JP2005053670A - Autonomous mobile robot and elevator getting-on-and-off system for autonomous mobile robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an elevator getting-on-and-off system for an autonomous mobile robot allowing a person and the autonomous mobile robot to move to the other story using the same elevator in common. <P>SOLUTION: This autonomous mobile robot 1 is provided with a getting-on-and-off region recognition part 74 for recognizing an elevator getting-on-and-off region set at each story, a current position computing part 72 inferring its current position by computation, person detection devices 4, 4' detecting the existence of person in a predetermined scope, and a signal transmission device 5 transmitting a predetermined signal to an elevator controller 10 controlling elevation and lowering of the elevator. When its current position is in the elevator getting-on-and-off region and a person does not exist in the elevator getting-on-and-off region for a fixed period of time or more, an elevator car call signal is outputted for the elevator controller 10. The elevator controller 10 switches a not-used elevator or an elevator on which a person does not exist in an elevator car to robot exclusive mode when it receives the elevator car call signal and makes an elevator car call device at each story invalid to stop the elevator car at a story where the autonomous mobile robot exists. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention is a multi-story building such as a hospital, office, public facility, etc., and an elevator boarding / exiting that allows humans and autonomous mobile robots to move to other floors sharing the same elevator in facilities used by ordinary people. About the system.

  Conventionally, as shown in Patent Documents 1 and 2, an elevator boarding / alighting system for moving an autonomous mobile robot to another floor using an elevator has been proposed. In such an elevator boarding / alighting system, when an autonomous mobile robot uses an elevator, the elevator is switched to a robot-dedicated mode, and the elevator is controlled based on information from the autonomous mobile robot.

  By the way, if a person and an autonomous mobile robot share the same elevator and move to another floor, assuming that the person and the autonomous mobile robot ride on the same elevator board at the same time, for example, the autonomous mobile robot may be harmed by a malfunction. May be mischievous, and people may be mischievous in loading autonomous mobile robots. Therefore, there is a request to avoid using the same elevator by humans and robots at the same time. When a person uses an elevator, a sensor is installed to detect the presence of a person in the elevator hall on each floor, especially near the elevator door. Is forbidden to use autonomous mobile robots, so that humans and autonomous mobile robots use the same elevator exclusively.

However, in hospitals, offices, public facilities, etc., people frequently move and elevators are used intermittently for a long time. For this reason, there are few opportunities for the autonomous mobile robot to satisfy the conditions for using the elevator, and there is a problem that the autonomous mobile robot can hardly use the elevator. In addition, the autonomous mobile robot occupies the vicinity of the elevator door for a long time, which hinders general users from using the elevator. Furthermore, a sensor for detecting the presence of a person must be provided in the elevator hall on each floor of the building, the configuration of the elevator boarding / alighting system becomes complicated, and a large amount of cost is required for installing the sensor.
Japanese Patent Laid-Open No. 5-210414 JP-A-6-282329

  The present invention has been made in order to solve the above-described problem, and a person and an autonomous mobile robot can move smoothly to another floor by using the same elevator exclusively, have a simple configuration, and An object of the present invention is to provide a low-cost autonomous mobile robot and an elevator boarding / alighting system for the autonomous mobile robot.

In order to achieve the above object, an invention according to claim 1 is an elevator boarding / alighting system for an autonomous mobile robot capable of getting on and off an elevator board and traveling in a region extending over a plurality of floors. A elevator, an elevator boarding call device provided in an elevator boarding area on each floor, and an elevator control device that controls the raising and lowering of the elevator boarding,
The autonomous mobile robot includes a boarding / alighting area recognizing unit for recognizing the elevator boarding / alighting area set on each floor, a current position calculating unit for estimating the current position of the self by calculation, and a human being within a predetermined range around the self. Human detection means for detecting presence and signal transmission means for transmitting / receiving a predetermined signal to / from the elevator control device, and the current position of the vehicle is in the elevator boarding / alighting area, and the elevator boarding / alighting area has a fixed time. When no more people are present, an elevator riding call signal is output to the elevator control device,
When the elevator control device receives an elevator boarding call signal from the autonomous mobile robot, the elevator control device switches an elevator that is not in use or a person on the elevator board to a robot-dedicated mode, and calls the elevator boarding on each floor. The device is disabled and the elevator boarding is stopped on the floor where the autonomous mobile robot is located.

