Mobile robot, mobile robot system, mobile robot control method, and mobile robot control program

Abstract

This mobile robot comprises: a wireless transmitter that transmits a wireless signal for an opening operation of an automatic door device to a wireless receiver of the automatic door device; and a robot processing circuit connected to the wireless transmitter. The robot processing circuit is configured to cause the wireless transmitter to start transmission of the wireless signal when a positional relationship between the mobile robot and the automatic door device satisfies a prescribed proximity condition.

Description

Mobile robot, mobile robot system, mobile robot control method, and mobile robot control program

[0007] , ,

[0006] ,

[0001] This disclosure relates to a mobile robot, a mobile robot system, a mobile robot control method, and a mobile robot control program.

[0002] Patent Document 1 discloses a conveyance system for a conveyance robot to move within a facility equipped with an automatic door device. In this system, the robot and the automatic door device are controlled by a server so as to cooperate appropriately.

[0003] Japanese Patent Application Laid-Open No. 2020-187457

[0004] However, since communication with the server is required for opening and closing the automatic door device, there is a possibility that a delay may occur in the response of the automatic door device. On the other hand, if the automatic door device directly receives the radio wave transmitted by the robot and performs the door opening operation, there is a possibility that the door may open in response to an unintended radio signal from the robot.

[0005] Therefore, an aspect of this disclosure aims to enable the automatic door device to perform an appropriate opening operation while suppressing response delay.

[0006] A mobile robot according to an aspect of this disclosure is a mobile robot that moves in an area where an automatic door device equipped with a wireless receiver exists, and includes a wireless transmitter that transmits a wireless signal for the opening operation of the automatic door device to the wireless receiver of the automatic door device, and a robot processing circuit connected to the wireless transmitter. The robot processing circuit is configured to cause the wireless transmitter to start transmitting the wireless signal when the positional relationship between the mobile robot and the automatic door device satisfies a predetermined proximity condition.

[0007] A mobile robot system according to an aspect of this disclosure includes the mobile robot and a door processing circuit that controls the door actuator based on a signal from the wireless receiver of the automatic door device. The door processing circuit is configured to perform control related to the opening operation of the door actuator when the wireless receiver is receiving the wireless signal.

[0008] A mobile robot according to one aspect of the present disclosure is a mobile robot that moves in an area where an automatic door device equipped with a wireless receiver exists, and comprises a wireless transmitter that transmits a wireless signal for opening the automatic door device, and a robot processing circuit connected to the wireless transmitter. The robot processing circuit is configured to cause the wireless transmitter to start transmitting the wireless signal when the mobile robot enters a predetermined area based on a predetermined automatic door device or arrives at a predetermined standby position.

[0009] A mobile robot control method according to one aspect of the present disclosure is a method for controlling a mobile robot that moves in an area where an automatic door device having a wireless receiver is present and transmits a wireless signal to the wireless receiver for opening the automatic door device, the method comprising causing the wireless transmitter to start transmitting the wireless signal when the positional relationship between the mobile robot and the automatic door device satisfies a predetermined proximity condition.

[0010] A mobile robot control program according to one aspect of this disclosure causes at least one processor to execute the control method. The program may be stored in a computer-readable storage medium. The storage medium is a non-transitory and tangible medium. The storage medium may be built into or attached to a computer (e.g., a personal computer, a mobile information terminal, a server, etc.). The storage medium includes RAM, ROM, EEPROM, storage, etc., and may be, for example, DRAM, SRAM, flash memory, a hard disk, etc.

[0011] According to one aspect of this disclosure, an automatic door device can be opened appropriately while suppressing response delays.

[0012] Figure 1 is a plan view of a facility in which a mobile robot system according to an embodiment is installed. Figure 2A is a front view of the automatic door device of Figure 1. Figure 2B is a cross-sectional view of the automatic door device of Figure 2A taken along line IIB-IIB. Figure 3 is a block diagram of the control system of the automatic door devices of Figures 2A and 2B. Figure 4 is a block diagram of the mobile robot of Figure 1. Figure 5 is a block diagram of the server of Figure 1. Figure 6 is a flowchart of the processing of the automatic door device of Figure 3. Figure 7 is a flowchart of the processing of the mobile robot of Figure 4. Figure 8 is a block diagram of the control system of the automatic door device of the first modified example. Figure 9 is a flowchart of the processing of the automatic door device of Figure 8. Figure 10 is a block diagram of the control system of the automatic door device of the second modified example. Figure 11 is a flowchart of the processing of the automatic door device of Figure 10.

[0013] The embodiments will be described below with reference to the drawings.

[0014] Figure 1 is a plan view of a facility 1 in which a mobile robot system 10 according to an embodiment is introduced. As shown in Figure 1, facility 1 comprises a room 2, a corridor 3 adjacent to room 2, and an automatic door device 5 for entering room 2 from corridor 3. The automatic door device 5 may be a door device for moving from one corridor to an adjacent corridor, or a door device for moving from one room to an adjacent room. Facility 1 is not particularly limited as long as it is equipped with an automatic door device 5, but examples include hospitals, factories, logistics warehouses, commercial facilities, government offices, amusement parks, art museums, exhibition halls, offices, hotels, or schools.

[0015] The mobile robot system 10 comprises an automatic door device 5, a plurality of mobile robots 6, and a server 7 capable of communicating with the plurality of mobile robots 6 via a communication network N. The communication network N may be, for example, the Internet, but it may also be an intranet or the like. The mobile robots 6 autonomously move within the area of ​​the facility 1, including rooms 2 and corridors 3.

[0016] Multiple mobile robots 6 have the same configuration as each other. Mobile robots 6 are equipped with navigation functions and move autonomously toward their destinations. The task assigned to mobile robots 6 is a movement task from a starting point to a destination. If mobile robots 6 move via intermediate points before reaching their final destination, they may move to the nearest intermediate point from their current location as their destination. The movement task may be a delivery task in which the mobile robot receives an object to be transported at the starting point and delivers that object to the destination. The movement task may also be a security task in which the mobile robot moves while monitoring its surroundings from the starting point to the destination, or a guidance task in which it guides a person from the starting point to the destination. Mobile robots 6 travel on the ground, but may also fly in the air. Furthermore, multiple mobile robots 6 may have different configurations from each other.

