Autonomous mobile robot, security system, driving control method, and program

Abstract

To provide an autonomous travel type robot capable of passing through a security gate wile securing safety in the security gate.SOLUTION: An autonomous travel type robot 100 is an autonomous travel type robot that autonomously travels in a prescribed area, and includes: a detection unit 135 which detects a moving object 1 present around the autonomous travel type robot 100; and a travel control unit 138 which controls travel of the autonomous travel type robot 100. Before the autonomous travel type robot 100 passes through a security gate 250 installed in a prescribed area, if the detection unit 135 detects the moving object 1 in the area before passing through the security gate 250, the travel control unit 138 controls the autonomous travel type robot 100 to avoid passage of the security gate 250.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present disclosure relates to an autonomous mobile robot, a security system, a travel control method, and a program.

Background Art

[0002] For example, Patent Document 1 discloses a following mobile device that follows while maintaining an appropriate distance from a moving object, and is capable of controlling following operations such as widening the distance from the moving object according to the surrounding situation, or waiting for the moving object to return at a predetermined position.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the technique described in Patent Document 1, for example, when a moving object passes through a security gate, another moving object (for example, a person) without permission to pass through the security gate may pass through the security gate together with the following mobile device.

[0005] Therefore, the present disclosure provides an autonomous mobile robot or the like that can pass through a security gate while ensuring safety at the security gate.

Means for Solving the Problems

[0006] An autonomous mobile robot according to one aspect of the present disclosure is an autonomous mobile robot that autonomously travels within a predetermined area, comprising: a detection unit for detecting moving objects present around the autonomous mobile robot; and a travel control unit for controlling the movement of the autonomous mobile robot, wherein the travel control unit controls the autonomous mobile robot to avoid passing through the security gate if the detection unit detects a moving object in the area before the autonomous mobile robot passes through a security gate installed in the predetermined area.

[0007] Furthermore, a security system according to one aspect of this disclosure comprises the autonomous mobile robot and an authentication device that transmits to the autonomous mobile robot, as an authentication result, information on whether or not the mobile object is permitted to pass through the security gate.

[0008] Furthermore, a driving control method according to one aspect of the present disclosure is a driving control method for an autonomous mobile robot that autonomously travels within a predetermined area, comprising: a detection step for detecting moving objects present around the autonomous mobile robot; and a driving control step for controlling the movement of the autonomous mobile robot, wherein in the driving control step, if the moving object is detected in the area before the autonomous mobile robot passes through a security gate installed in the predetermined area in the detection step, the autonomous mobile robot is controlled to avoid passing through the security gate.

[0009] Furthermore, this disclosure may be implemented as a program for causing a computer to implement the above-described driving control method. It may also be implemented as a non-temporary recording medium such as a CD-ROM readable by a computer on which the program is recorded. Furthermore, this disclosure may be implemented as information, data, or signals representing the program. These programs, information, data, and signals may be distributed via a communication network such as the Internet. [Effects of the Invention]

[0010] The autonomous mobile robots and the like described in this disclosure can pass through security gates while ensuring safety at the security gates. [Brief explanation of the drawing]

[0011] [Figure 1] Figure 1 is a diagram illustrating the overview of the security system according to the embodiment. [Figure 2] Figure 2 is a block diagram showing an example of the configuration of a security system according to an embodiment. [Figure 3] Figure 3 is a perspective view showing the external appearance of an autonomous mobile robot according to an embodiment, viewed from the side. [Figure 4] Figure 4 is a perspective view showing the external appearance of an autonomous mobile robot according to an embodiment, viewed from the front. [Figure 5] Figure 5 is a bottom view showing the external appearance of the autonomous mobile robot according to the embodiment, viewed from the rear. [Figure 6] Figure 6 is a flowchart showing a first example of the operation of an autonomous mobile robot according to an embodiment. [Figure 7] Figure 7 is a schematic diagram illustrating a first example of the operation of an autonomous mobile robot. [Figure 8] Figure 8 schematically illustrates an example of an autonomous robot passing through a security gate. [Figure 9] Figure 9 is a flowchart showing a second example of the operation of an autonomous mobile robot according to the embodiment. [Figure 10] Figure 10 is a schematic diagram illustrating a second example of the operation of an autonomous mobile robot. [Figure 11] Figure 11 schematically illustrates another example of an autonomous robot passing through a security gate. [Modes for carrying out the invention]

[0012] Hereinafter, embodiments of a travel route map creation device and the like according to the present disclosure will be described in detail with reference to the drawings. Note that all the embodiments described below show preferred specific examples of the present disclosure. Therefore, the numerical values, shapes, materials, components, arrangements and connection forms of the components, steps, order of steps, etc. shown in the following embodiments are merely examples and are not intended to limit the present disclosure. In addition, among the components in the following embodiments, the components not described in the independent claims are described as optional components.

[0013] Note that the accompanying drawings and the following description are provided for those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter described in the claims.

[0014] Also, each figure is a schematic diagram and is not necessarily drawn precisely. In each figure, substantially the same configurations are denoted by the same reference numerals, and duplicate descriptions may be omitted or simplified.

[0015] In addition, in the following embodiments, the case where a self-driving robot traveling on the floor surface of a predetermined floor is viewed from the vertically upper side may be described as a top view, and the case where it is viewed from the vertically lower side may be described as a bottom view.

[0016] (Embodiment 1) [Security System] [1. Overview] First, an overview of the security system according to Embodiment 1 will be described. FIG. 1 is a diagram for explaining the overview of the security system according to Embodiment 1.

[0017] The security system 300 is a system that ensures the safety of the security gate 250 while allowing the autonomous mobile robot 100 to pass through, for example, so that a moving object 1 (e.g., a person or mobile robot) that does not have permission to pass through the security gate 250 does not pass through the security gate 250 together with the autonomous mobile robot 100. The security system 300 comprises, for example, the autonomous mobile robot 100 and an authentication device 200. The authentication device 200 transmits to the autonomous mobile robot 100, for example, information as an authentication result, indicating whether or not a person around the autonomous mobile robot 100 has permission to pass through the security gate 250. The autonomous mobile robot 100 may acquire this information and determine whether or not it is allowed to pass through the security gate 250. The autonomous mobile robot 100 may have permission to pass through the security gate 250, or it may not. In this case, the autonomous mobile robot 100 may follow a moving object 1 (a person or mobile robot) that has permission to pass through the security gate 250 and pass through the security gate 250.