  According to a second aspect of the present invention, in the elevator boarding / alighting system for the autonomous mobile robot according to the first aspect, the autonomous mobile robot outputs an elevator boarding / calling signal and then detects the presence of a person in the elevator boarding / alighting area. A signal for canceling the robot exclusive mode is output to the elevator control device, and the vehicle waits at a predetermined position in the elevator boarding / alighting area.

  According to a third aspect of the invention, in the elevator boarding / alighting system for the autonomous mobile robot according to the first or second aspect, the autonomous mobile robot further comprises a message output means, and outputs the elevator boarding / calling signal, and then the elevator boarding / alighting system. When the presence of a person is detected in the area, a message is output so that the person waits for the elevator to be used.

  According to a fourth aspect of the present invention, in the elevator boarding / alighting system for the autonomous mobile robot according to any one of the first to third aspects, the autonomous mobile robot further includes door opening / closing control means for controlling opening / closing of the door of the elevator. ing.

  According to a fifth aspect of the present invention, in the elevator boarding / alighting system for an autonomous mobile robot according to the fourth aspect, the elevator control device stops the elevator in the robot dedicated mode on the floor where the autonomous mobile robot is located, and then the autonomous mobile robot. Open the elevator door after receiving the door opening signal from.

  The invention according to claim 6 is the elevator boarding / alighting system for an autonomous mobile robot according to any one of claims 1 to 5, wherein the elevator control device stores the full width of the autonomous mobile robot and is in a robot dedicated mode. Open the elevator door by the minimum width that the autonomous mobile robot can pass through.

  The invention according to claim 7 is an autonomous mobile robot capable of getting on and off the elevator board and traveling in an area across a plurality of floors, wherein the boarding area recognition means recognizes the elevator boarding area set on each floor, Current position calculation means that estimates the current position of the vehicle by calculation, person detection means that detects the presence of a person within a predetermined range around the vehicle, and a predetermined signal transmitted to and received from the elevator control device that controls the elevator lift Signal transmission means for controlling and opening / closing control means for controlling opening / closing of the door of the elevator, and the current position of the vehicle is in the elevator boarding / alighting area, and a person is present in the elevator boarding / alighting area for a certain time or more. When there is no elevator, it outputs an elevator boarding call signal to the elevator control device, and when the elevator board arrives at the floor where it is, it opens and closes the door Control to.

  According to the first aspect of the present invention, since the human detection means (sensor) for detecting the presence of a person is provided on the autonomous mobile robot side, it is necessary to provide a sensor in each elevator boarding area (elevator hall) on each floor of the building. In addition, wiring between each sensor and the elevator control device is not necessary. As a result, the configuration of the system is simplified, and the cost can be reduced by reducing the sensor installation cost. Furthermore, since the elevator is switched to the robot-dedicated mode when the two conditions that there are no people in the elevator boarding area of the floor where the autonomous mobile robot is located and the elevator boarding is unattended, Compared with the system, humans and autonomous mobile robots can move to other floors smoothly using the same elevator exclusively. Furthermore, the autonomous mobile robot does not occupy the elevator getting-on / off area for a long time, and the use of the elevator by general users is not hindered. In addition, after the elevator is switched to the robot-only mode, the elevator boarding call device on each floor is disabled, so that the user must first wait until the elevator boarding arrives at the floor where the autonomous mobile robot is located. There is no possibility of getting on the elevator, and exclusive use of the elevator by humans and autonomous mobile robots is guaranteed.

  According to the invention of claim 2, after the autonomous mobile robot outputs the elevator boarding call signal and starts using the elevator, if the presence of a person in the elevator boarding area is confirmed, the robot dedicated mode is canceled and used. Since the use of the elevator is given to the person, exclusive use of the elevator by the person and the autonomous mobile robot is guaranteed.

  According to the invention of claim 3, after the autonomous mobile robot outputs an elevator boarding call signal (including after the autonomous mobile robot has boarded the elevator boarding), when the presence of a person in the elevator boarding area is confirmed, a message is displayed. Since the output device outputs a message so that the user waits for the elevator to be used, the autonomous mobile robot is used preferentially by the autonomous mobile robot. Therefore, since the autonomous mobile robot occupies the elevator boarding area for a long time, the use of the elevator by a general user is not hindered. In addition, it is possible to reduce the possibility that a person and an autonomous mobile robot get on the same elevator board at the same time.

