JP6623341B2 - Facility management and operation system - Google Patents

Description

  The present invention relates to an in-facility management and operation system, particularly applied to an autonomous mobile body and an in-facility management and operation system that is useful for improving services to users in an airport, reducing the work load of employees, and improving maintenance and management in an airport. It is suitable.

  In recent years, many autonomous mobile robots such as automatic cleaning robots have been proposed which are equipped with SLAM (Simultaneous Localization and Mapping) technology for estimating their own position with respect to the external environment and simultaneously creating an environmental map. I have.

  An autonomous mobile robot using this SLAM technology dynamically estimates an own position and dynamically generates an environment map representing a three-dimensional position of an object existing in a real space, thereby moving the own robot. The route is specified to move autonomously in the environment.

  As the demand for air travel continues to increase in recent years, the introduction of the above-mentioned autonomous mobile robots has been promoted for the purpose of improving services at airports and strengthening management and operation. Specifically, the first is to provide high-quality services to airport users on the premise of safety and convenience. The second is to create an environment where airport employees can work in a healthy manner. It is expected to contribute to the support of dynamic maintenance management within.

  2. Description of the Related Art Conventionally, a mobile human interface robot has been proposed. For example, in Patent Literature 1, a method of obtaining a point cloud from a spatial volume by a three-dimensional depth image sensor and identifying a person is used to follow a person. It is made to move.

  Further, in Patent Document 2, there is proposed a follow-up trolley system that moves following a worker who performs a transfer operation in a factory, and switches control based on a departure point by detecting electromagnetic waves or sound waves to thereby control a building or a passage. It is adapted to follow the movement of the leader who goes around the corner.

JP 2014-195868 A JP 2014-92262 A

  By the way, when introducing multiple autonomous mobile robots in an airport, how to contribute to improving services for airport users, how to help reduce the work of airport workers, and how to use airport management systems Specific utilization methods, such as whether or not they can be used for collaborative work, are still groping, and there are various proposals and improvements.

  The present invention has been made in consideration of the above points, and has an autonomous mobile body and an in-facility management and operation system capable of improving service to users, reducing the work load on workers, and improving maintenance management in facilities. It is intended to propose.

  In order to solve this problem, in the present invention, in an autonomous mobile body that freely moves in a facility, a position of the self is estimated with respect to an external environment in the facility, and a planar or three-dimensional environment map is created. A SLAM function unit to be created, and a beacon terminal specific to the autonomous mobile object is held in the target object, and the presence and position of the target object are recognized in real time based on a radio signal from the beacon terminal. Based on the recognition result of the following recognition unit, the autonomous mobile body travels while following the movement of the target object, based on the recognition result of the following recognition unit, and the autonomous mobile body travels based on the output of the SLAM function unit. A travel control unit that appropriately changes a route so that the route does not come into contact with surrounding objects, wherein the travel control unit is configured to move the autonomous mobile body to a specific area designated to be prohibited from entering the facility. At the time when the target object enters, the autonomous mobile body is put into a standby state, and then, at the time when the target object leaves the specific area and the radio signal from the beacon terminal can be received, the autonomous moving object is set. The moving body follows the target object again so as to be able to travel.

  According to the above autonomous mobile body, it is possible to track while accurately grasping the existence and position (access point) of the target object (user) and stand by while the target object enters a specific area. By setting the state, it is possible to always follow the target object in the facility without losing the target object.

  Further, in the present invention, in an in-facility management and operation system in which at least one or more autonomous mobile bodies that freely move in the facility are arranged, and an overall control unit that transmits and receives various information via wireless communication with the autonomous mobile bodies, A SLAM function comprising a plurality of photographing cameras installed in the facility, wherein the autonomous mobile body estimates its own position with respect to an external environment in the facility and simultaneously creates a planar or three-dimensional environment map. And a tracking recognition unit that holds a beacon terminal unique to the autonomous mobile body in a target object and recognizes the presence and position of the target object in real time based on a radio signal from the beacon terminal, On the basis of the recognition result of the following recognition unit, the autonomous mobile body travels while following the movement of the target object, and based on the output of the SLAM function unit, A traveling control unit that appropriately changes a traveling route of the autonomous mobile body so as not to contact a surrounding object, and the overall control unit, when receiving a radio signal indicating a request from the autonomous mobile body, in the facility In addition to recognizing the position of the autonomous moving body in the above, the autonomous moving body is photographed by using at least one or more of the photographing cameras capable of photographing so as to be centered on the subject.

  According to the in-facility management and operation system described above, the efficiency of remote monitoring (enhancement of security) can be significantly improved by linking with the multiple imaging cameras used for remote monitoring when the autonomous mobile robot moves. Become.

  Further, in the present invention, in an in-facility management and operation system in which at least one or more autonomous mobile bodies that freely move in the facility are arranged, and an overall control unit that transmits and receives various information via wireless communication with the autonomous mobile bodies, It comprises a plurality of air conditioners installed for air conditioning including cooling and heating of the entire facility, the autonomous mobile body estimates its own position with respect to the external environment in the facility, at the same time, planar or A SLAM function unit for creating a three-dimensional environmental map, and a beacon terminal unique to the autonomous mobile object held in a target object, and the presence and position of the target object based on a radio signal from the beacon terminal A tracking recognition unit that recognizes in real time, and, based on the recognition result of the tracking recognition unit, while causing the autonomous mobile body to travel while following the movement of the target object, A traveling control unit that appropriately changes the traveling path of the autonomous moving body so as not to come into contact with surrounding objects based on an output of the AM function unit, and a traveling control unit that is mounted at a predetermined height from the floor surface and has a temperature and humidity of the surrounding environment. Temperature and humidity sensor for measuring the, when the overall control unit receives a wireless signal including the measurement result of the temperature and humidity sensor from the autonomous mobile, the position of the autonomous mobile in the facility, Recognizing and controlling the corresponding air conditioners so that the temperature and the humidity around the autonomous mobile body maintain the optimum state.

  In the above in-facility management and operation system, while the air-conditioning management in the facility is being performed collectively, the autonomous mobile body detects the sensed temperature and humidity in real time at a place close to the temperature sensed by humans while traveling. This makes it possible to always maintain a comfortable state of the target object (user) by dynamic air-conditioning control.

  Further, in the present invention, in an in-facility management and operation system in which at least one or more autonomous mobile bodies that freely move in the facility are arranged, and an overall control unit that transmits and receives various information via wireless communication with the autonomous mobile bodies, An inspection area having a first inspection gate for inspecting luggage placed on the autonomous mobile object and a second inspection gate for inspecting the target object is provided, and the autonomous mobile object is provided in the facility. At the same time as estimating its own position with respect to the external environment inside, a SLAM function unit that creates a planar or three-dimensional environment map, and a beacon terminal unique to the autonomous mobile body is held as a target object, A tracking recognition unit that recognizes the presence and position of the target object in real time based on a radio signal from the beacon terminal; and the autonomous mobile unit based on a recognition result of the tracking recognition unit. A traveling control unit that appropriately changes a traveling route of the autonomous mobile body based on an output of the SLAM function unit so that the traveling route does not come into contact with a surrounding object while traveling while following the movement of the target object. The general control unit permits the exit of the inspection area for the target object only when it is determined that the inspection results of both the first and second inspection gates are satisfactory. When it is determined that the inspection result of the first inspection gate has a problem, the autonomous mobile body is made to wait at a predetermined standby position until the target object arrives.

