Entry / exit management system, entry / exit management method, and program

Abstract

An objective of the present disclosure is to mitigate traffic congestion in the installation location of a security gate. An entry / exit management system (1) comprises a management unit (111) and a human sensing unit (112). Upon receipt of a passage request for requesting permission to pass a security gate (3) from a first robot (5A), the management unit (111) determines the presence / absence of passage competition between the first robot (5A) and a second robot (5B), and determines the presence / absence of passage competition between the first robot (5A) and a person on the basis of a determination result from the human sensing unit (112). The management unit (111) causes the security gate (3) to permit the passage of the first robot (5A) if there is no passage competition between the first robot (5A) and the second robot (5B) and there is no passage competition between the first robot (5A) and a person.

Description

Entry / exit management system, entry / exit management method and program

[0001] The present disclosure generally relates to an access control system, an access control method, and a program, and more particularly to an access control system, an access control method, and a program for controlling a security gate.

[0002] The control system (entrance / exit management system) described in Patent Document 1 controls the opening and closing of a security gate installed in a facility where multiple mobile robots travel autonomously. When the control system receives passage reservation signals from multiple mobile robots, the control system allows the multiple mobile robots to pass through the security gate in succession while the gate is open once.

[0003] At locations where security gates are installed, there is a possibility that people and robots will gather together trying to pass through the security gates, causing traffic congestion.

[0004] Japanese Patent Application Laid-Open No. 2022-124531

[0005] The present disclosure aims to provide an access control system, an access control method, and a program that can alleviate traffic congestion at locations where security gates are installed.

[0006] An access control system according to one aspect of the present disclosure includes a management unit and a human detection unit. The management unit controls a security gate. A plurality of autonomous mobile robots and a human pass through the security gate. The plurality of autonomous mobile robots include a first robot and a second robot. The human detection unit determines the presence or absence of the human in a detection area at a location where the security gate is installed, based on the output of a sensor that detects the human staying in the detection area. When the management unit receives a passage request from the first robot requesting passage through the security gate, the management unit determines whether or not there is a passage conflict between the first robot and the second robot, and determines whether or not there is a passage conflict between the first robot and the human based on the determination result of the human detection unit. A state in which there is a passage conflict between the first robot and the second robot is a state in which the second robot also attempts to pass through the security gate at the same time as the first robot attempts to pass through the security gate. A state in which there is a passage conflict between the first robot and the human is a state in which the human also attempts to pass through the security gate at the same time as the first robot attempts to pass through the security gate. The management unit allows the security gate to allow the first robot to pass if there is no passage conflict between the first robot and the second robot and no passage conflict between the first robot and the person.

[0007] An access control method according to one aspect of the present disclosure includes a management step and a person detection step. In the management step, a security gate is controlled. A plurality of autonomous mobile robots and a person pass through the security gate. The plurality of autonomous mobile robots include a first robot and a second robot. In the person detection step, the presence or absence of the person in the detection area is determined based on the output of a sensor that detects the person staying in the detection area at the installation location of the security gate. In the management step, when a passage request requesting passage through the security gate is received from the first robot, the presence or absence of passage conflict between the first robot and the second robot is determined, and the presence or absence of passage conflict between the first robot and the person is determined based on the determination result in the person detection step. A state in which there is passage conflict between the first robot and the second robot is a state in which the second robot also attempts to pass through the security gate at the same time as the first robot attempts to pass through the security gate. A state in which there is passage conflict between the first robot and the person is a state in which the person also attempts to pass through the security gate at the same time as the first robot attempts to pass through the security gate. In the management step, if there is no passage conflict between the first robot and the second robot and no passage conflict between the first robot and the person, the security gate is made to permit the first robot to pass.

[0008] A program according to one aspect of the present disclosure is a program for causing one or more processors of a computer system to execute the entry / exit management method.

[0009] FIG. 1 is a block diagram of a robot system including an access control system according to a first embodiment. FIG. 2 is a perspective view schematically showing a security gate used in conjunction with the access control system of the same and its surroundings. FIG. 3 is predicted congestion data obtained by the access control system of the same. FIG. 4 is a flowchart showing the processing of the access control system of the same. FIG. 5 is a plan view schematically showing a security gate used in conjunction with the access control system of a second embodiment and its surroundings. FIG. 6 is a flowchart showing the processing of the access control system of the same. FIG. 7 is a flowchart showing the processing of the access control system of a third embodiment.

[0010] In the following embodiments, the access control system 1, the access control method, and the program of the present disclosure will be described using drawings. However, the following embodiments are merely a portion of the various embodiments of the present disclosure. The following embodiments can be modified in various ways depending on the design, etc., as long as the object of the present disclosure can be achieved. Furthermore, the following embodiments, including modified examples, may be realized in appropriate combinations. Furthermore, the drawings described in the following embodiments are schematic diagrams, and the ratios of the sizes and thicknesses of the components in the drawings do not necessarily reflect the actual dimensional ratios.

[0011] 1, an access control system 1 communicates with a security gate 3 and a plurality of autonomous mobile robots 5 (hereinafter also referred to as robots 5). The security gate 3 allows a person H1 (see FIG. 2) and the robot 5 who have been successfully authenticated to pass through the security gate 3.

[0012] The direction of travel of the person H1 or the robot 5 when the person H1 or the robot 5 passes through the security gate 3 is called the forward / backward direction. The person H1 or the robot 5 moves from an area 71 (see FIG. 2) in front of the security gate 3, passes through the security gate 3, and moves to an area 72 (see FIG. 2) behind the security gate 3. The person H1 or the robot 5 also moves from the area 72 behind the security gate 3, passes through the security gate 3, and moves to the area 71 in front of the security gate 3.

[0013] A detection area 70 (described later) includes an area 71 and an area 72 .

[0014] In the following, movement from area 71 to area 72 will be referred to as "entry," and movement from area 72 to area 71 will be referred to as "exit." The access / exit control system 1 manages at least one of entry and exit. That is, when person H1 or robot 5 is successfully authenticated, the access / exit control system 1 causes the security gate 3 to permit the successfully authenticated person H1 or robot 5 to pass through (enter or exit). Specifically, when person H1 or robot 5 is successfully authenticated, the access / exit control system 1 causes gate 31 of the security gate 3 to open. This allows person H1 or robot 5 to pass through the security gate 3.

[0015] In the present disclosure, any one of the multiple robots 5 will be referred to as a first robot 5A, and any other robot 5 of the multiple robots 5 other than the first robot 5A will be referred to as a second robot 5B. Although a specific robot 5 is designated by the symbol "5A" in FIGS. 1 and 2, any robot 5 may be considered the first robot 5A. The configuration of the first robot 5A may be the same as or different from the configuration of the second robot 5B.

[0016] Then, when the first robot 5A (i.e., any one of the multiple robots 5) attempts to pass through the security gate 3, the entry / exit management system 1 determines whether or not to allow the first robot 5A to pass through the security gate 3.

[0017] As shown in FIG. 1 , the access control system 1 includes a management unit 111 and a human detection unit 112. The management unit 111 controls the security gate 3. A plurality of autonomous mobile robots 5 and a human H1 pass through the security gate 3. The plurality of autonomous mobile robots 5 include a first robot 5A and a second robot 5B. The human detection unit 112 determines whether the human H1 is present in the detection area 70 based on the output of a sensor 2 that detects the human H1 staying in the detection area 70 at the installation location of the security gate 3. When the management unit 111 receives a passage request from the first robot 5A requesting passage through the security gate 3, the management unit 111 determines whether there is a passage conflict between the first robot 5A and the second robot 5B, and determines whether there is a passage conflict between the first robot 5A and the human H1 based on the determination result of the human detection unit 112. A state in which there is a passage conflict between the first robot 5A and the second robot 5B is a state in which the second robot 5B is also attempting to pass through the security gate 3 at the same time that the first robot 5A is attempting to pass through the security gate 3. A state in which there is a passage conflict between the first robot 5A and the person H1 is a state in which the person H1 is also attempting to pass through the security gate 3 at the same time that the first robot 5A is attempting to pass through the security gate 3. If there is no passage conflict between the first robot 5A and the second robot 5B and no passage conflict between the first robot 5A and the person H1, the management unit 111 causes the security gate 3 to permit the first robot 5A to pass through.