[0017] As an example, Figure 1 shows two mobile robots 6: a first mobile robot 6A and a second mobile robot 6B. The first mobile robot 6A is scheduled to enter room 2 from the passageway 3 by passing through the automatic door device 5, while the second mobile robot 6B is scheduled to travel along the passageway 3 simply passing near the automatic door device 5 without passing through it.

[0018] Figure 2A is a front view of the automatic door device 5 shown in Figure 1. Figure 2B is a cross-sectional view of the automatic door device 5 shown in Figure 2A, taken along line IIB-IIB. As shown in Figures 2A and 2B, the automatic door device 5 includes a first door 13 and a second door 14 that open and close a door opening 11 in the wall separating the room 2 and the passageway 3. The first door 13 and the second door 14 are double sliding doors that slide along a guide rail 12. The doors constituting the automatic door device 5 may be single sliding doors or other types of doors.

[0019] The automatic door device 5 includes a belt 15 extending horizontally above the first door 13 and the second door 14, and a drive pulley 16 and a driven pulley 17 around which the belt 15 is wound. The drive pulley 16 is rotationally driven by a door actuator 18. The door actuator 18 is, for example, an electric motor. When the drive pulley 16 rotates, the upper portion and the lower portion of the belt 15 move in opposite directions. The first door 13 is connected to the upper portion of the belt 15 via a first hanger 19, and the second door 14 is connected to the lower portion of the belt 15 via a second hanger 20.

[0020] The automatic door device 5 is equipped with an object detection sensor 21 that detects objects approaching doors 13 and 14 inside room 2. The object detection sensor 21 detects a person or mobile robot 6 approaching doors 13 and 14 inside room 2 and outputs a detection signal. The object detection sensor 21 is, for example, an infrared sensor that detects a person or mobile robot 6 based on reflected infrared waves emitted towards the area around doors 13 and 14 inside room 2.

[0021] The automatic door device 5 is equipped with an auxiliary sensor 22 that detects objects in the trajectory of the doors 13 and 14. The auxiliary sensor 22 is a photoelectric sensor that, for example, outputs a ray of light crossing the door opening 11 in a front view of the door opening 11 and detects when that ray is blocked. When the auxiliary sensor 22 detects that the ray has been blocked by a human or a mobile robot 6, it outputs a detection signal.

[0022] The automatic door device 5 comprises a security card reader 23 facing the passageway 3 and an access control device 24 (see Figure 3) connected to the security card reader 23. The security card reader 23 reads the identification data recorded on the security card by contact or contactless means. When a person walking in the passageway 3 brings the appropriate security card close to the security card reader 23, authentication is established in the access control device 24, and the doors 13 and 14 are driven to open. In other words, the security card reader 23 and the access control device 24 are an example of a security authentication device. Note that other types of authentication technologies, such as fingerprint authentication or facial recognition, may be used instead of card authentication technology. The security card reader 23 may be placed not only in a position facing the passageway 3, but also in a position facing the room 2.

[0023] The automatic door device 5 includes a wireless receiver 25. The wireless receiver 25 directly receives wireless signals transmitted from the mobile robot 6. When the wireless receiver 25 receives a wireless signal, it transmits a received signal to the door controller 26. The wireless receiver 25 transmits a received signal to the door controller 26 regardless of which of the multiple mobile robots 6 transmits the wireless signal it receives. The wireless receiver 25 is a receiver for short-range wireless communication, for example, a receiver that receives radio waves. The wireless receiver 25 may, for example, utilize short-range wireless communication such as Bluetooth® or Wi-Fi®.

[0024] The automatic door system 5 includes a door controller 26. The door controller 26 controls the door actuator 18 based on signals from an access control device 24 connected to a security card reader 23, a wireless receiver 25, an object detection sensor 21, an auxiliary sensor 22, etc.

[0025] Figure 3 is a block diagram of the control system of the automatic door device 5 shown in Figures 2A and 2B. As shown in Figure 3, the security card reader 23 is connected to the door controller 26 via the access control device 24. The access control device 24 includes a processing circuit in which a processor executes a program read from storage memory to system memory. The access control device 24 determines whether the identification data read by the security card reader 23 from the security card held by the person matches any of the pre-registered valid identification data, and if a match is determined, authentication is completed. Once authentication is completed, the access control device 24 transmits an authentication completion signal to the door controller 26.

[0026] The door controller 26 includes a door processing circuit 27. The door processing circuit 27 includes a digital circuit in which a processor executes a program read from storage memory to system memory. The door processing circuit 27 may also include an analog circuit having electrical components such as relays. Illustratively, the door controller 26 is not connected to the communication network N.

[0027] When a predetermined door opening condition is met while doors 13 and 14 are closed, the door processing circuit 27 controls the door actuator 18 to open doors 13 and 14. When a predetermined door closing condition is met while doors 13 and 14 are open, the door processing circuit 27 controls the door actuator 18 to close doors 13 and 14.

[0028] Specifically, when the door processing circuit 27 receives an authentication success signal from the access control device 24, it controls the door actuator 18 to open doors 13 and 14. When the door processing circuit 27 receives a detection signal from the object detection sensor 21, it controls the door actuator 18 to open doors 13 and 14. When the door processing circuit 27 receives a detection signal from the auxiliary sensor 22, it controls the door actuator 18 to open doors 13 and 14. When the reception status of the wireless receiver 25 satisfies predetermined conditions, the door processing circuit 27 controls the door actuator 18 to open doors 13 and 14.

[0029] Figure 4 is a block diagram of the mobile robot 6 shown in Figure 1. As shown in Figure 4, the mobile robot 6 includes a robot processing circuit 30, a positioning sensor 34, a touch panel display 35, a travel actuator 36, a communication interface 37, a wireless transmitter 38, multiple wheels 39, etc. The positioning sensor 34, the touch panel display 35, the travel actuator 36, the communication interface 37, and the wireless transmitter 38 are electrically connected to the robot processing circuit 30. Note that the wireless transmitter 38 does not necessarily have to be electrically connected to the robot processing circuit 30.

[0030] The robot processing circuit 30 includes a processor 31, a system memory 32, and a storage memory 33. The processor 31 may include a CPU (Central Processing Unit). The system memory 32 may include RAM. The storage memory 33 may include a hard disk, flash memory, or a combination thereof. The storage memory 33 stores the mobile robot control program P1. One example of the robot processing circuit 30 is a configuration in which the processor 31 executes the mobile robot control program P1 read from the storage memory 33 to the system memory 32.