  According to the invention of claim 4, since the door opening / closing control device of the autonomous mobile robot controls the opening / closing of the elevator door, it is possible to reduce the possibility that the user gets into the elevator before the autonomous mobile robot. The autonomous mobile robot can get on and off the elevator without fail while confirming safety.

  According to the invention of claim 5, after the elevator car in the robot dedicated mode stops on the floor where the autonomous mobile robot is located, the elevator door opens after the autonomous mobile robot moves in front of the elevator door, for example. Therefore, it is possible to further reduce the possibility that the user gets into the elevator board prior to the autonomous mobile robot.

  According to the sixth aspect of the invention, when the robot is in the robot-dedicated mode, the elevator door opens only enough to allow the autonomous mobile robot to pass through, so that the user can get on the same elevator board as the autonomous mobile robot. Can be virtually impossible.

  According to the invention of claim 7, it is possible to provide an autonomous mobile robot that is suitable for the elevator boarding / alighting system for each of the autonomous mobile robots and that includes the human detection means and the door opening / closing control means.

  The best mode for carrying out the present invention will be described with reference to the drawings. FIG. 1 shows an external configuration of an autonomous mobile robot according to an embodiment of the present invention. Moreover, the block configuration of the elevator boarding / alighting system for autonomous mobile robots is shown in FIG. Furthermore, FIG. 3 shows a state in which the elevator car has arrived at the floor where the autonomous mobile robot is located. 3A shows a state before the door is opened, and FIG. 3B shows a state where the door is opened.

  The autonomous mobile robot 1 includes a driving device 2 composed of wheels and motors, a distance measuring device 3 such as a laser radar sensor that measures the distance to an object around the autonomous mobile robot 1, and the autonomous mobile robot 1. Between a (front) human detection device 4 and a (rear) human detection device 4 ′ such as a CCD camera that detects the presence of a person within a certain range of the surroundings, and another device such as the elevator control device 10 A signal transmission device 5 for transmitting and receiving control signals and the like by radio waves, a message output device 6 such as an LED array display and a speaker for outputting predetermined messages to people around the autonomous mobile robot 1, and autonomous movement A control device 7 for controlling the entire robot 1 is provided. Note that the signal transmission device 5 may transmit the control signal using infrared rays in consideration of use in a place where the reception state of the radio wave is bad. Further, an ultrasonic sensor or the like can be used as the distance measuring device 3.

  As shown in FIG. 2, the control device 7 of the autonomous mobile robot 1 includes a storage unit 71 that stores map information and the like of a range in which the autonomous mobile robot 1 can autonomously move, and the measured distance information and map information. A current position calculation unit 72 that calculates the current position of the vehicle by collation, a travel control unit 73 for controlling the driving device 2 based on the estimated self-location and map information, and collation of the self-location and map information Thus, when the autonomous mobile robot 1 gets on and off the elevator, the boarding / alighting area recognition unit 74 recognizes whether the self-position is a predetermined elevator boarding / alighting area 34 (see FIG. 3A) near the outer door 32 of the elevator. The door opening / closing control unit 75 controls opening / closing of the elevator door. The control device 7 includes a ROM that stores a predetermined control program, a CPU that performs arithmetic processing according to the control program, a RAM that temporarily stores arithmetic data, and the like, and functions as the above units according to the control program. To do. The elevator hall on each floor is provided with an external elevator control device terminal 11 including an elevator boarding call device, and each external elevator control device terminal 11 is connected to the elevator control device 10.

  As shown in FIG. 3, the elevator includes an elevator ride 30, a drive mechanism (not shown) for raising and lowering the elevator ride 30, an inner door 31 on the elevator ride 30 side, and an outer door 32 on the elevator hall side. And an opening / closing mechanism (not shown) of the inner door 31 and the outer door 32 (hereinafter abbreviated as doors 31 and 32 when both are shown), the elevator control device 10 and the like. The elevator control device terminal 11 is provided. The doors 31 and 32 are each configured to open to the left and right sides. An internal elevator control device terminal 12 for designating a floor to be stopped is provided inside the elevator board 30.

