JP2023163263A - Abnormality detection system, abnormality detection device, building facility management device - Google Patents

Abstract

To provide an abnormality detection system capable of determining the abnormality of a robot on the basis of radio field intensity of radio wave transmitted from a transmission device loaded on a self-traveling robot, an abnormality detection device and a building facility management device.SOLUTION: An abnormality detection system 100 comprises a building facility management device 10 having a trigger signal transmitting part 11b transmitting the trigger signal on the basis of a utilization state of the building facility, and an abnormality detection part 20 having: a trigger signal receiving part 21b receiving the trigger signal transmitted from the trigger signal transmitting part 11b; an acquiring part 21c acquiring the radio wave transmitted from the robot 30 moving in the building and received by an antenna device 40; and a determination part 21d determining abnormality of the robot 30 on the basis of the trigger signal received by the trigger signal receiving part 21b and the radio field intensity of radio wave acquired by the acquiring part 21c.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to an abnormality detection system, an abnormality detection device, and a building facility management device.

Patent Document 1 discloses that a hands-free tag reading device is provided on the door, and the approach speed of the hands-free tag to the door is analyzed based on changes in radio wave intensity when receiving radio waves output from the hands-free tag. An access control system has been disclosed. This entrance/exit management system prompts users to take actions depending on their approaching speed.

Re-table No. 2017-203658

The entrance/exit control system disclosed in Patent Document 1 does not have a configuration for determining an abnormality, so it determines whether the robot is abnormal based on the radio field intensity of the radio waves transmitted by the transmitting device mounted on the self-propelled robot. The problem was that I couldn't do it.

The present disclosure has been made in view of the above-mentioned problems, and provides an abnormality detection system and an abnormality detection system that can determine abnormalities in a robot based on the radio field intensity of radio waves transmitted by a transmitting device mounted on a self-propelled robot. The purpose is to provide a detection device and a building equipment management device.

An abnormality detection system according to this disclosure includes a building equipment management device that has a trigger signal transmitter that transmits a trigger signal based on the operating status of building equipment, and a trigger signal receiver that receives the trigger signal transmitted by the trigger signal transmitter. , an acquisition unit that acquires the radio waves transmitted by the robot moving inside the building and received by the antenna device, and an abnormality of the robot based on the trigger signal received by the trigger signal reception unit and the radio field strength of the radio waves acquired by the acquisition unit. The present invention includes a determination unit that determines the abnormality detection device.

The abnormality detection device according to this disclosure includes a trigger signal receiving unit that receives a trigger signal transmitted by a building equipment management device that transmits a trigger signal based on the operating status of the building equipment, and a robot that moves within the building that transmits the trigger signal, The robot includes an acquisition unit that acquires radio waves received by the antenna device, and a determination unit that determines whether there is an abnormality in the robot based on the trigger signal received by the trigger signal reception unit and the radio field intensity of the radio waves acquired by the acquisition unit. be.

The building equipment management device according to this disclosure includes a trigger activation unit that activates a trigger signal based on the operating status of building equipment, and an acquisition unit that acquires radio waves transmitted by a robot moving inside the building and received by an antenna device. , a determination unit that determines whether the robot is abnormal based on the trigger signal activated by the trigger activation unit and the radio field intensity of the radio wave acquired by the acquisition unit.

According to the present disclosure, there is provided an anomaly detection system, an anomaly detection device, and a building equipment management device that can determine an abnormality in a robot based on the intensity of radio waves transmitted by a transmitter mounted on a self-propelled robot. can do.

1 is a diagram showing a robot movement system in Embodiment 1. FIG. 1 is a configuration diagram of an abnormality detection system in Embodiment 1. FIG. 7 is a flowchart showing control of a robot's response to a hall call in Embodiment 1. FIG. 5 is a flowchart showing trigger signal transmission control in the first embodiment. 7 is a flowchart showing control of abnormality detection in the first embodiment. FIG. 3 is a diagram showing a data structure of an abnormality determination database in the first embodiment. FIG. 2 is a configuration diagram of a building server in Embodiment 2. FIG. 7 is a flowchart showing control of abnormality detection in Embodiment 2. FIG.

Embodiment 1.
A robot movement system 200 including an abnormality detection system 100 according to the first embodiment will be described below based on the drawings. Note that the same reference numerals in each drawing represent the same or equivalent configurations and steps. First, the configuration and operation of the robot movement system 200 will be outlined using FIG. 1. FIG. 1 is a diagram showing a robot movement system 200 including an abnormality detection system 100 according to the first embodiment.

An overview of the configuration will be explained. The robot movement system 200 is a system that includes the abnormality detection system 100 and the robot 30 and manages the movement of the robot 30. The anomaly detection system 100 includes a first system 101 having a building server 10 which is a building equipment management device to be described later, and a second system 102 having an anomaly detection device 20 to be described later. That is, the anomaly detection system 100 includes a building server 10 and an anomaly detection device 20.

The first system 101 is a system for controlling building equipment, and the second system is a communication device connected to the building server 10, the robot server 50, the elevator control device 60, the entrance/exit management system 70, and the robot server 50. A communication device 51 is provided. The building server 10 is connected to the robot server 50, the elevator control device 60, and the entrance/exit management system 70 by wire or wirelessly, and manages the exchange of data between the respective components.

The second system 102 is a system that detects an abnormality in the robot 30 and includes an abnormality detection device 20, an alarm device 80, and an antenna 40 connected to the abnormality detection device 20.

