WO2023175776A1

WO2023175776A1 - Automatic traveling device, learning device, automatic traveling device control method, and learning method

Info

Publication number: WO2023175776A1
Application number: PCT/JP2022/011927
Authority: WO
Inventors: 嘉人遠藤
Original assignee: 三菱電機ビルソリューションズ株式会社
Priority date: 2022-03-16
Filing date: 2022-03-16
Publication date: 2023-09-21

Abstract

A processor (16) detects that a lighting device in an area where an automatic traveling device (10) is located is turned off, on the basis of illuminance obtained from an illuminance meter (12), and when receiving a notification that the switch of the lighting device in the area where the automatic traveling device (10) is located is turned on, through a wireless communication device (11) from a lighting control device that manages the lighting device in the area where the automatic traveling device (10) is located, the processor (16) determines that the lighting device in the area where the automatic traveling device (10) is located is in a power failure state, and stops the traveling of the automatic traveling device (10).

Description

Automatic driving device, learning device, automatic driving device control method, and learning method

The present disclosure relates to an automatic traveling device, a learning device, a control method for an automatic traveling device, and a learning method.

Automated driving devices are known that can avoid collisions with people by stopping mechanical operations during a power outage. For example, the automatic traveling device described in Patent Document 1 determines that a power outage has occurred and stops mechanical operation when the output of a detection means that detects ambient brightness becomes less than a predetermined value.

Japanese Patent Application Publication No. 8-320727

However, the surrounding area becomes dark not only when a power outage occurs. During a period when no one is present, such as at night, the lighting device may be turned off by a user's operation. In such a case, if the automatic traveling device stops its mechanical operation to avoid a collision with a person, the work of the automatic traveling device will be delayed.

Therefore, an object of the present disclosure is to provide an automatic driving device and a learning system that can perform processing to avoid a collision with a person only when a power outage actually occurs, not when a lighting device is turned off spontaneously. An object of the present invention is to provide a device, a control method for an automatic traveling device, and a learning method.

The automatic traveling device according to the present disclosure that runs inside a building includes an illumination meter installed in the main body of the automatic traveling device, a wireless communication device, a memory that stores a program, and a processor that executes the program stored in the memory. Be prepared. The processor detects that the lighting equipment in the area where the automatic traveling device is located is turned off based on the illuminance obtained from the illuminance meter, and the processor detects that the lighting equipment in the area where the automatic traveling device is located is turned off, and transmits a wireless communication device from the lighting control equipment that manages the lighting equipment in the area. When it receives a notification that the lighting device in the area is on, it determines that the lighting device in the area is in a power outage state and stops the automatic traveling device from running.

The learning device of the present disclosure includes a memory that stores a program, and a processor that executes the program stored in the memory. The processor acquires learning data including the area, the illuminance of the area, the season, the time of day, and the weather, and the status of the lighting device in the area, and uses the learning data to determine the area, the illuminance of the area, the season, and the time. Generate a trained model that infers the status of lighting devices in an area from the zone and weather.

In the method of controlling an automatic traveling device that runs in a building according to the present disclosure, the automatic traveling device includes an illuminance meter installed in the main body of the automatic traveling device, a wireless communication device, a memory for storing a program, and a device stored in the memory. and a processor that executes a program. A method for controlling an automatic traveling device includes a processor detecting that the lighting device in the area where the automatic traveling device is located is turned off based on the illuminance obtained from the illuminance meter, and managing the lighting device in the area. When receiving a notification via wireless communication device from the lighting control device in the area that the lighting device in the area is turned on, it determines that the lighting device in the area is in a power outage state and stops the automatic driving device from running. Equipped with steps.

A learning method of the present disclosure includes a step in which a processor acquires learning data including an area, illuminance of the area, season, time of day, weather, and a state of a lighting device in the area; and generating a trained model that infers the state of the lighting device in the area from the area, the illuminance of the area, the season, the time of day, and the weather.

According to the present disclosure, processing for avoiding collisions with people can be executed only when a power outage actually occurs, not when the lighting device is turned off voluntarily.

