating unit 21g uses the radio wave intensity obtained by the obtaining unit 21c to update the estimated radio wave intensity information 92 stored in the abnormality determination database 90 in the detection device storage unit 22.

[0116] In this embodiment, the detection device storage unit 22 also stores a reflection rate and the radio intensity at the time of the previous normal determination. The reflection rate indicates the extent to which the radio intensity acquired by the acquisition unit 21c is reflected in the current estimated radio intensity in the abnormality determination database 90 when the estimated radio intensity information 92 in the abnormality determination database 90 is updated. The reflection rate is pre-set for each group of robots 30, for example. Figure 8 An example of a reflection rate is shown. In the example shown in the figure, the reflection rate is expressed as a percentage (%). In addition, the reflection rate is set to the same 50% in all groups. It can also be set to a different reflection rate for each group.

[0117] When the judgment unit 21d determines that there is no abnormality in the robot 30 in the abnormality judgment of the robot 30 based on the trigger signal received by the trigger signal receiving unit 21b and the radio wave intensity of the radio wave obtained by the acquisition unit 21c, the radio wave intensity of the radio wave obtained by the acquisition unit 21c used for reflection at this time is stored in the detection device storage unit 22 as the radio wave intensity at the time of the last normal judgment. Figure 9 The diagram shows an example of changes in radio intensity during the last normal determination, which is stored in the detection device storage unit 22. As shown in the diagram, changes in radio intensity during the last normal determination are stored for each group of robots 30.

[0118] In the abnormality detection system 100 configured as described above, when a maintenance worker visually detects an abnormality in the robot 30, they press the button 111 of the hands-free tag 110 they carry or the button 111 of the hands-free tag 110 provided to the robot 30 as the transmitting device 32. The tag transmitting unit 112 of the hands-free tag 110 then generates an abnormal operation occurrence signal and transmits a radio wave containing the generated abnormal operation occurrence signal.

[0119] The third antenna 121 of the hands-free tag receiver 120 receives the radio waves transmitted from the hands-free tag 110. The tag receiving unit 122 of the hands-free tag receiver 120 receives the abnormal operation occurrence signal contained in the radio waves received by the third antenna 121. The hands-free tag receiver 120 then transmits the abnormal operation occurrence signal received by the tag receiving unit 122 to the abnormality detection device 20.

[0120] The abnormal operation occurrence signal receiving unit 21f of the abnormality detection device 20 receives the abnormal operation occurrence signal transmitted from the hands-free tag 110 via the hands-free tag receiver 120. When the abnormal operation occurrence signal receiving unit 21f receives the abnormal operation occurrence signal, the updating unit 21g updates the estimated radio wave intensity information 92 of the abnormality determination database 90 stored in the detection device storage unit 22. At this time, the updating unit 21g updates the estimated radio wave intensity information 92 in the abnormality determination database 90 using the reflection rate stored in the detection device storage unit 22 and the radio wave intensity at the time of the previous normal determination.

[0121] Specifically, the updating unit 21g updates the reference upper limit value and reference lower limit value of the estimated radio intensity information 92 when the abnormality determination information 93 indicates "normal." In the following description, the reference upper limit value and reference lower limit value of the estimated radio intensity information 92 when the abnormality determination information 93 indicates "normal" will be referred to as the "reference upper limit value" and "reference lower limit value," respectively. Furthermore, the radio intensity at the time of the previous normal determination, stored in the detection device storage unit 22, will be referred to as the "previous radio intensity."

[0122] First, the update unit 21g determines which of the benchmark upper limit and the benchmark lower limit the last radio wave intensity is closer to. That is, since the last radio wave intensity is the radio wave intensity when it is determined that the robot 30 is not abnormal, the last radio wave intensity is within the range from the benchmark lower limit to the benchmark upper limit. Therefore, the update unit 21g compares (benchmark upper limit - last radio wave intensity) and (last radio wave intensity - benchmark lower limit). And, when (benchmark upper limit - last radio wave intensity) is greater than (last radio wave intensity - benchmark lower limit), the update unit 21g uses the following formulas (1) and (2) to calculate the updated benchmark upper limit and benchmark lower limit respectively. According to formula (2), in this case, the benchmark lower limit is not updated and is shelved.

