Autonomous mobile robot and control system

Abstract

To provide an autonomously traveling robot and a control system with which it is possible to properly detect a person passing through a security gate together with the autonomously traveling robot which is a robot that autonomously travels.SOLUTION: The autonomously traveling robot, which is a robot that autonomously travels, comprises: transmission means for transmitting a passage request for passing through a security gate to a gate control system that controls the security gate; control means for exercising travel control so as to pass through the security gate in an open period when the security gate is in an open state by transmission of the passage request; acquisition means for acquiring a person position of a person existing in the surrounding of the autonomously traveling robot; and unauthorized intruding person detection means for detecting an unauthorized intruding person on the basis of a change of the positional relation of the autonomously traveling robot and the person after the transmission means transmitted the passage request.SELECTED DRAWING: Figure 7

Description

Technical Field

[0001] The present invention relates to an autonomous mobile robot and a control system.

Background Art

[0002] In recent years, autonomous mobile robots that autonomously move within a facility and perform patrol security, inspection work, etc. have been developed to replace permanent security guards. When an autonomous mobile robot moves within a facility, security gates such as flapper gates and swing gates installed within the facility can become obstacles for the autonomous mobile robot. Therefore, in a system having an autonomous mobile robot, it is required that the autonomous mobile robot and the security gate cooperate so that the autonomous mobile robot can control the opening and closing of the security gate. On the other hand, when an autonomous mobile robot passes through a security gate, it is required to prevent so-called "tag-along" intrusion where a person without passing permission passes through the security gate together with the autonomous mobile robot, or so-called "passing-by" intrusion where a person passes through the security gate from the opposite side of the autonomous mobile robot across the security gate.

[0003] Patent Document 1 discloses a gate management device that locks the gate device when the occurrence of tag-along is detected in a gate device provided with an entrance / exit sensor device for detecting tag-along.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] It is required to appropriately detect a person passing through a security gate together with an autonomous mobile robot.

[0006] The object of the present invention is to provide an autonomous mobile robot, a control system, and a control method that can appropriately detect a person passing through a security gate together with the autonomous mobile robot. [Means for solving the problem]

[0007] To solve these problems, the present invention provides an autonomous mobile robot that moves autonomously, comprising: a transmitting means for transmitting a passage request to a gate control system that controls a security gate for passing through the security gate; a controlling means for controlling the robot's movement to pass through the security gate during the open period when the security gate is open due to the transmission of the passage request; an acquiring means for acquiring the position of a person present around the autonomous mobile robot; and an intruder detection means for detecting an intruder based on a change in the positional relationship between the autonomous mobile robot and the person after the transmitting means has transmitted the passage request.

[0008] In this autonomous mobile robot, the receiving means further includes a receiving means that receives an open notification signal from the gate control system indicating that the security gate has been opened, and the intruder detection means preferably performs intruder detection processing after the transmitting means has transmitted a passage request and the receiving means has received the open notification signal.

[0009] In this autonomous mobile robot, it is preferable that the receiving means further includes a receiving means that receives a closed notification signal from the gate control system indicating that the security gate has been closed, and that the intruder detection means performs intruder detection processing until the receiving means receives the closed notification signal.

[0010] In this autonomous mobile robot, it is preferable that the intruder detection means executes the intruder detection process when the autonomous mobile robot's own position or the position of a person is located within a predetermined area set on the side of the security gate where entry is restricted by the security gate, relative to the person authentication position at the security gate.

[0011] In this autonomous robot, it is preferable for the intruder detection means to change a predetermined area depending on whether the security gate is open or closed.

[0012] In this autonomous mobile robot, the intruder detection means preferably detects intruders based on changes in the positional relationship between the autonomous mobile robot's own position and the position of a person.

[0013] To solve these problems, the present invention provides a control system comprising: a receiving means for receiving a request to pass through a security gate from an autonomously moving autonomous robot; a gate control means for opening the security gate upon receiving the request to pass; an acquisition means for acquiring the robot position of the autonomous robot and the positions of people present around the autonomous robot; and an intruder detection means for detecting an intruder based on changes in the positional relationship between the autonomous robot and the people after receiving the request to pass. [Effects of the Invention]

[0014] The autonomous mobile robot and control system according to the present invention are capable of appropriately detecting a person passing through a security gate together with the autonomous mobile robot. [Brief explanation of the drawing]

[0015] [Figure 1] (A) is a schematic diagram illustrating the control system 1 according to the embodiment, and (B) is a perspective view of the autonomous mobile robot 10. [Figure 2] This diagram shows the overall system configuration of control system 1. [Figure 3] (A) is a diagram showing an example of the data structure of the authorization table 183, and (B) is a diagram showing an example of the data structure of the attribute table 184. [Figure 4] This sequence demonstrates an example of the operation of the opening and closing process. [Figure 5] This sequence demonstrates an example of the operation of the opening and closing process. [Figure 6] (A) is a schematic diagram showing the state where the autonomous mobile robot 10 has reached the vicinity of the security gate 30, (B) is a schematic diagram showing the state where the security gate 30 is in the open state, (C) is a schematic diagram showing the state where the autonomous mobile robot 10 has passed through the security gate 30, and (D) is a schematic diagram showing the state where the security gate 30 is in the closed state. [Figure 7] It is a flowchart showing an example of the operation of the detection process. [Figure 8] (A) and (B) are schematic diagrams for explaining the determination area.

Embodiments for Carrying Out the Invention

[0016] Hereinafter, the control system according to the embodiment will be described while referring to the drawings.

[0017] FIG. 1(A) is a schematic diagram for explaining the control system 1 according to the embodiment. As shown in FIG. 1(A), the control system 1 includes one or more autonomous mobile robots 10, a security gate 30, and / or a surveillance camera C, etc. The control system 1 is a surveillance system that monitors and guards a surveillance area set in facilities such as companies, condominiums, and commercial facilities.

[0018] The surveillance camera C is arranged so as to be able to image a predetermined area within the surveillance area, particularly the vicinity of the security gate 30, images the area within the surveillance area to generate and output a surveillance image. The autonomous mobile robot 10 autonomously travels within the surveillance area, images the area within the surveillance area to generate and output a captured image. The security gate 30 is arranged at the boundary between the low-security area A1 with low security and the high-security area A2 with high security within the surveillance area. The security gate 30 permits the entry of pre-registered persons and the autonomous mobile robot 10 into the high-security area A2 while restricting the entry of unregistered persons into the high-security area A2.

[0019] FIG. 1(B) is a perspective view of the autonomous mobile robot 10. As shown in FIG. 1(B), the autonomous mobile robot 10 has a main body portion 10A, tires 10B, an arm 10C, etc. The main body portion 10A is a housing that covers the entire autonomous mobile robot 10. The tires 10B are provided on the bottom surface of the main body portion 10A and are used for the movement of the autonomous mobile robot 10. The arm 10C is provided on the side surface of the main body portion 10A so as to be extendable from the side surface and is used to execute predetermined processes such as inspection and locking.

[0020] FIG. 2 is a diagram showing the overall system configuration of the control system 1. As shown in FIG. 2, the control system 1 has a robot control system 2 and a gate control system 3. The robot control system 2 is a system that controls and manages the autonomous mobile robot 10 and has one or more autonomous mobile robots 10, a robot management server 20, etc. The gate control system 3 is a system that controls and manages one or more security gates 30 installed in the monitoring area and has one or more security gates 30, a gate management server 40, and one or more monitoring cameras C, etc. The autonomous mobile robot 10 and the robot management server 20 are connected to each other via a first communication network N1 such as an intranet or the Internet. The autonomous mobile robot 10 is connected to the first communication network N1 via a wireless communication network such as a wireless LAN or a mobile phone network. The security gate 30, the gate management server 40, and the monitoring camera C are connected to each other via a second communication network N2 such as an intranet or the Internet. The first communication network N1 and the second communication network N2 are communicatively connected, and the autonomous mobile robot 10, the robot management server 20, the security gate 30, the gate management server 40, and the monitoring camera C are connected to each other.

[0021] The autonomous mobile robot 10 autonomously travels within the monitoring area, captures images of the area within the monitoring area, generates captured images, and transmits them to the robot management server 20. For example, the autonomous mobile robot 10 travels along a predetermined patrol route within the monitoring area at a predetermined time and captures images at predetermined points. Alternatively, the autonomous mobile robot 10 moves to a destination specified by a controller using the robot management server 20 and captures images at the destination. The autonomous mobile robot 10 includes a first person sensor 11, an imaging unit 12, a position sensor 13, a tire drive unit 14, an arm drive unit 15, an output unit 16, a first communication unit 17, a first storage unit 18, and a first processing unit 19, among others.