[0018] According to the above configuration, the first robot 5A is permitted to pass if there is no passage conflict, thereby reducing the possibility that the first robot 5A will obstruct the passage of the person H1 or the second robot 5B. This makes it possible to alleviate traffic congestion at the location where the security gate 3 is installed. In particular, when the moving speed of the first robot 5A when passing through the security gate 3 is slower than the moving speed of the person H1, it is possible to reduce the possibility that the first robot 5A will obstruct the passage of the person H1.

[0019] Furthermore, functions similar to those of the access control system 1 can be embodied in an access control method. The access control method of this embodiment includes a management step and a human detection step. In the management step, a security gate 3 is controlled. A plurality of autonomous mobile robots 5 and a human H1 pass through the security gate 3. The plurality of autonomous mobile robots 5 include a first robot 5A and a second robot 5B. In the human detection step, the presence or absence of the human H1 in the detection area 70 at the installation location of the security gate 3 is determined based on the output of a sensor 2 that detects the human H1 staying in the detection area 70. In the management step, when a passage request requesting passage through the security gate 3 is received from the first robot 5A, it is determined whether or not there is a passage conflict between the first robot 5A and the second robot 5B, and based on the determination result in the human detection step, it is determined whether or not there is a passage conflict between the first robot 5A and the human H1. A state in which there is a passage conflict between the first robot 5A and the second robot 5B is a state in which the second robot 5B is also attempting to pass through the security gate 3 at the same time that the first robot 5A is attempting to pass through the security gate 3. A state in which there is a passage conflict between the first robot 5A and the person H1 is a state in which the person H1 is also attempting to pass through the security gate 3 at the same time that the first robot 5A is attempting to pass through the security gate 3. In the management step, if there is no passage conflict between the first robot 5A and the second robot 5B and no passage conflict between the first robot 5A and the person H1, the security gate 3 is caused to permit the first robot 5A to pass through.

[0020] The entrance / exit management method can be realized as a program. The program of this embodiment is a program for causing one or more processors of a computer system to execute the entrance / exit management method. The program may be recorded on a non-transitory recording medium readable by the computer system.

[0021] (Details) (1) Overall Configuration As shown in Fig. 1, the access control system 1 is included in a robot system X1. The robot system X1 includes the access control system 1, a sensor 2, a security gate 3, a robot server 4, and multiple (three in Fig. 1) robots 5.

[0022] The sensor 2 and the security gate 3 are installed in a facility. The facility may be, for example, an apartment building, a store, an office building, a factory, a warehouse, a commercial complex, a library, an art gallery, a museum, an amusement facility, a theme park, a park, an airport, a train station, a baseball stadium, a hotel, or a hospital. Alternatively, the facility may be, for example, a mobile object such as a ship or a railroad vehicle. The facility may also be an indoor facility or an outdoor facility.

[0023] The access control system 1 and the robot server 4 may be installed in the facility, or may be installed in a location different from the facility.

[0024] The robots 5 autonomously move within the facility to perform tasks. The robots 5 autonomously move, for example, along a movement route notified by the robot server 4. The tasks include, for example, delivery, cleaning, security patrol, or facility inspection.

[0025] (2) Sensor The sensor 2 detects the person H1. The sensor 2 is, for example, a camera 20. The camera 20 captures an image of the detection area 70 using visible light and generates a captured image. The camera 20 transmits the captured image to the access control system 1.

[0026] The sensor 2 preferably detects the person H1 at a frequency of at least once per second.

[0027] (3) Security Gate As shown in FIGS. 1 and 2, the security gate 3 includes two main bodies 30, a gate 31, two readers 32, a driving device 33, a passage sensor 34, and a notification unit 35.

[0028] Each of the two main bodies 30 has a rectangular parallelepiped shape. The two main bodies 30 are fixed to the floor surface. The two main bodies 30 face each other. The space between the two main bodies 30 is a passageway for the person H1 or the robot 5 to pass through.

[0029] The gate 31 (door) has two flaps 311. The two flaps 311 correspond one-to-one to the two main bodies 30. Each flap 311 is fixed to the corresponding main body 30. Each flap 311 is rotatable around a connection point with the main body 30 as a fulcrum.

[0030] The security gate 3 switches between a passage-restricted state (a state in which passage is not permitted) and a passage-permitted state. The passage-restricted state is a state in which the person H1 and the robot 5 are prevented from passing through the security gate 3. The passage-permitted state is a state in which the person H1 and the robot 5 are allowed to pass through the security gate 3.

[0031] In this embodiment, the closed state corresponds to the passage-restricted state, and the open state corresponds to the passage-allowed state. In other words, the security gate 3 switches between a closed state and an open state. As shown in Figure 2, the state in which each flap 311 protrudes from the corresponding main body 30 and the two flaps 311 block at least a portion of the passage between the two main bodies 30 corresponds to the closed state. Furthermore, the state in which each flap 311 is housed in the corresponding main body 30 corresponds to the open state.

[0032] The two readers 32 are mounted on the two main bodies 30, respectively. The reader 32 reads information including identification information from a device 6 carried by the person H1. The device 6 is, for example, an IC tag, an IC card, a magnetic card, a mobile phone such as a smartphone, or a wearable terminal. The device 6 may also be a member such as a card with a barcode (one-dimensional barcode or two-dimensional barcode) attached. The reader 32 may be configured to read information from the device 6 without contact, or may be configured to read information by contacting the device 6.

[0033] The drive device 33 includes, for example, a motor. The drive device 33 drives the two flaps 311 of the gate 31. In this way, the drive device 33 switches the security gate 3 between a closed state and an open state.

[0034] The passage sensor 34 detects the person H1 and the robot 5 passing through the security gate 3. The passage sensor 34 is, for example, a photoelectric sensor. The photoelectric sensor is, for example, a transmission type photoelectric sensor, and includes a light emitter that emits light into the passage between the two main bodies 30, and a light receiver that receives the light emitted from the light emitter. The photoelectric sensor detects the presence or absence of an object passing through the passage based on the amount of light received by the light receiver.

[0035] When the robot 5 passes through the security gate 3, the notification unit 35 notifies the person H1 that passage through the security gate 3 is prohibited. The notification unit 35, for example, displays a message indicating that passage is prohibited. Specifically, the notification unit 35 includes a projector that projects a symbol indicating that passage is prohibited (for example, a no entry mark on a road sign) onto the floor surface on the entrance side of the security gate 3. As another example, the notification unit 35 includes a display that displays a symbol indicating that passage is prohibited (for example, a no entry mark on a road sign). As another example, the notification unit 35 includes a light source that emits light (for example, red light) indicating that passage is prohibited.

[0036] The notification unit 35 may emit a sound (which may include voice) indicating that passage is prohibited. Specifically, the notification unit 35 may include a buzzer that emits a beep indicating that passage is prohibited. As another example, the notification unit 35 may include a speaker that emits voice indicating that passage is prohibited (for example, a voice saying, "The robot is passing through the gate. Please wait.").

[0037] (4) Robot Server The robot server 4 manages the operations of the multiple robots 5. For example, the robot server 4 acquires position information of each of the multiple robots 5. Furthermore, for example, the robot server 4 notifies each of the multiple robots 5 of a movement route. Each robot 5 travels along the movement route notified by the robot server 4 while avoiding obstacles (people H1 or objects) on the movement route.

[0038] In addition, the robot server 4 may relay communications between multiple robots 5 and the access control system 1 .

[0039] (5) Robot In this embodiment, the robots 5 are described as having the same configuration. The robots 5 include a processing unit 51, a storage unit 52, a communication unit 53, a detection unit 54, a traveling device 55, and a power supply unit 56.

[0040] The robot 5 also includes a computer system having one or more processors and a memory. At least some of the functions of the robot 5 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, or may be provided via a telecommunications line such as the Internet, or may be provided by being recorded on a non-transitory recording medium (such as a memory card) that can be read by the computer system.

[0041] The processing unit 51 includes one or more processors of the computer system. The processing unit 51 executes a program to realize a predetermined function. The processing unit 51 controls the storage unit 52, the communication unit 53, the detection unit 54, the running device 55, and the power supply unit 56.