The robot 30 is a self-propelled robot that autonomously travels within a building, and includes a first communication device 31 and a transmitting device 32. The first communication device 31 transmits and receives data to and from the second communication device 51 by wireless communication, thereby transmitting information necessary for movement management of the robot 30 and other information between the first system 101 and the robot 30. It is a communication device for exchanging information.

The transmitting device 32 is a device that transmits radio waves different from that of the abnormality detection device 20, and in this embodiment, it is a transmitting device that transmits radio waves that include identification information of the robot 30. More specifically, it is an RFID (radio frequency identifier) tag. Note that the transmitting device is not limited to an RFID tag, and may be any device as long as the abnormality detection device 20 described later can measure radio field intensity, such as a BLE (Bluetooth low energy) tag. Further, as the transmitting device 32, a transmitting/receiving device capable of transmitting and receiving radio waves may be provided.

In the present embodiment, the radio waves transmitted by the transmitting device 32 are transmitted through an antenna 71 provided in the entrance/exit control system 70 and an antenna device provided inside the elevator car 61 controlled by the elevator control device 60. 40.

Next, an overview of the operation will be explained. In the robot movement system 200, communication between the robot 30 and building equipment is performed via the building server 10 and the robot server 50 that manages the robot 30. For example, when the robot 30 calls the elevator car 61 to move between floors, the robot 30 sends a landing call from the first communication device 31 to the second communication device 51 to call the car 61 from the landing. The second communication device 51 transmits the command to the robot server 50. The robot server 50 then transmits the command to the building server 10. Furthermore, the building server 10 transmits the command to the elevator control device 60. Then, the elevator control device 60 performs call registration based on the hall call command from the robot 30, and transmits information including the car number and arrival time of the car 61 assigned to the hall call to the building server 10. Then, the building server 10 transmits information including the car number and arrival time of the car 61 assigned to the hall call to the first communication device 31 of the robot 30 via the robot server 50 and the second communication device 51.

When the building server 10 receives information including the car number and arrival time of the car 61 assigned to the hall call from the elevator control device 60, the building server 10 detects an abnormality in the trigger signal based on the operating status of the building equipment. to the device 20. That is, a trigger signal is transmitted to the abnormality detection device 20 based on the operating status of the elevator, which is a building facility, in which the car 61 is moving to the floor where the robot 30 has called the hall.

In this embodiment, the trigger signal includes information indicating the type of operating status of building equipment, information that allows identification of the robot 30 performing the operation, and reception of radio waves transmitted by the transmitting device 32 in response to the operation of the robot 30. This includes information specifying the antenna 40 that is expected to receive radio waves, and information specifying the time that the antenna 40 is expected to receive the radio waves transmitted by the transmitting device 32.

Specifically, the trigger signal when the building equipment responds to a hall call by the robot 30 includes information indicating that it is a response to the hall call by the robot 30, and information indicating the robot 30 that made the hall call. , information on the number of the car 61 assigned to the hall call, and the arrival time of the car 61. Note that the information included in the trigger signal that can identify the robot 30 may be the same as or different from the identification information included in the radio waves transmitted from the transmitter 32 of the robot 30. Furthermore, in this explanation, the arrival time of the car 61 is the time when the car 61 arrives at the floor where the hall call was made and the door opens.

The abnormality detection device 20 that has received the trigger signal receives information indicating the type of operating status of the building equipment included in the trigger signal, information that can identify the robot 30 performing the operation, and radio waves transmitted by the transmitting device 32. Based on the time when the antenna 40 is expected to receive the radio wave, a time-series change in the radio field intensity of the radio wave that the antenna 40 is expected to receive is predicted, and the expected radio field intensity is specified. Then, the abnormality detection device 20 detects the received radio waves from the antenna 40 identified from the information identifying the antenna 40 that is expected to receive the radio waves transmitted by the transmitting device 32 due to the operation of the robot 30 included in the trigger signal. get. Then, an abnormality is detected by comparing the predicted radio field strength and the time-series change in the radio field strength of the actually received radio waves.

According to the above, it is possible to determine whether the robot 30 is abnormal based on the radio field intensity of the radio waves transmitted by the transmitter 32 mounted on the robot 30. Specifically, for example, when the door of the car 61 is opened at a landing called by the robot 30 and the robot 30 gets on the car, the intensity of the radio waves received by the antenna 40 provided inside the car 61 increases. If it is expected that the received radio wave intensity will become stronger over time, but there is almost no change in the intensity of the actually received radio waves, it can be determined that there is an abnormality in which the robot 30 is not moving.

Next, the configuration of the abnormality detection system 100 will be described in detail using FIG. 2. FIG. 2 is a configuration diagram of the abnormality detection system 100.

In this embodiment, the abnormality detection system 100 includes the first system 101 and the second system 102 that have already been described. The first system 101 includes a building server 10, a robot server 50, an elevator control device 60, an entrance/exit management system 70, and a second communication device 51. The second system 102 also includes an abnormality detection device 20, an alarm device 80, and an antenna 40. First, the configuration of the first system 101 will be explained.

A building server 10, which is a building equipment management device, includes a processor 11, a storage section 12, and an interface 13.

The processor 11 is a CPU (Central Processing Unit), and is connected to the storage section 12 and the interface 13 to exchange information. The processor 11 includes a control section 11a, a trigger signal transmission section 11b, and a monitoring section 11c.