1 is a diagram showing the configuration of a building system according to Embodiment 1. FIG. 1 is a diagram showing a configuration example of an automatic traveling device 10. FIG. 2 is a diagram showing a configuration example of a lighting control device 20. FIG. FIG. 2 is a diagram showing an overview of processing in the first embodiment. 3 is a diagram showing an example of an inquiry signal transmitted from the automatic traveling device 10 to the lighting control device 20. FIG. 3 is a diagram showing an example of a response signal transmitted from the lighting control device 20 to the automatic traveling device 10. FIG. 3 is a diagram illustrating an example of a status notification signal transmitted from the automatic traveling device 10 to the management device 30 of the automatic traveling device. FIG. 3 is a flowchart showing an operation procedure of the automatic traveling device 10. FIG. 2 is a flowchart showing an operation procedure of the lighting control device 20. FIG. It is a figure showing an example of a lighting switch table. FIG. 3 is a diagram showing an example of the relationship between input B1, which is a factor for estimation, and output B2, which is an estimation result. 2 is a diagram showing a configuration example of a learning device 201. FIG. 3 is a flowchart showing the procedure of learning processing by the learning device 201. FIG. 2 is a diagram illustrating a configuration example of an inference processing unit 115 in a control device 15. FIG. 3 is a flowchart showing an inference procedure by an inference processing unit 115.

Hereinafter, embodiments will be described with reference to the drawings.
Embodiment 1.
FIG. 1 is a diagram showing the configuration of a building system according to the first embodiment.

This building system includes a building lighting device 1, a lighting switch (SW) 2, a lighting control device 20, an automatic traveling device 10, and an automatic traveling device management device 30.

The lighting device 1 of a building is placed, for example, on the ceiling of a floor.
Lighting switches (SW) 2 are arranged for each area. A lighting switch (SW) 2 turns on all the lighting devices 1 in the area when turned on by the user's operation, and turns on all the lighting devices 1 in the area when turned off by the user's operation. Set device 1 off.

The lighting control device 20 manages whether the lighting switch 2 is on or off through communication with the lighting switch 2.

The automatic traveling device 10 is, for example, an autonomously traveling cleaning robot, a security robot, a delivery robot, a guide robot, or the like. The automatic traveling device 10 can move autonomously within a building.

The automatic traveling device management device 30 manages and controls the automatic traveling device 10 through communication with the automatic traveling device 10.

Communication with each of the above components of the building system is possible via the intranet. The intranet uses, for example, a communication method according to the BLE (Bluetooth Low Energy, "Bluetooth" is a registered trademark) communication standard, a communication method according to the UWB (Ultra Wide Band) communication standard, and a communication method according to the WiFi communication standard. Furthermore, when communicating via the Internet instead of an intranet, a communication method conforming to the LTE (Long Term Evolution) communication standard is used, for example.

FIG. 2 is a diagram showing a configuration example of the automatic traveling device 10. As shown in FIG.
The automatic traveling device 10 includes a wireless communication device 11, an illumination meter 12, a lighting device 13, a control device 15, and a drive unit 14. The control device 15 includes a memory 17 and a processor 16. Memory 17 stores programs. Processor 16 executes programs in memory 17. The operation of the control device 15 described below is performed by the processor 16 executing a program in the memory 17.

The wireless communication device 11 communicates with the lighting control device 20 and the automatic traveling device management device 30 via the intranet.

The illumination meter 12 is installed in the main body of the automatic traveling device 10 and measures the illuminance around the automatic traveling device 10.

The lighting device 13 is installed in the main body of the automatic traveling device 10 and illuminates the area around the automatic traveling device 10.

The drive unit 14 generates a driving force for the automatic traveling device 10 to travel. The drive unit 14 includes, for example, wheels on which the automatic traveling device 10 moves and a motor that drives the wheels. The motor can be operated by receiving power from the battery 18.

The battery 18 supplies electric power for operating each device that makes up the automatic traveling device 10.

The control device 15 detects that the lighting device 1 in the area where the automatic traveling device 10 is located is turned off based on the illuminance obtained from the illuminance meter 12, and detects that the lighting device 1 in the area where the automatic traveling device 10 is located is turned off. 1 from the lighting control device 20 that manages the area where the automatic traveling device 10 is located, when receiving a notification through the wireless communication device 11 that the lighting switch 2 of the lighting device in the area where the automatic traveling device 10 is located is on. It is determined that the lighting device 1 in the area is in a power outage state, and the automatic traveling device 10 stops traveling, and the lighting device 13 of the automatic traveling device 10 is turned on.