  According to the in-facility management and operation system described above, the inspection gate is divided for the target object (user) and the autonomous mobile body so that the inspection can be performed separately. Can be reduced.

  Further, in the present invention, in an in-facility management and operation system in which at least one or more autonomous mobile bodies that freely move in the facility are arranged, and an overall control unit that transmits and receives various information via wireless communication with the autonomous mobile bodies, The autonomous mobile body estimates its own position with respect to the external environment in the facility and, at the same time, creates a planar or three-dimensional environment map. A traveling control unit that appropriately changes the traveling route so that it does not come into contact with surrounding objects, and a sound collection microphone that collects sounds of the surrounding environment are provided. When an audio signal indicating the sound content is received and it is determined that the situation is necessary based on the sound collection content, the position of the autonomous mobile body in the facility is recognized. Further, the position-recognized autonomous mobile body is photographed by using at least one photographing camera capable of photographing so as to be centered on the subject.

  According to the in-facility management and operation system described above, when the autonomous mobile robot moves, it determines a necessary situation such as an emergency based on the sound collection contents of the surrounding environment and specifies its position, thereby enabling remote monitoring of only voice. It becomes possible. In addition, the efficiency of remote monitoring (enhancement of security) can be significantly improved by linking with a plurality of photographing cameras.

  Further, when it is determined that the sound collection contents based on the audio signals respectively received from the plurality of autonomous mobile bodies are from the same sound source, the sound source position is estimated, and at least one image that can be photographed so that the estimated sound source position becomes the center of the subject. An image was taken using the above camera. According to this in-facility management and operation system, it is possible to further improve the efficiency of remote monitoring by instantaneously identifying and photographing the position of the sound source that caused the necessary situation.

  Further, in the present invention, in an in-facility management and operation system in which at least one or more autonomous mobile bodies that freely move in the facility are arranged, and an overall control unit that transmits and receives various information via wireless communication with the autonomous mobile bodies, The autonomous mobile body estimates a position of the self with respect to an external environment in the facility, and at the same time, based on an output of the SLAM function unit that creates a planar or three-dimensional environment map, based on an output of the SLAM function unit, A traveling control unit that appropriately changes a traveling route of the autonomous mobile body so as not to come into contact with surrounding objects, and a first battery that is detachably mounted and that is a cartridge type as a driving source, and is installed in the facility. A power supply station using a commercial power supply as a supply source, and a plurality of cartridge-type power supply stations movably disposed in the facility and having the same configuration as the first battery. A power supply movable body on which a second battery is detachably mounted, wherein the general control unit, when the power supply movable body reaches the power supply station, a commercial power supply via the power supply station. When the second battery is charged with power from a power source and a wireless signal transmitted from the autonomous mobile body and indicating that the remaining charge amount of the first battery has become equal to or less than a predetermined amount is received, After moving and positioning the power supply movable body near the movable body, the first battery mounted on the autonomous mobile body is taken out, and the plurality of the power supply movable bodies mounted on the power supply movable body are taken out. Replaced with one of the second batteries.

  According to the in-facility management and operation system described above, even when the remaining power of the first battery to which the autonomous mobile is mounted is low, the first battery is replaced with the second battery held by the power supply mobile. It is possible to return to the original state in a relatively short time only by itself, and it is possible to avoid a large temporal loss such as returning to the charging work as in the past.

  ADVANTAGE OF THE INVENTION According to this invention, the cooperation with at least one or more autonomous mobile bodies can implement | achieve the in-facility management and operation system which can perform various management and maintenance in a facility much more efficiently than before.

1 is a conceptual diagram illustrating an overall configuration of an airport management and operation system according to an embodiment of the present invention. It is the perspective view and side view which show the external appearance structure of the autonomous mobile robot concerning the embodiment. FIG. 2 is a block diagram showing a functional configuration of the autonomous mobile robot according to the embodiment. It is a flowchart which shows the processing procedure of a user recognition function. It is a flowchart which shows the processing procedure of a remote monitoring function. It is a flowchart which shows the processing procedure of a mobile battery charging function. It is a flow chart which shows a processing procedure of a security check correspondence function. It is a flowchart which shows the processing procedure of a dynamic air conditioning control function.

  Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.

(1) Schematic Configuration of Airport Management and Operation System FIG. 1 shows an airport management and operation system 1 according to the present invention, which includes a boarding port of a facility such as a bus or a taxi, a boarding procedure port in a passenger terminal, and security. A plurality of autonomous mobile robots 2 are arranged so as to move freely on each floor up to the inspection site and the boarding gate.

  A power supply station 3 is installed at a predetermined position in an airport facility or a passenger terminal, and each of the autonomous mobile robots 2 connects as necessary while detecting the remaining battery power, thereby automatically connecting the robot without human intervention. The battery can be charged or the battery can be replaced.

  Further, in the present invention, when the mobile robot 4 for power supply equipped with a plurality of driving batteries 4A is arranged so as to be freely movable in the facility and is positioned close to each autonomous mobile robot 2, the battery is automatically replaced. Thus, the power supply station 3 functions as a relay.

  In the airport management and operation system 1, a plurality of imaging cameras 5 are installed at all the places in the airport and in the passenger terminal where security management is required, and video data based on the imaging results of all the imaging cameras 5 is provided. It is stored and monitored remotely.

  In the airport management and operation system 1, a plurality of air conditioners (air conditioners) 6 for cooling and heating and air purification in the passenger terminal are arranged at predetermined positions, respectively, to manage the temperature inside the passenger terminal and to control the temperature inside the passenger terminal. Air cleanliness is managed.

  Further, in the airport management and operation system 1, an enormous number of lighting devices 7 are provided inside the passenger terminal and throughout the airport facilities outside the terminal, and the lighting levels are adjusted according to the operating hours of the airport. Adjustments have been made.

  The plurality of photographing cameras 5, the plurality of air conditioners 6, and the plurality of lighting devices 7 are all managed and controlled collectively by the facility general control unit 8 which controls the overall operation and management system 1 in the airport. It has been made.

  The facility general control unit 8 exchanges various information with each autonomous mobile robot 2 via wireless communication so as to perform a cooperation function between the airport management and operation system 1 and each autonomous mobile robot 2. Has been done.

  Further, the facility general control unit 8 manages the power supply station 3 and the mobile robot 4 for power supply, and controls charging processing for the power supply station 3, guided movement of the mobile robot 4 for power supply, and automatic battery replacement. It has been made.