[0123] Updated upper limit of the benchmark = Previous upper limit of the benchmark - (Previous upper limit of the benchmark - Last radio wave strength) × Reflection rate (1)

[0124] Updated lower limit value = Updated lower limit value (2)

[0125] On the other hand, if (reference upper limit value - previous radio wave intensity) is less than (previous radio wave intensity - reference lower limit value), the updating unit 21g calculates the updated reference upper limit value and reference lower limit value using the following equations (3) and (4), respectively. As can be seen from equation (3), in this case, the reference upper limit value is not updated and is left alone.

[0126] The updated upper limit of the benchmark = the upper limit of the benchmark before the update (3)

[0127] Updated lower limit value = Previous lower limit value + (Last radio wave strength - Previous lower limit value) × Reflection rate (4)

[0128] In this way, even if the robot 30 is determined to be free of abnormalities, if maintenance personnel visually detect an abnormality in the robot 30, the reference lower limit value or the reference upper limit value is updated to narrow the range of radio wave intensity within which the robot 30 is determined to be free of abnormalities. This allows the estimated radio wave intensity information 92 in the abnormality determination database 90 to be dynamically updated without stopping the system, thereby improving the accuracy of abnormality determinations for the robot 30.

[0129] Next, use Figures 10 to 13 The operation of this embodiment will be described. Figure 10 1 is a flowchart showing abnormality detection control performed by the abnormality detection device 20 .

[0130] In steps S31a to S35a, the trigger signal receiving unit 21b, the acquiring unit 21c, the determining unit 21d, and the reporting unit 21e perform the same processes as steps S31 to S35 in Embodiment 1. However, in Embodiment 1, if the determining unit 21d determines that there is no abnormality in step S34, the process returns to step S31. In this embodiment, if the determining unit 21d determines that there is no abnormality in step S34a, the process proceeds to step S5.

[0131] In step S5, the acquisition unit 21c stores the radio wave intensity acquired by the acquisition unit 21c in the detection device storage unit 22 as the radio wave intensity at the time of the previous normal determination, and returns the process to step S31a.

[0132] Next, use Figure 11 The operation of the hands-free tag 110 will be described. Figure 11 1 is a flowchart showing the control of transmitting the abnormal operation occurrence signal performed by the hands-free tag 110 .

[0133] In step S42, the tag transmitter 112 of the hands-free tag 110 waits for the button 111 of the hands-free tag 110 to be pressed. When the maintenance worker who has visually confirmed an abnormality in the robot 30 presses the button 111 of the hands-free tag 110 (step S41), the tag transmitter 112 advances the process to step S43.

[0134] In step S43 , the tag transmission unit 112 generates an abnormal operation occurrence signal and transmits a radio wave including the generated abnormal operation occurrence signal.

[0135] Next, use Figure 12 and Figure 13 The operation of the hands-free tag receiver 120 and the abnormality detection device 20 will be described. First, Figure 12This is a flowchart showing a process of receiving an abnormal operation occurrence signal by the hands-free tag receiver 120 and a process of updating the abnormality determination database 90 by the abnormality detection device 20 .

[0136] exist Figure 12 In step S52, the tag receiving unit 122 of the hands-free tag receiver 120 waits for the third antenna 121 of the hands-free tag receiver 120 to receive radio waves from the hands-free tag 110. When the third antenna 121 receives the radio waves from the hands-free tag 110 (step S51), the tag transmitting unit 112 receives the abnormal operation occurrence signal included in the radio waves received by the third antenna 121, and transmits the received abnormal operation occurrence signal to the abnormality detection device 20, causing the process to proceed to step S53.

[0137] In step S53, the abnormal operation occurrence signal receiving unit 21f of the abnormality detection device 20 receives the abnormal operation occurrence signal transmitted from the hands-free tag 110 via the hands-free tag receiver 120. Then, when the abnormal operation occurrence signal receiving unit 21f receives the abnormal operation occurrence signal, the updating unit 21g calculates the updated estimated radio wave intensity, and the process proceeds to step S54.

[0138] In step S54, the updating unit 21g updates the estimated radio wave intensity information 92 of the abnormality determination database 90 stored in the detection device storage unit 22 based on the calculated updated estimated radio wave intensity.

