WO2023162089A1

WO2023162089A1 - Autonomous travel device and control method for autonomous travel device

Info

Publication number: WO2023162089A1
Application number: PCT/JP2022/007610
Authority: WO
Inventors: 嘉人遠藤
Original assignee: 三菱電機ビルソリューションズ株式会社
Priority date: 2022-02-24
Filing date: 2022-02-24
Publication date: 2023-08-31

Abstract

This autonomous travel device (20) comprises: a memory (12) that stores a program and a fire countermeasure map; and a processor (11) that executes the program stored in the memory (12). The processor (11) controls the traveling of the autonomous travel device (20) so that the autonomous travel device (20) does not stay in at least a stoppage forbidden location in accordance with the fire countermeasure map when a fire occurs.

Description

AUTOMATIC RUNNING DEVICE AND CONTROL METHOD FOR AUTOMATIC RUNNING DEVICE

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

For example, Patent Literature 1 describes an autonomous cleaning robot that generates a fire response map and moves to a safe location when information from a fire sensor is received.

Japanese Patent Publication No. 2018-517966

If a fire breaks out while the automatic driving device is operating inside the building, evacuation and firefighting activities will begin. Automated driving devices may interfere with evacuation and firefighting activities.

Therefore, an object of the present disclosure is to provide an automatic traveling device and a control method for the automatic traveling device that can prevent an obstacle to evacuation or fire fighting when a fire occurs.

The automatic traveling device of the present disclosure includes a memory that stores programs and fire response maps, and a processor that executes the programs stored in the memory. When a fire occurs, the processor controls the travel of the automatic travel device according to the fire response map, at least so as not to stay in the stop-prohibited place.

The control method for an automatic traveling device of the present disclosure includes a step in which the processor controls the traveling of the automatic traveling device so that, at least, it does not stay in a stop-prohibited location according to the fire response map when a fire occurs.

According to the present disclosure, when a fire occurs, the processor controls the traveling of the automatic traveling device according to the fire response map so as not to stay at least in the place where stopping is prohibited. It can be kept out of the way of firefighting activities.

It is a figure showing the structure of the system of embodiment. 1 is a diagram showing a configuration example of an automatic traveling device 20; FIG. It is a figure showing the example of the stop prohibition place. 4 is a flow chart showing the operation procedure of the automatic traveling device 20 in Embodiment 1 at the time of fire. FIG. 10 is a diagram showing an example of movement of the automatic traveling device 20 from a stop-prohibited place; FIG. 10 is a flow chart showing an operation procedure of the automatic traveling device 20 in Embodiment 2 at the time of fire; FIG. FIG. 4 is a diagram showing an example of movement of the automatic traveling device 20 to a recommended stop location; 11 is a flow chart showing an operation procedure of the automatic traveling device 20 in Embodiment 3 at the time of fire. FIG. 11 is a flow chart showing an operation procedure in case of fire of an automatic traveling device 20 according to Embodiment 4. FIG. FIG. 11 is a flow chart showing an operation procedure in case of fire of automatic traveling device 20 according to Embodiment 5. FIG.

Embodiments will be described below with reference to the drawings.
Embodiment 1.
FIG. 1 is a diagram showing the configuration of a system according to an embodiment.

This system comprises a plurality of fire detectors 10, a fire receiver 30, a plurality of fire alarms 40, and a plurality of automatic traveling devices 20. All components of this system are located, for example, in a building. In this case, since communication with the outside of the building is not performed, problems such as disconnection of communication lines can be avoided.

The fire detector 10 senses fire. When the fire detector 10 senses a fire, it transmits a fire occurrence signal to the fire receiver 30 to notify that a fire has occurred.

The fire receiver 30 transmits a fire alarm signal to the fire alarm 40 and the automatic traveling device 20 when receiving the fire occurrence signal.

The fire alarm 40 issues an alarm when receiving a fire alarm signal.
The automatic traveling device 20 is, for example, a self-running cleaning robot or the like.

Communication is possible between the above components of the fire control system via the intranet 50. Instead of the intranet 50, the Internet may be used for communication between the components of the fire control system.

FIG. 2 is a diagram showing a configuration example of the automatic travel device 20. As shown in FIG.
The automatic traveling device 20 includes a wireless communication device 5 , a camera 6 , a driving section 8 , a battery 7 and a control device 9 . The control device 9 includes a memory 12 storing programs and a processor 11 executing the programs stored in the memory 12 . The operation of the control device 9 described below is performed by the processor 11 executing the program in the memory 12 .

The wireless communication device 5 communicates with the fire receiver 30 through the intranet 50.

The camera 6 captures an image of the surroundings of the automatic traveling device 20 and outputs the captured image to the control device 9 .
The driving unit 8 generates driving force for the automatic traveling device 20 to travel. The drive unit 8 includes, for example, wheels for moving the automatic travel device 20 and motors that drive the wheels. The motor can be powered by the battery 7 to operate.