(2) Configuration of Autonomous Mobile Robot As shown in FIGS. 2A to 2C, the autonomous mobile robot 2 is a two-wheel drive type mobile body that can autonomously or self-run in response to an external operation, and is driven by two wheels. It has a substantially disc-shaped traveling base 10 attached so as to have a diameter, and a substantially U-shaped sensor holder 11 erected from the top of the plane.

  The traveling base unit 10 is provided at a lower part of the main body, and a pair of driving wheels 12a and 12b provided at left and right of a center position in the front-rear direction, and is provided at the front and rear, respectively, and is swingable according to the traveling of the autonomous mobile robot 2. The vehicle includes a front caster 13a and a rear caster 13b. The left and right drive wheels 12a and 12b are independently driven by the drive motors 14a and 14b, respectively, and advance and retreat by the forward rotation or reverse rotation of the drive wheels 12a and 12b, respectively, to the forward rotation speed of the drive wheels 12a and 12b. By making a difference, the vehicle travels right or left while moving forward. In addition, the autonomous mobile robot 2 spins by rotating and driving the drive wheels 12a and 12b in directions opposite to each other, that is, the direction changes at that position.

  A laser range sensor 15 that detects an obliquely forward direction and a leftward and rightward obstacle is provided at a position in front of the front casters 13a in the traveling base unit 10. An RGB-D sensor 16 and a 3D distance image sensor 17 capable of three-dimensional scanning are provided at the upper center of the sensor holding unit 11.

  Specifically, the laser range sensor 15 irradiates an object (obstacle) viewed from the installation position, receives the reflected light, and calculates the distance. By measuring the distance at regular angular intervals, fan-shaped distance information on a plane can be obtained at a maximum of 30 m and an angle of 240 degrees.

  The RGB-D sensor 16 has a depth sensor that can measure a distance to an object (obstacle) viewed from the camera in addition to the RGB color camera function, and can perform a three-dimensional scan of the object. . The depth sensor is composed of an infrared sensor, and photographs an object while projecting a single pattern of structured light onto the object, and calculates the depth of each point on the image by triangulation using the parameters.

  For example, when Kinect (trade name of Microsoft Corporation) is applied as the RGB-D sensor 16, for example, a horizontal field of view of 57 degrees, a vertical field of view of 43 degrees, and a sensor range of 1.2 m to 3.5 m can be captured. The RGB image is 640 × 480, and the depth (depth) image is 320 × 240 pixels, and both can be acquired at 30 frames / sec.

  The reason why the RGB-D sensor 16 is installed at the center of the upper portion of the sensor holding unit 11 is that it is impossible to secure a vertical field of view in the traveling base portion almost close to the floor, and the height from the floor to 0.6 m to 1.8 m. Security is required.

  The 3D distance image sensor 17 irradiates an LED pulse, measures the arrival time of the reflected light from the object in pixel units, and at the same time superimposes the acquired image information, thereby calculating the distance information to the object in pixel units. I do. The 3D distance image sensor 17 has higher detection capability than the above-described RGB-D sensor 16 and has a wider viewing angle than the laser range sensor 15, so that it is necessary as a complementary sensor for outdoor use. For example, when a pixel soleil (trade name of Nippon Signal Co., Ltd.) is applied as the 3D distance image sensor 17, a horizontal field of view of 72 degrees, a vertical field of view of 72 degrees, and a sensor range of 0.3 m to 4.0 m are taken. Is possible.

(3) Internal Circuit Configuration of Autonomous Mobile Robot FIG. 3 is a configuration diagram of the overall control unit 20 mounted on the autonomous mobile robot 2. The overall control unit 20 is mainly configured by a microcomputer, and includes a travel control unit 11 that controls the entire system, a target travel route storage unit 12 that stores travel route information, and an operation control unit 13 that controls a drive system.

  The travel control unit 11 stores travel route information from the target travel route storage unit 12 that stores preset travel route information, and detection signals from the laser range sensor 15, the RGB-D sensor 16, and the 3D distance image sensor 17. Based on the estimation of the self-position and the construction of an environment map to be described later, the suitability of the travel route and the necessity of change are determined, and the presence or absence of a travel obstacle is determined.

  For example, when the autonomous mobile robot 2 on the floor of the passenger terminal travels following the user, it is determined whether or not it comes into contact with a traveling obstacle such as a wall surface or just before a staircase. Change the running direction to the following direction of the driver. The travel control unit 11 sends the determined travel route information to the operation control unit 13, and the operation control unit 13 controls the left and right motor drivers 24a, 24b according to the travel route information, and controls the drive motors 14a, 14b. Control rotation.

  Actually, the autonomous mobile robot 2 automatically creates an environment map of a target area where a user or worker in the airport facility and the passenger terminal can walk, using the above-described SLAM technology.

  Specifically, the autonomous mobile robot 2 moves the local map on the grid divided by the two-dimensional grid based on the distance information and the angle information with respect to the target obtained from the laser range sensor 15 and the 3D distance image sensor 17 in the moving environment. An environment map representing the entire desired target area is created while setting as an area indicating.

  At the same time, based on the rotation angle read from an encoder (not shown) corresponding to the pair of drive wheels 12a, 12b of the autonomous mobile robot 2, the travel distance of the own vehicle is calculated, and the next whereabouts map and the current time are calculated. The self-position is estimated from the matching with the environmental map created in the above and the travel distance of the own machine.

  In addition, the autonomous mobile robot 2 includes a communication unit 25 that performs wireless communication, transmits the above-described environmental map data under the control of the general control unit 20, and also controls the facility general control unit 8 (of the airport management and operation system 1). Various control data are received from FIG. 1).

  A temperature / humidity sensor 30 is mounted at the upper center of the sensor holding unit 11 of the autonomous mobile robot 2, and measures the temperature and humidity of the surrounding environment at a predetermined height from the ground (a height position corresponding to the waist of an adult). ).

  Further, the autonomous mobile robot 2 is equipped with an illuminance sensor 31 composed of a photo IC having a spectral sensitivity characteristic close to human visibility, and measures the degree of illumination of the surrounding environment.

  In addition, the autonomous mobile robot 2 is equipped with a microorganism sensor 32 using a heating fluorescence enhancement method, so that the amount of microorganisms such as bacteria and fungi floating in the air can be measured in a relatively short time. I have. When, for example, BM-300C (trade name of Sharp Corporation) is applied as the microorganism sensor 32, the measurement time of the microorganism can be as short as about 10 minutes.

  In addition, an infrared thermography 33 is mounted in the upper center of the sensor holding unit 11 of the autonomous mobile robot 2 to grasp the relationship between the environmental temperature and the body surface temperature of the user, and the user having a body temperature of 38 degrees or more. The skin temperature is estimated.

  Further, a load sensor 34 is mounted on the traveling base unit 10 of the autonomous mobile robot 2, and measures the load of baggage placed on the upper surface of the base unit 10.