[0139] Figure 13 The calculation process of the new reference value by the updating unit 21g of the abnormality detection device 20 is shown. Figure 12 The flowchart of the subroutine for the processing performed in step S53 is shown in FIG. In step S61, the updating unit 21g determines whether (reference upper limit value - previous radio wave intensity) is greater than or equal to (previous radio wave intensity - reference lower limit value). If (reference upper limit value - previous radio wave intensity) is greater than or equal to (previous radio wave intensity - reference lower limit value), the updating unit 21g advances the processing to step S62. On the other hand, if (reference upper limit value - previous radio wave intensity) is less than (previous radio wave intensity - reference lower limit value), the updating unit 21g advances the processing to step S63.

[0140] In step S62, the updating unit 21g calculates the updated reference upper limit value and reference lower limit value using the above equations (1) and (2). In step S63, the updating unit 21g calculates the updated reference upper limit value and reference lower limit value using the above equations (3) and (4).

[0141] Implementation method 3.

[0142] The anomaly detection system 100 of Embodiment 1 and Embodiment 2 includes a building server 10 that sends a trigger signal and an anomaly detection device 20 that receives the trigger signal. The anomaly detection device 20 determines an anomaly based on the trigger signal received from the building server 10. In contrast, in the embodiment 3 described herein, in the structure of the above-mentioned embodiment 1 or embodiment 2, a trigger start-up unit 11d is provided in the building server 10 to start the trigger signal and detect anomalies within the server. Hereinafter, the building equipment management device of this embodiment 3 will be described with the case based on embodiment 1 as an example, focusing on the differences from embodiment 1. The structures whose description is omitted are, in principle, the same as those of embodiment 1. In the subsequent description, the structures that are the same as or corresponding to embodiment 1 are, in principle, marked with the same reference numerals as those used in the description of embodiment 1.

[0143] use Figure 14 The structure of this embodiment will be described. Figure 14 FIG1 is a block diagram of a building server 10 according to this embodiment. In this embodiment, the building server 10 as a building equipment management device includes a building server processor 11, a building server storage unit 12, and a building server interface 13, similarly to the first embodiment.

[0144] In this embodiment, the building server processor 11 includes, as its functions, a building server control unit 11a and a monitoring unit 11c, as well as the acquisition unit 21c, determination unit 21d, and reporting unit 21e included in the anomaly detection device 20 in Embodiment 1. Furthermore, the building server processor 11 includes a trigger activation unit 11d.

[0145] The trigger activating unit 11d includes a software module that activates a trigger signal according to the operating status of building equipment. Specifically, the trigger activating unit 11d includes a software module that determines whether a building equipment that triggers the operation exists, a software module that generates a trigger signal, and a software module that causes the acquiring unit 21c to start acquiring radio waves.

[0146] The building server storage unit 12 stores information stored in the building server storage unit 12 and the detection device storage unit 22 of Embodiment 1. Furthermore, the building server interface 13 includes wire terminals for connecting to the second antenna 40 and the reporting device 80 in addition to the terminals included in the building server interface 13 of Embodiment 1.

[0147] Next, use Figure 15 The operation of the third embodiment will be described. Figure 15 1 is a flowchart showing abnormality detection control performed by the building server 10 according to this embodiment.

[0148] In step S21a, the trigger activating unit 11d waits for the building equipment to operate as a trigger, similar to step S21 performed by the trigger signal transmitting unit 11b in embodiment 1. If there is a building equipment operation to operate as a trigger, the trigger activating unit 11d advances the process to step S4.

[0149] In step S4, the trigger activating unit 11d activates a trigger signal. Specifically, the trigger activating unit 11d generates a trigger signal and stores it in the building server storage unit 12, similarly to step S22 performed by the trigger signal transmitting unit 11b in embodiment 1. The trigger activating unit 11d then advances the process to step S32b.

[0150] In steps S32b to S35b, the acquisition unit 21c, the determination unit 21d, and the notification unit 21e perform the same processing as steps S32 to S35 in embodiment 1. However, in embodiment 1, the processing returns to step S31, while in this embodiment, the processing returns to step S21a.

[0151] As described above, according to this embodiment, it is possible to obtain the same effects as those of Embodiment 1 or 2. Furthermore, according to this embodiment, abnormality determination and reporting can be performed without providing the abnormality detection device 20 in addition to the building server 10 .

[0152] Although the embodiment has been described above, the present invention is not limited to this embodiment. Modifications are described below.