[0022] The first person sensor 11 is a sensor for detecting people present in the vicinity of the autonomous mobile robot 10. The first person sensor 11 includes one or more laser sensors (LiDAR) provided, for example, on the front, side, back, and / or top surface of the main body 10A. Each laser sensor includes an irradiator that emits light such as near-infrared light, visible light, or ultraviolet light in a predetermined direction, and a light receiver that receives the reflected light. The direction in which each irradiator emits light is set to have various azimuth and elevation angles with respect to the direction of travel of the autonomous mobile robot 10. Each laser sensor measures the distance to objects present around the autonomous mobile robot 10 based on the time from when the irradiator emits light until the light receiver receives the reflected light. The first person sensor 11 outputs a person detection signal to the first processing unit 19 at a predetermined period, which includes multiple combinations of the direction in which each laser sensor emitted light and the measured distance. The first person sensor 11 may include one or more visible light cameras provided on the front, side, back, and / or top surface of the main body 10A. The imaging direction of each visible light camera is set to have various azimuth and elevation angles with respect to the direction of travel of the autonomous mobile robot 10. Each visible light camera has, for example, a photoelectric conversion element sensitive to visible light, such as a CCD element or a C-MOS element, an imaging optical system that forms an image on the photoelectric conversion element, and an A / D converter, and generates and outputs a visible light image based on visible light. The first person sensor 11 sequentially generates visible light images at a predetermined frame period and outputs them to the first processing unit 19. In addition, the first person sensor 11 may include a thermal imaging camera that acquires thermal images instead of or in addition to the visible light cameras. The thermal imaging camera has, for example, two-dimensionally arranged sensors that detect the radiant energy of two wavelengths of electromagnetic radiation from an object, and an A / D converter that amplifies the electrical signal output from the sensors and performs analog-to-digital (A / D) conversion. The thermal imaging camera generates a thermal image based on temperature values ​​determined by the ratio of two types of radiant energies, and outputs it to the first processing unit 19 at a predetermined frame period.

[0023] The imaging unit 12 is a camera for imaging an area within the monitoring area. The imaging unit 12 includes one or more visible light cameras or thermal imaging cameras similar to the visible light camera or thermal imaging camera described above. Each camera is provided on the front, side, back and / or top surface of the main unit 10A. Each camera sequentially generates captured images based on visible light or temperature values ​​at a predetermined frame period and outputs them to the first processing unit 19. Furthermore, if the first person sensor 11 includes a visible light camera or a thermal imaging camera, the imaging unit 12 may be omitted, and the visible light image or thermal image generated by the first person sensor 11 may be used as the captured image.

[0024] The position sensor 13 is a sensor used to acquire the current position of the autonomous mobile robot 10. The position sensor 13 includes, for example, one or more laser sensors similar to the laser sensor described above. Each laser sensor is provided on the front, side, back and / or top surface of the main body 10A. The position sensor 13 outputs a position detection signal to the first processing unit 19 at a predetermined period, which includes a plurality of combinations of each direction in which light is emitted by each laser sensor and the measured distance. The position sensor 13 may include a receiver that receives radio waves (navigation signals) transmitted from navigation satellites (artificial satellites) such as GNSS (Global Navigation Satellite System). The receiver receives navigation signals transmitted from multiple navigation satellites and outputs them to the first processing unit 19. If the first person sensor 11 includes a laser sensor, the position sensor 13 may be omitted, and the person detection signal generated by the first person sensor 11 may be used as the position detection signal.

[0025] The tire drive unit 14 includes a motor for rotating the tire 10B and / or a motor for changing the direction of the tire 10B. The tire drive unit 14 receives a tire drive signal from the first processing unit 19, rotates according to the received tire drive signal, and drives the tire 10B.

[0026] The arm drive unit 15 includes a motor for changing the angle of the arm 10C. The arm drive unit 15 receives an arm drive signal from the first processing unit 19, rotates according to the received arm drive signal, changes the angle of the arm 10C, and extends the arm 10C.

[0027] The output unit 16 includes an LED which lights up or turns off according to instructions from the first processing unit 19. The output unit 16 also includes a display including a liquid crystal, organic EL, etc., and an interface circuit that outputs image data to the display, and may display various information such as images and text according to instructions from the first processing unit 19. Furthermore, the output unit 16 also includes a speaker and an interface circuit that outputs audio data to the speaker, and may output audio according to instructions from the first processing unit 19.

[0028] The first communication unit 17 has, for example, an antenna for transmitting and receiving wireless signals and a wireless communication interface circuit for transmitting and receiving signals through a wireless communication line in accordance with a wireless communication protocol such as a wireless LAN, and connects to the first communication network N1 via an access point. Alternatively, the first communication unit 17 has, for example, a communication interface circuit compliant with the W-CDMA or LTE system, and connects to the first communication network N1 via a communication network such as a base station and a mobile communication network. The first communication unit 17 outputs data received from the first communication network N1 to the first processing unit 19 and transmits data input from the first processing unit 19 to the first communication network N1.

[0029] The first storage unit 18 includes semiconductor memory such as ROM and RAM, a magnetic disk or optical disk drive such as a CD-ROM or DVD-ROM, and its recording medium. The first storage unit 18 stores computer programs and various data for controlling the autonomous mobile robot 10, and inputs and outputs this information to and from the first processing unit 19. The computer program may be installed in the first storage unit 18 from a computer-readable portable recording medium such as a CD-ROM or DVD-ROM using a known setup program or the like. The computer program may also be stored on a recording medium owned by a predetermined server and installed via a network.

[0030] Furthermore, the first storage unit 18 stores data such as map information 181, patrol information 182, an authorized person table 183, and an attribute table 184. Map information 181 shows the shape of passages or rooms within the monitoring area, the location and width of each security gate 30, and the location of fixed obstacles such as equipment or partitions. The location of each security gate 30 is stored in association with a gate ID used to identify each security gate 30. In addition, the security levels of the two areas partitioned by each security gate 30 are stored. Patrol information 182 shows the patrol schedule of the autonomous mobile robot 10 (patrol time, patrol route, shooting points, etc.). Map information 181 or patrol information 182 is set from the robot management server 20 or gate management server 40. Details of the authorization table 183 and attribute table 184 will be described later.

[0031] The first processing unit 19 includes a processor such as a CPU or MPU, memory such as ROM or RAM, and peripheral circuits, and performs various signal processing for the autonomous mobile robot 10. The first processing unit 19 includes a control unit 191, a transmission unit 192, a reception unit 193, an acquisition unit 194, a person detection unit 195, and an intruder detection unit 196, etc., which are implemented as functional modules of a program that runs on the processor. Note that a DSP, LSI, ASIC, FPGA, etc. may be used as the first processing unit 19.

[0032] The first processing unit 19 receives patrol information from the robot management server 20 via the first communication unit 17 and stores the received patrol information in the first storage unit 18. The first processing unit 19 also receives a control signal from the robot management server 20 via the first communication unit 17 to instruct the start or end of the autonomous mobile robot 10's patrol, and drives the tire drive unit 14 according to the received control signal and patrol information to move the autonomous mobile robot 10. The first processing unit 19 also receives a control signal from the robot management server 20 via the first communication unit 17 to instruct the destination of the autonomous mobile robot 10, and drives the tire drive unit 14 according to the received control signal to move the autonomous mobile robot 10. The first processing unit 19 also causes the imaging unit 12 to take an image at the shooting point indicated in the patrol information or the destination indicated in the control signal, and transmits the generated image to the robot management server 20 via the first communication unit 17.

[0033] The robot management server 20 is located in a control console or similar at a disaster prevention center installed within or around the monitoring area, and controls or manages the autonomous mobile robot 10. The robot management server 20 includes a second operation unit 21, a second display unit 22, a second communication unit 23, a second storage unit 24, and a second processing unit 25, among others.

[0034] The second operation unit 21 includes an input device such as a touch panel or keyboard, and an interface circuit that acquires signals from the input device. It accepts user operations and outputs a signal corresponding to the accepted operation to the second processing unit 25. The second display unit 22 includes a display including a liquid crystal or organic EL display, and an interface circuit that outputs image data to the display. It displays various information such as images and text according to instructions from the second processing unit 25.

[0035] The second communication unit 23 has a communication interface circuit compliant with, for example, TCP / IP, and is connected to the first communication network N1. Alternatively, the second communication unit 23 has, for example, an antenna for transmitting and receiving wireless signals and a wireless communication interface circuit for transmitting and receiving signals via a wireless communication line in accordance with a wireless communication protocol such as a wireless LAN, and is connected to the first communication network N1 via an access point. The second communication unit 23 outputs data received from the first communication network N1 to the second processing unit 25 and transmits data input from the second processing unit 25 to the first communication network N1.

