WO2024024198A1

WO2024024198A1 - Mobile body passage management system, and mobile body passage management method

Info

Publication number: WO2024024198A1
Application number: PCT/JP2023/016773
Authority: WO
Inventors: 厚太鍋嶌
Original assignee: 株式会社Octa Robotics
Priority date: 2022-07-28
Filing date: 2023-04-27
Publication date: 2024-02-01
Also published as: JP7156749B1; JP2024017478A

Abstract

A mobile body passage management system for managing passage of one or a plurality of mobile bodies that move autonomously, wherein: the system comprises one or a plurality of items of equipment that participate in permitting or prohibiting passage of the one or plurality of mobile bodies, an equipment-side communication device that is connected to the equipment, the equipment-side communication device performing communication with an external unit, and an intermediating server that intermediates in communication between the one or plurality of mobile bodies and the equipment-side communication device; the intermediating server intermediates in all communication between the one or plurality of mobile bodies and the equipment-side communication device; the intermediating server controls whether communication between the one or plurality of mobile bodies and the equipment-side communication device is permitted or prohibited; and the equipment-side communication device controls whether passage of the one or plurality of mobile bodies that were permitted to communicate is permitted or prohibited. Due to the above-described configuration and action, passage of mobile bodies that move autonomously can be efficiently managed.

Description

Mobile traffic management system and mobile traffic management method

The present invention relates to a mobile traffic management system and a mobile traffic management method.

Conventionally, autonomous moving objects have been used in factories, distribution warehouses, etc. An example of such a vehicle is an automatic guided vehicle that travels along a prescribed route and carries parts or handles cargo. Regarding the control of an autonomously traveling mobile object, Patent Document 1 is disclosed. This bulletin describes ``a mobile system that includes flat signs arranged according to a preset travel route and a mobile body that autonomously travels along the travel route, , a distance direction detection device that detects the distance and direction between the moving object and an object existing within the search range by scanning a detection light in a predetermined search range; a traveling direction determining means for determining the traveling direction of the moving object based on the moving object, and the flat sign includes a mirror surface and a diffuse reflection surface that diffusely reflects incident light at a higher rate than the mirror surface. "Mobile system".

Japanese Patent Application Publication No. 2012-113765

As in the above-mentioned conventional technology, travel control of moving objects assuming unmanned factories, etc. is already in use. Under such a limited environment, the operation of a large number of moving objects can be managed in a unified manner.
However, in recent years, against the backdrop of a decline in the working population, there is a need for more versatile mobile operations. For example, transportation robots, cleaning robots, security robots, and the like are operated inside commercial facilities where people are present.

In order to achieve this kind of operation, it is necessary to allow moving objects to properly pass through building equipment such as elevators, automatic doors, security gates, and flapper gates. However, managing access of a large number of moving objects to a large number of facilities individually is complicated, and it is difficult to deal with fraud. Furthermore, assuming that moving objects move between multiple buildings to perform work, there is a need to set whether or not buildings and equipment can pass for each moving object. If a separate administrator is provided, the burden on the administrator will be enormous.

Therefore, the present invention aims to efficiently manage the passage of autonomously moving mobile bodies.

In order to achieve the above object, one of the representative mobile body traffic management systems of the present invention is a mobile body traffic management system that manages the traffic of one or more mobile bodies that move autonomously, One or more pieces of equipment that are involved in determining whether a mobile object can pass, an equipment-side communication device that connects to the equipment and communicates with the outside, and an intermediary that mediates communication between the mobile object and the equipment-side communication device. a server, wherein the mediation server mediates all communication between the mobile object and the equipment-side communication device, and the mediation server controls whether communication is possible between the mobile object and the equipment-side communication device. , the facility-side communication device controls whether or not the mobile object, for which communication is permitted, is allowed to pass.
Further, one of the representative mobile body traffic management methods of the present invention is a mobile body traffic management method for managing the traffic of one or more mobile bodies that move autonomously, wherein the intermediary server and a step of controlling whether or not communication is possible with an equipment-side communication device connected to equipment that is involved in whether the mobile object is allowed to pass; and a step of controlling availability, and the mediation server is characterized in that it mediates all communications between the mobile object and the facility-side communication device.

According to the present invention, the passage of autonomously moving mobile objects can be efficiently managed. Problems, configurations, and effects other than those described above will be made clear by the following description of the embodiments.

Explanatory diagram of mobile traffic management system System configuration diagram of mobile traffic management system Explanatory diagram of the components of the mobile traffic management system Mediation server configuration diagram Flowchart explaining the processing of the connection processing unit Flowchart explaining the processing of the channel registration processing section Flowchart explaining the processing of the message transfer processing unit Robot configuration diagram

Examples will be described below with reference to the drawings.