[0018] The security gate 250 is installed, for example, in a designated area and allows only authenticated moving objects 1 to pass through. The designated area may be an area that restricts the entry and exit of people within a building or space such as an airport, office, school, public facility, nursing home, commercial facility, hotel, hospital, museum, library, event venue, or apartment building, or it may be an area where entrances and exits to such buildings or spaces are provided.

[0019] The autonomous robot 100 may, for example, wait until it is ready to pass through the security gate 250, pass through the security gate 250 independently, or follow a moving object 1 that has permission to pass through the security gate 250 and pass through the security gate 250.

[0020] For example, in the security system 300, the authentication device 200 authenticates whether the moving object 1 is permitted to pass through the security gate 250 based on sensing information acquired by the sensor 240, and transmits the authentication result to the autonomous mobile robot 100. Furthermore, in addition to the above information, the authentication device 200 may also transmit to the autonomous mobile robot 100 information indicating the positional relationship between the moving object 1 and the autonomous mobile robot 100. This allows the autonomous mobile robot 100 to estimate, for example, which of the multiple moving objects 1 around it is permitted to pass.

[0021] [2. Structure] Next, the configuration of the security system 300 will be described. Figure 2 is a block diagram showing an example of the configuration of the security system 300 according to Embodiment 1.

[0022] As shown in Figure 2, the security system 300 includes, for example, an autonomous mobile robot 100 and an authentication device 200. For example, the autonomous mobile robot 100 and the authentication device 200 may be connected to a communication-enabled server device (not shown). Note that in Figure 2, the autonomous mobile robot 100 is shown as a cleaning robot, but it is not limited to this. The following describes each configuration.

[0023] [2-1. Autonomous Mobile Robots] First, let's describe the autonomous mobile robot 100. The autonomous mobile robot 100 is a robot that autonomously travels within a predetermined area. The autonomous mobile robot 100 creates a travel plan that includes passing through a security gate 250 installed in the predetermined area, and travels according to the travel plan. At this time, if the autonomous mobile robot 100 detects a moving object 1 in the area before passing through the security gate 250, it will avoid passing through the security gate 250. This prevents a person without permission to pass through the security gate 250 from following behind the autonomous mobile robot 100 and passing through the security gate 250. Therefore, the autonomous mobile robot 100 can pass through the security gate 250 while ensuring safety at the security gate 250.

[0024] The autonomous mobile robot 100 is not particularly limited as long as it is a robot that autonomously travels within a predetermined area. For example, it may be a transport robot that carries luggage, a surveillance robot that patrols, a security robot, a disinfection robot that disinfects floors, or a cleaning robot. Below, we will describe an example in which the autonomous mobile robot 100 is a cleaning robot.

[0025] Figure 3 is a perspective view showing the external appearance of the autonomous mobile robot 100 according to the embodiment, viewed from the side. Figure 4 is a perspective view showing the external appearance of the autonomous mobile robot 100 according to the embodiment, viewed from the front. Figure 5 is a bottom view showing the external appearance of the autonomous mobile robot 100 according to the embodiment, viewed from the back.

[0026] As shown in Figures 2 and 3 to 5, the autonomous mobile robot 100 includes, for example, a main body 101 on which various components are mounted, a communication unit 110, a position sensor 120, an imaging unit 122, an obstacle sensor 124, a control unit 130, a storage unit 140, a driving unit 150, a cleaning unit 160, a reception unit 170, and a notification unit 180. The driving unit 150 has, for example, wheels 151 that move the main body 101. The cleaning unit 160 has, for example, side brushes 161 and a main brush 162 that clean up debris on a predetermined floor. The control unit 130 performs various information processing related to the operation of the autonomous mobile robot 100. The control unit 130 includes a driving control unit 138 that controls the driving unit 150 and a cleaning control unit 139 that controls the cleaning unit 160. The main body 101 is a housing that accommodates the driving unit 150, the cleaning unit 160, and the control unit 130, etc.

[0027] [Running section] The driving unit 150 moves the autonomous mobile robot 100 based on instructions from the driving control unit 138. The driving unit 150 includes wheels 151 that travel on the floor, a driving motor (not shown) that applies torque to the wheels 151, and a housing (not shown) that houses the driving motor. The autonomous mobile robot 100 may also be a two-wheeled type with casters (not shown) as auxiliary wheels. In this case, the driving unit 150 can move the autonomous mobile robot 100 freely, such as forward, backward, left turn, and right turn, by independently controlling the rotation of each wheel 151 of the pair of driving units.

[0028] [Cleaning Department] The cleaning unit 160, based on instructions from the cleaning control unit 139, sucks up dust from the floor through the suction port 163 (see Figure 5) and stores the sucked-up dust inside the main unit 101. The cleaning unit 160 includes a brush rotation motor (not shown) for rotating the side brushes 161 and the main brush 162, a suction motor (not shown) for sucking up debris from the suction port 163, a power transmission unit (not shown) for transmitting power to these motors, and a storage unit (not shown) for storing the sucked-up debris.

[0029] [Position sensor] The position sensor 120 is a sensor that detects objects around the main body 101 of the autonomous mobile robot 100 and measures the positional relationship of the objects with respect to the main body 101. The position sensor 120 may be, for example, a LiDAR (Light Detection and Ranging) that emits light and detects the positional relationship (e.g., distance and direction from itself to the object) based on the light reflected back by obstacles, or a laser rangefinder.

