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

Abstract

To provide an abnormality detection system which can improve accuracy in robot abnormality determination even when robots different in model are mixed in robots to be managed.SOLUTION: The abnormality detection system according to the present disclosure comprises: a building facility management device which includes a trigger signal transmission unit which transmits a trigger signal on the basis of an operation condition of a building facility; and an abnormality detection device which includes a trigger signal reception unit for receiving the trigger signal and a radio wave acquisition unit for acquiring, in response to receiving the trigger signal, radio waves transmitted from a plurality of robots moving in the building facility and received by an antenna device. Each of the plurality of robots belongs to one of one or more preliminarily set groups. The abnormality detection device further comprises: a robot information acquisition unit which acquires robot information allowing for specifying groups to which the robots belong; and a determination unit which determines abnormality of the robots on the basis of the trigger signal, radio wave intensities, and the robot information.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to an anomaly detection system, an anomaly detection device, and a building facility management device. [Background technology]

[0002] An anomaly detection system is known that includes a building facilities management device having a trigger signal transmitting unit that transmits a trigger signal based on the operating status of the building facilities, a trigger signal receiving unit that receives the trigger signal transmitted by the trigger signal transmitting unit, an acquisition unit that acquires radio waves transmitted by a robot moving within the building and received by an antenna device, and a determination unit that determines an abnormality in the robot based on the trigger signal received by the trigger signal receiving unit and the radio wave intensity of the radio waves acquired by the acquisition unit (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2023-163263 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the system disclosed in Patent Document 1, even if there is a mixture of robots moving within a building that are different in model, manufacturer, specifications, etc., the same reference values ​​are used to determine whether the robots are abnormal. Therefore, if the managed robots are a mixture of robots that are different in model, manufacturer, specifications, etc., there is a risk that the accuracy of determining whether the robots are abnormal will decrease.

[0005] The present disclosure has been made to solve these problems, and its purpose is to provide an anomaly detection system, an anomaly detection device, and a building facilities management device that can improve the accuracy of determining anomalies in robots, even when the managed robots are a mixture of different models, manufacturers, specifications, etc. [Means for solving the problem]

[0006] The anomaly detection system according to the present disclosure comprises an anomaly detection device having a building facilities management device having a trigger signal transmitting unit that transmits a trigger signal based on the operating status of building facilities; a trigger signal receiving unit that receives the trigger signal transmitted by the trigger signal transmitting unit; and a radio wave acquiring unit that acquires radio waves transmitted from each of a plurality of robots moving within a building and received by an antenna device in response to the trigger signal being received by the trigger signal receiving unit, wherein each of the plurality of robots belongs to one or more predetermined groups, and the anomaly detection device further comprises a robot information acquiring unit that acquires robot information capable of identifying the group to which the robot belongs, and a determination unit that determines an abnormality in the robot based on the trigger signal received by the trigger signal receiving unit, the radio wave intensity of the radio waves acquired by the radio wave acquiring unit, and the robot information acquired by the robot information acquiring unit.

[0007] The anomaly detection device according to the present disclosure comprises an anomaly detection device having: a trigger signal receiving unit that receives a trigger signal transmitted by a building facilities management device that transmits a trigger signal based on the operating status of building facilities; and a radio wave acquiring unit that acquires radio waves transmitted from each of a plurality of robots moving within a building and received by an antenna device in response to the trigger signal being received by the trigger signal receiving unit, wherein each of the plurality of robots belongs to one or more predetermined groups, and the anomaly detection device further comprises: a robot information acquiring unit that acquires robot information that can identify the group to which the robot belongs; and a determination unit that determines an abnormality in the robot based on the trigger signal received by the trigger signal receiving unit, the radio wave intensity of the radio waves acquired by the radio wave acquiring unit, and the robot information acquired by the robot information acquiring unit.

[0008] A building facilities management device according to the present disclosure includes a trigger initiation unit that issues a trigger signal based on the operating status of building facilities, and a radio wave acquisition unit that acquires radio waves transmitted from each of a plurality of robots moving within a building and received by an antenna device in response to the trigger initiation unit's initiation of the trigger signal, wherein each of the plurality of robots belongs to one or more predetermined groups, and further includes a robot information acquisition unit that acquires robot information that can identify the group to which the robot belongs, and a determination unit that determines an abnormality in the robot based on the trigger signal received by the trigger initiation unit, the radio wave intensity of the radio waves acquired by the radio wave acquisition unit, and the robot information acquired by the robot information acquisition unit. [Effects of the Invention]

[0009] The anomaly detection system, anomaly detection device, and building facilities management device disclosed herein have the effect of improving the accuracy of determining anomalies in robots, even if the managed robots are a mixture of different models, etc. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a diagram showing a robot movement system according to a first embodiment. [Figure 2] 1 is a configuration diagram of an anomaly detection system according to a first embodiment. [Figure 3] 4 is a flowchart showing control of responses to hall calls by the robot in the first embodiment. [Figure 4] 5 is a flowchart showing a trigger signal transmission control according to the first embodiment. [Figure 5] 4 is a flowchart showing control of abnormality detection in the first embodiment. [Figure 6] FIG. 3 is a diagram showing an example of an abnormality determination database according to the first embodiment. [Figure 7] FIG. 10 is a configuration diagram of an anomaly detection system according to a second embodiment. [Figure 8] FIG. 11 is a diagram illustrating an example of a reflection rate in the second embodiment. [Figure 9] FIG. 10 is a diagram showing an example of a change in radio wave intensity when the previous determination was normal in the second embodiment. [Figure 10] 10 is a flowchart showing control of abnormality detection in the second embodiment. [Figure 11] 10 is a flowchart showing control of transmission of an abnormal operation occurrence signal in the second embodiment. [Figure 12] 10 is a flowchart showing a process for receiving an abnormal operation occurrence signal and a process for updating an abnormality determination database in the second embodiment. [Figure 13] 10 is a flowchart showing a calculation process of an updated reference value in the second embodiment. [Figure 14] FIG. 11 is a configuration diagram of a building server according to a third embodiment. [Figure 15] 11 is a flowchart showing control of abnormality detection in the third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] Embodiments of an anomaly detection system, an anomaly detection device, and a building facilities management device according to the present disclosure will be described with reference to the accompanying drawings. In each drawing, identical or corresponding parts are designated by the same reference numerals, and redundant explanations are appropriately simplified or omitted. For convenience, the following description may express the positional relationship of each structure based on the illustrated state. Note that the present disclosure is not limited to the following embodiments, and any combination of the embodiments, any modification of any component of each embodiment, or any omission of any component of each embodiment are possible within the scope of the present disclosure.

[0012] Embodiment 1 A robot movement system 200 equipped with an anomaly detection system 100 according to the first embodiment will be described below with reference to the drawings. Note that the same reference numerals in the various drawings represent the same or equivalent configurations and steps. First, an overview of the configuration and operation of the robot movement system 200 will be described with reference to FIG. 1. FIG. 1 is a diagram showing the robot movement system 200 equipped with the anomaly detection system 100 according to the first embodiment.

[0013] An overview of the configuration will be described. The robot movement system 200 is a system that manages the movement of the robot 30. The robot movement system 200 includes an anomaly detection system 100 and a robot 30. In this embodiment, the robot movement system 200 manages a plurality of robots 30.

[0014] The multiple robots 30 are grouped in advance. In other words, each of the multiple robots 30 belongs to one or more groups that have been set in advance. For example, the multiple robots 30 are grouped by their model. That is, robots 30 of the same model belong to the same group. Also, robots 30 of different models belong to different groups. That is, one group is set for each model. Note that robots 30 of different models may also belong to the same group. Also, the robots 30 may be grouped based on information other than the model of the robot 30. For another example, the robots 30 may be grouped based on specific specification information, specifically, for example, information on the movement speed of the robot 30 (rated speed, etc.).