The battery 7 supplies power for operating each device that constitutes the automatic travel device 20 .
The control device 9 determines the travel route of the automatic travel device 20 based on the captured image from the camera 6, refers to the floor map, and controls the drive unit 8 so that the automatic travel device 20 travels along the determined travel route. to control.

Instead of the camera 6, the control device 9 may refer to the floor map based on the data of the distance sensor (rider) to determine the travel route. Further, the control device 9 may refer to a floor map and determine a travel route based on position information from an indoor positioning system using beacon signals or the like.

When a fire breaks out, the control device 9 controls the travel of the automatic travel device 20 according to the fire response map, at least so that it does not stay in the stop-prohibited place. In the present embodiment, the control device 9 moves the automatic traveling device 20 from the stop-prohibited place when the automatic traveling device 20 is located in the stop-prohibited place when a fire occurs. A stop-prohibited place is a horse place that is a hindrance during evacuation.

FIG. 3 is a diagram showing an example of prohibited stopping places.
Stop-prohibited locations include, for example, fire locations, emergency entrances, outdoor entrances, emergency stairs entrances, building warehouse entrances, and defined evacuation routes.

The control device 9 causes the automatic traveling device 20 to perform predetermined tasks such as cleaning during normal times when there is no fire. The control device 9 suspends the task specified for the automatic traveling device 20 when a fire occurs. When the control device 9 receives a notification from the fire receiver 30 through the wireless communication device 5 that the notification of the end of extinguishing the fire or the occurrence of the fire was a false alarm, the control device 9 resumes the work specified for the automatic traveling device 20. Let

FIG. 4 is a flow chart showing the operation procedure of the automatic traveling device 20 in the event of a fire according to the first embodiment.

In step S101, when the fire detector 10 detects a fire, the process proceeds to step S102.

In step S102, the fire detector 10 transmits to the fire receiver 30 a fire occurrence signal that indicates that a fire has occurred.

In step S103, the fire receiver 30 receives a fire occurrence signal.
In step S<b>104 , the fire receiver 30 transmits fire alarm signals to the plurality of fire alarms 40 and the plurality of automatic traveling devices 20 .

In step S105, the fire alarm 40 receives the fire alarm signal.
In step S106, the fire alarm 40 issues an alarm.

At step S107, the wireless communication device 5 of the automatic traveling device 20 receives the fire alarm signal.

In step S108, the control device 9 of the automatic traveling device 20 stops the work such as keeping the automatic traveling device 20 clean.

In step S109, the control device 9 of the automatic traveling device 20 refers to the fire response map and determines whether the automatic traveling device 20 is located in a place where stopping is prohibited. If the automatic traveling device 20 is located at the stop prohibited place, the process proceeds to step S110.

At step S110, the control device 9 of the automatic traveling device 20 controls the drive unit 8 so that the automatic traveling device 20 moves from the stop prohibited place. FIG. 5 is a diagram showing an example of movement of the automatic traveling device 20 from a stop-prohibited place.

In step S111, when the fire extinguishing is finished or the fire is falsely reported, the process proceeds to step S112.

In step S112, the fire receiver 30 transmits a release signal to the plurality of fire alarms 40 and the plurality of automatic traveling devices 20 according to the operator's instructions.

In step S113, the fire alarm 40 receives the cancellation signal.
At step S114, the fire alarm 40 stops the alarm.

At step S115, the wireless communication device 5 of the automatic traveling device 20 receives the release signal.

At step S116, the control device 9 of the automatic traveling device 20 resumes operations such as cleaning the automatic traveling device 20.

Embodiment 2.
In the present embodiment, the control device 9 moves the automatic traveling device 20 to the recommended stop location when the automatic traveling device 20 is not located at the recommended stop location when a fire occurs.

FIG. 6 is a flow chart showing the operating procedure of the automatic traveling device 20 in the event of a fire according to the second embodiment.

The flowchart of the second embodiment shown in FIG. 6 differs from the flowchart of the first embodiment shown in FIG. 4 in that the flowchart of the second embodiment shown in FIG. It is a point to be prepared.

In step S201, the control device 9 of the automatic traveling device 20 refers to the fire response map and determines whether the automatic traveling device 20 is located at the recommended stop location. If the automatic traveling device 20 is not located at the recommended stop location, the process proceeds to step S202.

In step S202, the control device 9 of the automatic traveling device 20 controls the drive unit 8 so that the automatic traveling device 20 moves to the recommended stop location. FIG. 7 is a diagram showing an example of movement of the automatic traveling device 20 to a recommended stop location.