[0036] The second storage unit 24 includes semiconductor memory such as ROM and RAM, a magnetic disk or optical disk drive such as a CD-ROM or DVD-ROM, and its recording medium. The second storage unit 24 stores computer programs and various data for controlling the robot management server 20, and inputs and outputs this information to and from the second processing unit 25. The computer program may be installed in the second storage unit 24 from a computer-readable portable recording medium such as a CD-ROM or DVD-ROM using a known setup program or the like. The computer program may also be stored on a recording medium owned by a predetermined server and installed via a network.

[0037] The second processing unit 25 includes a processor such as a CPU or MPU, memory such as ROM or RAM, and peripheral circuits, and executes various processes of the robot management server 20. A DSP, LSI, ASIC, FPGA, etc., may also be used as the second processing unit 25.

[0038] The second processing unit 25 receives the setting of the patrol schedule for the autonomous mobile robot 10 from the controller using the second operation unit 21, and transmits patrol information indicating the received setting to the autonomous mobile robot 10 via the second communication unit 23 to set it on the autonomous mobile robot 10. The second processing unit 25 also receives instructions from the controller to start or end the patrol of the autonomous mobile robot 10 using the second operation unit 21, and transmits a control signal to the autonomous mobile robot 10 via the second communication unit 23 to control the autonomous mobile robot 10. The second processing unit 25 also receives instructions from the controller to move the autonomous mobile robot 10 to using the second operation unit 21, and transmits a control signal to the autonomous mobile robot 10 to move to the destination via the second communication unit 23 to move the autonomous mobile robot 10. The second processing unit 25 also receives captured images from the autonomous mobile robot 10 via the second communication unit 23 and displays them on the second display unit 22.

[0039] The security gate 30 is a flap-type gate, swing-type gate, sliding-type gate, shutter-type gate, etc. The security gate 30 acquires the user's authentication information (user ID stored on an ID card, etc., or biometric information such as the user's face, fingerprints, iris, etc.) and transmits the acquired authentication information to the gate management server 40. The security gate 30 controls the opening and closing of the door according to the signal received from the gate management server 40. The security gate 30 includes a reading unit 31, a third person sensor 32, a door drive unit 33, a third communication unit 34, a third storage unit 35, and a third processing unit 36, among others.

[0040] The reading unit 31 is installed at the entrance of the security gate 30, etc. The reading unit 31 is, for example, a card reader, which reads the user ID stored in the IC card held by the user to identify the user and outputs it to the third processing unit 36. The card reader is a contactless card reader / writer. The reading unit 31 may be a camera for reading biometric information such as the user's face, fingerprints, and iris. The camera has, for example, a photoelectric conversion element sensitive to visible light or infrared light, such as a CCD element or a C-MOS element, an imaging optical system that forms an image on the photoelectric conversion element, and an A / D converter, and generates a biometric image of the user's face, fingerprints, iris, etc., and outputs it to the third processing unit 36.

[0041] The third person sensor 32 is a sensor for detecting a person passing through the security gate 30. The third person sensor 32 is installed on the front, inner side, top, etc., of the security gate 30. The third person sensor 32 includes a laser sensor or camera similar to the first person sensor 11 and outputs a person detection signal, a visible light image, or a thermal image to the third processing unit 36.

[0042] The door drive unit 33 includes a motor for opening and closing the door. The door drive unit 33 receives a door drive signal from the third processing unit 36, rotates according to the received door drive signal to generate driving force, and opens and closes the door. If the security gate 30 is a flap-type gate or a swing-type gate, the door drive unit 33 rotates the door, and if the security gate 30 is a sliding-type gate or a shutter-type gate, the door drive unit 33 moves the door horizontally.

[0043] The third communication unit 34 has a communication interface circuit compliant with, for example, TCP / IP, and is connected to the second communication network N2. Alternatively, the third communication unit 34 has, for example, an antenna for transmitting and receiving wireless signals and a wireless communication interface circuit for transmitting and receiving signals via a wireless communication line in accordance with a wireless communication protocol such as a wireless LAN, and is connected to the second communication network N2 via an access point. The third communication unit 34 outputs data received from the second communication network N2 to the third processing unit 36 ​​and transmits data input from the third processing unit 36 ​​to the second communication network N2.

[0044] The third storage unit 35 includes semiconductor memory such as ROM and RAM, a magnetic disk or optical disk drive such as a CD-ROM or DVD-ROM, and its recording medium. The third storage unit 35 stores a computer program and various data for controlling the security gate 30, and inputs and outputs this information to and from the third processing unit 36. The computer program may be installed in the third storage unit 35 from a computer-readable portable recording medium such as a CD-ROM or DVD-ROM using a known setup program or the like. The computer program may also be stored on a recording medium owned by a predetermined server and installed via a network.

[0045] The third processing unit 36 ​​includes a processor such as a CPU or MPU, memory such as ROM or RAM, and peripheral circuits, and performs various signal processing for the security gate 30. The third processing unit 36 ​​includes a management unit 361, etc., which is implemented as a functional module of a program that runs on the processor. A DSP, LSI, ASIC, FPGA, etc. may be used as the third processing unit 36.

[0046] The third processing unit 36 ​​transmits the user authentication information obtained from the reading unit 31 to the gate management server 40 via the third communication unit 34, and controls the door drive unit 33 to open and close the security gate 30 according to the signal received from the gate management server 40.

[0047] The gate management server 40 is located in a management center or the like, installed within or around the monitoring area, and controls or manages the security gate 30. The gate management server 40 includes a fourth operation unit 41, a fourth display unit 42, a fourth communication unit 43, a fourth storage unit 44, and a fourth processing unit 45, etc.

[0048] The fourth operation unit 41 includes an input device such as a touch panel or keyboard, and an interface circuit that acquires signals from the input device. It accepts user operations and outputs a signal corresponding to the accepted operation to the fourth processing unit 45. The fourth display unit 42 includes a display including a liquid crystal or organic EL display, and an interface circuit that outputs image data to the display. It displays various information such as images and text according to instructions from the fourth processing unit 45.

[0049] The fourth communication unit 43 has a communication interface circuit compliant with, for example, TCP / IP, and is connected to the second communication network N2. Alternatively, the fourth communication unit 43 has, for example, an antenna for transmitting and receiving wireless signals and a wireless communication interface circuit for transmitting and receiving signals via a wireless communication line in accordance with a wireless communication protocol such as wireless LAN, and is connected to the second communication network N2 via an access point. The fourth communication unit 43 outputs data received from the second communication network N2 to the fourth processing unit 45 and transmits data input from the fourth processing unit 45 to the second communication network N2.

[0050] The fourth storage unit 44 includes semiconductor memory such as ROM and RAM, a magnetic disk or optical disk drive such as a CD-ROM or DVD-ROM, and its recording medium. The fourth storage unit 44 stores a computer program and various data for controlling the gate management server 40, and inputs and outputs this information to and from the fourth processing unit 45. The computer program may be installed in the fourth storage unit 44 from a computer-readable portable recording medium such as a CD-ROM or DVD-ROM using a known setup program or the like. The computer program may also be stored on a recording medium owned by a predetermined server and installed via a network. The fourth storage unit 44 stores, as data, the authentication information of users and autonomous mobile robots 10 who are permitted to pass through the security gate 30. The user's authentication information is the user ID and / or biometric information. The authentication information of the autonomous mobile robot 10 is the robot ID, which is the identification information of the autonomous mobile robot 10.

[0051] The fourth processing unit 45 includes a processor such as a CPU or MPU, memory such as ROM or RAM, and peripheral circuits, and executes various processes of the robot management server 20. A DSP, LSI, ASIC, FPGA, etc., may be used as the fourth processing unit 45.

[0052] The fourth processing unit 45 uses the second operation unit 21 to receive registrations of users and autonomous mobile robots 10 authorized by the administrator to pass through the security gate 30, and registers the authentication information of the received users and autonomous mobile robots 10 in the fourth storage unit 44.

[0053] Figure 3(A) shows an example of the data structure of the authorization holder table 183. As shown in Figure 3(A), the authorization holder table 183 has an identification number (authorization holder ID) and a facial image associated with each authorization holder who has the authority to pass through the security gate 30 together with the autonomous mobile robot 10. Passage authority is granted, for example, to the administrator of the robot control system 2 or the gate control system 3, or to a person who requires assistance from the autonomous mobile robot 10.

