Appearance abnormality detection system of autonomous type robot

Abstract

To provide an appearance abnormality detection system of an autonomous-type robot capable of detecting the appearance abnormality of the autonomous-type robot using an elevator car.SOLUTION: An appearance abnormality detection system 10 is an appearance abnormality detection system of an autonomous-type robot 30 using a car 21 of an elevator 20. The system comprises a camera 24 provided in the car 21 to capture an image of the autonomous-type robot 30 while the autonomous-type robot 30 faces toward a predetermined direction at a predetermined position in the car 21, and an abnormality detection device 40 that detects an appearance abnormality of the autonomous-type robot 30 by analyzing the captured image of the autonomous-type robot 30.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an appearance abnormality detection system that detects appearance abnormalities in an autonomous robot that uses an elevator car. [Background technology]

[0002] Autonomous robots do not require human control; they recognize their surrounding environment by themselves and perform various tasks on behalf of humans. For example, Patent Document 1 discloses an autonomous robot that performs inspections, deliveries, cleaning, etc. within accommodation facilities (hereinafter referred to as accommodation-related tasks). This autonomous robot can reduce the number of personnel performing accommodation-related tasks. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2023-085960 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the above-mentioned autonomous robot cannot detect an abnormality in its appearance if its own sensors cannot detect the abnormality. For example, even if there is duct tape or gum stuck to the robot's body, if the robot's sensors cannot detect this, the robot will continue to move autonomously.

[0005] For example, even if there is an abnormality in the appearance of the autonomous robot performing the tasks related to the accommodation facility described above, the autonomous robot can still perform the tasks related to the accommodation facility. However, if an autonomous robot with an abnormal appearance autonomously navigates inside the accommodation facility, the scenery inside the accommodation facility will be spoiled. Furthermore, if an autonomous robot with an abnormal appearance autonomously navigates inside the accommodation facility, the autonomous robot with an abnormal appearance will catch the eye of guests of the accommodation facility, giving guests a bad impression of the hygiene of the accommodation facility.

[0006] One possible solution to the above problem is for the on-site manager of the robot management company to periodically visually check the appearance of the autonomous robots for abnormalities. However, periodically visually checking all of the autonomous robots within the accommodation facility would require an increase in the workload of the on-site manager.

[0007] Therefore, an object of the present invention is to provide an external abnormality detection system for an autonomous robot that can detect external abnormalities in an autonomous robot by using an elevator car. [Means for solving the problem]

[0008] The system for detecting abnormalities in the appearance of an autonomous robot according to the present invention is a system for detecting abnormalities in the appearance of an autonomous robot that utilizes an elevator car, and is characterized by comprising a camera installed in the car, and an abnormality detection device that takes images of the autonomous robot with the camera while the autonomous robot is at a predetermined position in the car facing a predetermined direction, and performs image analysis of the images taken by the autonomous robot to detect abnormalities in the appearance of the autonomous robot.

[0009] According to the above configuration, an abnormality in the appearance of the autonomous robot can be detected using the elevator car, thereby reducing the number of work steps required to manage the autonomous robot.

[0010] In the system for detecting abnormalities in the appearance of an autonomous robot according to the present invention, it is preferable that the abnormality detection device detects abnormalities in the appearance of the autonomous robot by comparing an image captured of the autonomous robot with an image captured of the autonomous robot when no abnormality was detected.

[0011] According to the above configuration, it is possible to detect foreign matter attached to the autonomous robot.

[0012] In the system for detecting abnormalities in the appearance of an autonomous robot according to the present invention, it is preferable that the system further includes a lighting device that illuminates the inside of the car, and that the abnormality detection device changes the lighting pattern of the lighting device when capturing an image of the autonomous robot.

[0013] According to the above configuration, the accuracy of image analysis can be improved. [Effects of the Invention]

[0014] According to the system for detecting an abnormality in appearance of an autonomous robot of the present invention, an abnormality in appearance of the autonomous robot can be detected by utilizing an elevator car. [Brief explanation of the drawings]

[0015] [Figure 1] 1 is a schematic diagram illustrating a visual abnormality detection system according to an embodiment; [Figure 2] FIG. 1 is a schematic diagram showing an autonomous robot stopped in a car. [Figure 3] 1 is a block diagram showing a configuration of an anomaly detection device; DETAILED DESCRIPTION OF THE INVENTION

[0016] An example of an embodiment of the present invention will be described in detail below. In the following description, specific shapes, materials, directions, numerical values, etc. are examples for facilitating understanding of the present invention, and can be appropriately changed according to the application, purpose, specifications, etc.

