Collision avoidance system and control method thereof

Abstract

To provide a collision avoidance system and a control method thereof capable of preventing a robot in a passage from colliding when a person goes out to the passage through a door from a habitable room.SOLUTION: A control section 22 controls a door D1 so as to open it when a person 5 stands in front of the door D1 arranged between a habitable room and a passage. The control section 12 controls movement of a robot 40. The control section 22 carries out delay control so as to delay opening of the door D1 when the person 5 stands in front of the door D1 at the habitable room side and the robot 40 is positioned within a prescribed area in front of the door D1 at the passage side. The control section 12 controls the robot 40 so as to limit movement of the robot 40 when the door D1 is opened without carrying out the delay control.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present disclosure relates to a collision avoidance system for avoiding collisions between a person moving from a living room to a passage in a facility and a robot moving autonomously in the passage, and a control method therefor.

Background Art

[0002] In a facility provided with a security area where entry of a robot is not permitted, when a person opens a door and exits from a living room (which is a security area) to a corridor (passage), there may be a robot in front of the door. When the person exits to the corridor, there is a risk that the person may not notice a robot traveling or cleaning in the corridor and may collide with the robot and fall. In particular, when a robot about knee height is traveling, it is difficult for a person to notice the presence of the robot.

[0003] For example, Japanese Unexamined Patent Application Publication No. 2021-172984 (Patent Document 1) discloses a technique for controlling the opening and closing of a door so that a person trying to exit a living room and an autonomous mobile body (robot) trying to enter the living room do not collide.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, the technique described in Patent Document 1 is a technique for avoiding collisions between a person entering and exiting a living room and an autonomous mobile body (robot), and has not considered collisions between a robot traveling outside the living room and a person exiting the living room without entering the living room.

[0006] The present disclosure has been made to solve the above-described problems, and an object thereof is to provide a collision avoidance system and a control method thereof that can prevent a person from colliding with a robot in a passage when the person exits the living room through a door into the passage.

Means for Solving the Problems

[0007] The collision avoidance system according to the present disclosure is a system that avoids a collision between a person moving from a living room in a facility to a passage and a robot autonomously moving in the passage. The collision avoidance system includes a door control device and a robot control device. The door control device controls to open the door when a person is in front of the door provided between the living room and the passage. The robot control device controls the movement of the robot. The door control device performs delay control on the door so as to delay the opening of the door when a person is in front of the door on the living room side and the robot is located within a predetermined range in front of the door on the passage side. The robot control device controls the robot so as to restrict the movement of the robot when the door is opened without delay control being performed.

[0008] The control method according to the present disclosure is a control method of a collision avoidance system that avoids a collision between a person moving from a living room in a facility to a passage and a robot autonomously moving in the passage. The control method includes a step in which a door control device controls to open the door when the person is in front of the door provided between the living room and the passage, and a step in which a robot control device controls the movement of the robot. The step controlled by the door control device includes a step of performing delay control on the door so as to delay the opening of the door when a person is in front of the door on the living room side and the robot is located within a predetermined range in front of the door on the passage side. The step controlled by the robot control device includes a step of controlling the robot so as to restrict the movement of the robot when the door is opened without delay control being performed.

Effects of the Invention

[0009] According to the present disclosure, when a person exits a living room through a door to a passage, it is possible to prevent a collision with a robot in the passage.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Modes for Carrying Out the Invention

[0011] Hereinafter, embodiments will be described with reference to the drawings. In the following description, the same parts are denoted by the same reference numerals. Their names and functions are also the same. Therefore, detailed descriptions thereof will not be repeated.

[0012] [First Embodiment] FIG. 1 is a diagram showing a schematic configuration of a collision avoidance system 100 according to the first embodiment. FIG. 2 is a diagram showing a hardware configuration of the collision avoidance system 100.

[0013] The collision avoidance system 100 is installed in the facility 1. The facility 1 is provided with a living room and a passage (corridor). The collision avoidance system 100 is a system that avoids collisions between a person 5 moving from the living room to the passage in the facility 1 and a robot 40 autonomously moving in the passage.

[0014] In the example of FIG. 1, currently, the robot 40 is traveling in the passage of the facility 1. This robot 40 is a robot used in the facility 1, and for example, it is a cleaning robot, a luggage delivery robot, a guiding robot, a security robot, or the like. The living room and the passage can be entered and exited through the door D1.

[0015] In the present embodiment, this living room is within a security area, and the robot 40 cannot enter this living room. Currently, the person 5 is standing in front of the door D1 in order to exit the living room to the passage. The door D1 is an automatic door, and is configured to open when the person 5 stands in front of the door D1.

[0016] When the person 5 moves from the living room to the passage through the door D1, there is a risk of collision with the robot 40. In particular, a low robot such as a cleaning robot is difficult to enter the field of vision of the person 5, so the person 5 may trip over the robot 40. For this reason, in the present embodiment, when the robot 40 is traveling in a predetermined range in front of the door D1, "delay control" for delaying the opening of the door D1 is configured to be executed.

[0017] On the other hand, in order for the person 5 to enter the living room from the passage through the door D1, authentication is performed by the card reader CR1. The person 5 has a dedicated card, and the door D1 is opened by holding this card in front of the card reader CR1. In the present embodiment, the robot 40 may travel in the passage, but does not enter the living room.

[0018] The card reader CR1 is connected to the device management device 25. The card reader CR1 and the door D1 are controlled by the door management server 21 via the device management device 25.