[0054] Figure 3(B) shows an example of the data structure of attribute table 184. As shown in Figure 3(B), attribute table 184 has the identification number (member ID) and facial image of the member belonging to the group having each attribute set up in relation to each other, for each attribute that allows the autonomous robot 10 to pass through the security gate 30. The attribute is the attribute of the group to which each person belongs. Examples of attributes that allow the autonomous robot 10 to pass through the security gate 30 include security guards who guard the monitoring area, or maintenance personnel who perform maintenance on the autonomous robot 10.

[0055] The authorization table 183 and / or attribute table 184 are registered from the robot management server 20 or the gate management server 40.

[0056] Figure 4 shows a sequence illustrating an example of the operation of the opening and closing process of the security gate 30 when a user passes through the security gate 30, as performed by the control system 1. This sequence is executed mainly by the processing units of each device in cooperation with the elements of each device, based on programs pre-stored in the memory units of each device.

[0057] First, the third processing unit 36 ​​of the security gate 30 acquires the user's authentication information read by the reading unit 31 (step S101). Next, the third processing unit 36 ​​transmits the acquired authentication information to the gate management server 40 via the third communication unit 34 (step S102).

[0058] Next, the fourth processing unit 45 of the gate management server 40 receives authentication information from the security gate 30 via the fourth communication unit 43 and compares the user ID or biometric image contained in the received authentication information with the user ID or biometric image registered in the fourth storage unit 44 (step S103). If the authentication information is a user ID, the fourth processing unit 45 determines whether authentication was successful by checking whether the user ID contained in the authentication information matches any of the user IDs registered in the fourth storage unit 44. If the authentication information is a biometric image, the fourth processing unit 45 uses known image processing techniques to determine whether authentication was successful by checking whether the biometric image contained in the authentication information matches any of the biometric images registered in the fourth storage unit 44. If authentication fails, the control system 1 terminates the opening and closing process without opening the security gate 30. On the other hand, if authentication is successful, the fourth processing unit 45 transmits an open control signal to the security gate 30 via the fourth communication unit 43 to open the security gate 30 (step S104).

[0059] Next, the third processing unit 36 ​​of the security gate 30 receives an open control signal from the gate management server 40 via the third communication unit 34, and drives the door drive unit 33 to open the security gate 30 (step S105). Next, the third processing unit 36 ​​sends an open notification signal to the gate management server 40 via the third communication unit 34, indicating that the security gate 30 has entered an open state (step S106).

[0060] Next, the third processing unit 36 ​​waits until it detects that a user has passed through the security gate 30 (step S107). The third processing unit 36 ​​acquires a person detection signal, a visible light image, or a thermal image from the third person sensor 32, and determines whether or not a person is present when passing through the security gate 30 based on the acquired person detection signal, visible light image, or thermal image. For example, the third processing unit 36 ​​determines whether or not an object is present inside the security gate 30 based on the distance and direction indicated by the person detection signal, and if it determines that an object is present inside the security gate 30, it determines that a person is present inside the security gate 30. Alternatively, the third processing unit 36 ​​detects a change region where a change has occurred in the sequentially acquired images by inter-frame difference processing or background difference processing, and if the detected change region has a predetermined size that is considered to be a person, it determines that a person is present inside the security gate 30. If the third processing unit 36 ​​determines that a person is present inside the security gate 30 and then determines that a person is not present inside the security gate 30, it determines that a user has passed through the security gate 30.

[0061] Next, the third processing unit 36 ​​drives the door drive unit 33 to close the security gate 30 (step S108). The third processing unit 36 ​​may also close the security gate 30 when it receives a close control signal from the gate management server 40 to close the security gate 30. In that case, for example, the gate management server 40 sends a close control signal to the security gate 30 after a period of time has elapsed since it sent the open control signal and the user has been able to pass through the security gate 30. Next, the third processing unit 36 ​​sends a closed notification signal to the gate management server 40 via the third communication unit 34, indicating that the security gate 30 has entered a closed state (step S109). With this, the opening and closing process of the security gate 30 when a user passes through the security gate 30 is completed.

[0062] Figure 5 shows a sequence illustrating an example of the operation of the security gate 30 opening and closing process when the autonomous mobile robot 10 passes through the security gate 30, as performed by the control system 1. This sequence is executed mainly by the processing units of each device in cooperation with the elements of each device, based on programs pre-stored in the memory units of each device.

[0063] The control unit 191 of the autonomous mobile robot 10 moves along the paths shown in the map information 181 according to the patrol information 182 stored in the first storage unit 18 or the control signals received from the second processing unit 25 of the robot management server 20. Periodically, the control unit 191 acquires position detection signals or navigation signals from the position sensors 13 to detect the current position and direction of the autonomous mobile robot 10. The control unit 191 determines the current position and direction from the combination of the direction in which each laser sensor emitted light and the distance to the object, as included in the acquired position detection signal, and the positions of paths, rooms, obstacles, etc., shown in the map information 181. Alternatively, the control unit 191 determines the current position and direction by obtaining the latitude, longitude, and altitude from the acquired navigation signals.

[0064] When the autonomous mobile robot 10 reaches the vicinity of the security gate 30 that it is to pass through, the transmitting unit 192 transmits an open request signal to the gate management server 40 via the first communication unit 17 to open the security gate 30 (step S201). The open request signal includes the robot ID of the autonomous mobile robot 10 and the gate ID of the security gate 30. The transmitting unit 192 may, instead of an open request signal, transmit a usage request signal that notifies the autonomous mobile robot 10 that it will now have exclusive use of the security gate 30. The state in which the security gate 30 is exclusively used means that other autonomous mobile robots 10 or people are not permitted to use the security gate 30. The usage request signal also includes the robot ID of the autonomous mobile robot 10 and the gate ID of the security gate 30. When a usage request signal is transmitted, the security gate 30 may not immediately open even if the request is granted, but may open after, for example, the autonomous mobile robot 10 has moved to a predetermined position. Alternatively, an open request signal may be transmitted after the usage request signal is granted, and the gate may open after the open request signal is granted. The open request signal and the usage request signal are examples of passage requests for passing through the security gate 30, and both are signals that allow the autonomous mobile robot 10 to pass through the security gate 30. The following description will explain the case where the autonomous mobile robot 10 transmits an open request signal as a passage request.

[0065] Figure 6(A) is a schematic diagram showing the autonomous mobile robot 10 reaching the vicinity of the security gate 30. When the autonomous mobile robot 10 reaches the vicinity of the security gate 30, the security gate 30 is in the closed state. Arrow B1 indicates the direction of travel of the autonomous mobile robot 10, and arrow B2 indicates the width direction perpendicular to the direction of travel B1 of the autonomous mobile robot 10.

[0066] Next, the intruder detection unit 196 starts the detection process (step S202). The detection process is a process to detect an intruder based on the change in the positional relationship between the autonomous mobile robot 10 and the people present around the autonomous mobile robot 10, after the transmission unit 192 has sent an open request signal. Details of the detection process will be described later. Furthermore, the detection process may be initiated during any period from the time the device remains in the open state after the transmission of the open request signal (or use request signal).

[0067] Meanwhile, the fourth processing unit 45 of the gate management server 40 receives an open request signal from the autonomous mobile robot 10 via the fourth communication unit 43 and compares the robot ID included in the received open request signal with the robot IDs registered in the fourth storage unit 44 (step S203). The fourth processing unit 45 determines whether authentication was successful based on whether the robot ID included in the authentication information matches any of the robots registered in the fourth storage unit 44. If authentication fails, the control system 1 terminates the opening and closing process without opening the security gate 30. On the other hand, if authentication is successful, the fourth processing unit 45 transmits an open control signal to the security gate 30 corresponding to the gate ID included in the open request signal via the fourth communication unit 43 to open the security gate 30 (step S204).

[0068] Next, the third processing unit 36 ​​of the security gate 30 receives an open control signal from the gate management server 40 via the third communication unit 34 and drives the door drive unit 33 to open the security gate 30 (step S205). That is, the third processing unit 36 ​​of the security gate 30 and / or the fourth processing unit 45 of the gate management server 40 function as a receiving unit that receives an open request signal from the autonomous mobile robot 10, and a gate control unit that opens the security gate 30 upon receiving the open request signal. Next, the third processing unit 36 ​​sends an open notification signal to the gate management server 40 via the third communication unit 34, indicating that the security gate 30 has entered an open state (step S206).

[0069] Next, the fourth processing unit 45 of the gate management server 40 receives an open notification signal from the security gate 30 via the fourth communication unit 43, and transmits (transfers) the open notification signal to the autonomous mobile robot 10 via the fourth communication unit 43 (step S207).

