JP7437873B2 - Data measurement system and building equipment control system - Google Patents

Description

The present invention provides a data measurement system that measures environmental data and biological data in medical and welfare facilities, commercial facilities, offices, etc., and a data measurement system that is installed in buildings such as medical and welfare facilities, commercial facilities, and offices based on the measured data. This invention relates to a building equipment control system that efficiently controls installed equipment.

In recent years, autonomous mobile robots have been used to transport meals, bedding, laundry, etc. in medical and welfare facilities such as hospitals and nursing care facilities to reduce the labor of nurses, caregivers, etc. Ta.
Autonomous mobile robots can also be used to measure the vital data of patients and care recipients in hospitals and nursing care facilities, to understand the flow of people at airports and commercial facilities, and to identify suspicious persons and wanderers. It is expected that it will be used.

However, the measurement and collection of environmental data and biological data using autonomous mobile robots has not yet gone beyond the conceptual stage, and the reality is that methods for doing so are currently under intensive research and development.
Here, as a method of measuring biological data using an autonomous mobile robot, a method has been proposed in which a vital data acquisition device 3 and a surface temperature data acquisition device 5 are installed on the autonomous mobile robot to acquire biological data. (See Patent Document 1).

Japanese Patent Application Publication No. 2016-067773

According to Patent Document 1, the surface temperature data acquisition device 5 measures the surface temperature to identify that the observation target is a human, brings an autonomous mobile robot close to the identified observation target, and vital data acquisition device 3 It is possible to measure the breathing rate, pulse rate, body surface temperature, etc. of the person to be observed.

However, just by measuring such vital data, it is not possible to immediately provide useful services to the person being observed. That is, it is necessary to also measure the surrounding environment that affects the person to be observed and reflect the results on the person to be observed.
To do this, it is necessary to measure environmental data over time in the space where the person being observed exists, taking into account temporal and seasonal changes, and to optimally control the building equipment that changes the environment of that space. No.

The present invention has been made in view of such problems, and takes into account temporal changes, seasonal changes, etc., and measures environmental data over time in the space where the observation target exists, and performs observation. The purpose is to provide a data measurement system that can reflect the results to the target person and provide useful services.

Another object of the present invention is to provide a building equipment control system that optimally controls building equipment in a space where an observation subject exists based on the measured environment and biological data.

In order to achieve the above object, the building equipment control system of the present invention includes:
A building equipment control system consisting of an autonomous mobile robot, building equipment, a cloud server, and a communication line connecting these,
The autonomous mobile robot is
A mobile cart having wheels arranged on the main body and a driving device;
a support body installed on the movable trolley;
A measuring device that measures building environment data such as temperature, humidity, illuminance, air volume, and surface temperature, a measuring device that measures health environment data such as PM2.5 concentration and CO2 concentration, and a body surface temperature, which is equipped on the support body. A measuring device that measures vital (biological) data called,
A control device comprising an environmental map generation section, an environmental map storage section, a travel route generation section, a drive control section, a data control section, and a communication control section;
It consists of a system that runs autonomously within the facility,
The building equipment includes an air conditioning system, a ventilation system, and a lighting system,
The autonomous mobile robot measures and transmits the building environment data, the health environment data, and the vital (biological) data at start, goal, and stop points on the travel route to the cloud server via the communication line,
The cloud server analyzes and processes the building environment data, the health environment data, and the vital data received from the autonomous mobile robot, and provides air conditioning control, lighting, etc. to the building equipment via the communication line. Send control command data,
The building equipment control system is characterized in that the building equipment is subjected to feedback control based on the command data to optimize the environment in the facility such as temperature and illuminance .

Further, the management person provides vital information to the observation subject based on the analysis and processing results of the vital (biological) data.

Here, the autonomous mobile robot is equipped with a LIDAR (laser range sensor) as the measuring device, and autonomously moves while measuring distances to walls and pillars in the facility.

Further, in the data measurement system of the present invention, the autonomous mobile robot travels along walls and pillars in the facility, and the distance between the autonomous mobile robot and the walls and pillars is measured using the LIDAR (laser range sensor). The environmental map generation unit generates an environmental map of the autonomous mobile range by correlating the movement history of the autonomous mobile robot with the measured distance at the movement position .