  Further, the autonomous mobile robot 2 incorporates two relatively large-capacity driving batteries 16 (16A and 16B) each composed of a secondary battery or a capacitor, and is used as a power source that can be switched in parallel. Has been done. These drive batteries 16 are configured in a detachable cartridge type.

  When the autonomous mobile robot 2 determines that the remaining charge amount of any of the driving batteries 16A and 16B has become equal to or less than a predetermined amount during standby and until the next scheduled operation time, the external power supply station 3 (FIG. The power supply station 3 is moved to 1), and is electrically connected to the internal commercial power supply via the power supply station 3 to perform non-contact charging.

(4) User Recognition Method by Autonomous Mobile Robot The autonomous mobile robot 2 of the present invention includes a communication unit 25 (FIG. 3) for a beacon that adopts the BLE (Bluetooth (registered trademark) Low Energy) communication standard. Receives a radio signal transmitted from a beacon terminal (not shown) worn by a user to be serviced and tracks while accurately grasping the presence and location (access point) of the user It has been made to be.

  It is desirable that the beacon terminal be lightweight, small in size, and low in power consumption in consideration of the convenience of the user having the beacon. As a beacon terminal, thin-film solar cells can be used for power supply control technology that can temporarily stop power supply monitoring, eliminating the need for maintenance such as battery replacement, and can be flexibly deformed. Lightweight ones are particularly desirable.

  In a passenger terminal in an airport, a predetermined area (for example, a restroom, a lounge, a smoking room, etc.) outside a passage of a user is designated as an area where the autonomous mobile robot 2 cannot enter, and the autonomous mobile robot 2 uses SLAM technology. It is stored when the environment map is used.

  FIG. 4 shows a processing procedure for a function of recognizing a corresponding user by the autonomous mobile robot 2. While following the user (SP0), the autonomous mobile robot 2 determines whether or not the user has entered (stopped) the entry-prohibited area (SP1). Then, the autonomous mobile robot 2 itself is set in a standby state (SP2).

  At this time, the autonomous mobile robot 2 determines whether or not it is in the remote monitoring mode (FIG. 5) by the airport management and operation system 1 (SP3). Proceed to processing procedure (SP10).

  In the processing procedure (SP10) shown in FIG. 5, when the autonomous mobile robot 2 is in the standby state, the autonomous mobile robot 2 rotates or swings so as to monitor all directions around the standby position, and performs a predetermined distance (for example, a radius of 50 cm). ) Is started (SP11). When the autonomous mobile robot 2 detects an object that intrudes into the predetermined distance (SP12), it issues a warning by one or both of sound and light, and starts recording of video and audio toward the object (SP12). SP13).

  Further, when the load sensor 34 reacts, for example, when the user's luggage is about to be robbed, or when the object is in contact with the object for more than a predetermined time, the autonomous mobile robot 2 determines that a further emergency has occurred. (SP14), a radio signal indicating an emergency state is transmitted to the facility general control section 8.

  When receiving a wireless signal from the autonomous mobile robot 2, the facility control unit 8 recognizes the position of the autonomous mobile robot 2 in the airport facility and can photograph the autonomous mobile robot 2 so that the autonomous mobile robot 2 is centered on the subject. The photograph is taken using at least one photographing camera 5 (SP15).

  Thereafter, the autonomous mobile robot 2 returns to the processing procedure (SP4) shown in FIG. 4 and stops the sound or light warning when detecting that the object has moved out of the predetermined distance, and performs the video / audio recording during the recording. Also stops the recording operation.

  Then, the autonomous mobile robot 2 recognizes that the user leaves the no-go area, and when it becomes possible to receive wireless communication from the beacon terminal owned by the user (SP5), the autonomous mobile robot 2 The vehicle itself follows the user again to be in a runnable state (SP6). At that time, the autonomous mobile robot 2 stops the rotation or swing for monitoring and ends the detection of the object. Thereafter, when the user returns to the inside of the passage and starts moving, the autonomous mobile robot 2 also follows (SP7).

  In addition, an imaging camera and a sound collecting microphone (both not shown) are mounted on the center upper portion of the sensor holding unit 11 of the autonomous mobile robot 2, and by acquiring a video of the surrounding environment and collecting sound at the same time. In the event that a trouble or the like occurs in the surroundings, it is recorded. Further, the efficiency of the remote monitoring (enhancement of security) can be significantly improved by interlocking with the plurality of imaging cameras 5 used for the remote monitoring of the airport management and operation system 1.

  Further, the autonomous mobile robot 2 determines the presence or absence of an emergency based on the contents of the user's utterance obtained using the photographing camera and the sound collecting microphone or based on the recorded contents of the video and audio, and communicates as necessary. By transmitting the information to the facility general control section 8 via the section, emergency contact is made to the airport staff.

(5) Method of Charging Driving Battery of Autonomous Mobile Robot In the in-flight management and operation system 1 of the present invention, the external power supply station 3 (FIG. 1) is installed at a plurality of predetermined positions in the airport facility. When the autonomous mobile robot 2 is positioned using a commercial power supply as a supply source, it is possible to supply power to the driving battery 16 in a contact or non-contact manner.

  Further, according to the present invention, the power supply mobile robot 4 equipped with a plurality of driving batteries 4A moves to the autonomous mobile robot 2 that has requested charging, without the autonomous mobile robot 2 directly stopping at the power supply station 3. Then, the drive battery 4A is replaced.

  The power supply mobile robot 4 has a cartridge-type drive battery 4A having the same structure as the above-described autonomous mobile robot 2 in the drive system and the like, and having the same configuration as the drive battery 16 mounted on the autonomous mobile robot 2. Are mounted (for example, eight), and can be selectively attached and detached in accordance with drive control of a mechanism system (not shown). The power supply mobile robot 4 is positioned at the power supply station 3 in advance, and is prepared by charging the drive battery 4A from the commercial power supply via the power supply station 3 by contact or non-contact.

  FIG. 6 shows a processing procedure (SP20) of the mobile battery charging function in cooperation with the autonomous mobile robot 2 and the power supply robot 4. When receiving the wireless signal transmitted from the autonomous mobile robot 2 and indicating that the remaining charge amount of the driving battery 16 has become equal to or less than a predetermined amount (SP21), the facility general control unit 8 moves to the vicinity of the autonomous mobile robot 2. The mobile robot 4 for power supply is moved and positioned (SP22).

  Subsequently, the power supply mobile robot 4 takes out the drive battery 16 mounted on the autonomous mobile robot 2 and removes one of the plurality of drive batteries 4A mounted on the power supply mobile robot 4. Select and exchange (SP23).

  At this time, the power supply mobile robot 4 preferentially selects the one having the largest remaining charge amount among the plurality of drive batteries 4A as a replacement target for the autonomous mobile robot 2. This is effective in that when a driving battery with a small remaining charge amount is replaced, the trouble of having to rush again can be avoided.