  The current position calculation unit (current position calculation means) 72 determines the current position of the autonomous mobile robot 1 from the map information stored in the storage unit 71 and the distance to the measurement object measured by the distance measurement device 9. Calculate. The current position of the autonomous mobile robot 1 includes a macro current position in the entire area where the autonomous mobile robot 1 can travel autonomously, and specific objects such as elevator doors 31 and 32 and an elevator hall wall 33 described later. Both the micro current position for such is included. The travel control unit 73 controls the drive device 2 to move to a target point based on the current position and the target position calculated by the current position calculation unit 72. The boarding / alighting area recognition unit (boarding / alighting area recognition means) 74 is a certain area in front of the elevator door 32 in the elevator hall on each floor, that is, an area in which the elevator user generally waits for the elevator car 30 to arrive. It is recognized as a boarding area 34. Furthermore, the boarding / alighting area recognition unit 74 recognizes the elevator boarding / alighting area 35 immediately before the outer door 32 of the elevator, as shown in FIG. The door opening / closing control unit (door opening / closing control means) 75 controls the opening / closing of the elevator doors 31 and 32 from the autonomous mobile robot 1 side when the elevator is switched to the robot dedicated mode, as will be described later.

  The human detection devices (human detection means) 4 and 4 ′ are composed of, for example, a plurality of CCD cameras provided in front and rear of the robot of the autonomous mobile robot 1 and image processing circuits thereof, and integrate information of each camera. Thus, it is determined whether or not there is a person in a predetermined range around. In the robot dedicated mode, the message output device (message output means) 6 is a message to the general user that “Please do not enter the same elevator as the autonomous mobile robot 1 at the same time” or “The elevator is an autonomous mobile robot. A message such as “only moves to the floor designated by 1” is output visually and / or by voice. The signal transmission device (signal transmission means) 5 is connected between the external elevator control device terminal 11 and the internal elevator control device terminal 12 from the autonomous mobile robot 1 to the elevator control device 10 and from the elevator control device 10 to the autonomous mobile robot. 1, a predetermined control signal is transmitted bidirectionally.

  The external elevator control device terminal 11 and the internal elevator control device terminal 12 receive various signals transmitted from the signal transmission device 5 of the autonomous mobile robot 1 and transfer them to the elevator control device 10. The elevator control device 10 controls the elevator in the normal mode based on the signal from the elevator boarding call device operated by the elevator user, and also uses the robot dedicated mode based on the signal transmitted from the autonomous mobile robot 1. To control.

  Next, the operation of the elevator boarding / alighting system for an autonomous mobile robot will be described with reference to the flowcharts shown in FIGS. In preparation for actually starting operation, the elevator boarding / alighting area 34 of each floor is also stored in the storage unit 71 in advance.

  After starting operation, the autonomous mobile robot 1 moves toward the destination based on the map information stored in the storage unit 71 and the current position calculated by the current position calculation unit 72 (S1, S2). When the destination is on a floor different from the current floor (No in S2), the vehicle moves toward the elevator boarding area 34 (S3). If the boarding / alighting area recognition unit 74 determines that the current position calculated by the current position calculation unit 72 is the elevator boarding / alighting area 34 (Yes in S3), the person detection device 4 indicates that no person is present in the elevator boarding / alighting area 34 for a certain time. After confirming that it exists (S4), an elevator boarding call signal is transmitted to the elevator control device 10 via the signal transmission device 5 and the external elevator control device terminal 11 (S5). When the elevator control device 10 receives the elevator boarding call signal, the elevator control device 10 switches the elevator that is not being used or the elevator on which the passenger is not on the elevator to the robot-dedicated mode (S6), and sends it to the external elevator control device terminal 11 on each floor. The elevator boarding / calling device provided is disabled (S7). In parallel with this, the elevator car 30 is moved to the floor where the autonomous mobile robot 1 is located (S8). When the elevator is in use or when a person is on the elevator, wait until it is not in use or a person is not on the elevator before switching to the robot-only mode. .