[0031] The positioning sensor 34 detects position information indicating the position of the mobile robot 6. The positioning sensor 34 includes a distance measuring sensor that detects the three-dimensional shape around the mobile robot 6 by measuring the distance around the mobile robot 6 in three dimensions. The distance measuring sensor detects the position data of the outer surface of obstacles within the facility 1 by receiving reflected waves from obstacles around the mobile robot 6. For example, the distance measuring sensor emits light, radio waves, or ultrasonic waves toward the mobile robot 6 and receives the reflected waves. The distance measuring sensor may also receive reflected waves from light, radio waves, or ultrasonic waves present in the outside world that are reflected by objects. The distance measuring sensor can measure distance in all directions horizontally with respect to the mobile robot 6. The distance measuring sensor may measure distance two-dimensionally around the mobile robot 6. Depending on the required conditions, the distance measuring sensor may measure distance one-dimensionally around the mobile robot 6.

[0032] A distance measuring sensor may, for example, detect the distance to an obstacle by measuring the time from the time a laser beam is emitted until the reflected wave is received. The distance measuring sensor may be a LIDAR (Light Detection and Ranging) sensor. As an example, the distance measuring sensor is a three-dimensional LIDAR sensor. The distance measuring sensor may also be a sensor assembly including a forward-facing LIDAR sensor, a rear-facing LIDAR sensor, a left-facing LIDAR sensor, and a right-facing LIDAR sensor. The distance measuring sensor may be an infrared distance measuring sensor, a millimeter-wave radar, or a depth-sensing camera. The depth-sensing camera may measure the distance to an object using parallax from a stereo camera.

[0033] The robot processing circuit 30 determines the position of the mobile robot 6 on the map data M by matching the surrounding shape detected by the distance measuring sensor with the shape of the map data M, which will be described later. In other words, the positioning sensor 34 is realized by combining software that matches the shape detected by the distance measuring sensor with the map data M and the distance measuring sensor.

[0034] The positioning sensor 34 of the mobile robot 6 may be a satellite positioning sensor such as a GPS sensor. The positioning sensor 34 may determine the position of the mobile robot 6 by calculating the distance from each wireless access point to the mobile robot 6 based on the strength of each radio wave received by the mobile robot 6 from a plurality of wireless access points installed in facility 1. Instead of receiving radio waves from multiple wireless access points for positioning, the mobile robot 6 may receive sound waves, light, or magnetism from a plurality of locators installed in facility 1. If the mobile robot 6 is remotely controlled and moving, a positioning function may not be necessary.

[0035] The touch panel display 35 is an example of a user interface. That is, the touch panel display 35 serves as both a user input interface and a user output interface. A keyboard, mouse, etc., may be used as the user input interface, and a non-touch panel display may be used as the user output interface.

[0036] The travel actuator 36 is an example of a travel actuator for the mobile robot 6. The travel actuator 36 includes a wheel drive actuator that drives the wheels 39 to rotate. The travel actuator 36 is, for example, an electric motor. The travel actuator 36 includes a braking actuator that drives a brake that brakes the wheels 39. The mobile robot 6 may change its direction of travel by making the rotation speeds of the left and right wheels 39 different, by making the rotation directions of the left and right wheels 39 different, or by steering the wheels 39 with a steering actuator. The mobile robot 6 may have an opposing differential two-wheel mechanism or an omnidirectional Mecanum mechanism.

[0037] The communication interface 37 is an interface that wirelessly connects to the communication network N. The communication interface 37 functions as a transmitter that transmits information about its own mobile robot 6 to the server 7 via the communication network N. The communication interface 37 also functions as a receiver that receives map data M and information about other mobile robots 6 transmitted from the server 7.

[0038] The wireless transmitter 38 is a transmitter for short-range wireless communication. The wireless transmitter 38 directly transmits a wireless signal for the opening operation of the automatic door device 5 to the wireless receiver 25 of the automatic door device 5. The wireless signal transmitted by the wireless transmitter 38 is, for example, an omnidirectional radio wave. The wireless transmitter 38 may also be called a beacon. The wireless signal transmitted by the wireless transmitter 38 may be, for example, a signal common to all automatic door devices 5. The wireless transmitter 38 may, exemplary, utilize short-range wireless communication such as Bluetooth®, Wi-Fi®, etc. The wireless transmitter 38 does not transmit a wireless signal unless it receives a command from the robot processing circuit 30, and transmits a wireless signal in response to a command from the robot processing circuit 30. Note that the wireless signal transmitted by the wireless transmitter 38 may be a signal such as light or sound instead of a radio wave, for example, an infrared signal or an ultrasonic signal.

[0039] Figure 5 is a block diagram of the server 7 in Figure 1. As shown in Figure 5, the server 7 includes a processing circuit 41 and a communication interface 45. The processing circuit 41 includes a processor 42, system memory 43, and storage memory 44. The communication interface 45 includes an interface for wired or wireless connection to a communication network N. The processor 42 may include a CPU (Central Processing Unit). The system memory 43 may include RAM. The storage memory 44 may include a hard disk, flash memory, or a combination thereof. The storage memory 44 stores program P2. An example of the processing circuit 41 is a configuration in which the processor 42 executes program P2 read from the storage memory 44 to the system memory 43.

[0040] The storage memory 44 stores map data M, which shows a map of the interior of facility 1. The map data M identifies the shape of the floors, including rooms 2 and corridors 3, within facility 1. By identifying the outlines of obstacles such as walls and pillars within facility 1, the map data M identifies the outline of the area where the mobile robot 6 can travel. The mobile robot 6 downloads the map data M from the server 7 via the communication network N.

[0041] Figure 6 is a flowchart of the processing of the automatic door device 5 in Figure 3. As shown in Figure 6, the door processing circuit 27 determines whether a predetermined door opening condition is met when doors 13 and 14 are closed (step S1). For example, the door opening condition is that any of the following conditions are met: a first opening condition in which the door processing circuit 27 receives an authentication success signal from the access control device 24; a second opening condition in which the door processing circuit 27 receives a detection signal from the object detection sensor 21; or a third opening condition in which the strength S of the wireless signal received by the wireless receiver 25 from the wireless transmitter 38 exceeds a predetermined first strength threshold Sa.