  As described above, the autonomous mobile robot 2 manages the remaining power of the built-in driving battery 16 and, when the remaining power becomes equal to or less than the predetermined value, according to the current activity state, the other driving. It is determined whether to switch to the power supply battery 16 (16A or 16B), proceed toward the nearest power supply station 3, or call the power supply mobile robot 4 via wireless communication.

  As a result, the autonomous mobile robot 2 can return to the original state in a relatively short time only by replacing the driving battery 16, even when the remaining power of the driving battery 16 is small. As described above, it is possible to avoid a large time loss such as returning to the charging operation.

  The facility general control unit 8 determines the normal location of the power supply mobile robot 4 in the airport facility not only in the vicinity of the power supply station 3 but also the operating status of the plurality of autonomous mobile robots 2 It is also possible to appropriately designate a place where the vehicle can run efficiently.

  Further, since the power supply mobile robot 4 includes a plurality of drive batteries 4A, it can be used as an emergency power supply in an emergency. That is, a plug receptacle of the same standard as a plug receptacle (insertion port) of the commercial power supply is provided at a predetermined position of the power supply mobile robot 4, and the plug receptacle is electrically connected to a plurality of built-in driving batteries. As a result, power can be supplied in the same manner as a commercial power supply by inserting insertion plugs of various general-purpose devices into plug receptacles provided at predetermined locations.

(6) Other Additional Equipment for Automatic Mobile Robot The autonomous mobile robot 2 is equipped with an information input device (not shown) for use in displaying guidance to a user or displaying a map to an operator as necessary. You may do it.

  In this information input device, a touch panel type display is arranged on a front surface of a main body, and a mechanism necessary for various information processing such as a CPU, a graphic processor unit, a sound processor, and a memory is built in a back surface thereof together with a battery. The display is composed of a liquid crystal panel or an organic EL (Electric Luminescence) panel, and the upper surface is covered with a touch panel of, for example, a resistive film type or a capacitive coupling type. Further, the information input device includes a communication unit such as an infrared port and a wireless LAN for communicating with the autonomous mobile robot and other external devices.

  The display displays a menu screen, icons and other screens necessary for user operation input, and an environment map image as a result of information processing according to functions. Further, a GUI (Graphical User Interface) is displayed on-screen so that the user can perform an operation input. The user performs an operation input to the information input device by touching or sliding the finger on the touch panel to operate the GUI.

  In addition, the autonomous mobile robot 2 has a laser pointer or a projector (both not shown) mounted on the traveling base unit 10 or the sensor holding unit 11, and a mark indicating the traveling direction (for example, on the floor surface about 1 m ahead in traveling). By irradiating light (an arrow or the like), surrounding people can visually check the traveling direction of the autonomous mobile robot 2.

  Further, in the present invention, by attaching an external cleaning unit (not shown) to the autonomous mobile robot 2, it can be applied as an automatic cleaning robot. Specifically, the cleaning unit is mounted on the upper surface of the traveling base unit 10 while being integrated with the sensor holding unit 11 of the autonomous mobile robot 2 and integrated therewith, so that the cleaning unit is a substantially cylindrical autonomous mobile type as a whole. As a robot, both the transport and cleaning functions can be utilized.

  Further, the autonomous mobile robot 2 is loaded with an AED (automated external defibrillator), and after moving to the user in an emergency (such as finding a user lying down on the floor). It emits sounds and lights that convey an emergency to the surroundings.

  After the luggage and the like of the user and the worker are placed on the disk surface of the traveling base unit 10 of the autonomous mobile robot 2, if necessary, a flame-retardant and highly tough material (polypropylene, polyester, The luggage and the like are covered with an anti-theft net made of nylon or the like (the mesh is 18 mm or 25 mm, for example). An electronic or mechanical lock is attached to the end of the anti-theft net between the running base 10 and the beacon terminal, exclusive key, dial input, etc. owned by the user or worker. Can be unlocked.

(7) Autonomous mobile robots and target-specific functions by the airport management and operation system (7-1) Functions for users using autonomous mobile robots (7-1-1) From facilities at airports (ports) to passenger terminals The autonomous mobile robot 2 waits at the entrance of the airport facility in response to a call or advance reservation of the user, and when the user turns on the beacon terminal, the autonomous mobile robot 2 is set to a followable state. I do.

  When the user starts walking after the luggage is placed on the traveling base unit 10 of the autonomous mobile robot 2, the autonomous mobile robot 2 starts running following the user.

  The autonomous mobile robot 2 runs while following the user, and keeps a distance from the user within a predetermined distance from the passenger port of the airport facility to the check-in counter of the passenger terminal, and Drive while taking care not to obstruct the walking of other users.

  When the user stops at an entry-prohibited area such as a toilet while arriving at the check-in counter, the processing procedure shown in FIGS. 4 and 5 is executed to again receive a radio signal from the user's beacon terminal. Wait until.

  The autonomous mobile robot 2 responds to the air ticket by reading the contents (including the barcode) of the air ticket held by the user and obtaining information from the airport management and operation system via the wireless unit. It is also possible to specify a check-in counter and provide a leading guide.

  In this case, it is preferable that the user himself / herself be transported to the check-in counter by riding on the autonomous mobile robot 2 together with the luggage. It is also possible to get off at a place where the user wants to drop in on the way by specifying a route using a touch panel using the information input device, and the autonomous mobile robot 2 moves so as to always be located near the user.

  Alternatively, the user can follow the autonomous mobile robot 2 behind. In this case, when the user stops or stops at a predetermined area, the autonomous mobile robot 2 is also stopped or waits according to the user.

  When the user enters the passenger terminal and arrives at the check-in counter, the autonomous mobile robot 2 transmits the load amount of the luggage placed on the traveling base unit 10 to the input terminal of the counter attendant, and transmits the load to the input terminal. Display numerical values. If the user places only luggage for consignment (for cabin custody) excluding carry-on luggage on the traveling base unit 10, the airport staff can check whether the luggage is allowed before the luggage is loaded on the load measurement belt conveyor. It is possible to determine whether or not.

  When the user is in the passenger terminal, the autonomous mobile robot 2 measures the skin temperature of the user's face surface using the infrared thermography 33 to determine whether the temperature is 38 degrees or higher. As a result, if the body temperature is equal to or higher than 38 degrees, it is determined that the physical condition is poor and the user is notified by voice, and at the same time, data indicating the fact is transmitted to the airport staff to notify the user.

(7-1-2) After Check-in to Security Inspection Station The autonomous mobile robot 2 starts to walk when the user starts walking with the user carrying the carry-on baggage on the traveling base unit 10. Start running following the user.

  The autonomous mobile robot 2 travels while following the user, and keeps the distance between the user and the other user within a predetermined distance from the check-in counter to the security checkpoint, while walking the other user. Drive with care not to get in the way.