[0015] The anomaly detection system 100 includes a first system 101 and a second system 102. The first system 101 is a system that includes a building server 10, which is a building facilities management device that will be described later. The second system 102 is a system that includes an anomaly detection device 20 that will be described later. Therefore, the anomaly detection system 100 includes the building server 10 and the anomaly detection device 20.

[0016] The first system 101 is a system for controlling building facilities. The first system 101 includes a building server 10, a robot server 50, an elevator control device 60, an access control 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 each of the robot server 50, the elevator control device 60, and the access control system 70 so that they can communicate with each other via wired or wireless communication. The building server 10 manages the exchange of data between these components.

[0017] The second system 102 is a system that detects an abnormality in the robot 30. The second system 102 includes an abnormality detection device 20, an alarm transmission device 80, and a second antenna 40. The second antenna 40 is connected to the abnormality detection device 20.

[0018] The robot 30 is a self-propelled robot that travels autonomously within a building. The robot 30 is equipped with a first communication device 31 and a transmitting device 32. The first communication device 31 is a communication device that transmits and receives data to and from a second communication device 51 via wireless communication, thereby exchanging information necessary for managing the movement of the robot 30 and other information between the first system 101 and the robot 30.

[0019] The transmitting device 32 is a device that transmits radio waves different from the anomaly detection device 20. The transmitting device 32 in this embodiment transmits radio waves including identification information of the robot 30. More specifically, the transmitting device 32 is, for example, an RFID (Radio Frequency Identifier) ​​tag. Note that the transmitting device 32 is not limited to an RFID tag as long as the anomaly detection device 20, which will be described later, can measure radio wave intensity. The transmitting device 32 may also be, for example, a BLE (Bluetooth (registered trademark) Low Energy) tag. Furthermore, the robot 30 may be provided with a transmitting / receiving device capable of transmitting and receiving radio waves as the transmitting device 32.

[0020] In this embodiment, radio waves transmitted by transmitting device 32 are received by first antenna 71 and second antenna 40. First antenna 71 is an antenna provided in access control system 70. Second antenna 40 is an antenna device provided inside elevator car 61 controlled by elevator control device 60.

[0021] An overview of the operation will now be described. In the robot movement system 200, communication between the robot 30 and building facilities is performed via the building server 10 and the robot server 50. The robot server 50 is a server that manages the robot 30. For example, when the robot 30 calls an elevator car 61 to move between floors, the robot 30 transmits a hall call command from the first communication device 31 to the second communication device 51. The hall call command is a command to call the car 61 from the hall. The second communication device 51 transmits the command to the robot server 50. The robot server 50 then transmits the command to the building server 10. The building server 10 then transmits the command to the elevator control device 60. Having received the hall call command from the robot 30 in this way, the elevator control device 60 registers the call based on the command. The elevator control device 60 then transmits information to the building server 10, including the car number and arrival time of the car 61 assigned to the hall call. 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.

[0022] When the building server 10 receives information including the car number and arrival time of the car 61 assigned to the hall call from the elevator control device 60, the building server 10 transmits a trigger signal to the abnormality detection device 20 based on the operating status of the building facilities. That is, 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 facilities, that is, the car 61 is moving to the floor where the hall call by the robot 30 was made.

[0023] In this embodiment, the trigger signal includes information indicating the type of operating status of the building equipment, information specifying the second antenna 40 that is expected to receive the radio waves transmitted by the transmitting device 32 due to the operation of the robot 30, and information specifying the time at which the second antenna 40 is expected to receive the radio waves transmitted by the transmitting device 32.

[0024] In this embodiment, the trigger signal further includes robot information. Robot information in this disclosure is information that can identify the aforementioned group to which the robot 30 belongs. The robot information may include information that can identify the robot 30 that performs the action. For example, each robot is assigned a robot 30 in advance. The robot 30 is robot identification information that can uniquely identify each robot 30. Information that can identify the robot 30 is, for example, this robot 30.

[0025] The information that can identify the group to which the robot 30 belongs may be information that can directly identify the group, or information that can indirectly identify the group. For example, a group ID is assigned to each group in advance. The group ID is group identification information that can uniquely identify each group. An example of information that can directly identify the group is the group ID itself. An example of information that can indirectly identify the group is information that can identify the robot 30, i.e., the robot 30. In this case, the robot 30 is associated in advance with the group ID of the group to which the robot 30 belongs. The association between the robot 30 and the group ID is stored in advance, for example, in the detection device storage unit 22. Then, by referring to this association, the group ID of the group to which the robot 30 belongs can be identified from the robot 30.

[0026] When the building equipment responds to a hall call made by the robot 30, the information contained in the trigger signal specifically includes information indicating that the response is to a hall call made by the robot 30, identification information of the robot 30 that made the hall call, information on the car 61 assigned to the hall call, and information on the arrival time of the car 61. Note that the information in the robot information contained in the trigger signal that can identify the robot 30 may be the same as or different from the identification information contained in the radio waves transmitted from the transmitter 32 of the robot 30. In addition, in this explanation, the arrival time of the car 61 refers to the time when the car 61 arrives at the floor where the hall call was made and opens its doors.

[0027] Upon receiving the trigger signal, the anomaly detection device 20 predicts a time series change in the radio wave intensity of the radio waves that are expected to be received by the second antenna 40, based on information indicating the type of operating status of the building facilities included in the trigger signal, the robot information, and the time when the second antenna 40 is expected to receive the radio waves transmitted by the transmitting device 32, and specifies the predicted radio wave intensity. The anomaly detection device 20 also acquires radio waves received from the identified second antenna 40 based on information included in the trigger signal that identifies the second antenna 40 that is expected to receive the radio waves transmitted by the transmitting device 32 due to the movement of the robot 30. The anomaly detection device 20 then detects an anomaly by comparing the time series change in the radio wave intensity of the radio waves actually received by the identified second antenna 40 with the predicted radio wave intensity.

[0028] As described above, it is possible to determine whether there is an abnormality in the robot 30 based on the radio wave intensity of the radio waves transmitted by the transmitter 32 mounted on the robot 30. Specifically, for example, when the door of the car 61 opens at a platform where the robot 30 makes a platform call and the robot 30 gets on, it is expected that the radio wave intensity of the radio waves received by the second antenna 40 provided in the car 61 will become stronger over time, but if there is almost no change in the actually received radio wave intensity, it is possible to determine that there is an abnormality in that the robot 30 is not moving.

[0029] Next, the configuration of the anomaly detection system 100 will be described in detail with reference to Fig. 2. Fig. 2 is a configuration diagram of the anomaly detection system 100.

[0030] In this embodiment, the anomaly detection system 100 includes the first system 101 and the second system 102 already described. The first system 101 includes a building server 10, a robot server 50, an elevator control device 60, an access control system 70, and a second communication device 51. The second system 102 includes an anomaly detection device 20, an alarm transmission device 80, and a second antenna 40.

[0031] First, a description will be given of the configuration of the first system 101. A building server 10, which is a building facilities management device, includes a building server processor 11, a building server storage unit 12, and a building server interface 13.

[0032] The building server processor 11 is a CPU (Central Processing Unit) and may be a central processing unit, processing unit, arithmetic 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 realized by the cooperation of hardware such as the CPU and software. The software is written as a program and stored, for example, in the building server storage unit 12 or in a memory (not shown) provided in the building server 10. The building server processor 11 realizes each function of the building server processor 11 by reading and executing the stored program.

[0033] The building server processor 11 includes, as its functions, a building server control unit 11a, a trigger signal transmission unit 11b, and a monitoring unit 11c. The building server processor 11 also includes a software module that controls the entire building server 10.

[0034] The trigger signal transmitter 11b includes a software module that transmits a trigger signal based on the operating status of the building facilities. Specifically, the trigger signal transmitter 11b includes a software module that determines whether the building facilities that will trigger the trigger are operating, a software module that generates a trigger signal, and a software module that transmits the trigger signal.

[0035] The monitoring unit 11c includes a software module that acquires the operating status of the robot 30 from the robot server 50.

