Mobile Environment System

Abstract

To provide a mobile environment system capable of opening a door with a robot separated from the door by an appropriate distance while suppressing unnecessary door opening.SOLUTION: A mobile environment system includes an autonomous mobile robot 10, and an automatic door 20 having a sensor 210 for detecting an object entering a specified detection area 500. The detection area 500 has a passerby detection area 520 and an autonomous mobile robot detection area 510. The autonomous mobile robot detection area 510 is set so as to include an area where a passage frequency of a person is equal to or less than a specified passage frequency. The autonomous mobile robot 10 passes through the automatic door 20 through the autonomous mobile robot detection area 510.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to mobile environment systems. [Background technology]

[0002] There is known an automatic door that automatically opens in response to an object approaching the door. An automatic door is required to properly detect objects such as people that are passing through the door using a sensor. In this regard, Patent Document 1 discloses that an antenna and a sensor are mounted on the surface of a plate that constitutes the door, thereby reliably detecting people or objects such as children that pass through the door. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2005-273246 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the technology of the above-mentioned document, an antenna and a sensor must be mounted on the surface of the plate that constitutes the door, so the door structure is complicated. In contrast, in a conventional automatic door with a simple structure, when a robot tries to pass through the automatic door, the door may not open unless the robot approaches the automatic door quite closely. On the other hand, if the sensor of the automatic door is adjusted so that the robot can be detected at an appropriate distance from the automatic door, the sensor may detect objects that do not pass through the automatic door, which may result in the door opening unnecessarily.

[0005] For this reason, there is a demand for a new technology that can prevent unnecessary door opening while allowing the robot to open the door at an appropriate distance from the door.

[0006] The present disclosure has been made against the background of the above-mentioned circumstances, and aims to provide a mobile environment system that can open a door with a robot at an appropriate distance away from the door while suppressing unnecessary door opening. [Means for solving the problem]

[0007] One aspect of the present disclosure for achieving the above-mentioned objective is a mobile environment system comprising an autonomous mobile robot and an automatic door having a sensor that detects an object entering a specified detection area, the detection area having a detection area for passersby and a detection area for the autonomous mobile robot, the detection area for the autonomous mobile robot being set to include an area where the frequency of people passing through is equal to or less than a specified frequency, and the autonomous mobile robot passing through the automatic door by passing through the detection area for the autonomous mobile robot. This mobile environment system can use areas with little human traffic as special detection areas for the robot, and can have the robot approach the automatic door from these detection areas, which prevents unnecessary door opening and allows the robot to open the door at an appropriate distance.

[0008] In one aspect above, the sensor is provided on the top of the automatic door and detects an object that enters the specified detection area by shining a light beam onto the specified detection area and measuring the reflected light of the light beam, and the detection area for the autonomous mobile robot may cover a farther range based on the position of the automatic door than the range covered by the detection area for passersby. With this configuration, in an automatic door that has a sensor that is installed above the door and emits a light beam, unnecessary door opening can be prevented, while the door can be opened with the robot at an appropriate distance from the door.

[0009] In the above aspect, the detection area for the autonomous mobile robot may be an area along at least one of the walls on either side of the automatic door. With this configuration, areas with low foot traffic can be easily used as detection areas for the robot, without the need to investigate areas with low foot traffic in advance or to designate areas where foot traffic is prohibited.

[0010] In one aspect above, the detection area for the autonomous mobile robot may be an area along a second wall on either side of the automatic door that is not a first wall adjacent to the opening of the automatic door that occurs immediately after the automatic door begins to open. With this configuration, it is possible to prevent the robot from interfering with the movement of a person passing through the automatic door from the space on the other side of the automatic door immediately after the door starts to open.

[0011] In one aspect described above, the autonomous mobile robot may wait to move through the automatic door after the automatic door is opened if there is a person in the space beyond the automatic door within a predetermined distance of the autonomous mobile robot. With this configuration, it is possible to more reliably prevent the robot from interfering with the movement of people passing through the automatic door from the space on the other side of the door. Effect of the Invention

[0012] According to the present disclosure, it is possible to provide a mobile environment system that can open a door while preventing unnecessary door opening and keeping the robot at an appropriate distance from the door. [Brief description of the drawings]