  If the user stops at an entrance-prohibited area such as a toilet while arriving at the security checkpoint, the processing procedure shown in FIGS. 4 and 5 is executed, and the wireless signal from the user's beacon terminal is received again. Wait until.

  When the autonomous mobile robot 2 arrives at the security checkpoint, the autonomous mobile robot 2 detects the waiting state of the users at the plurality of entrances, and selects the entrance with the least number of waiting persons to proceed. Thereafter, the autonomous mobile robot 2 moves away from the user or, when the user rides on the traveling base unit 10 together with the luggage, arranges a predetermined interval so as not to collide while lining up behind the previous user. Keep and proceed.

  In the airport management and operation system 1 according to the present invention, the autonomous mobile robot 2 and the user separately inspect the security check point, and the autonomous mobile robot 2 and a corresponding beacon terminal are used. Only when both persons are judged to have no problem in the inspection, they can pass through the security inspection site.

  Specifically, at the entrance of the inspection security area, the user confirms that he / she has his / her own beacon terminal, and confirms that his / her luggage has been placed on the traveling base unit 10 of the autonomous mobile robot 2. Confirm. At this time, it is desirable for the user to store valuables including metal products among his / her own belongings in a safety tray (not shown) installed in the autonomous mobile robot 2.

  Subsequently, when the user enters the entrance of the security inspection site, the autonomous mobile robot 2 also enters the same security inspection site in parallel, and the user enters the human-only lane and the autonomous mobile robot 2 enters the robot-only lane. Each proceeds. FIG. 7 shows a processing procedure (SP30) of the security inspection correspondence function.

  At the security inspection site (inspection area), it is determined that there is no problem in the inspection results in both the inspection gate (second inspection gate) corresponding to the human-only lane and the inspection gate (first inspection gate) corresponding to the robot-only lane. Only when it is performed (SP31), it is set so that the leaving permission from the security inspection place is obtained (SP34).

  If it is determined at the inspection gate of the robot lane that the inspection result of the baggage has a problem (SP32), the autonomous mobile robot 2 is moved out of the robot lane to a predetermined waiting place, and reaches the corresponding user. Then, the process waits (step SP33).

  After the explanation to the inspection staff by the user is completed, the autonomous mobile robot 2 returns to the original robot dedicated lane, passes through the inspection gate again, and undergoes the inspection (SP31).

  Thereafter, the user and the autonomous mobile robot 2 pass through the inspection gate without any problem, and then exit the security inspection area (SP35), and approach the user holding the corresponding beacon terminal to the autonomous mobile robot 2. Stand by in a state that can be followed.

  As described above, at the security inspection site, the user and the autonomous mobile robot 2 separate the inspection gate and receive the inspection separately, so that the user can reach the inspection gate while holding the baggage as in the related art. It is possible to reduce the line-up burden. In particular, the user is able to approach the inspection gate with ample time without being aware of the baggage, and even if the baggage arrives later, it is only necessary to wait behind the inspection gate, so the psychological burden in order There is no point, it is possible to reduce the stress.

(7-1-3) From the Security Checkpoint to the Boarding Gate The autonomous mobile robot 2 allows the user to walk while the user who has passed through the security checkpoint places his carry-on baggage on the traveling base unit 10. Then, the vehicle starts to travel after the user.

  The autonomous mobile robot 2 runs while following the user, and keeps the distance between the user and the other user within a predetermined distance from the security check point to the waiting lobby in front of the boarding gate. Take care not to interfere with walking.

  If the user stops at an entry-prohibited area such as a toilet while arriving at the boarding gate, the processing procedure shown in FIGS. 4 and 5 is executed until the wireless signal from the user's beacon terminal is received again. stand by.

  The autonomous mobile robot 2 responds to the air ticket by reading the description (including the bar code) of the air ticket held by the user and obtaining information from the airport management and operation system 1 via the wireless unit. It is also possible to specify the boarding gate to be operated and provide guidance.

  In this case, it is preferable that the user himself / herself ride on the autonomous mobile robot 2 together with the luggage to be transported to the boarding gate. Using the information input device described above, it is also possible to get off at a place where the user wants to drop in on the way by specifying a route using the touch panel, and the autonomous mobile robot 2 moves so as to always be located near the user.

  Alternatively, the user can follow the autonomous mobile robot 2 behind. In this case, when the user stops or stops at a predetermined area, the autonomous mobile robot 2 is also stopped or waits according to the user.

(7-2) Function for workers using an autonomous mobile robot (7-2-1) Transport support for replenishment of goods sales The autonomous mobile robot 2 is used for selling goods such as vending machines and shops in airports. Acts as a transport robot for replenishment.

  When the beacon terminal carried by the worker is turned on, the autonomous mobile robot 2 sets the beacon terminal in a followable state. When the worker starts walking after the luggage is placed on the traveling base unit 10 of the autonomous mobile robot 2, the autonomous mobile robot 2 starts traveling following the worker.

  The autonomous mobile robot 2 travels while following the worker, and sequentially travels from an article storage location of an airport facility to a predetermined article replenishment destination (such as a vending machine or a stand) to determine the distance between the worker and the worker. The vehicle travels while keeping it within a predetermined distance and taking care not to disturb the walking of general users.

(7-2-2) Cooperation control with wearable motion assist device In recent years, a wearable motion assist device capable of performing voluntary and autonomous feedback control based on a biological signal has been proposed (Japanese Patent Application No. 2014-2014). 5841, Application 2014-5842, Application 2014-5843, Design Registration No. 1515524), so that the operator can reduce the waist load in the unloading operation.

  In such a mounting-type motion assist device, the cuff is attached to the operator's lumbar rear side during use, and when the operator has a heavy object, the stress load applied to the operator's lumbar spine and lumbar intervertebral disc is analyzed, and It has a function to reduce the burden on

  A beacon terminal is built in the main body of the wearable motion assisting device, and the autonomous mobile robot 2 recognizes the radio signal transmitted from the beacon terminal while accurately grasping the presence and position (access point) of the worker. It is made to track.

  The autonomous mobile robot 2 travels while following the worker wearing the wearable motion assist device, and stops at that point when it recognizes the operation or utterance by the worker.

  When the autonomous mobile robot 2 is equipped with the above-mentioned information input device, all the work places such as vending machines and shops that need replenishment work are displayed as stop positions on the display screen, and May be set in accordance with the specification of the transfer route.

  When the stop position is designated in advance by the worker in this way, the autonomous mobile robot 2 does not obstruct the walking of the general user toward the next stop position without following the worker. Drive with care.

  At each stop position, the autonomous mobile robot 2 rotates so that the sensor holding unit 11 is not located in front of the worker, and the luggage loaded on the traveling base unit 10 is disturbed by the protrusion of the sensor holding unit 11. The position is controlled so that it does not become.

  When the autonomous mobile robot 2 is stopped at a position where it hinders the worker's work, such as in front of a vending machine, the autonomous mobile robot 2 is placed at a position that does not interfere with the worker by about 1 m according to the utterance or operation of the worker. Move back and forth and left and right toward.