[0036] The building server storage unit 12 is a storage device configured with either or both of nonvolatile memory and volatile memory. Specific examples of the building server storage unit 12 include nonvolatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, and EEPROM, as well as magnetic disks, flexible disks, optical disks, compact disks, minidisks, and DVDs. 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.

[0037] The building server interface 13 has terminals for electrical lines for connection to the robot server 50, elevator control device 60, access control system 70, and anomaly detection device 20. The building server interface 13 may also be a wireless communication device and connected to other components via wireless communication.

[0038] The robot server 50 is a server device that manages the robots 30 that move within a building. The robot server 50 is connected to the building server 10 and one or more second communication devices 51 installed in the building so that they can communicate with each other via wired or wireless communication. The robot server 50 mediates the exchange of information between the robots 30 and the building server 10. That is, when a request for building facilities is transmitted from the robot 30, the robot server 50 transmits the request to the building server 10. Furthermore, when a request for the robot 30 is transmitted from the building server 10, the robot server 50 transmits the request to the robot 30. Furthermore, the robot server 50 may also coordinate the movements of multiple robots 30. In this embodiment, the robot server 50 is a server that is managed by an administrator different from the administrator of the building server 10. Furthermore, multiple robot servers 50 may be provided.

[0039] The second communication device 51 is a communication device that transmits and receives information via wireless communication with the first communication device 31 mounted on the robot 30. In this embodiment, one second communication device 51 is installed in a building, and communication is possible at all times wherever the robot 30 is located in the building. Note that multiple second communication devices 51 may be installed in a building, like the second antenna 40 described later, and may transmit and receive information when the robot 30 passes nearby.

[0040] The elevator control device 60 is a control device that 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 a hall operating panel and a car operating panel (not shown), the robot server 50, and the building server 10. In this embodiment, the elevator control device 60 also functions as a group control device that assigns hall calls from a person or the robot 30 to multiple cars 61. In this embodiment, when a hall call is made from the robot 30, the elevator control device 60 transmits to the building server 10 the car number of the car 61 assigned to the hall call and the time at which the car 61 will arrive at the floor where the hall call was made.

[0041] The access control system 70 includes a first antenna 71 installed at a gate inside a building. The access control system 70 receives radio waves transmitted from the transmitter 32 of the robot 30 via the first antenna 71, and opens the gate if the identification information contained in the radio waves is identification information that allows the robot 30 to pass through a preset gate. The access control system 70 opens the gate when the first antenna 71 receives radio waves from the transmitter 32 of the robot 30 after a passage request is transmitted from the robot 30 via the robot server 50 and the building server 10. In this embodiment, the access control system 70 records the entry and exit of the robot 30 based on the identification information contained in the radio waves received by the first antenna 71. In this embodiment, the first antenna 71 is the same as the second antenna 40, which will be described later.

[0042] Next, a description will be given of the configuration of the second system 102. The abnormality detection device 20 includes a detection device processor 21, a detection device storage unit 22, and a detection device interface .

[0043] The detection device processor 21 is a CPU, and may also be a central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, or 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 by the cooperation of hardware such as a CPU and software. The software is written as a program and is stored, for example, in the detection device storage unit 22 or in a memory (not shown) provided in the anomaly detection device 20. The detection device processor 21 realizes each function of the detection device processor 21 by reading and executing the stored program.

[0044] 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 an alarm issuing unit 21e. The detection device processor 21 also includes a software module that controls the entire anomaly detection device 20.

[0045] The trigger signal receiving unit 21b is equipped with a software module that receives a trigger signal transmitted from the building server 10. As described above, the trigger signal includes robot information. The robot information is information that can identify the group to which the robot 30 belongs. Therefore, the trigger signal receiving unit 21b in the configuration example described here receives the trigger signal transmitted by the trigger signal transmitting unit 11b, and also functions as a robot information acquiring unit that acquires robot information that can identify the group to which the robot 30 belongs.

[0046] Note that the robot information acquisition unit is not limited to acquiring robot information using a trigger signal. Alternatively, for example, information capable of identifying the group to which the robot 30 belongs, such as a two-dimensional barcode representing the group ID described above, may be printed or displayed on the surface of the robot 30, and the two-dimensional barcode on the surface of the robot 30 may be read by, for example, a camera, to acquire the robot information. Furthermore, if each group of robots 30 has different appearance characteristics (for example, if the robots 30 are grouped by model and each model has a different appearance), the model of the robot 30 may be identified by applying image recognition processing to an image of the robot 30 taken by a camera, etc., and this model information may be acquired as robot information capable of identifying the group to which the robot 30 belongs.

[0047] The acquisition unit 21c includes a software module that identifies the time and second antenna 40 at which radio waves are expected to be received, and a software module that acquires the radio waves received by the second antenna 40 at the identified time from the identified second antenna 40.

[0048] The determination unit 21d includes a software module that determines whether or not there is an abnormality in 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 acquired by the acquiring unit 21c.

[0049] The alarm issuing unit 21e includes a software module that sends a command to issue an alarm to an alarm issuing device 80, which will be described later, when the determining unit 21d determines that an abnormality has occurred.

[0050] The detection device storage unit 22 is a storage device configured with either or both of nonvolatile memory and volatile memory. Specific examples of the detection device storage unit 22 include nonvolatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, and EEPROM, as well as magnetic disks, flexible disks, optical disks, compact disks, minidisks, and DVDs. The detection device storage unit 22 stores an anomaly 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.

[0051] The detection device interface 23 is provided with terminals for electrical wires for connection to the second antenna 40 and the alarm device 80. The detection device interface 23 may also be a wireless communication device and connected to other components via wireless communication.

[0052] 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 is also simply referred to as the second antenna 40.

[0053] The second antenna 40 receives radio waves transmitted from the transmitting device 32. Specifically, the radio waves transmitted from the transmitting device 32 are, for example, long-wave LF (Long Frequency) radio waves. In this case, the second antenna 40 is an LF antenna.

[0054] The alarm issuing device 80 is a device that issues an alarm in accordance with a command transmitted from the alarm issuing unit 21e. Specifically, the alarm issuing device 80 in this embodiment is a speaker device. Note that the alarm issuing device 80 may be any device that can issue an alarm, and may also be, for example, a monitor, a lamp, or the like.

[0055] Next, the operation of this embodiment will be described with reference to Figures 3 to 5. Figure 3 is a flowchart showing the control of the robot 30's response to a hall call by the building server control unit 11a of the building server 10.

[0056] In step S11, the building server control unit 11a waits for the robot 30 to make a hall call via the robot server 50. The building server control unit 11a repeats step S11 until a hall call is received, and if a hall call is received, the process proceeds to step S12. The building server control unit 11a also stores information that can identify the robot 30 that made the hall call, specifically the identification number or robot 30, in the building server storage unit 12. Note that if the hall call made by the robot 30 at this time is fraudulent, the building server control unit 11a may repeat step S11 without proceeding to step S12.

[0057] In step S12, the building server control unit 11a transmits the hall call made by the robot 30 to the elevator control device 60. Specifically, the building server control unit 11a transmits information about the floor on which the robot 30 made the hall 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, it may transmit this information to the elevator control device 60. Furthermore, if the weight of the robot 30 or the like is to be used in assigning the elevator control device 60, this information may also be transmitted.

[0058] In step S13, the building server control unit 11a receives from the elevator control unit 60 the car number and arrival time of the car 61 assigned to the hall call, which are transmitted from the elevator control unit 60. Then, the building server control unit 11a stores the received car number and arrival time of the car 61 in the building server storage unit 12, and proceeds to step S14.

[0059] In step S14, the building server control unit 11a transmits the car number and arrival time of the car 61 assigned to the hall call to the robot 30 via the robot server 50. Then, the building server control unit 11a returns the process to step S11.

[0060] Next, the operation of the trigger signal transmitting unit 11b will be described with reference to Fig. 4. Fig. 4 is a flowchart showing trigger signal transmission control by the trigger signal transmitting unit 11b.