[0030] For example, the position sensor 120 is positioned in the center of the top surface of the main body 101 and measures the positional relationship, including distance and direction, between the autonomous mobile robot 100 and objects, including walls, that surround the autonomous mobile robot 100. The position sensor 120 may perform two-dimensional or three-dimensional measurement of a predetermined area around the autonomous mobile robot 100 by having one or two optical scanning axes.

[0031] [Imaging Department] The imaging unit 122 is an imaging device that images the area around the autonomous mobile robot 100. For example, the imaging unit 122 captures an image of objects present around the autonomous mobile robot 100. This image may be a single image or a moving image. The imaging unit 122 may be located on the front of the main body 101, or it may be rotatably located on the top surface. The imaging unit 122 may also consist of multiple cameras. The imaging unit 122 may be, for example, a stereo camera or an RGB-D camera. An RGB-D camera is a camera that acquires distance image data (Depth) in addition to color image data (RGB).

[0032] [Obstacle Sensor] The obstacle sensor 124 is a sensor that detects obstacles that hinder movement, such as surrounding walls and furniture, that are located in front of the main unit 101 (specifically, on the side in the direction of travel). In this embodiment, for example, an ultrasonic sensor is used for the obstacle sensor 124, but an infrared sensor or the like may also be used. The obstacle sensor 124 has a transmitting unit 124a located in the center of the front side of the main unit 101, and receiving units 124b located on both sides of the transmitting unit 124a. The receiving units 124b each receive ultrasonic waves that are transmitted from the transmitting unit 124a and reflected back by obstacles, thereby detecting the distance to the obstacle and the position of the obstacle.

[0033] The autonomous mobile robot 100 may also be equipped with sensors other than those described above (for example, infrared sensors). For example, it may be equipped with floor sensors placed at multiple locations on the bottom surface of the main body 101 to detect whether or not a floor surface exists. It may also be equipped with encoders on the running section 150 to detect the rotation angle of each of the pair of wheels 151 that are rotated by the running motor. Furthermore, it may be equipped with an acceleration sensor to detect the acceleration when the autonomous mobile robot 100 is running, and an angular velocity sensor to detect the angular velocity when the autonomous mobile robot 100 is turning. It may also be equipped with a dust amount sensor to measure the amount of dust accumulated on the floor surface. It may also be equipped with a contact sensor that detects the displacement of a bumper (not shown) to detect when an obstacle has been hit.

[0034] Next, the functional configuration of the autonomous mobile robot 100 will be explained with reference to Figure 2. The position sensor 120, imaging unit 122, obstacle sensor 124, driving unit 150, and cleaning unit 160 have been described above, so their explanation will be omitted here. The following will describe the communication unit 110, control unit 130, storage unit 140, reception unit 170, and notification unit 180.

[0035] [g section] The communication unit 110 is a communication circuit for the autonomous mobile robot 100 to communicate with the authentication device 200. The communication unit 110 may also include a communication circuit (in other words, a communication module) for communicating via a local communication network. Alternatively, the communication unit 110 may also include a communication circuit (in other words, a communication module) for communicating via a wide-area communication network 10. The communication unit 110 is, for example, a wireless communication circuit for wireless communication. The communication standard for the communication performed by the communication unit 110 is not particularly limited.

[0036] [Control Unit] The control unit 130 performs various information processing to control the operation of the autonomous mobile robot 100. Specifically, the control unit 130 is implemented by a processor, a microcomputer, or a dedicated circuit. Alternatively, the control unit 130 may be implemented by a combination of two or more of the processor, microcomputer, or dedicated circuit. For example, the control unit 130 includes a sensor information acquisition unit 131, a map information acquisition unit 132, a self-position estimation unit 133, an obstacle position estimation unit 134, a detection unit 135, a determination unit 136, a travel plan creation unit 137, a travel control unit 138, and a cleaning control unit 139.

[0037] The sensor information acquisition unit 131 acquires sensing information (in other words, sensing data) of objects present around the main body 101 of the autonomous mobile robot 100. For example, the sensor information acquisition unit 131 acquires the positional relationship of surrounding objects to the main body 101 of the autonomous mobile robot 100, as measured by the position sensor 120. The sensor information acquisition unit 131 also acquires image data captured by the imaging unit 122. Furthermore, the sensor information acquisition unit 131 acquires the distance and position to obstacles that hinder the movement of the autonomous mobile robot 100, as detected by the obstacle sensor 124. If the autonomous mobile robot 100 is equipped with other types of sensors in addition to these sensors, sensing information acquired by those other types of sensors may also be acquired.

[0038] The map information acquisition unit 132 acquires map information for a predetermined area. For example, the map information acquisition unit 132 may acquire the map information by reading it from the storage unit 140, or it may acquire the map information output by the authentication device 200 via communication.

[0039] The self-position estimation unit 133 estimates the current position of the main body 101 of the autonomous mobile robot 100 on a map showing a predetermined area, based on, for example, a map information map acquired by the map information acquisition unit 132 and sensing information acquired by the sensor information acquisition unit 131 (for example, the positional relationship between the main body 101 and surrounding objects).

[0040] The obstacle position estimation unit 134 acquires information about the obstacle detected by the obstacle sensor 124 (for example, the distance and position of the obstacle), and estimates the position of the obstacle on the map based on the acquired information and the self-position estimation unit 133.

[0041] The detection unit 135 detects moving objects 1 that exist around the autonomous mobile robot 100. More specifically, the detection unit 135 detects moving objects 1 that exist around the main body 101 of the autonomous mobile robot 100 based on its own position and sensing information. For example, the detection unit 135 may detect moving objects 1 that appear in images captured by the imaging unit 122. Alternatively, the detection unit 135 may detect moving objects 1 based on at least one of the positional relationship between the main body 101 and the object measured by the position sensor 120, and the relative position of an obstacle detected by the obstacle sensor 124. The detection unit 135 may also estimate the position of the detected moving object 1 on a map. The moving object 1 is an object that can move on its own, such as a person or a mobile robot.