(7-2-3) Collection of Manual Cart The autonomous mobile robot 2 removes the manual luggage cart left in the airport facility or in the passenger terminal after completing the user's transport support and worker's work support. By collecting and towing it, it is transported to a predetermined collection location such as a security checkpoint.

  In this case, the autonomous mobile robot determines whether or not the luggage is loaded on the manual luggage cart, and determines that the luggage is to be collected only when no luggage or the like is loaded.

(7-3) Function for airport management and maintenance using autonomous mobile robot (7-3-1) Dynamic air-conditioning control function In the airport management and operation system 1, air-conditioning management in the passenger terminal is performed collectively. However, when the autonomous mobile robot 2 determines a situation in which the temperature rises at a specific place and gives a user discomfort such as a place where many users gather while the autonomous mobile robot 2 is traveling, the cold air reaches only the specific place. Control air conditioning.

  In particular, by setting the temperature / humidity sensor 30 mounted on the autonomous mobile robot 2 at a predetermined height from the ground, it is possible to detect the sensed temperature / humidity in a place close to the temperature sensed by a human and in real time. Becomes possible.

  FIG. 8 shows a processing procedure (SP40) of the dynamic air conditioning control function. When receiving the measurement result of the temperature and humidity from one or a plurality of autonomous mobile robots 2 (SP41), the facility general control unit 8 of the air-conditioning management and operation system 1 receives the current value of each autonomous mobile robot 2 in the facility. While recognizing the position, the corresponding air conditioner 6 is controlled so that the surrounding temperature and humidity in the vicinity thereof maintain the optimum state (SP42).

  As a result, in the air-conditioning management and operation system 1, information on the temperature and humidity of each user's perceived temperature and humidity is collected in real time from the plurality of autonomous mobile robots 2 and dynamic air-conditioning control is performed, so that each user's comfort is improved. Situation can be maintained at all times.

(7-3-2) Lighting adjustment function In the airport management and operation system 1, the lighting in the airport facilities and the passenger terminal actively utilizes sunlight during the day to relatively save energy. When the sunshine during the day becomes unstable, such as when it is cloudy and sometimes sunny, it is not sufficient to simply adjust the illuminance of a plurality of lighting devices at once.

  According to the present invention, the illuminance sensor 31 mounted on the autonomous mobile robot 2 is set at a height position of a predetermined height from the ground, so that the sensation illuminance is detected in a place close to the illuminance sensed by a human and in real time. Becomes possible.

  As a result, the air-conditioning management and operation system 1 collects the illuminance information of each user from the plurality of autonomous mobile robots 2 in real time, and adjusts the daylight indoor light intake and the brightness balance for each predetermined area in real time. can do.

(7-3-3) Cleanliness Detection Function In the airport management and operation system 1, it is possible to detect the cleanliness in the airport facilities and the passenger terminals in real time and in a pinpoint manner using a plurality of autonomous mobile robots 2. is there.

  According to the present invention, by mounting the microorganism sensor 32 on the autonomous mobile robot, the amount of microorganisms such as bacteria and fungi floating in the air can be measured in a relatively short time.

  As a result, the air-conditioning management and operation system 1 can collect the microorganism measurement information from the plurality of autonomous mobile robots 2 in real time, and detect the cleanliness of the air in each predetermined area in real time.

(7-3-4) Automatic cleaning function In the airport management and operation system 1, the autonomous mobile robot 2 is equipped with an external cleaning unit during a time period when there is no support request from a user or a worker, and a passenger terminal is installed. Clean the inside floor.

  For the route on the floor in the passenger terminal to be cleaned, a floor map may be displayed on the touch panel of the information input device in advance, and the operator may specify the travel route for each area. As a result, the autonomous mobile robot 2 can operate 24 hours a day if battery replacement is constantly performed, and the working efficiency can be significantly improved.

(7-3-5) Security Enhancement Function In the airport management and operation system 1, a plurality of autonomous mobile robots 2 move through the airport facility and the passenger terminal while operating the photographing camera and the sound collecting microphone, thereby providing facilities. It is possible to acquire the video and audio of the surrounding environment that cannot be grasped only by the fixed photographing camera 5 inside.

  When an incident occurs at a specific place in the facility, the nearest autonomous mobile robot 2 can grasp the situation in real time by photographing the specific place within a range that does not bother the user and the worker. It becomes.

  Further, in the airport management and operation system 1, the facility general control unit 8 receives a voice signal indicating the sound collection content of the sound collection microphone from the autonomous mobile robot 2, and determines that the situation is necessary based on the sound collection content. In this case, if the position of the autonomous mobile robot 2 in the facility is recognized, remote monitoring using only voice becomes possible. In addition, by linking the autonomous mobile robot 2 with a plurality of photographing cameras 5 using at least one photographing camera 5 that can photograph the autonomous mobile robot 2 so as to be centered on the subject, the efficiency of remote monitoring (enhancement of security) ) Can be significantly improved.

  The facility control unit 8 determines whether or not this is a necessary situation by analyzing the sound collection content based on the audio signal. That is, the facility control unit 8 calculates the content ratio (amplitude ratio) of each frequency component in the analysis section based on the frequency spectrum obtained by analyzing the audio signal, and the specific frequency spectrum has a constant intensity. Recognize voices containing vowel and consonant features depending on whether or not they are present in proportion or more. Then, the facility general control unit 8 determines that the content of the collected sound is words and vocal sounds indicating an increase in emotions such as screams, screams and screams of people, impact sounds such as explosive sounds and explosive sounds, and the like. It is determined whether or not the sound is expected to cause a problem.

  Further, in the airport management and operation system 1, when it is determined that the sound collection contents based on the audio signals respectively received from the plurality of autonomous mobile robots 2 are from the same sound source, the sound source position is estimated, and the estimated sound source position is set to the subject center. The photographing is performed using at least one or more photographing cameras 5 capable of photographing. According to the in-facility management and operation system 1, the efficiency of remote monitoring can be further improved by instantaneously identifying and photographing the position of the sound source that caused the necessary situation.

  As a method of estimating the sound source position, a general sound source localization method (that is, a method of using a plurality of microphones and determining the direction of the sound source from the phase difference and the intensity difference of the sound source data input to each microphone) can be used. A good example is a sound source localization method that uses a frequency band selection method (FBS: Frequency Band Selection) in combination with a delayed chord focus formation method (DSBF: Delayed Sum Beam Forming). Further, a point sound source detection method using directional characteristics described in Japanese Patent No. 5007400 may be used. That is, the flatness of the difference between the spatial spectrum waveform of the sound pressure distribution observed in all directions and the spatial spectrum waveform of a previously created point sound source is determined, and it is determined whether or not the difference is within a predetermined threshold. Alternatively, a point sound source detection method may be used.