[0042] The memory unit 52 is a storage device configured with a hard disk drive (HDD), a solid state drive (SSD), or the like. The memory unit 52 stores information. For example, the memory unit 52 stores identification information of the robot itself (robot 5) and map information of the facility where the robot 5 travels. The memory unit 52 also stores information indicating the movement route of the robot 5 obtained from the robot server 4.

[0043] The communication unit 53 includes a communication interface device. The robot 5 is capable of communicating with the access control system 1 and the robot server 4 via the communication unit 53. In this disclosure, "capable of communication" means being able to send and receive signals directly or indirectly via a network or a repeater, using an appropriate communication method such as wired communication or wireless communication. In particular, the robot 5 of this embodiment communicates wirelessly with the access control system 1 and the robot server 4.

[0044] The detection unit 54 includes one or more sensors as a component for detecting the surrounding situation. The one or more sensors are, for example, at least one of a camera, a laser rangefinder, an infrared sensor, and a pressure sensor. The camera is, for example, a visible light camera or an infrared camera. The laser rangefinder is, for example, a Lidar (Light Detection and Ranging) sensor.

[0045] The traveling device 55 includes, for example, a motor and drive wheels as components for traveling the robot 5. The motor rotates the drive wheels, causing the robot 5 to travel on the ground.

[0046] The power supply unit 56 supplies the power necessary for the operation of the robot 5. The power supply unit 56 includes, for example, a battery.

[0047] (6) Access Control System The access control system 1 includes a processing unit 11, a storage unit 12, and a communication unit 13.

[0048] The access control system 1 also includes a computer system having one or more processors and memory. At least some of the functions of the access control system 1 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, or may be provided via a telecommunications line such as the Internet, or may be provided by being recorded on a non-transitory recording medium (such as a memory card) that can be read by the computer system.

[0049] The processing unit 11 includes one or more processors of the computer system. The processing unit 11 executes a program to realize a predetermined function. The processing unit 11 controls the storage unit 12 and the communication unit 13.

[0050] The processing unit 11 also includes a management unit 111 and a human detection unit 112. Note that the management unit 111 and the human detection unit 112 merely indicate functions realized by the processing unit 11, and do not necessarily indicate actual configurations.

[0051] The management unit 111 controls the security gate 3. More specifically, the management unit 111 makes a decision based on information acquired from each of the multiple robots 5 and the security gate 3, and issues a command to the security gate 3 based on the decision result to close or open the security gate 3.

[0052] The human detection unit 112 determines whether or not a person H1 is present in the detection area 70 based on the output of the sensor 2. The human detection unit 112 also identifies the number of people H1 present in the detection area 70 based on the output of the sensor 2. More specifically, the human detection unit 112 determines whether or not a person H1 is present in the detection area 70 by performing image analysis on the captured image generated by the camera 20 serving as the sensor 2, and further identifies the number of people H1 present in the detection area 70.

[0053] The detection area 70 may be adjacent to the security gate 3 or may be located at some distance from the security gate 3 .

[0054] The human detection unit 112 identifies the number of people H1 in the detection area 70, for example, at regular intervals. In this way, the human detection unit 112 identifies the number of people H1 in the detection area 70 in each of multiple time periods in a day. The human detection unit 112 stores the number of people H1 in the detection area 70 together with date and time data in the storage unit 12. In this embodiment, the congestion level of people H1 in the detection area 70 is represented by the number of people H1 in the detection area 70.

[0055] In the following description, when the term "crowding level" is used simply, it refers to the degree of congestion of people H1 in the detection area 70.

[0056] The memory unit 12 stores, for example, the congestion levels for each fixed time period (e.g., 30 minutes) for multiple days. The human detection unit 112 statistically determines a predicted value of the congestion level for each time period based on the congestion levels for each fixed time period for multiple days. Specifically, the human detection unit 112 sets the average value of the congestion levels for the same time period for multiple days as the predicted value of the congestion level for that time period.

[0057] For example, suppose the congestion level from 7:00 to 7:30 on the first day is 2, the congestion level from 7:00 to 7:30 on the second day is 4, and the congestion level from 7:00 to 7:30 on the third day is 4. In this case, the congestion level from 7:00 to 7:30 on any date and time calculated from this data is 3.3, which is the average of 2, 4, and 4.

[0058] An example of congestion degree prediction data obtained as described above is shown in Fig. 3. The prediction data in Fig. 3 includes predicted values ​​of congestion degree for every 30 minutes on any date and time.

[0059] In this way, the management unit 111 obtains a predicted value of the current congestion level of the person H1 in the detection area 70 based on the past congestion level of the person H1 in the detection area 70. Then, as will be described in detail later, the management unit 111 determines, based on the predicted value, whether or not to permit the first robot 5A to pass through the security gate 3 when there is a passage conflict between the first robot 5A and the person H1 or the second robot 5B.

[0060] The storage unit 12 is a storage device configured with a hard disk drive (HDD), a solid state drive (SSD), etc. The storage unit 12 stores information. For example, the storage unit 12 stores identification information for each of the multiple robots 5 and identification information for the device 6.

[0061] The communication unit 13 includes a communication interface device. The access control system 1 is capable of communicating with the sensors 2, the security gates 3, the robot server 4, and the plurality of robots 5 via the communication unit 13.

[0062] When the reader 32 of the security gate 3 reads identification information from the device 6 carried by person H1, the security gate 3 transmits a signal including the read identification information to the access control system 1. The memory unit 12 of the access control system 1 pre-stores identification information corresponding to person H1 who has been permitted to pass through the security gate 3. Therefore, by referring to the information stored in the memory unit 12, the management unit 111 of the access control system 1 can determine whether the identification information read by the reader 32 is associated with permission to pass through the security gate 3. In this way, the management unit 111 authenticates person H1.

[0063] If the identification information read by the reader 32 corresponds to permission to pass through the security gate 3, the security gate 3 opens. Thereafter, when the passage sensor 34 detects that the person H1 has passed through the security gate 3, the security gate 3 closes.

[0064] (7) Operation Example When each of the multiple robots 5 approaches the security gate 3, it transmits a request signal indicating a request to pass to the access control system 1. The request signal includes identification information as authentication information for the robot 5. If the request signal does not include valid authentication information (for example, authentication information that matches authentication information pre-stored in the memory unit 12), the access control system 1 does not allow the robot 5 to pass through the security gate 3. The following description is based on the assumption that the request signal includes valid authentication information.

[0065] The timing at which the robot 5 transmits the request signal may be when the robot 5 enters the detection area 70, or may be before or after the robot 5 enters the detection area 70. As an example, a stopping area is set at a predetermined position near the security gate 3 within the detection area 70, and the robot 5 transmits the request signal when it arrives at the stopping area. Information indicating the position of the stopping area is included in the map information of the facility stored in the memory unit 52 of the robot 5.

[0066] When the access control system 1 receives a request signal indicating a passage request, it determines whether or not to allow the robot 5 that made the passage request to pass through the security gate 3. Below, the processing of the access control system 1 when any one robot 5 out of the multiple robots 5, i.e., the first robot 5A, makes a passage request will be described with reference to FIG.

[0067] The management unit 111 of the access control system 1 acquires predicted data of the congestion level from the human detection unit 112 (step ST1). The predicted data of the congestion level is data including predicted values ​​of the congestion level for each fixed time period, as shown in FIG. 3, for example.

[0068] When the access control system 1 receives a passage request from the first robot 5A (step ST2: Yes), the management unit 111 determines whether or not there is a passage conflict.

[0069] First, a passage conflict between the first robot 5A and the person H1 will be described. If the person detection unit 112 determines that a person H1 (at least one person) is present in the detection area 70 when a passage request is received from the first robot 5A, the management unit 111 determines that a passage conflict exists between the first robot 5A and the person H1.

[0070] Next, a passage conflict between the first robot 5A and the second robot 5B will be described. The management unit 111 determines that a passage conflict exists between the first robot 5A and the second robot 5B when a passage request is received from the second robot 5B at the same time as a passage request from the first robot 5A. "Simultaneous" refers to the timing of the passage requests such that, if the first robot 5A and the second robot 5B each make a passage request and immediately attempt to pass through the security gate 3, one of the first robot 5A and the second robot 5B would obstruct the passage of the other at the security gate 3. If the first robot 5A and the second robot 5B each make a passage request within a time period on the same order as the time it takes for each of the first robot 5A and the second robot 5B to pass through the security gate 3, this can be considered simultaneous. As a specific example, if the upper limit time is set to 5 to 10 seconds, and the first robot 5A and the second robot 5B each make a passage request within this upper limit time, this can be considered simultaneous.

[0071] If there is at least one of a passing conflict between the first robot 5A and the person H1 and a passing conflict between the first robot 5A and the second robot 5B (step ST3: Yes), the management unit 111 compares the predicted value of the congestion degree with a predetermined value (step ST4). In this embodiment, the congestion degree is represented by the number of people H1 in the detection area 70.

[0072] 3, the predicted value of the congestion level is equal to or greater than the predetermined value Th1 between 8:00 and 15:00, and is less than the predetermined value Th1 at other times. Therefore, if the first robot 5A makes a passage request between 8:00 and 15:00, the predicted value of the congestion level will be equal to or greater than the predetermined value, and the determination in step ST4 will be "Yes."

[0073] If the predicted congestion level is equal to or greater than a predetermined value (step ST4: Yes), the management unit 111 notifies the first robot 5A that it will not allow the first robot 5A to pass through the security gate 3 (i.e., prohibits passage) (step ST5). In this case, the management unit 111 does not control the security gate 3 to open to allow the first robot 5A to pass through. In this way, the management unit 111 prohibits the first robot 5A from passing through the security gate 3 when the congestion level (number of people staying) of people H1 in the detection area 70 (here, the predicted congestion level) is equal to or greater than a predetermined value. When the first robot 5A is prohibited from passing through the security gate 3, it waits near the security gate 3, for example, and retransmits a request signal indicating a request to pass every certain period of time.

[0074] If the predicted congestion level is less than the predetermined value (step ST4: No), the management unit 111 notifies the first robot 5A that the first robot 5A is permitted to pass through the security gate 3 (step ST6). Upon receiving the notification, the first robot 5A moves to the security gate 3. The access control system 1 then determines whether the first robot 5A has approached the security gate 3 (step ST7).

[0075] In step ST7, the access control system 1 may determine that the first robot 5A has approached the security gate 3 based on the reception of an approach notification signal transmitted from the first robot 5A when the first robot 5A approaches the security gate 3. Alternatively, the access control system 1 may determine whether the first robot 5A has approached the security gate 3 based on the output of the sensor 2 or the output of a sensor provided in the security gate 3.

[0076] When the first robot 5A approaches the security gate 3 (step ST7: Yes), the management unit 111 opens the security gate 3 to allow the first robot 5A to pass (step ST8). Then, the management unit 111 causes the notification unit 35 of the security gate 3 to notify the person H1 that they are prohibited from passing through the security gate 3 (step ST9). In this way, when the management unit 111 allows the security gate 3 to allow the first robot 5A to pass through, it notifies the person H1 using the notification unit 35 that they are prohibited from passing through the security gate 3.

[0077] Thereafter, when the passage sensor 34 detects that the first robot 5A has passed through the security gate 3 (step ST10: Yes), the management unit 111 closes the security gate 3 (step ST11) and terminates notification by the notification unit 35 (step ST12).

[0078] When the first robot 5A is permitted to pass in step ST6, if the person H1 is authenticated by the reader 32 of the security gate 3 before the first robot 5A approaches the security gate 3, the person H1 can pass through the security gate 3. In other words, the permission to pass the first robot 5A in step ST6 is not a process that gives priority to the passage of the first robot 5A over the passage of the person H1, but a process that allows the first robot 5A and the authenticated person H1 to pass through on a first-come, first-served basis.

[0079] Furthermore, when the first robot 5A is permitted to pass in step ST6, if the second robot 5B permitted to pass approaches the security gate 3 before the first robot 5A approaches the security gate 3, the second robot 5B can pass through the security gate 3. In other words, the permission to pass the first robot 5A in step ST6 is not a process that gives priority to the passage of the first robot 5A over the passage of the second robot 5B, but a process that allows the first robot 5A and the second robot 5B permitted to pass through on a first-come, first-served basis.

[0080] When the passage of the first robot 5A is denied in step ST5, if the person H1 is authenticated by the reader 32 of the security gate 3, the person H1 can pass through the security gate 3. In other words, the denial of passage of the first robot 5A in step ST5 is a process that prioritizes the passage of the person H1 over the passage of the first robot 5A.

[0081] (Modifications of First Embodiment) Modifications of the first embodiment are listed below. The following modifications may be implemented in appropriate combination. Hereinafter, the configuration of the first embodiment described above will be referred to as a basic example.

[0082] The sensor 2 is not limited to the camera 20 (visible light camera) that captures images using visible light. For example, an infrared camera that captures images using infrared light may be installed as the sensor 2 in the facility. Alternatively, an object sensor may be installed as the sensor 2 in the facility. The object sensor detects an object passing through a passage connected to the security gate 3. The object sensor may be, for example, a pressure sensor installed on the floor of the passage. The object sensor may be, for example, a photoelectric sensor that emits light into the passage to detect the presence or absence of an object passing through the passage. The object sensor may be, for example, an ultrasonic sensor that detects the presence or absence of an object passing through the passage using ultrasonic echoes.

[0083] A plurality of sensors 2 may be installed in a facility. The plurality of sensors 2 may include a plurality of types of sensors. For example, the plurality of sensors 2 may include one or more cameras 20 and one or more object sensors.

[0084] The sensor 2 may be provided in the robot 5. The sensor 2 may be, for example, a camera provided in the robot 5 as part of the detection unit 54. In the case where the robot 5 is provided with the sensor 2, when the robot 5 approaches the detection area 70, the sensor 2 detects a person H1 staying in the detection area 70.

[0085] If the robot 5 is equipped with the sensor 2, the detection result of the sensor 2 may be transmitted to the access control system 1, and the human detection unit 112 of the access control system 1 may determine the presence or absence of a person H1 in the detection area 70 based on the detection result of the sensor 2. Alternatively, the robot 5 may be equipped with the sensor 2 and the human detection unit 112, and the human detection unit 112 of the robot 5 may determine the presence or absence of a person H1 in the detection area 70 based on the detection result of the sensor 2.

[0086] In the basic example, the congestion degree is expressed by the number of people H1 in the detection area 70. In contrast to this, the congestion degree may be a value obtained by dividing the number of people H1 in the detection area 70 by the area of ​​the detection area 70. Alternatively, the congestion degree may be an area occupied by the people H1 in the detection area 70. Alternatively, the congestion degree may be a value obtained by dividing the area occupied by the people H1 in the detection area 70 by the area of ​​the detection area 70.

[0087] In the basic example, the management unit 111 obtains a predicted value of the current congestion level based on the past congestion level, and based on the predicted value, determines whether or not to permit the first robot 5A to pass through the security gate 3 when there is a passage conflict between the first robot 5A and the person H1 or the second robot 5B. Alternatively, the management unit 111 may determine whether or not to permit the first robot 5A to pass through the security gate 3 when there is a passage conflict between the first robot 5A and the person H1 or the second robot 5B based on the actual measurement value of the current (i.e., most recent) congestion level.

[0088] If the second robot 5B is present in the detection area 70 when a passage request is received from the first robot 5A, the management unit 111 may determine that there is a passage conflict between the first robot 5A and the second robot 5B. The management unit 111 may determine whether the second robot 5B is present or not based on, for example, a signal transmitted by the second robot 5B or the output of the sensor 2.

[0089] The security gate 3 of the basic example is opened only when it is time to pass a person H1 or a robot 5. In contrast, the security gate 3 may be configured to be normally open and to be closed when a person H1 or a robot 5 that is not permitted to pass approaches.

[0090] The gate 31 of the security gate 3 of the basic example has a flap 311 that rotates relative to the main body 30. In contrast to this, the security gate 3 may be an automatic door, with the gate 31 being a sliding door that opens and closes automatically in response to the authentication result of the person H1 or the robot 5. The state in which the sliding door blocks the entrance corresponds to the closed state, and the state in which the sliding door opens the entrance corresponds to the open state.