[0042] The determination unit 136 acquires information on whether the moving object 1 detected by the detection unit 135 is permitted to pass through the security gate 250, and determines whether the autonomous mobile robot 100 is allowed to pass through the security gate 250 based on the acquired information. The determination unit 136 may further determine, based on the acquired information, whether the autonomous mobile robot 100 is capable of following the moving object 1 detected by the detection unit 135.

[0043] The driving plan creation unit 137 creates a driving plan that includes the autonomous mobile robot 100 passing through a security gate 250 installed in a predetermined area, based on map information, self-position information, and sensing information. For example, if the detection unit 136 detects a moving object 1 in the area before the autonomous mobile robot 100 passes through the security gate 250, the driving plan creation unit 137 may modify the driving plan to avoid passing through the security gate 250. Alternatively, for example, if the determination unit 136 determines that the autonomous mobile robot 100 is capable of following the moving object 1 detected by the detection unit 135, the driving plan creation unit 137 may modify the driving plan to follow the moving object 1.

[0044] The area before passing through security gate 250 is, for example, the area within a predetermined distance (for example, 2 meters) from security gate 250. Furthermore, for the autonomous robot 100 to avoid passing through security gate 250 means, for example, waiting until the moving object 1 leaves the area before passing through security gate 250, or moving away from the moving object 1.

[0045] The travel plan creation unit 137 may also create a cleaning plan. The cleaning plan includes the cleaning sequence in which the autonomous robot 100 cleans multiple cleaning areas within the target area, the travel path in each cleaning area, and the cleaning method. The cleaning method is, for example, a combination of the travel speed of the autonomous robot 100, the suction strength for sucking up dirt on the floor surface, and the rotation speed of the brush.

[0046] Furthermore, when the autonomous robot 100 is moving according to the travel plan, if an obstacle is detected by the obstacle sensor 124, the travel plan creation unit 137 may modify the travel plan based on the location of the obstacle estimated by the obstacle location estimation unit 134. At this time, the travel plan creation unit 137 may also modify the cleaning plan.

[0047] The driving control unit 138 controls the movement of the autonomous mobile robot 100 according to the driving plan. For example, it controls the driving unit 150 so that the autonomous mobile robot 100 moves according to the driving plan. More specifically, the driving control unit 138 performs information processing to control the operation of the driving unit 150 according to the driving plan. For example, the driving control unit 138 derives control conditions for the driving unit 150 based on the driving plan, as well as information such as a map of a predetermined area and its own position, and generates a control signal to control the operation of the driving unit 150 based on the control conditions. The driving control unit 138 outputs the generated control signal to the driving unit 150. Details such as the derivation of the control conditions for the driving unit 150 are the same as those of conventional autonomous mobile robots, so the explanation is omitted.

[0048] The cleaning control unit 139 controls the cleaning unit 160 so that the autonomous robot 100 cleans according to the cleaning plan. More specifically, the cleaning control unit 139 performs information processing to control the operation of the cleaning unit 160 based on the cleaning plan. For example, the cleaning control unit 139 derives control conditions for the cleaning unit 160 based on the cleaning plan, as well as information such as a map of a predetermined area and its own position, and generates a control signal to control the operation of the cleaning unit 160 based on the control conditions. The cleaning control unit 139 outputs the generated control signal to the cleaning unit 160. Details such as the derivation of the control conditions for the cleaning unit 160 are the same as those of conventional autonomous cleaning robots, so the explanation is omitted.

[0049] [Storage] The memory unit 140 is a storage device that stores map information, sensor information sensed by sensors such as the position sensor 120, imaging unit 122, and obstacle sensor 124, and computer programs executed by the control unit 130. The memory unit 140 is implemented, for example, by semiconductor memory.

[0050] [Reception Department] The reception unit 170 receives instructions from the user of the autonomous robot 100. More specifically, the reception unit 170 receives input operations for instructions such as turning the power ON / OFF, setting an area, or starting operation. The reception unit 170 may be implemented by, for example, a touch panel, a display panel, hardware buttons, or a microphone. The touch panel may be, for example, a capacitive touch panel or a resistive touch panel. The display panel has the function of displaying images and the function of receiving manual input from the user, and receives input operations for keypad images displayed on a display panel such as a liquid crystal panel or an organic EL (Electro Luminescence) panel. The microphone receives voice input from the user.

[0051] [Newspaper Department] The notification unit 180 notifies that the autonomous robot 100 is moving according to the travel plan. The notification unit 180 may use, for example, sound, light, and images to notify. Specifically, the notification unit 180 may be implemented by, for example, a speaker, a lamp, a projector, and a display panel. The speaker outputs sound or voice. The lamp lights up or flashes. The projector projects, for example, characters, symbols, images, etc., onto the floor. The display panel is an LCD panel or an OLED panel, etc., and displays images.

[0052] [2-2. Authentication Devices] The authentication device 200 authenticates, for example, a person who has permission to pass through the security gate 250, and controls the opening and closing of the security gate 250 based on the authentication result. Alternatively, for example, the authentication device 200 may transmit to the autonomous mobile robot 100 information as an authentication result whether or not a person present around the main body 101 of the autonomous mobile robot 100 has permission to pass through the security gate 250. The authentication device 200 includes, for example, a communication unit 210, a control unit 220, a storage unit 230, a sensor 240, a security gate 250, and a reception unit 260. Note that these configurations are examples and are not limited to these examples.

[0053] [g section] The communication unit 210 is a communication circuit for the authentication device 200 to communicate with the autonomous mobile robot 100. For example, the communication unit 210 may be a communication circuit (communication module) for communication via a local communication network, or a communication circuit (communication module) for communication via a wide-area communication network 10. The communication unit 210 may be, for example, a wireless communication circuit for wireless communication. The communication standard used by the communication unit 210 is not particularly limited.

[0054] [Control Unit] The control unit 220 performs various information processing to control the operation of the authentication device 200. Specifically, the control unit 220 is implemented by a processor, a microcomputer, or a dedicated circuit. Alternatively, the control unit 220 may be implemented by a combination of two or more of the processor, microcomputer, or dedicated circuit. For example, the control unit 220 includes an authentication unit 221.