[0042] The third opening condition in the door opening conditions may include the condition that the wireless receiver 25 has received a wireless signal from the wireless transmitter 38. That is, the third opening condition in the door opening conditions may be the condition that the wireless receiver 25 has received a wireless signal from the wireless transmitter 38. The third opening condition in the door opening conditions may be the condition that the wireless receiver 25 has received a wireless signal from the wireless transmitter 38 and the reception status of the wireless signal has met predetermined conditions. Conditions other than the third opening condition in the door opening conditions may be different from the first and second opening conditions described above. The first opening condition does not relate to authentication using the security card reader 23, but may relate to authentication such as fingerprint authentication or facial recognition. The first or second opening condition may be omitted.

[0043] If the door processing circuit 27 determines that the door open condition is not met (step S1:N), it does not drive the door actuator 18 and keeps the doors 13 and 14 closed. If the door processing circuit 27 determines that the door open condition is met (step S1:Y), it controls the door actuator 18 to open the doors 13 and 14 (step S2). The control of the door actuator 18 to open the doors 13 and 14 is an example of control related to the opening operation of the door actuator 18.

[0044] The door processing circuit 27 determines whether or not a predetermined door closing condition is satisfied when the doors 13 and 14 are open (step S3). For example, the door closing condition is any one of a first closing condition that a predetermined timer time has elapsed since the doors 13 and 14 are fully open, a second closing condition that the door processing circuit 27 stops receiving a detection signal from the object detection sensor 21 after receiving it, and a third closing condition that the intensity S of the radio signal received by the radio receiver 25 falls below a predetermined second intensity threshold value Sb after exceeding it.

[0045] Note that the door closing condition may not include either the first closing condition or the second closing condition. The door closing condition may be a condition that two of the first to third closing conditions are satisfied. The door closing condition may be a condition that all of the first to third closing conditions are satisfied.

[0046] When it is determined that the door closing condition is not satisfied (step S3: N), the door processing circuit 27 does not drive the door actuator 18 and keeps the doors 13 and 14 open. When it is determined that the door closing condition is satisfied (step S3: Y), the door processing circuit 27 determines whether or not it is receiving a detection signal from the auxiliary sensor 22 (step S4). When it is determined that the door processing circuit 27 is receiving a detection signal from the auxiliary sensor 22 (step S4: N), it controls the door actuator 18 to open the doors 13 and 14 (step S2). When it is determined that the door processing circuit 27 is not receiving a detection signal from the auxiliary sensor 22 (step S4: Y), it controls the door actuator 18 to close the doors 13 and 14 (step S5). That is, it can be said that the AND condition of the condition in step S3 and the condition in step S4 is the door closing condition.

[0047] Figure 7 is a flowchart of the processing of the mobile robot 6 in FIG. 4. Here, the first mobile robot 6A scheduled to enter the room 2 from the passage 3 through the automatic door device 5 will be mainly described. As shown in FIG. 7, when the first mobile robot 6A is assigned a movement task from the server 7, it starts running inside the facility 1 according to the planned route to the destination (step S11). The planned route of the first mobile robot 6A may be calculated by the server 7 or by the robot processing circuit 30. Note that the wireless transmitter 38 of the first mobile robot 6A is in a state where it does not transmit a wireless signal under normal conditions.

[0048] The robot processing circuit 30 determines whether the positional relationship between the first mobile robot 6A and the automatic door device 5 satisfies a predetermined proximity condition and whether the automatic door device 5 exists on the planned route of the first mobile robot 6A (step S12). For example, the proximity condition may be that the distance from the current position of the first mobile robot 6A detected by the positioning sensor 34 to the automatic door device 5 existing on the planned route of the first mobile robot 6A is less than a predetermined distance threshold. In other words, the proximity condition may be that the current position of the first mobile robot 6A detected by the positioning sensor 34 has entered a predetermined area based on the automatic door device 5 existing on the planned route of the first mobile robot 6A. The proximity condition may be that the first mobile robot 6A has arrived at a standby position P set near the automatic door device 5. ​​​​The first mobile robot 6A is equipped with a human sensor capable of detecting humans in its vicinity. The human sensor may be the distance sensor described above, which constitutes the positioning sensor 34. The robot processing circuit 30 may determine that an object detected by the distance sensor is a human if the object is moving. The robot processing circuit 30 may input the shape of the object detected by the distance sensor into a trained model to determine whether or not the object is a human. The human sensor may be, for example, a camera. That is, the robot processing circuit 30 may use image recognition technology to determine whether or not a human is present in an image captured by the camera.

[0051] When the robot processing circuit 30 determines that there is a human being around the first mobile robot 6A (step S13:N), it does not issue a transmission command to the wireless transmitter 38 and maintains a state in which the wireless transmitter 38 does not transmit a wireless signal. This prevents unintended people from passing through the automatic door device 5 that has been opened by the first mobile robot 6A.

[0052] When the robot processing circuit 30 determines that there are no humans around the first mobile robot 6A (step S13:Y), it starts transmitting a wireless signal to the wireless transmitter 38 (step S14). Step S13 is optional. That is, the robot processing circuit 30 may start transmitting a wireless signal to the wireless transmitter 38 when it determines that the positional relationship between the automatic door device 5 located on the planned path of the first mobile robot 6A and the first mobile robot 6A satisfies a predetermined proximity condition (step S12:Y).

[0053] Before allowing the first mobile robot 6A to pass through the automatic door device 5, the robot processing circuit 30 temporarily stops the first mobile robot 6A at a predetermined standby position P set near the automatic door device 5 in the passageway 3 (step S15). The standby position P is set to a location where the strength S of the radio signal received by the radio receiver 25 of the automatic door device 5 from the radio transmitter 38 of the first mobile robot 6A, which is stopped at the standby position P, exceeds a first strength threshold Sa. Note that the robot processing circuit 30 does not have to temporarily stop the first mobile robot 6A at the standby position P before allowing it to pass through the automatic door device 5. The robot processing circuit 30 may start transmitting a radio signal to the radio transmitter 38 after the first mobile robot 6A has reached the standby position P.