  While the elevator board 30 is moving, the autonomous mobile robot 1 determines whether or not a person is present in the elevator boarding / alighting area 34 (whether or not a person has newly arrived) (S9). When a person is present in the elevator boarding / alighting area 34 (Yes in S9), the autonomous mobile robot 1 makes a robot-dedicated mode to the elevator control device 10 via the signal transmission device 5 and the external elevator control device terminal 11. When the elevator control device 10 receives the elevator boarding call signal, the elevator control device 10 cancels the elevator robot dedicated mode (S10). The autonomous mobile robot 1 moves to a predetermined standby position in the elevator hall (for example, the area 36 in FIG. 3A) (S11), returns to step S4, and no person is present in the elevator boarding area 34 for a certain period of time. Wait for it to become.

  On the other hand, if no person is present in the elevator boarding area 34 during the movement of the elevator board (No in S9), the autonomous mobile robot 1 moves to the elevator boarding position 35 (S12), and the elevator board 30 Wait until you arrive. When the elevator boarding arrives (S13), the door opening / closing control unit 75 of the autonomous mobile robot 1 transmits a door opening signal to the elevator control device 10 via the signal transmission device 5 and the external elevator control device terminal 11. (S14) Wait until it is confirmed that the doors 31 and 32 of the elevator are opened. When receiving the door opening signal, the elevator control device 10 opens the elevator doors 31 and 32 by a predetermined width (S15). When it is confirmed that the elevator doors 31 and 32 are actually opened, the elevator control device 10 is connected to the autonomous mobile robot 1 via the external elevator control device terminal 11 and the signal transmission device 5. A door opening confirmation signal for confirming that 32 is opened is transmitted (S16). Upon receiving confirmation that the elevator doors 31 and 32 have been opened, the autonomous mobile robot 1 gets into the elevator car 30 (S17). Thus, the autonomous mobile robot 1 does not open the elevator doors 31 and 32 until the autonomous mobile robot 1 arrives at the boarding / exiting location and transmits the door opening signal after the elevator landing 30 arrives. Thus, it is possible to prevent the user from getting the time and gap to get into the elevator car 30 earlier than the user.

  When the autonomous mobile robot 1 gets into the elevator platform 30, the door opening / closing control unit 75 closes the elevator doors 31 and 32 with respect to the elevator control device 10 via the signal transmission device 5 and the internal elevator control device terminal 12. For this purpose, a door closing signal and a stop floor signal corresponding to the moving floor are transmitted (S18). The elevator control device 10 closes the elevator doors 31 and 32 and moves the elevator board 30 to the designated stop floor (S19). During the movement of the elevator ride 30, the autonomous mobile robot 1 shifts to a state of getting off the elevator ride 30 (S <b> 20) and waits for arrival at the designated stop floor.

  When the elevator board 30 arrives at the designated stop floor (S21), the elevator controller 10 opens the doors 31 and 32 of the elevator (S22). When it is confirmed that the elevator doors 31 and 32 are actually opened, the elevator control device 10 transmits the elevator doors 31 and 32 to the autonomous mobile robot 1 via the internal elevator control device terminal 12 and the signal transmission device 5. A door opening confirmation signal for confirming that 32 has been opened is transmitted (S23). The autonomous mobile robot 1 receives confirmation that the elevator doors 31 and 32 have been opened, confirms that there is no person in front of the outer door 32, and then gets off the elevator board 30 (S24). When the autonomous mobile robot 1 gets off the elevator board 30, a signal for canceling the robot dedicated mode is transmitted to the elevator control device 10 via the signal transmission device 5 and the external elevator control device terminal 11 (S 25). The control device 10 cancels the robot dedicated mode of the elevator (S26).