[0013] [Figure 1] FIG. 1 is a schematic diagram showing an example of the configuration of an automatic door according to an embodiment. [Diagram 2] FIG. 2 is a top view of a first wall, a second wall, a door panel, a detection area, and an autonomous mobile robot attempting to pass through an automatic door. [Diagram 3] FIG. 1 is a top view of the first wall, the second wall, the door panel, and the detection area. [Figure 4]1 is a schematic side view showing an example of an autonomous mobile robot according to an embodiment; [Diagram 5] 1 is a block diagram showing a control device for an autonomous mobile robot according to an embodiment; [Figure 6] FIG. 2 is a block diagram showing an example of the functional configuration of a control device for an autonomous mobile robot. [Figure 7] FIG. 2 is a top view of a first wall, a second wall, a door panel, a detection area, and an autonomous mobile robot attempting to pass through an automatic door. [Figure 8] FIG. 2 is a top view of a first wall, a second wall, a door panel, a detection area, and an autonomous mobile robot attempting to pass through an automatic door. [Figure 9] FIG. 2 is a top view of a first wall, a second wall, a door panel, a detection area, and an autonomous mobile robot attempting to pass through an automatic door. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, the embodiments of the present disclosure will be described in detail with reference to the drawings. Note that the following description and drawings are omitted and simplified as appropriate for clarity of explanation. In addition, in each drawing, similar components are given the same reference numerals, and duplicate explanations are omitted as necessary.

[0015] The mobile environment system according to the embodiment includes an automatic door 20 and an autonomous mobile robot 10. 1 is a schematic diagram showing an example of the configuration of an automatic door 20 according to an embodiment. The automatic door 20 has a door panel 200 that separates a first space 51 and a second space 52 in a moving environment, and a sensor 210 that detects an object that has entered a predetermined detection area 500.

[0016] As shown in FIG. 1, the automatic door 20 is provided between a first wall 61 and a second wall 62 which separate a first space 51 and a second space 52. That is, the automatic door 20 is provided so as to be sandwiched between the first wall 61 and the second wall 62. With this configuration, the automatic door 20 closes and opens the gap that exists between the first wall 61 and the second wall 62, which are spaced apart, by the door panel 200. The door panel 200 closes and opens this gap by sliding parallel to the surface of this gap (opening surface). That is, this allows the automatic door 20 to open and close.

[0017] In the example shown in Fig. 1, the automatic door 20 opens when one door panel 200 moves in one direction (to the right in Fig. 1). In other words, in the example shown in Fig. 1, the automatic door 20 opens when the door panel 200 slides toward one of the two walls on both sides of the automatic door 20 (specifically, the second wall 62). Then, the door panel 200 that moved to open the door slides back to its original position, causing the automatic door 20 to close.

[0018] 1, there is one door panel 200, but the automatic door 20 may have two door panels arranged in a straight line. In this case, the door panel on the first wall 61 side slides toward the first wall 61, and the door panel on the second wall 62 side slides toward the second wall 62, thereby opening the automatic door 20. In this case as well, the two door panels that moved to open the door slide back to their original positions, thereby closing the automatic door 20.

[0019] The sensor 210 is provided on the upper part of the automatic door 20. More specifically, the sensor 210 is provided above the door panel 200, i.e., above the gap closed by the door panel 200. More specifically, the sensor 210 is provided on the interlock 63 present above the automatic door 20.

[0020] As described above, the sensor 210 detects an object that has entered a predetermined detection area 500 near the automatic door 20, i.e., near the gap between the first wall 61 and the second wall 62. The detection area 500 is made up of a first partial detection area and a second partial detection area, as described below. In this embodiment, the detection area 500 exists at least in the first space 51, but may also exist in the second space 52.

[0021] The sensor 210 irradiates a light beam onto a predetermined detection area 500 and measures the reflected light of the light beam to detect an object that has entered the detection area 500. The sensor 210 detects the presence of an object by measuring the amount of change in the reflected light caused by an object that has entered the detection area 500. This amount of change may be the amount of change in the reflection time of the reflected light or the amount of change in the amount of received light. The irradiated light beam is, for example, infrared light such as near-infrared light, but is not limited to infrared light.

[0022] Specifically, the detection area 500 is configured by a plurality of detection spots 501. That is, the detection area 500 is configured by arranging the plurality of detection spots 501 in a grid shape. The sensor 210 irradiates each detection spot 501 with a light beam and measures the reflected light from each detection spot 501.

