JP7572255B2 - Unmanned vehicles, collection systems, and collection programs - Google Patents

Description

The present invention relates to an unmanned vehicle, a collection system, and a collection program.

Conventionally, systems have been proposed for collecting various information from opening and closing devices attached to openings in buildings. In such systems, for example, a system has been proposed that includes an opening and closing device equipped with a maintenance information sensing means that senses maintenance information related to the maintenance of the opening and closing device, a wireless communication device (e.g., a wireless communication device for long-distance communication) that wirelessly transmits the maintenance information sensed by the maintenance information sensing means, and a server device that wirelessly receives and collects the maintenance information directly from the opening and closing device.

JP 2017-179736 A

As described above, in the conventional system, the opening and closing device is equipped with a wireless communication device capable of directly transmitting maintenance information to the server device, and therefore a relatively expensive wireless communication device is required. For example, when collecting maintenance information from multiple opening and closing devices, the system cost may become excessive. Also, in an environment where it is difficult for the opening and closing devices to communicate directly with the server device, it may become difficult for the server device to collect maintenance information. For these reasons, there is room for improvement in terms of increasing the ability to collect information while suppressing system costs.

The present invention is intended to solve the problems in the above-mentioned conventional technology, and aims to provide an unmanned mobile body, a collection system, and a collection program that can increase the collection of device information while reducing the cost of the system used to collect device information.

In order to solve the above-mentioned problems and achieve the object, the unmanned mobile body described in claim 1 is an unmanned mobile body that acquires equipment information, which is information related to an opening/closing device or its peripheral devices, and is capable of communicating with at least one of the opening/closing device or the peripheral devices and a collection device, and acquires the equipment information from a plurality of the opening/closing devices and/or a plurality of the peripheral devices, the unmanned mobile body comprising: a first acquisition means for acquiring first movement instruction information indicating a movement instruction for the unmanned mobile body to move to the opening/closing device or the peripheral devices; a movement control means for controlling the movement of the unmanned mobile body based on the first movement instruction information acquired by the first acquisition means; and a third acquisition means for acquiring the equipment information from the opening/closing device and/or the peripheral devices when an acquisition timing for acquiring the equipment information arrives. and a communication means for transmitting the device information acquired by the second acquisition means to the collection device when a first transmission timing for transmitting the device information arrives, wherein the first acquisition means recognizes authentication information attached to the opening /closing device or the peripheral device to be acquired or a part in the vicinity thereof, and acquires the first movement instruction information associated with the recognized authentication information, the first movement instruction information for the unmanned mobile body to move to the opening/closing device or the peripheral device to be the next acquisition target, and the movement control means, after the device information is acquired from the opening/closing device or the peripheral device to be acquired, moves the unmanned mobile body to the opening/closing device or the peripheral device to be the next acquisition target based on the first movement instruction information acquired by the first acquisition means.

According to a second aspect of the present invention, in the unmanned mobile body of the first aspect, the second acquisition means acquires the device information using a timing at which the authentication information is recognized as the acquisition timing.

The unmanned mobile body described in claim 3 is an unmanned mobile body described in claim 1 or 2 , wherein the communication means transmits all of the acquired device equipment information to the collection device at a predetermined timing after the device equipment information has been acquired from all of the multiple opening and closing devices and/or multiple peripheral devices, as the first transmission timing.

The unmanned mobile body of claim 4 is an unmanned mobile body of claim 1 or 2 , wherein the first acquisition means recognizes the authentication information attached to the opening/closing device or the peripheral device or a part nearby that is the last target to be acquired, and acquires second movement instruction information associated with the recognized authentication information, the second movement instruction information indicating a movement instruction for the unmanned mobile body to move to a communication position where it can communicate with the collection device, and after the device information has been acquired from the opening/closing device or the peripheral device that is the last target to be acquired, the movement control means moves the unmanned mobile body to the communication position based on the second movement instruction information acquired by the first acquisition means, and the communication means transmits to the collection device all of the device information acquired by the second acquisition means, with a predetermined timing after the unmanned mobile body reaches the communication position as the first transmission timing.

The unmanned mobile body according to claim 5 is an unmanned mobile body that acquires equipment information, which is information relating to an opening/closing device or its peripheral devices, and is capable of communicating with at least one of the opening/closing device or the peripheral devices and a collection device, and acquires the equipment information from a plurality of the opening/closing devices and/or a plurality of the peripheral devices, the unmanned mobile body comprising: a first acquisition means for acquiring first movement instruction information indicating a movement instruction for the unmanned mobile body to move to the opening/closing device or the peripheral devices; a movement control means for controlling the movement of the unmanned mobile body based on the first movement instruction information acquired by the first acquisition means; and when an acquisition timing for acquiring the equipment information arrives, a collection device for collecting the equipment information from the opening/closing device or the peripheral devices, the collection device includes: a collection device for collecting the equipment information from the opening/closing device or the peripheral devices; The collection device includes a second acquisition means for acquiring the device equipment information from the peripheral device, and a communication means for transmitting the device equipment information acquired by the second acquisition means to the collection device when a first transmission timing for transmitting the device equipment information arrives, wherein the first acquisition means acquires the first movement instruction information for moving from the opening/closing device or the peripheral device to be acquired to the next opening/closing device or the peripheral device to be acquired, and the movement control means, after the device equipment information is acquired from the opening/closing device or the peripheral device to be acquired, moves the unmanned mobile body to the next opening/closing device or the peripheral device to be acquired based on the first movement instruction information acquired by the first acquisition means.

The unmanned mobile body described in claim 6 is an unmanned mobile body described in any one of claims 1 to 5 , and is equipped with a surrounding condition acquisition means for acquiring surrounding condition information indicating the surrounding conditions of the opening/closing device and/or the peripheral equipment, and when a second transmission timing for transmitting the surrounding condition information arrives, the communication means transmits the surrounding condition information acquired by the surrounding condition acquisition means to the collection device.

An unmanned mobile body according to claim 7 is an unmanned mobile body according to any one of claims 1 to 6, wherein the unmanned mobile body is an unmanned aerial vehicle.

The collection system described in claim 8 is a collection system that collects device information, which is information regarding an opening and closing device or its peripheral devices, and comprises an unmanned mobile body described in any one of claims 1 to 7, and a collection device capable of communicating with the unmanned mobile body and collecting the device information from the unmanned mobile body.

The collection system of claim 9 is the collection system of claim 8, wherein the collection device is provided with a determination means for determining whether or not an abnormality has occurred in the opening/closing device or the peripheral equipment based on the equipment information collected from the unmanned mobile body, and a notification means for notifying determination information indicating the determination result of the determination means.

The collection program according to claim 10 is a collection program for causing an unmanned mobile body to execute the collection program for acquiring device information, which is information on an opening/closing device or its peripheral devices, and includes a computer provided in the unmanned mobile body, a first acquisition means for acquiring first movement instruction information indicating a movement instruction for the unmanned mobile body to move to the opening/closing device or the peripheral devices, a movement control means for controlling the movement of the unmanned mobile body based on the first movement instruction information acquired by the first acquisition means, a second acquisition means for acquiring the device information from the opening/closing device and/or the peripheral devices when an acquisition timing for acquiring the device information arrives, and a first transmission timing for transmitting the device information, a computer for transmitting the device information from the opening/closing device and/or the peripheral devices, the computer including: a first acquisition means for acquiring first movement instruction information indicating a movement instruction for the unmanned mobile body to move to the opening/closing device or the peripheral devices; and a communication means for transmitting the equipment information to a collection device, wherein the unmanned mobile body acquires the equipment information from a plurality of the opening/closing devices and/or a plurality of the peripheral devices, the first acquisition means recognizes authentication information attached to the opening/closing device or the peripheral device to be acquired or a part in the vicinity thereof, and acquires the first movement instruction information associated with the recognized authentication information, which is for the unmanned mobile body to move to the opening/closing device or the peripheral device to be the next acquisition target, and the movement control means moves the unmanned mobile body to the opening/closing device or the peripheral device to be the next acquisition target based on the first movement instruction information acquired by the first acquisition means after the equipment information has been acquired from the opening/closing device or the peripheral device to be acquired.

The collection program according to claim 11 is a collection program for causing an unmanned mobile body to execute the collection program for acquiring device information, which is information on a switching device or its peripheral devices, and includes a computer provided in the unmanned mobile body, a first acquisition means for acquiring first movement instruction information indicating a movement instruction for the unmanned mobile body to move to the switching device or the peripheral devices, a movement control means for controlling the movement of the unmanned mobile body based on the first movement instruction information acquired by the first acquisition means, a second acquisition means for acquiring the device information from the switching device and/or the peripheral devices when an acquisition timing for acquiring the device information arrives, and a first transmission timing for transmitting the device information. and a communication means for, when a command arrives, collecting and transmitting the device information acquired by the second acquisition means to a collecting device, wherein the unmanned mobile body acquires the device information from a plurality of the opening/closing devices and/or a plurality of the peripheral devices, the first acquisition means acquires the first movement instruction information for moving from the opening/closing device or the peripheral device to be acquired to the next opening/closing device or the peripheral device to be acquired, and the movement control means, after the device information has been acquired from the opening/closing device or the peripheral device to be acquired, moves the unmanned mobile body to the next opening/closing device or the peripheral device to be acquired based on the first movement instruction information acquired by the first acquisition means.

According to the unmanned mobile body of claim 1, the collection system of claim 8 , and the collection program of claim 10 , the first acquisition means for acquiring first movement instruction information, the movement control means for controlling the movement of the unmanned mobile body based on the first movement instruction information acquired by the first acquisition means, the second acquisition means for acquiring device information from the opening/closing device or/and peripheral device when the acquisition timing arrives, and the communication means for transmitting the device information acquired by the second acquisition means to the collecting device when the first transmission timing arrives, the device information can be reliably collected even in an environment where it is difficult for the collecting device and the opening/closing device to directly communicate, and even if there are a large number of opening/closing devices or peripheral devices, the device information related to these opening/closing devices or peripheral devices can be collected by one unmanned mobile body. Therefore, compared to the conventional technology (technology in which a server device directly collects maintenance information from opening/closing devices), the collection of device information can be improved while suppressing the cost of the system used to collect the device information.
In addition, the first acquisition means recognizes authentication information attached to the opening/closing device or peripheral device to be acquired or a part in the vicinity thereof, and acquires first movement instruction information associated with the recognized authentication information, which is first movement instruction information for the unmanned mobile body to move to the opening/closing device or peripheral device to be the next acquisition target, and the movement control means moves the unmanned mobile body to the opening/closing device or peripheral device to be the next acquisition target based on the first movement instruction information acquired by the first acquisition means after device information has been acquired from the opening/closing device or peripheral device to be acquired.Therefore, for example, in a case where position information cannot be received from a GPS satellite, it is easier to move the unmanned mobile body accurately to the opening/closing device or peripheral device to be the next acquisition target (specifically, it is easier to move accurately as it is less susceptible to the influence of movement errors), and the movement controllability of the unmanned mobile body can be improved.

According to the unmanned mobile body described in claim 2, the second acquisition means acquires the device equipment information based on the timing at which the authentication information is recognized, thereby enabling the device equipment information to be acquired reliably and improving the collectability of the device equipment information.