[0054] The robot processing circuit 30 acquires information indicating the degree to which the doors 13 and 14 are open and determines whether or not the doors 13 and 14 have started to open (step S16). For example, if the first mobile robot 6A is equipped with an obstacle sensor capable of detecting obstacles in the direction of travel, the robot processing circuit 30 may detect whether or not the doors 13 and 14 have started to open using the obstacle sensor. The obstacle sensor may be the aforementioned distance measuring sensor that constitutes the positioning sensor 34. The robot processing circuit 30 may also receive information indicating the degree to which the doors 13 and 14 are open from the automatic door device 5.

[0055] The robot processing circuit 30 may determine that doors 13 and 14 have begun to open when the distance measuring sensor of the first mobile robot 6A detects that a space has been created between the leading edge of the first door 13 and the leading edge of the second door 14. The robot processing circuit 30 may also determine that doors 13 and 14 have begun to open when it detects that the distance between the leading edge of the first door 13 and the leading edge of the second door 14 has increased. The robot processing circuit 30 may also determine that doors 13 and 14 have begun to open when it detects that the distance between the leading edge of the first door 13 and the leading edge of the second door 14 has exceeded a predetermined value and the doors have entered an open state.

[0056] If the robot processing circuit 30 does not detect that the doors 13 and 14 have begun to open (step S16:N), it continues to temporarily stop the first mobile robot 6A. In response to the detection that the doors 13 and 14 have begun to open (step S16:Y), the robot processing circuit 30 starts the first mobile robot 6A moving to pass through the automatic door device 5 (step S17). In this way, by starting the first mobile robot 6A to move before the first door 13 and the second door 14 are fully open, the time it takes for the first mobile robot 6A to reach its destination can be shortened.

[0057] Furthermore, the robot processing circuit 30 may start the first mobile robot 6A to move through the automatic door device 5 in response to the detection that doors 13 and 14 are in the fully open state. This prevents the first mobile robot 6A from approaching the automatic door device 5 when the opening operation of the automatic door device 5 is not appropriate. Information regarding the degree to which doors 13 and 14 are open may be received wirelessly by the mobile robot 6A from the automatic door device 5.

[0058] After the first mobile robot 6A starts moving, the robot processing circuit 30 determines whether the positional relationship between the opened automatic door device 5 and the first mobile robot 6A satisfies the non-proximity condition (step S18). The non-proximity condition may be the inverse of the proximity condition described above, or it may not be. For example, the non-proximity condition may be that the distance from the current position detected by the positioning sensor 34 to the automatic door device 5 is greater than or equal to a predetermined distance threshold.

[0059] In response to the determination that the first mobile robot 6A is not in close proximity to the opened automatic door device 5 (step S18:N), the robot processing circuit 30 instructs the wireless transmitter 38 to stop transmitting a wireless signal (step S19). This appropriately stops the transmission of wireless signals by the wireless transmitter 38, reducing the power consumption of the first mobile robot 6A. The robot processing circuit 30 may also be configured to instruct the wireless transmitter 38 to stop transmitting a wireless signal when it determines that a predetermined timer time has elapsed since the start of wireless signal transmission.

[0060] According to the configuration described above, when the positional relationship between the automatic door device 5 located on the planned path of the mobile robot 6 and the mobile robot 6 satisfies a predetermined proximity condition, the wireless transmitter 38 starts transmitting a wireless signal, thereby preventing the automatic door device 5 from opening unintentionally. Therefore, the mobile robot 6 can communicate directly with the automatic door device 5 to suppress response delays while appropriately opening the automatic door device 5.

[0061] Figure 8 is a block diagram of the control system of the first modified automatic door device 105. Components common to the previously described embodiment are denoted by the same reference numerals and their descriptions are omitted. As shown in Figure 8, the first modified automatic door device 105 includes a second object detection sensor 128 that detects objects approaching the doors 13 and 14 on the outside of the room 2. That is, the second object detection sensor 128 detects a person or mobile robot 6 approaching the doors 13 and 14 in the passageway 3 and outputs a detection signal. The second object detection sensor 128 is, for example, an infrared sensor that detects a person or mobile robot 6 based on the reflected infrared waves it outputs. The second object detection sensor 128 is an example of a door sensor that outputs a detection signal when it detects a movable object that is within a predetermined distance from the automatic door device 5.

[0062] The door processing circuit 127 of the door controller 126 controls the door actuator 18 based on signals from the access control device 24 connected to the security card reader 23, the second object detection sensor 128, the wireless receiver 25, the first object detection sensor 21, the auxiliary sensor 22, etc. When the door processing circuit 127 receives a detection signal from the second object detection sensor 128, it controls the door actuator 18 to open the doors 13 and 14. The other configurations are the same as in the embodiment described above, so their description is omitted.

[0063] Figure 9 is a flowchart of the processing of the automatic door device 105 in Figure 8. As shown in Figure 9, steps S22, S24, and S25 are the same as steps S2, S4, and S5 in Figure 6, so a detailed explanation is omitted. The door processing circuit 127 determines whether a predetermined door opening condition is met when the first door 13 and the second door 14 are closed (step S21).

[0064] For example, the door opening condition is that any of the following conditions is met: a first opening condition in which the door processing circuit 127 receives an authentication success signal from the access control device 24 and the door processing circuit 127 receives a detection signal from the second object detection sensor 128; a second opening condition in which the door processing circuit 127 receives a detection signal from the first object detection sensor 21; or a third opening condition in which the strength S of the wireless signal received by the wireless receiver 25 from the wireless transmitter 38 exceeds a predetermined first strength threshold Sa and the door processing circuit 127 receives a detection signal from the second object detection sensor 128.

[0065] Furthermore, conditions other than the third opening condition in the door opening conditions may be different from the first and second opening conditions. For example, the first opening condition may not relate to authentication using the security card reader 23, but rather to authentication such as fingerprint authentication or facial recognition. The first or second opening condition may be omitted.

[0066] The door processing circuit 127 determines whether a predetermined door closing condition is met when doors 13 and 14 are open (step S23). For example, the door closing condition is that any of the following conditions are met: a first closing condition in which a predetermined timer time has elapsed since doors 13 and 14 were fully open; a second closing condition in which the door processing circuit 27 has stopped receiving a detection signal from the second object detection sensor 128; a third closing condition in which the door processing circuit 27 has stopped receiving a detection signal from the first object detection sensor 21; or a fourth closing condition in which the strength S of the wireless signal received by the wireless receiver 25 has fallen below a predetermined second strength threshold Sb.