FIG. 1 is an explanatory diagram of a mobile object traffic management system. The mobile object traffic management system shown in FIG. 1 manages the traffic of one or more robots 30. The robot 30 is a mobile body that moves autonomously, and may be a transport robot, a cleaning robot, a security robot, or the like. The robot 30 moves inside a plurality of buildings (B1, B2, etc.) and executes given tasks. Moreover, the robot 30 can also move between buildings.

Buildings B1, B2, etc. are each equipped with facilities such as gates and elevators. Elevators are involved in moving between floors (moving up and down). Gates include automatic doors, security gates, flapper gates, etc., and are involved in movement within the same floor. Although these facilities were installed with the assumption that they would be used by humans, the robot 30 of this embodiment uses these facilities to move within and between floors.

Although details will be described later, these facilities are connected to facility-side communication devices that communicate with the outside.
The robot 30, which is a mobile object, communicates with the equipment communication device via the mediation server 10. For example, the robot 30 communicates with an equipment-side communication device of an automatic door to open the door. Further, the robot 30 communicates with the equipment-side communication device of the elevator to call for a car.

The mediation server 10 mediates all communications between the robot 30 and the equipment-side communication device. Further, the mediation server 10 controls whether or not communication is possible between the robot 30 and the equipment-side communication device. The authentication server 40 is used to control whether or not communication is possible.

The authentication server 40 issues and authenticates accounts for the robots 30, equipment, etc. The authentication server 40 also manages channels that are permitted to be used for each account. Data regarding this account and channel is communication authority management data 41 that manages communication in the mobile traffic management system.

Further, the mobile object traffic management system includes a monitoring server 50. The monitoring server 50 is issued with an account in the same way as the robot 30 and the equipment, acquires messages sent and received through authorized channels, and accumulates them in the overall log data 51.

The equipment-side communication device communicates with the robots 30 that are permitted to communicate, and controls whether or not they can pass. Specifically, the equipment-side communication device determines whether or not to permit passage of the robot 30 by referring to the passage authority management data 80 that associates permission or prohibition of passage with respect to the account of the robot 30. For example, the equipment-side communication device of the automatic door opens the door when allowing the robot 30 to pass.

In this way, since the mediation server 10 is configured to mediate all communications, it is possible to prevent unspecified robots 30 from accessing the building equipment and improve the security of the building. Furthermore, it is possible to prevent fraud in which the robot 30 misidentifies that it has communicated with a legitimate facility by impersonating the facility in the building. In addition, since the communication history is left, it is possible to analyze the communication after the fact, and it is possible to prevent the history from being tampered with. Furthermore, since the management of communication authority and the management of traffic authority are separated, flexible operation can be achieved efficiently.

FIG. 2 is a system configuration diagram of the mobile traffic management system, and FIG. 3 is an explanatory diagram of the components of the mobile traffic management system.
As shown in FIG. 2, the mobile traffic management system includes a mediation server 10, building equipment 21, a communication device 22, a robot 30, an authentication server 40, a monitoring server 50, a building resource management server 60, and a robot operation management server 70. .

The building equipment 21 is installed inside a building. The building equipment 21 is, for example, an elevator, an automatic door, a security gate, a flapper gate, or the like. Additionally, electrically controlled devices such as sensors and cameras can also be included.

The communication device 22 is a facility-side communication device and is installed inside a building. The communication device 22 may be built in or close to the building equipment 21, or may be remote. The communication device 22 connects to the building equipment 21 wirelessly or by wire. Furthermore, the communication device 22 communicates with an external device (for example, the robot 30) via the mediation server 10.
The building resource management server 60 may be installed anywhere. The building resource management server 60 is a server that manages building resources (limited resources that must be managed).

The communication device 22 and the building resource management server 60 each have an equipment account and a detailed log. The equipment account is an account issued by the authentication server 40 and is used when communicating with other devices via the mediation server 10. The detailed log shows the history of the operation of the own device. By referring to this detailed log, it is possible to analyze later how the communication device 22 and the building resource management server 60 operated.

Furthermore, the communication device 22 and the building resource management server 60 can refer to the access authority management data 80. The intermediary server 10 does not need to intervene to refer to the passage authority management data 80. Specifically, the passage authority management data 80 is an Allow List and a Deny List.

The robot operation management server 70 may be installed anywhere. The robot operation management server 70 is a server that manages the operation of one or more robots 30. A plurality of robot operation management servers 70 may operate in parallel in one building.
Robot 30 is located inside a building. Robot 30 is a physical entity that moves within a building and performs tasks.