  Thus, since the human detection device (sensor) for recognizing the presence of a person is provided on the autonomous mobile robot 1 side, it is not necessary to provide a sensor in the elevator boarding area 34 on each floor, and each sensor and elevator control Wiring with the apparatus 10 is also unnecessary. Further, when the condition that no person is present in the elevator boarding area 34 on the floor where the autonomous mobile robot 1 is located and the elevator is not used or no person is on the elevator car is satisfied, the elevator is Since the mode can be switched to the robot-dedicated mode, the autonomous mobile robot 1 can be moved to the target floor relatively quickly. As a result, it is possible to reduce the hindrance to the general user's use of the elevator due to the autonomous mobile robot 1 occupying the vicinity of the elevator boarding area 34 for a long time. Further, after the elevator is switched to the robot-dedicated mode, the elevator boarding call device on each floor is disabled, so that the user is first before the elevator boarding 30 arrives at the floor where the autonomous mobile robot is located. There is no possibility of getting on the elevator board 30 and the exclusive use of the elevator by the person and the autonomous mobile robot 1 is guaranteed. Further, after the autonomous mobile robot 1 outputs the elevator boarding call signal and starts using the elevator, when the presence of a person in the elevator boarding / exiting area 34 is detected, the robot exclusive mode is canceled and the user uses the elevator. Therefore, exclusive use of the elevator by a person and the autonomous mobile robot 1 is guaranteed.

  Next, an operation of a modified example of the elevator boarding / alighting system for the autonomous mobile robot will be described. In the flowcharts shown in FIGS. 4 and 5, after the autonomous mobile robot 1 outputs an elevator boarding call signal and starts using the elevator, when the presence of a person is detected in the elevator boarding / alighting area 34, in steps S10 and S11, The robot exclusive mode is canceled and the use of the elevator is given to the user. However, as shown in the flowchart of FIG. 6, a message output device 6 is used instead of steps S10 and S11, so that A message is output so that the incoming user waits for the use of the elevator (S30), and after the user evacuates to a predetermined safe place (S31), the autonomous mobile robot 1 first takes the elevator. You may comprise so that it may utilize. For example, if the autonomous mobile robot 1 tries to move to a predetermined standby position in the elevator hall by giving up the use of the elevator to the user, there is a possibility that the user and the autonomous mobile robot 1 may have a positional relationship that blocks the other person's route. Is expensive. Therefore, when the autonomous mobile robot 1 has already moved to the elevator boarding / exiting position 35, the robot has priority, but the user and the autonomous mobile robot 1 should move the autonomous mobile robot 1 to the target floor first. In many cases, the same elevator can be used exclusively to move to another floor smoothly. In addition to displaying characters on the display, a voice message may be output from the speaker, or both may be used in combination.

  Further, in the flowcharts shown in FIGS. 4 and 5, in steps S <b> 17 and S <b> 18, the autonomous mobile robot 1 is configured to close the elevator doors 31 and 32 immediately after getting on the elevator platform 30. As shown in the flowchart, after the autonomous mobile robot 1 gets into the elevator board 30, the rear person detection device 4 ′ determines whether or not there is a person in the elevator boarding area 34 (S <b> 40). Is detected (Yes in S40), the message output device 6 is used to output a message so that the user who came later waits for the use of the elevator (S41). The doors 31 and 32 may be closed after being saved in a safe place (S42). For example, the user may come to the elevator boarding area 34 after the autonomous mobile robot 1 calls the elevator and gets into the elevator boarding board 30. In that case, by outputting a message so as to wait for the use of the elevator, it is possible to reduce the possibility that a person gets into the same elevator board 30 as the autonomous mobile robot 1.

  Although FIG. 1 shows an example in which the human detection devices 4 and 4 ′ are arranged in front and rear of the autonomous mobile robot 1, one human detection device can be turned with respect to the main body of the autonomous mobile robot 1. Alternatively, after the autonomous mobile robot 1 gets into the elevator car 30, the human detection device may be turned so as to face backward.

  Next, the opening width of the elevator door in step S15 will be described. 3A shows a state where the elevator car has arrived at the floor where the autonomous mobile robot 1 is located and the door of the elevator has not yet been opened, and FIG. 3B shows a state when the door of the elevator has been opened. Indicates. In this elevator boarding / alighting system for autonomous mobile robots, the elevator controller 10 stores in advance the full width (maximum width) of the autonomous mobile robot 1 so that the autonomous mobile robot 1 arrives at the elevator boarding / exiting position 35 and the elevator door 31. , 32, as shown in FIG. 3, the elevator doors 31, 32 are opened by a width that is slightly wider than the entire width of the robot (the minimum width through which the autonomous mobile robot 1 can pass). As a result, when the autonomous mobile robot 1 gets into the elevator platform 30, the gap between the opened doors 31 and 32 and the autonomous mobile robot 1 is reduced, and the user can move between the autonomous mobile robot 1 and the elevator doors 31 and 32. There is almost no room for interruption. As a result, it is practically impossible for a person to get into the same elevator car 30 as the autonomous mobile robot 1. When a plurality of types of autonomous mobile robots 1 having different widths coexist, the remaining width is stored on the door opening / closing control unit 75 side of the autonomous mobile robot 1 and the elevator doors 31 and 32 are opened and closed. The opening width may be controlled from the door opening / closing control unit 75 side of the autonomous mobile robot 1.