The control device 15 detects that the lighting device 1 in the area where the automatic traveling device 10 is located is turned off based on the illuminance obtained from the illuminance meter 12, and detects that the lighting device 1 in the area where the automatic traveling device 10 is located is turned off. 1 from the lighting control device 20 that manages the area where the automatic traveling device 10 is located, when receiving a notification through the wireless communication device 11 that the lighting switch 2 of the lighting device in the area where the automatic traveling device 10 is located is on. It is determined that the lighting device 1 in the area where the automatic traveling device 10 is located has been set to off according to the instruction, and the automatic traveling device 10 is not stopped and the lighting device 13 of the automatic traveling device 10 is not turned on.

More specifically, when the control device 15 detects that the lighting device 1 in the area where the automatic traveling device 10 is located is turned off, the control device 15 transmits the wireless communication device 11 to the lighting control device 20 so that the automatic traveling device 10 transmits an inquiry signal inquiring about the status of the lighting device 1 in the area where it is located. The control device 15 receives, via the wireless communication device 11, a response signal transmitted from the lighting control device 20 in response to the inquiry signal. The response signal includes the state of the light switch 2 of the lighting device 1 in the area where the automatic traveling device 10 is located.

When the control device 15 determines that the lighting device 1 in the area where the automatic traveling device 10 is located is in a power outage state, the control device 15 communicates via the wireless communication device 11 that the lighting device 1 in the area where the automatic traveling device 10 is located is in a power outage state. This is notified to the management device 30 of the automatic traveling device.

The control device 15 determines that the lighting device 1 in the area where the automatic traveling device 10 is located is in a power outage state, stops the traveling of the automatic traveling device 10, and lights up the lighting device 13 of the automatic traveling device 10. , when it is detected that the lighting device 1 in the area where the automatic traveling device 10 is located is turned on based on the illuminance obtained from the illuminance meter 12, the automatic traveling device 10 is restarted to run, and the automatic traveling device 10 is restarted. The lighting device 13 is turned off.

FIG. 3 is a diagram showing a configuration example of the lighting control device 20. As shown in FIG.
The lighting control device 20 includes a wireless communication device 21 and a control device 22. The control device 22 includes a memory 24 and a processor 23. Memory 24 stores programs. Processor 23 executes programs in memory 24. The operation of the control device 22 described below is performed by the processor 23 executing a program in the memory 24.

The wireless communication device 21 communicates with the lighting switch (SW) 2 and the automatic traveling device 10 via the intranet.

The control device 22 receives an inquiry signal from the automatic traveling device 10 through the wireless communication device 21, and transmits a response signal to the automatic traveling device 10 through the wireless communication device. The control device 22 acquires the state (on or off) of the lighting switch 2 through the wireless communication device 21 .

FIG. 4 is a diagram showing an outline of processing in the first embodiment.
The control device 15 of the automatic traveling device 10 determines that the lighting device 1 of the building in the area where the automatic traveling device 10 is located is off based on the illuminance around the automatic traveling device 10 measured by the illumination meter 12. If so, an inquiry signal is transmitted to the lighting control device 20 via the wireless communication device 11.

When the lighting switch 2 of the lighting device 1 in the area where the automatic traveling device 10 is located is set to off, the control device 22 of the lighting control device 20 sends a response signal indicating that the lighting switch 2 is off. It is transmitted to the automatic traveling device 10 via the wireless communication device 21. The control device 15 of the automatic traveling device 10 receives this response signal through the wireless communication device 11, and determines that the area where the automatic traveling device 10 is located is not in a power outage state (pattern 1).

When the lighting switch 2 of the lighting device 1 in the area where the automatic traveling device 10 is located is set to on, the control device 22 of the lighting control device 20 sends a response signal indicating that the lighting switch 2 is on. It is transmitted to the automatic traveling device 10 via the wireless communication device 21. The control device 15 of the automatic traveling device 10 receives this response signal through the wireless communication device 11, and determines that the area where the automatic traveling device 10 is located is in a power outage state (pattern 2).

When power is not being supplied to the lighting control device 20 due to a power outage, the control device 22 of the lighting control device 20 cannot transmit a response signal. When the control device 15 of the automatic traveling device 10 does not receive the response signal, it determines that the area where the automatic traveling device 10 is located is in a power outage state (pattern 3).

In the case of patterns 2 and 3, the control device 15 of the automatic traveling device 10 sends a status notification signal indicating that the area where the automatic traveling device 10 is located is in a power outage state to the management device of the automatic traveling device via the wireless communication device 11. Send to 30.