[0019] The robot 40 is provided with receivers 42 and 43. The receivers 42 and 43 can receive each signal transmitted from the transmitters DB1, DB2, LB1 to LB5 (DB2, LB3, and LB5 will be described later).

[0020] Values for identifying each transmitter are set in the transmitters DB1, DB2, LB1 to LB5. Signals capable of specifying the values for identifying each transmitter are transmitted from the transmitters DB1, DB2, LB1 to LB5. When the receivers 42 and 43 receive a signal, it is possible to specify from which of the transmitters DB1, DB2, LB1 to LB5 the signal was transmitted based on the value for identifying the transmitter.

[0021] The transmitter DB1 in FIG. 1 transmits a signal (stop signal) when the door D1 opens. The robot 40 receives the signal transmitted from the transmitter DB1 with the receivers 42 and 43, and based on the received signal, determines whether to continue the travel of the robot 40 or stop the robot 40.

[0022] The transmitters LB1, LB2, and LB4 in FIG. 1 constantly transmit signals at arbitrary time intervals. The robot management server 11 receives the signals transmitted from the transmitters LB1, LB2, and LB4 with the receivers 42 and 43, and based on the received signals, calculates the position of the robot 40 in front of the door D1 by three-point positioning.

[0023] For example, the position of the robot 40 may be calculated as the intermediate position between the position calculated based on the signal received by the receiver 42 and the position calculated based on the signal received by the receiver 43. When only one of the receivers receives a signal, the intermediate position may be estimated from the position calculated based on the signal received by the one receiver.

[0024] The transmitters LB1, LB2, and LB4 are connected to the door management server 21 and transmit signals based on the commands of the door management server 21. The robot 40 is configured to be communicable with a robot management server 11 that manages the robot 40. The robot 40 transmits the signals received by the receivers 42 and 43 to the robot management server 11. The robot management server 11 calculates the position of the robot 40 based on the received signals. The robot management server 11 is configured to be communicable with the door management server 21. The door management server 21 receives the position information of the robot 40 from the robot management server 11.

[0025] A transmitter DB1 and a light L1 are connected to the device management apparatus 25. When the door D1 opens, the door management server 21 transmits a signal from the transmitter DB1 and turns on the light L1. By turning on the light L1, a person passing through the corridor can know that the door D1 is open.

[0026] The transmitter DB1, the light L1, and the transmitter LB4 are installed between the door D1 and the ceiling 61 at a position in front of the door D1 (the center of the passage). The transmitters LB1 and LB2 are installed on the left and right sides of the door D1.

[0027] As shown in FIG. 2, the collision avoidance system 100 includes a door management system 20 and a robot management system 10. The robot management system 10 includes a robot management server 11 and a robot 40. The door management system 20 includes a door management server 21, a terminal 30, transmitters LB1 to LB5, a device management apparatus 25 including a door control unit 29 and a notification unit 27, card readers CR1 and CR2, a door lock 28, a speaker S1, a projector P1, lights L1 and L2, and transmitters DB1 and DB2.

[0028] The robot management server 11 controls the robot 40 and transmits and receives data to and from the door management server 21. The robot management server 11 includes a control unit 12 that performs movement control and the like of the robot 40, a storage unit 13, and a communication IF (Interface) 14. These exchange various data through a communication bus 16.

[0029] The control unit 12 is configured to include a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory). The storage unit 13 is a non-volatile storage device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive).

[0030] The CPU expands and executes the program stored in the ROM or the storage unit 13 in the RAM. This program describes the processing executed by the robot management server 11. The communication IF 14 is an input / output device for exchanging data with the door management server 21 and the robot 40. The storage unit 13 stores various information about the robot 40 and the like.

[0031] The robot 40 includes a control unit 41, receivers 42 and 43, a storage unit 44, a camera 45, a battery 48, and a drive unit 49.

[0032] The control unit 41 controls the entire robot 40. Although not shown in the figure, the control unit 41 mainly includes a CPU, a ROM, a RAM, and a communication IF as its main components. The CPU expands and executes the program stored in the ROM in the RAM. The program stored in the ROM describes the processing executed by the robot 40. Note that the processing is not limited to being by software and can also be executed by dedicated hardware (electronic circuit).

[0033] The receivers 42 and 43 receive the signals transmitted from the transmitters DB1, DB2, LB1 to LB5. The robot 40 can detect the door opening status of the doors in the living room based on the signals transmitted from the transmitters DB1 and DB2. The robot management server 11 can detect the position of the robot 40 based on the signals transmitted from LB1 to LB5.

[0034] The signals exchanged between these transmitters and the transmitter are transmitted and received using a common communication method. These signals are transmitted and received, for example, using a communication method that conforms to the BLE (Bluetooth Low Energy, "Bluetooth" is a registered trademark) communication standard. Instead of the BLE communication standard, a communication method that conforms to the UWB (Ultra Wide Band) communication standard may be used. Also, for example, signals may be transmitted and received using a communication method that conforms to a wireless communication standard such as LTE (Long Term Evolution).

[0035] The camera 45 images the surroundings of the robot 40 and outputs the captured image to the control unit 41. Instead of the camera 45, a laser rangefinder or the like that measures the distance between an object existing around the robot 40 and the robot 40 may be provided.