The control unit 11a includes a trigger signal transmitting unit 11b, a monitoring unit 11c, and a software module that controls the entire building server 10.

The trigger signal transmitter 11b includes a software module that transmits a trigger signal based on the operating status of building equipment. Specifically, the trigger signal transmitter 11b includes a software module that determines whether there is operation of building equipment serving as a trigger, a software module that creates a trigger signal, and a software module that transmits the trigger signal.

The monitoring unit 11c includes a software module that acquires the operating status of the robot 30 from the robot server 50.

The storage unit 12 is a storage device composed of nonvolatile memory and volatile memory. In addition, the storage unit 12 stores information used in the processing of the processor 11, and stores information generated by the processing of the processor 11.

The interface 13 includes electrical wire terminals for connection to the robot server 50, the elevator control device 60, the entrance/exit management system 70, and the abnormality detection device 20. Note that the interface 13 may be used as a wireless communication device to be connected to other components via wireless communication.

The robot server 50 is a server device that manages the robot 30 that moves within the building. The robot server 50 is connected by wire or wirelessly to one or more second communication devices 51 and the building server 10 installed in the building, and when a request for building equipment is sent from the robot 30, It is sent to the server 10. Further, the robot server 50 transmits a request to the robot 30 when the building server 10 makes a request to the robot 30. Further, the robot server 50 may adjust the movement of the plurality of robots 30. Note that in this embodiment, the robot server 50 is a server managed by a different administrator from the administrator of the building server 10. Further, a plurality of robot servers 50 may be provided.

The second communication device 51 is a communication device that transmits and receives information to and from the first communication device 31 mounted on the robot 30 by wireless communication. In this embodiment, one second communication device 51 is installed in the building, and communication is always possible no matter where the robot 30 is in the building. Note that a plurality of second communication devices 51 may be installed in a building, like antennas 40 to be described later, and may transmit and receive information when the robot 30 passes nearby.

The elevator control device 60 operates a drive device (not shown) and moves the elevator car 61 in accordance with instructions sent from the robot 30 via a hall operation panel and a car operation panel (not shown), as well as the robot server 50 and the building server 10. It is a control device that allows In this embodiment, the elevator control device 60 is also a group management device that allocates hall calls from humans or robots 30 to a plurality of cars 61. Further, in the present embodiment, when the elevator control device 60 receives a hall call from the robot 30, the elevator control device 60 controls the assigned car 61 and the floor on which the hall call was made. The arrival time of the car 61 is transmitted to the building server 10.

The entrance/exit control system 70 includes an antenna 71 installed at a gate in the building, receives radio waves transmitted from the transmitter 32 of the robot 30 with the antenna 71, and identifies information contained in the radio waves set in advance. The system opens the gate if the identification information is authorized to pass through the gate. Furthermore, in this embodiment, the entry/exit management system 70 is a system that stores entry/exit of the robot 30 based on identification information included in radio waves received by the antenna 71. In this embodiment, antenna 71 is similar to antenna 40, which will be described later. In the present embodiment, the entrance/exit management system 70 receives a radio wave from the transmitting device 32 of the robot 30 when the antenna 71 receives a passage request from the robot 30 via the robot server 50 and the building server 10. It is a system that opens the gate in case.

Next, the configuration of the second system 102 will be explained.

The abnormality detection device 20 includes a processor 21, a storage section 22, and an interface 23.

The processor 21 is a CPU, and is connected to the storage section 22 and the interface 23 to exchange information. The processor 21 includes a control section 21a, a trigger signal reception section 21b, an acquisition section 21c, a determination section 21d, and an alarm section 21e.

The control unit 21a includes a trigger signal reception unit 21b, an acquisition unit 21c, a determination unit 21d, an alarm unit 21e, and a software module that controls the entire abnormality detection device 20.

The trigger signal receiving section 21b includes a software module that receives a trigger signal transmitted from the building server 10.

The acquisition unit 21c includes a software module that specifies the antenna 40 and the time when radio waves are expected to be received, and a software module that acquires the radio waves received by the antenna 40 at the specified time from the specified antenna 40.

The determination unit 21d includes a software module that determines whether the robot 30 is abnormal based on the trigger signal received by the trigger signal reception unit 21b and the radio field intensity of the radio wave acquired by the acquisition unit 21c.

The alarm unit 21e includes a software module that transmits a command to an alarm device 80, which will be described later, to issue an alarm when the determination unit 21d determines that there is an abnormality.

The storage unit 22 is a storage device composed of nonvolatile memory and volatile memory. The storage unit 22 stores an abnormality determination database 90, which will be described later. In addition, the storage unit 22 stores information used in the processing of the processor 21, and stores information generated by the processing of the processor 21.

The interface 23 is provided with an electric wire terminal for connection to the antenna 40 and the alarm device 80. Note that the interface 23 may be used as a wireless communication device to be connected to other components by wireless communication.

The antenna 40 is an antenna device installed inside a building, and in this embodiment, a plurality of antennas are installed inside the building. In this description, among the antennas 40, the antenna installed inside the car 61 is also simply referred to as the antenna 40.

The antenna 40 receives radio waves transmitted from the transmitting device 32. Specifically, this radio wave is, for example, a long-wave LF (Long Frequency) radio wave, and the antenna 40 is an LF antenna.