In addition, when the autonomous mobile robot encounters obstacles such as people or objects while moving along the travel route, the LIDAR (laser range sensor) detects these obstacles and detects the obstacles. It is characterized by moving around the surrounding area.

According to the data measurement system of the present invention, environmental data and biological data in a space where an observation subject exists can be measured over time, and the results can be reflected on the observation subject to provide a useful service. .

According to the building equipment control system of the present invention, building equipment in a space where an observation subject exists can be optimally controlled based on the measured environment and biological data.

Furthermore, the person in charge of management can provide vital information to the person to be observed, as well as give appropriate advice, and can greatly contribute to maintaining the health of the person to be observed.

1 is an external perspective view of an autonomous mobile robot according to the present invention. 2 is a schematic configuration diagram of a control device for the autonomous mobile robot shown in FIG. 1. FIG. FIG. 2 is a plan view showing an example of an environmental map on which an autonomous mobile robot travels. 1 is a conceptual diagram of a data measurement system of the present invention. It is a graph showing a change in temperature over time within a predetermined space. (A) is a graph showing a time change in humidity, (B) is a graph showing a time change in PM2.5 concentration, and (C) is a graph showing a time change in CO2 concentration in a predetermined space. FIG. 2 is a plan view of an office space in which an autonomous mobile robot was experimentally run and environmental and biological data were measured at appropriate positions. 7 is a three-dimensional bar graph showing temporal changes in temperature measured in the office space shown in FIG. 6. FIG. 7 is a three-dimensional bar graph showing temporal changes in PM2.5 concentration measured in the office space shown in FIG. 6. 7 is a thermography of the surface temperature measured near the window of the office space shown in FIG. 6. 1 is a conceptual diagram of a building equipment control system of the present invention. 1 is a conceptual diagram when the building equipment control system of the present invention is applied to an office space.

A preferred embodiment of the data measurement system of the present invention will be described in detail below with reference to the drawings.

As shown in FIG. 4, the data measurement system 100 of the present invention includes an autonomous mobile robot 1, a computer 7, a cloud server 101, and communication lines 102 and 103 connecting these.

As shown in FIG. 1, the autonomous mobile robot 1 includes a mobile cart 2, a support base 3, a measuring device 4, and a control device 5.

The movable trolley 2 has wheels 22, 22 on both left and right sides of a main body 21, small wheels 23 on the front side, and a drive device 24 mounted on the main body 21.

The support base body 3 includes support plates 31, 32, and 33 connected by support legs 34, 35, and 36.

The measuring device 4 includes a LIDAR (laser range sensor) 41, a temperature/humidity sensor 42, an illuminance sensor 43, an anemometer 44, a surface thermometer 45, a thermal camera 46, a PM2.5 sensor 47, and a CO2 It is composed of a sensor 48.

As shown in FIG. 2, the control device 5 includes an environmental map generation section 51, an environmental map storage section 52, a travel route generation section 53, a drive control section 54, a data collection section 55, and a communication control section 56. , consists of.

Since the autonomous mobile robot 1 travels autonomously, the communication line 102 connecting the autonomous mobile robot 1 and the cloud server 101 is the Internet, with a portion of wireless communication.
On the other hand, the communication line 103 connecting the computer 7 and the cloud server 101 may be the Internet, which is entirely wired communication.

Therefore, the computer 7 sends information to the autonomous mobile robot 1 via the cloud server 101.
Send setting information such as environmental map data, driving route data, start, goal, and stopping point data.

On the contrary, the autonomous mobile robot 1 sends information to the computer 7 via the cloud server 101.
It transmits various sensor data such as temperature, humidity, illuminance, air volume, surface temperature, PM2.5 concentration, CO2 concentration, etc. along the travel route and at stopping points.

As shown in FIG. 3, an environmental map of the range in which the autonomous mobile robot 1 travels is created in advance on the computer 7 and stored as environmental map data in the environmental map storage unit 52 of the control device 5 of the autonomous mobile robot 1. You can leave it as is.

Furthermore, the autonomous mobile robot 1 is run along walls and pillars in facilities such as hospitals, nursing care facilities, airports, and commercial facilities, and the distance between the autonomous mobile robot 1 and the walls and pillars is measured using LIDAR 41. Accordingly, the environmental map generation unit 51 may associate the movement history of the autonomous mobile robot 1 with the distance measurement value at the position, and create an environmental map of the range in which the autonomous mobile robot 1 is allowed to travel, as shown in FIG. .