[0061] In step S21, the trigger signal transmitter 11b waits for the operation of a building facility that will serve as a trigger. If the operation of the building facility that will serve as a trigger occurs, the trigger signal transmitter 11b advances the process to step S22.

[0062] In this embodiment, one of the building facility operations that can serve as a trigger is the robot 30 of the elevator control device 60 responding to a hall call. For example, the trigger signal transmitter 11b processes whether or not the building server control unit 11a has processed step S13 as a flag, and if step S13 has been processed, the process proceeds to step S22. In the following explanation, the robot 30 of the elevator control device 60 responding to a hall call is described as the building facility operation, but other building facility operations may also serve as a trigger.

[0063] In step S22, the trigger signal transmitter 11b generates a trigger signal and proceeds to step S23. The trigger signal includes information indicating the type of operation status of the building facility, the robot information, information specifying the second antenna 40 that is expected to receive the radio waves transmitted by the transmitting device 32 due to the operation of the robot 30, and information specifying the time when the second antenna 40 is expected to receive the radio waves transmitted by the transmitting device 32.

[0064] Specifically, the trigger signal transmitter 11b identifies information indicating the type of operating status of the building facility based on the operation of the building facility processed as a flag in step S21. In this description, the information indicating the type of operating status of the building facility is information indicating that the response is to a hall call from the robot 30. The trigger signal transmitter 11b also identifies information that can identify the robot 30 performing the action based on the identification information of the robot 30 that made the hall call stored in the building server storage unit 12 by the building server control unit 11a in step S11. The trigger signal transmitter 11b then identifies information that identifies the second antenna 40 that is expected to receive radio waves transmitted from the transmitting device 32 due to the operation of the robot 30 and information that identifies the time at which the second antenna 40 is expected to receive the radio waves transmitted from the transmitting device 32, based on the car number and arrival time of the car 61 assigned to the hall call stored in the building server storage unit 12 by the building server control unit 11a in step S14. A signal including these pieces of information is then temporarily stored in the building server storage unit 12 as a trigger signal.

[0065] In step S23, the trigger signal transmitter 11b transmits the trigger signal generated in step S22 to the abnormality detection device 20, and the process returns to step S21.

[0066] Next, the operation of the anomaly detection device 20 will be described with reference to Fig. 5. Fig. 5 is a flowchart showing the control of anomaly detection by the anomaly detection device 20.

[0067] In step S31, the trigger signal receiving unit 21b waits for a trigger signal. When a trigger signal is transmitted from the building server 10, the trigger signal receiving unit 21b receives the trigger signal via the detection device interface 23. Then, the trigger signal receiving unit 21b stores information included in the received trigger signal in the detection device storage unit 22, and the process proceeds to step S32.

[0068] In step S32, the acquisition unit 21c acquires the radio waves transmitted by the transmitting device 32 of the robot 30 from the second antenna 40, and proceeds to step S33. Specifically, the acquisition unit 21c identifies the second antenna 40 and the time based on information that identifies the second antenna 40 that is expected to receive the radio waves transmitted by the transmitting device 32 due to the movement of the robot 30, which information was stored in the detection device storage unit 22 by the trigger signal receiving unit 21b in step S21, and information that identifies the time that the second antenna 40 is expected to receive the radio waves transmitted by the transmitting device 32.

[0069] In the configuration example described here, the trigger signal includes information on the arrival time of the car 61 of the car assigned to the hall call. The acquisition unit 21c identifies the second antenna 40 installed in the car 61 of the car from a database pre-stored in the detection device storage unit 22, based on the car assigned to the hall call. Then, during the period from the arrival time of the car 61, that is, the time when the car 61 arrives at the hall and opens its door until a predetermined time has elapsed, the acquisition unit 21c acquires information on the radio wave intensity of the radio waves received by the second antenna 40 from the second antenna 40 via the detection device interface 23, and stores the information in the detection device storage unit 22.

[0070] At this time, the acquisition unit 21c refers to information identifying the robot 30 performing the action of the robot information included in the trigger signal, and stores information on the radio wave intensity of the radio waves emitted by the robot 30 performing the action in the detection device storage unit 22. Specifically, it refers to identification information included in the trigger signal, and stores information on the radio wave intensity of radio waves including the same identification information in the detection device storage unit 22. Note that, in the description of the present disclosure, acquiring radio waves includes acquiring information on the radio wave intensity of radio waves received by the second antenna 40 as in this embodiment. For example, RSSI (Received Signal Strength Indicator) or the like may be used as the information on the radio wave intensity.

[0071] In step S33, the determination unit 21d identifies the expected radio wave intensity corresponding to the trigger signal based on the trigger signal received by the trigger signal receiving unit 21b, and proceeds to step S34. Specifically, the determination unit 21d refers to the information indicating the type of operating status of the building facility and the robot information, which are included in the trigger signal, and identifies the expected radio wave intensity corresponding to the trigger signal from the abnormality determination database 90 shown in FIG.

[0072] The abnormality determination database 90 is a database that stores, in association with each other, operation type information 91 indicating the type of operation status of the building facility, predicted radio wave intensity information 92 indicating the predicted radio wave intensity corresponding to the trigger signal, and abnormality determination information 93 indicating the result of the abnormality determination. In this embodiment, the predicted radio wave intensity information 92 is set in advance for each group to which the robot 30 belongs. The group to which the robot 30 belongs is identified by the above-mentioned group ID, i.e., group identification information 92a. Therefore, as shown in FIG. 6, the predicted radio wave intensity information 92 is set for each group identification information 92a.

[0073] The determination unit 21d compares information indicating the type of operation status of the building facility, which is included in the trigger signal, with the operation type information 91, and further compares the robot information included in the trigger signal with the group identification information 92a to identify, from the abnormality determination database 90, predicted radio wave strength information 92 that is associated with the matching operation type information 91 and the matching group identification information 92a. The determination unit 21d then compares the predicted radio wave strength information 92 with the information on the actual radio wave strength stored in the detection device storage unit 22 by the acquisition unit 21c in step S32. The determination unit 21d determines an abnormality in the robot 30 based on the abnormality determination information 93 that corresponds to the predicted radio wave strength information 92 to which the actual radio wave strength corresponds. In the configuration example described here, the determination unit 21d determines the type of abnormality in addition to the presence or absence of an abnormality.

[0074] In the example described here, the information indicating the type of operation status of the building facilities indicates that the robot 30 is responding to a hall call, and therefore the operation type information 91 corresponds to "hearing hall call response" in FIG. 6. According to FIG. 6, the predicted radio wave intensity information 92 associated therewith and the corresponding abnormality determination information 93 indicate that for a robot 30 belonging to a group with a group ID of "1," if the time-series change in radio wave intensity is "greater than -4 and equal to or less than 4," it is determined that "the robot 30 is abnormal and stopped." Furthermore, if the time-series change in radio wave intensity is "greater than 4 and equal to or less than 12," it is determined that "the robot 30 is abnormal and experiencing an obstacle to movement," if the time-series change in radio wave intensity is "greater than 12 and equal to or less than 40," it is determined that "the robot 30 is normal," and if the time-series change in radio wave intensity is "equal to or less than -4 or greater than 40," it is determined that "the robot 30 is abnormal and running out of control."

[0075] The figure also shows that for a robot 30 belonging to a group with a group ID of "2," if the time series change in radio wave strength is "greater than -6 and equal to or less than 6," it is determined that "the robot 30 is abnormal and has stopped." It also shows that if the time series change in radio wave strength is "greater than 6 and equal to or less than 18," it is determined that "the robot 30 is abnormal and is experiencing obstacles to its movement," if the time series change in radio wave strength is "greater than 18 and equal to or less than 45," it is determined that "the robot 30 is normal," and if the time series change in radio wave strength is "equal to or less than -6 or greater than 45," it is determined that "the robot 30 is abnormal and is running out of control."