The robot operation management server 70 and the robot 30 each have a robot account and detailed log. The robot account is an account issued by the authentication server 40 and is used when communicating with other devices via the mediation server 10. The detailed log shows the history of the operation of the own device. By referring to this detailed log, it is possible to analyze later how the robot operation management server 70 and the robot 30 operated.

The mediation server 10 is a server that exists on the Internet and mediates communication between the robot 30 and the building equipment 21.

The monitoring server 50 may be installed anywhere. The monitoring server 50 has an account issued by the authentication server 40, intercepts communications mediated by the mediation server 10, and accumulates records of events and errors in the overall log data 51. The communications intercepted by the monitoring server 50 are limited to communications on channels authorized for its own account. Therefore, the events and errors that the monitoring server 50 leaves in the overall log data 51 become part of the detailed logs of the robot 30, the communication device 22, and the like. In other words, the monitoring server 50 has an account that is permitted to intercept communication channels that should be left in the overall log data 51 among the communications mediated by the mediation server 10.

The authentication server 40 may be installed anywhere. The authentication server 40 refers to the communication authority management data 41 and authenticates the equipment account or building account attempting to connect to the mediation server 10. Since the system administrator issues and revoke accounts, it is possible to take action when a problem occurs with a particular account. The issued account data is registered in the communication authority management data 41.

FIG. 4 is a configuration diagram of the mediation server 10. As shown in FIG. 4, the mediation server 10 includes a CPU (Central Processing Unit) 11, a memory 12, a communication section 13, and a storage section 14.

The storage unit 14 is an auxiliary storage device that stores programs and various data.
The communication unit 13 is a communication interface used when communicating with the communication device 22, robot 30, authentication server 40, and monitoring server 50.

The CPU 11 expands the program read from the storage unit 14 into the memory 12, which is a main storage device, and executes it sequentially to update the connection processing unit 11a, channel registration processing unit 11b, message transfer processing unit 11c, and encryption processing unit 11d. Achieve functionality.

The connection processing unit 11a performs processing related to communication connections between the communication device 22, the robot 30, the authentication server 40, and the monitoring server 50.
The channel registration processing unit 11b performs processing related to channel registration after communication is established.
The message transfer processing unit 11c performs a process of transferring a message after channel registration.

When messages sent and received by the communication device 22, the robot 30, the authentication server 40, and the monitoring server 50 are encrypted, the encryption processing unit 11d decrypts the message received from the sender and encrypts the decrypted message again. and send it to the destination.

For example, when the robot 30 transmits an encrypted message to the communication device 22 and the monitoring server 50 monitors the communication channel, the encryption processing unit 11 decrypts the message once. Therefore, the monitoring server 50 can intercept plaintext messages and accumulate them as a log. Thereafter, the encryption processing unit 11 encrypts the decrypted message again and transmits it to the communication device 22.

As a modification, when the encryption processing unit 11 receives an encrypted message, it may forward it to the destination as is, copy the message, decrypt it, and pass it to the monitoring server 50.

FIG. 5 is a flowchart illustrating the processing of the connection processing section 11a. When the connection processing unit 11a receives the connection request, it makes an inquiry to the authentication server 40 (step S101). As a result of the inquiry, if the request source account has been registered (step S102; Yes), the connection processing unit 11a establishes a connection and ends the process. On the other hand, if the request source account has not been registered (step S102; No), the connection processing unit 11a rejects the connection and ends the process.

FIG. 6 is a flowchart illustrating the processing of the channel registration processing section 11b. When the channel registration processing unit 11b receives a channel registration request from the account with which the connection has been established, it makes an inquiry to the authentication server 40 (step S201). As a result of the inquiry, if the channel is permitted to be registered in the requesting account (step S202; Yes), the channel registration processing unit 11b registers the channel and ends the process. On the other hand, if the channel is not a channel for which registration is permitted by the requesting account (step S202; No), the channel registration processing unit 11b disconnects the connection and ends the process.

FIG. 7 is a flowchart illustrating the processing of the message transfer processing unit 11c. When the message transfer processing unit 11c receives a message including the channel and content, it makes an inquiry to the authentication server 40 (step S301). As a result of the inquiry, if the channel is approved for posting (step S302; Yes), the message transfer processing unit 11c transfers the message to the channel registration destination and ends the process. On the other hand, if the channel is not permitted to post (step S302; No), the message transfer processing unit 11c disconnects the connection and ends the process.

FIG. 8 is a configuration diagram of the robot 30. As shown in FIG. 8, the robot 30 includes a CPU 31, a memory 32, a communication section 33, a storage section 34, and a drive section 35.