According to the unmanned mobile body described in claim 3, the communication means transmits all of the acquired equipment information to the collecting device at a predetermined timing after the equipment information has been acquired from all of the multiple opening and closing devices and/or multiple peripheral devices as the first transmission timing, so that all of the acquired equipment information can be quickly transmitted to the collecting device, thereby improving the collectability of the equipment information.

According to the unmanned mobile body described in claim 4, the first acquisition means recognizes authentication information attached to the opening/closing device or peripheral device to be the last acquisition target or a part in the vicinity thereof, and acquires second movement instruction information corresponding to the recognized authentication information, the second movement instruction information indicating a movement instruction for the unmanned mobile body to move to a communication position where it can communicate with the collection device, and after the device information has been acquired from the opening/closing device or peripheral device to be the last acquisition target, the movement control means moves the unmanned mobile body to the communication position based on the second movement instruction information acquired by the first acquisition means, and the communication means transmits all of the device information acquired by the second acquisition means to the collection device at a predetermined timing after the unmanned mobile body reaches the communication position as the first transmission timing, so that all of the acquired device information can be reliably transmitted to the collection device, thereby improving the collectability of the device information.

According to the unmanned mobile body of claim 5 , the collection system of claim 8, and the collection program of claim 11 , the first acquisition means for acquiring first movement instruction information, the movement control means for controlling the movement of the unmanned mobile body based on the first movement instruction information acquired by the first acquisition means, the second acquisition means for acquiring device information from the opening/closing device or/and peripheral device when the acquisition timing arrives, and the communication means for transmitting the device information acquired by the second acquisition means to the collecting device when the first transmission timing arrives, the device information can be reliably collected even in an environment where it is difficult for the collecting device and the opening/closing device to directly communicate, and even if there are a large number of opening/closing devices or peripheral devices, the device information related to these opening/closing devices or peripheral devices can be collected by one unmanned mobile body. Therefore, compared to the conventional technology (technology in which a server device directly collects maintenance information from opening/closing devices), the collection of device information can be improved while suppressing the cost of the system used to collect the device information.
In addition, the first acquisition means acquires first movement instruction information for moving from the opening/closing device or peripheral device to be acquired to the next opening/closing device or peripheral device to be acquired, and the movement control means, after acquiring device information from the opening/closing device or peripheral device to be acquired, moves the unmanned mobile body to the next opening/closing device or peripheral device to be acquired based on the first movement instruction information acquired by the first acquisition means.Therefore, for example, in a case where location information cannot be received from a GPS satellite, it is easier to accurately move the unmanned mobile body to the next opening/closing device or peripheral device to be acquired compared to a case where the unmanned mobile body is moved based on first movement instruction information acquired in advance, which indicates all movement instructions related to multiple opening/closing devices or multiple peripheral devices, thereby improving the movement controllability of the unmanned mobile body.

According to the unmanned mobile body described in claim 6, when the second transmission timing for transmitting the surrounding situation information arrives, the communication means transmits the surrounding situation information acquired by the surrounding situation acquisition means to the collection device, so that the surrounding situation information can be collected and various processing (e.g., crime prevention processing, management processing, etc.) based on the surrounding situation information can be performed in the collection device.

According to the unmanned mobile body described in claim 7, since the unmanned mobile body is an unmanned aerial vehicle, the mobility of the unmanned mobile body can be improved compared to other unmanned mobile bodies, and device equipment information can be collected efficiently.

According to the collection system described in claim 9 , the collection device is equipped with a determination means for determining whether or not an abnormality has occurred in the opening/closing device or peripheral equipment based on the device/equipment information collected from the unmanned mobile body, and a notification means for notifying determination information indicating the determination result of the determination means, so that the determination information can be notified and measures (e.g., maintenance work) can be taken in accordance with the determination information.

1 is a diagram conceptually illustrating a collection system according to a first embodiment of the present invention. FIG. 2 is a block diagram showing an electrical configuration of an opening/closing side control unit of the opening/closing device. FIG. 2 is a block diagram showing the electrical configuration of a mobile control unit of an unmanned mobile body. FIG. 2 is a block diagram showing the electrical configuration of the collection device. 11 is a flowchart of a collection process according to the first embodiment. FIG. 1 is a diagram showing the storage status of an unmanned moving body. FIG. 2 is a diagram showing the acquisition status of various information in an unmanned moving body. FIG. 2 is a diagram showing the transmission status of various information in an unmanned moving body. FIG. 11 is a block diagram showing the electrical configuration of an unmanned moving body according to a second embodiment. A figure showing the acquisition status of various information in an unmanned moving body in embodiment 2.

Below, with reference to the attached drawings, an embodiment of the unmanned vehicle, collection system, and collection program according to the present invention will be described in detail. First, [I] the basic concept of the embodiment will be explained, then [II] the specific content of the embodiment will be explained, and finally, [III] modified examples of the embodiment will be explained. However, the present invention is not limited to the embodiment.

[I] Basic Concept of the Embodiment First, the basic concept of the embodiment will be described. The embodiment generally relates to an unmanned mobile body that acquires device information, which is information on a switching device or its peripheral devices, and that can communicate with a switching device, a peripheral device, and/or a collection device, a collection system that includes the unmanned mobile body, and a collection program to be executed by the unmanned mobile body.

The term "opening and closing device" as used herein refers to a device that is attached to an opening in a building for crime and fire prevention purposes, and is a concept that includes all types of shutter devices, automatic doors, door devices, etc. that can be electrically driven, such as heavy shutters, but in the embodiment, it will be described as an electrically driven shutter device.

The term "building" can refer to any specific structure or type, but is a concept that includes, for example, commercial facilities, office buildings, public facilities, and housing complexes such as apartments and condominiums. In the embodiment, however, it will be described as a commercial facility. An "opening in a building" is an opening formed in a part of the building's framework (e.g., a wall, floor, ceiling, etc.) for installing an entrance or window.

"Peripheral equipment" refers to equipment installed around the opening and closing device, and is a concept that includes various sensors such as load sensors (specifically, sensors that detect the amount of load when opening and closing the opening and closing body of the door device) installed near the door device (specifically, manual or electric door device) installed at an emergency exit.

In addition, the term "device information" is a concept that includes, for example, opening and closing device information related to the opening and closing device and peripheral device information related to the peripheral devices, but in the embodiment, it is described as opening and closing device information (specifically, opening and closing device operation history information described later, abnormality history information described later, vibration information described later, and opening and closing machine information described later).

Among these, "opening/closing device information" includes, for example, opening/closing device basic information, opening/closing device operation history information, abnormality history information, vibration information, and/or opening/closing machine information. Here, "opening/closing device basic information" is information indicating the characteristics of the opening/closing device, such as the identification information and type information of the opening/closing device. Also, "opening/closing device operation history information" is information indicating the operation history of the opening/closing device, such as information indicating various operations (opening movement, closing movement, or stopping of opening/closing movement) and information indicating the date and time when various operations were performed. Also, "abnormality history information" is information indicating the abnormality history of the opening/closing device, such as information indicating the type of abnormality detected by various sensors (such as a seat switch, a heat sensor, and a sensor that detects the remaining battery level of the opening/closing side power supply unit, which will be described later), and information indicating the date and time when the abnormality was detected. Also, "vibration information" is information indicating the vibration status of components of the opening/closing device (such as an opening/closing body, etc.) detected by a vibration sensor, such as information indicating the vibration amount of the above components and information indicating the date and time when the information was acquired. Additionally, "switch information" refers to information that indicates the operating status of the switch of the switchgear described below, and corresponds to information that indicates, for example, the number of rotations, voltage value, or current value of the switch described below.

In addition, "peripheral device information" includes, for example, peripheral device basic information and peripheral device operation history information. Of these, "peripheral device basic information" is information that indicates the characteristics of a peripheral device, such as peripheral device identification information and type information. In addition, "peripheral device operation history information" is information that indicates the operation history of a peripheral device, such as information that indicates various operations (for example, if the peripheral device is the above-mentioned load sensor, information that indicates the load amount of the opening and closing body, etc.) and information that indicates the date and time when various operations were performed.

The term "collection device" refers to a device that collects device information from unmanned mobile objects, and is a concept that includes, for example, a server device installed in a management building or a mobile terminal carried by an administrator, but in the embodiment, it will be described as a server device installed in a base station.

The term "unmanned mobile object" refers to an object that can move autonomously, and includes, for example, an unmanned aerial vehicle (a concept that includes unmanned vehicles, such as so-called "drones," but in the embodiment, it will be described as an unmanned aerial vehicle.

[II] Specific Contents of the Embodiment Next, specific contents of the embodiment will be described.

[First embodiment]
First, a description will be given of a collection system according to embodiment 1. In this embodiment 1, an unmanned moving body acquires first movement instruction information and second movement instruction information using authentication information 6, which will be described later.

(composition)
First, the configuration of the collection system according to the first embodiment will be described.

In the following explanation, the X direction in FIG. 1 is referred to as the left-right direction of the collection system (-X direction is the left direction of the collection system, and +X direction is the right direction of the collection system), the Y direction in FIG. 1 is referred to as the up-down direction of the collection system (+Y direction is the up direction of the collection system, and -Y direction is the down direction of the collection system), and the direction perpendicular to the X and Y directions is referred to as the front-to-back direction (the direction leading to the front side of the paper in FIG. 1 is the front direction of the collection system, and the direction leading to the back side of the paper in FIG. 1 is the rear direction of the collection system).

The collection system 1 is a system that collects device information (specifically, opening and closing device information, such as opening and closing device operation history information, abnormality history information, vibration information, and opening and closing machine information), and generally includes an opening and closing device 10, an unmanned mobile body 80, and a collection device 110, as shown in FIG. 1.

(Configuration - Switchgear)
First, the configuration of the opening and closing device 10 will be described.

The opening and closing device 10 is a device for opening and closing an opening 3 provided in a building's framework 2 (e.g., an inner wall of a building, etc.). A plurality of opening and closing devices 10 are arranged at intervals within a building (five are installed in the first embodiment), and as shown in FIG. 1, the opening and closing devices 10 include a storage section 20, a guide rail 30, an opening and closing body 40, an opening and closing machine 50, a winding shaft (not shown), and a control system 60. However, the configuration of the opening and closing device 10 that is not specifically mentioned will not be described as it is the same as a conventional shutter device.

The connection form of each component constituting this opening/closing device 10 is set as shown below. That is, the opening/closing side control unit 70 of the control system 60 described later is electrically connected to the opening/closing machine 50, the operation unit 61, the upper limit detection unit 62, the lower limit detection unit 63, and the seat board switch 64 of the control system 60 described later via wiring 4. This allows communication or power supply directly or indirectly between the opening/closing side control unit 70 described later and each of the opening/closing machine 50, the operation unit 61 described later, the upper limit detection unit 62 described later, the lower limit detection unit 63 described later, and the seat board switch 64 described later.

In the following, of the multiple opening and closing devices 10, the opening and closing device 11 closest to the communication position P described below will be referred to as the "first opening and closing device 11", the opening and closing device 12 farther from the communication position P described below than the first opening and closing device 11 will be referred to as the "second opening and closing device 12", the opening and closing device 13 farther from the communication position P described below than the second opening and closing device 12 will be referred to as the "third opening and closing device 13", the opening and closing device 14 farther from the communication position P described below than the third opening and closing device 13 will be referred to as the "fourth opening and closing device 14", and the opening and closing device 15 farther from the communication position P described below than the fourth opening and closing device 14 will be referred to as the "fifth opening and closing device 15".