[0023] The irradiation angle of the light beam in the sensor 210 can be changed arbitrarily within a predetermined range. In this embodiment, the user can arbitrarily set the angles of the light projector that irradiates the light beam and the light receiver that receives the reflected light in the sensor 210 within a predetermined range. Therefore, the position of each detection spot 501 can be arbitrarily set. In other words, the shape of the detection area 500 can be arbitrarily set.

[0024] Here, the configuration of the detection area 500 of this embodiment will be described in more detail. In this embodiment, the detection area 500 has a first partial detection area 510 (detection area for an autonomous mobile robot) and a second partial detection area 520 (detection area for passersby) (see FIG. 2). Here, the first partial detection area 510 is a detection area provided to detect an autonomous mobile robot 10 attempting to pass through the automatic door 20, and the second partial detection area 520 is a detection area provided to detect a passerby attempting to pass through the automatic door 20.

[0025] FIG. 2 is a schematic diagram showing an example of the detection area 500. More specifically, FIG. 2 is a top view of the first wall 61, the second wall 62, the door panel 200, the detection area 500, and the autonomous mobile robot 10 about to pass through the automatic door 20. As shown in FIG. 2, in this embodiment, the first partial detection area 510 covers a farther range with respect to the position of the automatic door 20 (sensor 210) than the range covered by the second partial detection area 520. To explain this with reference to the figure, the position of the arc of the sector-shaped first partial detection area 510 is farther from the automatic door 20 (sensor 210) than the position of the arc of the sector-shaped second partial detection area 520. In the example shown in the figure, the shapes of the first partial detection area 510 and the second partial detection area 520 are sector-shaped, but may be other shapes. For example, the shapes of the first partial detection area 510 and the second partial detection area 520 may be rectangular.

[0026] In general, the closer an area is to the automatic door 20, the more likely it is that an object passing through that area is passing through that area to pass through the automatic door 20. Therefore, the second partial detection area 520 is more likely to detect only objects that are about to pass through the automatic door 20. In other words, the detection of an object by the second partial detection area 520 is less likely to cause the automatic door 20 to open unnecessarily. In contrast, since the first partial detection area 510 covers an area far from the automatic door 20, depending on how the first partial detection area 510 is set, there is a risk that the automatic door 20 will open unnecessarily. To avoid this problem, in this embodiment, the first partial detection area 510, especially the protruding part of the first partial detection area 510, is set to cover an area where the frequency of people passing through is low. In other words, it can be said that the first partial detection area 510 (especially the protruding part) is set in an area where the frequency of people passing through is equal to or lower than a predetermined frequency. In other words, the first partial detection area 510 is set in an area that is not expected to be a line of people's movement. The protruding portion of first partial detection area 510 refers to a portion that includes the end away from the automatic door 20 (sensor 210) and protrudes in a direction away from the automatic door 20 (sensor 210) compared to second partial detection area 520. For example, first partial detection area 510 may be set to satisfy the following condition shown with reference to Fig. 3: First partial detection area 510 is set so that protruding portion 511 is located in a partial area of ​​area 90 located a predetermined distance away from the automatic door 20, where the frequency of people passing through per unit area is minimum.

[0027] The sensor 210 irradiates a light beam onto the first partial detection area 510 to detect an object that has entered the first partial detection area 510. More specifically, the sensor 210 irradiates a light beam onto a detection spot 501 that constitutes the first partial detection area 510 to detect an object that has entered the first partial detection area 510. Similarly, the sensor 210 irradiates a light beam onto the second partial detection area 520 to detect an object that has entered the second partial detection area 520. More specifically, the sensor 210 irradiates a light beam onto the detection spot 501 that constitutes the second partial detection area 520 to detect an object that has entered the second partial detection area 520.

[0028] When the sensor 210 detects an object in either the first partial detection area 510 or the second partial detection area 520, the automatic door 20 opens the door panel 200. Then, when a predetermined time has elapsed since the sensor 210 no longer detects an object in either the first partial detection area 510 or the second partial detection area 520, the automatic door 20 closes the door panel 200.

[0029] It should be noted that the first partial detection area 510 is a detection area for mainly detecting the autonomous mobile robot 10, but even if an object other than the autonomous mobile robot 10, such as a person, enters the first partial detection area 510, it will be detected by the sensor 210. Similarly, the second partial detection area 520 is a detection area for mainly detecting people, but even if an object other than a person enters the second partial detection area 520, it will be detected by the sensor 210. It should be noted that in this embodiment, as described later, the autonomous mobile robot 10 enters the first partial detection area 510 but does not enter the second partial detection area 520.