Embodiment 3.
In the present embodiment, the control device 9 stops the automatic traveling device 20 when a predetermined number of people or more are not detected when a fire occurs and the automatic traveling device 20 is located in a place where stopping is prohibited. Move it from a place where it is prohibited to stop. The control device 9 stops the traveling of the automatic traveling device 20 when a predetermined number or more of persons are detected.

FIG. 8 is a flow chart showing the operating procedure of the automatic traveling device 20 in the event of a fire according to the third embodiment.

The flowchart of the third embodiment shown in FIG. 8 differs from the flowchart of the first embodiment shown in FIG. 4 in that the flowchart of the third embodiment shown in FIG. It is a point to be prepared.

In step S301, the control device 9 of the automatic traveling device 20 refers to the fire response map and determines whether the automatic traveling device 20 is located in a place where stopping is prohibited. If the automatic traveling device 20 is located at the stop prohibited place, the process proceeds to step S302.

In step S302, the control device 9 of the automatic traveling device 20 detects the number of people included in the image obtained from the camera 6. If the number of detected people is greater than or equal to the threshold TH, the process proceeds to step S304. If the number of detected people is less than the threshold TH, the process proceeds to step S303.

In step S303, the control device 9 of the automatic traveling device 20 controls the drive unit 8 so that the automatic traveling device 20 moves from the stop prohibited place.

In step S304, the control device 9 of the automatic traveling device 20 controls the drive unit 8 so that the automatic traveling device 20 stops at the current location.

In the above-described embodiment, when the number of detected people is less than the threshold TH, the control device 9 of the automatic traveling device 20 controls the drive unit 8 so that the automatic traveling device 20 moves from the place where stop is prohibited. However, it is not limited to this. When the number of detected people reaches or exceeds the threshold TH while the automatic traveling device 20 is moving from a stop-prohibited place, the control device 9 of the automatic traveling device 20 controls the location where the automatic traveling device 20 is currently located. The drive unit 8 may be controlled to stop at .

Embodiment 4.
In the present embodiment, when a fire breaks out and a predetermined number or more of people are not detected and the automatic traveling device 20 is not located at the recommended stop location, the control device 9 controls the automatic traveling device 20 to the recommended stop location. The control device 9 stops the traveling of the automatic traveling device 20 when a predetermined number or more of persons are detected.

FIG. 9 is a flow chart showing the operating procedure of the automatic traveling device 20 in the event of a fire according to the fourth embodiment.

The flowchart of the fourth embodiment shown in FIG. 9 differs from the flowchart of the first embodiment shown in FIG. 4 in that the flowchart of the fourth embodiment shown in FIG. It is a point to be prepared.

In step S401, the control device 9 of the automatic traveling device 20 refers to the fire response map and determines whether the automatic traveling device 20 is located at the recommended stop location. If the automatic traveling device 20 is not located at the recommended stop location, the process proceeds to step S402.

In step S402, the control device 9 of the automatic traveling device 20 detects the number of people included in the image obtained from the camera 6. If the number of detected people is greater than or equal to the threshold TH, the process proceeds to step S404. If the number of detected people is less than the threshold TH, the process proceeds to step S403.

In step S403, the control device 9 of the automatic traveling device 20 controls the drive unit 8 so that the automatic traveling device 20 moves to the recommended stop location.

In step S404, the control device 9 of the automatic traveling device 20 controls the drive unit 8 so that the automatic traveling device 20 stops at the current location.

In the above-described embodiment, when the number of detected people is less than the threshold TH, the control device 9 of the automatic traveling device 20 controls the drive unit 8 so that the automatic traveling device 20 moves to the recommended stop location. However, it is not limited to this. When the number of detected people becomes equal to or greater than the threshold TH while the automatic traveling device 20 is moving to the recommended stop location, the control device 9 of the automatic traveling device 20 determines the location where the automatic traveling device 20 is currently located. The drive unit 8 may be controlled to stop at .

Embodiment 5.
In the present embodiment, when a fire breaks out and a predetermined number or more of people are not detected and the automatic traveling device 20 is not located at the recommended stop location, the control device 9 controls the automatic traveling device 20 to the recommended stop location. The control device 9 stops the traveling of the automatic traveling device 20 when a predetermined number or more of persons are detected. If the automatic traveling device 20 is located in a place where stop is prohibited even if more than a predetermined number of people are detected when a fire occurs, the control device 9 moves the automatic traveling device 20 from the place where stop is prohibited. move.

FIG. 10 is a flow chart showing the operating procedure of the automatic traveling device 20 in the event of a fire according to the fifth embodiment.

The flowchart of the fifth embodiment shown in FIG. 10 differs from the flowchart of the first embodiment shown in FIG. 4 in that the flowchart of the fifth embodiment shown in FIG. It is a point to be prepared.