[0017] "Appearance Anomaly Detection System" The appearance abnormality detection system 10 will be described with reference to FIGS. 1 to 3. FIG.

[0018] As shown in Fig. 1, the appearance abnormality detection system 10 is a system that detects appearance abnormalities in an autonomous robot 30 by using a car 21 of an elevator 20. The appearance abnormality detection system 10, as will be described in detail later, can detect appearance abnormalities in the autonomous robot 30 by using a camera 24 provided in the car 21 of the elevator 20.

[0019] Here, an appearance abnormality mainly refers to a case where a foreign object is attached to the autonomous robot 30, damaging the appearance of the autonomous robot 30. For example, attachment of a foreign object refers to a case where there is packing tape stuck to the body of the autonomous robot 30, there is gum stuck to the body of the autonomous robot 30, there is graffiti on the body of the autonomous robot 30, the autonomous robot 30 is extremely dirty, etc.

[0020] The appearance anomaly detection system 10 is installed, for example, in an accommodation facility 5. The autonomous robot 30 performs, for example, inspection, delivery, and cleaning of the accommodation facility 5 (hereinafter, tasks related to the accommodation facility 5). However, the appearance anomaly detection system of the present invention is not limited to this, and may also be an anomaly detection system for an autonomous robot performing tasks related to a hospital, or an anomaly detection system for an autonomous robot performing tasks related to an office building.

[0021] The appearance abnormality detection system 10 includes a camera 24 installed in the car 21 of the elevator 20, a plurality of autonomous robots 30, an abnormality detection device 40 that detects the above-mentioned appearance abnormalities of the autonomous robots 30, and a management device 50 that manages the plurality of autonomous robots 30 in an integrated manner.

[0022] [Elevator] As shown in Figures 1 and 2, elevator 20 is a device that raises and lowers car 21 in a hoistway 22 between landings 7 on each floor 6. Car 21 picks up passengers and rises and lowers according to the passengers' requests, stopping at landings 7 on each floor 6. Car 21 is equipped with a camera 24 that photographs the interior of car 21. Camera 24 constantly photographs the interior of car 21 to prevent crime and improve security. Car 21 is also equipped with a lighting device 25 that illuminates the interior of car 21.

[0023] The car 21 is suspended from one end of a wire rope 23. A counterweight (not shown) is suspended from the other end of the wire rope 23, the weight of which is set so as to balance with the car 21. The car 21 and the counterweight are raised and lowered by an elevator (not shown) that uses an electric motor to rotate a pulley on which the wire rope 23 is hung.

[0024] Each device of the elevator 20, such as the elevator, camera 24, lighting device 25, etc., is controlled by a control panel (not shown). The control panel is configured to be able to communicate with the autonomous robot 30. The elevator, control panel, etc. described above may be placed in a machine room provided above the elevator shaft 22.

[0025] [Autonomous robot] As shown in FIGS. 1 and 2 , the autonomous robot 30 does not need to be controlled by a human, but rather recognizes its surrounding environment by itself and performs tasks related to the accommodation facility 5 on behalf of humans. The autonomous robot 30 autonomously travels around each floor 6 of the accommodation facility 5 to perform tasks related to the accommodation facility 5. The autonomous robot 30 of this embodiment performs cleaning work at the accommodation facility 5. However, the autonomous robot of the present invention is not limited to this, and may be a robot that inspects facilities, equipment, etc. at the accommodation facility 5, or may be a robot that delivers bedding, fixtures, room service, etc. at the accommodation facility 5.

[0026] When the autonomous robot 30 moves from the current floor 6 to a different floor 6 in the accommodation facility 5, it uses the elevator 20. The autonomous robot 30 is configured to be able to communicate with the control panel of the elevator 20. This allows the autonomous robot 30 to autonomously call a car 21 or register a destination floor in the car 21.

[0027] When the autonomous robot 30 uses the elevator 20, it stops at a predetermined position in the elevator car 21, facing a predetermined direction. However, if a passenger is standing at the predetermined position where the autonomous robot 30 should stop, the autonomous robot 30 does not have to stop at that predetermined position. In this case, the anomaly detection device 40, which will be described later, does not detect any abnormalities in the appearance of the autonomous robot 30.

[0028] The autonomous robot 30 may stop in the car 21 of the elevator 20 not only when moving from the current floor 6 to a different floor 6, but also simply to detect an appearance abnormality using the appearance abnormality detection system 10. For example, an autonomous robot 30 that travels autonomously only on the same floor 6 may stop in the car 21 of the elevator 20 to detect an appearance abnormality, even though it does not use the elevator 20.