[0153] While the first and second embodiments describe separate configurations for the building server control unit 11a, which performs overall control of the building server 10, and the trigger signal transmitter 11b, which generates and transmits trigger signals, they may also be configured as the same. For example, the building server control unit 11a may transmit the information sent to the robot server 50 as a trigger signal to the anomaly detection device 20 in step S14. In this case, the building server control unit 11a functions as the trigger signal transmitter 11b. This has the advantage of eliminating the need to add new programs to the building server 10, compared to the third embodiment, where the building server 10 also serves as the anomaly detection device 20.

[0154] In the embodiment, the communication between the building server 10 and the robot 30 is performed via the robot server 50 . Of course, the building server 10 and the robot 30 may also communicate directly.

[0155] In the embodiment, the radio waves transmitted by the transmitting device 32 include the identification information of the robot 30, but it may not include the identification information. This is because if there are few robots 30 walking autonomously in a building, it is not necessary to identify the robots 30.

[0156] In the embodiment, the anomaly detection device 20 and the access management system 70 are separate devices, but the functions of both can be integrated into the same device. Furthermore, other devices such as the elevator control device 60 and the building server 10 can also integrate the functions of multiple devices into the same device or be located in the cloud.

[0157] In the embodiment, the determination unit 21d refers to the information indicating the operating status category of the building equipment and the robot information contained in the trigger signal, and determines the expected radio wave intensity corresponding to the trigger signal based on the abnormality determination database 90. Alternatively, the operating status of the robot 30 may be added to the trigger signal, and the expected radio wave intensity may be determined by referring to the operating status of the robot 30 along with the operating status category and the robot information. Specifically, the operating status of the robot 30 obtained by the monitoring unit 11c may be added to the trigger signal. Examples of the operating status of the robot 30 include high-speed travel, cleaning operation, energy-saving operation, and other modes where the movement speed differs from the normal state, as well as known faults such as tire blowouts. Alternatively, the determination unit 21d may determine an abnormality based on the trigger signal to which the operating status of the robot 30 is added.

[0158] In the embodiments, the robot 30's response to a landing call is used as an example of a building equipment operating condition that serves as a condition for transmitting or activating a trigger signal. However, this is not limiting. For example, the robot 30's disembarkation from the car 61 may serve as the trigger for transmitting or activating a trigger signal. Specifically, the arrival of the car 61, which has carried the robot 30, at the target floor may serve as a building equipment operating condition that serves as a condition for transmitting or activating a trigger signal. Furthermore, for example, a gate equipped with the second communication device 51 may be installed within the building, and the second communication device 51 may transmit to the building server 10 a notification that the robot 30 has passed through the gate serving as a building equipment, serving as a trigger.

[0159] In the embodiment, the second antenna 40 is installed inside the car 61. However, the second antenna 40 may be installed outside the car 61, or multiple antennas may be installed. For example, the second antenna 40 may also be installed at a landing. Based on the radio wave strength of the radio waves received by the second antennas 40 installed inside and outside the car 61, an abnormality may be determined if both or either of the radio wave strengths are abnormal.

[0160] In the embodiment, the trigger signal transmitting unit 11b and the trigger activating unit 11d are transmitted or activated in response to a landing call from the robot 30, but may be transmitted when the car 61 opens its door.

[0161] In addition, in the present invention, each embodiment can be arbitrarily combined within the scope that does not depart from the gist of the present invention. Hereinafter, examples of each mode of the present invention will be collectively described as supplementary notes.

[0162] (Note 1)

[0163] An anomaly detection system, wherein the anomaly detection system comprises:

[0164] A building equipment management device having a trigger signal sending unit, wherein the trigger signal sending unit sends a trigger signal according to the working status of the building equipment; and

[0165] Anomaly detection device,

[0166] The abnormality detection device has:

[0167] a trigger signal receiving unit, which receives the trigger signal sent by the trigger signal sending unit; and

[0168] a radio wave acquisition unit that acquires radio waves transmitted from a plurality of robots moving within the building and received by the antenna device in response to the trigger signal reception unit receiving the trigger signal;

[0169] The plurality of robots belong to any one of one or more pre-set groups.

[0170] The anomaly detection device further comprises:

[0171] a robot information acquisition unit configured to acquire robot information capable of identifying the group to which the robot belongs; and

[0172] A determination unit determines an abnormality of the robot based on the trigger signal received by the trigger signal receiving unit, the radio wave intensity of the radio wave acquired by the radio wave acquiring unit, and the robot information acquired by the robot information acquiring unit.