(Configuration-Switching device-Storage section)
The storage section 20 is a hollow body for storing each part of the opening/closing device 10. As shown in Fig. 1, the storage section 20 is installed above the upper end of the opening 3. The storage section 20 also stores the opening/closing machine 50, the winding shaft, and an upper limit detection section 62, a lower limit detection section 63, a cord reel 65, and an opening/closing side control unit 70 of a control system 60 described later, and when the opening/closing body 40 is wound up by the winding shaft, at least a part of the opening/closing body 40 is also stored inside the storage section 20.

(Configuration - Switching device - Guide rail)
The guide rail 30 guides the opening/closing body 40 to move along the opening/closing direction (vertical direction) of the opening 3. The guide rail 30 is an elongated body formed so that its cross section is substantially U-shaped, and is disposed at each of the left and right ends of the opening/closing device 10 in a direction substantially along the vertical direction, and is directly fixed to the wall of the building, or indirectly fixed via a base material (not shown).

(Configuration-Switching device-Switching body)
The opening/closing body 40 is a shielding means that switches the open/closed state of the opening/closing body 40 by being moved to close or open by the winding shaft. Here, the "open/closed state of the opening/closing body 40" is a concept that includes a fully closed state in which the opening 3 is fully closed by the opening/closing body 40, a fully open state in which the opening 3 is fully opened by the opening/closing body 40, and a half-open state in which the opening 3 is half-open by the opening/closing body 40.

As shown in FIG. 1, the opening/closing body 40 is configured with a plurality of slats 41, which are connected to each other via fittings (not shown) formed at both upper and lower ends of each slat 41. Each of the left and right ends of the opening/closing body 40 is inserted into the inside of the guide rail 30 via the U-shaped open end of the guide rail 30, and is capable of sliding inside the guide rail 30 in the up and down direction, and is restricted from falling out of the guide rail 30 in the front and rear direction.

A seat plate 42 is connected to the closed end of the opening/closing body 40 (specifically, the lower end of the opening/closing body 40). This seat plate 42 is arranged so as to be close to or in contact with the floor surface of the building in the fully closed state, and is formed over the entire length of the closed end of the opening/closing body 40 in the left-right direction.

(Configuration-Switchgear-Switchgear)
The opening/closing device 50 is a driving means for electrically opening and closing the opening/closing body 40 by controlling the rotation of the winding shaft. The opening/closing device 50 is, for example, a known opening/closing device, and is provided in the storage section 20 in the vicinity of the winding shaft as shown in FIG.

(Configuration-Opening and closing device-Winding shaft)
The winding shaft is a rotating shaft for moving the opening/closing body 40 to close or open. This winding shaft is configured, for example, using a known winding shaft or the like, and is installed along the left-right direction. In addition, a connecting slat (not shown) connected to the upper end of the opening/closing body 40 is connected to this winding shaft, and by rotating this winding shaft, the opening/closing body 40 can be moved to close or open via the connecting slat. In addition, since the left end (or right end) of this winding shaft is connected to the output shaft of the opening/closing machine 50 via a chain (not shown), the winding shaft can be rotated in conjunction with the rotation of the output shaft of the opening/closing machine 50.

(Configuration - Switchgear - Control System)
Next, the configuration of the control system 60 will be described.

The control system 60 is for controlling the opening and closing device 10, and as shown in FIG. 1, includes an operation unit 61, an upper limit detection unit 62, a lower limit detection unit 63, a seat switch 64, a cord reel 65, and an opening and closing side control unit 70.

(Configuration - Switchgear - Control System - Operation Unit)
The operation unit 61 is an operation means for performing operations related to the opening and closing device 10. This operation unit 61 is configured using, for example, a known operation means for a shutter device (for example, a wired or wireless operation device, etc.), and is provided near the opening 3 as shown in FIG.

(Configuration - Switchgear - Control System - Upper Limit Detection Unit)
The upper limit detection unit 62 is an upper limit detection means that detects whether the closing side end of the opening/closing body 40 has reached the position of the opening/closing body 40 in a fully open state (hereinafter referred to as the "fully open position"). This upper limit detection unit 62 is configured using, for example, a known detection sensor (one example is a counter-type limit switch that detects the number of rotations of the output shaft of the opening/closing machine 50, etc.), and is installed in a position near the opening/closing machine 50 inside the storage unit 20 as shown in FIG. 1.

(Configuration - Switchgear - Control System - Lower Limit Detection Unit)
The lower limit detection unit 63 is a lower limit detection means that detects whether the closing side end of the opening/closing body 40 has reached the position of the opening/closing body 40 in a fully closed state (hereinafter referred to as the "fully closed position"). The lower limit detection unit 63 is configured using, for example, a known detection sensor (as one example, a counter-type limit switch that detects the number of rotations of the output shaft of the opening/closing machine 50, etc.), and is installed in a position near the opening/closing machine 50 in the storage unit 20 as shown in FIG.

(Configuration - Switchgear - Control System - Seat Switch)
The seat switch 64 is an obstacle detection means for detecting a first obstacle. Here, the "first obstacle" means an obstacle that impedes the opening/closing movement (specifically, the closing movement) of the opening/closing body 40, and corresponds to, for example, a person, an animal, an object, etc.

This seat switch 64 is configured, for example, using a known wired seat switch (such as a microswitch), and is attached to the seat 42 as shown in FIG. 1.

(Configuration - Switchgear - Control System - Cord Reel)
The cord reel 65 winds up or unwinds the seat board side wiring 5 so that the unwound length of the wiring 5 (hereinafter referred to as "seat board side wiring 5") connecting the seat board switch 64 and the opening/closing side control unit 70 so as to be capable of wired communication is always maintained at an appropriate length even if the seat board switch 64 moves in the opening/closing movement direction as the opening/closing device 10 opens or closes. The cord reel 65 is configured using, for example, a known cord reel, and is provided near the opening 3 as shown in FIG.

(Configuration-Switchgear-Control System-Switching Side Control Unit)
The opening/closing side control unit 70 is a device that interconnects each part of the opening/closing device 10, and as shown in Figure 2, it is equipped with a first opening/closing side communication unit 71, a second opening/closing side communication unit 72, an opening/closing side power supply unit 73, an opening/closing side control unit 74, and an opening/closing side memory unit 75.

(Configuration-Switching device-Control system-Switching side control unit-First switching side communication unit)
The first opening/closing side communication unit 71 is a first opening/closing side communication means for communicating between the opening/closing mechanism 50, the operation unit 61, the upper limit detection unit 62, the lower limit detection unit 63, or the seat switch 64 and the opening/closing side control unit 70, and is configured using, for example, a known communication means for communicating using a wired communication network.

(Configuration-Switching device-Control system-Switching side control unit-Second switching side communication unit)
The second opening/closing side communication section 72 is a second opening/closing side communication means for communicating between the opening/closing side control unit 70 and the unmanned mobile body 80, and is configured, for example, using a known communication means for short-range wireless communication that performs short-range wireless communication using a wireless communication network (one example is a communication means using a short-range wireless communication standard such as Bluetooth (registered trademark)). This makes it possible to reduce the cost of the second opening/closing side communication section 72 compared to a case in which the second opening/closing side communication section 72 is configured using a communication means for long-range wireless communication.

(Configuration - Switchgear - Control system - Switching control unit - Switching power supply unit)
The opening/closing side power supply unit 73 is an opening/closing side power supply means that supplies power from a commercial power source or a battery (e.g., a battery, etc.) not shown in the figure to each part of the opening/closing side control unit 70, and also supplies power to the operation unit 61, the upper limit detection unit 62, the lower limit detection unit 63, the seat switch 64, etc.

(Configuration-Switchgear-Control system-Switching side control unit-Switching side control section)
The opening/closing side control unit 74 is an opening/closing side control means that controls each part of the opening/closing side control unit 70. Specifically, it is a computer that is configured with a CPU, various programs that are interpreted and executed on the CPU (including basic control programs such as an OS, and application programs that are started on the OS and realize specific functions), and an internal memory such as a RAM for storing the programs and various data (the same applies to the configuration of the collection side control unit 112 of the collection device 110 described later).

(Configuration-Switching device-Control system-Switching side control unit-Switching side memory unit)
The opening/closing side memory unit 75 is an opening/closing side memory means for storing programs and various data necessary for the operation of the opening/closing side control unit 70, and is configured using a rewritable recording medium, and a non-volatile recording medium such as a flash memory can be used (the same applies to the configuration of the moving side memory unit 109 of the unmanned mobile body 80 described later, and the configuration of the collecting side memory unit of the collecting device 110 described later).

(Configuration - Unmanned Vehicle)
Returning to FIG. 1, the configuration of the unmanned vehicle 80 will now be described.

The unmanned mobile body 80 is a device that acquires device equipment information and is capable of communicating with the opening/closing device 10, peripheral devices, and/or collection device 110 (in the first embodiment, it is capable of communicating with the opening/closing device 10 and collection device 110). This unmanned mobile body 80 is installed inside a building, and as shown in Figures 1 and 3, it has a main body 90 and a mobile control unit 100. However, for configurations of the unmanned mobile body 80 that are not specifically mentioned, explanations will be omitted as they are the same as conventional unmanned aerial vehicles.

(Configuration-Unmanned Mobile Body)
Returning to FIG. 1, the main body 90 is the basic structure of the unmanned vehicle 80, and as shown in FIG. 1, includes a storage section 91, a support section 92, and a flying section 93.

The storage section 91 stores the mobile control unit 100 and is formed, for example, of a hollow body made of resin or metal.

The support section 92 supports the flying section 93. The support section 92 is formed, for example, of a hollow rod-shaped body made of resin or metal, and is attached so as to protrude horizontally from the storage section 91 as shown in FIG. 1, and multiple support sections 92 are arranged at intervals from each other.

The flying unit 93 is for flying the unmanned vehicle 80. As shown in FIG. 1, the flying unit 93 is attached to the tip of each support unit 92, and is configured using, for example, a known propeller-type flying means. Specifically, it is configured with a propeller unit 93a and a drive unit 93b for rotating the propeller unit 93a.

(Configuration-Unmanned Mobile Body-Mobile Control Unit)
The mobile control unit 100 is a unit that controls each component of the unmanned mobile body 80, and as shown in Figure 3, it includes a direction detection unit 101, an altitude detection unit 102, an obstacle detection unit 103, an imaging unit 104, a voice input unit 105, a mobile communication unit 106, a mobile power supply unit 107, a mobile control unit 108, and a mobile memory unit 109.

(Configuration - Unmanned Mobile Body - Mobile Control Unit - Orientation Detection Unit)
The direction detection unit 101 is a direction detection means for detecting the direction of the unmanned mobile body 80, and is configured using, for example, a known direction detection sensor (a magnetic sensor, for example).

(Configuration - Unmanned vehicle - Mobile control unit - Altitude detection unit)
The altitude detection unit 102 is an altitude detection means that detects the altitude of the unmanned mobile body 80, and is configured using, for example, a known altitude detection sensor.

(Configuration-Unmanned Mobile Body-Mobile Control Unit-Obstacle Detection Unit)
The obstacle detection unit 103 is an obstacle detection means for detecting a second obstacle, and is configured using, for example, a known obstacle detection sensor. Here, the "second obstacle" means an object that impedes the movement of the unmanned mobile body 80, such as a person, an animal, or an object.