[0030] Next, a description will be given of the autonomous mobile robot 10. Fig. 4 is a schematic side view showing an example of the autonomous mobile robot 10 according to the embodiment. Fig. 5 is a block diagram showing the configuration of a control device 100 of the autonomous mobile robot 10 according to the embodiment.

[0031] The autonomous mobile robot 10 is a robot that autonomously moves within a mobile environment, such as a house, a facility, a warehouse, a factory, outdoors, etc., and its operation is controlled by a control system. In this embodiment, a control device 100 of the autonomous mobile robot 10, which will be described later, functions as the control system, but some or all of the functions of the control system may be realized in a device other than the autonomous mobile robot 10, such as a server.

[0032] The autonomous mobile robot 10 comprises a moving unit 110 that moves the autonomous mobile robot 10, a control device 100 that controls the autonomous mobile robot 10, including controlling the moving unit 110, and a rear structure 150. As shown in Figure 4, in this embodiment, the autonomous mobile robot 10 has a shape in which the front is lower than the rear and the rear is higher than the front, and has an L-shape when viewed from the side.

[0033] The moving unit 110 has a vehicle body 111 and wheels 112 rotatably provided on the vehicle body 111. The moving unit 110 rotates the wheels 112 in response to a control signal from the control device 100, thereby enabling the autonomous mobile robot 10 to move forward, move backward, and rotate. This allows the autonomous mobile robot 10 to move to any position. Note that the above configuration of the moving unit 110 is an example, and is not limited to this. For example, the number of wheels 112 of the moving unit 110 may be arbitrary, and any configuration is applicable as long as it allows the autonomous mobile robot 10 to move to any position.

[0034] The rear structure 150 is a structure having a predetermined length in the vertical direction. The rear structure 150 may be a rack having a storage space for luggage inside. The rear structure 150 is provided on the rear side of the autonomous mobile robot 10. In this embodiment, when the autonomous mobile robot 10 moves, the rear structure 150 is not provided and a first structural part (front structural part) having a first height is located on the front side in the traveling direction, and the rear structure 150 is provided and a structural part (rear structural part) having a second height is located on the rear side in the traveling direction. That is, when the autonomous mobile robot 10 moves, the structural part having the lower first height faces the front side in the traveling direction, and the structural part having the higher second height faces the rear side in the traveling direction. Here, the first height is lower than the second height. For example, the first height is lower than 1 meter. Also, the second height is higher than the first height. For example, the second height is higher than 1 meter.

[0035] Incidentally, as described above, the sensor 210 detects an object that has entered the detection area 500 by irradiating a light beam onto the detection area 500 from above the door panel 200 and measuring the reflected light of the light beam. At this time, the entry of the autonomous mobile robot 10 into the detection area 500 is less easily detected by the sensor 210 than the entry of a person into the detection area 500. In other words, when the autonomous mobile robot 10 passes through the automatic door 20, the sensor 210 does not react and the door panel 200 does not open unless the autonomous mobile robot 10 approaches the automatic door 20 quite closely. This is considered to be due to the size and shape of the autonomous mobile robot 10. In particular, in this embodiment, as described above, when the autonomous mobile robot 10 enters the detection area 500, the lower structural part of the autonomous mobile robot 10 enters the detection area 500 first, so the timing of detection by the sensor 210 is particularly delayed.