[0173] (Note 2)

[0174] The abnormality detection system according to Supplementary Note 1, wherein:

[0175] The robots of the same model belong to the same group.

[0176] (Note 3)

[0177] The abnormality detection system according to Supplement 1 or 2, wherein:

[0178] The determination unit determines whether the robot has an abnormality by comparing the estimated radio wave intensity corresponding to the trigger signal and the robot information with the radio wave intensity acquired by the radio wave acquisition unit.

[0179] (Note 4)

[0180] The abnormality detection system according to Supplementary Note 3, wherein:

[0181] The anomaly detection device further comprises:

[0182] a storage unit storing the estimated radio wave intensity corresponding to the trigger signal and the robot information; and

[0183] An updating unit updates the estimated radio wave intensity stored in the storage unit using the radio wave intensity acquired by the radio wave acquiring unit.

[0184] (Note 5)

[0185] The abnormality detection system according to Supplement 3 or 4, wherein:

[0186] The predicted radio wave intensity is information related to a predetermined temporal change in radio wave intensity.

[0187] (Note 6)

[0188] The abnormality detection system according to Supplement 3 or 4, wherein:

[0189] The predicted radio wave intensity is information indicating a threshold value of a predetermined temporal change in radio wave intensity.

[0190] The determination unit determines that the robot is abnormal when the magnitude of the time-series change in the radio wave intensity acquired by the radio wave acquisition unit is greater than the threshold value or smaller than the threshold value.

[0191] (Note 7)

[0192] The abnormality detection system according to any one of Supplementary Notes 1 to 6, wherein:

[0193] The determination unit determines the abnormality type of the robot based on the trigger signal and the radio wave intensity of the radio wave acquired by the radio wave acquisition unit.

[0194] (Note 8)

[0195] The abnormality detection system according to any one of Supplementary Notes 1 to 7, wherein:

[0196] The robot information includes identification information of the robot.

[0197] (Note 9)

[0198] The abnormality detection system according to any one of Supplementary Notes 1 to 8, wherein:

[0199] The trigger signal is a signal indicating that the car door of the elevator device is open.

[0200] (Note 10)

[0201] The abnormality detection system according to Supplementary Note 9, wherein:

[0202] The antenna device is installed inside the car.

[0203] (Note 11)

[0204] The abnormality detection system according to any one of Supplementary Notes 1 to 10, wherein:

[0205] The abnormality detection device further includes a reporting unit configured to cause a reporting device to issue a report when the determination unit determines that an abnormality has occurred.

[0206] (Note 12)

[0207] An abnormality detection device, wherein the abnormality detection device comprises:

[0208] a trigger signal receiving unit for receiving a trigger signal sent by a building equipment management device that sends a trigger signal according to the working status of the building equipment; and

[0209] a radio wave acquisition unit that acquires radio waves transmitted from a plurality of robots moving within the building and received by the antenna device in response to the trigger signal reception unit receiving the trigger signal;

[0210] The plurality of robots belong to any one of one or more pre-set groups.

[0211] The anomaly detection device further comprises:

[0212] a robot information acquisition unit configured to acquire robot information capable of identifying the group to which the robot belongs; and

[0213] A determination unit determines an abnormality of the robot based on the trigger signal received by the trigger signal receiving unit, the radio wave intensity of the radio wave acquired by the radio wave acquiring unit, and the robot information acquired by the robot information acquiring unit.

[0214] (Note 13)

[0215] A building equipment management device, wherein the building equipment management device comprises:

[0216] a triggering unit that initiates a trigger signal according to the working status of the building equipment; and

[0217] a radio wave acquisition unit that acquires radio waves transmitted from a plurality of robots moving within the building and received by the antenna device in response to the trigger activation unit activating the trigger signal;

[0218] The plurality of robots belong to any one of one or more pre-set groups.

[0219] The building equipment management device further comprises:

[0220] a robot information acquisition unit configured to acquire robot information capable of identifying the group to which the robot belongs; and

[0221] A determination unit determines an abnormality of the robot based on the trigger signal received by the trigger activating unit, the radio wave intensity of the radio wave acquired by the radio wave acquiring unit, and the robot information acquired by the robot information acquiring unit.