(Configuration: Unmanned vehicle; Mobile control unit; Imaging unit)
The imaging unit 104 is an imaging means for imaging the surroundings of the unmanned mobile body 80, and is configured, for example, using a known imaging means (for example, a known imaging element such as a CMOS image sensor or a CCD image sensor, or a known optical system component such as a lens or a prism).

(Configuration: Unmanned Mobile Body, Mobile Control Unit, Voice Input Unit)
The voice input unit 105 is a voice input means that inputs voice around the unmanned mobile body 80 and outputs voice information related to the input voice to the mobile communication unit 106, and is configured using a known microphone, etc.

(Configuration-Unmanned Mobile Body-Mobile Control Unit-Mobile Communication Unit)
The mobile communication unit 106 is a communication means for communicating between the unmanned mobile body 80 and each of the opening/closing control unit 70 and the collecting device 110, and is a communication means for transmitting the device information acquired by the second acquisition unit 108c to the collecting device 110 when a first transmission timing described later arrives. The mobile communication unit 106 is configured using, for example, a known communication means for performing short-range wireless communication and long-range wireless communication using a wireless communication network (for example, a communication means using a short-range wireless communication standard such as Bluetooth (registered trademark) and a long-range communication standard such as 4G, 5G, or LTE (registered trademark)).

(Configuration-Unmanned Mobile Body-Mobile Control Unit-Mobile Power Supply Unit)
The mobile power supply section 107 is a mobile power supply means that supplies power to each section of the mobile control unit 100 and the flying section 93.

(Configuration-Unmanned Mobile Body-Mobile Control Unit-Mobile Control Unit)
The mobile control unit 108 is a mobile control means that controls each part of the mobile control unit 100. Specifically, it is a computer that includes a CPU, various programs that are interpreted and executed on the CPU (including basic control programs such as an OS and application programs that are started on the OS and realize specific functions), and an internal memory such as a RAM for storing programs and various data. In particular, the collection program according to the first embodiment is installed in the unmanned vehicle 80 via any recording medium or network, thereby substantially configuring each part of the mobile control unit 108.

Furthermore, as shown in FIG. 3, the mobile control unit 108 conceptually includes a first acquisition unit 108a, a mobile control unit 108b, a second acquisition unit 108c, and a surrounding conditions acquisition unit 108d.

The first acquisition unit 108a is a first acquisition means for acquiring first movement instruction information. Here, the "first movement instruction information" is movement instruction information indicating a movement instruction for the unmanned mobile body 80 to move to the opening/closing device 10 or a peripheral device. This "first movement instruction information" is a concept including information indicating, for example, the direction, distance, altitude, or three-dimensional coordinate position when the unmanned mobile body 80 moves to the opening/closing device 10 or a peripheral device, but in the first embodiment, it is described as information indicating the direction, distance, and altitude when the unmanned mobile body 80 moves to the opening/closing device 10 or a peripheral device. Note that "information indicating the direction, distance, and altitude when the unmanned mobile body 80 moves to the opening/closing device 10 or peripheral equipment" refers to information for the unmanned mobile body 80 to simply move to the opening/closing device 10, etc. (for example, information indicating "move 50 m northward and to an altitude of 30 m"), or information for the unmanned mobile body 80 to move through a specified waypoint to the opening/closing device 10, etc. (for example, information indicating "move 10 m northward, then to an altitude of 10 m, then to a northward movement of 40 m, and then to an altitude of 20 m") (the same applies to the second movement instruction information described later).

The movement control unit 108b is a movement control means that controls the movement of the unmanned moving body 80 based on the first movement instruction information acquired by the first acquisition unit 108a.

The second acquisition unit 108c is a second acquisition means that acquires device information from the opening and closing device 10 and/or peripheral devices when the acquisition timing described below arrives.

The surrounding situation acquisition unit 108d is a surrounding situation acquisition means that acquires information indicating the surrounding situation of the opening/closing device 10 and/or peripheral devices (hereinafter referred to as "surrounding situation information").

(Configuration-Unmanned Mobile Body-Mobile Control Unit-Mobile Memory Unit)
The mobile storage unit 109 is a mobile storage means that stores programs and various data necessary for the operation of the mobile control unit 100 .

The moving side memory unit 109 also includes a moving instruction table 109a, as shown in FIG. 3.

The movement instruction table 109a is a movement instruction storage means for storing the first movement instruction information and the second movement instruction information, and in the first embodiment, stores the authentication information 6 and the movement instruction information (specifically, the first movement instruction information and the second movement instruction information) in association with each other.

Here, "authentication information 6" refers to information used to obtain the first movement instruction information or the second movement instruction information described below, and includes, for example, QR code information (registered trademark), barcode information (for example, a normal barcode, a two-dimensional barcode, a three-dimensional barcode, etc.), etc.

The "second movement instruction information" is movement instruction information indicating a movement instruction for the unmanned mobile body 80 to move to a position P (hereinafter referred to as the "communication position P") where the unmanned mobile body 80 can communicate with the collection device 110. This "second movement instruction information" is a concept including information indicating, for example, the direction, distance, altitude, or three-dimensional coordinate position when the unmanned mobile body 80 moves to the communication position P, but in the first embodiment, it is described as information indicating the direction, distance, and altitude when the unmanned mobile body 80 moves to the communication position P (as an example, information indicating "move 70 m eastward and to an altitude of 25 m").

This configuration of the unmanned mobile body 80 allows the mobility of the unmanned mobile body 80 to be increased compared to other unmanned mobile bodies (e.g., unmanned vehicles, etc.), and allows the collection of device equipment information to be performed efficiently.

(Configuration - Collector)
Next, the configuration of the collection device 110 will be described.

The collection device 110 is a device capable of communicating with the unmanned mobile body 80, and collects device equipment information from the unmanned mobile body 80. This collection device 110 is provided at a base station inside (or outside) a building, and as shown in FIG. 4, includes a collection side communication unit 111, a collection side control unit 112, and a collection side memory unit 113. However, for configurations of the collection device 110 that are not specifically mentioned, explanations will be omitted as they are the same as conventional server devices.

(Configuration-Collection Device-Collection Side Communication Unit)
The collection side communication unit 111 is a collection side communication means for communicating between the collection device 110 and the unmanned mobile body 80, and is configured, for example, using a known communication means for long-distance wireless communication that performs long-distance wireless communication using a wireless communication network (for example, a communication means using a long-distance wireless communication standard such as 4G, 5G, or LTE (registered trademark)).

(Configuration-Collection Device-Collection Side Control Unit)
The collection-side control unit 112 is a collection-side control means that controls each unit of the collection device 110. As shown in Fig. 4, the collection-side control unit 112 conceptually includes a determination unit 112a and a notification unit 112b.

(Configuration-Collection device-Collection side control unit-Determination unit)
The determination unit 112 a is a determination means that determines whether or not an abnormality has occurred in the opening and closing device 10 or a peripheral device, based on the device equipment information collected from the unmanned mobile body 80 .

(Configuration—collection device—collection side control unit—notification unit)
The notification unit 112b is a notification unit that notifies information indicating the determination result of the determination unit 112a (hereinafter, referred to as "determination information").

(Configuration-Collection Device-Collection Side Storage Unit)
The collection side storage unit 113 is a collection side storage means that stores programs and various data required for the operation of the collection device 110.

(Collection processing)
Next, a description will be given of the collection process executed by the mobile control unit 108 of the unmanned mobile body 80. In the following description, steps will be abbreviated as "S" in the description of each process shown in FIG.

The collection process is a process for collecting device information from the opening and closing device 10 and/or peripheral devices. The timing for executing this collection process is arbitrary, but in the first embodiment, it is described as being started after each device in the collection system 1 is powered on.

The premise of this collection process is as follows. That is, as shown in FIG. 6, there is only one communication position P in the building, and the unmanned mobile body 80 is stored at the communication position P. In addition, it is assumed that the unmanned mobile body 80 cannot communicate with the collection device 110 or other external devices (e.g., GPS satellites) in the vicinity of each opening/closing device 10. In addition, each opening/closing device 10 updates the device information periodically (e.g., daily) and transmits the updated device information to the unmanned mobile body 80.

Returning to FIG. 5, when the collection process is started, as shown in FIG. 5, in SA1, the mobile side control unit 108 determines whether the timing has arrived to collect device information from the opening and closing device 10 and/or peripheral devices (hereinafter referred to as the "collection timing").

While there is no particular method for determining whether or not this collection timing has arrived, in the first embodiment, the time when SA1 is processed is the collection time or collection time at which collection of device information begins, and the determination is made based on whether a predetermined collection time or collection time (for example, 10 p.m. every day, or every 72 hours, etc.) has been reached, or whether collection instruction information instructing the start of collection of device information has been received from the collection device 110 (or another external device). Here, if the collection time or collection time has been reached, or if the collection instruction information has been received, it is determined that the collection timing has arrived, and if the collection time or collection time has not been reached, or if the collection instruction information has not been received, it is determined that the collection timing has not arrived.

Then, the mobile side control unit 108 waits until it is determined that the collection timing has arrived (SA1, No), and transitions to SA2 if it is determined that the collection timing has arrived (SA1, Yes).

In SA2, the first acquisition unit 108a acquires the first movement instruction information.

The method of acquiring this first movement instruction information is arbitrary, but for example, it may be acquired by receiving the first movement instruction information from the collection device 110 (or another external device). Alternatively, it may be acquired from the moving side memory unit 109 of the unmanned mobile body 80. Alternatively, as shown in FIG. 6, it may be acquired by capturing an image of the authentication information 6 provided near the communication position P by the imaging unit 104, recognizing the authentication information 6 from the captured image using a known image analysis method, and extracting the first movement instruction information associated with the recognized authentication information 6 from the movement instruction table 109a.

Returning to FIG. 5, in SA3, the movement control unit 108b uses the direction detection unit 101 and the altitude detection unit 102 to move the unmanned mobile unit 80 to the opening/closing device 10 or peripheral equipment (hereinafter referred to as the "target opening/closing device, etc.") that is the subject of device equipment information acquisition, based on the first movement instruction information acquired in SA2.

For example, when acquiring device equipment information in the order of the first opening/closing device 11 to the fifth opening/closing device 15, if the target opening/closing device is the first opening/closing device 11, the unmanned mobile body 80 is moved from the communication position P to the first opening/closing device 11 based on the first movement instruction information regarding the first opening/closing device 11 acquired in SA2.

In SA4, the first acquisition unit 108a determines whether the timing for acquiring device information (hereinafter referred to as "acquisition timing") has arrived.

While the method of determining whether or not this acquisition timing has arrived is arbitrary, in the first embodiment, as shown in FIG. 7, after the unmanned mobile body 80 moves to the target opening/closing device, etc., it makes a determination based on whether or not the authentication information 6 attached to the target opening/closing device, etc. (or its vicinity) is recognized via the imaging unit 104. If the authentication information 6 is recognized, it is determined that the acquisition timing has arrived, and if the authentication information 6 is not recognized, it is determined that the acquisition timing has not arrived. Note that in the first embodiment, the authentication information 6 is located within the communication range of the second opening/closing side communication unit 72 (for example, within an area with a radius of several meters (for example, a radius of 5 m, etc.) from the second opening/closing side communication unit 72).

Then, the first acquisition unit 108a waits until it is determined that the acquisition timing has arrived (SA4, No), and if it is determined that the acquisition timing has arrived (SA4, Yes), it acquires movement instruction information (specifically, the first movement instruction information or the second movement instruction information) associated with the authentication information 6 recognized in SA4, and then proceeds to SA5.

The method for acquiring this movement instruction information is arbitrary, but in embodiment 1, the movement instruction information associated with the authentication information 6 recognized in SA4 is acquired by extracting it from the movement instruction table 109a.

Returning to FIG. 5, in SA5, the first acquisition unit 108a acquires the device information (i.e., acquires the device information at the timing when the authentication information 6 is recognized).

The method of acquiring this device information is arbitrary, but in the first embodiment, as shown in FIG. 7, the device information transmitted continuously or intermittently from the target opening/closing device or the like is received via the mobile communication unit 106 to acquire it. However, without being limited to this, for example, transmission instruction information instructing the unmanned mobile body 80 to transmit the device information via the mobile communication unit 106, and the target opening/closing device or the like may transmit the device information triggered by receiving the transmission instruction information, and then the device information may be received via the mobile communication unit 106 to acquire it.

By performing the processes of SA4 and SA5 in this manner, device information can be reliably acquired, and the collection of device information can be improved.

Returning to FIG. 5, in SA6, the surrounding situation acquisition unit 108d acquires surrounding situation information.

The method of acquiring this surrounding situation information is arbitrary, but for example, the surroundings of the target opening/closing device, etc. may be captured by the imaging unit 104, and the captured image may be acquired as the surrounding situation information. Alternatively, audio around the target opening/closing device, etc. may be input by the audio input unit 105, and audio information related to the input audio may be acquired as the surrounding situation information.

In SA7, the movement control unit 108b determines whether the movement instruction information acquired in SA4 is the first movement instruction information (specifically, the first movement instruction information for the unmanned mobile body 80 to move to the next target opening/closing device, etc.) based on the movement instruction information stored in the movement instruction table 109a.

Then, if the movement control unit 108b determines that the information is the first movement instruction information (SA7, Yes), it proceeds to SA8, and if the information is not the first movement instruction information (SA7, No), it proceeds to SA9 (i.e., if the movement instruction information acquired in SA4 is the second movement instruction information, it proceeds to SA9).

In SA8, the movement control unit 108b uses the direction detection unit 101 and the altitude detection unit 102 to move the unmanned moving body 80 to the next target opening/closing device or the like based on the first movement instruction information acquired in SA4. Then, the process proceeds to SA4, and the processes from SA4 to SA8 are repeated in the same manner until it is determined in SA7 that the information is not the first movement instruction information.

For example, when acquiring device information in the order of the first opening/closing device 11 to the fifth opening/closing device 15, if the next target opening/closing device is the second opening/closing device 12, after acquiring device information from the first opening/closing device 11 and surrounding situation information around the first opening/closing device 11 in SA5 and SA6, the unmanned mobile body 80 is moved from the first opening/closing device 11 to the second opening/closing device 12 based on the first movement instruction information regarding the second opening/closing device 12 acquired in SA4. Then, the above series of processes regarding the remaining opening/closing devices 10 (i.e., the third opening/closing device 13 to the fifth opening/closing device 15) are executed sequentially until the second movement instruction information is acquired in SA4.

By repeating the processes from SA4 to SA8, for example, when position information cannot be received from a GPS satellite, the unmanned mobile body 80 can be more accurately moved to the next target opening/closing device 10 or peripheral device (specifically, accurate movement is easier because movement is less affected by movement errors) than when the unmanned mobile body 80 is moved based on the first movement instruction information acquired in advance, which indicates all movement instructions related to the multiple opening/closing devices 10 or multiple peripheral devices, thereby improving the movement controllability of the unmanned mobile body 80. In particular, when the communication ranges of the second opening/closing side communication unit 72 and the movement side communication unit 106 are set relatively narrow, the influence of movement errors can be reduced, making it possible to move the unmanned mobile body 80 even more accurately.

In SA9, the movement control unit 108b moves the unmanned mobile unit 80 to the communication position P based on the second movement instruction information acquired in SA4.

For example, when acquiring device information in the order of the first opening/closing device 11 to the fifth opening/closing device 15, if the last target opening/closing device is the fifth opening/closing device 15, second movement instruction information corresponding to the authentication information 6 recognized via the imaging unit 104 is acquired in SA4, and after device information from the fifth opening/closing device 15 and surrounding situation information around the fifth opening/closing device 15 are acquired in SA5 and SA6, the unmanned mobile body 80 is moved from the fifth opening/closing device 15 to the communication position P based on the acquired second movement instruction information.

At SA10, the mobile control unit 108 determines whether the timing to transmit device information (hereinafter referred to as the "first transmission timing") has arrived.

While the method for determining whether or not this first transmission timing has arrived is arbitrary, in the first embodiment, as shown in FIG. 8, the determination is made based on whether a predetermined timing has arrived after the unmanned mobile unit 80 has reached the communication position P (for example, immediately after the unmanned mobile unit 80 has reached the communication position P, or after a predetermined time has elapsed since the unmanned mobile unit 80 has reached the communication position P (for example, after one minute has elapsed)). If the predetermined timing has arrived, it is determined that the first transmission timing has arrived, and if the predetermined timing has not arrived, it is determined that the first transmission timing has not arrived.

Then, the mobile side control unit 108 waits until it is determined that the first transmission timing has arrived (SA10, No), and transitions to SA11 if it is determined that the first transmission timing has arrived (SA10, Yes).

Returning to FIG. 5, in SA11, the mobile side control unit 108 transmits the device information acquired in SA5 to the collection device 110 via the mobile side communication unit 106.

Specifically, all device equipment information acquired up until just before processing SA11 is sent to the collection device 110.

For example, when obtaining device information in the order of the first opening/closing device 11 to the fifth opening/closing device 15, all device information relating to the first opening/closing device 11 to the fifth opening/closing device 15 is transmitted to the collection device 110.

By performing the processes from SA4 to SA11 in this manner, all acquired device information can be reliably transmitted to the collection device 110, improving the collection efficiency of device information.

The processing contents executed by the collection device 110 that receives the device information are arbitrary, but in the first embodiment, they are as shown below.

First, the determination unit 112a of the collection device 110 determines whether or not an abnormality has occurred in the opening/closing device 10 or the peripheral devices based on the device information received (collected) from the unmanned mobile body 80.

Specifically, while referring to the opening/closing device operation history information included in the device information, a determination is made based on whether the opening/closing state of the opening/closing body 40 was fully open or half open during a specific time period (for example, a time period from 11:00 pm to 4:00 am) or whether the opening/closing movement of the opening/closing body 40 has been stopped for a predetermined time or more. Here, if it is in the fully open or half open state, or if it has continued for the predetermined time or more, it is determined that the abnormality has occurred, and if it is not in the fully open or half open state, or has not continued for the predetermined time or more, it is determined that the abnormality has not occurred.

In addition, while referring to the abnormality history information included in the device information, a determination is made based on whether the number of times each type of abnormality has been detected is equal to or greater than a predetermined number, and if the number of times is equal to or greater than the predetermined number, it is determined that the abnormality has occurred, and if the number of times is less than the predetermined number, it is determined that the abnormality has not occurred.

In addition, by referring to the vibration information included in the device equipment information, a judgment is made based on whether the vibration amount of the opening/closing body 40 is equal to or greater than a threshold value (e.g., a threshold value indicating that maintenance work on the opening/closing body 40 is necessary due to deterioration over time, etc.), and if it is equal to or greater than the threshold value, it is judged that the above-mentioned abnormality has occurred, and if it is not equal to or greater than the threshold value, it is judged that the above-mentioned abnormality has not occurred.

In addition, by referring to the switch information included in the device equipment information, a determination is made based on whether the current value of the switch 50 is equal to or greater than a threshold value (e.g., a threshold value indicating that maintenance work on the switch 50 is necessary due to deterioration over time, etc.), and if it is equal to or greater than the threshold value, it is determined that the abnormality has occurred, and if it is not equal to or greater than the threshold value, it is determined that the abnormality has not occurred.

Then, the notification unit 112b of the collection device 110 notifies information indicating the judgment result of the judgment unit 112a (hereinafter referred to as "judgment information").

The method of notifying this determination information is arbitrary, but for example, the determination information may be output via a display unit or audio output unit (not shown) provided in the determination information collecting device 110, thereby notifying people in the vicinity of the collecting device 110. Alternatively, the determination information may be transmitted to an external device (for example, a terminal device (e.g., a mobile terminal, etc.) owned by the building owner or tenant operator) to notify people in the vicinity of the external device.

By processing the collection device 110 in this manner, it is possible to report the judgment information and take measures (e.g., maintenance work) according to the judgment information.

At SA12, the mobile control unit 108 determines whether the timing to transmit surrounding situation information (hereinafter referred to as the "second transmission timing") has arrived.

While the method for determining whether or not this second transmission timing has arrived is arbitrary, in embodiment 1, the determination is made based on whether a predetermined timing has arrived after the processing of SA11 has ended (for example, immediately after the processing of SA11 has ended, or after a predetermined time has elapsed since the processing of SA11 has ended (for example, after one minute has elapsed)). If the predetermined timing has arrived, it is determined that the second transmission timing has arrived, and if the predetermined timing has not arrived, it is determined that the second transmission timing has not arrived.

Then, the mobile side control unit 108 waits until it is determined that the second transmission timing has arrived (SA12, No), and transitions to SA13 if it is determined that the second transmission timing has arrived (SA12, Yes).

At SA13, the mobile control unit 108 transmits the surrounding situation information acquired at SA6 to the collection device 110 via the mobile communication unit 106.

Specifically, all surrounding situation information acquired up until just before processing SA13 is transmitted to the collection device 110.

For example, when obtaining surrounding situation information in the order of the first opening/closing device 11 to the fifth opening/closing device 15, all surrounding situation information relating to the first opening/closing device 11 to the fifth opening/closing device 15 is transmitted to the collection device 110.

By performing the processes from SA4 to SA8, SA12, and SA13, surrounding situation information can be collected, and various processes (e.g., crime prevention processes, management processes, etc.) based on the surrounding situation information can be performed in the collection device 110. In addition, all of the acquired surrounding situation information can be reliably transmitted to the collection device 110, improving the collection efficiency of the surrounding situation information.

After that, the mobile side control unit 108 proceeds to SA1 after completing processing of SA13, and thereafter repeats the processing from SA1 to SA13 in the same manner.

The processing contents executed by the collection device 110 that receives the surrounding situation information are arbitrary, but in the first embodiment, they are as shown below.

That is, the determination unit 112a of the collection device 110 determines whether or not an abnormality has occurred around the opening/closing device 10 or the peripheral equipment based on the surrounding situation information received (collected) from the unmanned mobile body 80.

For example, if the surrounding situation information received (collected) from the unmanned mobile unit 80 is a captured image, a known image analysis method may be used to determine whether there are any differences between the captured image and an image showing the normal state of the opening/closing device 10 or peripheral equipment. If there are any differences, it may be determined that an abnormality has occurred around the opening/closing device 10 or peripheral equipment, and if there are no differences, it may be determined that no abnormality has occurred around the opening/closing device 10 or peripheral equipment.

Then, the notification unit 112b of the collection device 110 notifies information indicating the judgment result of the judgment unit 112a (hereinafter referred to as "peripheral abnormality information") in a manner substantially similar to the method of notifying judgment information.

The above-described collection process makes it possible to reliably collect device information even in an environment where it is difficult for the collection device 110 and the opening/closing device 10 to communicate directly, and even when there are a large number of opening/closing devices 10 or peripheral devices, device information relating to these opening/closing devices 10 or peripheral devices can be collected by a single unmanned mobile body 80. Therefore, compared to conventional technology (technology in which a server device directly collects maintenance information from opening/closing devices), it is possible to improve the collectability of device information while suppressing the cost of the system used to collect device information.

(Effects of the First Embodiment)
Thus, according to the first embodiment, the first acquisition unit 108a acquires the first movement instruction information, the movement control unit 108b controls the movement of the unmanned mobile body 80 based on the first movement instruction information acquired by the first acquisition unit 108a, the second acquisition unit 108c acquires the device information from the opening/closing device 10 and/or the peripheral device when the acquisition timing arrives, and the mobile side communication unit 106 transmits the device information acquired by the second acquisition unit 108c to the collecting device 110 when the first transmission timing arrives. Therefore, the device information can be reliably collected even in an environment where it is difficult for the collecting device 110 and the opening/closing device 10 to directly communicate, and even if there are a large number of opening/closing devices 10 or peripheral devices, the device information related to these opening/closing devices 10 or peripheral devices can be collected by one unmanned mobile body 80. Therefore, compared to the conventional technology (technology in which the server device directly collects maintenance information from the opening/closing device 10), the collectability of the device information can be improved while suppressing the cost of the system used to collect the device information.

In addition, the first acquisition unit 108a recognizes the authentication information 6 attached to the opening/closing device 10 or the peripheral device to be acquired or the vicinity thereof, and acquires the first movement instruction information associated with the recognized authentication information 6, which is the first movement instruction information for the unmanned mobile body 80 to move to the opening/closing device 10 or the peripheral device to be next acquired, and the movement control unit 108b, after the device information is acquired from the opening/closing device 10 or the peripheral device to be acquired, performs the unmanned movement to the opening/closing device 10 or the peripheral device to be next acquired based on the first movement instruction information acquired by the first acquisition unit 108a. Since the moving body 80 is moved, for example, when position information cannot be received from a GPS satellite, it is easier to accurately move the unmanned moving body 80 to the next opening/closing device 10 or peripheral device to be acquired (specifically, it is easier to move accurately because it is less susceptible to the effects of movement errors) compared to moving the unmanned moving body 80 based on first movement instruction information acquired in advance that indicates all movement instructions related to multiple opening/closing devices 10 or multiple peripheral devices, thereby improving the movement controllability of the unmanned moving body 80.

In addition, the second acquisition unit 108c acquires the device information based on the timing at which the authentication information 6 is recognized, so that the device information can be acquired reliably and the collection of device information can be improved.

The first acquisition unit 108a recognizes the authentication information 6 attached to the last opening/closing device 10 or the peripheral device or its vicinity, and acquires the second movement instruction information associated with the recognized authentication information 6, which indicates a movement instruction for the unmanned mobile body 80 to move to a communication position P where the unmanned mobile body 80 can communicate with the collection device 110. After the device information is acquired from the last opening/closing device 10 or the peripheral device, the movement control unit 108b moves the unmanned mobile body 80 to the communication position P based on the second movement instruction information acquired by the first acquisition unit 108a. The moving communication unit 106 transmits all of the device information acquired by the second acquisition unit 108c to the collection device 110 at a predetermined timing after the unmanned mobile body 80 reaches the communication position P as the first transmission timing. Therefore, all of the acquired device information can be reliably transmitted to the collection device 110, and the collection of device information can be improved.

In addition, when the second transmission timing arrives for the mobile communication unit 106 to transmit the surrounding situation information, the surrounding situation information acquired by the surrounding situation acquisition unit 108d is transmitted to the collection device 110, so that the surrounding situation information can be collected, and various processes (e.g., crime prevention processes, management processes, etc.) based on the surrounding situation information can be performed in the collection device 110.

In addition, because the unmanned mobile body 80 is an unmanned aerial vehicle, the mobility of the unmanned mobile body 80 can be increased compared to other unmanned mobile bodies, and device equipment information can be collected efficiently.

The collection device 110 also includes a determination unit 112a that determines whether or not an abnormality has occurred in the opening/closing device 10 or peripheral devices based on the device/equipment information collected from the unmanned mobile body 80, and a notification unit 112b that notifies the user of determination information indicating the determination result of the determination unit 112a. This makes it possible to notify the user of the determination information and take measures (e.g., maintenance work) according to the determination information.

[Embodiment 2]
Next, a collection system according to a second embodiment will be described. In the second embodiment, an unmanned moving body acquires first movement instruction information and second movement instruction information from an opening/closing device or a peripheral device. However, the configuration of the second embodiment is substantially the same as that of the first embodiment, except where otherwise specified, and the configuration substantially the same as that of the first embodiment will be assigned the same reference numerals and/or names as those used in the first embodiment as necessary, and the description thereof will be omitted.

(composition)
First, the configuration of a collection system 201 according to the second embodiment will be described.

The collection system 201 according to the second embodiment is configured in a manner similar to the collection system 1 according to the first embodiment. However, the details of the configuration of the unmanned vehicle 80 are modified as described below.

(Configuration - Unmanned Vehicle)
Next, the configuration of the unmanned vehicle 80 will be described.

As shown in FIG. 9, the unmanned mobile body 80 according to the second embodiment is configured in a manner similar to that of the unmanned mobile body 80 according to the first embodiment (however, the movement instruction table 109a of the moving side memory unit 109 is omitted).

(Collection processing)
Next, the collection process executed by the mobile control unit 108 of the unmanned mobile body 80 will be described.

The collection process according to the second embodiment is similar to SA1 to SA3 and SA9 to SA13 in FIG. 5, so illustration and description are omitted.

As shown in FIG. 5, in SA4, the first acquisition unit 108a determines whether the acquisition timing has arrived.

The method of determining whether or not this acquisition timing has arrived is arbitrary, but in the second embodiment, as shown in FIG. 10, after the unmanned mobile body 80 moves to the target opening/closing device, etc., the unmanned mobile body 80 determines whether or not it has received the first movement instruction information or the second movement instruction information transmitted continuously or intermittently from the target opening/closing device, etc., via the mobile side communication unit 106. If the first movement instruction information or the second movement instruction information is received, it is determined that the acquisition timing has arrived, and if the first movement instruction information or the second movement instruction information is not received, it is determined that the acquisition timing has not arrived. However, without being limited to this, for example, the unmanned mobile body 80 may transmit transmission instruction information via the mobile side communication unit 106, and the target opening/closing device, etc. may transmit the first movement instruction information or the second movement instruction information as a trigger for transmitting the first movement instruction information or the second movement instruction information, and then the first movement instruction information or the second movement instruction information may be received via the mobile side communication unit 106.

Then, the first acquisition unit 108a waits until it is determined that the acquisition timing has arrived (SA4, No), and if it is determined that the acquisition timing has arrived (SA4, Yes), it transitions to SA5, regarding the reception of the first movement instruction information or the second movement instruction information as "acquiring the first movement instruction information or the second movement instruction information."

Returning to FIG. 5, in SA5, the first acquisition unit 108a acquires device equipment information (i.e., acquires device equipment information at the timing when the first movement instruction information or the second movement instruction information is received).

The method of acquiring this device information is arbitrary, but in the second embodiment, as shown in FIG. 10, the device information transmitted continuously or intermittently from the target opening/closing device or the like is received via the mobile communication unit 106 to acquire it. However, without being limited to this, for example, the device information may be acquired by transmitting transmission instruction information from the unmanned mobile body 80 via the mobile communication unit 106, and the target opening/closing device or the like may transmit the device information using the reception of the transmission instruction information as a trigger, and then receiving the device information via the mobile communication unit 106.

Returning to FIG. 5, in SA6, the surrounding situation acquisition unit 108d acquires surrounding situation information in the same manner as in SA6 of the collection process in embodiment 1.

In SA7, the movement control unit 108b determines whether the movement instruction information acquired in SA4 is the first movement instruction information.

While the method of determining whether or not this is the first movement instruction information is arbitrary, for example, the determination is made based on whether or not the movement instruction information acquired in SA4 contains information that identifies the first movement instruction information, and if the information is included, it is determined to be the first movement instruction information, and if the information is not included, it is determined not to be the first movement instruction information.

Then, if the movement control unit 108b determines that the information is the first movement instruction information (SA7, Yes), it proceeds to SA8, and if the information is not the first movement instruction information (SA7, No), it proceeds to SA9.

In SA8, the movement control unit 108b uses the direction detection unit 101 and the altitude detection unit 102 to move the unmanned moving body 80 to the next target opening/closing device or the like based on the first movement instruction information acquired in SA4, similar to SA8 in the collection process of the first embodiment. Then, the process proceeds to SA4, and the processes from SA4 to SA8 are repeated in the same manner until it is determined in SA7 that the information is not the first movement instruction information.

By repeating the processes from SA4 to SA8 in this manner, for example, when position information cannot be received from a GPS satellite, it becomes easier to accurately move the unmanned mobile body 80 to the next opening/closing device 10 or peripheral device to be acquired compared to moving the unmanned mobile body 80 based on first movement instruction information acquired in advance that indicates all movement instructions related to multiple opening/closing devices 10 or multiple peripheral devices, thereby improving the movement controllability of the unmanned mobile body 80.

By performing the above-described collection process, substantially similar to the collection process according to the first embodiment, it is possible to reliably collect device information even in an environment in which it is difficult for the collection device 110 and the opening/closing device 10 to communicate directly, and even if there are a large number of opening/closing devices 10 or peripheral devices, it is possible to collect device information relating to these opening/closing devices 10 or peripheral devices with a single unmanned mobile body 80. Therefore, compared to the conventional technology (technology in which a server device directly collects maintenance information from the opening/closing device 10), it is possible to improve the collectability of device information while suppressing the cost of the system used to collect device information.

(Effects of the Second Embodiment)
Thus, according to embodiment 2, the first acquisition unit 108a acquires first movement instruction information for moving from the opening/closing device 10 or peripheral device to be acquired to the next opening/closing device 10 or peripheral device to be acquired, and after the device information has been acquired from the opening/closing device 10 or peripheral device to be acquired, the movement control unit 108b moves the unmanned mobile body 80 to the next opening/closing device 10 or peripheral device to be acquired based on the first movement instruction information acquired by the first acquisition unit 108a.Therefore, for example, in a case where location information cannot be received from a GPS satellite, it becomes easier to accurately move the unmanned mobile body 80 to the next opening/closing device 10 or peripheral device to be acquired, compared to a case where the unmanned mobile body 80 is moved based on first movement instruction information acquired in advance and indicating all movement instructions related to multiple opening/closing devices 10 or multiple peripheral devices, and therefore the movement controllability of the unmanned mobile body 80 can be improved.

[III] Modifications to the embodiments The embodiments of the present invention have been described above, but the specific configurations and means of the present invention can be modified and improved as desired within the scope of the technical ideas of each invention described in the claims. Such modifications will be described below.

(About the problem to be solved and the effects of the invention)
First, the problems that the invention aims to solve and the effects of the invention are not limited to those described above, and the present invention may solve problems that are not described above or achieve effects that are not described above, or may solve only some of the problems that are described or achieve only some of the effects that are described.

(Regarding decentralization and integration)
In addition, each of the electrical components described above is functionally conceptual, and does not necessarily have to be physically configured as shown in the figure. In other words, the specific form of distribution or integration of each part is not limited to that shown in the figure, and all or part of them can be functionally or physically distributed or integrated in any unit depending on various loads and usage conditions. For example, the opening/closing side control unit 70 may be distributed to multiple devices configured to be able to communicate with each other, and an opening/closing side control unit 74 may be provided in some of these multiple devices, and an opening/closing side memory unit 75 may be provided in another part of these multiple devices.

(shape, number, structure, time series)
The components illustrated in the embodiments and drawings may be modified and improved as desired within the scope of the technical concept of the present invention with respect to the shape, numerical values, or structure or chronological relationships of multiple components.

(About the building)
In the above embodiments 1 and 2, it has been described that the unmanned mobile body 80 cannot communicate with the collection device 110 and other external devices in the vicinity of each opening/closing device 10 within the building, but this is not limited to the above, and for example, the unmanned mobile body 80 may be able to communicate with the collection device 110 and other external devices in all areas within the building.

In this case, for example, in SA10 and SA11 of the collection process, the mobile side control unit 108 may set a predetermined timing after the device information has been acquired from all of the multiple opening and closing devices 10 and/or multiple peripheral devices (as an example, immediately after the device information is acquired or one minute after the device information is acquired) as the first transmission timing, and transmit all of the acquired device information to the collection device 110 via the mobile side communication unit 106. This allows all of the acquired device information to be quickly transmitted to the collection device 110, improving the collection of device information.

Alternatively, the mobile side control unit 108 may set a predetermined timing after the device equipment information is acquired from the target opening/closing device or the like (for example, immediately after the device equipment information is acquired, or one minute after the device equipment information is acquired) as the first transmission timing, and transmit the acquired device equipment information to the collection device 110 via the mobile side communication unit 106. This allows the acquired device equipment information to be transmitted sequentially to the collection device 110, improving the collection efficiency of the device equipment information.

Alternatively, the first movement instruction information and the second movement instruction information may be information indicating the three-dimensional coordinate position of the opening/closing device 10 or the peripheral device, and the unmanned mobile body 80 may be provided with a current position acquisition means (e.g., a known GPS receiver) for acquiring the current position of the unmanned mobile body 80 instead of the orientation detection unit 101 and the altitude detection unit 102, and the movement control unit 108b may control the movement of the unmanned mobile body 80 based on the current position of the unmanned mobile body 80 acquired by the current position acquisition means and the first movement instruction information or the second movement instruction information.

(Regarding communication position)
In the above-mentioned first and second embodiments, it has been described that there is only one communication position P in a building, but this is not limited thereto, and for example, there may be a plurality of communication positions P. In this case, the communication position P which is the storage position of the unmanned mobile body 80 and the communication position P which transmits the device information to the collection device 110 may be different.

(Regarding switching devices, unmanned vehicles, and collection devices)
In the above first and second embodiments, the number of opening and closing devices 10 installed is described as multiple (five). However, the present invention is not limited to this, and may be, for example, only one.

In addition, in the above first and second embodiments, it has been described that there is one unmanned mobile body 80 and one collection device 110 installed, but this is not limited to the above, and there may be, for example, multiple units.

In addition, in the above first and second embodiments, the collection device 110 is described as having a determination unit 112a and a notification unit 112b, but this is not limited thereto, and for example, the determination unit 112a and the notification unit 112b may be omitted.

(Collection and processing)
In the above first and second embodiments, it has been described that the processes of SA6, SA12, and SA13 are executed, but this is not limiting, and for example, the processes of SA6, SA12, and SA13 may be omitted.

In addition, in the above-mentioned first and second embodiments, it has been described that in SA5, the device information is acquired by receiving it from the target opening/closing device or the like via the mobile side communication unit 106, but this is not limited thereto. For example, the device information displayed on the display unit of the opening/closing device 10 or a peripheral device may be acquired by capturing an image of the device information using the imaging unit 104.

In addition, in the above-mentioned first and second embodiments, it has been described that the first transmission timing of SA10 and the second transmission timing of SA12 are different, but this is not limited thereto, and for example, they may be the same. In this case, when the first transmission timing arrives, the mobile side control unit 108 may simultaneously transmit the device equipment information and the surrounding situation information via the mobile side communication unit 106.

(Additional Note)
The unmanned mobile body of Appendix 1 is an unmanned mobile body that acquires equipment information, which is information about an opening/closing device or its peripheral devices, and is capable of communicating with the opening/closing device, the peripheral devices, and/or a collection device, and is equipped with a first acquisition means that acquires first movement instruction information indicating a movement instruction for the unmanned mobile body to move to the opening/closing device or the peripheral devices, a movement control means that controls the movement of the unmanned mobile body based on the first movement instruction information acquired by the first acquisition means, a second acquisition means that acquires the equipment information from the opening/closing device and/or the peripheral devices when an acquisition timing for acquiring the equipment information arrives, and a communication means that transmits the equipment information acquired by the second acquisition means to a collection device when a first transmission timing for transmitting the equipment information arrives.

The unmanned mobile body described in Supplementary Note 2 is an unmanned mobile body described in Supplementary Note 1 that acquires the device information from a plurality of the opening/closing devices and/or a plurality of the peripheral devices, and the first acquisition means recognizes authentication information attached to the opening/closing device or the peripheral device to be acquired or a portion in the vicinity thereof, and acquires the first movement instruction information associated with the recognized authentication information, which is for the unmanned mobile body to move to the opening/closing device or the peripheral device to be next acquired, and the movement control means moves the unmanned mobile body to the opening/closing device or the peripheral device to be next acquired based on the first movement instruction information acquired by the first acquisition means after the device information is acquired from the opening/closing device or the peripheral device to be acquired.

The unmanned mobile body described in Supplementary Note 3 is the unmanned mobile body described in Supplementary Note 2, in which the second acquisition means acquires the device information at the timing when the authentication information is recognized as the acquisition timing.

The unmanned mobile body described in Supplementary Note 4 is an unmanned mobile body described in Supplementary Note 2 or 3, in which the communication means transmits all of the acquired device information to the collection device at a predetermined timing after the device information has been acquired from all of the multiple opening and closing devices and/or the multiple peripheral devices as the first transmission timing.

The unmanned mobile body described in Supplementary Note 5 is the unmanned mobile body described in Supplementary Note 2 or 3, in which the first acquisition means recognizes the authentication information attached to the opening/closing device or the peripheral device or a part nearby that is the last acquisition target, and acquires second movement instruction information that is associated with the recognized authentication information and indicates a movement instruction for the unmanned mobile body to move to a communication position where it can communicate with the collection device, the movement control means moves the unmanned mobile body to the communication position based on the second movement instruction information acquired by the first acquisition means after the device information is acquired from the opening/closing device or the peripheral device that is the last acquisition target, and the communication means transmits all of the device information acquired by the second acquisition means to the collection device, with a predetermined timing after the unmanned mobile body reaches the communication position as the first transmission timing.

The unmanned mobile body described in Supplementary Note 6 is an unmanned mobile body described in Supplementary Note 1 that acquires the device information from a plurality of the opening/closing devices and/or a plurality of the peripheral devices, and the first acquisition means acquires the first movement instruction information for moving from the opening/closing device or the peripheral device that is the acquisition target to the opening/closing device or the peripheral device that is the next acquisition target, and the movement control means moves the unmanned mobile body to the opening/closing device or the peripheral device that is the next acquisition target based on the first movement instruction information acquired by the first acquisition means after the device information is acquired from the opening/closing device or the peripheral device that is the acquisition target.

The unmanned mobile body described in Supplementary Note 7 is an unmanned mobile body described in any one of Supplementary Notes 1 to 6, and is equipped with a surrounding situation acquisition means for acquiring surrounding situation information indicating the surrounding situation of the opening/closing device and/or the peripheral device, and when a second transmission timing for transmitting the surrounding situation information arrives, the communication means transmits the surrounding situation information acquired by the surrounding situation acquisition means to the collection device.

The unmanned mobile body described in Supplementary Note 8 is an unmanned mobile body described in any one of Supplementary Notes 1 to 7, and the unmanned mobile body is an unmanned aerial vehicle.

The collection system described in Supplementary Note 9 is a collection system that collects device information, which is information about an opening and closing device or its peripheral devices, and includes an unmanned mobile body described in any one of Supplementary Note 1 to 8, and a collection device that is capable of communicating with the unmanned mobile body and collects the device information from the unmanned mobile body.

The collection system described in Supplementary Note 10 is the collection system described in Supplementary Note 9, in which the collection device includes a determination means for determining whether or not an abnormality has occurred in the opening/closing device or the peripheral device based on the device/equipment information collected from the unmanned mobile body, and a notification means for notifying determination information indicating the determination result of the determination means.

The collection program described in Appendix 11 is a collection program to be executed by an unmanned mobile body that acquires device information, which is information about an opening/closing device or its peripheral devices, and causes a computer to function as a first acquisition means that acquires first movement instruction information indicating a movement instruction for the unmanned mobile body to move to the opening/closing device or the peripheral device, a movement control means that controls the movement of the unmanned mobile body based on the first movement instruction information acquired by the first acquisition means, a second acquisition means that acquires the device information from the opening/closing device and/or the peripheral device when an acquisition timing for acquiring the device information arrives, and a communication means that transmits the device information acquired by the second acquisition means to a collector when a first transmission timing for transmitting the device information arrives.

(Effect of supplementary notes)
According to the unmanned mobile body described in Appendix 1, the collection system described in Appendix 9, and the collection program described in Appendix 11, the first acquisition means for acquiring first movement instruction information, the movement control means for controlling the movement of the unmanned mobile body based on the first movement instruction information acquired by the first acquisition means, the second acquisition means for acquiring device information from the opening/closing device or/and peripheral device when the acquisition timing arrives, and the communication means for transmitting the device information acquired by the second acquisition means to the collecting device when the first transmission timing arrives, the device information can be reliably collected even in an environment where it is difficult for the collecting device and the opening/closing device to directly communicate, and even if there are a large number of opening/closing devices or peripheral devices, the device information related to these opening/closing devices or peripheral devices can be collected by one unmanned mobile body. Therefore, compared to the conventional technology (technology in which a server device directly collects maintenance information from opening/closing devices), the collection of device information can be improved while suppressing the cost of the system used to collect the device information.

According to the unmanned mobile body described in Supplementary Note 2, the first acquisition means recognizes authentication information attached to the opening/closing device or peripheral device to be acquired or a portion in the vicinity thereof, and acquires first movement instruction information associated with the recognized authentication information, which is for the unmanned mobile body to move to the opening/closing device or peripheral device to be acquired next, and the movement control means moves the unmanned mobile body to the opening/closing device or peripheral device to be acquired next based on the first movement instruction information acquired by the first acquisition means after acquiring device/device information from the opening/closing device or peripheral device to be acquired. Therefore, for example, when position information cannot be received from a GPS satellite, it is easier to accurately move the unmanned mobile body to the opening/closing device or peripheral device to be acquired next (specifically, it is easier to accurately move the unmanned mobile body by being less susceptible to the influence of movement errors), and the movement controllability of the unmanned mobile body can be improved.