The alarm device 80 is a device that issues an alarm in accordance with a command transmitted from the alarm unit 21e. Specifically, in this embodiment, it is a speaker device. Note that the alarm device 80 may be any device that can issue an alarm, such as a monitor or a lamp.

Next, the operation of this embodiment will be explained using FIGS. 3 to 5. FIG. 3 is a flowchart showing control of the response of the robot 30 to a hall call by the control unit 11a of the building server 10.

In step S11, the control unit 11a waits for the robot 30 to make a hall call via the robot server 50. The control unit 11a repeats step S11 until there is a hall call, and if there is a hall call, the process proceeds to step S12. Further, the control unit 11a stores information capable of identifying the robot 30 that made the hall call, specifically, an identification number, in the storage unit 12. Note that if the hall call by the robot 30 is fraudulent at this time, the control unit 11a may repeat step S11 without proceeding to step S12.

In step S12, the control unit 11a transmits a hall call by the robot 30 to the elevator control device 60. Specifically, information about the floor on which the robot 30 made the hall call is transmitted to the elevator control device 60. Then, the control unit 11a advances the process to step S13. When the robot 30 requests dedicated operation, this may be transmitted to the elevator control device 60. In addition, if the weight of the robot 30 or the like is used for assignment to the elevator control device 60, such information may be transmitted.

In step S13, the control unit 11a receives the car number and arrival time of the car 61 assigned to the hall call transmitted from the elevator control device 60, stores it in the storage unit 12, and executes the process in step S13. Proceed to S14.

In step S14, the control unit 11a transmits the car number and arrival time of the car 61 assigned to the hall call to the robot 30 via the robot server 50. The control unit 11a then returns the process to step S11.

Next, the operation of the trigger signal transmitter 11b will be explained using FIG. FIG. 4 is a flowchart showing trigger signal transmission control by the trigger signal transmitter 11b.

In step S21, the trigger signal transmitter 11b waits for the building equipment to become a trigger to operate. If there is an operation of building equipment that serves as a trigger, the trigger signal transmitter 11b advances the process to step S22.

In this embodiment, one of the operations of the building equipment that is a trigger is a response to a hall call from the robot 30 of the elevator control device 60. For example, the trigger signal transmitter 11b processes the presence or absence of the process in step S13 of the control unit 11a as a flag, and if the process in step S13 is performed, the process proceeds to step S22.

In the following description, the response of the elevator control device 60 to the hall call of the robot 30 will be described as the operation of the building equipment, but the operation of the building equipment that becomes the trigger may be other operations.

In step S22, the trigger signal transmitter 11b creates a trigger signal and advances the process to step S23. The trigger signal is expected to include information indicating the type of operating status of the building equipment, information that can identify the robot 30 performing the operation, and reception of radio waves transmitted by the transmitting device 32 in response to the operation of the robot 30. This information includes information specifying the antenna 40 and information specifying the time when the antenna 40 is expected to receive the radio waves transmitted by the transmitting device 32.

Specifically, the trigger signal transmitter 11b specifies information indicating the type of operation status of the building equipment based on the operation of the building equipment processed as a flag in step S21. In this explanation, the information indicating the type of operating status of the building equipment is information indicating that the robot 30 is responding to a hall call. Further, the trigger signal transmitting unit 11b transmits information that allows the robot 30 performing the operation to be identified, based on the identification information of the robot 30 that made the hall call, which was stored in the storage unit 12 by the control unit 11a in step S11. Identify. Then, the trigger signal transmitter 11b transmits a radio wave transmitted by the transmitter 32 by the operation of the robot 30, based on the car number and arrival time of the car 61 assigned to the hall call that the controller 11a stored in the storage unit 12 in step S14. Information specifying the antenna 40 that is expected to receive the radio wave and information specifying the time when the antenna 40 is expected to receive the radio wave transmitted by the transmitting device 32 are specified. Then, a signal including this information is temporarily stored in the storage unit 12 as a trigger signal.

In step S23, the trigger signal transmitter 11b transmits the trigger signal created in step S22 to the abnormality detection device 20, and returns the process to step S21.

Next, the operation of the abnormality detection device 20 will be explained using FIG. 5. FIG. 5 is a flowchart showing control of abnormality detection by the abnormality detection device 20.

In step S31, the trigger signal receiving section 21b is waiting for a trigger signal. Then, when a trigger signal is transmitted from the building server 10 via the interface 23, the trigger signal receiving unit 21b receives the trigger signal, stores the information included in the trigger signal in the storage unit 22, and executes the process in step Proceed to S32.

In step S32, the acquisition unit 21c acquires the radio waves transmitted by the transmitting device 32 of the robot 30 from the antenna 40, and advances the process to step S33. Specifically, the acquisition unit 21c is expected to receive radio waves transmitted by the transmitting device 32 due to the movement of the robot 30 included in the trigger signal that the trigger signal receiving unit 21b stored in the storage unit 22 in step S21. The antenna 40 and the time are specified based on information specifying the antenna 40 and information specifying the time when the antenna 40 is expected to receive the radio waves transmitted by the transmitting device 32.

In this description, the trigger signal includes information on the car number assigned to the hall call and the arrival time of the car 61. Based on the car number assigned to the hall call, the acquisition unit 21c identifies the antenna 40 installed in the car 61 of the car from the database stored in advance in the storage unit 22. Then, at a predetermined time from the arrival time of the car 61, that is, the time when the car 61 arrives at the landing and opens its door, information on the radio field strength of the radio waves received by the antenna 40 is obtained from the antenna 40 via the interface 23. , is stored in the storage unit 22.

