WO2023162089A1 - Dispositif de déplacement autonome et procédé de commande pour dispositif de déplacement autonome - Google Patents

Dispositif de déplacement autonome et procédé de commande pour dispositif de déplacement autonome Download PDF

Info

Publication number
WO2023162089A1
WO2023162089A1 PCT/JP2022/007610 JP2022007610W WO2023162089A1 WO 2023162089 A1 WO2023162089 A1 WO 2023162089A1 JP 2022007610 W JP2022007610 W JP 2022007610W WO 2023162089 A1 WO2023162089 A1 WO 2023162089A1
Authority
WO
WIPO (PCT)
Prior art keywords
automatic traveling
traveling device
fire
processor
automatic
Prior art date
Application number
PCT/JP2022/007610
Other languages
English (en)
Japanese (ja)
Inventor
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 (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 三菱電機ビルソリューションズ株式会社 filed Critical 三菱電機ビルソリューションズ株式会社
Priority to PCT/JP2022/007610 priority Critical patent/WO2023162089A1/fr
Publication of WO2023162089A1 publication Critical patent/WO2023162089A1/fr

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles

Definitions

  • the present disclosure relates to an automatic traveling device and a control method for the automatic traveling device.
  • 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.
  • 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.
  • 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.
  • FIG. 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. 11 is a flow chart showing an operation procedure in case of fire of automatic traveling device 20 according to Embodiment 5.
  • FIG. 10
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • step S101 when the fire detector 10 detects a fire, the process proceeds to step S102.
  • step S102 the fire detector 10 transmits to the fire receiver 30 a fire occurrence signal that indicates that a fire has occurred.
  • step S103 the fire receiver 30 receives a fire occurrence signal.
  • 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 .
  • step S105 the fire alarm 40 receives the fire alarm signal.
  • step S106 the fire alarm 40 issues an alarm.
  • the wireless communication device 5 of the automatic traveling device 20 receives the fire alarm signal.
  • step S108 the control device 9 of the automatic traveling device 20 stops the work such as keeping the automatic traveling device 20 clean.
  • 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.
  • FIG. 5 is a diagram showing an example of movement of the automatic traveling device 20 from a stop-prohibited place.
  • step S111 when the fire extinguishing is finished or the fire is falsely reported, the process proceeds to step S112.
  • 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.
  • step S113 the fire alarm 40 receives the cancellation signal.
  • step S114 the fire alarm 40 stops the alarm.
  • the wireless communication device 5 of the automatic traveling device 20 receives the release signal.
  • control device 9 of the automatic traveling device 20 resumes operations such as cleaning the automatic traveling device 20.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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.
  • the control device 9 of the automatic traveling device 20 may detect the number of people based on signals obtained from riders.
  • the fire detector 10 may be incorporated in the automatic travel device 20 .
  • 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.
  • 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

Ce dispositif de déplacement autonome (20) comprend : une mémoire (12) qui stocke un programme et une carte de contre-mesure d'incendie ; et un processeur (11) qui exécute le programme stocké dans la mémoire (12). Le processeur (11) commande le déplacement du dispositif de déplacement autonome (20) de sorte que le dispositif de déplacement autonome (20) ne reste pas dans au moins un emplacement d'arrêt interdit conformément à la carte de contre-mesure d'incendie lorsqu'un incendie se produit.
PCT/JP2022/007610 2022-02-24 2022-02-24 Dispositif de déplacement autonome et procédé de commande pour dispositif de déplacement autonome WO2023162089A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/JP2022/007610 WO2023162089A1 (fr) 2022-02-24 2022-02-24 Dispositif de déplacement autonome et procédé de commande pour dispositif de déplacement autonome

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2022/007610 WO2023162089A1 (fr) 2022-02-24 2022-02-24 Dispositif de déplacement autonome et procédé de commande pour dispositif de déplacement autonome

Publications (1)

Publication Number Publication Date
WO2023162089A1 true WO2023162089A1 (fr) 2023-08-31

Family

ID=87765017

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2022/007610 WO2023162089A1 (fr) 2022-02-24 2022-02-24 Dispositif de déplacement autonome et procédé de commande pour dispositif de déplacement autonome

Country Status (1)

Country Link
WO (1) WO2023162089A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2018124638A (ja) * 2017-01-30 2018-08-09 株式会社東芝 道路交通管制装置、および、車両制御装置
WO2019064490A1 (fr) * 2017-09-29 2019-04-04 本田技研工業株式会社 Dispositif de commande de véhicule, procédé de commande de véhicule, et programme
JP2020183868A (ja) * 2019-04-26 2020-11-12 株式会社ショーワ 運転制御装置およびそれを備える車両
JP2021070447A (ja) * 2019-11-01 2021-05-06 本田技研工業株式会社 車両管理システム

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2018124638A (ja) * 2017-01-30 2018-08-09 株式会社東芝 道路交通管制装置、および、車両制御装置
WO2019064490A1 (fr) * 2017-09-29 2019-04-04 本田技研工業株式会社 Dispositif de commande de véhicule, procédé de commande de véhicule, et programme
JP2020183868A (ja) * 2019-04-26 2020-11-12 株式会社ショーワ 運転制御装置およびそれを備える車両
JP2021070447A (ja) * 2019-11-01 2021-05-06 本田技研工業株式会社 車両管理システム

Similar Documents

Publication Publication Date Title
CN109933064B (zh) 用于自主车辆的多传感器安全路径系统
JP4942676B2 (ja) 移動ロボット
US10635100B2 (en) Autonomous travelling work vehicle, and method for controlling autonomous travelling work vehicle
JP2006099726A (ja) 無人搬送設備
US8494675B2 (en) Autonomous mobile robot device and an avoidance method for that autonomous mobile robot device
JP2006285548A (ja) 移動ロボット及び遠隔操作システム
JP6080568B2 (ja) 監視システム
JP4741940B2 (ja) 監視システム、同システムを構成する移動ロボットの制御装置
US20200241535A1 (en) Automated Guided Vehicle Guidance System
JP4940160B2 (ja) 移動ロボット
JP2003288118A (ja) ロボット警備システム
JP4919856B2 (ja) 移動ロボット
WO2023162089A1 (fr) Dispositif de déplacement autonome et procédé de commande pour dispositif de déplacement autonome
JP7484574B2 (ja) 自律移動ロボット制御システム、その制御方法、その制御プログラム及び自律移動ロボット制御装置
US20190325548A1 (en) Unmanned aerial vehicle people detection and evacuation systems
JP2007179366A (ja) 警備システム
JP4980768B2 (ja) 遠隔監視システム
JP4919839B2 (ja) 遠隔監視システム
US20220260992A1 (en) Mobile robot, transport system, method, and computer-readable medium
JP2009029582A (ja) エレベーターのドア制御装置および方法
JP2007279824A (ja) 自律移動型ロボット
JP2008165289A (ja) ロボットシステム
JP4919838B2 (ja) 遠隔監視システム
JP4934315B2 (ja) 監視システム、同システムを構成する移動ロボットおよび制御装置
JP4861158B2 (ja) 遠隔監視システム

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22928617

Country of ref document: EP

Kind code of ref document: A1