[0036] The drive unit 49 generates a driving force for the robot 40 to move. The drive unit 49 includes, for example, wheels for the robot 40 to move and a motor for driving the wheels. The drive unit 49 can operate by receiving power supply from the battery 48.

[0037] The control unit 41 controls the drive unit 49 based on the captured image from the camera 45 so that the robot 40 moves autonomously. The battery 48 supplies power for the drive unit 49 and other devices of the robot 40 to operate. The storage unit 44 temporarily stores various information used by the robot 40.

[0038] The door management server 21 controls various devices connected to the device management apparatus 25. The door management server 21 includes a control unit 22, a storage unit 23, and a communication IF (Interface) 24. These exchange various data through the communication bus 26. The control unit 22 is configured to include a CPU, a ROM, and a RAM. The storage unit 23 is a non-volatile storage device such as an HDD or an SSD.

[0039] The CPU expands and executes the program stored in the storage unit 23 or the ROM in the RAM. This program describes the processes executed by the door management server 21. The communication IF 24 is an input / output device for exchanging data with the terminal 30, the transmitters LB1 to LB5, the device management device 25, and the robot management server 11. The storage unit 23 stores various information regarding various devices and the like connected to the device management device 25. The transmitters LB1 to LB5 are devices for measuring the positions of the robots 40 and are installed in the passages within the facility 1. The transmitters LB1 to LB5 constantly transmit signals at arbitrary time intervals based on the commands of the door management server 21.

[0040] The device management device 25 controls various devices installed within the facility 1. The device management device 25 includes a door control unit 29 that controls various devices and a notification unit 27 that performs notifications using devices such as speakers. The door control unit 29 controls the card readers CR1, CR2, the door lock 28, and the notification unit 27.

[0041] The door control unit 29 acquires the information of the card held in front of the card readers CR1, CR2. The door management server 21 acquires this information from the door control unit 29 and, when entry into the living room is permitted, transmits an unlocking command to the door control unit 29. Thereby, the door is opened. Also, when the door management server 21 detects a person 5 on the living room side, it also determines whether unlocking is permitted, and if unlocking is permitted, the door is opened.

[0042] The notification unit 27 controls the transmitters DB1, DB2, lights L1, L2, projector P1, and speaker S1 based on commands from the door management server 21. When a person 5 is detected on the living room side and the door D1 or the like is opened, the notification unit 27 causes the lights L1 or the like installed on the corridor side to light up to notify (inform) of this fact. Also, in this case, the notification unit 27 causes a signal to be transmitted to the transmitters DB1 or the like. The robot 40 determines whether to stop based on the signal received from the transmitters DB1 or the like. Also, when the opening of the door D1 or the like is delayed due to the passage of the robot 40 on the passage side, the notification unit 27 causes the projector P1 and the speaker S1 installed on the living room side to notify of this fact. Details of these operations will be described later.

[0043] The terminal 30 is, for example, a personal computer or a notebook computer. The terminal 30 includes an input unit 34 and a display 35 that displays various types of information. The input unit 34 is, for example, a keyboard or a mouse. Instructions can be given to the terminal 30 by operating the input unit 34.

[0044] Similar to the robot management server 11 and the like, the terminal 30 is also configured to include a CPU, a RAM, a ROM, a storage device, and a communication IF. The terminal 30 can be connected to the door management server 21 and can display various types of information held by the door management server 21.

[0045] The "door control device" according to the present embodiment is composed of the control unit 22 of the door management server 21 and the door control unit 29 of the device management device 25. Hereinafter, an example in which the control unit 22 controls the door management system 20 as the door control device will be described, but the door management system 20 may be controlled by either the control unit 22 or the door control unit 29. The "robot control device" according to the present embodiment is composed of the control unit 12 of the robot management server 11 and the control unit 41 of the robot 40. Hereinafter, an example in which the control unit 12 controls the robot management system 10 as the robot control device will be described, but the robot management system 10 may be controlled by either the control unit 12 or the control unit 41.

[0046] FIG. 3 is a diagram for explaining the operating state of the collision avoidance system 100. In the example of FIG. 3, a wall 62 separating the living room and the corridor (passageway) is installed, and doors D1 and D2 serving as entrances and exits between the living room and the corridor are provided.

[0047] Currently, the robot 40 is traveling on the passageway (floor 63) in front of the door D1. A person 5 is about to come out from the door D1 to the passageway side. When coming out from the door D1 to the passageway side, usually, when a person 5 stands in front of the door D1 on the living room side, the door D1 automatically opens. On the other hand, when entering the living room from the door D1, the person 5 holds a card up to the card reader CR1 to open the door D1.

[0048] Transmitters LB1, LB2, and LB4 are installed in front of the door D1. As described above, the transmitter DB1, the light L1, and the transmitter LB4 are located between the door D1 and the ceiling 61 and are installed at a position in front of the door D1 (the center of the passageway). The transmitters LB1 and LB2 are installed on the left and right sides of the door D1.

[0049] The receivers 42 and 43 receive the signals transmitted from the transmitters LB1, LB2, and LB4. The robot management server 11 calculates the positions of the receiver 42 and the receiver 43 by three-point positioning based on the intensities of the respective signals received from the transmitters LB1, LB2, and LB4. As described above, for example, the intermediate position between the receiver 42 and the receiver 43 may be calculated and used as the current position of the robot 40.

[0050] Currently, since the robot 40 is in a position close to the front of the door D1, the door D1 is controlled (delayed control) so as not to open. On the other hand, when the robot 40 is not in a position close to the front of the door D1, the door D1 is opened. In this case, the light L1 turns on and a signal is transmitted from the transmitter DB1. When the robot 40 receives the signal from the transmitter DB1 by the receivers 42 and 43, it determines whether to stop or not.

[0051] Also, a person 6 is about to pass in front of the door D2. When entering the living room from the door D2, the person 6 holds a card up to the card reader CR2 to open the door D2. In front of the door D2, transmitters LB2, LB3, and LB5 are installed. The receivers 42 and 43 receive the signals transmitted from the transmitters LB2, LB3, and LB5. The robot management server 11 calculates the positions of the receiver 42 and the receiver 43 by three-point positioning based on the intensities of the respective signals received from the transmitters LB2, LB3, and LB5. As described above, for example, the intermediate position between the receiver 42 and the receiver 43 may be calculated and used as the current position of the robot 40.

[0052] When the robot 40 is at a position close to the door D2, the door D2 is controlled (delayed control) so as not to open. On the other hand, when the robot 40 is not at a position close to the door D2, when a person stands in front of the door D2 on the living room side, the door D2 is opened. In this case, the light L2 is turned on and a signal is transmitted from the transmitter DB2. When the robot 40 receives the signal from the transmitter DB2 by the receivers 42 and 43, it determines whether to stop.

[0053] Hereinafter, a specific description will be given. FIG. 4 is a diagram for explaining the position of the robot 40 and the opening and closing of the door D1. The control unit 22 controls to open the door D1 when there is a person 5 in front of the door D1 provided between the living room and the passage. Currently, since there is a person 5 in front of the door D1 on the living room side, normally, the door D1 would be opened. However, currently, the robot 40 is traveling in the vicinity of the door D1 on the passage side.

[0054] The control unit 22 performs delay control on the door D1 so as to delay the opening of the door D1 when there is a person 5 in front of the door D1 on the living room side and the robot 40 is located within a predetermined range in front of the door D1 on the passage side.

[0055] Here, the "predetermined range" is, as shown in FIG. 4, the range from the position X = 0 in front of the door D1 to the position X = L3 advanced along the passage by a distance L3 before the robot 40 passes in front of the door D1. For example, in FIG. 4, when the robot is traveling in the reverse direction, it is determined that it has passed in front of the door D1, so it is determined that the robot 40 is not located within the predetermined range in front of the door D1 on the passage side. In this example, the intermediate position between the receiver 42 and the receiver 43 is defined as the "position of the robot 40", but it is not limited to this, and any position on the robot 40 (for example, the position of the tip) may be defined as the "position of the robot 40".

[0056] In the delay control, when there is a person 5 in front of the door D1 on the living room side and the robot 40 is located within the predetermined range, the control unit 22 controls to maintain the door D1 in the closed state. As shown in FIG. 4, there is a person 5 in front of the door D1 on the living room side, and the door D1 is maintained in the closed state by the delay control.

[0057] The collision avoidance system 100 includes a speaker S1 as a notification device installed on the living room side. When the delay control is performed, the control unit 22 causes the speaker S1 to notify that the robot 40 is passing through (voice "The robot is passing through").

[0058] When the position of the robot 40 deviates from the predetermined range, the control unit 22 controls to end the delay control and open the door D1. That is, after the robot 40 passes in front of the door D1, the door D1 is opened.

[0059] FIG. 5 is a diagram for explaining the notification of the opening of the door D1 to the person 6. As shown in FIG. 5, when the delay control is not implemented, the door D1 opens. As a result, the person 5 can go out to the passage side. When the door D1 opens, the light L1 lights up. As a result, the person 6 traveling on the passage can know that the door D1 is open. Thereby, a collision between the person 5 and the person 6 can be avoided.

[0060] In addition, when the door D1 is opened, the opening of the door D1 may be notified to the person 6 by a method other than the lighting of the light L1. For example, a projector P2 may be installed as a projection device capable of projecting an image on the floor in front of the door D1 on the passage side. When the door D1 is opened, the projector P2 projects a character image "Door is open" notifying that the door D1 is opened on the floor in front of the door D1 on the passage side.

[0061] Figs. 6 and 7 are diagrams for explaining the position of the robot 40 and the opening and closing of the door D1. The robot 40 includes a receiver 42 as a first receiver installed on the front side in the traveling direction of the robot 40, and a receiver 43 as a second receiver installed on the rear side in the traveling direction of the robot 40.

[0062] When the door D1 is opened without performing delay control, the control unit 12 controls the robot 40 to limit the movement of the robot 40. The transmitter DB1 is installed in front of the door D1. When the door D1 is opened, the transmitter DB1 transmits a stop signal to the receiver 42 and the receiver 43.

[0063] As shown in Fig. 6, the door D1 is open. At this time, the transmitter DB1 transmits a stop signal. The receiver 42 and the receiver 43 can receive this stop signal when they are within the signal range 141. For example, the intensity of the output signal is adjusted so that the signal range 141 is in the range of 2 to 3 m from the transmitter DB1.

[0064] When the receiver 42 and the receiver 43 receive the stop signal, and the reception intensity of the stop signal is stronger at the receiver 42 than at the receiver 43 or the reception of the stop signal is earlier at the receiver 42 than at the receiver 43, the control unit 12 controls the robot 40 to stop.

[0065] In the example of Fig. 6, both the receiver 42 and the receiver 43 have received the stop signal. Since the receiver 42 is closer to the transmitter DB1 than the receiver 43, the reception intensity of the stop signal is stronger for the receiver 42 than for the receiver 43. Therefore, in the example of Fig. 6, the robot 40 has stopped.

[0066] On the other hand, when both the receiver 42 and the receiver 43 have received the stop signal, the control unit 12 does not perform control to stop the robot 40 when the reception intensity of the stop signal is stronger for the receiver 43 than for the receiver 42 or when the receiver 43 receives the stop signal earlier than the receiver 42.

[0067] In the example of Fig. 7, both the receiver 42 and the receiver 43 have received the stop signal. However, since the receiver 43 is closer to the transmitter DB1 than the receiver 42, the reception intensity of the stop signal is stronger for the receiver 43 than for the receiver 42. Therefore, in the example of Fig. 7, the robot 40 does not stop and continues to run.

[0068] In the case of Fig. 6, the robot 40 is about to move in front of the door D1. In this case, since there is a possibility of collision between the robot 40 and the person 5, the robot 40 stops. On the other hand, in the case of Fig. 7, the robot 40 has already passed in front of the door D1. In this case, since there is no possibility of collision between the robot 40 and the person 5, the robot 40 does not stop.

[0069] The stop signal is transmitted while the door D1 is open. When the door D1 closes, the transmitter DB1 stops transmitting the stop signal. If the robot 40 has stopped due to receiving the stop signal, the robot 40 starts moving again when it stops receiving the stop signal.

[0070] Hereinafter, it will be described using a flowchart. Fig. 8 is a flowchart of the door-side process. The door-side process is a process executed by the door management system 20. The door-side process may be started periodically (for example, every 0.1 seconds). Hereinafter, "step" will also be simply referred to as "S". Hereinafter, the process related to the door D1 will be described, but the process related to the door D2 is the same.

[0071] When starting the door-side process, the door management system 20 determines, in S101, whether or not a person 5 is detected in front of the room-side door D1. If the door management system 20 determines that a person 5 is detected in front of the room-side door D1 (YES in S101), the process proceeds to S102. On the other hand, if the door management system 20 does not determine that a person 5 is detected in front of the room-side door D1 (NO in S101), the door-side process ends.

[0072] In S102, the door management system 20 determines whether or not the robot 40 is within a predetermined range in front of the passage-side door D1. If the door management system 20 determines that the robot 40 is within the predetermined range in front of the passage-side door D1 (YES in S102), the process proceeds to S103. On the other hand, if the door management system 20 does not determine that the robot 40 is within the predetermined range in front of the passage-side door D1 (NO in S102), the process proceeds to S105.

[0073] In S103, the door management system 20 maintains the door D1 in a closed state (delay control process). In this case, as in the example of FIG. 4, the door D1 is not opened. In S104, the door management system 20 notifies (outputs the voice "The robot is passing through") by the speaker S1 that the robot 40 is passing through, and ends the door-side process.

[0074] In S105, the door management system 20 causes the transmitter DB1 to transmit a stop signal. As a result, in the example of FIG. 6, the robot 40 stops, and in the example of FIG. 7, the robot 40 does not stop. In S106, the door management system 20 controls to turn on the light L1. In S107, the door management system 20 controls to open the door D1 (see FIG. 5), and ends the door-side process.

[0075] FIG. 9 is a flowchart of the robot-side process. The robot-side process is a process executed by the robot management system 10. The robot-side process may be started periodically (for example, every 0.1 seconds).

[0076] When the robot-side processing starts, the robot management system 10 determines, at S201, whether the receivers 42 and 43 have received a stop signal. If the robot management system 10 has received a stop signal (YES at S201), the process proceeds to S202. On the other hand, if the robot management system 10 has not received a stop signal (NO at S201), the process proceeds to S204.

[0077] At S202, the robot management system 10 determines whether, when the receivers 42 and 43 have received a stop signal, the receiver 43 has a stronger reception intensity of the stop signal or receives the stop signal earlier than the receiver 42. If the robot management system 10 determines YES at S202, the process proceeds to S204; if it determines NO at S202, the process proceeds to S203.

[0078] At S203, the robot management system 10 determines whether, when the receivers 42 and 43 have received a stop signal, the receiver 42 has a stronger reception intensity of the stop signal or receives the stop signal earlier than the receiver 43. If the robot management system 10 determines YES at S203, the process proceeds to S205; if it determines NO at S203, the process proceeds to S204.

[0079] At S204, the robot management system 10 performs control not to stop the robot 40 and ends the robot-side processing. In the case as shown in FIG. 7, the robot 40 does not stop. At S205, the robot management system 10 performs control to stop the robot 40 and ends the robot-side processing. In the case as shown in FIG. 6, the robot 40 stops.

[0080] As described above, the collision avoidance system 100 is a system that avoids collisions between a person 5 moving from a living room in the facility 1 to a passage and a robot 40 autonomously moving in the passage. The collision avoidance system 100 includes a control unit 22 and a door control unit 29 as door control devices, and a control unit 12 and a control unit 41 as robot control devices. The control unit 22 controls to open the door D1 when the person 5 is in front of the door D1 provided between the living room and the passage. The control unit 12 controls the movement of the robot 40. When the person 5 is in front of the door D1 on the living room side and the robot 40 is located within a predetermined range in front of the door D1 on the passage side, the control unit 22 performs delay control on the door D1 so as to delay the opening of the door D1. When the door D1 is opened without delay control being performed, the control unit 12 controls the robot 40 to limit the movement of the robot 40.

[0081] By doing so, when the person 5 exits the living room through the door D1 and enters the passage, it is possible to prevent a collision with the robot 40 in the passage. As a result, the opening and closing operation of the door D1 can be safely performed within the facility 1 where the person 5 and the robot 40 coexist.

[0082] In the delay control, the control unit 22 controls to maintain the door D1 in a closed state, and when the position of the robot 40 deviates from the predetermined range, the control unit 22 ends the delay control and controls to open the door D1. Thereby, the person 5 can safely exit to the passage.

[0083] The collision avoidance system 100 further includes a robot 40. The robot 40 includes a first receiver (receiver 42) installed on the front side in the traveling direction of the robot 40, and a second receiver (receiver 43) installed on the rear side in the traveling direction of the robot 40. The collision avoidance system 100 further includes a transmitter DB1 installed in front of the door D1 that transmits a stop signal when the door is opened. When the receivers 42 and 43 receive the stop signal, and the reception intensity of the stop signal by the receiver 42 is stronger than that of the receiver 43 or the reception of the stop signal by the receiver 42 is earlier than that of the receiver 43, the control unit 12 controls the robot 40 to stop. When the receivers 42 and 43 receive the stop signal, and the reception intensity of the stop signal by the receiver 43 is stronger than that of the receiver 42 or the reception of the stop signal by the receiver 43 is earlier than that of the receiver 42, the control unit 12 does not perform control to stop the robot 40. Thereby, after the robot 40 passes in front of the door D1, the door D1 can be opened, and it is possible to prevent a person 5 from entering the passage at the timing when the robot 40 passes in front of the door D1.

[0084] The collision avoidance system 100 further includes a speaker S1 as a notification device installed in the living room. When delay control is performed, the control unit 22 causes the speaker S1 to notify that the robot 40 is passing through. Thereby, the person 5 can know the reason why the opening of the door D1 is delayed, and the irritation with respect to the door D1 not being opened can be alleviated.

[0085] [Second Embodiment] Hereinafter, in the second embodiment, differences from the first embodiment will be described, and the same content as the first embodiment will not be described. FIG. 10 is a diagram for explaining the position of the robot 40 and the opening and closing of the door D1 according to the second embodiment.

[0086] In the first embodiment, in the delay control, the door D1 is controlled to maintain the closed state. In contrast, in the second embodiment, the control unit 22 controls the door D1 to open at a speed slower than the normal opening speed of the door D1 in the delay control.

[0087] Assume that the door opening speed of the door D1 during normal times is S (when the door D1 opens, it moves Sm per second). When the distance X between the robot 40 and in front of the door D1 is within a predetermined range, delay control is executed. Here, the predetermined range is the range where the distance X = 0 to 3L.

[0088] When the distance X between the robot 40 and in front of the door D1 is 0 or more and less than L1, the door opening speed is set to S×0.8. When the distance X between the robot 40 and in front of the door D1 is L1 or more and less than L2, the door opening speed is set to S×0.6. When the distance X between the robot 40 and in front of the door D1 is L2 or more and L3 or less, the door opening speed is set to S×0.4. Here, L1 < L2 < L3.

[0089] That is, in the delay control, when the distance X between the robot 40 and in front of the door D1 is L2, the control unit 22 controls to open the door D1 at a slower speed than when the distance X between the robot 40 and in front of the door D1 is L1 which is shorter than L2. In this way, the greater the distance X between the robot 40 and in front of the door D1, the slower the door D1 is controlled to open.

[0090] By opening the door D1 slowly, the time until the person 5 exits from the living room to the passage is delayed. The door opening speed of the door D1 is designed so that when the person 5 exits to the passage, the robot 40 has already passed in front of the door D1. That is, when the robot 40 is close to the door D1, it is not necessary to open the door D1 so slowly. However, when the robot 40 is far from the door D1, since it takes time until the robot 40 passes in front of the door D1, the door D1 is opened slowly.

[0091] Note that the example shown using FIG. 10 is merely an example, and as long as it is configured such that when the distance X between the robot 40 and in front of the door D1 is within a predetermined range, the greater the distance X, the slower the door D1 opens. Also, when the distance X between the robot 40 and in front of the door D1 is within a predetermined range, it may be configured to open the door D1 at a constant speed slower than the speed at which the normal door D1 opens.

[0092] FIG. 11 is a diagram for explaining the notification of the passage of the robot 40. The collision avoidance system 100 includes a projector P1 as a projection device that projects an image onto the door D1 on the living room side.

[0093] In the first embodiment, when delay control is performed, the speaker S1 is configured to notify that the robot 40 is passing through. In addition to this, in the second embodiment, the control unit 22 is configured to cause the projector P1 to project an image indicating that the robot 40 is passing through when delay control is performed.

[0094] As shown in FIG. 11, the projector P1 can project an image onto the door D1 on the living room side. When delay control is performed, the projector P1 projects an image "Robot passing through" indicating that the robot 40 is passing through onto the door D1.

[0095] The image indicating that the robot 40 is passing through may be displayed on a monitor installed in the living room. However, since the person 5 is trying to go out from the door D1 to the passage side, the line of sight is often directed towards the door D1. Even if the display is made on a monitor installed in the living room, it is difficult for the line of sight of the person 5 to be directed towards the monitor (it is difficult to notice the monitor). However, by projecting an image onto the door D1 in this way, the attention of the person 5 can be attracted.

[0096] FIG. 12 is a flowchart of the door side process. This flowchart is obtained by changing the processing contents of the flowchart shown in FIG. 8 according to the contents shown in FIGS. 10 and 11 above.

[0097] When starting the door side process, the door management system 20 determines in S301 whether or not the person 5 is detected in front of the door D1 on the living room side. If the door management system 20 determines that the person 5 is detected in front of the door D1 on the living room side (YES in S301), the process proceeds to S302. On the other hand, if the door management system 20 determines that the person 5 is not detected in front of the door D1 on the living room side (NO in S301), the door side process ends.

[0098] In step S302, the door management system 20 determines whether the robot 40 is within a predetermined range in front of the passage-side door D1. If the door management system 20 determines that the robot 40 is within the predetermined range in front of the passage-side door D1 (YES in S302), the process proceeds to S303. On the other hand, if the door management system 20 does not determine that the robot 40 is within the predetermined range in front of the passage-side door D1 (NO in S302), the process proceeds to S306.

[0099] In step S303, the door management system 20 opens the door D1 at a speed corresponding to the distance between the robot 40 and in front of the door D1 (delay control process). This is the processing content described with reference to FIG. 10.

[0100] In step S304, the door management system 20 notifies (outputs the voice "The robot is passing through") through the speaker S1 that the robot 40 is passing through. In step S305, the door management system 20 causes the projector P1 to project an image "Robot passing through" indicating that the robot 40 is passing through onto the door D1, and ends the door-side process. This is the processing content described with reference to FIG. 11.

[0101] In step S306, the door management system 20 causes the transmitter DB1 to transmit a stop signal. As a result, in the example of FIG. 6, the robot 40 stops, and in the example of FIG. 7, the robot 40 does not stop. In step S307, the door management system 20 controls to turn on the light L1. In step S308, the door management system 20 controls to open the door D1 and ends the door-side process.

[0102] As described above, in the delay control, the control unit 22 controls to open the door D1 at a speed slower than the speed at which the normal door D1 is opened. In the delay control, when the distance between the robot 40 and in front of the door D1 is the second distance, the control unit 22 controls to open the door D1 at a slower speed than when the distance between the robot 40 and in front of the door D1 is a third distance shorter than the second distance.

[0103] The collision avoidance system 100 further includes a projector P1 as a projection device that projects an image onto the door D1 on the living room side. When delay control is performed, the control unit 22 causes the projector P1 to project an image indicating that the robot 40 is passing through.

[0104] As described above, when the door D1 is opened at a low speed, the other side gradually comes into view little by little. By opening the door D1 just a little, it becomes easier to notice that the robot 40 is traveling on the other side. Therefore, compared to keeping the door D1 closed as in the first embodiment, it becomes easier for the person 5 to notice the dangerous object (robot 40) on the other side of the door D1. Also, since the door D1 is opened at a lower speed than normal, the person 5 may think that there may be some dangerous or abnormal situation, so it is possible to prompt attention to danger. Also, when the door D1 is kept closed as in the first embodiment, the person 5 is likely to feel stressed. Therefore, by making the person 5 feel that the door D1 is opening even if it is slow, the irritation of the person 5 can be alleviated. Also, by the projection of the image by the projector P1 and the notification by the speaker S1, it is possible to know what situation is occurring currently, so the irritation of the person 5 can be alleviated.

[0105] Note that the doors D1 and D2 described in Embodiments 1 and 2 may be elevator doors. The robot 40 travels in front of the elevator but does not enter the elevator. In this case, the opening and closing of the elevator door is controlled so that the passengers getting off the elevator do not collide with the robot 40.

[0106] [Appendix] The above-described embodiments are specific examples of the following appendix.

[0107] (Appendix 1) A collision avoidance system for avoiding a collision between a person moving from a living room in a facility to a passage and a robot autonomously moving in the passage, a door control device that controls to open the door when the person is in front of the door provided between the living room and the passage, A robot control device that controls the movement of the robot is provided. When there is a person in front of the door on the living room side and the robot is located within a predetermined range in front of the door on the passage side, the door control device performs delay control on the door so as to delay the opening of the door. When the door is opened without the delay control being performed, the robot control device controls the robot so as to restrict the movement of the robot, which is a collision avoidance system.

[0108] (Appendix 2) In the delay control, the door control device controls to maintain the door in a closed state, and when the position of the robot moves out of the predetermined range, the door control device ends the delay control and controls to open the door. The collision avoidance system according to Appendix 1.

[0109] (Appendix 3) In the delay control, the door control device controls to open the door at a speed slower than the normal door opening speed. The collision avoidance system according to Appendix 1.

[0110] (Appendix 4) In the delay control, when the distance between the robot and in front of the door is a second distance, the door control device controls to open the door at a slower speed than when the distance between the robot and in front of the door is a third distance shorter than the second distance. The collision avoidance system according to Appendix 1.

[0111] (Appendix 5) The collision avoidance system further includes a notification device installed in the living room. When the delay control is performed, the door control device causes the notification device to notify that the robot is passing through. The collision avoidance system according to any one of Appendices 1 to 4.

[0112] (Appendix 6) The collision avoidance system further includes a projection device that projects an image onto the door on the living room side. The door control device is the collision avoidance system according to any one of Appendices 1 to 5, which causes the projection device to project an image indicating that the robot is passing through when the delay control is performed.

[0113] (Appendix 7) further comprising the robot, the robot includes a first receiver installed on the front side in the traveling direction of the robot and a second receiver installed on the rear side in the traveling direction of the robot, further comprising a transmitter installed in front of the door and transmitting a stop signal when the door is opened, the robot control device, when the first receiver and the second receiver receive the stop signal, and when the reception intensity of the stop signal of the first receiver is stronger than that of the second receiver or the first receiver receives the stop signal earlier than the second receiver, controls the robot to stop, when the first receiver and the second receiver receive the stop signal, and when the reception intensity of the stop signal of the second receiver is stronger than that of the first receiver or the second receiver receives the stop signal earlier than the first receiver, does not perform control to stop the robot, the collision avoidance system according to any one of Appendices 1 to 6.

[0114] (Appendix 8) A control method for a collision avoidance system that avoids a collision between a person moving from a living room in a facility to a passage and a robot autonomously moving in the passage, a step in which a door control device controls to open the door when the person is in front of the door provided between the living room and the passage, a step in which a robot control device controls the movement of the robot, the step controlled by the door control device includes a step of delaying the control of the door so as to delay the opening of the door when the person is in front of the door on the living room side and the robot is located within a predetermined range in front of the door on the passage side, The steps controlled by the robot control device include the step of controlling the robot to restrict the movement of the robot when the door is opened without the delay control being performed. A control method.

[0115] The embodiments disclosed this time are illustrative and are not limited to only the above content.The scope of the present invention is indicated by the claims, and it is intended that all modifications within the meaning and scope equivalent to the claims be included.

Explanation of reference numerals

[0116] 1 Facility, 5,6 Persons, 10 Robot management system, 11 Robot management server, 12 Control unit, 13 Storage unit, 14 Communication IF, 16,26,46 Communication bus, 20 Door management system, 21 Door management server, 22 Control unit, 23 Storage unit, 24 Communication IF, 25 Equipment management device, 27 Notification unit, 28 Door lock, 29 Door control unit, 30 Terminal, 34 Input unit, 35 Display, 40 Robot, 41 Control unit, 42,43 Receiver, 44 Storage unit, 45 Camera, 48 Battery, 49 Drive unit, 61 Ceiling, 62 Wall, 63 Floor, 100 Collision avoidance system, 141 Signal range, D1,D2 Doors, DB1,DB2 Transmitters, CR1,CR2 Card readers, L1,L2 Lights, LB1~LB5 Transmitters, P1 Projector, S1 Speaker.

Claims

1. A collision avoidance system for avoiding collisions between a person moving from a living room in a facility to a passage and a robot autonomously moving in the passage, comprising: a door control device that controls the door to open when the person is in front of the door provided between the living room and the passage; a robot control device that controls the movement of the robot, wherein the door control device delays the opening of the door when a person is in front of the door on the living room side and the robot is located within a predetermined range in front of the door on the passage side; and the robot control device controls the robot to restrict the movement of the robot when the door is opened without the delay control being performed. The collision avoidance system.

2. The collision avoidance system according to claim 1, wherein the door control device controls to maintain the door in a closed state during the delay control, and controls to end the delay control and open the door when the position of the robot deviates from the predetermined range.

3. The collision avoidance system according to claim 1, wherein the door control device controls to open the door at a speed slower than the normal door opening speed during the delay control.

4. The collision avoidance system according to claim 1, wherein the door control device controls to open the door at a slower speed when the distance between the robot and in front of the door is a second distance than when the distance between the robot and in front of the door is a third distance shorter than the second distance during the delay control.

5. further comprising a notification device installed in the living room, wherein the door control device causes the notification device to notify that the robot is passing through when the delay control is performed. The collision avoidance system according to claim 1.

6. further comprising a projection device that projects an image onto the door on the living room side, wherein the door control device causes the projection device to project an image indicating that the robot is passing through when the delay control is performed. The collision avoidance system according to any one of claims 1 to 5.

7. further comprising the robot, wherein the robot includes a first receiver installed on the front side in the traveling direction of the robot and a second receiver installed on the rear side in the traveling direction of the robot, and further comprising a transmitter installed in front of the door that transmits a stop signal when the door is opened, wherein the robot control device When the first receiver and the second receiver receive the stop signal, and when the reception intensity of the stop signal by the first receiver is stronger than that by the second receiver or when the first receiver receives the stop signal earlier than the second receiver, control is performed to stop the robot. The collision avoidance system according to claim 1, wherein when the first receiver and the second receiver receive the stop signal, and when the reception intensity of the stop signal by the second receiver is stronger than that by the first receiver or when the second receiver receives the stop signal earlier than the first receiver, control to stop the robot is not performed.

8. A control method for a collision avoidance system that avoids a collision between a person moving from a living room in a facility to a passage and a robot autonomously moving in the passage, a step in which a door control device controls to open the door when the person is in front of the door provided between the living room and the passage, and a step in which a robot control device controls the movement of the robot. The step controlled by the door control device includes a step of delaying the control of the door so as to delay the opening of the door when a person is in front of the door on the living room side and the robot is located within a predetermined range in front of the door on the passage side. The step controlled by the robot control device includes a step of controlling the robot so as to limit the movement of the robot when the door is opened without the delay control being performed.

Images