At this time, the acquisition unit 21c refers to the information included in the trigger signal that specifies the robot 30 that performs the action, and stores in the storage unit 22 information on the radio field intensity of the radio waves being transmitted by the robot 30 that performs the action. Specifically, with reference to the identification information included in the trigger signal, information on the radio field intensity of the radio wave containing the same identification information is stored in the storage unit 22 . In the present disclosure, acquiring radio waves includes acquiring information on the radio field intensity of radio waves received by the antenna 40 as in the present embodiment. As the radio wave strength, it is preferable to use, for example, RSSI (Received Signal Strength Indicator).

In step S33, the determining unit 21d determines whether the robot 30 is abnormal based on the trigger signal received by the trigger signal receiving unit 21b and the radio field intensity of the radio wave acquired by the acquiring unit 21c. If the determination unit 21d determines that there is an abnormality, the process proceeds to step S34, and if it determines that there is no abnormality, the process proceeds to step S31.

Specifically, the determination unit 21d identifies the expected radio field strength corresponding to the trigger signal from the abnormality determination database 90 shown in FIG. 6 with reference to information indicating the type of operating status of the building equipment included in the trigger signal. .

The abnormality determination database 90 associates operation type information 91 indicating the type of operating status of building equipment, expected radio field strength information 92 indicating the expected radio field strength corresponding to a trigger signal, and abnormality determination information 93 indicating the result of abnormality determination. This is a database that has been stored.

The determination unit 21d compares the information indicating the type of operation status of the building equipment included in the trigger signal from the abnormality determination database 90 with the operation type information 91, and determines expected radio field strength information associated with the matching operation type information 91. Identify 92. The determination unit 21d then compares the expected radio field strength information 92 with the information on the actual radio field strength stored in the storage unit 22 by the acquisition unit 21c in step S32. The determination unit 21d determines whether the robot 30 is abnormal based on the abnormality determination information 93 corresponding to the expected radio field strength information 92 to which the actual radio field strength corresponds. In this embodiment, the determination unit 21d determines not only the presence or absence of an abnormality but also the type of abnormality.

In this explanation, the information indicating the type of operation status of the building equipment is the operation type information 91 that corresponds to "hall call response" in FIG. 6 because it indicates a response to a hall call by the robot 30. According to FIG. 6, the predicted radio field strength information 92 associated with this and the corresponding abnormality determination information 93 indicate that when the time-series change in radio field strength is "greater than -3 and 3 or less," "the robot 30 This indicates that the vehicle is judged to be abnormal and has stopped. Additionally, if the time-series change in radio field strength is "greater than 3 and less than or equal to 10," it is determined that "the robot 30 is abnormal and has difficulty moving." 30 or less, it is determined that "the robot 30 is normal." If the time-series change in radio field strength is "-3 or less or greater than 30," it is determined that "the robot 30 is abnormal and has run out of control." This indicates that it is determined that the

The determination unit 21d calculates the difference between the maximum and the minimum of the radio field intensity information stored in the storage unit 22 by the acquisition unit 21c as a time-series change in radio field strength, and calculates the difference between the maximum and the minimum value of the radio field strength information stored as the expected radio field strength information 92. An abnormality in the robot 30 is determined by comparing with the robot 30. If there is an abnormality in the robot 30, the determination unit 21d stores the type of abnormality in the storage unit 22 and advances the process to step S34.

In the present embodiment, the expected radio field strength is information on a threshold value indicating the magnitude of a time-series change in radio field strength at a predetermined time. Note that the expected radio field strength is not limited to this, and may be the maximum value or minimum value of the radio field strength, or the number of peaks of time-series changes in the radio field strength. Further, the expected radio field strength is a radio field strength at which a normality determination is made, and the determination unit 21d may determine an abnormality based on the difference from the expected radio field strength.

In step S34, the alarm unit 21e outputs a command to cause the alarm device 80 to issue an alarm, and the process returns to step S31. Specifically, the alarm unit 21e transmits to the alarm device 80 a command including information on the type of abnormality stored in the storage unit 22 by the determination unit 21d in step S33. The alarm device 80 that has received the command outputs a different message from the speaker based on the information on the type of abnormality included in the command.

As described above, according to the present embodiment, it is possible to determine whether the robot 30 is abnormal based on the radio field intensity of the radio waves transmitted by the transmitting device 32 mounted on the robot 30.

In this embodiment, since an abnormality is determined when a trigger signal is sent to the abnormality detection device 20, the load on the device can be reduced compared to a case where abnormality is always determined. . In addition, the trigger signal makes clear the expected radio field strength, which is an index for determining whether the acquired radio field strength is normal, making it possible to accurately determine abnormality. Furthermore, it becomes clear at what timing the radio field strength of the radio waves should be acquired.

This embodiment is particularly useful in that it can determine abnormalities other than runaway, compared to an abnormality determining device that constantly acquires radio field intensity and determines the presence or absence of an abnormality. Even in an abnormality determination measure that constantly acquires the radio field strength and determines whether there is an abnormality, it is possible to detect a sudden change in the radio field strength and determine an abnormality when moving at a speed that a normal robot 30 cannot perform. It is. However, since a normal robot 30 may stop or move at a slower speed than usual, if a robot 30 in which the radio field strength received by the antenna 40 does not change or a robot 30 in which the radio field strength changes gradually is detected. Even so, it cannot be immediately determined that there is an abnormality. According to the present embodiment, the expected radio field strength is specified by the trigger signal, so if a predetermined time-series change that is a normal change in radio field strength cannot be detected, an abnormality cannot be determined. can.