[0055] The authentication unit 221 detects a person based on sensing data acquired by the sensor 240, and authenticates whether the detected person is a person who has been pre-registered as having permission to pass through the security gate 250. For example, if the sensor 240 is a camera, the authentication method may involve extracting a person from the image acquired from the camera and using existing facial recognition technology. Alternatively, if the sensor 240 is a wireless device, the authentication method may involve acquiring a wireless signal transmitted from a mobile terminal or security card with an FR tag carried by the person, and authenticating whether the person is a pre-registered person by referring to information linked to the mobile terminal's ID or tag ID and the pre-registered person's ID.

[0056] [Storage] The storage unit 230 is a storage device that stores control programs for controlling the operation of the control unit 220, as well as a database 231, etc. The storage unit 230 can be implemented, for example, by an HDD (Hard Disk Drive) or flash memory.

[0057] Database 231 stores registered information linked to the ID of a person authorized to pass through security gate 250, along with their registered facial image, facial features, mobile device ID, or tag ID.

[0058] [Reception Department] The reception unit 260 accepts user input instructions. The reception unit 260 may be implemented, for example, by a touch panel, display panel, hardware buttons, or microphone.

[0059] The explanation of sensor 240 and security gate 250 will be omitted.

[0060] [3. Operation] Next, the operation of the autonomous mobile robot 100 according to the embodiment will be described with reference to the drawings.

[0061] [Example 1] First, a first example of the operation of the autonomous mobile robot 100 according to the embodiment will be described. Figure 6 is a flowchart of the first example of the operation of the autonomous mobile robot 100 according to the embodiment. Figure 7 is a schematic diagram showing the first example of the operation of the autonomous mobile robot 100.

[0062] The first example describes an example of the operation of an autonomous mobile robot 100 when it moves from a public zone partitioned by a security gate 250 to a security zone.

[0063] First, when the reception unit 170 of the autonomous mobile robot 100 receives an instruction to move from the public zone to the security zone (not shown), the map information acquisition unit 132 acquires map information for a predetermined area (S01). At this time, the map information acquisition unit 132 may read map information for a predetermined area stored in, for example, the storage unit 140.

[0064] Next, the sensor information acquisition unit 131 acquires sensing information about objects present around the body of the autonomous mobile robot 100 from multiple sensors provided by the autonomous mobile robot 100, such as the position sensor 120, the imaging unit 122, and the obstacle sensor 124 (S02).

[0065] Next, the self-position estimation unit 133 estimates the current position of the main body 101 of the autonomous mobile robot 100, which is the self-position, based on the map information acquired by the map information acquisition unit 132 in step S01 and the sensing information acquired by the sensor information acquisition unit 131 in step S02 (step S03). Although not shown in the figure, the self-position estimation unit 133 stores the estimated self-position in the storage unit 140 with a timestamp.

[0066] Next, the detection unit 135 detects a moving object 1 present around the main body 101 based on its own position estimated by the self-position estimation unit 133 in step S03 and the sensing information acquired by the sensor information acquisition unit 131 in step S02 (not shown).

[0067] Next, the driving control unit 138 determines whether or not a moving object 1 has been detected around the main body 101 by the detection unit 135 (S04). If it determines that no moving object 1 has been detected around the main body 101 (No in S04), it controls the driving of the autonomous mobile robot 100 so that it passes through the security gate 250 (S06). As a result, for example, as shown in Figure 7(a), the autonomous mobile robot 100 passes through the security gate 250 and moves from the public zone to the security zone.

[0068] On the other hand, if the detection unit 135 determines that a moving object 1 has been detected around the main body 101 (Yes in S04), the driving control unit 138 further determines whether the moving object 1 was detected in the area before the autonomous mobile robot 100 passes through the security gate 250 (more specifically, the area near the entrance of the security gate 250) (S05). If the driving control unit 138 determines that the moving object 1 detected by the detection unit 135 was not detected in the area before passing through the security gate 250 (No in S05), it controls the driving of the autonomous mobile robot 100 so that it passes through the security gate 250 (S06). Although not shown in Figure 7, for example, even if the moving object 1 is detected in the area beyond the security gate 250 (more specifically, the area near the exit of the security gate 250), the autonomous mobile robot 100 will still pass through the security gate 250. Since the mobile object 1 located in the area beyond security gate 250 is the same mobile object 1 authenticated by security gate 250, the security of security gate 250 is guaranteed even when the autonomous robot 100 passes through security gate 250.

[0069] On the other hand, if the driving control unit 138 determines that the moving object 1 detected by the detection unit 135 was detected in an area before passing through the security gate 250 (Yes in S05), it controls the driving of the autonomous mobile robot 100 so that it avoids passing through the security gate 250 (S07). For example, as shown in Figure 7(b), if the moving object 1 is detected around the main body 101 and in an area before passing through the security gate 250, the autonomous mobile robot 100 may not pass through the security gate 250 and may wait until the moving object 1 is no longer detected around the main body 101.

[0070] Although not shown in Figure 6, for example, as shown in Figure 7(c), the travel control unit 138 may control the autonomous mobile robot 100's movement so that it passes through the security gate 250 after the moving object 1 detected by the detection unit 135 is detected in the area before it passes through the security gate 250 and the moving object 1 moves away from the security gate 250. Alternatively, in this case, the travel control unit 138 may control the autonomous mobile robot 100's movement so that it passes through the security gate 250 after a predetermined time (for example, 5 minutes) has elapsed since the moving object 1 is no longer detected. This allows the autonomous mobile robot 100 to better ensure the security of the security gate 250.

[0071] Furthermore, as shown in Figure 7(d), when the autonomous mobile robot 100 passes through the security gate 250 in step S06 of Figure 6, it may notify the robot of its passage through the security gate 250 by emitting a sound such as a beep.

[0072] The autonomous robot 100 may pass through gates that it can pass through according to the size of its main body 101. Figure 8 is a schematic diagram showing an example of the autonomous robot 100 passing through a security gate 250. As shown in Figure 8, the autonomous robot 100 may select and pass through a security gate 250 that it can pass through according to the width of its main body 101, for example.