When the control device 15 of the automatic traveling device 10 determines that the lighting device 1 in the area where the automatic traveling device 10 is located has been restored to ON based on the illuminance around the automatic traveling device 10 measured by the illumination meter 12. transmits a status notification signal indicating that power has been restored in the area where the automatic traveling device 10 is located to the management device 30 of the automatic traveling device through the wireless communication device 11.

FIG. 5 is a diagram showing an example of an inquiry signal transmitted from the automatic traveling device 10 to the lighting control device 20. The inquiry signal includes the ID of the automatic traveling device, the business type of the automatic traveling device, the ID of the area where the automatic traveling device is located, and the like. The types of work for automatic traveling devices include cleaning, security, guidance, and delivery.

FIG. 6 is a diagram showing an example of a response signal transmitted from the lighting control device 20 to the automatic traveling device 10. The response signal includes the ID of the automatic traveling device, the ID of the area where the automatic traveling device is located, the state of the light switch in the area where the automatic traveling device is located, and the like. The state of the light switch is on or off.

FIG. 7 is a diagram showing an example of a status notification signal transmitted from the automatic traveling device 10 to the automatic traveling device management device 30. The status notification signal includes the ID of the automatic traveling device, the business type of the automatic traveling device, the ID of the area where the automatic traveling device is located, the power supply state of the area where the automatic traveling device is located, and the like. The power supply state is power outage or power restoration.

FIG. 8 is a flowchart showing the operating procedure of the automatic traveling device 10.
In step S101, the illumination meter 12 detects the illuminance around the automatic traveling device 10.

In step S102, the control device 15 determines whether the lighting device 1 in the area where the automatic traveling device 10 is located is off based on the detected illuminance. If it is determined that the lighting device 1 is off, the process advances to step S103. For example, the control device 15 determines that the lighting device 1 is off when the detected illuminance is below a predetermined threshold, and determines that the lighting device 1 is off when the detected illuminance exceeds a predetermined threshold. 1 may be determined to be on.

In step S103, the control device 15 temporarily stops the operation and running of the automatic traveling device 10. This temporary stop is due to the possibility of a power outage. This is to avoid collisions with people during power outages.

In step S104, the control device 15 transmits an inquiry signal (see FIG. 5) to the lighting control device 20 via the wireless communication device 11, inquiring about the state of the lighting switch 2 in the area where the automatic traveling device 10 is located. This inquiry is made because the lighting device 1 may be turned off when the user voluntarily turns off the lighting switch 2, or when power is not being supplied to the lighting device 1 due to a power outage. It is from.

In step S105, if the control device 15 receives a response signal (see FIG. 6) through the wireless communication device 11, the process proceeds to step S106. If the control device 15 does not receive the response signal through the wireless communication device 11, the process advances to step S109.

In S106, if the state of the lighting switch included in the response signal is off, the process advances to step S107. If the state of the lighting switch included in the response signal is on, the process advances to step S109.

In step S107, the control device 15 determines that the area where the automatic traveling device 10 is located is not in a power outage state, and maintains the normal mode.

In step S108, the control device 15 causes the automatic traveling device 10 to resume operations and traveling. The reason for controlling in this way is that when the light switch 2 is voluntarily set to OFF by the user, it is considered that there are no people in the area where the automatic traveling device 10 is located. This is because a person will not collide with the automatic traveling device 10 even if the person performs normal tasks such as cleaning and security.

In step S109, the control device 15 determines that the area where the automatic traveling device 10 is located is in a power outage state, and shifts to power outage mode.

In step S110, the control device 15 causes the automatic traveling device 10 to continue to stop operating and traveling. The reason for this control is that unlike at night, during a power outage, it is assumed that there are people in the area where the automatic traveling device 10 is located, so the automatic traveling device 10 is controlled to carry out normal tasks such as cleaning and security. This is because there is a possibility that a person will collide with the automatic traveling device 10.

In step S111, the control device 15 turns on the lighting device 13 of the automatic traveling device 10. By lighting up the lighting device 13, it is possible to inform surrounding people of the presence of the automatic traveling device 10, so that collisions between people and the automatic traveling device 10 can be avoided.

In step S112, the control device 15 transmits a status notification signal (see FIG. 7) to the automatic traveling device management device 30 to notify that the area where the automatic traveling device 10 is located is in a power outage state. The administrator of the automatic traveling device 10 is aware of the occurrence of a power outage and can perform the prescribed work at the time of a power outage.