In step S501, the control device 9 of the automatic traveling device 20 refers to the fire response map and determines whether the automatic traveling device 20 is located at the recommended stop location. If the automatic traveling device 20 is not located at the recommended stop location, the process proceeds to step S502. If the automatic traveling device 20 is located at the recommended stop location, the process proceeds to step S506.

In step S502, the control device 9 of the automatic traveling device 20 detects the number of people included in the image obtained from the camera 6. If the number of detected people is greater than or equal to the threshold TH, the process proceeds to step S503. If the number of detected people is less than the threshold TH, the process proceeds to step S504.

In step S503, the control device 9 of the automatic traveling device 20 refers to the fire response map and determines whether the automatic traveling device 20 is located in a place where stopping is prohibited. If the automatic traveling device 20 is located at the stop prohibited place, the process proceeds to step S505. If the automatic traveling device 20 is not located at the stop prohibited place, the process proceeds to step S506.

In step S504, the control device 9 of the automatic traveling device 20 controls the drive unit 8 so that the automatic traveling device 20 moves to the recommended stop location.

In step S505, the control device 9 of the automatic traveling device 20 controls the drive unit 8 so that the automatic traveling device 20 moves from the stop prohibited place.

In step S506, the control device 9 of the automatic traveling device 20 controls the drive section 8 so that the automatic traveling device 20 stops at the current location.

Modification.
(1) Detection of the number of people In the above embodiment, the control device 9 of the automatic traveling device 20 detects the number of people included in the image obtained from the camera 6, but is limited to this. isn't it. For example, the control device 9 of the automatic traveling device 20 may detect the number of people based on signals obtained from riders.

(2) Fire Detector The fire detector 10 may be incorporated in the automatic travel device 20 . In this case, when the built-in fire detector 10 detects the occurrence of a fire, the control device 9 of the automatic traveling device 20 controls the traveling of the automatic traveling device 20 according to the fire response map so as not to stay at least in the place where stopping is prohibited. Control.

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

5 wireless communication device, 6 camera, 7 battery, 8 drive unit, 9 control device, 10 fire detector, 11 processor, 12 memory, 20 automatic running device, 30 fire receiver, 40 fire alarm, 50 intranet.

Claims

An automatic traveling device,
a memory for storing programs and fire response maps;
a processor that executes a program stored in the memory;
The automatic traveling device, wherein the processor controls traveling of the automatic traveling device so as not to stay at least in a place where stopping is prohibited according to the fire response map when a fire occurs.
The automatic traveling device according to claim 1, wherein said processor moves said automatic traveling device from said stop-prohibited place when said automatic traveling device is located in said stop-prohibited place when a fire occurs.
The automatic traveling device according to claim 1, wherein the processor moves the automatic traveling device to the recommended stopping location when the automatic traveling device is not located at the recommended stopping location when a fire occurs.
The automatic traveling device according to any one of claims 1 to 3, wherein the processor stops traveling of the automatic traveling device when a predetermined number or more of persons are detected.
The automatic traveling device further includes:
Equipped with a wireless communication device,
2. The automatic traveling device according to claim 1, wherein said processor receives notification of the occurrence of a fire from a fire receiver through said wireless communication device.
The processor, when a fire occurs, suspends the task specified for the automatic traveling device,
The processor, when receiving a notification from the fire receiver via the wireless communication device that the notification of the end of extinguishing the fire or the occurrence of the fire was a false alarm, causes the automatic traveling device to resume the work. 6. The automatic traveling device according to 5.
A control method for an automatic traveling device,
A control method for an automatic traveling device, comprising a step in which a processor controls traveling of the automatic traveling device so as not to stay at least in a stop-prohibited place according to a fire response map when a fire occurs.
In the step of controlling travel of the automatic traveling device, the processor causes the automatic traveling device to move from the prohibited stop location when the fire occurs and the automated traveling device is located in the prohibited stop location. 8. The method for controlling an automatic traveling device according to claim 7, comprising steps.
In the step of controlling travel of the automatic traveling device, the processor moves the automatic traveling device to the recommended stop location when the fire occurs and the automatic traveling device is not located at the recommended stop location. 8. The method for controlling an automatic traveling device according to claim 7, comprising the step of causing
The automatic traveling device according to any one of claims 7 to 9, further comprising a step of stopping the traveling of the automatic traveling device when the processor detects more than a predetermined number of people. control method.
The method for controlling an automatic traveling device according to claim 7, further comprising the step of receiving notification of the occurrence of a fire from a fire receiver through a wireless communication device by the processor.
a step in which the processor suspends a task assigned to the automatic traveling device when a fire occurs;
a step of causing the automatic traveling device to resume the work when the processor receives a notification from the fire receiver via a wireless communication device that the notification of the end of extinguishing the fire or the occurrence of the fire was a false alarm; 12. The method for controlling an automatic traveling device according to claim 11, further comprising: