Robot control system

Abstract

To provide a robot control system capable of reliably determining whether or not there is any room for a robot riding area of an autonomous robot in a car.SOLUTION: Displaying, on a full surface of a robot riding area 2 in the car 10, a graphical code 2a that specifies a car 10, an autonomous robot 1 transmits a riding request to a robot operation controller, an imaging device 20 set in the car 10 images the graphical code 2a and transmits imaged moving image information to the robot operation controller, and upon receiving the riding request from the autonomous robot 1, the robot operation controller determines based on the moving image information of the car 10 whether or not the car is the one which has succeeded in reading the graphical code 2a and notifies the autonomous robot 1 of the car that can be ridden when the car has succeeded in reading the graphical code 2a.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a robot control system capable of reliably determining whether there is an empty space in the robot boarding area of a self-propelled robot in an elevator car.

Background Art

[0002] In recent years, the development of self-propelled robots, so-called human coexisting self-propelled robots, which perform tasks such as transporting objects, cleaning, and guiding while moving within the living space of humans, has been progressing. This self-propelled robot can board an elevator by itself using autonomous driving technology. And in an elevator system in which this self-propelled robot and an elevator are coordinated, in order for the self-propelled robot and a human to use the elevator safely and efficiently, based on the information on the size and position of the empty area detected by the empty area detection means for detecting the empty area in the elevator car, it is determined whether the self-propelled robot can board the elevator car, and an elevator system has been disclosed in which the self-propelled robot boards the elevator car only when it is determined that boarding is possible (see Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Here, the empty area (robot boarding area) detected by the empty area detection means of Patent Document 1 is an area shared by the self-propelled robot and a human, and the determination as to whether this robot boarding area is empty changes at any time with the passage of time.

[0005] Here, as a means for determining whether a boarding area can be secured, it is conceivable to color the boarding area and perform image recognition on the area of this color. When there is a person in the boarding area, the average color of the boarding area changes due to the person's clothing or the like, so there are variations in determining the availability of the boarding area by color detection.

[0006] The present invention has been made in view of the above, and can surely determine whether there is an empty space in the robot boarding area of the self-propelled robot in the elevator car. An object is to provide a robot control system.

Means for Solving the Problems

[0007] In order to solve the above-described problems and achieve the object, the present invention determines whether a self-propelled robot can board a robot boarding area that is the boarding area in an elevator car provided with a boarding area for the self-propelled robot, and notifies the self-propelled robot of permission to board. A robot control system having a robot operation control device, wherein a graphical code for specifying the car is displayed on the entire surface of the robot boarding area in the car, the self-propelled robot transmits a boarding request to the robot operation control device, and an imaging device installed in the car captures the graphical code and transmits the captured video information to the robot operation control device. When the robot operation control device receives a boarding request from the self-propelled robot, it determines whether there is a car in which the reading of the graphical code has been successful based on the video information of the car, and when there is a car in which the reading of the graphical code has been successful, it notifies the self-propelled robot of the car that can be boarded.

[0008] Further, in the present invention, in the above invention, when the self-propelled robot receives a notification of a car that can be boarded, it notifies the robot operation control device of the car to board, and the robot operation control device determines whether getting off has ended based on the video information of the notified car. When getting off has ended, it notifies the self-propelled robot of permission to board.

Effects of the Invention

[0009] According to the present invention, it is possible to reliably determine whether there is an empty space in the robot boarding area of the self-propelled robot in the car.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

Embodiments for Carrying Out the Invention

[0011] Hereinafter, embodiments for carrying out the present invention will be described with reference to the accompanying drawings. FIG. 1 is a schematic diagram showing the concept of the robot control system according to the present embodiment. Further, FIG. 2 is a plan sectional view of the car 10 shown in FIG. 1.

[0012] As shown in FIG. 1, one car 10 is lifted by the car lifting part 11, stops at the designated floor 3, and can be boarded and alighted by opening and closing the car door 13 and the hall door 14. Note that a plurality of cars 10 are operated in parallel. The operation of the plurality of cars 10 is controlled by the elevator control device 12.

[0013] As shown in FIGS. 1 and 2, a robot boarding area 2 where the self-propelled robot 1 can board is provided in the car 10. A graphical code 2a for identifying the car 10 is displayed on the entire surface of the robot boarding area 2. The graphical code 2a is, for example, a QR code (registered trademark).

[0014] Inside the car 10, an imaging device 20 such as a camera is arranged on the ceiling of the car 10. The imaging device 20 captures videos of the bottom surface of the car 10 including the robot boarding area 2 and the car door 13. Based on the still images obtained from this video, the graphical code 2a can be read. When people A1 and A2 are in the car 10, if person A2 is present in the robot boarding area 2, the graphical code 2a cannot be read. When the graphical code 2a cannot be read, it is determined that the robot boarding area 2 is not an empty area.