[0073] [Second example] Next, a second example of the operation of the autonomous mobile robot 100 according to the embodiment will be described. Figure 9 is a flowchart of the second example of the operation of the autonomous mobile robot 100 according to the embodiment. Figure 10 is a schematic diagram showing the second example of the operation of the autonomous mobile robot 100. In Figure 9, the same step numbers are used for the same processes as shown in Figure 6, and the explanations here are omitted or simplified.

[0074] In the second example, as in the first example, we will describe an example of the operation of an autonomous mobile robot 100 when it moves from a public zone demarcated by a security gate 250 to a security zone. In the second example, we further differ from the first example in that we obtain information on whether the moving object 1 has permission to pass through the security gate 250, and then determine whether the autonomous mobile robot 100 is allowed to pass through the security gate 250. Below, we will omit or simplify the explanation of the content described in the first example and focus on the differences.

[0075] In the second example, the autonomous robot 100 acquires map information (S01), acquires sensing information (S02), and then estimates its own position based on the map information and sensing information (S03). Then, before passing through the security gate 250, if the detection unit 135 detects a moving object 1 in the area before passing through the security gate 250 (Yes in S05), the autonomous robot 100 acquires information on whether the moving object 1 is permitted to pass through the security gate 250. For example, the autonomous robot 100 may acquire information from the authentication device 200 on whether the moving object 1 is permitted to pass through the security gate 250. Then, the determination unit 136 of the autonomous robot 100 determines whether the moving object 1 is permitted to pass through the security gate 250 based on the acquired information (S11).

[0076] The determination unit 136 of the autonomous mobile robot 100 determines that the moving object 1 has permission to pass through the security gate 250 (Yes in S11), and then determines that the autonomous mobile robot 100 may pass through the security gate 250 (not shown). The driving control unit 138 controls the driving of the autonomous mobile robot 100 so that it passes through the security gate 250 (S06). As a result, for example, as shown in Figure 10(a), even if a moving object 1a that has permission to pass through the security gate 250 is detected in the area before passing through the security gate 250, the autonomous mobile robot 100 will pass through the security gate 250 and move from the public zone to the security zone.

[0077] On the other hand, if the determination unit 136 of the autonomous mobile robot 100 determines that the moving object 1 does not have permission to pass through the security gate 250 (No in S11), it does not determine that the autonomous mobile robot 100 may pass through the security gate 250 (in other words, it determines that it should not pass through the security gate 250) (not shown). The driving control unit 138 controls the driving of the autonomous mobile robot 100 so that it avoids passing through the security gate 250 (S07). As a result, for example, as shown in Figure 10(b), if the autonomous mobile robot 100 finds a moving object 1b that does not have permission to pass through the security gate 250 in the area before passing through the security gate 250, it will, for example, wait and avoid passing through the security gate 250. Furthermore, if multiple moving objects 1 are detected in the area before passing through the security gate 250, and if these multiple moving objects 1 include a moving object 1b that does not have permission to pass through the security gate 250, the detection unit 135 determines that the autonomous mobile robot 100 should not pass through the security gate 250. The autonomous mobile robot 100 may then, for example, wait until no more moving objects 1b that do not have permission to pass through the security gate 250 are detected, thereby avoiding passing through the security gate 250.

[0078] Furthermore, if the autonomous robot 100 detects a moving object 1a that is permitted to pass through the security gate 250 in the area before passing through the security gate 250, it may follow the moving object 1a and pass through the security gate 250. Figure 11 is a schematic diagram showing another example of the autonomous robot 100 passing through the security gate 250.

[0079] As shown in Figure 11(a), the autonomous mobile robot 100 may follow the mobile object 1a that has permission to pass through the security gate 250 and pass through the security gate 250 when the mobile object 1a is passing through the security gate 250.

[0080] Furthermore, as shown in Figure 11(b), if the mobile object permitted to pass through the security gate 250 is the mobile robot 2, the autonomous mobile robot 100 may follow the mobile robot 2 and pass through the security gate 250, with the mobile robot 2 acting as the master robot.

[0081] [4. Effects, etc.] As described above, the autonomous mobile robot 100 is an autonomous mobile robot that travels autonomously within a predetermined area, and comprises a detection unit 135 that detects moving objects 1 present around the autonomous mobile robot 100, and a travel control unit 138 that controls the movement of the autonomous mobile robot 100. If the travel control unit 138 detects a moving object 1 in the area before the autonomous mobile robot 100 passes through a security gate 250 installed in the predetermined area, it controls the autonomous mobile robot 100 to avoid passing through the security gate 250.

[0082] This allows the autonomous robot 100 to follow the autonomous robot 100 and prevent the moving object 1, which does not have permission to pass through the security gate 250, from passing through the security gate 250. Therefore, the autonomous robot 100 can pass through the security gate 250 while ensuring safety at the security gate 250.

[0083] For example, in the autonomous mobile robot 100, the driving control unit 138 controls the autonomous mobile robot 100 to pass through the security gate 250 after a predetermined period has elapsed since the detection unit 135 detected the moving object 1 and the moving object 1 is no longer detected.

[0084] As a result, the autonomous robot 100 will only pass through the security gate 250 after confirming that the moving object 1 has moved away from the security gate 250, thereby further ensuring the security of the security gate.

[0085] For example, the autonomous mobile robot 100 further includes a determination unit 136 that acquires information on whether the moving object 1 detected by the detection unit 135 is permitted to pass through the security gate 250, and determines whether the autonomous mobile robot 100 is allowed to pass through the security gate 250 based on the acquired information. The driving control unit 138 controls the autonomous mobile robot 100 to pass through the security gate 250 if the determination unit 136 determines that the autonomous mobile robot 100 is allowed to pass through the security gate 250, and controls the autonomous mobile robot 100 to avoid passing through the security gate 250 if the determination unit 136 does not determine that the autonomous mobile robot 100 is allowed to pass through the security gate 250.