[0070] Next, the receiving unit 193 of the autonomous mobile robot 10 receives an open notification signal from the gate management server 40 via the first communication unit 17. The control unit 191 determines that the security gate 30 is open when the receiving unit 193 receives the open notification signal after the transmitting unit 192 has sent an open request signal. The control unit 191 drives the tire drive unit 14 to rotate the tires 10B and moves the autonomous mobile robot 10 to pass through the security gate 30 (step S208). In this way, the control unit 191 controls the autonomous mobile robot 10 to pass through the security gate 30 during the open period when the security gate 30 is open due to the transmission of the open request signal. By using the open notification signal, the control unit 191 can accurately recognize that the security gate 30 is open.

[0071] Figure 6(B) is a schematic diagram showing the security gate 30 in an open state. When the security gate 30 is open, the autonomous mobile robot 10 can pass through the security gate 30. At this time, when the security gate 30 is open, both the autonomous mobile robot 10 and an intruder can illegally pass through the security gate 30.

[0072] Next, the control unit 191 outputs a display or sound from the output unit 16 to notify that the autonomous mobile robot 10 is passing through the security gate 30 (step S209). Persons around the autonomous mobile robot 10 can recognize that the autonomous mobile robot 10 is passing through the security gate 30 and can wait to pass through the security gate 30 themselves until the autonomous mobile robot 10 has passed through. This allows the control system 1 to suppress the occurrence of problems such as collisions between the autonomous mobile robot 10 and users while it is passing through the security gate 30.

[0073] Next, the control unit 191 performs a process to detect that the autonomous mobile robot 10 has passed through the security gate 30 (step S210). As described above, the control unit 191 periodically acquires a position detection signal or navigation signal from the position sensor 13 to detect the current position and direction of the autonomous mobile robot 10 and detects that the autonomous mobile robot 10 has passed through the security gate 30.

[0074] Figure 6(C) is a schematic diagram showing the autonomous mobile robot 10 passing through the security gate 30. At this time, the security gate 30 is in the open state.

[0075] Next, the transmitting unit 192 sends a close request signal to the gate management server 40 via the first communication unit 17 to close the security gate 30 (step S211). The close request signal includes the robot ID of the target autonomous mobile robot 10 and the gate ID of the target security gate 30.

[0076] Next, the fourth processing unit 45 of the gate management server 40 receives a close request signal from the autonomous mobile robot 10 via the fourth communication unit 43. The fourth processing unit 45 transmits a close control signal to the security gate 30 via the fourth communication unit 43 to open the security gate 30 corresponding to the gate ID included in the close request signal (step S212).

[0077] Next, the third processing unit 36 ​​of the security gate 30 receives a closing control signal from the gate management server 40 via the third communication unit 34, and drives the door drive unit 33 to close the security gate 30 (step S213). Next, the third processing unit 36 ​​sends a closed notification signal to the gate management server 40 via the third communication unit 34, indicating that the security gate 30 has entered a closed state (step S214).

[0078] Next, the fourth processing unit 45 of the gate management server 40 receives a closing notification signal from the security gate 30 via the fourth communication unit 43, and transmits (transfers) the closing notification signal to the autonomous mobile robot 10 via the fourth communication unit 43 (step S215).

[0079] Next, the receiving unit 193 of the autonomous mobile robot 10 receives a closed notification signal from the gate management server 40 via the first communication unit 17. When the receiving unit 193 receives the closed notification signal, the intruder detection unit 196 determines that the security gate 30 is in a closed state and terminates the detection process (step S216). By using the closed notification signal, the intruder detection unit 196 can accurately recognize that the security gate 30 is in a closed state.

[0080] Figure 6(D) is a schematic diagram showing the security gate 30 in the closed state. When the security gate 30 is closed, unauthorized intruders cannot pass through it.

[0081] Next, the control unit 191 terminates the output of a display or sound indicating that the autonomous robot 10 is passing through the security gate 30 (step S217). With this, the opening and closing process of the security gate 30 when the autonomous robot 10 passes through the security gate 30 is completed.

[0082] Note that the processing in steps S209 and / or S217 may be omitted.

[0083] Figure 7 is a flowchart illustrating an example of the operation of the detection process by the autonomous mobile robot 10. This flowchart is executed mainly by the first processing unit 19 in cooperation with each element of the autonomous mobile robot 10, based on a program pre-stored in the first storage unit 18. The detection process is performed between the processing in step S202 and step S211 in Figure 5.

[0084] First, the acquisition unit 194 acquires the robot position (self position) of the autonomous mobile robot 10 and the positions (horizontal position or horizontal and vertical position) of people present around the autonomous mobile robot 10, and stores them in the first storage unit 18 (step S301). The acquisition unit 194 acquires a position detection signal or navigation signal from the position sensor 13 and detects the robot position of the autonomous mobile robot 10. The acquisition unit 194 determines the current position and direction from the combination of the direction in which each laser sensor emitted light and the distance to the object, as included in the acquired position detection signal, and the positions of passages, rooms, obstacles, etc., shown in the map information 181. Alternatively, the acquisition unit 194 determines the current position and direction by obtaining the latitude, longitude, and altitude from the acquired navigation signal.

[0085] Furthermore, the acquisition unit 194 acquires a person detection signal from the first person sensor 11 and detects the position of a person present around the autonomous mobile robot 10 based on the acquired person detection signal. The person detection unit 195 detects a combination of distance and direction shown in the person detection signal as a single object if the distance is within a predetermined range and the direction is continuous. The autonomous mobile robot 10 pre-sets an equation or table in the first storage unit 18 that shows the relationship between the distance from the autonomous mobile robot 10 and the range of size (angle) considered to be a person. The person detection unit 195 refers to that equation or table to identify the range of size considered to be a person that corresponds to the distance to the detected object, and if the size of the detected object is within that range, it determines that the object is a person and that a person is present around the autonomous mobile robot 10. The acquisition unit 194 detects the position of the person based on the current position of the autonomous mobile robot 10 and the distance and direction to the detected object (person).

[0086] Alternatively, the acquisition unit 194 periodically acquires visible light images or thermal images captured by the first person sensor 11, and detects the position of any people present around the autonomous mobile robot 10 based on the acquired images. In this case, the person detection unit 195 detects change regions from the sequentially acquired images by inter-frame difference processing, etc., and if the detected change region has a predetermined size that is considered to represent a person, it determines that a person is captured in that change region and that a person is present around the autonomous mobile robot 10. The autonomous mobile robot 10 pre-sets in the first storage unit 18 an equation or table that shows the relationship between the position and size of the change region in the image, the distance from the autonomous mobile robot 10, and the direction relative to the imaging direction of the first person sensor 11. The acquisition unit 194 refers to that equation or table to determine the distance to the object corresponding to the change region and the direction of that object. The acquisition unit 194 detects the position of the person based on the current position of the autonomous mobile robot 10 and the determined distance and direction.

[0087] Furthermore, the acquisition unit 194 may acquire the position of a person received from the security gate 30 surrounding the autonomous mobile robot 10 as the position of a person surrounding the autonomous mobile robot 10. The third processing unit 36 ​​of the security gate 30 determines whether or not a person is present inside the security gate 30 in the same manner as the processing in step S107. If a person is present inside the security gate 30, the third processing unit 36 ​​transmits detection information indicating the presence of a person inside the security gate 30 to the autonomous mobile robot 10 via the third communication unit 34 and the gate management server 40. The third processing unit 36 ​​also detects the position of the person based on the placement position and light irradiation direction or imaging direction of the third person sensor 32 that detected the person, and transmits the position of the person to the autonomous mobile robot 10 via the third communication unit 34 and the gate management server 40. When the person detection unit 195 receives detection information from the security gate 30 via the first communication unit 17 and the gate management server 40, it determines that a person is present around the autonomous mobile robot 10. Furthermore, when the acquisition unit 194 receives the location of a person from the security gate 30 via the first communication unit 17 and the gate management server 40, it acquires the received location of the person as the location of a person present around the autonomous mobile robot 10.

[0088] Furthermore, the acquisition unit 194 may detect the position of a person present around the autonomous mobile robot 10 based on images acquired from surveillance cameras C located around the autonomous mobile robot 10. For example, the acquisition unit 194 periodically receives surveillance images from surveillance cameras C via the first communication unit 17. The person detection unit 195 detects change regions from the sequentially received surveillance images by inter-frame difference processing or background difference processing, and if the detected change region has a predetermined size that is considered to be a person, it determines that a person is captured in the change region and that a person is present around the autonomous mobile robot 10. The autonomous mobile robot 10 pre-sets in the first storage unit 18 an expression or table that shows the relationship between the position and size of the change region in the surveillance image, the distance from the surveillance camera C, and the direction relative to the imaging direction of the surveillance camera C. The acquisition unit 194 refers to that expression or table to determine the distance to the object corresponding to the change region and the direction of that object. The acquisition unit 194 detects the position of the person based on the placement position of the surveillance camera C that detected the person, and the determined distance and direction.