  Further, FIG. 8 shows a state after the autonomous mobile robot 1 gets into the elevator car 30. When the autonomous mobile robot 1 gets into the elevator board 30, the elevator doors 31 and 32 are opened only by the minimum width that the autonomous mobile robot 1 can pass as described above. However, the autonomous mobile robot 1 stops so that the rearmost part is positioned just inside the inner door 31 on the elevator side. By taking such a stop position, even if the user tries to get into the elevator car 30 after the autonomous mobile robot 1, the autonomous mobile robot 1 itself becomes a wall and prevents the user from getting in. become. In addition, since there is an error in the stop position of the autonomous mobile robot 1, when the inner door 31 is closed, the inner door 31 may pinch the last part of the autonomous mobile robot 1. Therefore, after confirming that the user is not behind the autonomous mobile robot 1, the autonomous mobile robot 1 is slightly moved inside the elevator car 30 so as not to interfere with the closed inner door 31. Also good. Such a stop position of the autonomous mobile robot 1 in the elevator board 30 shortens the moving distance of the autonomous mobile robot 1, so that the time required for the autonomous mobile robot 1 to get on and off the elevator board 30 can be shortened. The effect that it is possible is also acquired.

  Moreover, since it is necessary to control the autonomous mobile robot 1 at the last minute position with respect to the elevator doors 31 and 32 as described above, the microscopic current position of the autonomous mobile robot 1 is accurately grasped, and the position is determined. Need to fine tune. Therefore, distance information with unevenness such as the wall surface 33 near the elevator hall and the elevator door 32 is input to the storage unit 71 and the distance to the wall surface 33 is accurately measured using the distance measuring device 3 or the like. . Then, the traveling control unit 73 is controlled to finely adjust the microscopic current position of the autonomous mobile robot 1. Thereby, when the autonomous mobile robot 1 gets into the elevator platform 30, it can move safely without hitting the doors 31 and 32. In addition, when the autonomous mobile robot 1 gets off the elevator board 30, it moves autonomously as described above in order to prevent a user from getting into the elevator board 30 when the doors 31 and 32 are opened. The elevator doors 31 and 32 may be opened only by a minimum width through which the robot 1 can pass.

  In the description of the above embodiment, one elevator has been described. However, the same applies to the case where a plurality of elevators are installed, and any one of them is used when the autonomous mobile robot 1 uses the elevator. An elevator that is not installed or an elevator that is not occupied by an elevator is switched to the robot-dedicated mode. Also, if any elevator is in use at the time of receiving the elevator boarding call signal, wait for any elevator to be unused or the elevator boarder to become unattended, and then use that elevator for the robot. Switch to mode. Furthermore, even if the autonomous mobile robot 1 outputs an elevator boarding call signal and a specific elevator is switched to the robot-dedicated mode, a general user can use other elevators. The autonomous mobile robot 1 can smoothly move to another floor using a plurality of elevators at the same time.