[0091] The security gate 3 of the basic example drives the gate 31 to switch between an open state and a closed state, allowing the target (person H1 or robot 5) to pass in the open state and preventing the target from passing in the closed state. In contrast, the security gate 3 may be provided with a manually rotating arm as the gate 31, and by switching the arm between an unlocked state and a locked state, the target can pass when the arm is unlocked and cannot pass when the arm is locked (preventing passage).

[0092] A plurality of security gates 3 may be installed at one location. When the first robot 5A makes a passage request to pass through a certain security gate 3 among the plurality of security gates 3, the management unit 111 may cause the security gate 3 to permit the first robot 5A to pass if there is no passage contention at that security gate 3. Alternatively, when the first robot 5A makes a passage request, the management unit 111 may cause the security gate 3 to permit the first robot 5A to pass if there is no passage contention at any of the plurality of security gates 3, and notify the first robot 5A of the security gate 3 through which the robot has been permitted to pass.

[0093] The access control system 1 determines whether to permit the first robot 5A to pass through the security gate 3 based on the presence or absence of a person H1 in the detection area 70 and the degree of congestion. In a basic example, the detection area 70 includes an area 71 in front of the security gate 3 and an area 72 behind the security gate 3. However, one of the area 71 in front of the security gate 3 and the area 72 behind the security gate 3 may not be included in the detection area 70. In particular, if the security gate 3 is one-way, it is preferable that the area that the person H1 and the robot 5 pass through is not included in the detection area 70. For example, if the person H1 and the robot 5 can move from area 71 to area 72 through the security gate 3 but cannot move from area 72 to area 71, it is preferable that the area 72 is not included in the detection area 70.

[0094] The security gate 3 may be configured to perform authentication only for passage from area 71 to area 72 or passage from area 72 to area 71. In other words, the security gate 3 may permit the person H1 and robot 5 who have been successfully authenticated to pass in one direction, and may permit the person H1 and robot 5 to pass in the other direction without performing authentication.

[0095] The detection area 70 may include the passage between the two bodies 30 of the security gate 3 .

[0096] The management unit 111 may be configured to identify a person H1 (hereinafter referred to as a resident), such as an attendant, who is stationed near the security gate 3, but not use the presence or absence of the resident to determine whether or not a passage conflict occurs. For example, the management unit 111 may determine the detection area 70 so that the detection area 70 does not include a location where the resident is staying. Furthermore, the management unit 111 may distinguish the resident by performing facial recognition on the person H1 captured in the image generated by the camera 20.

[0097] 4 is merely an example of an entry / exit management method according to the present disclosure, and the order of processes may be changed as appropriate, and processes may be added or omitted as appropriate. For example, step ST1 of acquiring congestion prediction data does not need to be performed every time, but may be performed as frequently as once a day. Also, for example, if the first robot 5A is prohibited from passing through a certain security gate 3 in step ST5, the first robot 5A or the robot server 4 may search for a movement route that does not pass through that security gate 3.

[0098] If there is no passage conflict (step ST3: No), the management unit 111 may prioritize the passage of the first robot 5A over the passage of the person H1 and prohibit the passage of the person H1 (see step ST9).

[0099] The entity executing the access control system 1 or the access control method in the present disclosure includes a computer system. The computer system is primarily composed of a processor and memory as hardware. At least a portion of the functions of the entity executing the access control system 1 or the access control method in the present disclosure are realized by the processor executing a program recorded in the memory of the computer system. The program may be pre-recorded in the memory of the computer system, provided via a telecommunications line, or provided by being recorded on a non-transitory recording medium readable by the computer system, such as a memory card, optical disk, or hard disk drive. The processor of the computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). The integrated circuits, such as ICs and LSIs, are referred to by different names depending on the degree of integration, and include integrated circuits called system LSIs, very large-scale integration (VLSI), or ultra-large-scale integration (ULSI). Furthermore, a field-programmable gate array (FPGA), which is programmed after the LSI is manufactured, or a logic device capable of reconfiguring the connections within the LSI or the circuit partitions within the LSI, can also be employed as a processor. Multiple electronic circuits may be integrated into a single chip or distributed across multiple chips. Multiple chips may be integrated into a single device or distributed across multiple devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or more electronic circuits, including a semiconductor integrated circuit or a large-scale integrated circuit.

[0100] In addition, in the embodiment, multiple functions that are integrated into one device may be distributed across multiple devices. For example, a device including the human detection unit 112 may be provided separately from a device including the management unit 111. Furthermore, at least some of the functions of the access control system 1 may be realized by a server, a cloud (cloud computing), or the like.

[0101] Conversely, in the embodiment, multiple functions that are distributed across multiple devices may be consolidated into one device. For example, multiple functions that are distributed across the security gate 3 and the access control system 1 may be consolidated into one device. In other words, at least some of the functions of the access control system 1 may be provided in the security gate 3. For example, the security gate 3 may be provided with a function to authenticate person H1. If the security gate 3 is provided with a function to authenticate person H1, it is not necessary for the access control system 1 to manage at least one of the entry and exit of person H1 through the security gate 3. Therefore, it is sufficient for the access control system 1 to manage at least one of the entry and exit of robot 5 through the security gate 3.

[0102] Second Embodiment An access control system 1 and an access control method according to a second embodiment will be described below with reference to Fig. 5 and Fig. 6. Components similar to those in the first embodiment will be assigned the same reference numerals and descriptions thereof will be omitted.

[0103] In this embodiment, the management unit 111 predicts the degree of congestion of person H1 in the detection area 70 based on the number of people staying in the predetermined location 80. The person H1 in the predetermined location 80 can move to a location where a security gate 3 is installed. In FIG. 5 , the predetermined location 80 includes a location 81 and a location 82. Based on the predicted degree of congestion of person H1 in the detection area 70, the management unit 111 determines whether to permit the first robot 5A to pass through the security gate 3 when there is a passage conflict between the first robot 5A and the person H1 or the second robot 5B. This will be described in more detail below.

[0104] Security gate 3 is installed in the passage between location 81 and location 82. Detection area 70 exists in the passage between location 81 and location 82. Of detection area 70, area 71 is located between location 81 and security gate 3, and area 72 is located between security gate 3 and location 82.

[0105] The facility is provided with a sensor 91 that detects a person H1 staying in a location 81 and a sensor 92 that detects a person H1 staying in a location 82. The sensors 91 and 92 are components of the robot system X1. The sensors 91 and 92 are, for example, cameras 90. The person detection unit 112 of the access control system 1 identifies the number of people H1 present in each of the locations 81 and 82 by performing image analysis on the images captured by the camera 90.

[0106] Just as the sensor 2 is not limited to the camera 20 (visible light camera), the sensors 91 and 92 are not limited to the camera 90 (visible light camera). For example, the sensors 91 and 92 may be infrared cameras or object sensors.

[0107] There is no passage between the location 81 and the detection area 70, or between the location 82 and the detection area 70, where a person H1 coming from a location other than the location 81 or 82 can meet up with a person H1 coming from the location 81 or 82. In order for the person H1 to reach the detection area 70, he or she must pass through the location 81 or 82. However, a passage where a small number of people H1 can meet up, such as an entrance / exit for related parties, may be provided between the location 81 and the detection area 70, or between the location 82 and the detection area 70.

[0108] The management unit 111 collects historical data on the number of people staying in each of the locations 81 and 82 and the detection area 70. Based on this historical data, the management unit 111 statistically determines the proportion of the number of people H1 who moved to the detection area 70 after a predetermined time out of the number of people H1 who stayed in the locations 81 and 82.

[0109] Hereinafter, the ratio of the number of people H1 who moved to the detection area 70 after a predetermined time out of the number of people H1 who stayed at the location 81 will be referred to as the "transfer ratio from the location 81 to the detection area 70." Furthermore, the ratio of the number of people H1 who moved to the detection area 70 after a predetermined time out of the number of people H1 who stayed at the location 82 will be referred to as the "transfer ratio from the location 82 to the detection area 70." Furthermore, when there is no particular distinction between the "transfer ratio from the location 81 to the detection area 70" and the "transfer ratio from the location 82 to the detection area 70," these will also be referred to as the "transfer ratio."

[0110] An estimated travel time from the location 81 to the detection area 70 and an estimated travel time from the location 82 to the detection area 70 are determined in advance. The estimated travel time may be determined based on an actually measured travel time, or may be a time that the designer deems appropriate. In the following description, it is assumed that the estimated travel time from the location 81 to the detection area 70 is equal to the estimated travel time from the location 82 to the detection area 70.