[0036] If the detection range of the sensor 210 is adjusted to be expanded overall so that the autonomous mobile robot 10 can be detected at an appropriate distance from the automatic door 20, the sensor 210 will react to people who do not pass through the automatic door 20, resulting in unnecessary door opening. In addition, if the autonomous mobile robot 10 approaches the automatic door 20 quite closely and the automatic door 20 finally opens, there is a risk that the detection of the person on the other side of the automatic door 20 will be delayed. This is because, if the autonomous mobile robot 10 is equipped with a configuration for detecting people in the vicinity using a camera or the like mounted on the autonomous mobile robot 10, the presence of the person on the other side of the automatic door 20 cannot be recognized until the automatic door 20 starts to open, in other words, until the autonomous mobile robot 10 approaches the automatic door 20 quite closely. If the detection of the person on the other side of the automatic door 20 is delayed, there is a risk that the autonomous mobile robot 10 will obstruct the movement of a person who is trying to pass through the automatic door 20. In such a case, the autonomous mobile robot 10 can allow a person who is trying to pass through the automatic door 20 from the other side to pass through the automatic door 20 so as not to impede the movement, but in order to do so, the autonomous mobile robot 10 may have to move backwards. However, if there is a person or the like behind the autonomous mobile robot 10, the autonomous mobile robot 10 cannot move backwards, and therefore cannot allow the person who is trying to pass through the automatic door 20 from the other side to pass through the automatic door 20. In light of this, there is a demand for a technology that can prevent unnecessary door opening and allows the autonomous mobile robot 10 to open the door at an appropriate distance away from the automatic door 20.

[0037] Referring back to FIG. 5, the description of the configuration of the autonomous mobile robot 10 will now be given. The control device 100 is a device that controls the autonomous mobile robot 10, and includes a processor 101, a memory 102, and an interface 103. The processor 101, the memory 102, and the interface 103 are connected to each other via a data bus or the like.

[0038] The interface 103 is an input / output circuit used to communicate with other devices such as the mobile part 110 .

[0039] The memory 102 is configured, for example, by a combination of a volatile memory and a non-volatile memory. The memory 102 is used to store software (computer programs) including one or more instructions executed by the processor 101, data used for various processes of the autonomous mobile robot 10, and the like.

[0040] The processor 101 reads out software (computer programs) from the memory 102 and executes them to perform the processes of the control device 100, which will be described later.

[0041] The processor 101 may be, for example, a microprocessor, a microprocessor unit (MPU), a central processing unit (CPU), etc. The processor 101 may include multiple processors. In this manner, the control device 100 is a device that functions as a computer.

[0042] The program includes instructions (or software code) that, when loaded into a computer, cause the computer to perform one or more functions described in the embodiments. The program may be stored in a non-transitory computer-readable medium or a tangible storage medium. By way of example and not limitation, the computer-readable medium or tangible storage medium includes random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technology, CD-ROM, digital versatile disc (DVD), Blu-ray® disk or other optical disk storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage device. The program may be transmitted on a transitory computer-readable medium or communication medium. By way of example and not limitation, the transitory computer-readable medium or communication medium includes electrical, optical, acoustic, or other forms of propagated signals.

[0043] 6 is a block diagram showing an example of the functional configuration of the control device 100 of the autonomous mobile robot 10. As shown in FIG.

[0044] The path creation unit 161 creates a movement path for the autonomous mobile robot 10. In this embodiment, the path creation unit 161 creates a movement path that includes, for example, movement from a first space 51 (a space in front of the automatic door 20 as seen from the autonomous mobile robot 10) to a second space 52 (a space on the other side of the automatic door 20 as seen from the autonomous mobile robot 10) by passing through the automatic door 20. However, when creating a movement path that passes through the automatic door 20, the path creation unit 161 creates a movement path that passes through the automatic door 20 through a first partial detection area 510, which is a detection area for the autonomous mobile robot. In other words, the path creation unit 161 creates a movement path that includes a path that enters the first partial detection area 510 of the detection area 500. Note that, in this embodiment, the autonomous mobile robot 10 has the path creation unit 161, but the path of the autonomous mobile robot 10 may be created by a device external to the autonomous mobile robot 10 (for example, a server, etc.).

[0045] The operation control unit 162 controls the operation of the autonomous mobile robot 10. Specifically, the operation control unit 162 mainly controls the operation of the moving unit 110. The operation control unit 162 controls the rotation of the wheels 112 by sending a control signal to the moving unit 110, and can move the autonomous mobile robot 10 to any position.

[0046] The operation control unit 162 may control the movement of the autonomous mobile robot 10 by performing well-known control such as feedback control or robust control based on rotation information of the wheels 112 detected by a rotation sensor provided on the wheels 112. The operation control unit 162 may also cause the autonomous mobile robot 10 to move autonomously by controlling the movement unit 110 based on information such as distance information detected by a distance sensor such as a camera or ultrasonic sensor provided on the autonomous mobile robot 10, and map information of the movement environment.