The figure which shows the external appearance structure of the autonomous mobile robot which concerns on one embodiment of this invention. The block diagram which shows the structure of the elevator boarding / alighting system for autonomous mobile robots concerning one embodiment of this invention. In the elevator boarding / alighting system for the autonomous mobile robot, (a) is a plan view showing a state where the elevator board has arrived at the floor where the autonomous mobile robot is located but the door is not opened, and (b) is a state where the door is opened ( The top view which shows the opening width of the door of an elevator. The flowchart which shows operation | movement of the elevator boarding / alighting system for the said autonomous mobile robots. The figure which shows the continuation of the flowchart of FIG. The flowchart which shows the operation | movement of the modification of the elevator boarding / alighting system for the said autonomous mobile robot (only a deformation | transformation part). The flowchart which shows operation | movement of the other modification of the elevator boarding / alighting system for the said autonomous mobile robot (only a deformation | transformation part). The top view which shows the stop position after an autonomous mobile robot boarded an elevator boarding in the elevator boarding / alighting system for said autonomous mobile robots.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Autonomous mobile robot 2 Driving device 3 Distance measuring device 4, 4 'Human detection device 5 Signal transmission device 6 Message output device 7 Control device 10 Elevator control device 11 External elevator control device terminal 12 Internal elevator control device terminal 30 Elevator boarding 31 Elevator inner door 32 Elevator outer door 33 Elevator hall wall 34 Elevator boarding / alighting area 35 Elevator boarding / alighting position 36 Autonomous mobile robot standby position 71 Storage unit 72 Current position calculation unit 73 Travel control unit 74 Boarding area recognition unit 75 Door opening / closing control Part

Claims (7)

An elevator getting-on / off system for an autonomous mobile robot capable of getting on and off an elevator board and traveling in an area spanning multiple floors,
An autonomous mobile robot, an elevator board, an elevator boarding device provided in an elevator boarding area on each floor, and an elevator control device for controlling the elevator board
The autonomous mobile robot is
Boarding / alighting area recognition means for recognizing the elevator boarding / alighting area set on each floor;
Current position calculation means for estimating the current position of the self by calculation;
A person detecting means for detecting the presence of a person within a predetermined range around the self;
Signal transmission means for transmitting and receiving a predetermined signal to the elevator control device,
When the current position of the vehicle is in the elevator boarding / alighting area and no person is present in the elevator boarding / alighting area for a certain period of time, an elevator boarding call signal is output to the elevator controller,
The elevator control device includes:
When an elevator boarding call signal from the autonomous mobile robot is received, an elevator that is not used or a person on the elevator boarding is switched to a robot dedicated mode, and the elevator boarding calling device on each floor is disabled, An elevator boarding / exiting system for an autonomous mobile robot, wherein the elevator boarding is stopped on a floor where the autonomous mobile robot is located.   When the autonomous mobile robot detects the presence of a person in the elevator boarding / alighting area after outputting the elevator boarding / calling signal, the autonomous mobile robot outputs a signal for releasing the robot dedicated mode of the elevator to the elevator controller, and The elevator boarding / alighting system for an autonomous mobile robot according to claim 1, wherein the elevator boarding / alighting system stands by at a predetermined position in the area.   The autonomous mobile robot further includes a message output means. After detecting the elevator boarding / calling signal and detecting the presence of a person in the elevator boarding / alighting area, the autonomous mobile robot prompts the person to wait for the use of the elevator. The elevator boarding / alighting system for an autonomous mobile robot according to claim 1 or 2, wherein the elevator boarding / alighting system is output.   The elevator boarding / alighting system for an autonomous mobile robot according to any one of claims 1 to 3, wherein the autonomous mobile robot further includes door opening / closing control means for controlling opening / closing of the door of the elevator. .   The elevator control device stops the elevator riding in the robot-dedicated mode on the floor where the autonomous mobile robot is located, and then opens the elevator door after receiving a door opening signal from the autonomous mobile robot. The elevator boarding / alighting system for autonomous mobile robots according to claim 4.   The elevator control device stores the full width of the autonomous mobile robot, and opens the door of the elevator in the robot dedicated mode by a minimum width that allows the autonomous mobile robot to pass through. The elevator boarding / alighting system for autonomous mobile robots as described in any one of. An autonomous mobile robot that can get on and off an elevator car and run in an area that spans multiple floors,
Boarding / alighting area recognition means for recognizing elevator boarding / alighting areas set on each floor;
Current position calculation means for estimating the current position of the self by calculation;
A person detecting means for detecting the presence of a person within a predetermined range around the self;
Signal transmission means for transmitting and receiving a predetermined signal to and from the elevator control device for controlling the elevator lift;
Door opening and closing control means for controlling opening and closing of the door of the elevator,
When the current position of the vehicle is in the elevator boarding / alighting area and no person is present in the elevator boarding / alighting area for a certain period of time, an elevator boarding call signal is output to the elevator controller, An autonomous mobile robot that controls the opening and closing of doors when it arrives at the floor where it is.

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