[0076] Furthermore, the same figure shows that for robots 30 belonging to groups other than those with group IDs "1" and "2," if the time series change in radio wave strength is "greater than -3 and less than or equal to 3," it is determined that "the robot 30 is abnormal and has stopped." It also shows that if the time series change in radio wave strength is "greater than 3 and less than or equal to 10," it is determined that "the robot 30 is abnormal and is experiencing obstacles to its movement," if the time series change in radio wave strength is "greater than 10 and less than or equal to 30," it is determined that "the robot 30 is normal," and if the time series change in radio wave strength is "less than -3 or greater than 30," it is determined that "the robot 30 is abnormal and is running out of control."

[0077] In step S34, the determination unit 21d determines whether there is an abnormality in the robot 30 based on the trigger signal received by the trigger signal receiving unit 21b and the radio wave intensity of the radio waves acquired by the acquisition unit 21c. If the determination unit 21d determines that there is an abnormality, 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 there is an abnormality in the robot 30 by comparing the expected radio wave intensity information 92 identified from the trigger signal in step S33 with the radio wave intensity of the radio waves acquired by the acquisition unit 21c.

[0078] The determination unit 21d calculates the difference between the maximum and minimum values ​​of the radio wave intensity information stored in the detection device storage unit 22 by the acquisition unit 21c as a time-series change in radio wave intensity, and compares this with the threshold value information stored as predicted radio wave intensity information 92 to determine whether there is an abnormality in the robot 30. If there is an abnormality in the robot 30, the determination unit 21d stores the type of abnormality in the detection device storage unit 22 and proceeds to step S35.

[0079] In this embodiment, the predicted radio wave strength is threshold information indicating the magnitude of time-series changes in radio wave strength at a predetermined time. Note that the predicted radio wave strength is not limited to this, and may be the maximum or minimum value of radio wave strength, or the number of peaks in time-series changes in radio wave strength. The predicted radio wave strength may also be the radio wave strength at which a normality determination is made. In this case, the determination unit 21d may make an abnormality determination based on the difference from the predicted radio wave strength.

[0080] In step S35, the alarm issuing unit 21e outputs a command to the alarm issuing device 80 to issue an alarm, and the process returns to step S31. Specifically, the alarm issuing unit 21e transmits a command to the alarm issuing device 80, including information on the type of abnormality that the determination unit 21d stored in the detection device storage unit 22 in step S34. Upon receiving the command, the alarm issuing device 80 outputs from a speaker a message indicating that an abnormality in the robot 30 has been detected. The message at this time may be different depending on the information on the type of abnormality included in the alarm issuing command.

[0081] As described above, according to this embodiment, it is possible to determine whether or not there is an abnormality in the robot 30 based on the radio wave intensity of the radio waves transmitted by the transmitter 32 mounted on the robot 30. In this case, by acquiring robot information that can identify the group to which the robot 30 belongs and determining whether or not there is an abnormality in the robot 30 based on the trigger signal, the radio wave intensity, and the robot information, it is possible to set an abnormality determination threshold for each group to which the robot 30 belongs, and it is possible to improve the accuracy of determining whether or not there is an abnormality in the robot 30 even when the robot movement system 200 manages robots 30 of different models, different manufacturers, different specifications, etc.

[0082] In this embodiment, an abnormality is determined when a trigger signal is sent to the anomaly detection device 20, which reduces the load on the device compared to when an abnormality determination is always performed. Also, the trigger signal clarifies the expected radio wave strength, which serves as an index for determining whether the acquired radio wave strength is normal, allowing for accurate abnormality determination. Furthermore, it also clarifies the timing at which the radio wave strength should be obtained.

[0083] Compared to an anomaly detection device that constantly acquires radio wave intensity and determines whether an anomaly exists, this embodiment is particularly useful in that it can detect anomalies other than runaway. Even in an anomaly detection device that constantly acquires radio wave intensity and determines whether an anomaly exists, it is possible to detect a sudden change in radio wave intensity and determine an anomaly when the robot 30 moves at a speed that would not be detected by a normal robot 30. Furthermore, a normal robot 30 may stop or move at a slower speed than normal. Therefore, even if a robot 30 with constant or gradual changes in radio wave intensity received by the second antenna 40 is detected, it is difficult to immediately determine that an anomaly exists. In contrast, according to this embodiment, the expected radio wave intensity is specified by the trigger signal, so an anomaly can be determined when a predetermined time series change that is normal to the change in radio wave intensity is not detected.

[0084] According to this embodiment, the trigger signal contains information for identifying the robot 30, so that an abnormality in a specific robot 30 can be determined even in an environment where multiple robots 30 are running.

[0085] According to this embodiment, the trigger signal contains information that identifies the second antenna 40 that is expected to receive the radio waves transmitted by the transmitter 32 due to the movement of the robot 30, so that abnormalities in the robot 30 can be determined using second antennas 40 installed in multiple locations.

[0086] In this embodiment, the first antenna 71 of the entry / exit control system 70 and the second antenna 40 are similar, so the first antenna 71 of the entry / exit control system 70 can be used.

[0087] Furthermore, by outputting a command to the alarm device 80, an alarm is issued, so that an abnormality in the robot 30 can be notified to the facility manager, enabling early action to be taken.

[0088] In this embodiment, since the second antenna 40 is installed inside the car 61, it is possible to determine whether there is an abnormality in the riding operation of the robot 30 in the car 61.

[0089] Embodiment 2 The second embodiment described here is configured in the same manner as the first embodiment, except that the anomaly determination database 90 can be dynamically updated during system operation. The following describes the anomaly detection system according to the second embodiment, focusing on the differences from the first embodiment. Configurations whose description is omitted are basically the same as those in the first embodiment. In the following description, configurations that are the same as or correspond to those in the first embodiment will be generally denoted by the same reference numerals as those used in the description of the first embodiment.

[0090] The configuration of this embodiment will be described using Figure 7. Figure 7 is a configuration diagram of an anomaly detection system 100 in this embodiment. In this embodiment, the configuration of a building server 10, which is a building facilities management device, is the same as in embodiment 1. Similarly to embodiment 1, the configuration of an anomaly detection device 20 in this embodiment also includes a building server processor 11, a building server storage unit 12, and a building server interface 13. As described above, the building server storage unit 12 stores the anomaly determination database 90. The anomaly determination database 90 is data in which predicted radio wave intensity is associated with trigger signals and robot information. In this way, the building server storage unit 12 is an example of a storage unit that stores predicted radio wave intensity corresponding to trigger signals and robot information.

[0091] In this embodiment, anomaly 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 of building facilities. The hands-free tag 110 may also be, for example, an RFID tag provided as a transmitter 32 on a robot 30. 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 abnormal operation occurrence signal and transmits radio waves including the generated abnormal operation occurrence signal.

[0092] 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 receives an abnormal operation occurrence signal included in the radio waves received by the third antenna 121. The hands-free tag receiver 120 can communicate with the anomaly detection device 20 via a wired or wireless connection. In the illustrated example, the tag receiving unit 122 of the hands-free tag receiver 120 and the detection device processor 21 of the anomaly detection device 20 communicate directly, but the hands-free tag receiver 120 may also communicate with the detection device processor 21 via a 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 anomaly detection device 20.

[0093] In this embodiment, detection device processor 21 further includes, as its functions, abnormal operation occurrence signal receiver 21f and update unit 21g in addition to detection device control unit 21a, trigger signal receiver 21b, acquisition unit 21c, determination unit 21d, and alarm transmission unit 21e. Abnormal operation occurrence signal receiver 21f includes a software module that receives the abnormal operation occurrence signal transmitted from hands-free tag receiver 120. That is, abnormal operation occurrence signal receiver 21f receives the abnormal operation occurrence signal transmitted from hands-free tag 110 via hands-free tag receiver 120.

[0094] The update unit 21g includes a software module that uses the radio wave intensity acquired by the acquisition unit 21c to update the expected radio wave intensity information 92 in the abnormality determination database 90 stored in the detection device storage unit 22. When the abnormal operation occurrence signal receiving unit 21f receives an abnormal operation occurrence signal, the update unit 21g uses the radio wave intensity acquired by the acquisition unit 21c to update the expected radio wave intensity information 92 in the abnormality determination database 90 stored in the detection device storage unit 22.