[0047] In particular, in this embodiment, the operation control unit 162 controls the movement of the autonomous mobile robot 10 so that the autonomous mobile robot 10 moves along the movement path created by the path creation unit 161. Therefore, when moving through the automatic door 20, the operation control unit 162 controls the movement operation of the autonomous mobile robot 10 so that the autonomous mobile robot 10 passes through the automatic door 20 through the first partial detection area 510, which is the detection area for the autonomous mobile robot.

[0048] As described above, in this embodiment, the first partial detection area 510 is an area that covers a farther range than the range covered by the second partial detection area 520. Therefore, when the autonomous mobile robot 10 enters the first partial detection area 510 and passes through the automatic door 20, the distance between the autonomous mobile robot 10 and the automatic door 20 at the time when the sensor 210 detects the autonomous mobile robot 10 is longer than when the autonomous mobile robot 10 enters the second partial detection area 520 and passes through the automatic door 20. Also, in this embodiment, the first partial detection area 510 is set to an area where people pass through less frequently. Therefore, according to this embodiment, it is possible to realize the opening of the automatic door 20 with the autonomous mobile robot 10 at an appropriate distance away from the automatic door 20 while suppressing unnecessary opening of the automatic door 20.

[0049] In particular, as shown in FIG. 2, it is preferable that the first partial detection area 510 is an area along at least one of the first wall 61 and the second wall 62 on both sides of the automatic door 20. In general, areas along walls are less frequented by people. Therefore, by providing the first partial detection area 510 in an area along a wall, it is possible to easily use an area with little human traffic as a detection area for the robot without having to investigate the area with little human traffic in advance or to provide an area where human traffic is prohibited. The area along a wall specifically refers to an area within a predetermined distance D from the wall, and the distance D is, for example, a predetermined distance of 1 m or less.

[0050] In particular, as shown in FIG. 2, it is more preferable that the first partial detection area 510 is an area along the second wall 62, not the first wall 61, which is adjacent to the opening of the automatic door 20 that occurs immediately after the automatic door 20 starts to open, among the walls on both sides of the automatic door 20. In other words, it is preferable that the first partial detection area 510 is an area along the wall on the opposite side from the side where the automatic door 20 starts to open. In FIG. 2, since the automatic door 20 opens from the left side of the figure when it starts to open, it is preferable that the first partial detection area 510 is provided along the second wall 62, which is the right wall. This is because such a configuration can prevent the autonomous mobile robot 10 from interfering with the movement of a person who passes through the automatic door 20 from the space on the other side of the automatic door 20 (the second space 52) immediately after the automatic door 20 starts to open. A person who cannot wait until the automatic door 20 is completely opened will try to pass through the gap between the first wall 61 and the door panel 200 as soon as the automatic door 20 starts to open. For this reason, the possibility of the autonomous mobile robot 10 interfering with the movement of people can be reduced more if the autonomous mobile robot 10 moves toward the automatic door 20 from the second wall 62 side than if the autonomous mobile robot 10 moves toward the automatic door 20 from the first wall 61 side. For this reason, it is more preferable to provide the first partial detection area 510 along the second wall 62.

[0051] In the present embodiment, the first partial detection area 510 is provided along one of the walls on both sides of the automatic door 20, but two first partial detection areas 510 may be provided along each of the walls on both sides of the automatic door 20. In this way, the detection area 500 may include a plurality of first partial detection areas 510. For example, as shown in FIG. 7, the first partial detection area 510 does not necessarily have to be provided along one of the walls on both sides of the automatic door 20. In this case, the first partial detection area 510 may be set by investigating an area with little pedestrian traffic in advance or by setting up an area where pedestrian traffic is prohibited. In the examples shown in FIG. 2 and FIG. 7, the first partial detection area 510 is narrower than the second partial detection area 520, but for example, as shown in FIG. 8, the first partial detection area 510 may be larger than the second partial detection area 520. The shapes of the first partial detection area 510 and the second partial detection area 520 do not necessarily have to be fan-shaped. For example, as shown in FIG. 9, the first partial detection area 510 and the second partial detection area 520 may have a rectangular shape.

[0052] Furthermore, the operation control unit 162 of the autonomous mobile robot 10 may perform control to wait for movement to pass through the automatic door 20 if there is a person in the space on the other side of the automatic door 20 (second space 52) within a predetermined distance from the autonomous mobile robot 10 after the automatic door 20 is opened. With this configuration, it is possible to more reliably prevent the autonomous mobile robot 10 from interfering with the movement of a person passing through the automatic door 20 from the space on the other side of the automatic door 20.