[0015] <System Configuration> Figure 3 is a block diagram showing the configuration of the robot control system. As shown in Figure 3, an elevator control device 12, an imaging device 20, a self-propelled robot 1, and a robot operation control device 30 are connected to the network N. Note that the robot operation control device 30 may be arranged on the cloud.

[0016] The robot operation control device 30 includes an elevator operation monitoring unit 31, an image analysis unit 32, and an empty space determination unit 33. The elevator operation monitoring unit 31 acquires the operation state information of each car 10 via the elevator control device 12.

[0017] The image analysis unit 32 cuts out still images based on the video information captured by the imaging device 20 and attempts to read the graphical code 2a. Also, the image analysis unit 32 analyzes the boarding and alighting situations of the car 10 based on the video information.

[0018] When the image analysis unit 32 successfully reads the graphical code 2a that it has attempted, the empty space determination unit 33 determines that the self-propelled robot 1 can board (the robot boarding area 2 is empty). When the reading of the graphical code 2a fails, the empty space determination unit 33 determines that boarding of the self-propelled robot 1 is not allowed.

[0019] <Boarding Permission Determination Process> FIG. 4 is a flowchart showing the procedure for determining whether boarding is possible for the self-propelled robot 1 by the robot operation control device 30. As shown in FIG. 4, the robot operation control device 30 receives a boarding request from the self-propelled robot 1 (step S101). This boarding request includes information on the floor 3 on which boarding is to be performed. The robot operation control device 30 that has received this boarding request acquires a still image from the video information (step S102). Then, it determines whether there is a car 10 in which the reading of the graphical code 2a has been successful (step S103).

[0020] If it is determined that there is a car 10 in which the reading of the graphical code 2a has been successful (step S103: Yes), the robot operation control device 30 notifies the self-propelled robot 1 of the car 10 that can be boarded (step S104). Thereafter, it receives notification of the car 10 selected by the self-propelled robot 1 (step S105).

[0021] Thereafter, the robot operation control device 30 determines whether alighting has ended based on the video information of the selected car 10 (step S106). If alighting has not ended (step S106: No), this determination process is repeated. On the other hand, if alighting has ended (step S106: Yes), a notification of boarding permission is given to the self-propelled robot 1 (step S107) and this process ends. On the other hand, if it is determined that there is no car 10 in which the reading of the graphical code 2a has been successful (step S103: No), this process ends as it is. Note that this process is repeated at regular intervals.

[0022] In this embodiment, since the graphical code 2a is displayed on the entire robot boarding area 2 and it is determined that there is an empty space in the robot boarding area 2 when the reading of the graphical code 2a is successful, it is possible to reliably determine whether there is an empty space in the robot boarding area 2 with a simple configuration.

[0023] Note that each configuration illustrated in the above embodiments and modification examples is functionally schematic and does not necessarily have to be physically configured as shown. That is, the form of distribution and integration of each device and component is not limited to that shown, and all or part of them can be functionally or physically distributed and integrated in any unit according to various usage situations and the like.

Explanation of Reference Numerals

[0024] 1 Self-propelled robot 2 Robot boarding area 3 Floor 11 Car lift section 12 Elevator control device 13 Car door 14 Hall door 20 Imaging device 30 Robot operation control device 31 Elevator operation monitoring unit 32 Image analysis unit 33 Empty space determination unit A1,A2 Persons N Network

Claims

1. A robot control system having a robot operation control device that determines whether a self-propelled robot can board a robot boarding area, which is a boarding area, in a car of an elevator provided with a boarding area for the self-propelled robot, and notifies the self-propelled robot of permission to board, A graphical code identifying the car is displayed on the entire surface of the robot boarding area in the car, The self-propelled robot sends a boarding request to the robot operation control device, An imaging device installed in the car images the graphical code and transmits the imaged video information to the robot operation control device, When the robot operation control device receives a boarding request from the self-propelled robot, it determines whether there is a car in which the reading of the graphical code has been successful based on the video information of the car, and if there is a car in which the reading of the graphical code has been successful, it notifies the self-propelled robot of the car that can be boarded. A robot control system characterized by this.

2. When the self-propelled robot receives a notification of a car that can be boarded, it notifies the robot operation control device of the car to board, The robot operation control device determines whether disembarkation has ended based on the video information of the notified car, and when disembarkation has ended, notifies the self-propelled robot of permission to board. The robot control system according to claim 1, characterized by this.

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