(8) Effects of the present embodiment As described above, according to the present embodiment, in the autonomous mobile robot 2 that freely moves in the facility, it is possible to accurately grasp the presence and the position (access point) of the user. In addition to being able to track, the user is kept in a standby state while entering the no-go area, so that the user in the facility can always be followed without losing sight of the user.

  Further, according to the present embodiment, at least one or more autonomous mobile robots 2 that freely move in the facility are arranged, and the facility overall control unit 8 that transmits and receives various information to and from the autonomous mobile robot 2 via wireless communication is provided. In the airport management and operation system 1, when the autonomous mobile robot 2 moves, the efficiency of remote monitoring (enhancement of security) can be significantly improved by interlocking with the plurality of imaging cameras 5 used for remote monitoring. .

  Further, according to the present embodiment, in the airport management and operation system 1, even while the air conditioning management in the facility is being performed collectively, the autonomous mobile robot 2 is running at a location close to the temperature sensed by a human and in real time. Thus, it is possible to detect the sensible temperature and humidity, and it is possible to always maintain a comfortable state for the user by dynamic air conditioning control.

  Further, according to the present embodiment, in the airport management and operation system 1, the inspection gate (first inspection gate) corresponding to the robot-only lane and the inspection gate (second inspection gate) corresponding to the human-only lane are divided. As a result, the user is able to reduce the burden (stress) lining up until the user arrives at the inspection gate while holding the baggage.

  Further, according to the present embodiment, in the airport management and operation system 1, even when the remaining power of the driving battery (first battery) 16 mounted on the autonomous mobile robot 2 is low, the driving battery 16 is not By simply replacing the driving battery (second battery) 4A held by the supply mobile robot 4, it is possible to return to the original state in a relatively short time, and to return to the charging work as in the conventional case, and to save time. Significant loss can be avoided beforehand.

(9) Other Embodiments In this embodiment, the case has been described in which the autonomous mobile robot 2 is mainly applied in an airport management and operation system. However, the present invention is not limited to this, and a large shopping mall, a department store, The present invention can be widely applied to various other facility management and operation systems such as amusement facilities such as general hospitals and amusement parks.

  1 ... airport management and operation system, 2 ... autonomous mobile robot, 3 ... power supply station, 4 ... power supply mobile robot, 4A, 16 (16A, 16B) ... drive battery, 5 ... photography Camera, 6 Air conditioner, 7 Lighting equipment, 8 Facility control unit, 10 Running base unit, 11 Sensor holding unit, 15 Laser range sensor, 16 RGB-D Sensors, 17 3D distance image sensor, 20 General control unit, 21 Running control unit, 22 Target travel route control unit, 23 Operation control unit, 30 Temperature and humidity sensor, 31 Illuminance sensor 32 ... Microbial sensor 33 ... Infrared thermography 34 ... Load sensor.

Claims (8)

In an in-facility management and operation system in which at least one or more autonomous mobile bodies that freely move in the facility are arranged, and an integrated control unit that transmits and receives various information to and from the autonomous mobile body via wireless communication,
Equipped with a plurality of shooting cameras for remote monitoring installed in all of the places where security management in the facility is required,
The autonomous mobile body is
A SLAM function unit for estimating a position of the self with respect to an external environment in the facility and simultaneously creating a planar or three-dimensional environment map;
A follow-up recognition unit that holds a beacon terminal unique to the autonomous mobile body to the user of the facility, and recognizes the presence and position of the user in real time based on a radio signal from the beacon terminal,
On the basis of the recognition result of the following recognition unit, the autonomous mobile body travels while following the movement of the user. A traveling control unit that appropriately changes so as not to contact with
A sound collecting microphone for collecting sounds of the surrounding environment,
The general control unit includes:
When an audio signal representing the sound collection content of the sound collection microphone is received from the autonomous mobile body and it is determined that the situation is necessary based on the sound collection content, the position of the autonomous mobile body in the facility is recognized. And an in-facility management and operation system, wherein at least one or more of the photographing cameras capable of photographing the autonomous moving body having recognized the position so as to be centered on the subject are photographed. The general control unit includes:
If it is determined that the sound collection content based on the audio signals received from each of the plurality of autonomous moving objects is due to the same sound source , the position of the sound source can be estimated, and the position of the estimated sound source can be photographed so as to be the subject center. The in-facility management and operation system according to claim 1, wherein an image is taken using at least one or more of the imaging cameras. With a plurality of air conditioners installed for air conditioning including cooling and heating of the entire facility,
The autonomous mobile body is mounted at a predetermined height from the floor surface, a temperature and humidity sensor for measuring the temperature and humidity of the surrounding environment, and an infrared thermography for measuring the body surface temperature of the user With
The general control unit includes:
When receiving a wireless signal including the measurement result of the temperature and humidity sensor from the autonomous mobile, while recognizing the position of the autonomous mobile in the facility, the temperature and humidity around the autonomous mobile are optimized. While controlling each corresponding air conditioner to keep,
Based on the relationship between the temperature of the surrounding environment that is the measurement result of the temperature and humidity sensor and the body surface temperature of the user that is the measurement result of the infrared thermography, the skin temperature of the user having a body temperature equal to or higher than a predetermined temperature is calculated. The in-facility management and operation system according to claim 1 or 2, wherein the estimation is performed. The autonomous mobile body includes a microorganism sensor that measures the amount of microorganisms floating in the air,
When receiving a wireless signal including the measurement result of the microorganism sensor from the autonomous mobile body, the general control unit recognizes the position of the autonomous mobile body in the facility and cleans the air around the autonomous mobile body. The in-facility management and operation system according to claim 3, wherein each of the corresponding air conditioners is controlled so that the degree is maintained in an optimum state. The autonomous mobile body is detachably mounted and includes a cartridge-type first battery as a driving source,
A power supply station installed in the facility and having a commercial power supply as a source, and a plurality of cartridge-type second batteries having the same configuration as the first battery, which are movably disposed in the facility, are detachably mounted. A power supply moving body to be mounted,
The general control unit is configured to, when the power supply moving body reaches the power supply station, charge the second battery with electric power from a commercial power supply via the power supply station, and Upon receiving a wireless signal transmitted from the body indicating that the remaining charge amount of the first battery has become equal to or less than a predetermined amount, after moving and positioning the power supply movable body near the autonomous mobile body, 5. The method according to claim 1, wherein the first battery mounted on the autonomous mobile body is taken out and replaced with one of the plurality of second batteries mounted on the power supply mobile body. 6. The facility management and operation system according to any one of the preceding claims. The in-facility management and operation system according to claim 5, wherein the power supply movable body preferentially replaces the second battery with the largest remaining charge amount among the plurality of second batteries. The facility according to claim 5, wherein the power supply station charges electric power from a commercial power supply to the plurality of second batteries mounted on the power supply moving body by non-contact power supply. Internal management and operation system. 6. The in-facility management and operation system according to claim 5, wherein the general control unit specifies an arrangement location of the power-supplying moving body while grasping operation states of the plurality of autonomous moving bodies. 7.

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