The drive unit 35 is a unit that drives the robot 30, and includes wheels, a motor, and the like.
The storage unit 34 is an auxiliary storage device that stores programs and various data. The robot account and detailed logs are stored in this storage unit 34.
The communication unit 33 is a communication interface used when communicating with the mediation server 10.

The CPU 31 loads the program read from the storage unit 34 into the memory 32, which is a main storage device, and executes the program sequentially, thereby controlling the account acquisition unit 31a, the channel registration request unit 31b, the message transmission/reception unit 31c, the encryption processing unit 31d, and the running unit. It realizes the functions of the control section 31e.

The account acquisition unit 31a performs processing to acquire a new account. Specifically, a robot account is issued by the authentication server 40, and the issued robot account is stored in the storage unit 34. The account may be acquired as an initial setting when the robot 30 is introduced into the system.

When communication with the equipment is required, the channel registration requesting unit 31b makes a connection request including a robot account and a channel registration request to create a state in which communication with the equipment is possible.

The message transmitting/receiving unit 31c is a processing unit that transmits and receives messages to and from equipment. The messages sent and received are related to equipment traffic. For example, when the robot 30 uses an elevator, "call for the car," "designate the destination," "current position of the car," "open/close status of the car," "state of the robot 30," and "end of use." "direction" etc. are sent and received.

The encryption processing unit 31d is a processing unit that encrypts messages to be sent and decrypts messages received.
The traveling control section 31e controls the driving section 35 and causes the robot 30 to travel based on the transmitted and received messages.
In addition, the robot 30 includes various sensors, a mechanism for task execution, and a processing unit, but the description thereof will be omitted here.

As described above, the disclosed mobile body traffic management system is a mobile body traffic management system that manages the traffic of one or more mobile bodies that move autonomously, and is a mobile body traffic management system that manages the traffic of one or more mobile bodies that move autonomously. A building equipment 21 as one or more equipment involved in the availability, a communication device 22 as an equipment-side communication device that connects to the equipment and communicates with the outside, and a communication device between the mobile object and the equipment-side communication device. an intermediary server 10 that mediates communication, the intermediary server 10 mediates all communications between the mobile object and the equipment-side communication device, and the intermediary server 10 mediates all communications between the mobile object and the equipment-side communication device. The facility-side communication device controls whether or not communication is allowed with respect to the mobile object, and the equipment-side communication device controls whether or not the mobile object allowed to communicate can pass.
Therefore, the mobile object traffic management system can efficiently manage the traffic of autonomously moving mobile objects.
Specifically, since the mediation server 10 mediates all communications, fraud can be efficiently prevented. Additionally, communication permissions and traffic permissions are managed separately, so traffic permissions can be set flexibly. For example, even if a building has multiple managers or includes elevators operated by different managers, it is possible to smoothly manage the passage of moving objects.

The mobile object traffic management system further includes an authentication server 40 that issues and authenticates accounts for the mobile objects and the equipment, and the mediation server 10 uses the authentication server 40 to control whether or not the communication is possible. .
In this way, by providing the authentication server 40, traffic management becomes easy, and even when a mobile object moves between a plurality of buildings, operation can be performed using a single account. The account can also be used for traffic management.

The mobile object traffic management system further includes a monitoring server 50 that monitors and stores communications mediated by the mediation server 10.
The monitoring server 50 selectively monitors a part of the communication between the mobile object and the equipment-side communication device.
In this way, the mediation server 10 mediates all communications and monitors the communications, so that, for example, even if a mobile object moves between multiple buildings, logs will not be scattered, and fraud, etc. can be monitored efficiently. be able to.
Furthermore, by selectively accumulating events, errors, and the like on the monitoring server 50, analysis after a problem occurs can be made more efficient. Furthermore, by comparing the overall log accumulated by the monitoring server 50 with the detailed logs of each device, a detailed analysis of the problem is possible. In other words, the overall log and detailed log share different roles.

In addition, when a message sent and received between the mobile object and the facility-side communication device is encrypted, the mediation server 10 decrypts the message received from the sender, re-encrypts the decrypted message, and sends the encrypted message. Send first.
Therefore, the mediation server 10 can grasp and confirm the contents of encrypted communications. Specifically, it is possible to leave the decrypted plaintext message in the entire log.

Further, the equipment includes an elevator and/or a gate.
In this way, mobile objects can move between floors and within floors using the same means as humans.

Further, the mobile object is movable between the plurality of buildings and the plurality of buildings, the equipment is provided in each of the plurality of buildings, and the mediation server 10 is provided in each of the plurality of buildings. Integrated management of communication between the equipment side communication device and the mobile object.
Therefore, communication and traffic can be managed efficiently even when a mobile object moves between multiple buildings.