[0089] Next, the intruder detection unit 196 determines whether the acquisition unit 194 has acquired the location of any person present around the autonomous mobile robot 10, that is, whether the person detection unit 195 has determined that a person is present around the autonomous mobile robot 10 (step S302). If it has not been determined that a person is present around the autonomous mobile robot 10, the intruder detection unit 196 repeats the process in step S301 until the person detection unit 195 detects a person present around the autonomous mobile robot 10.

[0090] On the other hand, if the person detection unit 195 determines that there is a person present around the autonomous mobile robot 10, the intruder detection unit 196 sets a determination area (step S303). The determination area is an area in which a person present around the autonomous robot 10 is detected as an intruder, and is an example of a predetermined area. The intruder detection unit 196 sets the determination area on the side of the security gate 30 where entry is restricted from the person authentication position at the security gate 30. The person authentication position is, for example, the location of the reading unit 31 and is stored in the map information 181 in advance. The intruder detection unit 196 may change the determination area depending on whether the security gate 30 is open or closed. In that case, the intruder detection unit 196 determines whether the security gate 30 is open or closed based on whether or not an open notification signal and / or a closed notification signal has been received by the receiving unit 193. The intruder detection unit 196 may also determine whether the security gate 30 is open or closed based on the image acquired by the imaging unit 12.

[0091] Figures 8(A) and 8(B) are schematic diagrams illustrating the determination area. Figure 8(A) shows an example of the determination area when the security gate 30 is in the closed state, and Figure 8(B) shows an example of the determination area when the security gate 30 is in the open state. In the example shown in Figures 8(A) and (B), the security gate 30 is located at the boundary between the first area R1 and the second area R2, and the autonomous mobile robot 10 is attempting to move from the first area R1 to the second area R2. The entrance of the security gate 30 on the first area R1 side is equipped with a reader 31 for authenticating a person moving from the first area R1 to the second area R2. On the other hand, the exit of the security gate 30 on the second area R2 side is equipped with a reader 31 for authenticating a person moving from the second area R2 to the first area R1.

[0092] As shown in Figures 8(A) and (B), the determination area R3 is set on the side of the second area R2, where entry is restricted by the security gate 30, from the boundary surface X which includes the position of the reading unit 31 located at the entrance, which is the person authentication position at the security gate 30. This allows the control system 1 to detect a person attempting to enter using the autonomous mobile robot 10 as an unauthorized intruder, while suppressing the erroneous detection of a person who happens to be located near the autonomous mobile robot 10 as an unauthorized intruder.

[0093] In the example shown in Figure 8(A), when the security gate 30 is closed, the area from the boundary surface X including the position of the reading unit 31 at the entrance of the security gate 30 to the position of the door (flap) G located at an intermediate position between the entrance and the exit is set as the determination area R3. In the example shown in Figure 8(B), when the security gate 30 is open, the area from the boundary surface X including the position of the reading unit 31 at the entrance of the security gate 30 to the boundary surface Y including the position of the reading unit 31 at the exit of the security gate 30 is set as the determination area R3. The positions of the boundary surfaces X, Y and / or door G including the position of each reading unit 31 are stored in the map information 181 in advance. By changing the determination area according to the state of the security gate 30, the control system 1 can set the determination area R3 more precisely and further suppress the erroneous detection of a person who happens to be located near the autonomous mobile robot 10 as an intruder.

[0094] Furthermore, regardless of whether the security gate 30 is closed or open, the area from the boundary surface X including the position of the reading unit 31 at the entrance of the security gate 30 to the boundary surface Y including the position of the reading unit 31 at the exit of the security gate 30 may be set as the determination area R3. This makes it easier for the control system 1 to detect as an unauthorized intruder a person attempting to pass through the security gate 30 from the opposite side of the autonomous mobile robot 10. Furthermore, the detection area when the security gate 30 is in a closed state is suitable for detecting an unauthorized intruder during the period from when the autonomous mobile robot 10 transmits a usage request signal (instead of transmitting an open request signal) until the gate becomes open. Furthermore, the determination area is not limited to cases where the reading unit 31 is located at the entrance of the security gate 30, but can also be set in the same way when it is located on the wall near the entrance and exit of the security gate 30. In this case, for example, a boundary surface including the position of the reading unit located on the wall near the entrance of the security gate 30 and a boundary surface including the position of the reading unit located on the wall near the exit may be set, and the area between each boundary surface may be set as the determination area.

[0095] Next, the intruder detection unit 196 determines whether the robot position or person position acquired by the acquisition unit 194 is included in the determination area (step S304). If neither the robot position nor the person position is included in the determination area, the intruder detection unit 196 does not detect the person as an intruder (step S305) and returns to step S301. This prevents the control system 1 from mistakenly detecting a person who is not attempting to enter by tailgating but is coincidentally located near the autonomous mobile robot 10 as an intruder. Furthermore, the intruder detection unit 196 does not need to detect a person as an intruder if the person's position is not included in the determination area, regardless of whether the robot's position is included or not. This prevents the control system 1 from mistakenly detecting a person as an intruder who is located near the autonomous robot 10 but outside the security gate 30. Also, the intruder detection unit 196 does not need to detect a person as an intruder if the robot's position is not included in the determination area, regardless of whether the person's position is included or not. This prevents the control system 1 from mistakenly detecting a person as an intruder who entered the security gate 30 before the autonomous robot 10. In particular, the control system 1 can consider a person who has entered the determination area without performing an authentication operation, where one would normally enter after performing an authentication operation, to be more likely to be an intruder if suspicious behavior (such as behavior that results in a predetermined positional relationship between the autonomous robot 10's position and the person's position, as described later) is detected.

[0096] On the other hand, if either the robot position or the person position is included in the determination area, the intruder detection unit 196 determines whether the robot position and the person position have a predetermined positional relationship (step S306). The intruder detection unit 196 determines whether one or more sets of robot positions and person positions stored in the first storage unit 18 in the most recent predetermined time have a predetermined positional relationship.

[0097] The predetermined positional relationship is, for example, a "close" relationship in which two objects are continuously located within a predetermined distance from each other for a predetermined period of time or longer. The predetermined distance is set, for example, to the length of the security gate 30 in the direction of travel B1 or the length of its width B2. The predetermined time is set to the maximum time (for example, 5 seconds) that a person can be located within a predetermined distance from the autonomous mobile robot 10 when they happen to pass each other. The control system 1 can prevent tailgating using the autonomous mobile robot 10 by detecting the person as an unauthorized intruder when the robot's position and the person's position are in a "close" relationship.

[0098] The predetermined positional relationship may also be a "slip-through" relationship in which the distance in the direction of travel B1 changes from a distance greater than a first threshold to a distance less than a second threshold (less than or equal to the first threshold), and the distance in the width direction B2 is within a predetermined range. The first threshold is set to a distance (e.g., 5m) in which the autonomous robot 10 and the person do not overlap with each other, and the second threshold is set to a distance (e.g., 1m) less than or equal to the first threshold. The predetermined range is a range in which the autonomous robot 10 and the person are close to each other but do not overlap, and is set based on the length of the width direction B2 of the security gate 30. That is, the "slip-through" relationship is established when the person approaches the autonomous robot 10 from behind and performs an "overtake" by moving to the side of the autonomous robot 10. The "slip-through" relationship is also established when the person approaches the autonomous robot 10 from the front and performs a "pass" by moving to the side of the autonomous robot 10. The control system 1 can prevent the autonomous mobile robot 10 from "overtaking" or "passing" the robot by detecting the person as an unauthorized intruder when the robot's position and the person's position are in a "passing" relationship.

[0099] The predetermined positional relationship may also be a "jump-over" relationship in which the distance in the direction of travel B1 changes from a distance greater than a first threshold to a distance less than a second threshold, and the distance in the height direction perpendicular to the direction of travel B1 and the width direction B2 is within a predetermined range. In other words, a "jump-over" relationship is established when a person approaches the autonomous mobile robot 10 from behind or in front of it and jumps over the autonomous mobile robot 10. The control system 1 can prevent a person from jumping over the autonomous mobile robot 10 and passing through the security gate 30 by detecting the person as an unauthorized intruder when the robot position and the person position have a "jump-over" relationship.