[0067] Note that the door closing condition does not have to be one of the first to fourth closing conditions. The door closing condition may be that two or three of the first to fourth closing conditions are met. The door closing condition may be that all of the first to fourth conditions are met. The fourth closing condition in the door closing condition may be that the wireless receiver 25 has stopped receiving wireless signals from the wireless transmitter 38. The fourth closing condition in the door closing condition may be that the wireless receiver 25 has received a wireless signal from the wireless transmitter 38 and the reception status of the wireless signal has met predetermined conditions. The conditions other than the fourth closing condition in the door closing condition may be different from the first to third closing conditions.

[0068] Figure 10 is a block diagram of the control system of the automatic door device 205 of the second modified example. As shown in Figure 10, components common to the previously described embodiment are denoted by the same reference numerals and their descriptions are omitted. As shown in Figure 10, the automatic door device 205 of the second modified example includes a locking device 229 that can operate between a locked state that prohibits the opening of doors 13 and 14 and an unlocked state that allows the opening of doors 13 and 14.

[0069] The locking device 229 includes a lock and a lock actuator. The lock of the locking device 229 is displaceable between a locked position in which the doors 13 and 14 engage with a fixed object such as a guide rail 12 or a sash, and an unlocked position in which the doors 13 and 14 are not engaged with the fixed object such as a guide rail 12 or a sash. The lock actuator of the locking device 229 moves the lock between the locked position and the unlocked position.

[0070] The door processing circuit 227 of the door controller 226 controls the door actuator 18 and the locking device 229 based on signals from the access control device 24 connected to the security card reader 23, the second object detection sensor 128, the wireless receiver 25, the first object detection sensor 21, the auxiliary sensor 22, etc. Note that the other configurations are the same as those in the previously described embodiment and will therefore not be described further.

[0071] Figure 11 is a flowchart of the processing of the automatic door device 205 in Figure 10. As shown in Figure 11, steps S36, S38, and S39 are the same as steps S2, S4, and S5 in Figure 6, so a detailed explanation is omitted. The door processing circuit 227 determines whether a predetermined unlocking condition is met when doors 13 and 14 are closed (step S31).

[0072] For example, the unlocking condition is that any of the following conditions is met: a first condition that the door processing circuit 227 receives an authentication success signal from the access control device 24; a second condition that the door processing circuit 227 receives a detection signal from the first object detection sensor 21; or a third condition that the strength S of the wireless signal received by the wireless receiver 25 from the wireless transmitter 38 exceeds a predetermined first strength threshold Sa.

[0073] The third condition in the unlocking conditions may include the condition that the wireless receiver 25 has received a wireless signal from the wireless transmitter 38. The third condition in the unlocking conditions may also be the condition that the wireless receiver 25 has received a wireless signal from the wireless transmitter 38. The third condition in the unlocking conditions may also be the condition that the wireless receiver 25 has received a wireless signal from the wireless transmitter 38 and the reception status of the wireless signal has met predetermined conditions. Conditions other than the third unlocking condition in the unlocking conditions may be different from the first and second conditions. The first condition does not relate to authentication using the security card reader 23, but may relate to authentication such as fingerprint authentication or facial recognition.

[0074] The door processing circuit 227, upon determining that the unlocking condition has been met (step S31:Y), controls the locking device 229 to unlock it (step S32). The control to unlock the locking device 229 is necessary to open the first door 13 and the second door 14, and is an example of control related to the opening operation of the door actuator 18.

[0075] The door processing circuit 227 determines whether a predetermined door opening condition has been met (step S33). For example, in situations where the locking device 229 is unlocked in response to an authentication success signal from the access control device 24, and in situations where the locking device 229 is unlocked in response to the strength S of the wireless signal received by the wireless receiver 25 exceeding a first strength threshold Sa, the door opening condition may be the first opening condition, which is that the door processing circuit 227 has received a detection signal from the second object detection sensor 128. In situations where the locking device 229 is unlocked in response to the door processing circuit 227 receiving a detection signal from the first object detection sensor 21, the door opening condition may be the second opening condition, which is that the door processing circuit 227 has received a detection signal from the first object detection sensor 21. Step S33 may be omitted.

[0076] If the door processing circuit 227 determines that the door opening condition is not met (step S33:N), it determines whether a predetermined time limit has elapsed since the locking device 229 was unlocked (step S34). If the door processing circuit 227 determines that the time limit has elapsed (step S34:Y), it controls the locking device 229 to lock it (step S35) and returns to step S31. On the other hand, if the door processing circuit 227 determines that the time limit has not elapsed (step S34:N), it returns to step S33. If the door processing circuit 227 determines that the door opening condition is met (step S33:Y), it controls the door actuator 18 to open the doors 13 and 14 (step S36).

[0077] The door processing circuit 227 determines whether a predetermined door closing condition is met while doors 13 and 14 are open (step S37). For example, the door closing conditions may be: a first closing condition, which is that a predetermined timer time has elapsed since doors 13 and 14 were fully open; a second closing condition, which is that the door processing circuit 227 has stopped receiving a detection signal from the second object detection sensor 128; a third closing condition, which is that the door processing circuit 227 has stopped receiving a detection signal from the first object detection sensor 21; and a fourth closing condition, which is that the strength S of the wireless signal received by the wireless receiver 25 has fallen below a predetermined second strength threshold Sb. Note that any of the first to fourth closing conditions may be omitted from the door closing conditions.

[0078] When the door processing circuit 227 determines that it has received a detection signal from the auxiliary sensor 22 (step S38:N), it controls the door actuator 18 to open the doors 13 and 14 (step S2). When the door processing circuit 227 determines that it has not received a detection signal from the auxiliary sensor 22 (step S38:Y), it controls the door actuator 18 to close the doors 13 and 14 (step S39). When the door processing circuit 227 detects that the doors 13 and 14 are fully closed, it controls the locking device 229 to lock the locking device 229 (step S40).