According to this embodiment, since information for identifying the robot 30 is included in the trigger signal, it is possible to determine whether a specific robot 30 is abnormal even in an environment where a plurality of robots 30 are running.

According to the present embodiment, since the trigger signal includes information identifying the antenna 40 that is expected to receive the radio waves transmitted by the transmitting device 32 due to the movement of the robot 30, the antenna 40 may be installed at multiple locations. An abnormality in the robot 30 can be determined using the antenna 40 .

In this embodiment, since the antenna 71 of the access control system 70 and the antenna 40 are the same, the antenna 71 of the access control system 70 can be used.

Further, since the alarm is issued by outputting a command to the alarm device 80, the equipment manager is notified of an abnormality in the robot 30, and it is possible to take early action.

In this embodiment, since the antenna 40 is installed inside the car 61, it is possible to determine whether there is an abnormality in the operation of the robot 30 getting into the car 61.

Embodiment 2.
An anomaly detection system 100 according to the first embodiment includes a building server 10 that transmits a trigger signal and an anomaly detection device 20 that receives the trigger signal. An abnormality was determined. The building server 10 of this embodiment includes a trigger activation unit 11d, which activates a trigger signal and detects an abnormality within the server. Hereinafter, differences from Embodiment 1 will be mainly explained.

The configuration of the embodiment will be described using FIG. 7. FIG. 7 is a configuration diagram of the building server 10 in this embodiment. A building server 10, which is a building equipment management device in this embodiment, includes a processor 11, a storage unit 12, and an interface 13, as in the first embodiment.

In the present embodiment, the processor 11 includes, in addition to the control unit 11a and the monitoring unit 11c, an acquisition unit 21c, a determination unit 21d, an alarm unit 21e, and a trigger activation unit, which were included in the abnormality detection device 20 in the first embodiment. It has a section 11d.

The trigger activation unit 11d includes a software module that activates a trigger signal based on the operating status of building equipment. Specifically, the trigger activation unit 11d includes a software module that determines whether there is operation of building equipment that serves as a trigger, a software module that creates a trigger signal, and a software module that causes the acquisition unit 21c to start acquiring radio waves. ing.

The storage unit 12 stores information stored in the storage unit 12 and the storage unit 22 of the first embodiment.

In addition to the terminals provided in the interface 13 of Embodiment 1, the interface 13 is provided with an electric wire terminal for connection to the antenna 40 and the alarm device 80.

Next, the operation of the second embodiment will be explained using FIG. 8. FIG. 8 is a flowchart showing control of abnormality detection by the building server 10 in this embodiment.

In step S21a, the trigger activation unit 11d waits for the building equipment serving as a trigger to operate, similar to step S21 by the trigger signal transmission unit 11b of the first embodiment. When there is operation of the building equipment serving as a trigger, the trigger activation unit 11d advances the process to step S4.

In step S4, the trigger activation unit 11d activates a trigger signal. Specifically, the trigger activation unit 11d creates a trigger signal and stores it in the storage unit 12 in the same manner as in step S22 by the trigger signal transmission unit 11b of the first embodiment. Then, the trigger activation unit 11d advances the process to step S32a, which is the process of the acquisition unit 21c.

In step S32a, the acquisition unit 21c acquires radio waves from the antenna 40 corresponding to the activated trigger signal, and the process proceeds to step S33a, similarly to step S32 of the first embodiment.

In step S33a and step S34a, the determination unit 21d and the alarm unit 21e perform the same processing as in step S33 and step S34 of the first embodiment. However, in the first embodiment, the process proceeds to step S21a instead of proceeding to step S31.

As described above, according to the present embodiment, the same effects as in the first embodiment can be obtained. Furthermore, according to the present embodiment, it is possible to determine and report an abnormality without providing the abnormality detection device 20 in addition to the building server 10.

Although the embodiment has been described above, the present invention is not limited to this embodiment. A modified example is shown below.

In the first embodiment, the control unit 11a that controls the entire building server 10 and the trigger signal transmitting unit 11b that creates and transmits a trigger signal are described as having different configurations, but they may have the same configuration. For example, in step S14, the control unit 11a may send the information sent to the robot server 50 to the abnormality detection device 20 as a trigger signal. In this case, the control section 11a is the trigger signal transmitting section 11b. In this case, compared to the case where the building server 10 also serves as the abnormality detection device 20 as in the second embodiment, there is an advantage that there is no need to add a new program to the building server 10.

In the embodiment, communication between the building server 10 and the robot 30 is performed via the robot server 50, but of course the building server 10 and the robot 30 may communicate directly.

In the embodiment, the radio waves transmitted by the transmitter 32 include the identification information of the robot 30, but may not include the identification information. This is because there is no need to identify the robots 30 when there are few robots 30 autonomously running inside the building.

In the embodiment, the abnormality detection device 20 and the access management system 70 have different configurations, but the same device may have both functions. Naturally, other devices such as the elevator control device 60 and the building server 10 may also have the functions of a plurality of devices in the same device, or may be located on the cloud.