[0100] The predetermined positional relationship may also be a "boarding" relationship in which the distance in the direction of travel B1 changes from a distance greater than the first threshold to a distance less than the second threshold, and the distance in the width direction B2 and the distance in the height direction are less than the second threshold. In other words, a "boarding" relationship is established when a person approaches the autonomous mobile robot 10 from behind or in front of it and boards the autonomous mobile robot 10. The control system 1 can prevent a person from boarding the autonomous mobile robot 10 and passing through the security gate 30 by detecting the person as an unauthorized intruder when the robot position and the person position have a "boarding" relationship. Furthermore, the autonomous mobile robot 10 may also have an acceleration sensor, and when the acceleration sensor detects shaking of the autonomous mobile robot 10, it may determine that a person has come into contact with the autonomous mobile robot 10. The intruder detection unit 196 may then determine that a "boarding" relationship has been established only when a person has come into contact with the autonomous mobile robot 10. This allows the intruder detection unit 196 to determine with higher accuracy whether or not a person has boarded the autonomous mobile robot 10.

[0101] If the robot's position and the person's position do not have a predetermined positional relationship, the intruder detection unit 196 does not detect the person as an intruder (step S305) and returns to step S301.

[0102] On the other hand, if the robot's position and the person's position have a predetermined positional relationship, the intruder detection unit 196 determines whether the person detected by the person detection unit 195 has the authority to pass through the security gate 30 (step S307). For example, the intruder detection unit 196 acquires images of people's faces around the autonomous robot 10 from the first person sensor 11, the security gate 30, or the surveillance camera C. The intruder detection unit 196 cuts out a region of a predetermined size from the acquired image, shifting its position. The intruder detection unit 196 calculates the degree of similarity between each cut-out region and each face image registered in the authorized person table, or the degree of similarity between the feature quantities extracted from each cut-out region and the feature quantities extracted from each face image registered in the authorized person table. The feature quantities are Haar-Like features or HOG (Histogram of Oriented Gradient) features, etc. The degree of similarity is the normalized cross-correlation value, etc. If the degree of similarity between any of the cut-out regions and any of the face images registered in the authorized person table is above a threshold, the intruder detection unit 196 determines that the person is an authorized person and has the right to pass through the security gate 30. Furthermore, the intruder detection unit 196 may determine, upon receiving an authorized person ID registered in the authorized person table, that a person present around the autonomous robot 10 has the authority to pass through the security gate 30. For example, the autonomous robot 10 has an IC tag reader, and authorized persons are pre-distributed with IC tags that store their authorized person IDs. When the intruder detection unit 196 detects that the IC tag reader has read an authorized person ID, it determines that the ID was read from an IC tag held by a person in the vicinity of the autonomous robot 10, and determines that that person has the right to pass through. Alternatively, the autonomous robot 10 has a wireless communication module, and the authorized person's ID is pre-registered on a smartphone or other device held by an authorized person. The wireless communication module is a module having a wireless communication interface circuit such as Bluetooth® or ZigBee®. When the intruder detection unit 196 receives the authorized person ID via the wireless communication module, it determines that the authorized person ID was received from a smartphone held by a person in the vicinity of the autonomous robot 10, and determines that that person has the right to pass through.

[0103] If the person detection unit 195 determines that the person detected has the authority to pass through the security gate 30, the intruder detection unit 196 does not detect that person as an intruder (step S305) and returns to step S301. This allows the control system 1 to prevent tailgating or passing intrusion using the autonomous mobile robot 10, while allowing pre-registered authorized persons to enter the security area together with the autonomous mobile robot 10. Authorized persons can act together with the autonomous mobile robot 10, and the control system 1 can improve convenience.

[0104] On the other hand, if the person detection unit 195 determines that the person detected does not have the authority to pass through the security gate 30, the intruder detection unit 196 determines whether or not that person belongs to a group that has the attributes to be permitted to pass through the security gate 30 (step S308). For example, the intruder detection unit 196 acquires images of people's faces that are present around the autonomous robot 10, similar to the process in step S307. The intruder detection unit 196 determines that a person belongs to a group with attributes that allow them to pass through the security gate 30 if the degree of similarity between any region extracted from each acquired image and any face image registered in the attribute table is above a threshold. Furthermore, the intruder detection unit 196 may, similar to the process in step S307, determine that a person present around the autonomous robot 10 belongs to a group with attributes that permit passage through the security gate 30 when the IC tag reader reads a member ID registered in the attribute table. Also, the intruder detection unit 196 may, similar to the process in step S307, determine that a person present around the autonomous robot 10 belongs to a group with attributes that permit passage through the security gate 30 when the wireless module receives a member ID registered in the attribute table. In addition, the attribute table may specify a time period (for example, the working hours of a security guard) during which each member is permitted to pass through the security gate 30. In this case, the intruder detection unit 196 will determine that a person present around the autonomous robot 10 belongs to a group with attributes that permit them to pass through the security gate 30, but only if the current time falls within the time period during which that person is permitted to pass through the security gate 30.

[0105] If the person detection unit 195 determines that the person detected belongs to a group with attributes that permit passage through the security gate 30, the intruder detection unit 196 does not detect that person as an intruder (step S305) and returns to step S301. This allows the control system 1 to prevent tailgating or passing intrusion using the autonomous mobile robot 10, while allowing a person belonging to a group with specific attributes to enter the security area together with the autonomous mobile robot 10. A person belonging to a group with specific attributes can act together with the autonomous mobile robot 10, and the control system 1 can improve convenience.

[0106] On the other hand, if the person detection unit 195 determines that the person does not belong to a group that has attributes that permit passage through the security gate 30, the intruder detection unit 196 determines whether the person is passing through the security gate 30 from an area with a high security level to an area with a low security level (step S309). The intruder detection unit 196 identifies the security levels of the two areas demarcated by the corresponding security gates 30 from the map information 181. Based on the change in the location of the person detected by the person detection unit 195, the intruder detection unit 196 determines whether the person detected by the person detection unit 195 is heading towards an area with a lower security level or an area with a higher security level.

[0107] If the person detection unit 195 determines that a person is passing through the security gate 30 from a high-security area to a low-security area, the intruder detection unit 196 does not detect that person as an intruder (step S305) and returns to step S301. In other words, if the person detection unit 195 determines that a person is passing through the security gate 30 from the first area to the second area, which has a lower security level than the first area, the intruder detection unit 196 does not detect that person as an intruder. This allows the control system 1 to prevent tailgating or passing-by intrusion from a low-security area to a high-security area using the autonomous robot 10, while allowing escape from a high-security area to a low-security area. Users can quickly escape from a high-security area to a low-security area in emergencies, even while the autonomous robot 10 is passing through the security gate 30, and the control system 1 can improve convenience.

[0108] On the other hand, if the person detection unit 195 determines that the person has not passed through the security gate 30 from a high-security area to a low-security area, the intruder detection unit 196 detects that person as an intruder (step S310).

[0109] As described above, the intruder detection unit 196 does not detect a person as an intruder if the robot's position and the person's position do not have a predetermined positional relationship, but it does detect the person as an intruder if the robot's position and the person's position have a predetermined positional relationship. In other words, after the transmission unit 192 transmits an open request signal, the intruder detection unit 196 detects an intruder based on the change in the positional relationship between the autonomous mobile robot 10 and the person present around the autonomous mobile robot 10. As a result, the control system 1 can use the autonomous mobile robot 10 passing through the security gate 30 to detect intruders attempting to pass through the security gate 30 with high accuracy. In particular, the intruder detection unit 196 detects intruders based on changes in the positional relationship between the robot's position and the person's position. As a result, the control system 1 can use the autonomous mobile robot 10 passing through the security gate 30 to detect intruders attempting to pass through the security gate 30 with greater accuracy.

[0110] Next, the intruder detection unit 196 outputs a warning display or warning sound from the output unit 16 to notify that an intruder has been detected (step S311), and the series of steps ends. As a result, the control system 1 can notify the intruder of the warning. Furthermore, the intruder detection unit 196 may transmit a notification signal to the robot management server 20 or gate management server 40 via the first communication unit 17, indicating that an intruder has been detected. Upon receiving the notification signal from the autonomous robot 10, the robot management server 20 or gate management server 40 displays the detection of an intruder on the second display unit 22 or fourth display unit 42 to notify the controller or administrator. This allows the controller or administrator to recognize the presence of an intruder and take appropriate action against the intruder. The intruder detection unit 196 may also transmit a close request signal to the gate management server 40 via the first communication unit 17. Upon receiving the close request signal from the autonomous robot 10, the gate management server 40 transmits a close control signal to the security gate 30 via the fourth communication unit 43, thereby closing the security gate 30. This allows the control system 1 to prevent an intruder from passing through the security gate 30.