Furthermore, the mediation server 10 controls communications related to the passage of the mobile objects by controlling availability of channels for transmitting and receiving messages.
Therefore, communication management can be easily realized. For example, by registering the monitoring server 50 in a channel for messages related to events and a channel for messages related to errors, it is possible to intercept necessary messages as they are.

Note that the present invention is not limited to the above-described embodiments, and includes various modifications. For example, the embodiments described above are described in detail to explain the present invention in an easy-to-understand manner, and the present invention is not necessarily limited to having all the configurations described. Furthermore, it is possible not only to delete such a configuration but also to replace or add a configuration.
For example, in the above embodiment, a robot that performs work inside a building is illustrated, but the present invention is also applicable to a mobile object that moves outdoors. Furthermore, the mode of movement is not limited to running, but may be flight, navigation, or the like.

10: Mediation server, 11: CPU, 11: Encryption processing unit, 11a: Connection processing unit, 11b: Channel registration processing unit, 11c: Message transfer processing unit, 11d: Encryption processing unit, 12: Memory, 13: Communication unit, 14: Storage unit, 21: Building equipment, 22: Communication device, 30: Robot, 31: CPU, 31a: Account acquisition unit, 31b: Channel registration request unit, 31c: Message transmission/reception unit, 31d: Encryption processing unit, 31e: Travel control unit, 32: Memory, 33: Communication unit, 34: Storage unit, 35: Drive unit, 40: Authentication server, 41: Communication authority management data, 50: Monitoring server, 51: Overall log data, 60: Building resources Management server, 70: Robot operation management server, 80: Passage authority management data, B1, B2: Building

Claims

A mobile object traffic management system that manages the passage of one or more mobile objects that move autonomously,
one or more facilities involved in whether or not the mobile object can pass;
an equipment-side communication device that connects to the equipment and communicates with the outside;
an intermediary server that is provided separately from the equipment-side communication device and mediates communication between the mobile object and the equipment-side communication device;
The mediation server mediates all communications between the mobile object and the facility-side communication device,
The mediation server controls whether communication is possible between the mobile object and the equipment-side communication device,
The facility-side communication device controls whether or not the mobile object is allowed to pass by determining whether or not to further permit passage of the mobile object for which communication has been permitted by the intermediary server. Mobile traffic management system.
The mobile traffic management system according to claim 1,
further comprising an authentication server that issues and authenticates accounts for the mobile object and the equipment,
The authentication server manages the communication authority of the issued account using communication authority management data, and authenticates the account having communication authority based on the communication authority management data,
The mediation server controls whether or not the communication is possible using the authentication result of the authentication server,
The facility-side communication device is characterized in that it refers to passage authority management data that associates passage permission with an account issued by the authentication server, and controls whether the mobile object corresponding to the account is allowed to pass. Mobile traffic management system.
The mobile traffic management system according to claim 1,
A mobile object traffic management system further comprising a monitoring server that monitors communications mediated by the mediation server and stores transmitted and received messages.
The mobile traffic management system according to claim 3,
A mobile object traffic management system, wherein the monitoring server selectively monitors a part of communication between the mobile object and the equipment-side communication device.
The mobile traffic management system according to claim 1,
If a message sent and received between the mobile object and the facility-side communication device is encrypted, the mediation server decrypts the message received from the sender, encrypts the decrypted message again, and sends it to the destination. A mobile traffic management system characterized by:
The mobile traffic management system according to claim 1,
A mobile object traffic management system characterized in that the equipment includes an elevator and/or a gate.
The mobile traffic management system according to claim 1,
The mobile object is movable inside a plurality of buildings and between the plurality of buildings,
The equipment is provided in each of the plurality of buildings,
The mobile object traffic management system is characterized in that the mediation server integrally manages communications between the equipment-side communication devices of the plurality of buildings and the mobile object.
The mobile traffic management system according to claim 1,
The mobile object traffic management system is characterized in that the mediation server controls communications related to the movement of the mobile objects by controlling availability of channels for transmitting and receiving messages.
A mobile object traffic management method for managing the passage of one or more mobile objects that move autonomously, the method comprising:
a step in which the intermediary server controls whether communication is possible between the mobile object and an equipment-side communication device connected to equipment that is involved in whether or not the mobile object can pass;
a step in which the facility-side communication device controls whether or not the mobile object is allowed to pass by determining whether or not to further permit passage of the mobile object for which communication has been permitted by the intermediary server;
including;
A mobile object traffic management method characterized in that the mediation server mediates all communications between the mobile object and the facility-side communication device.