[0095] In this embodiment, the detection device storage unit 22 further stores a reflection rate and the radio wave strength at the time of the previous normal judgment. The reflection rate is a ratio that indicates to what extent the radio wave strength acquired by the acquisition unit 21c is reflected in the current predicted radio wave strength in the abnormality judgment database 90 when updating the predicted radio wave strength information 92 in the abnormality judgment database 90. The reflection rate is set in advance for each group of robots 30, for example. An example of the reflection rate is shown in FIG. 8. In the example shown in the figure, the reflection rate is expressed as a percentage (%). The reflection rate is set to the same 50% for all groups. A different reflection rate may also be used for each group.

[0096] When the determination unit 21d determines that there is no abnormality in the robot 30 in determining whether there is an abnormality in the robot 30 based on the trigger signal received by the trigger signal receiving unit 21b and the radio wave intensity of the radio waves acquired by the acquiring unit 21c, the determination unit 21d stores the radio wave intensity of the radio waves acquired by the acquiring unit 21c used in this determination as the radio wave intensity at the time of the previous normal determination in the detection device storage unit 22. Figure 9 shows an example of the change in radio wave intensity at the time of the previous normal determination, which is stored in the detection device storage unit 22. As shown in the figure, the change in radio wave intensity at the time of the previous normal determination is stored for each group of the robot 30.

[0097] In the anomaly detection system 100 configured as described above, when a maintenance worker visually or otherwise confirms an abnormality in the robot 30, the maintenance worker presses the button 111 on the hands-free tag 110 that the maintenance worker carries, or the button 111 on the hands-free tag 110 that is provided as a transmitter 32 on the robot 30. In response, the tag transmitter 112 of the hands-free tag 110 generates an abnormal operation occurrence signal and transmits radio waves including the generated abnormal operation occurrence signal.

[0098] The radio waves transmitted from hands-free tag 110 are received by third antenna 121 of hands-free tag receiver 120. Tag receiving unit 122 of hands-free tag receiver 120 receives the abnormal operation occurrence signal contained in the radio waves received by third antenna 121. Then, hands-free tag receiver 120 transmits the abnormal operation occurrence signal received by tag receiving unit 122 to anomaly detection device 20.

[0099] Abnormal operation occurrence signal receiving unit 21f of abnormality detection device 20 receives the abnormal operation occurrence signal transmitted from hands-free tag 110 via hands-free tag receiver 120. When abnormal operation occurrence signal receiving unit 21f receives the abnormal operation occurrence signal, update unit 21g updates expected radio wave intensity information 92 in abnormality determination database 90 stored in detection device storage unit 22. At this time, update unit 21g updates expected radio wave intensity information 92 in abnormality determination database 90 using the reflection rate stored in detection device storage unit 22 and the radio wave intensity at the time of the previous normal determination.

[0100] Specifically, the update unit 21g updates the reference upper limit value and reference lower limit value of the predicted radio wave intensity information 92 at which the abnormality determination information 93 becomes "normal." In the following description, the reference upper limit value and reference lower limit value of the predicted radio wave intensity information 92 at which the abnormality determination information 93 becomes "normal" are simply referred to as the "reference upper limit value" and the "reference lower limit value," respectively. In addition, the radio wave intensity at the time of the previous normal determination, which is stored in the detection device storage unit 22, is referred to as the "previous radio wave intensity."

[0101] First, the update unit 21g determines whether the previous radio wave intensity is closer to the reference upper limit or the reference lower limit. That is, since the previous radio wave intensity is the radio wave intensity when it was determined that there was no abnormality in the robot 30, the previous radio wave intensity is within the range from the reference lower limit to the reference upper limit. Therefore, the update unit 21g compares (reference upper limit - previous radio wave intensity) with (previous radio wave intensity - reference lower limit). Then, if (reference upper limit - previous radio wave intensity) is equal to or greater than (previous radio wave intensity - reference lower limit), the update unit 21g calculates the updated reference upper limit and reference lower limit using the following formulas (1) and (2), respectively. As is clear from formula (2), in this case, the reference lower limit is not updated but remains unchanged.

[0102] Updated standard upper limit value = pre-update standard upper limit value - (pre-update standard upper limit value - previous signal strength) × reflection rate (1) Updated reference lower limit value = Previous reference lower limit value (2)

[0103] On the other hand, if (reference upper limit value - previous radio wave strength) is less than (previous radio wave strength - reference lower limit value), the update unit 21g calculates the updated reference upper limit value and reference lower limit value using the following equations (3) and (4), respectively. As is clear from equation (3), in this case, the reference upper limit value is not updated but remains unchanged.

[0104] Upper limit value after update = Upper limit value before update (3) Updated reference lower limit value = Previous reference lower limit value + (Previous signal strength - Previous reference lower limit value) × Reflection rate (4)

[0105] In this way, if a maintenance worker visually confirms an abnormality in the robot 30 even though it has been determined that there is no abnormality in the robot 30, the reference lower limit value or reference upper limit value is updated so as to narrow the range of radio wave strength within which it is determined that there is no abnormality in the robot 30. This makes it possible to dynamically update the predicted radio wave strength information 92 in the abnormality determination database 90 without stopping the system, thereby improving the accuracy of determining an abnormality in the robot 30.

[0106] Next, the operation of this embodiment will be described with reference to Figures 10 to 13. Figure 10 is a flowchart showing the control of abnormality detection by the abnormality detection device 20.

[0107] In steps S31a to S35a, trigger signal receiving unit 21b, acquisition unit 21c, determination unit 21d, and alarm issuing unit 21e perform the same processes as in steps S31 to S35 in embodiment 1. However, while in embodiment 1 the process returns to step S31 if determination unit 21d determines that no abnormality exists in step S34, in this embodiment the process proceeds to step S5 if determination unit 21d determines that no abnormality exists in step S34a.

[0108] 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.

[0109] Next, the operation of the hands-free tag 110 will be described with reference to Fig. 11. Fig. 11 is a flowchart showing the transmission control of the abnormal operation occurrence signal by the hands-free tag 110.

[0110] In step S42, tag transmitting unit 112 of hands-free tag 110 waits for button 111 of hands-free tag 110 to be pressed. When a maintenance worker who has visually or otherwise confirmed an abnormality in robot 30 presses button 111 of hands-free tag 110 (step S41), tag transmitting unit 112 advances the process to step S43.

[0111] In step S43, the tag transmitting unit 112 generates an abnormal operation occurrence signal and transmits a radio wave including the generated abnormal operation occurrence signal.

[0112] Next, the operations of the hands-free tag receiver 120 and the anomaly detection device 20 will be described with reference to Fig. 12 and Fig. 13. First, Fig. 12 is a flowchart showing the reception process of an abnormal operation occurrence signal by the hands-free tag receiver 120 and the update process of the anomaly determination database 90 by the anomaly detection device 20.

[0113] 12, tag receiving unit 122 of hands-free tag receiver 120 waits for reception of radio waves from hands-free tag 110 by third antenna 121 of hands-free tag receiver 120. When third antenna 121 receives radio waves from hands-free tag 110 (step S51), tag transmitting unit 112 receives an abnormal operation occurrence signal included in the radio waves received by third antenna 121, transmits the received abnormal operation occurrence signal to abnormality detection device 20, and proceeds to step S53.

[0114] In step S53, abnormal operation occurrence signal receiving unit 21f of abnormality detection device 20 receives the abnormal operation occurrence signal transmitted from hands-free tag 110 via hands-free tag receiver 120. Then, when abnormal operation occurrence signal receiving unit 21f receives the abnormal operation occurrence signal, update unit 21g calculates the updated predicted radio wave intensity, and proceeds to step S54.

[0115] In step S54, the update unit 21g updates the predicted radio wave intensity information 92 in the abnormality determination database 90 stored in the detection device storage unit 22 with the calculated updated predicted radio wave intensity.