[0111] As a first example of calculating the transfer ratio, assume that at a certain point in time, the number of people staying at location 81 is 10, and the number of people staying at location 82 and detection area 70 is 0. Furthermore, assume that when the estimated travel time has elapsed from the certain point in time, the number of people staying at location 81 is 0, and the number of people staying at detection area 70 is 6. In this case, the proportion of people H1 who moved to detection area 70 after the estimated travel time out of the number of people staying at location 81 is 60%. In other words, the transfer ratio from location 81 to detection area 70 is 60%. In this way, the management unit 111 can calculate the transfer ratio from location 81 to detection area 70 and the transfer ratio from location 82 to detection area 70 based on the number of people staying at locations 81, 82, and detection area 70 at each point in time. In practice, it is preferable that the management unit 111 calculates the transfer ratio at multiple times and uses the average value as the transfer ratio.

[0112] As a second example of calculating the transfer ratio, consider the case where security gate 3 is one-way, from area 71 to area 72. Assume that there are 10 people in location 81 at a certain time. Furthermore, assume that there are six people in detection area 70 when the estimated travel time has elapsed since the certain time. In this case, the transfer ratio from location 81 to detection area 70 is 60%. Here, it is assumed that all people H1 who are in detection area 70 at the certain time have left detection area 70 when the estimated travel time has elapsed. It is also assumed that there is no movement of people H1 from location 82 to detection area 70. In practice, it is preferable that management unit 111 calculates the transfer ratio at multiple times and uses the average value as the transfer ratio.

[0113] Furthermore, during certain hours of the day, security gate 3 may be considered to be one-way traffic from area 71 to area 72 or from area 72 to area 71, and the delivery ratio during this time period may be calculated using the calculation method of the second example. For example, if security gate 3 is installed at the entrance to an office, most of the people H1 passing through security gate 3 in the morning are employees coming from outside, so security gate 3 can be considered to be one-way traffic from outside to inside the office. Furthermore, security gate 3 may be considered to always be one-way traffic from area 71 to area 72 or from area 72 to area 71, as appropriate.

[0114] The management unit 111 calculates the handover ratio in advance. Then, the management unit 111 predicts the congestion level of the person H1 in the detection area 70 based on the number of people staying at the locations 81 and 82 and the handover ratio. In this embodiment, the congestion level is represented by the number of people H1 in the detection area 70.

[0115] 5 , the delivery ratio from location 81 to detection area 70 is 60%, and the delivery ratio from location 82 to detection area 70 is 10%. To predict the congestion level of person H1 in detection area 70 at a first time point, the management unit 111 refers to the number of people staying at locations 81 and 82 at a second time point that is an estimated travel time before the first time point. For example, if the number of people staying at location 81 at the second time point is 10 and the number of people staying at location 82 at the second time point is 5, the management unit 111 predicts that the congestion level at the first time point (the number of people staying in detection area 70) is 10×0.6+5×0.1=6.5 people.

[0116] Then, based on the predicted congestion level, the management unit 111 determines whether to permit the first robot 5A to pass through the security gate 3 when there is a passage conflict between the first robot 5A and the person H1 or the second robot 5B. The processing of the access control system 1 after the management unit 111 predicts the congestion level may be similar to that of embodiment 1, for example. That is, as shown in FIG. 4 , if the predicted value of the congestion level (predicted congestion level) is equal to or greater than a predetermined value (step ST4: Yes), the first robot 5A may not be permitted to pass through the security gate 3, and if the predicted value of the congestion level is less than the predetermined value (step ST4: No), the first robot 5A may be permitted to pass through the security gate 3.

[0117] The processing of the entry / exit management system 1 when the first robot 5A makes a passage request will be described with reference to Fig. 6. Note that the flowchart shown in Fig. 6 is merely an example of the entry / exit management method according to the present disclosure, and the order of the processing may be changed as appropriate, and processing may be added or omitted as appropriate.

[0118] The delivery ratio is determined in advance and stored in the storage unit 12. The management unit 111 acquires the delivery ratio from the storage unit 12 (step ST21).

[0119] Steps ST22 and ST23 in FIG. 6 are the same processes as steps ST2 and ST3 in FIG.

[0120] When the access control system 1 receives a passage request from the first robot 5A (step ST22: Yes), the management unit 111 determines whether or not there is a passage conflict (step ST23). If there is at least one of a passage conflict between the first robot 5A and the second robot 5B and a passage conflict between the first robot 5A and person H1 (step ST23: Yes), the management unit 111 acquires the number of people visiting the detection area 70 and each of the locations 81 and 82 adjacent to it (step ST24). The memory unit 12 stores historical data on the number of people visiting the locations 81 and 82. In step ST24, the management unit 111 acquires the number of people visiting each of the locations 81 and 82 at a time point that is the estimated travel time before the time point when the access control system 1 received the passage request from the first robot 5A.

[0121] The management unit 111 calculates a predicted value of the congestion level of the person H1 in the detection area 70 based on the number of visitors acquired in step ST24 and the handover ratio acquired in step ST21 (step ST25). That is, the management unit 111 calculates a predicted value of the congestion level by multiplying the number of visitors at the locations 81 and 82 by the handover ratio.

[0122] Next, the management unit 111 compares the predicted value of the congestion degree calculated in step ST25 with a predetermined value (step ST26).

[0123] If the predicted congestion level is equal to or greater than the predetermined value (step ST26: Yes), the management unit 111 notifies the first robot 5A that it is not permitted to pass through the security gate 3 (i.e., that it is prohibited from passing through) (step ST27). Step ST27 in Fig. 6 is the same process as step ST5 in Fig. 4.

[0124] If the predicted congestion level is less than the predetermined value (step ST26: No), the management unit 111 notifies the first robot 5A that the first robot 5A is permitted to pass through the security gate 3 (step ST28). Upon receiving the notification, the first robot 5A moves to the security gate 3. Step ST28 in FIG. 6 is the same process as step ST6 in FIG. 4.

[0125] The process from step ST28 onwards is the same as the process from step ST6 onwards in FIG.

[0126] Third Embodiment An access control system 1 and an access control method according to a third embodiment will be described below with reference to Fig. 7. Components similar to those in the first embodiment will be assigned the same reference numerals and descriptions thereof will be omitted.

[0127] In this embodiment, the process of determining whether to permit the first robot 5A to pass through the security gate 3 when there is a passing competition between the first robot 5A and a person H1 or a second robot 5B differs from that in embodiment 1. That is, in this embodiment, the management unit 111 determines the priority of the first robot 5A, and determines whether to permit the first robot 5A to pass through the security gate 3 based on the priority.

[0128] More specifically, the management unit 111 determines the priority of the first robot 5A based on at least one of the degree of congestion of the person H1 in the detection area 70, the task performed by the first robot 5A, and the destination of the first robot 5A. In other words, the management unit 111 determines whether to permit the first robot 5A to pass through the security gate 3 when there is a passage conflict between the first robot 5A and the person H1 or the second robot 5B, based on at least one of the degree of congestion of the person H1 in the detection area 70, the task performed by the first robot 5A, and the destination of the first robot 5A.

[0129] Furthermore, in the first embodiment, when the management unit 111 permits the first robot 5A to pass through the security gate 3, the management unit 111 allows the person H1 and the first robot 5A to pass through on a first-come, first-served basis. In contrast to this, in the present embodiment, the management unit 111 may prioritize the passage of the first robot 5A over the passage of the person H1. More specifically, when there is a competition for passage with the person H1 or the second robot 5B, the management unit 111 determines, based on the priority, whether to prioritize the passage of the first robot 5A over the passage of the person H1, to prioritize the passage of the person H1 over the passage of the first robot 5A, or to allow the person H1 and the first robot 5A to pass through on a first-come, first-served basis.

[0130] As an example, the task performed by the first robot 5A is one of "delivery," "cleaning," and "patrol."

[0131] As for the congestion level, a predicted value is used as in embodiment 1 or embodiment 2, but as described in the modified example of embodiment 1, the actual measured value of the current (i.e., most recent) congestion level may also be used.

[0132] The storage unit 52 of the robot 5 stores the tasks to be performed by the robot 5 and the destination of the robot 5. The robot 5 notifies the entry / exit management system 1 of the tasks and the destination.