[0086] As a result, the autonomous robot 100 determines whether or not to pass through the security gate 250 based on information about whether or not the moving object 1 detected in the area before passing through the security gate 250 has permission to pass through the security gate 250, before passing through the security gate 250. Therefore, the autonomous robot 100 improves the likelihood of being able to pass through the security gate 250 while ensuring the safety of the security gate 250.

[0087] For example, in the autonomous mobile robot 100, the determination unit 136 further determines whether the autonomous mobile robot 100 can follow the moving object 1 based on the acquired information, and the driving control unit 138 controls the autonomous mobile robot 100 to follow the moving object 1 and pass through the security gate 250 if the determination unit 136 determines that the autonomous mobile robot 100 can follow the moving object 1.

[0088] As a result, if the autonomous robot 100 detects the moving object 1 in the area before passing through the security gate 250, it can follow the moving object 1 that has permission to pass through the security gate 250 and pass through the security gate 250. Therefore, the autonomous robot 100 can pass through the security gate 250 without security authentication, making it easier to pass through the security gate 250 while ensuring its safety.

[0089] For example, the autonomous mobile robot 100 further includes a travel plan creation unit 137 that creates a travel plan that includes the autonomous mobile robot 100 passing through a security gate 250, and a travel control unit 138 controls the movement of the autonomous mobile robot 100 based on the travel plan.

[0090] As a result, the autonomous robot 100 creates a travel plan that includes passing through the security gate 250, and the movement of the autonomous robot 100 is controlled based on the created travel plan.

[0091] For example, the autonomous mobile robot 100 further includes a notification unit 180 that notifies when the autonomous mobile robot 100 passes through the security gate 250.

[0092] As a result, the autonomous robot 100 will travel while notifying people in its vicinity that it is approaching the security gate 250, allowing people in the vicinity to take care not to obstruct the autonomous robot 100's movement. Therefore, the autonomous robot 100 can travel safely.

[0093] Furthermore, the security system 300 includes one of the above-mentioned autonomous mobile robots 100, and an authentication device 200 that transmits to the autonomous mobile robot 100, as an authentication result, information on whether or not a moving object 1 present around the main body 101 of the autonomous mobile robot 100 is permitted to pass through the security gate 250.

[0094] As a result, the security system 300 obtains information from the authentication device 200 regarding whether the autonomous robot 100 has permission to pass through the security gate 250, so the autonomous robot 100 itself does not need to have an authentication function. Therefore, the security system 300 can allow the autonomous robot 100 to pass through while ensuring the security of the security gate 250.

[0095] Furthermore, the method for creating a map for driving is a driving control method for an autonomous driving robot 100 that autonomously drives within a predetermined area, comprising a detection step for detecting a moving object 1 present around the autonomous driving robot 100, and a driving control step for controlling the driving of the autonomous driving robot 100, wherein in the driving control step, if a moving object 1 is detected in the area before passing through the security gate 250 in the detection step before the autonomous driving robot 100 passes through the security gate 250 installed in the predetermined area, the autonomous driving robot 100 is controlled to avoid passing through the security gate 250.

[0096] As a result, the method for creating a map for driving can prevent a moving object 1b that does not have permission to pass through the security gate 250 from following the autonomous driving robot 100 and passing through the security gate 250. Therefore, the driving control method can pass through the security gate 250 while ensuring safety at the security gate 250.

[0097] (Other embodiments) Although embodiments have been described above, this disclosure is not limited to the embodiments described above.

[0098] For example, in this embodiment, the autonomous mobile robot 100 is equipped with a position sensor 120, an imaging unit 122, and an obstacle sensor 124, but it is not necessary to have all of the position sensor 120, imaging unit 122, and obstacle sensor 124. For example, the autonomous mobile robot 100 may be equipped with the position sensor 120 and the obstacle sensor 124, or it may be equipped with only the position sensor 120. Furthermore, the autonomous mobile robot 100 may acquire sensing information measured by the sensor 240 of the authentication device 200, or it may acquire sensing information about objects around the main body 101.

[0099] For example, in the embodiment described, the autonomous mobile robot 100 acquires information transmitted by the authentication device 200 regarding whether or not a moving object 1 present around the main body 101 is permitted to pass through the security gate 250, but it is not limited to this. For example, the autonomous mobile robot 100 may acquire information indicating whether or not a moving object 1 present around the main body 101 is permitted to pass through the security gate 250 via communication, or it may acquire such information by reading an identifier such as a marker or tag.

[0100] Furthermore, for example, the autonomous robot 100 may acquire map information for a predetermined area via a USB (Universal Serial Bus) memory or the like, which stores the map information for that area.

[0101] For example, although the embodiment described an example in which the autonomous mobile robot 100 and the authentication device 200 are separate entities, the authentication device 200 may be implemented as a single device incorporated into the autonomous mobile robot 100. In this case, the autonomous mobile robot 100 may control the opening and closing of the security gate 250 when passing through it.

[0102] For example, in this embodiment, the security system 300 is implemented by multiple devices, but it may also be implemented as a single device. Furthermore, when the system is implemented by multiple devices, the components of the security system 300 may be distributed among the multiple devices in any way. Also, for example, a server device capable of communicating with the security system 300 may include multiple components included in the control units 130 and 220.

[0103] For example, the method of communication between devices in the above embodiment is not particularly limited. Furthermore, a relay device (not shown) may be involved in the communication between devices.

[0104] Furthermore, in the above embodiment, a process executed by a specific processing unit may be executed by another processing unit. Also, the order of multiple processes may be changed, or multiple processes may be executed in parallel.

[0105] Furthermore, in the above embodiment, each component may be realized by executing a software program suitable for each component. Each component may also be realized by a program execution unit such as a CPU or processor reading and executing a software program recorded on a recording medium such as a hard disk or semiconductor memory.

[0106] Furthermore, each component may be implemented by hardware. For example, each component may be a circuit (or integrated circuit). These circuits may form a single circuit as a whole, or they may be separate circuits. Also, each of these circuits may be a general-purpose circuit or a dedicated circuit.