In the embodiment, the determination unit 21d identifies the expected radio field intensity corresponding to the trigger signal from the abnormality determination database 90 with reference to information indicating the type of operating status of the building equipment included in the trigger signal. Alternatively, information on the type of robot 30 may be added to the trigger signal, and the expected radio field strength may be specified by referring to the type of robot 30 together with the type of operating status. On the other hand, the abnormality detection device 20 does not include information indicating the type of operation status of the building equipment in the trigger signal, and the abnormality detection device 20 detects the acquisition unit 21c at a predetermined time from when the trigger signal reception unit 21b receives the trigger signal. An abnormality in the robot 30 may be determined by evaluating the radio wave intensity of the radio waves acquired by the robot 30 . In the present disclosure, such a determination is also referred to as a determination based on the trigger signal received by the trigger signal receiving section 21b and the radio wave intensity of the radio wave acquired by the acquiring section 21c.

Furthermore, the operating status of the robot 30 may be added to the trigger signal. Specifically, the operating status of the robot 30 acquired by the monitoring unit 11c may be added to the trigger signal. The operating status of the robot 30 includes, for example, a mode in which the moving speed is different from the normal state, such as high-speed running, cleaning operation, or energy-saving operation, or a known failure such as a flat tire. The determination unit 21d may determine an abnormality based on the trigger signal including the operating status of the robot 30.

In the embodiment, the response to a hall call by the robot 30 is used as an example of the operating status of building equipment that is a condition for transmitting or activating a trigger signal, but the present invention is not limited to this, of course. For example, the timing at which the robot 30 gets off the car 61 may be the timing at which the trigger signal is transmitted or activated. Specifically, the arrival of the car 61 carrying the robot 30 at the destination floor may be used as the operational status of the building equipment, which is a condition for transmitting or activating the trigger signal. Alternatively, for example, a gate having the second communication device 51 may be provided in the building, and the second communication device 51 may transmit to the building server 10 that the robot 30 has passed through the gate, which is a building equipment, as a trigger.

In the embodiment, the antenna 40 is installed inside the car 61, but the antenna 40 may of course be installed in a place other than the car 61, and a plurality of antennas 40 may be installed. For example, the antenna 40 is also installed in the landing area, and based on the intensity of the radio waves received by the antenna 40 installed inside and outside the car 61, if either or both of them are abnormal, it is determined that the antenna 40 is abnormal. It's okay.

In the embodiment, the trigger signal transmitting unit 11b and the trigger activating unit 11d are configured to transmit or activate when responding to a hall call by the robot 30, but they may also be configured to transmit when the door of the car 61 is opened. .

Hereinafter, various aspects of the present disclosure will be collectively described as supplementary notes.
(Additional note 1)
a building equipment management device having a trigger signal transmitter that transmits a trigger signal based on the operating status of the building equipment;
a trigger signal receiving section that receives the trigger signal transmitted by the trigger signal transmitting section;
an acquisition unit that acquires radio waves transmitted by the robot moving within the building and received by the antenna device;
a determining unit that determines whether the robot is abnormal based on the trigger signal received by the trigger signal receiving unit and the radio wave intensity of the radio wave acquired by the acquiring unit;
an anomaly detection device having;
Anomaly detection system with
(Additional note 2)
The abnormality detection system according to supplementary note 1, wherein the determination unit determines an abnormality in the robot by comparing the expected radio field intensity corresponding to the trigger signal and the radio field intensity acquired by the acquisition unit.
(Additional note 3)
The expected radio field strength is information about a predetermined time series change in radio field strength,
The abnormality detection system according to supplementary note 2, wherein the determination unit determines an abnormality in the robot by comparing the expected radio field intensity with a time-series change in the radio field intensity acquired by the acquisition unit.
(Additional note 4)
The expected radio field strength is information on a predetermined threshold value indicating the magnitude of a time-series change in radio field strength,
The abnormality detection system according to supplementary note 3, wherein the determination unit determines that the robot is abnormal when the magnitude of the time-series change in radio field intensity acquired by the acquisition unit is larger or smaller than the threshold value.
(Appendix 5)
The abnormality detection system according to any one of Supplementary Notes 1 to 4, wherein the determination unit determines the type of abnormality in the robot based on the trigger signal and the radio field intensity of the radio wave acquired by the acquisition unit.
(Appendix 6)
The abnormality detection system according to any one of Supplementary Notes 1 to 5, wherein the radio waves transmitted by the robot include identification information of the robot.
(Appendix 7)
The abnormality detection system according to any one of Supplementary Notes 1 to 6, wherein the trigger signal is a signal indicating that a door of the elevator car is opened.
(Appendix 8)
The abnormality detection system according to appendix 7, wherein the antenna device is installed inside the cage.
(Appendix 9)
The abnormality detection device includes:
The abnormality detection system according to any one of Supplementary Notes 1 to 8, further comprising: an alarm unit that causes an alarm device to issue an alarm when the determination unit determines that there is an abnormality.
(Appendix 10)
a trigger signal receiving unit that receives the trigger signal transmitted by a building equipment management device that transmits the trigger signal based on the operating status of the building equipment;
an acquisition unit that acquires radio waves transmitted by the robot moving within the building and received by the antenna device;
a determining unit that determines whether the robot is abnormal based on the trigger signal received by the trigger signal receiving unit and the radio wave intensity of the radio wave acquired by the acquiring unit;
An anomaly detection device equipped with.
(Appendix 11)
a trigger activation unit that activates a trigger signal based on the operating status of the building equipment;
an acquisition unit that acquires radio waves transmitted by the robot moving within the building and received by the antenna device;
a determination unit that determines whether the robot is abnormal based on the trigger signal activated by the trigger activation unit and the radio field intensity of the radio wave acquired by the acquisition unit;
A building equipment management device equipped with