In step S113, the illumination meter 12 detects the illuminance around the automatic traveling device 10.

In step S114, the control device 15 determines whether the lighting device 1 in the area where the automatic traveling device 10 is located is on based on the detected illuminance. If it is determined that the lighting device 1 is on, the process advances to step S115.

In step S115, the control device 15 determines that power has been restored to the area where the automatic traveling device 10 is located, and returns to the normal mode.

In step S116, the control device 15 causes the automatic traveling device 10 to resume operations and traveling. Since it is considered that the possibility of a person colliding with the automatic traveling device 10 has been eliminated by the restoration of power, the automatic traveling device 10 can be caused to perform normal operations.

In step S117, the control device 15 transmits a status notification signal (see FIG. 7) indicating that power has been restored in the area where the automatic traveling device 10 is located to the management device 30 of the automatic traveling device. The administrator of the automatic traveling device 10 can know that the power has been restored.

FIG. 9 is a flowchart showing the operation procedure of the lighting control device 20.
In step S201, when the control device 22 of the lighting control device 20 receives the inquiry signal (see FIG. 5) through the wireless communication device 21, the process advances to step S202.

In step S202, the control device of the lighting control device 20 reads the state of the lighting switch in the area where the automatic traveling device 10 is located from the stored lighting switch table.

FIG. 10 is a diagram showing an example of a lighting switch table. The light switch table defines the area ID representing the area and the state (on/off) of the light switch in the area.

In step S203, if the state of the light switch 2 in the area where the automatic traveling device 10 is located is on, the process proceeds to step S204, and if the state of the light switch 2 in the area where the automatic traveling device 10 is located is off, the process advances to step S204. Proceed to S205.

In step S204, the control device 22 transmits a response signal (see FIG. 6) that includes ON as the state of the light switch to the automatic traveling device 10 through the wireless communication device 21.

In step S205, the control device 22 transmits a response signal (see FIG. 6) including OFF as the state of the light switch to the automatic traveling device 10 through the wireless communication device 21.

Embodiment 2.
The control device 15 may estimate the state of the lighting device 1 using AI (Artificial Intelligence).

FIG. 11 is a diagram showing an example of the relationship between input B1, which is a factor for estimation, and output B2, which is the estimation result. Input B1 includes the area, the illuminance of the area, the season, the time of day, and the weather. Output B2 is the state of the area lighting device 1, which is on or off.

FIG. 12 is a diagram showing a configuration example of the learning device 201. The learning device 201 includes a data acquisition section 202 and a model generation section 203. The functions of the data acquisition unit 202 and the model generation unit 203 are realized by a processor executing a program stored in memory.

The processor acquires learning data including the area, the illuminance of the area, the season, the time of day, the weather, and the status of the lighting device in the area, and uses the learning data to determine the area, the illuminance of the area, the season, Generate a trained model that infers the status of lighting devices in an area based on the time of day and weather.

The data acquisition unit 202 acquires input B1 data and output B2 data (teacher data) as learning data.

The model generation unit 203 generates a trained model that infers the output B2 from the input B1, based on learning data consisting of a combination of the input B1 data and the output B2 data output from the data acquisition unit 202. The model generation unit 203 can perform learning using, for example, supervised learning using a neural network. As a learning algorithm used by the model generation unit 203, deep learning, which learns to extract the feature amount itself, can also be used. The model generation unit 203 stores the learned model generated by executing learning in the learned model storage device 300.

FIG. 13 is a flowchart showing the procedure of learning processing by the learning device 201. As shown in FIG.
In step A1, the data acquisition unit 202 acquires input B1 data and output B2 data (teacher data).

In step A2, the model generation unit 203 performs so-called supervised learning to convert the input B1 into Generate a trained model that infers output B2.

In step A3, the trained model storage device 300 stores the trained model generated by the model generation unit 203.

FIG. 14 is a diagram showing a configuration example of the inference processing section 115 in the control device 15. The inference processing unit 115 includes a data acquisition unit 402 and an inference unit 403. The functions of the data acquisition unit 402 and the inference unit 403 are realized by the processor 16 executing a program stored in the memory 17.

The processor 16 uses a learned model that infers the state of the lighting device 1 in the area from the area, the illuminance of the area, the season, the time of day, and the weather, and the area where the automatic traveling device 10 is currently located and the illumination meter 12. Based on the obtained current illuminance, current season, current time zone, and current weather of the area where the automatic traveling device 10 is located, it is determined whether the lighting device in the area where the automatic traveling device 10 is located is currently lit. reason.