In order to set the travel route of the autonomous mobile robot 1, first, the input device 72 of the computer 7 is operated to retrieve the environmental map data from the environmental map storage section 52, and as shown in FIG. Display the map.

Then, as shown in FIG. 3, by setting a start point and a goal point, and further setting a stop point on the travel route, the travel route generation unit 53 sets a travel route that reaches the start point, stop point, and goal point. be done.

Next, the operator operates the remote controller to move the autonomous mobile robot 1 to the starting point and puts the autonomous mobile robot 1 into autonomous travel mode, so that the autonomous mobile robot 1 travels along the travel path. I will do it.

At this time, since the autonomous mobile robot 1 moves while measuring the distance to the wall surface and pillar surface using the LIDAR 41, the position and direction of the autonomous mobile robot 1 can be automatically recognized by referring to the environmental map.

If there are obstacles such as people or objects while moving along the travel route, the LIDAR 41 detects these obstacles and moves around the obstacles.

Then, as shown in FIG. 3, upon reaching the stopping point, the autonomous mobile robot 1 stops for a predetermined period of time, and includes a temperature/humidity sensor 42, an illuminance sensor 43, an anemometer 44, a surface thermometer 45, a thermal camera 46, a PM2... The temperature, humidity, illuminance, air volume, surface temperature, PM2.5 concentration, CO2 concentration, etc. at the point are measured by the 5 sensor 47 and the CO2 sensor 48.

Here, the temperature, humidity, surface temperature, PM2.5 concentration, and CO2 concentration at the point were measured separately using the sensors fixed to the wall, pillar surface, etc., for example, as shown in Figures 5 and 6. It was in a bad condition.

After that, the autonomous mobile robot 1 starts moving again, travels along the travel route, reaches the goal point, and stops.

Example 1
In the office space shown in FIG. 7, measurement point 1 was set as the starting point of the autonomous mobile robot 1, and the autonomous mobile robot 1 was autonomously driven along the route of measurement points 2, 3, . . . , 15, 16. .

At each measurement point on the travel route, the autonomous mobile robot 1 was temporarily stopped, and the temperature, humidity, illuminance, air volume, surface temperature, PM2.5 concentration, CO2 concentration, etc. at that point were measured.

Then, the autonomous mobile robot 1 was autonomously driven along a reverse route from the measurement point 16 to 7 and 6, and the measurement point 1 was set as the goal point of the autonomous mobile robot 1.

Here, in one autonomous run of the autonomous mobile robot 1, the number of measurement points was 16, and the autonomous run time was 45 minutes.
Then, autonomous driving as described above was carried out five times in one day from 11:30~, 12:30~, 13:30~, 14:30~, and 16:00~ to collect environmental data and biological data. Measurements were taken.

As a result, the temperature data was as shown in FIG. 8, and the PM2.5 concentration data was as shown in FIG. 9.
According to this, it was found that in the office space shown in FIG. 7, the indoor temperature and PM2.5 concentration vary greatly depending on the location of the space.

Further, the image data of the surface temperature at the measurement point 9 located near the window was as shown in FIG.
According to this, it was found that the surface temperature of the human body and the surface temperature of the wall near the window are significantly different.

Next, preferred embodiments of the building equipment control system of the present invention will be described in detail with reference to the drawings.

As shown in FIGS. 11 and 12, the building equipment control system 200 of the present invention includes an autonomous mobile robot 1, building equipment 300 such as an air conditioner 301, a ventilation device 302, and a lighting device 303, a cloud server 201, and a cloud server 201. It consists of connecting communication lines 202 and 203.
Here, the autonomous mobile robot 1 is covered with a cover imitating a human so as not to cause a sense of discomfort to people in the room in an office, medical welfare facility, or the like.

Here, since the autonomous mobile robot 1 travels autonomously, the communication line 202 connecting the autonomous mobile robot 1 and the cloud server 201 is the Internet, with a portion of wireless communication.
On the other hand, the communication line 203 connecting the building equipment 300 and the cloud server 201 may be the Internet, which is entirely wired communication.

Therefore, the autonomous mobile robot 1 transmits various measurement data of the start, goal, and stop points to the cloud server 201 via the communication line 202.