[0111] Furthermore, steps S303 to S304 may be omitted, and the intruder detection unit 196 may detect a person detected by the person detection unit 195 as an intruder, regardless of whether the robot position or person position is included in the determination area. Also, step S307 may be omitted, and the intruder detection unit 196 may detect a person detected by the person detection unit 195 as an intruder, regardless of whether the person has the right to pass through. Furthermore, step S308 may be omitted, and the intruder detection unit 196 may detect a person detected by the person detection unit 195 as an intruder, regardless of whether the person belongs to a group with attributes that permit passage through the security gate 30. Furthermore, step S309 may be omitted, and the intruder detection unit 196 may detect a person detected by the person detection unit 195 as an intruder, regardless of whether the person is passing through the security gate 30 toward an area with a lower security level. Also, step S311 may be omitted.

[0112] As explained above, after the autonomous mobile robot 10 transmits an open request signal, the control system 1 detects an intruder based on the positional relationship between the autonomous mobile robot 10 and any people present around it. This enables the control system 1 to appropriately detect individuals passing through the security gate together with the autonomously moving autonomous mobile robot 10. As a result, the control system 1 can prevent unauthorized individuals from entering the security gate 30 by tailgating or passing by other vehicles when the autonomous robot 10 passes through the security gate 30.

[0113] Although preferred embodiments have been described above, the embodiments are not limited to the examples described above. For example, the intruder detection unit 196 may start the detection process when the receiving unit 193 receives an open notification signal, rather than when the transmitting unit 192 transmits an open request signal. That is, the intruder detection unit 196 may detect an intruder after the transmitting unit 192 has transmitted an open request signal and the receiving unit 193 has received an open notification signal. By using the open notification signal, the intruder detection unit 196 can accurately recognize that the security gate 30 is in an open state. Furthermore, the intruder detection unit 196 may terminate the detection process not when the transmitting unit 192 transmits a close request signal, but when the receiving unit 193 receives a close notification signal. In other words, the intruder detection unit 196 may detect an intruder until the receiving unit 193 receives a close notification signal. By using the close notification signal, the intruder detection unit 196 can accurately recognize that the security gate 30 is in an open state.

[0114] Alternatively, the autonomous mobile robot 10 may send and receive signals directly with the security gate 30 without going through the gate management server 40. That is, the transmitting unit 192 may send an open request signal and a closed request signal to the security gate 30 owned by the gate control system 3, and the receiving unit 193 may receive an open notification signal and a closed notification signal from the security gate 30 owned by the gate control system 3. In this case, the third storage unit 35 of the security gate 30 stores authentication information of the user and the autonomous mobile robot 10 who are permitted to pass through the security gate 30, and the third processing unit 36 ​​of the security gate 30 performs authentication of the user and the autonomous mobile robot 10.

[0115] Furthermore, the detection process in Figure 7 may be performed not by the autonomous mobile robot 10, but by the robot management server 20, the security gate 30, or the gate management server 40. In that case, the second storage unit 24 of the robot management server 20, the third storage unit 35 of the security gate 30, or the fourth storage unit 44 of the gate management server 40 will store the information stored in the first storage unit 18 of the autonomous mobile robot 10. The second processing unit 25 of the robot management server 20, the third processing unit 36 ​​of the security gate 30, or the fourth processing unit 45 of the gate management server 40 will have an acquisition unit, a person detection unit, and an intruder detection unit that have the same functions as the acquisition unit 194, the person detection unit 195, and the intruder detection unit 196.

[0116] In step S202 of Figure 5, the first processing unit 19 of the autonomous mobile robot 10 sends a start request signal via the first communication unit 17 to the robot management server 20, security gate 30, or gate management server 40, requesting the start of the detection process. When the robot management server 20, security gate 30, or gate management server 40 receives the start request signal from the autonomous mobile robot 10, it starts the detection process. Also, in step S216 of Figure 5, the first processing unit 19 of the autonomous mobile robot 10 sends a termination request signal via the first communication unit 17 to the robot management server 20, security gate 30, or gate management server 40, requesting the end of the detection process. When the robot management server 20, security gate 30, or gate management server 40 receives the termination request signal from the autonomous mobile robot 10 via the communication unit of each device, it terminates the detection process. In step S301 of Figure 7, the acquisition unit acquires signals, images, or information from the autonomous mobile robot 10, the security gate 30, or the surveillance camera C. The person detection unit detects people present around the autonomous mobile robot 10 based on the acquired signals, images, or information. The acquisition unit acquires the robot's position and the person's position based on the acquired signals, images, or information. In step S303, the intruder detection unit obtains an open notification signal and / or a closed notification signal from the gate management server 40, and sets a determination area based on each of the obtained signals. In step S307, the intruder detection unit obtains images or authorized person IDs from the autonomous robot 10, security gate 30, or surveillance camera C, and determines whether the person has the authority to pass through security gate 30 based on the obtained images or authorized person IDs. In step S308, the intruder detection unit acquires images or member IDs from the autonomous robot 10, security gate 30, or surveillance camera C, and determines, based on the acquired images or member IDs, whether or not the person belongs to a group that has the attributes to be permitted to pass through security gate 30. In step S309, the intruder detection unit obtains the current position and direction of travel from the autonomous robot 10, and determines whether the person is passing through the security gate 30 from an area with a high security level to an area with a low security level, based on the obtained current position and direction of travel. In step S311, the intruder detection unit sends a request signal to the autonomous mobile robot 10 requesting that it output a warning display or a warning sound. When the first processing unit 19 of the autonomous mobile robot 10 receives a request signal from the robot management server 20, security gate 30, or gate management server 40, it causes the output unit 16 to output a warning display or a warning sound. In these cases as well, the control system 1 can appropriately detect a person passing through the security gate together with the autonomously moving robot 10.

[0117] A control system including an autonomous mobile robot according to one embodiment of the present invention can contribute to solving social issues such as the declining workforce and long working hours. Furthermore, a control system including an autonomous mobile robot according to one embodiment of the present invention can contribute to achieving Goal 9 of the Sustainable Development Goals (SDGs) adopted by the United Nations, "Build resilient infrastructure, promote inclusive and sustainable industrialization and foster innovation." [Explanation of symbols]

[0118] 1 Control system, 10 Autonomous mobile robot, 18 First memory unit, 191 Control unit, 192 Transmitter unit, 193 Receiver unit, 194 Acquisition unit, 195 Person detection unit, 196 Intruder detection unit

Claims

1. An autonomous driving robot that moves autonomously, A transmission means for transmitting a request to pass through a security gate to a gate control system that controls the security gate, Control means for controlling the vehicle to pass through the security gate during the open period when the security gate is open due to the transmission of the aforementioned passage request, A means for acquiring the position of a person present in the vicinity of the autonomous mobile robot, After the transmission means transmits the passage request, an intruder detection means detects an intruder based on the change in the relative positions of the autonomous robot and the person, An autonomous mobile robot characterized by having the following features.

2. The system further includes a receiving means for receiving an open notification signal from the gate control system that indicates the security gate has been opened. The autonomous mobile robot according to claim 1, wherein the unauthorized intruder detection means performs unauthorized intruder detection processing after the transmitting means transmits the passage request and the receiving means receives the open notification signal.

3. The system further includes a receiving means for receiving a closed notification signal from the gate control system that indicates the security gate has entered a closed state. The autonomous mobile robot according to claim 1 or 2, wherein the unauthorized intruder detection means performs unauthorized intruder detection processing until the receiving means receives the closed notification signal.

4. The autonomous robot according to claim 1 or 2, wherein the unauthorized intruder detection means performs an unauthorized intruder detection process when the autonomous robot's own position or the person's position is located within a predetermined area set on the side of the security gate where entry is restricted by the security gate, relative to the person authentication position at the security gate.

5. The autonomous robot according to claim 4, wherein the intruder detection means changes the predetermined area depending on whether the security gate is open or closed.

6. The autonomous robot according to claim 1 or 2, wherein the unauthorized intruder detection means detects an unauthorized intruder based on a change in the positional relationship between the autonomous robot's own position and the position of the person.

7. A receiving means for receiving a request to pass through a security gate from an autonomously operating robot, A gate control means that opens the security gate upon receiving the aforementioned passage request, Acquisition means for acquiring the robot position of the autonomous mobile robot and the positions of people present around the autonomous mobile robot, An intruder detection means that, after receiving the aforementioned passage request, detects an intruder based on the change in the relative positions of the autonomous robot and the person, A control system characterized by having the following features.

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