[0116] Fig. 13 is a flowchart showing a subroutine of a calculation process of a new reference value by the update unit 21g of the anomaly detection device 20, i.e., the process performed in step S53 of Fig. 12. In step S61, the update unit 21g determines whether or not (reference upper limit value - previous radio wave strength) is equal to or greater than (previous radio wave strength - reference lower limit value). If (reference upper limit value - previous radio wave strength) is equal to or greater than (previous radio wave strength - reference lower limit value), the update unit 21g proceeds to step S62. On the other hand, if (reference upper limit value - previous radio wave strength) is less than (previous radio wave strength - reference lower limit value), the update unit 21g proceeds to step S63.

[0117] In step S62, the update unit 21g calculates the updated reference upper limit value and reference lower limit value using the above-mentioned formulas (1) and (2), respectively. In step S63, the update unit 21g calculates the updated reference upper limit value and reference lower limit value using the above-mentioned formulas (3) and (4), respectively.

[0118] Embodiment 3 The anomaly detection systems 100 of the first and second embodiments include a building server 10 that transmits a trigger signal and an anomaly detection device 20 that receives the trigger signal, and the anomaly detection device 20 determines an anomaly based on the trigger signal received from the building server 10. In contrast, the third embodiment described here is configured as described in the first or second embodiment, except that a trigger activation unit 11d is provided in the building server 10, and activation of the trigger signal and detection of anomalies are performed within the server. The following describes the building facilities management device of the third embodiment, taking an example based on the first embodiment, and focusing on the differences from the first embodiment. Configurations whose description is omitted are basically the same as those of the first embodiment. In the following description, configurations that are the same as or correspond to those of the first embodiment will, as a rule, be denoted by the same reference numerals as those used in the description of the first embodiment.

[0119] The configuration of this embodiment will be described using Figure 14. Figure 14 is a configuration diagram of a building server 10 in this embodiment. In this embodiment, the building server 10, which is a building facilities management device, includes a building server processor 11, a building server storage unit 12, and a building server interface 13, similar to the first embodiment.

[0120] In this embodiment, the building server processor 11 has, as its functions, a building server control unit 11a and a monitoring unit 11c, as well as an acquisition unit 21c, a determination unit 21d, and an alarm issuing unit 21e that were provided in the abnormality detection device 20 in embodiment 1. The building server processor 11 further has, as its function, a trigger issuing unit 11d.

[0121] The trigger issuing unit 11d includes a software module that issues a trigger signal based on the operating status of the building facilities. Specifically, the trigger issuing unit 11d includes a software module that determines whether the building facilities that will be triggered are operating, a software module that generates the trigger signal, and a software module that starts the acquisition of radio waves by the acquisition unit 21c.

[0122] The building server storage unit 12 stores the 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 has terminals for electrical lines for connecting to the second antenna 40 and the alarm device 80, in addition to the terminals that the building server interface 13 of embodiment 1 has.

[0123] Next, the operation of the third embodiment will be described with reference to Fig. 15. Fig. 15 is a flowchart showing the control of abnormality detection by the building server 10 in this embodiment.

[0124] In step S21a, the trigger issuing unit 11d waits for the building facility to operate as a trigger, similar to step S21 by the trigger signal transmitting unit 11b in embodiment 1. When the building facility to operate as a trigger is activated, the trigger issuing unit 11d advances the process to step S4.

[0125] In step S4, the trigger issuing unit 11d issues a trigger signal. Specifically, the trigger issuing unit 11d generates a trigger signal in the same manner as in step S22 by the trigger signal transmitting unit 11b in the first embodiment, and stores the generated trigger signal in the building server storage unit 12. Then, the trigger issuing unit 11d advances the process to step S32b.

[0126] In steps S32b to S35b, the acquisition unit 21c, the determination unit 21d, and the alarm issuing unit 21e perform the same processes as steps S32 to S35 in embodiment 1. However, while in embodiment 1 the process returns to step S31, in this embodiment the process returns to step S21a.

[0127] As described above, according to this embodiment, it is possible to obtain the same effects as those of embodiment 1 or embodiment 2. Furthermore, according to this embodiment, it is possible to determine an abnormality and issue a warning without providing an abnormality detection device 20 in addition to the building server 10.

[0128] Although the embodiment has been described above, the present invention is not limited to this embodiment. Modifications are shown below.

[0129] In the first and second embodiments, the building server control unit 11a, which controls the entire building server 10, and the trigger signal transmission unit 11b, which generates and transmits trigger signals, have been described as having different configurations, but they may also have the same configuration. For example, in step S14, the building server control unit 11a may transmit the information to be sent to the robot server 50 as a trigger signal to the anomaly detection device 20. In this case, the building server control unit 11a is the trigger signal transmission unit 11b. This has the advantage that no new program needs to be added to the building server 10, compared to the case in which the building server 10 also functions as the anomaly detection device 20, as in the third embodiment.

[0130] In the embodiment, communication between the building server 10 and the robot 30 is performed via the robot server 50, but it goes without saying that the building server 10 and the robot 30 may also communicate directly.

[0131] In the embodiment, the radio waves transmitted by the transmitting device 32 include identification information of the robot 30, but they do not have to. This is because if there are only a few robots 30 autonomously traveling within a building, there is no need to identify the robots 30.

[0132] In the embodiment, the anomaly detection device 20 and the entry / exit control system 70 are configured separately, but the same device may have both functions. Naturally, other devices such as the elevator control device 60 and the building server 10 may also have the functions of multiple devices within the same device, or may be located on the cloud.

[0133] In the embodiment, the determination unit 21d identifies the expected radio wave intensity corresponding to the trigger signal from the anomaly determination database 90 by referring to information indicating the type of operating status of the building facility and the robot information contained in the trigger signal. 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 in combination with the type of operating status and the robot information. Specifically, the operating status of the robot 30 acquired by the monitoring unit 11c may be added to the trigger signal. The operating status of the robot 30 may be, for example, a mode in which the movement speed is different from the normal state, such as high-speed driving, cleaning operation, or energy-saving operation, or a known malfunction such as a flat tire. The determination unit 21d may determine an abnormality based on the trigger signal to which the operating status of the robot 30 has been added.

[0134] In the embodiment, the robot 30 has been described as responding to a hall call as an example of the operating status of the building facilities that is a condition for transmitting or activating a trigger signal, but of course, this is not limited to this. For example, the timing when the robot 30 gets off the car 61 may be the timing for transmitting or activating a trigger signal. Specifically, the arrival of the car 61 carrying the robot 30 at the destination floor may be the operating status of the building facilities that is a condition for transmitting or activating a trigger signal. Furthermore, for example, a gate having the second communication device 51 may be provided in the building, and the second communication device 51 may transmit to the building server 10 information that the robot 30 has passed through the gate, which is a building facility, as a trigger.

[0135] In the embodiment, the second antenna 40 is installed inside the car 61, but the second antenna 40 may naturally be installed outside the car 61, or multiple second antennas 40 may be installed. For example, the second antenna 40 may also be installed at a landing, and based on the radio wave intensity of the radio waves received by the second antennas 40 installed inside and outside the car 61, it may be determined that an abnormality has occurred if both or either one of them is abnormal.

[0136] In the embodiment, the trigger signal transmitting unit 11b and the trigger initiating unit 11d transmit or initiate when responding to a hall call from the robot 30, but they may also transmit when the car 61 opens the door.