[0133] The memory unit 12 stores a correspondence relationship between the degree of congestion of the person H1 in the detection area 70, the task to be performed by the first robot 5A, the destination of the first robot 5A, and the score. An example of the correspondence relationship is shown in Table 1.

[0134]

[0135] The higher the score, the higher the priority.

[0136] Furthermore, the storage unit 12 stores weights for the congestion score, task score, and destination score. Here, the weights are values ​​ranging from 1 to 3.

[0137] The management unit 111 determines the priority based on, for example, [Equation 1].

[0138]

[0139] Here, A, B, and C are the weights of the congestion score, task score, and destination score, respectively. The priority ranges from 1 to 15.

[0140] The method of determining the priority described above is merely an example and can be changed as appropriate. For example, the relationship between the congestion level, task, destination, and score may be changed as appropriate.

[0141] When there is a passing conflict between the first robot 5A and the person H1 or the second robot 5B, the management unit 111 makes a decision based on the priority.

[0142] As an example, if the priority is less than 6, the management unit 111 prioritizes the passage of the person H1 over the passage of the first robot 5A. In other words, in this case, the management unit 111 does not allow the passage of the first robot 5A.

[0143] Furthermore, if the priority is equal to or greater than 6 and less than 10, the management unit 111 allows the person H1 and the first robot 5A to pass through on a first-come, first-served basis.

[0144] Furthermore, if the priority is 10 or higher, the management unit 111 prioritizes the passage of the first robot 5A over the passage of the person H1. That is, in this case, the management unit 111 does not allow the passage of the person H1. When the passage of the first robot 5A is prioritized over the passage of the person H1, the management unit 111 causes the notification unit 35 of the security gate 3 to notify that the person H1 is prohibited from passing through the security gate 3. Once the first robot 5A passes through the security gate 3, the notification unit 35 stops sending notifications.

[0145] The processing of the entry / exit management system 1 when the first robot 5A makes a passage request will be described with reference to Fig. 7. Note that the flowchart shown in Fig. 7 is merely an example of the entry / exit management method according to the present disclosure, and the order of processing may be changed as appropriate, and processing may be added or omitted as appropriate.

[0146] The management unit 111 acquires predicted data of the congestion degree from the human detection unit 112 (step ST31). Furthermore, the management unit 111 acquires information indicating the task and destination of the first robot 5A from the first robot 5A.

[0147] Steps ST32 and ST33 in FIG. 7 are the same processes as steps ST2 and ST3 in FIG.

[0148] When the access control system 1 receives a passage request from the first robot 5A (step ST32: Yes), the management unit 111 determines whether or not there is a passage conflict (step ST33). If there is at least one of a passage conflict between the first robot 5A and the person H1 and a passage conflict between the first robot 5A and the second robot 5B (step ST33: Yes), the management unit 111 makes a determination based on the priority of the first robot 5A.

[0149] If the priority is less than 6 (step ST34: Yes), the management unit 111 prioritizes the passage of the person H1 over the passage of the first robot 5A (step ST35). That is, the management unit 111 notifies the first robot 5A that the first robot 5A is not permitted to pass through the security gate 3. Step ST35 in FIG. 7 is the same process as step ST5 in FIG. 4.

[0150] If the priority is equal to or greater than 6 and less than 10 (step ST36: Yes), the management unit 111 allows the person H1 and the first robot 5A to pass on a first-come, first-served basis (step ST37). The process from step ST37 onwards is the same as the process from step ST6 onwards in FIG. 4.

[0151] If the priority is 10 or higher, the management unit 111 prioritizes the passage of the first robot 5A over the passage of the person H1 (step ST38). In this case, the management unit 111 causes the notification unit 35 of the security gate 3 to notify that the person H1 is prohibited from passing through the security gate 3.

[0152] If there is no passing conflict (step ST33: No), the management unit 111 allows the person H1 and the first robot 5A to pass through on a first-come, first-served basis (step ST37).

[0153] If there is no passage conflict (step ST33: No), the management unit 111 may prioritize the passage of the first robot 5A over the passage of the person H1 (see step ST38).

[0154] (Summary) The above-described embodiments and the like disclose the following aspects.

[0155] The access control system (1) according to the first aspect includes a management unit (111) and a human detection unit (112). The management unit (111) controls a security gate (3). A plurality of autonomous mobile robots (5) and a human (H1) pass through the security gate (3). The plurality of autonomous mobile robots (5) include a first robot (5A) and a second robot (5B). The human detection unit (112) determines the presence or absence of a human (H1) in a detection area (70) at the installation location of the security gate (3) based on the output of a sensor (2) that detects the human (H1) staying in the detection area (70). When the management unit (111) receives a passage request from the first robot (5A) requesting passage through the security gate (3), it determines whether there is a passage conflict between the first robot (5A) and the second robot (5B), and determines whether there is a passage conflict between the first robot (5A) and a person (H1) based on the determination result of the person detection unit (112). A state in which there is a passage conflict between the first robot (5A) and the second robot (5B) is a state in which the second robot (5B) is also attempting to pass through the security gate (3) at the same time that the first robot (5A) is attempting to pass through the security gate (3). A state in which there is a passage conflict between the first robot (5A) and the person (H1) is a state in which the person (H1) is also attempting to pass through the security gate (3) at the same time that the first robot (5A) is attempting to pass through the security gate (3). If there is no passage conflict between the first robot (5A) and the second robot (5B) and no passage conflict between the first robot (5A) and a person (H1), the management section (111) allows the security gate (3) to allow the first robot (5A) to pass through.

[0156] According to the above configuration, the first robot (5A) is permitted to pass if there is no passage conflict, which reduces the possibility that the first robot (5A) will obstruct the passage of a person (H1) or the second robot (5B), thereby alleviating traffic congestion at the location where the security gate (3) is installed.

[0157] In addition, in the entry / exit management system (1) according to the second aspect, in the first aspect, when the management unit (111) receives a passage request from the first robot (5A) and the human detection unit (112) determines that a passage conflict exists between the first robot (5A) and the human (H1), the management unit (111) determines that a passage conflict exists between the first robot (5A) and the human (H1).

[0158] According to the above configuration, it is possible to easily determine whether or not there is a passage conflict between the first robot (5A) and the person (H1).

[0159] In addition, in the entry / exit management system (1) according to the third aspect, in the first or second aspect, the management unit (111) determines that there is a passage conflict between the first robot (5A) and the second robot (5B) when it receives a passage request from the second robot (5B) at the same time as it receives a passage request from the first robot (5A).

[0160] According to the above configuration, it is possible to easily determine whether or not there is a passage conflict between the first robot (5A) and the second robot (5B).

[0161] Furthermore, in the entry / exit management system (1) according to the fourth aspect, in any one of the first to third aspects, the management unit (111) determines whether or not to permit the first robot (5A) to pass through the security gate (3) when there is a passage conflict between the first robot (5A) and a person (H1) or a second robot (5B), based on at least one of the degree of congestion of people (H1) in the detection area (70), the task to be performed by the first robot (5A), and the destination of the first robot (5A).

[0162] According to the above configuration, even if there is a passing conflict, the first robot (5A) can be appropriately permitted to pass through the security gate (3), thereby allowing the first robot (5A) to pass through the security gate (3) early.

[0163] In addition, in the entry / exit management system (1) according to the fifth aspect, in the fourth aspect, the management unit (111) calculates a predicted value of the current congestion level of people (H1) in the detection area (70) based on the past congestion level of people (H1) in the detection area (70), and determines, based on the predicted value, whether to allow the first robot (5A) to pass through the security gate (3) when there is a passage conflict between the first robot (5A) and the person (H1) or the second robot (5B).

[0164] According to the above configuration, for example, traffic congestion can be alleviated by prohibiting the autonomous mobile robot (5) from passing through the security gate (3) during times when the detection area (70) is likely to be congested.

[0165] In addition, in the entry / exit control system (1) according to the sixth aspect, in the fourth or fifth aspect, the management unit (111) prohibits the first robot (5A) from passing through the security gate (3) when the number of people in the detection area (70) is equal to or greater than a predetermined value.

[0166] According to the above configuration, whether or not a person can pass through the security gate (3) can be determined by simple processing.