[0029] At least 10 or more autonomous robots 30 of this embodiment are deployed in the accommodation facility 5. Each autonomous robot 30 is managed in an integrated manner by a management device 50, which will be described later. Each autonomous robot 30 is identified by an identification number.

[0030] [Anomaly detection device] 3, when the anomaly detection device 40 detects the autonomous robot 30 facing a predetermined direction at a predetermined position in an image of the inside of the elevator car 21 captured by the camera 24, the anomaly detection device 40 detects the above-mentioned appearance anomaly of the autonomous robot 30. The anomaly detection device 40 may be owned by an elevator management company that manages the elevator 20. The anomaly detection device 40 may be incorporated into the control panel of the above-mentioned elevator 20, for example.

[0031] The anomaly detection device 40 has a central processing unit (CPU) which is an arithmetic processing unit, and storage units such as random access memory (RAM) and read only memory (ROM), and performs signal processing according to a program stored in advance in the ROM while utilizing the temporary storage function of the RAM. The anomaly detection device 40 is connected to a camera 24, a lighting device 25, and a management device 50 which will be described later.

[0032] The anomaly detection device 40 includes a robot detection unit 41, a lighting adjustment unit 42, an image analysis unit 43, and an appearance abnormality transmission unit 44, each of which will be described in detail below. The robot detection unit 41, the lighting adjustment unit 42, the image analysis unit 43, and the appearance abnormality transmission unit 44 are realized by the CPU of the anomaly detection device 40 executing programs stored in the ROM or RAM.

[0033] The robot detection unit 41 detects the autonomous robot 30 facing a predetermined direction at a predetermined position in the car 21 by analyzing the image of the interior of the car 21 taken by the camera 24. Note that the robot detection unit 41 cannot detect the autonomous robot 30 when a passenger is standing at a predetermined position in the car 21 and the autonomous robot 30 is not at the predetermined position.

[0034] A general image analysis method may be used for the image analysis. For example, an object (an object at a predetermined position in the car 21) may be extracted from the captured image, arithmetic processing may be performed on the extracted pixel data, and discrimination (determination of whether the object at the predetermined position is the autonomous robot 30) may be performed based on the calculation results. In this case, since the autonomous robot 30 is facing a predetermined direction at a predetermined position, the amount of calculation required for image analysis can be reduced.

[0035] When the robot detection unit 41 detects the autonomous robot 30 at a predetermined position in the car 21, the lighting adjustment unit 42 changes the lighting pattern inside the car 21 using the lighting device 25 to detect any abnormalities in the appearance of the autonomous robot 30. The lighting pattern includes illuminance, light distribution, and the like.

[0036] The lighting adjustment unit 42 may, for example, increase the illuminance of the lighting device 25. Furthermore, the lighting adjustment unit 42 may direct the light distribution of the lighting device 25 toward the autonomous robot 30. Furthermore, the lighting adjustment unit 42 may change the illuminance or light distribution into a plurality of patterns and perform image analysis of images for each of the changed lighting patterns using the image analysis unit 43, which will be described later. Note that, when a passenger is riding in the elevator 21, the lighting adjustment unit 42 does not need to adjust the lighting inside the elevator 21.

[0037] The image analysis unit 43 detects the autonomous robot 30 at a predetermined position on the elevator 21 using the robot detection unit 41, and when the lighting pattern of the elevator 21 is changed using the lighting adjustment unit 42, analyzes the image taken by the camera 24 to determine whether or not there is any abnormality in appearance.

[0038] The image analysis unit 43 may perform image analysis by, for example, comparing analysis data (hereinafter, current data) obtained by analyzing an image captured by the autonomous robot 30 with analysis data (hereinafter, normal data) of an image captured by the autonomous robot 30 that has no pre-defined abnormalities in appearance. A general image analysis method may be used for the image analysis. For example, an object that is present in the current data but not in the normal data may be extracted, arithmetic processing may be performed on the extracted pixel data, and a judgment may be made based on the calculation results (if the object is a predetermined size or larger, it may be determined that there is an abnormality in appearance).

[0039] When the image analysis unit 43 determines that there is a visual abnormality, the visual abnormality transmission unit 44 transmits to the management device 50 a report that there is a visual abnormality and the photographed image in which the determination was made.

[0040] [Management device] The management device 50 comprehensively manages multiple autonomous robots 30 in the accommodation facility 5. Furthermore, when the management device 50 detects an abnormality in the appearance of the autonomous robot 30 stopped in the car 21 using the anomaly detection device 40 described below, the management device 50 identifies the identification number of the autonomous robot 30 stopped in the car 21. The management device 50 may be owned by a robot management company that manages the autonomous robots 30.