Reference Signs List 10 building server, 11 processor, 11a control unit, 11b trigger signal transmission unit, 11c monitoring unit, 11d trigger activation unit, 12 storage unit, 13 interface, 20 abnormality detection device, 21 processor, 21a control unit, 21b trigger signal reception unit , 21c acquisition unit, 21d determination unit, 21e alarm unit, 22 storage unit, 23 interface, 30 robot, 31 first communication device, 32 transmission device, 40 antenna, 50 robot server, 51 second communication device, 60 elevator control device, 61 cage, 70 entry/exit control system, 71 antenna, 80 alarm device, 90 abnormality determination database, 91 operation type information, 92 expected radio field strength information, 93 abnormality determination information, 100 abnormality detection system, 101 first system, 102 Second system, 200 Robot movement system

An abnormality detection system according to this disclosure includes a building equipment management device that has a trigger signal transmitter that transmits a trigger signal based on the operating status of building equipment, and a trigger signal receiver that receives the trigger signal transmitted by the trigger signal transmitter. an acquisition unit that acquires the radio waves transmitted by the robot moving in the building and received by the antenna device in response to the trigger signal reception unit receiving the trigger signal; The apparatus includes: a determination section that determines whether the robot is abnormal based on the radio field intensity of the radio waves acquired by the acquisition section; and an abnormality detection device.

The abnormality detection device according to this disclosure includes a trigger signal receiving unit that receives a trigger signal transmitted by a building equipment management device that transmits a trigger signal based on the operating status of the building equipment, and a robot that moves within the building that transmits the trigger signal, an acquisition unit that acquires the radio waves received by the antenna device in response to the trigger signal reception unit receiving the trigger signal; and an acquisition unit that acquires the radio waves received by the antenna device based on the trigger signal received by the trigger signal reception unit and the radio wave intensity of the radio waves acquired by the acquisition unit. The robot is equipped with a determination unit that determines whether there is an abnormality in the robot.

The building equipment management device according to this disclosure includes a trigger activation unit that activates a trigger signal based on the operating status of the building equipment, and a trigger activation unit that receives radio waves transmitted by a robot moving inside the building and received by an antenna device. An acquisition unit that acquires data in response to activation of a trigger signal , and a determination unit that determines abnormality in the robot based on the trigger signal activated by the trigger activation unit and the radio wave intensity of the radio wave acquired by the acquisition unit. It is.

Claims (11)

a building equipment management device having a trigger signal transmitter that transmits a trigger signal based on the operating status of the building equipment;
a trigger signal receiving section that receives the trigger signal transmitted by the trigger signal transmitting section;
an acquisition unit that acquires radio waves transmitted by the robot moving within the building and received by the antenna device;
a determining unit that determines whether the robot is abnormal based on the trigger signal received by the trigger signal receiving unit and the radio wave intensity of the radio wave acquired by the acquiring unit;
an anomaly detection device having;
Anomaly detection system equipped with The abnormality detection system according to claim 1, wherein the determination unit determines whether the robot is abnormal by comparing an expected radio field intensity corresponding to the trigger signal and a radio field intensity acquired by the acquisition unit. The expected radio field strength is information about a predetermined time series change in radio field strength,
The abnormality detection system according to claim 2, wherein the determination unit determines an abnormality in the robot by comparing the expected radio field intensity with a time-series change in the radio field intensity acquired by the acquisition unit. The expected radio field strength is information on a predetermined threshold value indicating the magnitude of a time-series change in radio field strength,
The abnormality detection system according to claim 3, wherein the determination unit determines that the robot is abnormal when the magnitude of the time-series change in radio field intensity acquired by the acquisition unit is larger or smaller than the threshold value. The abnormality detection system according to any one of claims 1 to 4, wherein the determination unit determines the type of abnormality in the robot based on the trigger signal and the radio field intensity of the radio wave acquired by the acquisition unit. The abnormality detection system according to any one of claims 1 to 4, wherein the radio waves transmitted by the robot include identification information of the robot. The abnormality detection system according to any one of claims 1 to 4, wherein the trigger signal is a signal indicating that a door of an elevator car is opened. The abnormality detection system according to claim 7, wherein the antenna device is installed inside the cage. The abnormality detection device includes:
The abnormality detection system according to any one of claims 1 to 4, further comprising an alarm unit that causes an alarm device to issue an alarm when the determination unit determines that there is an abnormality. a trigger signal receiving unit that receives the trigger signal transmitted by a building equipment management device that transmits the trigger signal based on the operating status of the building equipment;
an acquisition unit that acquires radio waves transmitted by the robot moving within the building and received by the antenna device;
a determining unit that determines whether the robot is abnormal based on the trigger signal received by the trigger signal receiving unit and the radio wave intensity of the radio wave acquired by the acquiring unit;
An anomaly detection device equipped with. a trigger activation unit that activates a trigger signal based on the operating status of the building equipment;
an acquisition unit that acquires radio waves transmitted by the robot moving within the building and received by the antenna device;
a determination unit that determines whether the robot is abnormal based on the trigger signal activated by the trigger activation unit and the radio field intensity of the radio wave acquired by the acquisition unit;
A building equipment management device equipped with

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