The cloud server 201 analyzes and processes the various measurement data received, and transmits command data for air conditioning, lighting control, etc. to the building equipment 300 via the communication line 203.

Based on this command data, feedback control is performed on the building equipment 300 such as the air conditioner 301, the ventilation device 302, and the lighting device 303, taking into account the location of people, etc., and the temperature, illuminance, etc. can be optimized.

As described above, according to the data measurement system 100 and the building equipment control system 200 of the present invention, the autonomous mobile robot 1 is operated at a predetermined time of the day or on a predetermined day of the year at a hospital, nursing care facility, airport, commercial facility, etc. By running the vehicle inside a facility and measuring and collecting various data, it is possible to perform air conditioning, lighting control, etc. that is optimized and corresponds to the time of day and month and day of the year.

Regarding vital data, measurement data is also transmitted to the cloud server 201 via the autonomous mobile robot 1 and the communication line 202, so that the measurement data is analyzed and processed in the cloud server 201.
Therefore, the person in charge of management can provide vital information to the person to be observed, as well as give appropriate advice, and can greatly contribute to maintaining the health of the person to be observed.

The data to be measured and collected is not limited to building environment data such as temperature, humidity, and illuminance, health environment data such as CO2 concentration and PM2.5 concentration, and vital data such as body surface temperature, pulse rate, and heartbeat. do not have.
For example, a human sensor can detect the presence or absence of a presence, a human flow sensor can detect the flow of people, and an image recognition sensor can recognize human faces and identify wanderers and suspicious individuals.

1 Autonomous mobile robot 2 Mobile cart 3 Support base 4 Measuring device 41 LIDAR
42 Temperature and humidity sensor 45 Surface thermometer 47 PM2.5 sensor 48 CO2 sensor 5 Control device 7 Computer and 100 Data measurement system 101 Cloud server 102 Communication line 103 Communication line 200 Building equipment control system 201 Cloud server 202 Communication line 203 Communication line 300 Building equipment 301 Air conditioner

Claims (5)

A building equipment control system consisting of an autonomous mobile robot, building equipment, a cloud server, and a communication line connecting these,
The autonomous mobile robot is
A mobile cart having wheels arranged on the main body and a driving device;
a support body installed on the movable trolley;
A measuring device that measures building environment data such as temperature, humidity, illuminance, air volume, and surface temperature, a measuring device that measures health environment data such as PM2.5 concentration and CO2 concentration, and a body surface temperature, which is equipped on the support body. A measuring device that measures vital (biological) data called,
A control device comprising an environmental map generation section, an environmental map storage section, a travel route generation section, a drive control section, a data control section, and a communication control section;
It consists of a system that runs autonomously within the facility,
The building equipment includes an air conditioning system, a ventilation system, and a lighting system,
The autonomous mobile robot measures and transmits the building environment data, the health environment data, and the vital (biological) data at start, goal, and stop points on the travel route to the cloud server via the communication line,
The cloud server analyzes and processes the building environment data, the health environment data, and the vital data received from the autonomous mobile robot, and provides air conditioning control, lighting, etc. to the building equipment via the communication line. Send control command data,
A building equipment control system characterized by performing feedback control on the building equipment based on the command data to optimize the environment in the facility such as temperature and illuminance . 2. The building equipment control system according to claim 1, wherein the management person provides vital information to the person to be observed based on the analysis and processing results of the vital (biological) data. The autonomous mobile robot is equipped with a LIDAR (laser range sensor) as the measurement device, and autonomously moves while measuring distances to walls and pillars in the facility. Building equipment control system. The autonomous mobile robot is caused to travel along walls and pillar surfaces in the facility, and the distance between the autonomous mobile robot and the wall and pillar surfaces is measured by the LIDAR (laser range sensor), and the environmental map generation unit 4. The building equipment control system according to claim 3, wherein a movement history of the autonomous mobile robot is associated with a distance measurement value at a movement position to create an environmental map of an area in which the autonomous mobile robot moves autonomously. When the autonomous mobile robot encounters obstacles such as people or objects while moving along the travel route, the LIDAR (laser range sensor) detects these obstacles and moves around the obstacles. The building equipment control system according to claim 3, wherein the building equipment control system moves in a detour.

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