[0107] Furthermore, the general or specific embodiments of this disclosure may be implemented as a system, apparatus, method, integrated circuit, computer program, or recording medium such as a computer-readable CD-ROM. They may also be implemented in any combination of systems, apparatus, methods, integrated circuits, computer programs, and recording media.

[0108] For example, this disclosure may be implemented as a driving control method executed by a computer such as an autonomous mobile robot 100, or as a program for causing a computer to execute such a driving control method. Furthermore, this disclosure may be implemented as a program for operating a general-purpose computer as the autonomous mobile robot 100 of the above embodiment. This disclosure may also be implemented as a computer-readable non-temporary recording medium on which these programs are stored.

[0109] Furthermore, this disclosure also includes forms obtained by applying various modifications to each embodiment that a person skilled in the art could conceive, or forms realized by arbitrarily combining the components and functions of each embodiment without departing from the spirit of this disclosure. [Industrial applicability]

[0110] This disclosure is widely applicable to controlling the movement of autonomously moving robots. [Explanation of Symbols]

[0111] 1, 1a, 1b moving object 2 Mobile robots 100 autonomous mobile robots 101 Main Unit 110 Communications Department 120 Position Sensor 122 Imaging Department 124 Obstacle Sensor 124a Transmitter 124b Receiver 130 Control Unit 131 Sensor Information Acquisition Unit 132 Map Information Acquisition Unit 133 Self-position estimation part 134 Obstacle position estimation unit 135 Detection unit 136 Judgment section 137 Driving Plan Creation Department 138 Driving Control Unit 139 Cleaning Control Unit 140 Storage section 150 Running section 151 Wheels 160 Cleaning Department 161 Side Brush 162 Main Brush 163 Suction port 170 Reception Department 180 Hochi Department 200 Authentication Devices 210 Communications Department 220 Control Unit 221 Authentication Department 230 Storage section 231 Databases 240 sensors 250 Security Gates 260 Reception Department 300 Security Systems

Claims

1. An autonomous mobile robot that moves autonomously within a designated area, A detection unit for detecting moving objects present around the autonomous robot, A driving control unit that controls the movement of the autonomous mobile robot, Equipped with, The driving control unit controls the autonomous mobile robot to avoid passing through the security gate if the detection unit detects the moving object in the area before the autonomous mobile robot passes through the security gate installed in the predetermined area, and controls the autonomous mobile robot to pass through the security gate if a predetermined period of time has elapsed after the moving object has been detected by the detection unit and is no longer detected. Autonomous mobile robot.

2. An autonomous mobile robot that travels autonomously within a predetermined area, A detection unit for detecting moving objects present around the autonomous robot, A driving control unit that controls the movement of the autonomous mobile robot, A determination unit acquires information on whether the moving object detected by the detection unit has permission to pass through the security gate installed in the predetermined area, and determines whether the autonomous robot is allowed to pass through the security gate based on the acquired information. Equipped with, The determination unit further determines, based on the acquired information, whether or not the autonomous mobile robot can follow the moving object. The driving control unit controls the autonomous driving robot to pass through the security gate if the determination unit determines that the autonomous driving robot may pass through the security gate, and controls the autonomous driving robot to follow the moving object and pass through the security gate if the determination unit determines that the autonomous driving robot is capable of following the moving object. Autonomous mobile robot.

3. Furthermore, the system includes a determination unit that acquires information on whether the moving object detected by the detection unit is permitted to pass through the security gate, and determines whether the autonomous robot is allowed to pass through the security gate based on the acquired information. The aforementioned driving control unit, If the determination unit determines that the autonomous mobile robot may pass through the security gate, the autonomous mobile robot is controlled to pass through the security gate. If the determination unit does not determine that the autonomous mobile robot is permitted to pass through the security gate, the autonomous mobile robot is controlled to avoid passing through the security gate. The autonomous mobile robot according to claim 1.

4. Furthermore, the system includes a driving plan creation unit that creates a driving plan that includes the autonomous mobile robot passing through the security gate, The aforementioned driving control unit controls the movement of the autonomous mobile robot based on the driving plan. An autonomous mobile robot according to any one of claims 1 to 3.

5. Furthermore, it includes a notification unit that notifies when the autonomous robot passes through the security gate. An autonomous mobile robot according to any one of claims 1 to 4.

6. An autonomous mobile robot according to any one of claims 1 to 5, An authentication device that transmits to the autonomous robot, as an authentication result, information on whether the moving object present around the body of the autonomous robot is permitted to pass through the security gate, Equipped with, Security system.

7. A method for controlling the movement of an autonomous mobile robot that moves autonomously within a predetermined area, A detection step for detecting moving objects present around the autonomous mobile robot, A driving control step for controlling the movement of the autonomous mobile robot, Includes, In the aforementioned driving control step, if the autonomous mobile robot is detected in the area before passing through the security gate installed in the predetermined area during the detection step, the autonomous mobile robot is controlled to avoid passing through the security gate. If a predetermined period of time has elapsed since the detection of the moving object in the detection step, the autonomous mobile robot is controlled to pass through the security gate. A method for controlling vehicle movement.

8. A method for controlling the movement of an autonomous mobile robot that moves autonomously within a predetermined area, A detection step for detecting moving objects present around the autonomous mobile robot, A driving control step for controlling the movement of the autonomous mobile robot, A determination step is to obtain information on whether the moving object detected in the detection step has permission to pass through the security gate installed in the predetermined area, and to determine whether the autonomous mobile robot is allowed to pass through the security gate based on the obtained information, Includes, In the determination step, it is further determined whether the autonomous mobile robot can follow the moving object based on the acquired information. The aforementioned driving control step controls the autonomous mobile robot to pass through the security gate if the determination step determines that the autonomous mobile robot may pass through the security gate, and controls the autonomous mobile robot to follow the moving object and pass through the security gate if the determination step determines that the autonomous mobile robot is capable of following the moving object. A method for controlling vehicle movement.

9. To cause a computer to execute the driving control method described in claim 7 or 8, program.

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