Claims

1. An anomaly detection system, wherein: The anomaly detection system comprises: A building equipment management device having a trigger signal sending unit, wherein the trigger signal sending unit sends a trigger signal according to the working status of the building equipment; and Anomaly detection device, The abnormality detection device has: a trigger signal receiving unit, configured to receive the trigger signal sent by the trigger signal sending unit; as well as a radio wave acquisition unit that acquires radio waves transmitted from a plurality of robots moving within the building and received by the antenna device in response to the trigger signal reception unit receiving the trigger signal; The plurality of robots belong to any one of one or more pre-set groups. The anomaly detection device further comprises: a robot information acquisition unit configured to acquire robot information capable of identifying the group to which the robot belongs; and A determination unit determines an abnormality of the robot based on the trigger signal received by the trigger signal receiving unit, the radio wave intensity of the radio wave acquired by the radio wave acquiring unit, and the robot information acquired by the robot information acquiring unit.

2. The abnormality detection system according to claim 1, wherein: The robots of the same model belong to the same group.

3. The abnormality detection system according to claim 1 or 2, wherein: The determination unit determines whether the robot has an abnormality by comparing the estimated radio wave intensity corresponding to the trigger signal and the robot information with the radio wave intensity acquired by the radio wave acquisition unit.

4. The abnormality detection system according to claim 3, wherein: The anomaly detection device further comprises: a storage unit storing the estimated radio wave intensity corresponding to the trigger signal and the robot information; and An updating unit updates the estimated radio wave intensity stored in the storage unit using the radio wave intensity acquired by the radio wave acquiring unit.

5. The abnormality detection system according to claim 3, wherein: The predicted radio wave intensity is information related to a predetermined temporal change in radio wave intensity.

6. The abnormality detection system according to claim 3, wherein: The predicted radio wave intensity is information indicating a threshold value of a predetermined temporal change in radio wave intensity. The determination unit determines that the robot is abnormal when the magnitude of the time-series change in the radio wave intensity acquired by the radio wave acquisition unit is greater than the threshold value or smaller than the threshold value.

7. The abnormality detection system according to claim 1 or 2, wherein: The determination unit determines the abnormality type of the robot based on the trigger signal and the radio wave intensity of the radio wave acquired by the radio wave acquisition unit.

8. The abnormality detection system according to claim 1 or 2, wherein: The robot information includes identification information of the robot.

9. The abnormality detection system according to claim 1 or 2, wherein: The trigger signal is a signal indicating that the car door of the elevator device is open.

10. The abnormality detection system according to claim 9, wherein: The antenna device is installed inside the car.

11. The abnormality detection system according to claim 1 or 2, wherein: The abnormality detection device further includes a reporting unit configured to cause a reporting device to issue a report when the determination unit determines that an abnormality exists.

12. An abnormality detection device, wherein: The abnormality detection device comprises: a trigger signal receiving unit for receiving a trigger signal sent by a building equipment management device that sends a trigger signal according to the working status of the building equipment; and a radio wave acquisition unit that acquires radio waves transmitted from a plurality of robots moving within the building and received by the antenna device in response to the trigger signal reception unit receiving the trigger signal; The plurality of robots belong to any one of one or more pre-set groups. The anomaly detection device further comprises: a robot information acquisition unit configured to acquire robot information capable of identifying the group to which the robot belongs; and A determination unit determines an abnormality of the robot based on the trigger signal received by the trigger signal receiving unit, the radio wave intensity of the radio wave acquired by the radio wave acquiring unit, and the robot information acquired by the robot information acquiring unit.

13. A building equipment management device, wherein: The building equipment management device comprises: a triggering unit that initiates a trigger signal according to the working status of the building equipment; and a radio wave acquisition unit that acquires radio waves transmitted from a plurality of robots moving within the building and received by the antenna device in response to the trigger activation unit activating the trigger signal; The plurality of robots belong to any one of one or more pre-set groups. The building equipment management device further comprises: a robot information acquisition unit configured to acquire robot information capable of identifying the group to which the robot belongs; and A determination unit determines an abnormality of the robot based on the trigger signal received by the trigger activating unit, the radio wave intensity of the radio wave acquired by the radio wave acquiring unit, and the robot information acquired by the robot information acquiring unit.

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