The data acquisition unit 402 acquires data of input B1.
The inference unit 403 infers the output B2 using the learned model. That is, the inference unit 403 can output the output B2 inferred from the input B1 by inputting the data of the input B1 acquired by the data acquisition unit 402 to the learned model.

FIG. 15 is a flowchart showing an inference procedure by the inference processing unit 115.
In step B1, the data acquisition unit 402 acquires data of input B1.

In step B2, the inference unit 403 inputs the data of input B1 to the trained model stored in the trained model storage device 300, and obtains the data of output B2.

In step B2, the inference unit 403 outputs the data of output B2 obtained by the learned model, that is, the state (on or off) of the lighting device 1. The control device 15 uses the output state of the lighting device (on or off) in the process of step S102 in FIG. 8.

Variation example.
(1) State of the lighting switch In the above embodiment, the automatic traveling device 10 transmits an inquiry signal informing the area where the automatic traveling device is located to the lighting control device 20, and the lighting control device 20 sends an inquiry signal indicating the area where the automatic traveling device is located. Although the response signal notifying the state of the light switch is transmitted to the automatic traveling device 10, the present invention is not limited thereto. The automatic traveling device 10 transmits an inquiry signal that does not inform the area where the automatic traveling device is located to the lighting control device 20, and the lighting control device 20 automatically transmits a response signal informing the status of the light switches in all areas in the building. It may also be transmitted to the device 10. In this case, the control device 15 of the automatic traveling device 10 may extract the state of the light switch in the area where the automatic traveling device 10 is located from the states of the light switches in all areas in the building included in the response signal. .

(2) Lighting Control Device The lighting switch 2 may be an IoT (Internet of Things) lighting switch, and the lighting switch 2 may include a lighting control device.

When the lighting control device in the lighting switch 2 receives the inquiry signal from the automatic traveling device 10, it is sufficient to transmit a response signal to the automatic traveling device 10 to notify the state of the lighting switch 2. When the automatic traveling device 10 receives a plurality of response signals, the automatic traveling device 10 selects only the response signal from the lighting switch 2 in the area where the automatic traveling device 10 is located, thereby reducing the lighting in the area where the automatic traveling device 10 is located. The state of switch 2 can be known.

The embodiments disclosed this time should be considered to be illustrative in all respects and not restrictive. The scope of the present disclosure is indicated by the claims rather than the above description, and it is intended that all changes within the meaning and range equivalent to the claims are included.

1, 13 Lighting device, 2 Lighting switch, 10 Automatic traveling device, 11, 21 Wireless communication device, 12 Illuminance meter, 14 Drive unit, 15, 22 Control device, 16, 24 Processor, 17, 23 Memory, 18 Battery, 20 Lighting control device, 30 Automatic traveling device management device, 115 Inference processing unit, 201 Learning device, 202, 402 Data acquisition unit, 203 Model generation unit, 300 Learned model storage device, 403 Inference unit.