[0079] As described above, the embodiments have been explained as examples of the technology disclosed in this application. However, the technology in this disclosure is not limited thereto and can be applied to embodiments that have been modified, replaced, added, or omitted as appropriate. Furthermore, it is possible to combine the components described in the embodiments to create new embodiments. For example, some components or methods in one embodiment may be applied to other embodiments, and some components in an embodiment can be separated from other components in that embodiment and extracted as appropriate. In addition, the components described in the attached drawings and detailed description include not only components that are essential for solving the problem, but also components that are not essential for solving the problem, in order to illustrate the technology.

[0080] The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, dedicated processors, integrated circuits, ASICs (Application Specific Integrated Circuits), FPGAs (Field Programmable Gate Arrays), GPUs (Graphics Processing Units), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuits. In this disclosure, a circuit, unit, or means is hardware that performs the enumerated functions, or hardware programmed to perform the enumerated functions. The hardware may be hardware disclosed herein, or other known hardware that is programmed or configured to perform the enumerated functions. If the hardware is a processor, which is considered a type of circuit, then the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or the processor.

[0081] [Embodiment] The embodiments described above are specific examples of the following embodiments.

[0082] (Aspect 1) A mobile robot that moves in an area where an automatic door device equipped with a wireless receiver exists, comprising: a wireless transmitter that transmits a wireless signal for opening the automatic door device to the wireless receiver of the automatic door device; and a robot processing circuit connected to the wireless transmitter, wherein the robot processing circuit is configured to cause the wireless transmitter to start transmitting the wireless signal when the positional relationship between the mobile robot and the automatic door device satisfies a predetermined proximity condition.

[0083] This configuration allows the automatic door system to open properly while suppressing response delays.

[0084] (Aspect 2) The mobile robot according to aspect 1, wherein the robot processing circuit is configured to not start transmitting the wireless signal to the wireless transmitter when the positional relationship satisfies the proximity condition and the automatic door device is not on the planned path of the mobile robot, while starting to transmit the wireless signal to the wireless transmitter when the automatic door device that satisfies the proximity condition is on the planned path of the mobile robot.

[0085] With this configuration, the wireless transmitter is instructed to start transmitting a wireless signal only when the relative positions of the mobile robot and the automatic door device satisfy predetermined proximity conditions and the automatic door device is located on the mobile robot's planned path, thereby preventing the automatic door device from opening unintentionally.

[0086] (Aspect 3) The mobile robot according to aspect 1 or 2, wherein the robot processing circuit is configured to cause the wireless transmitter to stop transmitting the wireless signal when the positional relationship no longer satisfies the proximity condition while the wireless transmitter is transmitting the wireless signal.

[0087] This configuration allows for the appropriate stopping of wireless signal transmission by the wireless transmitter, thereby reducing power consumption. Note that stopping wireless signal transmission means maintaining the transmission-stopped state if it was previously in a transmission-stopped state, and ceasing the transmission operation if it was previously in a transmission state.

[0088] (Aspect 4) The mobile robot according to any one of aspects 1 to 3, further comprising an obstacle sensor capable of detecting obstacles in the direction of travel of the mobile robot, wherein the robot processing circuit is configured to allow the mobile robot to pass through the automatic door device when the transmission of the wireless signal is started and the obstacle sensor detects that the automatic door device is in an open state.

[0089] This configuration prevents a mobile robot from approaching a door when the automatic door system is not opening properly.

[0090] (Aspect 5) The mobile robot according to any one of aspects 1 to 4, wherein the robot processing circuit is configured to temporarily stop the mobile robot at a predetermined waiting position set in front of the automatic door device before allowing the mobile robot to pass through the automatic door device, and the proximity condition includes the mobile robot reaching the waiting position.

[0091] With this configuration, the mobile robot can pause at its standby position, so even if the automatic door fails to open for any reason, the mobile robot can wait safely without interfering with anything else.

[0092] (Aspect 6) The mobile robot according to aspect 5, wherein the robot processing circuit is configured to acquire information indicating the degree to which the automatic door device is open, and when it is detected that the automatic door device has begun to open, it moves the mobile robot to allow the mobile robot to pass through the automatic door device.

[0093] This configuration allows for a reduction in the time it takes from when the door begins to open until the mobile robot passes through the automatic door system.

[0094] (Aspect 7) The mobile robot according to any one of aspects 1 to 6, further comprising a human sensor capable of detecting a human being present in the vicinity of the mobile robot, wherein the robot processing circuit is configured to stop transmitting the wireless signal to the wireless transmitter when the human sensor detects the presence of a human being in the vicinity.

[0095] This configuration prevents unintended individuals from passing through automatic doors opened by mobile robots.

[0096] (Aspect 8) A mobile robot system comprising the mobile robot described in any one of aspects 1 to 7, and a door processing circuit that controls the door actuator based on a signal from a wireless receiver of the automatic door device, wherein the door processing circuit is configured to perform control related to the opening operation of the door actuator when the wireless receiver receives the wireless signal.

[0097] This configuration allows the automatic door device to be opened and closed appropriately based on the reception of wireless signals from the mobile robot.

[0098] (Aspect 9) The mobile robot system according to aspect 8, wherein the door processing circuit is configured to control the door actuator to open the door when the wireless receiver receives the wireless signal.

[0099] With this configuration, when a mobile robot approaches the automatic door system, the automatic door system can be quickly opened.

[0100] (Aspect 10) The mobile robot system according to aspect 8 or 9, wherein the automatic door device further includes a door sensor that outputs a detection signal when it detects a movable body located within a predetermined distance from the door, and the door processing circuit is configured to control the door actuator to open the door when the wireless receiver receives the wireless signal and the door sensor outputs the detection signal.

[0101] This configuration requires both the reception of a wireless signal from the mobile robot and the detection of a moving object by the door sensor to be met, thus preventing the door from opening too quickly. Therefore, even when a mobile robot uses an automatic door system, the security of the space closed by the door can be maintained well.

[0102] (Aspect 11) The mobile robot system according to any one of aspects 8 to 10, wherein the automatic door device further includes a locking device that can operate between a locked state that prohibits the opening of the door and an unlocked state that allows the opening of the door, and the door processing circuit is configured to control the locking device to move the locking device from the locked state to the unlocked state when the wireless receiver receives the wireless signal.

[0103] With this configuration, the door does not necessarily open immediately when the wireless receiver receives a wireless signal, thus preventing the door from opening too early. Therefore, even when a mobile robot uses an automatic door system, the security of the space closed by the door can be maintained well.