[0053] The embodiment has been described above. In the mobile environment system according to the present embodiment, the detection area 500 of the automatic door 20 has a first partial detection area 510 (detection area for autonomous mobile robots) and a second partial detection area 520 (detection area for passersby), and the autonomous mobile robot 10 passes through the automatic door 20 through the first partial detection area 510. Therefore, according to this mobile environment system, an area with little human traffic can be used as a special detection area for the robot, and the autonomous mobile robot 10 can approach the automatic door from this detection area. Therefore, unnecessary door opening can be suppressed, and the door can be opened with the robot at an appropriate distance away from the door. In particular, in the present embodiment, such an effect can be obtained with a simple configuration.

[0054] The present invention is not limited to the above-described embodiment, and can be modified as appropriate without departing from the spirit and scope of the present invention.

[0055] A part or all of the above-described embodiments can be described as, but is not limited to, the following supplementary notes. (Appendix 1) An autonomous mobile robot, An automatic door having a sensor that detects an object that has entered a predetermined detection area; Equipped with the detection area includes a detection area for passersby and a detection area for an autonomous mobile robot, the detection area for the autonomous mobile robot is set to include an area where a frequency of human passage is equal to or lower than a predetermined frequency; The autonomous mobile robot passes through the detection area for the autonomous mobile robot and passes through the automatic door. Mobile environment systems. (Appendix 2) The sensor is installed at the top of the automatic door, and detects an object that has entered the predetermined detection area by irradiating a light beam onto the predetermined detection area and measuring the reflected light of the light beam. The autonomous mobile robot detection area covers a farther range based on the position of the automatic door than the range covered by the passerby detection area. 2. A mobile environment system as described in claim 1. (Appendix 3) The detection area for the autonomous mobile robot is an area along at least one of the walls on either side of the automatic door. 3. A mobile environment system according to claim 1 or 2. (Appendix 4) The detection area for the autonomous mobile robot is an area along a second wall, not a first wall, adjacent to the opening of the automatic door that occurs immediately after the automatic door starts to open, among the walls on both sides of the automatic door. 4. A mobile environment system as described in claim 3. (Appendix 5) After the automatic door is opened, if there is a person in the space behind the automatic door within a range of a predetermined distance from the autonomous mobile robot, the autonomous mobile robot waits to move to pass through the automatic door. A mobile environment system according to any one of claims 1 to 4. [Explanation of symbols]

[0056] 10 Autonomous Mobile Robot 20 Automatic Doors 51 The First Space 52 The Second Space 61 The First Wall 62 The Second Wall 63 No Eyes 90 areas 100 Control device 101 Processor 102 Memory 103 Interface 110 Mobile Division 111 Vehicle body 112 Wheels 150 Rear structure 161 Route Creation Department 162 Motion control section 200 Door Panel 210 Sensors 500 detection area 501 Detection Spot 510 First partial detection area 511 Protruding part 520 Second partial detection area

Claims

1. An autonomous mobile robot, An automatic door having a sensor that detects an object that has entered a predetermined detection area; Equipped with the detection area includes a detection area for passersby and a detection area for an autonomous mobile robot, the autonomous mobile robot detection area has a protruding portion that protrudes in a direction away from the automatic door compared to the passerby detection area, The protruding portion is set in an area where a passing frequency of people is equal to or lower than a predetermined passing frequency, The autonomous mobile robot passes through the automatic door by passing through the protruding portion. Mobile environment systems.

2. The sensor is installed at the top of the automatic door, and detects an object that enters the predetermined detection area by irradiating a light beam onto the predetermined detection area and measuring the reflected light of the light beam. The mobile environment system of claim 1 .

3. The detection area for the autonomous mobile robot is an area along at least one of the walls on either side of the automatic door. A mobile environment system according to claim 1 or 2.

4. The detection area for the autonomous mobile robot is an area along a second wall, not a first wall, adjacent to the opening of the automatic door that occurs immediately after the automatic door starts to open, among the walls on both sides of the automatic door. The mobile environment system of claim 3 .

5. After the automatic door is opened, if there is a person in the space behind the automatic door within a range of a predetermined distance from the autonomous mobile robot, the autonomous mobile robot waits to move to pass through the automatic door. The mobile environment system of claim 1 .

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