[0137] In the present disclosure, the embodiments may be combined in any manner without departing from the spirit of the present disclosure. Examples of various aspects of the present disclosure are summarized below as appendices. (Appendix 1) a building facilities management device having a trigger signal transmission unit that transmits a trigger signal based on the operating status of the building facilities; a trigger signal receiving unit that receives the trigger signal transmitted by the trigger signal transmitting unit; a radio wave acquiring unit that acquires radio waves transmitted from each of a plurality of robots moving within a building and received by an antenna device in response to the trigger signal receiving unit receiving the trigger signal; each of the plurality of robots belongs to one or more preset groups; The abnormality detection device a robot information acquisition unit that acquires robot information that can identify the group to which the robot belongs; An anomaly detection system further comprising a judgment unit that judges an abnormality in the robot based on the trigger signal received by the trigger signal receiving unit, the radio wave intensity of the radio waves acquired by the radio wave acquiring unit, and the robot information acquired by the robot information acquiring unit. (Appendix 2) The anomaly detection system according to claim 1, wherein the robots of the same model belong to the same group. (Appendix 3) The abnormality detection system according to claim 1 or 2, wherein the determination unit determines an abnormality in the robot by comparing the expected radio wave intensity corresponding to the trigger signal and the robot information with the radio wave intensity acquired by the radio wave acquisition unit. (Appendix 4) The abnormality detection device a storage unit that stores the trigger signal and the predicted radio wave intensity corresponding to the robot information; 4. The anomaly detection system according to claim 3, further comprising: an update unit that updates the predicted radio wave intensity stored in the memory unit using the radio wave intensity acquired by the radio wave acquisition unit. (Appendix 5) 5. The anomaly detection system according to claim 3, wherein the predicted radio wave strength is information about a time series change in a predetermined radio wave strength. (Appendix 6) The predicted radio wave strength is information of a predetermined threshold value indicating the magnitude of time-series change in radio wave strength, The anomaly detection system according to claim 3 or 4, wherein the determination unit determines an abnormality in the robot when the magnitude of the time series change in radio wave intensity acquired by the radio wave acquisition unit is greater than or less than the threshold value. (Appendix 7) An anomaly detection system according to any one of appendices 1 to 6, wherein the determination unit determines the type of anomaly in the robot based on the trigger signal and the radio wave intensity of the radio waves acquired by the radio wave acquisition unit. (Appendix 8) The anomaly detection system according to any one of Supplementary Note 1 to Supplementary Note 7, wherein the robot information includes identification information of the robot. (Appendix 9) 9. The abnormality detection system according to any one of Supplementary Note 1 to Supplementary Note 8, wherein the trigger signal is a signal indicating that a car of an elevator device is about to open. (Appendix 10) 10. The anomaly detection system according to claim 9, wherein the antenna device is installed inside the car. (Appendix 11) The anomaly detection system according to any one of claims 1 to 10, wherein the anomaly detection device further includes an alarm unit that causes an alarm device to issue an alarm when the judgment unit determines that an anomaly exists. (Appendix 12) a trigger signal receiving unit that receives a trigger signal transmitted by a building facilities management device that transmits a trigger signal based on the operating status of the building facilities; a radio wave acquiring unit that acquires radio waves transmitted from each of a plurality of robots moving within a building and received by an antenna device in response to the trigger signal receiving unit receiving the trigger signal; each of the plurality of robots belongs to one or more preset groups; a robot information acquisition unit that acquires robot information that can identify the group to which the robot belongs; An abnormality detection device further comprising a judgment unit that judges an abnormality in the robot based on the trigger signal received by the trigger signal receiving unit, the radio wave intensity of the radio waves acquired by the radio wave acquiring unit, and the robot information acquired by the robot information acquiring unit. (Appendix 13) a trigger issuing unit that issues a trigger signal based on the operating status of the building facilities; a radio wave acquiring unit that acquires radio waves transmitted from each of a plurality of robots moving within the building and received by an antenna device in response to the trigger issuing unit issuing the trigger signal, each of the plurality of robots belongs to one or more preset groups; a robot information acquisition unit that acquires robot information that can identify the group to which the robot belongs; A building facilities management device further comprising a judgment unit that judges an abnormality in the robot based on the trigger signal received by the trigger activation unit, the radio wave intensity of the radio waves acquired by the radio wave acquisition unit, and the robot information acquired by the robot information acquisition unit. [Explanation of symbols]

[0138] 10 Building Server 11 Building Server Processor 11a Building server control unit 11b Trigger signal transmitter 11c Monitoring Department 11d Trigger actuation part 12 Building server memory unit 13 Building Server Interface 20 Anomaly detection device 21 Detector Processor 21a Detector control unit 21b Trigger signal receiver 21c Acquisition Department 21d Judgment section 21e Reporting Department 21f Abnormal operation occurrence signal receiver 21g update part 22 Detector memory unit 23 Detector Interface 30 Robot 31 First communication device 32 Transmitting device 40 Second Antenna 50 Robot Server 51 Second communication device 60 Elevator control device 61 Basket 70 Entrance / Exit Control System 71 First Antenna 80 Alarm device 90 Abnormality Determination Database 91 Operation type information 92 Expected signal strength information 92a Group Identification Information 93 Abnormality judgment information 100 Anomaly Detection System 101 System 1 102 Second System 110 Hands-free tag 111 Button 112 Tag transmitter 120 Hands-free tag receiver 121 Third Antenna 122 Tag receiver 200 Robotic Mobile System

Claims

1. a building facilities management device having a trigger signal transmission unit that transmits a trigger signal based on the operating status of the building facilities; a trigger signal receiving unit that receives the trigger signal transmitted by the trigger signal transmitting unit; a radio wave acquiring unit that acquires radio waves transmitted from each of a plurality of robots moving within a building and received by an antenna device in response to the trigger signal receiving unit receiving the trigger signal; each of the plurality of robots belongs to one or more preset groups; The abnormality detection device a robot information acquisition unit that acquires robot information that can identify the group to which the robot belongs; An anomaly detection system further comprising a judgment unit that judges an abnormality in the robot based on the trigger signal received by the trigger signal receiving unit, the radio wave intensity of the radio waves acquired by the radio wave acquiring unit, and the robot information acquired by the robot information acquiring unit.

2. The anomaly 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 claim 2, wherein the determination unit determines an abnormality in the robot by comparing the expected 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 device a storage unit that stores the trigger signal and the predicted radio wave intensity corresponding to the robot information; The anomaly detection system according to claim 3 , further comprising: an update unit that updates the predicted radio wave intensity stored in the storage unit using the radio wave intensity acquired by the radio wave acquisition unit.

5. The anomaly detection system according to claim 3 , wherein the predicted radio wave strength is predetermined information about time-series changes in radio wave strength.

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

7. 3. The anomaly detection system according to claim 1, wherein the determination unit determines the type of anomaly in 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 anomaly detection system according to claim 1 or 2, wherein the robot information includes identification information of the robot.

9. 3. The abnormality detection system according to claim 1, wherein the trigger signal is a signal indicating that a car door of an elevator system is about to open.

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

11. The anomaly detection system according to claim 1 or 2, wherein the anomaly detection device further comprises an alarm unit that causes an alarm device to issue an alarm when the determination unit determines that an anomaly has occurred.

12. a trigger signal receiving unit that receives a trigger signal transmitted by a building facilities management device that transmits a trigger signal based on the operating status of the building facilities; a radio wave acquiring unit that acquires radio waves transmitted from each of a plurality of robots moving within a building and received by an antenna device in response to the trigger signal receiving unit receiving the trigger signal; each of the plurality of robots belongs to one or more preset groups; a robot information acquisition unit that acquires robot information that can identify the group to which the robot belongs; An abnormality detection device further comprising a judgment unit that judges an abnormality in the robot based on the trigger signal received by the trigger signal receiving unit, the radio wave intensity of the radio waves acquired by the radio wave acquiring unit, and the robot information acquired by the robot information acquiring unit.

13. a trigger issuing unit that issues a trigger signal based on the operating status of the building facilities; a radio wave acquiring unit that acquires radio waves transmitted from each of a plurality of robots moving within the building and received by an antenna device in response to the trigger issuing unit issuing the trigger signal, each of the plurality of robots belongs to one or more preset groups; a robot information acquisition unit that acquires robot information that can identify the group to which the robot belongs; A building facilities management device further comprising a judgment unit that judges an abnormality in the robot based on the trigger signal received by the trigger activation unit, the radio wave intensity of the radio waves acquired by the radio wave acquisition unit, and the robot information acquired by the robot information acquisition unit.

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