[0104] (Aspect 12) The mobile robot system according to any one of aspects 8 to 11, wherein the door processing circuit is configured to control the door actuator to close the door when the strength of the wireless signal received by the wireless receiver falls below a threshold while the door is open.

[0105] This configuration allows for the proper closing of a door after a mobile robot has passed through the door opening, at a low cost.

[0106] (Aspect 13) A mobile robot that moves in an area where an automatic door device equipped with a wireless receiver exists, comprising: a wireless transmitter that transmits a wireless signal for opening the automatic door device; and a robot processing circuit connected to the wireless transmitter, wherein the robot processing circuit is configured to cause the wireless transmitter to start transmitting the wireless signal when the mobile robot enters a predetermined area based on a predetermined automatic door device or arrives at a predetermined standby position.

[0107] This configuration allows the automatic door device to open properly while suppressing response delays.

[0108] (Aspect 14) A method for controlling a mobile robot equipped with a wireless transmitter that moves in an area where an automatic door device having a wireless receiver exists and transmits a wireless signal to the wireless receiver for the automatic door device to open, the method comprising causing the wireless transmitter to start transmitting the wireless signal when the positional relationship between the mobile robot and the automatic door device satisfies a predetermined proximity condition.

[0109] (Aspect 15) A mobile robot control program that causes at least one processor to execute the control method described in Aspect 14.

[0110] 5, 105, 205 Automatic door device 6 Mobile robot 6A First mobile robot 6B Second mobile robot 10 Mobile robot system 13 First door 14 Second door 18 Door actuator 21 Object detection sensor, First object detection sensor 22 Auxiliary sensor 23 Security card reader 24 Access control device 25 Wireless receiver 26, 126, 226 Door controller 27, 127, 227 Door processing circuit 30 Robot processing circuit 34 Positioning sensor 36 Travel actuator 38 Wireless transmitter 128 Second object detection sensor 229 Locking device P Standby position P1 Mobile robot control program

Claims

1. A mobile robot that moves in an area where an automatic door device equipped with a wireless receiver exists, comprising: a wireless transmitter that transmits a wireless signal for opening the automatic door device to the wireless receiver of the automatic door device; and a robot processing circuit connected to the wireless transmitter, wherein the robot processing circuit is configured to cause the wireless transmitter to start transmitting the wireless signal when the positional relationship between the mobile robot and the automatic door device satisfies a predetermined proximity condition.

2. The mobile robot according to claim 1, wherein the robot processing circuit is configured to not start transmitting the wireless signal to the wireless transmitter when the positional relationship satisfies the proximity condition and the automatic door device is not on the planned path of the mobile robot, and to start transmitting the wireless signal to the wireless transmitter when the automatic door device that satisfies the proximity condition is on the planned path of the mobile robot.

3. The mobile robot according to claim 1, wherein the robot processing circuit is configured to cause the wireless transmitter to stop transmitting the wireless signal when the positional relationship no longer satisfies the proximity condition while the wireless transmitter is transmitting the wireless signal.

4. The mobile robot according to claim 1, further comprising an obstacle sensor capable of detecting obstacles in the direction of travel of the mobile robot, wherein the robot processing circuit is configured to allow the mobile robot to pass through the automatic door device when the transmission of the wireless signal is started and the obstacle sensor detects that the automatic door device is in an open state.

5. The mobile robot according to claim 1, wherein the robot processing circuit is configured to temporarily stop the mobile robot at a predetermined waiting position set in front of the automatic door device before allowing the mobile robot to pass through the automatic door device, and the proximity condition includes the mobile robot reaching the waiting position.

6. The mobile robot according to claim 5, wherein the robot processing circuit is configured to acquire information indicating the degree to which the automatic door device is open, and when it is detected that the automatic door device has begun to open, it moves the mobile robot to allow the mobile robot to pass through the automatic door device.

7. The mobile robot according to claim 1, further comprising a human sensor capable of detecting a human being present in the vicinity of the mobile robot, wherein the robot processing circuit is configured to stop transmitting the wireless signal to the wireless transmitter when the human sensor detects the presence of a human being in the vicinity.

8. A mobile robot system comprising: the mobile robot according to any one of claims 1 to 7; and a door processing circuit that controls the door actuator based on a signal from the wireless receiver of the automatic door device, wherein the door processing circuit is configured to perform control related to the opening operation of the door actuator when the wireless receiver receives the wireless signal.

9. The mobile robot system according to claim 8, wherein the door processing circuit is configured to control the door actuator to open the door when the wireless receiver receives the wireless signal.

10. The mobile robot system according to claim 8, wherein the automatic door device further includes a door sensor that outputs a detection signal when it detects a movable body located within a predetermined distance from the door, and the door processing circuit is configured to control the door actuator to open the door when the wireless receiver receives the wireless signal and the door sensor outputs the detection signal.

11. The mobile robot system according to claim 8, wherein the automatic door device further comprises a locking device that is operable between a locked state that prohibits the opening of the door and an unlocked state that allows the opening of the door, and the door processing circuit is configured such that when the wireless receiver receives the wireless signal, it controls the locking device to move the locking device from the locked state to the unlocked state.

12. The mobile robot system according to claim 8, wherein the door processing circuit is configured to control the door actuator to close the door when the strength of the wireless signal received by the wireless receiver falls below a threshold while the door is open.

13. A mobile robot that moves within an area where an automatic door device equipped with a wireless receiver exists, comprising: a wireless transmitter that transmits a wireless signal for opening the automatic door device; and a robot processing circuit connected to the wireless transmitter, wherein the robot processing circuit is configured to cause the wireless transmitter to start transmitting the wireless signal when the mobile robot enters a predetermined area based on a predetermined automatic door device or arrives at a predetermined standby position.

14. A method for controlling a mobile robot equipped with a wireless transmitter that moves in an area where an automatic door device having a wireless receiver exists and transmits a wireless signal to the wireless receiver for the automatic door device to open, the method comprising: causing the wireless transmitter to start transmitting the wireless signal when the positional relationship between the mobile robot and the automatic door device satisfies a predetermined proximity condition.

15. A mobile robot control program that causes at least one processor to execute the control method described in claim 14.

Images