[0041] The management device 50 has a CPU (Central Processing Unit) which is an arithmetic processing unit, and storage units such as RAM (Random Access Memory) and ROM (Read Only Memory), and performs signal processing according to a program stored in advance in the ROM while utilizing the temporary storage function of the RAM. The management device 50 is connected to the anomaly detection device 40.

[0042] The management device 50 has a robot position recognition unit 51, an appearance abnormality receiving unit 52, and an appearance abnormal robot identification unit 53. The robot position recognition unit 51, the appearance abnormality receiving unit 52, and the appearance abnormal robot identification unit 53 are realized by the CPU of the management device 50 executing programs stored in the ROM or RAM.

[0043] The robot position recognition unit 51 recognizes the current positions of the autonomous robots 30 in the accommodation facility 5. The robot position recognition unit 51 may recognize the current positions of the autonomous robots 30 in the accommodation facility 5 using, for example, a global positioning system (GPS), radio frequency identification (RFID), a location information beacon, or the like. Furthermore, if the autonomous robot 30 has a light detection and ranging (LiDAR) that is a sensor using laser light and can detect the distance to an object, its position, and its shape, and can estimate its current self-position by comparing the shape data of its current surroundings obtained from the LiDAR with the shape of an area map, the robot may recognize its current position in the accommodation facility 5 transmitted from the autonomous robot 30.

[0044] The visual abnormality receiving unit 52 receives a report of the presence of a visual abnormality from the visual abnormality transmitting unit 44 of the abnormality detection device 40, and the photographed image in which the determination has been made.

[0045] When the appearance abnormality receiving unit 52 receives a report of an appearance abnormality of an autonomous robot 30 stopped in the car 21 of an elevator 20, the appearance abnormality robot identifying unit 53 identifies the identification number of the autonomous robot 30 stopped in the car 21 of the elevator 20 using the robot position recognition unit 51, and identifies the identification number of the autonomous robot 30 detected as having an appearance abnormality.

[0046] The robot management company dispatches a worker to the accommodation facility 5 or informs a worker stationed at the accommodation facility 5 of the identification number of the autonomous robot 30 detected as having an external abnormality, and the worker checks the autonomous robot 30 detected as having an external abnormality, removes foreign matter, cleans dirt, etc., and returns the autonomous robot 30 to a normal state.

[0047] According to the appearance abnormality detection system 10, it is possible to detect appearance abnormalities of the autonomous robot 30 using the camera 24 installed in the car 21 of the elevator 20. This makes it possible to reduce the number of on-site work steps required for robot management.

[0048] The present invention is not limited to the above-described embodiment and its modifications, and various modifications and improvements are possible within the scope of the claims of the present application. For example, multiple cameras may be used to capture images of multiple postures (front, back, side, etc.) of the autonomous robot. [Explanation of symbols]

[0049] 5 Accommodation facility, 6 Floor, 7 Landing area, 10 Appearance abnormality detection system, 20 Elevator, 21 Car, 22 Hoistway, 23 Wire rope, 24 Camera, 25 Lighting device, 30 Autonomous robot, 40 Anomaly detection device, 41 Robot detection unit, 42 Lighting adjustment unit, 43 Image analysis unit, 44 Appearance abnormality transmission unit, 50 Management device, 51 Robot position recognition unit, 52 Appearance abnormality reception unit, 53 Appearance abnormality robot identification unit

Claims

1. An appearance abnormality detection system for an autonomous robot using an elevator car, a camera provided in the car; an anomaly detection device that takes an image of the autonomous robot with the camera while the autonomous robot is facing a predetermined direction at a predetermined position in the elevator car, and performs image analysis of the taken image of the autonomous robot to detect an abnormality in the appearance of the autonomous robot; Equipped with Appearance anomaly detection system for autonomous robots.

2. 2. The system for detecting an abnormality in appearance of an autonomous robot according to claim 1, the anomaly detection device compares a photographed image of the autonomous robot with a photographed image of the autonomous robot when no anomaly is detected, and detects an appearance anomaly of the autonomous robot; Appearance anomaly detection system for autonomous robots.

3. 3. The system for detecting an abnormality in appearance of an autonomous robot according to claim 1, Further provided is a lighting device for illuminating the inside of the elevator car, the anomaly detection device changes the lighting pattern of the lighting device when capturing an image of the autonomous robot. Appearance anomaly detection system for autonomous robots.

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