[0167] In addition, in the entry / exit control system (1) according to a seventh aspect, in any one of the fourth to sixth aspects, the management unit (111) predicts the degree of congestion of people (H1) in the detection area (70) based on the number of people staying in the predetermined location (80) that can move from the person (H1) in the predetermined location (80) to a location where the security gate (3) is installed. The management unit (111) determines whether to permit the first robot (5A) to pass through the security gate (3) when there is a passage conflict between the first robot (5A) and the person (H1) or the second robot (5B) based on the predicted degree of congestion of people (H1) in the detection area (70).

[0168] According to the above configuration, congestion in the detection area (70) can be predicted in advance.

[0169] In addition, in the access control system (1) according to an eighth aspect, in any one of the fourth to seventh aspects, the management unit (111) determines the priority of the first robot (5A) based on at least one of the degree of congestion of people (H1) in the detection area (70), the task to be performed by the first robot (5A), and the destination of the first robot (5A). When there is a passage conflict with the person (H1) or the second robot (5B), the management unit (111) determines, based on the priority, whether to give priority to the passage of the first robot (5A) over the passage of the person (H1), give priority to the passage of the person (H1) over the passage of the first robot (5A), or allow the person (H1) and the first robot (5A) to pass on a first-come, first-served basis.

[0170] According to the above configuration, it is possible to make a detailed judgment as to whether or not a person can pass through the security gate (3).

[0171] In addition, in the entry / exit management system (1) according to the ninth aspect, in any one of the first to eighth aspects, when the management unit (111) allows the first robot (5A) to pass through the security gate (3), it notifies the person (H1) that passage through the security gate (3) is prohibited.

[0172] According to the above configuration, the person (H1) can know that he / she is prohibited from passing through the security gate (3).

[0173] The configurations other than the first aspect are not essential for the entry / exit management system (1) and can be omitted as appropriate.

[0174] Also, an entry / exit management method according to a tenth aspect includes a management step and a human detection step. In the management step, a security gate (3) is controlled. A plurality of autonomous mobile robots (5) and a human (H1) pass through the security gate (3). The plurality of autonomous mobile robots (5) include a first robot (5A) and a second robot (5B). In the human detection step, the presence or absence of a human (H1) in a detection area (70) at a location where the security gate (3) is installed is determined based on an output of a sensor (2) that detects the human (H1) staying in the detection area (70). In the management step, when a passage request requesting passage through the security gate (3) is received from the first robot (5A), the presence or absence of passage conflict between the first robot (5A) and the second robot (5B) is determined, and the presence or absence of passage conflict between the first robot (5A) and the human (H1) is determined based on the determination result in the human detection step. A state in which there is a passage conflict between a first robot (5A) and a second robot (5B) is a state in which the second robot (5B) is also attempting to pass through the security gate (3) at the same time that the first robot (5A) is attempting to pass through the security gate (3). A state in which there is a passage conflict between a first robot (5A) and a person (H1) is a state in which the person (H1) is also attempting to pass through the security gate (3) at the same time that the first robot (5A) is attempting to pass through the security gate (3). In the management step, if there is no passage conflict between the first robot (5A) and the second robot (5B) and no passage conflict between the first robot (5A) and the person (H1), the security gate (3) is made to permit the first robot (5A) to pass.

[0175] According to the above configuration, traffic congestion at the location where the security gate (3) is installed can be alleviated.

[0176] A program according to an eleventh aspect is a program for causing one or more processors of a computer system to execute the entrance / exit management method according to the tenth aspect.

[0177] According to the above configuration, traffic congestion at the location where the security gate (3) is installed can be alleviated.

[0178] Not limited to the above aspects, various configurations (including modified examples) of the entry / exit management system (1) according to the embodiment can be embodied as an entry / exit management method, a (computer) program, or a non-transitory recording medium on which the program is recorded.

[0179] REFERENCE SIGNS LIST 1 entry / exit control system 2 sensor 3 security gate 5 autonomous mobile robot 5A first robot 5B second robot 70 detection area 80 predetermined location 111 management unit 112 human detection unit H1 person

Claims

1. A system comprising: a management unit that controls a security gate through which a plurality of autonomous mobile robots including a first robot and a second robot and a person pass; and a human detection unit that determines the presence or absence of a human in a detection area based on the output of a sensor that detects the human staying in the detection area at the installation location of the security gate, wherein when the management unit receives a passage request from the first robot requesting passage through the security gate, the management unit determines whether or not there is a passage conflict between the first robot and the second robot, and determines whether or not there is a passage conflict between the first robot and the person based on the determination result of the human detection unit, wherein a state in which there is a passage conflict between the first robot and the second robot is a state in which the second robot also attempts to pass through the security gate at the same time as the first robot attempts to pass through the security gate, and a state in which there is a passage conflict between the first robot and the person is a state in which the person also attempts to pass through the security gate at the same time as the first robot attempts to pass through the security gate, the management unit allows the security gate to allow the first robot to pass if there is no passing conflict between the first robot and the second robot and if there is no passing conflict between the first robot and the person.

2. The entrance / exit management system of claim 1, wherein when the management unit receives the passage request from the first robot and the human detection unit determines that the human is present in the detection area, it determines that there is a passage conflict between the first robot and the human.

3. An entrance / exit management system as described in claim 1 or 2, wherein the management unit determines that there is a passage conflict between the first robot and the second robot when it receives a passage request from the second robot at the same time as it receives the passage request from the first robot.

4. An entrance / exit management system as described in any one of claims 1 to 3, wherein the management unit determines whether or not to allow the first robot to pass through the security gate when there is a passing conflict between the first robot and the person or the second robot, based on at least one of the degree of human congestion in the detection area, the task to be performed by the first robot, and the destination of the first robot.

5. The entrance / exit management system of claim 4, wherein the management unit calculates a predicted value of the current degree of human congestion in the detection area based on the past degree of human congestion in the detection area, and determines, based on the predicted value, whether to allow the first robot to pass through the security gate when there is a passing conflict between the first robot and the person or the second robot.

6. The entrance / exit control system according to claim 4 or 5, wherein the management unit prohibits the first robot from passing through the security gate when the number of people in the detection area is equal to or greater than a predetermined value.

7. An entrance / exit management system as described in any one of claims 4 to 6, wherein the management unit predicts the degree of congestion of people in the detection area based on the number of people in a specified location where the person in the specified location can move to a location where the security gate is installed, and the management unit determines whether to allow the first robot to pass through the security gate in the event of a passing conflict between the first robot and the person or the second robot based on the predicted degree of congestion of people in the detection area.

8. An entrance / exit management system as described in any one of claims 4 to 7, wherein the management unit determines a priority of the first robot based on at least one of the degree of congestion of people in the detection area, the task to be performed by the first robot, and the destination of the first robot, and when there is a passing conflict with the person or the second robot, the management unit determines based on the priority whether to give priority to the passage of the first robot over the passage of the person, to give priority to the passage of the person over the passage of the first robot, or to allow the person and the first robot to pass on a first-come, first-served basis.

9. An entrance / exit management system as described in any one of claims 1 to 8, wherein the management unit notifies the person that passage through the security gate is prohibited when allowing the first robot to pass through the security gate.

10. A system comprising: a management step of controlling a security gate through which a plurality of autonomous mobile robots including a first robot and a second robot and a person pass; and a human detection step of judging the presence or absence of a human in a detection area based on an output of a sensor that detects the human staying in the detection area at a location where the security gate is installed, wherein in the management step, when a passage request requesting passage through the security gate is received from the first robot, the presence or absence of a passage conflict between the first robot and the second robot is judged, and the presence or absence of a passage conflict between the first robot and the person is judged based on the judgment result in the human detection step, a state in which there is a passage conflict between the first robot and the second robot is a state in which the second robot also attempts to pass through the security gate at the same time as the first robot attempts to pass through the security gate, and a state in which there is a passage conflict between the first robot and the person is a state in which the person also attempts to pass through the security gate at the same time as the first robot attempts to pass through the security gate, In the management step, if there is no passing conflict between the first robot and the second robot and if there is no passing conflict between the first robot and the person, the security gate is made to permit the first robot to pass.

11. A program for causing one or more processors of a computer system to execute the entrance / exit management method according to claim 10.

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