Claims

An automatic traveling device that travels inside a building,
an illumination meter installed in the main body of the automatic traveling device;
a wireless communication device,
memory for storing programs,
a processor that executes a program stored in the memory;
The processor detects that a lighting device in an area where the automatic traveling device is located is turned off based on the illuminance obtained from the illuminance meter, and the lighting control device manages the lighting device in the area. When receiving a notification through the wireless communication device that the lighting device in the area is turned on, it is determined that the lighting device in the area is in a power outage state, and the automatic traveling device stops traveling. , automatic driving equipment.
It further includes a lighting device installed in the main body of the automatic driving device,
The automatic traveling device according to claim 1, wherein when the processor determines that the lighting device in the area is in a power outage state, the processor stops the traveling of the automatic traveling device and turns on the lighting device of the automatic traveling device.
The processor detects that the lighting device in the area is turned off based on the illuminance obtained from the illuminance meter, and causes the lighting control device to switch off the lighting device in the area via the wireless communication device. 2. When receiving a notification that the area is off, the automatic traveling device determines that the lighting device in the area has been set to off according to the instruction, and does not stop the automatic traveling device and does not turn on the lighting device of the automatic traveling device. The automatic traveling device according to 2.
When the processor detects that the lighting device in the area is off, the processor transmits an inquiry signal to the lighting control device via the wireless communication device to inquire about the status of the lighting device in the area, and responds to the inquiry signal. According to any one of claims 1 to 3, a response signal transmitted from the lighting control device in response to the lighting control device is received through the wireless communication device, and the response signal includes a state of a switch of a lighting device in the area. automatic driving device.
When the processor determines that the lighting device in the area is in a power outage state, the processor notifies a management device that manages the automatic traveling device that the lighting device in the area is in a power outage state through the wireless communication device. The automatic traveling device according to any one of claims 1 to 4.
The processor determines that the lighting device in the area is in a power outage state and stops the automatic traveling device, and then lights up the lighting device in the area based on the illuminance obtained from the illuminance meter. The automatic traveling device according to claim 1, wherein the automatic traveling device resumes running when detecting that the automatic traveling device is present.
The processor uses a trained model that infers the state of the lighting device in the area from the area, the illuminance of the area, the season, the time of day, and the weather to determine the area where the automatic traveling device is currently located and the illuminance meter. 7. Inferring whether or not a lighting device in the area is currently lit from the current illuminance of the area, the current season, the current time of day, and the current weather obtained from the area. The automatic traveling device according to item 1.
memory for storing programs,
a processor that executes a program stored in the memory;
The processor acquires learning data including an area, the illuminance of the area, the season, the time of day, and the weather, and the state of a lighting device in the area, and uses the learning data to determine the area, the area, and the area. A learning device that generates a trained model that infers a state of a lighting device in the area from illuminance, season, time of day, and weather.
A method for controlling an automatic traveling device running in a building, the automatic traveling device comprising: an illumination meter installed in a main body of the automatic traveling device; a wireless communication device; a memory for storing a program; and a processor that executes a stored program, the method for controlling an automatic traveling device includes:
A lighting control device, wherein the processor detects that a lighting device in an area where the automatic traveling device is located is turned off based on the illuminance obtained from the illuminance meter, and manages the lighting device in the area. When receiving a notification through the wireless communication device that the lighting device in the area is turned on, it is determined that the lighting device in the area is in a power outage state, and the automatic traveling device stops traveling. A method for controlling an automatic traveling device, comprising steps.
10. The method for controlling an automatic traveling device according to claim 9, further comprising the step of turning on a lighting device of the automatic traveling device when the processor determines that a lighting device in the area is in a power outage state.
The processor detects that the lighting device in the area is turned off based on the illuminance obtained from the illuminance meter, and the lighting control device switches off the lighting device in the area via the wireless communication device. 11. The method for controlling an automatic traveling device according to claim 10, further comprising the step of determining that a lighting device in the area has been set to off according to the instruction when receiving a notification that the lighting device in the area is turned off according to the instruction.
When the processor detects that the lighting devices in the area are turned off, transmitting an inquiry signal to the lighting control device via the wireless communication device to inquire about the status of the lighting devices in the area;
The processor further comprises a step of receiving a response signal transmitted from the lighting control device in response to the inquiry signal through the wireless communication device, the response signal including a state of a switch of a lighting device in the area. The method for controlling an automatic traveling device according to any one of claims 9 to 11.
When the processor determines that the lighting device in the area is in a power outage state, the processor notifies a management device that manages the automatic traveling device that the lighting device in the area is in a power outage state through the wireless communication device. The method for controlling an automatic traveling device according to any one of claims 9 to 12, further comprising:
After the processor determines that the lighting device in the area is in a power outage state and stops running the automatic traveling device, the lighting device in the area is turned on based on the illuminance obtained from the illuminance meter. The method for controlling an automatic traveling device according to claim 9, further comprising the step of restarting running of the automatic traveling device when it is detected that the automatic traveling device is present.
The processor determines the area where the automatic traveling device is currently located and the illumination meter using a trained model that infers the state of the lighting device in the area from the area, the illuminance of the area, the season, the time of day, and the weather. The method further comprises the step of inferring whether a lighting device in the area is currently lit from the current illuminance of the area, the current season, the current time of day, and the current weather obtained from the area. 15. The method for controlling an automatic traveling device according to any one of 14.
a step in which the processor acquires learning data including an area, illuminance of the area, season, time of day, and weather, and a state of a lighting device in the area;
learning, comprising the step of the processor using the learning data to generate a trained model that infers a state of a lighting device in the area from the area, the illuminance of the area, the season, the time of day, and the weather; Method.