According to the unmanned mobile body described in Appendix 3, the second acquisition means acquires the device information at the timing when the authentication information is recognized, so that the device information can be acquired reliably and the collection of the device information can be improved.

According to the unmanned mobile body described in Appendix 4, the communication means transmits all of the acquired device information to the collecting device at a predetermined timing after the device information is acquired from all of the multiple opening/closing devices and/or multiple peripheral devices as the first transmission timing, so that all of the acquired device information can be quickly transmitted to the collecting device, thereby improving the collection efficiency of the device information.

According to the unmanned mobile body described in Supplementary Note 5, the first acquisition means recognizes authentication information attached to the opening/closing device or peripheral device or a part nearby that is the last acquisition target, and acquires second movement instruction information associated with the recognized authentication information, which is a movement instruction for the unmanned mobile body to move to a communication position where it can communicate with the collection device, and the movement control means moves the unmanned mobile body to the communication position based on the second movement instruction information acquired by the first acquisition means after the device information is acquired from the opening/closing device or peripheral device that is the last acquisition target, and the communication means transmits all of the device information acquired by the second acquisition means to the collection device at a predetermined timing after the unmanned mobile body reaches the communication position as the first transmission timing, so that all of the acquired device information can be reliably transmitted to the collection device, and the collection of device information can be improved.

According to the unmanned mobile body described in Supplementary Note 6, the first acquisition means acquires first movement instruction information for moving from the opening/closing device or peripheral device to be acquired to the next opening/closing device or peripheral device to be acquired, and the movement control means, after acquiring device information from the opening/closing device or peripheral device to be acquired, moves the unmanned mobile body to the next opening/closing device or peripheral device to be acquired based on the first movement instruction information acquired by the first acquisition means. Therefore, for example, in a case where position information cannot be received from a GPS satellite, it becomes easier to accurately move the unmanned mobile body to the next opening/closing device or peripheral device to be acquired, compared to a case where the unmanned mobile body is moved based on the first movement instruction information acquired in advance and indicating all movement instructions related to multiple opening/closing devices or multiple peripheral devices, and therefore the movement controllability of the unmanned mobile body can be improved.

According to the unmanned mobile body described in Appendix 7, when the second transmission timing for transmitting the surrounding situation information arrives, the communication means transmits the surrounding situation information acquired by the surrounding situation acquisition means to the collection device, so that the surrounding situation information can be collected, and various processes (e.g., crime prevention processes, management processes, etc.) based on the surrounding situation information can be performed in the collection device.

According to the unmanned mobile body described in Appendix 8, since the unmanned mobile body is an unmanned aerial vehicle, the mobility of the unmanned mobile body can be improved compared to other unmanned mobile bodies, and the collection of device equipment information can be performed efficiently.

According to the collection system described in Appendix 10, the collection device is equipped with a determination means for determining whether or not an abnormality has occurred in the opening/closing device or peripheral equipment based on the device/equipment information collected from the unmanned mobile body, and a notification means for notifying the determination information indicating the determination result of the determination means, so that the determination information can be notified and measures (e.g., maintenance work) can be taken according to the determination information.

LIST OF SYMBOLS 1 Collection system 2 Structure 3 Opening 4 Wiring 5 Seat panel side wiring 6 Authentication information 10 Opening/closing device 11 First opening/closing device 12 Second opening/closing device 13 Third opening/closing device 14 Fourth opening/closing device 15 Fifth opening/closing device 20 Storage section 30 Guide rail 40 Opening/closing body 41 Slat 42 Seat panel 50 Opening/closing machine 60 Control system 61 Operation section 62 Upper limit detection section 63 Lower limit detection section 64 Seat panel switch 65 Cord reel 70 Opening/closing side control unit 71 First opening/closing side communication section 72 Second opening/closing side communication section 73 Opening/closing side power supply section 74 Opening/closing side control section 75 Opening/closing side memory section 80 Unmanned mobile body 90 Main body section 91 Storage section 92 Support section 93 Flying section 93a Propeller section 93b Drive section REFERENCE SIGNS LIST 100 Mobile control unit 101 Direction detection unit 102 Altitude detection unit 103 Obstacle detection unit 104 Imaging unit 105 Voice input unit 106 Mobile communication unit 107 Mobile power supply unit 108 Mobile control unit 108a First acquisition unit 108b Mobile control unit 108c Second acquisition unit 108d Surrounding situation acquisition unit 109 Mobile memory unit 109a Movement instruction table 110 Collection device 111 Collection communication unit 112 Collection control unit 112a Determination unit 112b Notification unit 113 Collection memory unit 201 Collection system P Communication position

Claims (11)

An unmanned mobile body that acquires device information, which is information related to a switching device or its peripheral devices, is capable of communicating with at least one of the switching device or the peripheral devices and a collection device, and acquires the device information from a plurality of the switching devices and/or a plurality of the peripheral devices ,
A first acquisition means for acquiring first movement instruction information indicating a movement instruction for the unmanned moving body to move to the opening and closing device or the peripheral device;
a movement control means for controlling the movement of the unmanned moving body based on the first movement instruction information acquired by the first acquisition means;
a second acquisition means for acquiring the device information from the opening/closing device and/or the peripheral device when an acquisition timing for acquiring the device information arrives;
a communication means for transmitting the device information acquired by the second acquisition means to the collection device when a first transmission timing for transmitting the device information arrives ,
the first acquisition means recognizes authentication information attached to the opening/closing device or the peripheral device to be acquired or a portion in the vicinity thereof, and acquires the first movement instruction information associated with the recognized authentication information, the first movement instruction information being for the unmanned moving body to move to the opening/closing device or the peripheral device to be the next acquisition target;
After the device information is acquired from the opening/closing device or the peripheral device to be acquired, the movement control means moves the unmanned moving body to the opening/closing device or the peripheral device to be the next acquisition target based on the first movement instruction information acquired by the first acquisition means.
Unmanned mobile vehicle. the second acquisition means acquires the device information at a timing when the authentication information is recognized as the acquisition timing.
The unmanned vehicle according to claim 1. The communication means transmits all of the acquired device information to the collection device at a predetermined timing after the device information is acquired from all of the plurality of opening and closing devices and/or the plurality of peripheral devices as the first transmission timing.
3. An unmanned vehicle according to claim 1 or 2 . the first acquisition means recognizes the authentication information attached to the opening/closing device or the peripheral device or a part in the vicinity thereof that is to be the final acquisition target, and acquires second movement instruction information associated with the recognized authentication information, the second movement instruction information indicating a movement instruction for the unmanned mobile body to move to a communication position where communication with the collection device is possible;
the movement control means, after the device information is acquired from the opening/closing device or the peripheral device that is the last acquisition target, moves the unmanned moving body to the communication position based on the second movement instruction information acquired by the first acquisition means,
The communication means transmits all of the device information acquired by the second acquisition means to the collection device at a predetermined timing after the unmanned moving body arrives at the communication position as the first transmission timing.
3. An unmanned vehicle according to claim 1 or 2 . An unmanned mobile body that acquires device information, which is information related to a switching device or its peripheral devices, is capable of communicating with at least one of the switching device or the peripheral devices and a collection device, and acquires the device information from a plurality of the switching devices and/or a plurality of the peripheral devices,
A first acquisition means for acquiring first movement instruction information indicating a movement instruction for the unmanned moving body to move to the opening and closing device or the peripheral device;
a movement control means for controlling the movement of the unmanned moving body based on the first movement instruction information acquired by the first acquisition means;
a second acquisition means for acquiring the device information from the opening/closing device and/or the peripheral device when an acquisition timing for acquiring the device information arrives;
a communication means for transmitting the device information acquired by the second acquisition means to the collection device when a first transmission timing for transmitting the device information arrives,
the first acquisition means acquires the first movement instruction information for moving from the opening/closing device or the peripheral device that is an acquisition target to the opening/closing device or the peripheral device that is a next acquisition target,
After the device information is acquired from the opening/closing device or the peripheral device to be acquired, the movement control means moves the unmanned moving body to the opening/closing device or the peripheral device to be the next acquisition target based on the first movement instruction information acquired by the first acquisition means.
Unmanned mobile vehicle. a surrounding situation acquisition means for acquiring surrounding situation information indicating surrounding situations of the opening/closing device and/or the peripheral device,
When a second transmission timing for transmitting the surrounding situation information arrives, the communication means transmits the surrounding situation information acquired by the surrounding situation acquisition means to the collection device.
An unmanned mobile body according to any one of claims 1 to 5 . The unmanned vehicle is an unmanned aerial vehicle.
An unmanned vehicle according to any one of claims 1 to 6. A collection system for collecting device information which is information about a switching device or its peripheral devices,
An unmanned moving body according to any one of claims 1 to 7;
A collection device capable of communicating with the unmanned mobile body, the collection device collecting the device information from the unmanned mobile body;
A collection system comprising: The collecting device comprises:
a determination means for determining whether or not an abnormality has occurred in the opening and closing device or the peripheral device based on the device information collected from the unmanned moving body;
and a notification means for notifying the user of the determination result of the determination means.
The collection system of claim 8 . A collection program to be executed by an unmanned moving body that acquires device information, which is information about an opening/closing device or its peripheral devices,
A computer provided in the unmanned vehicle,
a first acquisition means for acquiring first movement instruction information indicating a movement instruction for the unmanned moving body to move to the opening/closing device or the peripheral device;
a movement control means for controlling the movement of the unmanned moving body based on the first movement instruction information acquired by the first acquisition means;
a second acquisition means for acquiring the device information from the opening/closing device and/or the peripheral device when an acquisition timing for acquiring the device information arrives;
When a first transmission timing for transmitting the device information arrives, the device information is transmitted to the communication device.
The unmanned moving body acquires the device information from the plurality of opening and closing devices and/or the plurality of peripheral devices,
the first acquisition means recognizes authentication information attached to the opening/closing device or the peripheral device to be acquired or a portion in the vicinity thereof, and acquires the first movement instruction information associated with the recognized authentication information, the first movement instruction information being for the unmanned moving body to move to the opening/closing device or the peripheral device to be the next acquisition target,
After the device information is acquired from the opening/closing device or the peripheral device to be acquired, the movement control means moves the unmanned moving body to the opening/closing device or the peripheral device to be the next acquisition target based on the first movement instruction information acquired by the first acquisition means.
Collection program. A collection program to be executed by an unmanned moving body that acquires device information, which is information about an opening/closing device or its peripheral devices,
A computer provided in the unmanned vehicle,
a first acquisition means for acquiring first movement instruction information indicating a movement instruction for the unmanned moving body to move to the opening/closing device or the peripheral device;
a movement control means for controlling the movement of the unmanned moving body based on the first movement instruction information acquired by the first acquisition means;
a second acquisition means for acquiring the device information from the opening/closing device and/or the peripheral device when an acquisition timing for acquiring the device information arrives;
When a first transmission timing for transmitting the device information arrives, the device information is transmitted to the communication device.
The unmanned moving body acquires the device information from the plurality of opening and closing devices and/or the plurality of peripheral devices,
the first acquisition means acquires the first movement instruction information for moving from the opening/closing device or the peripheral device that is an acquisition target to the opening/closing device or the peripheral device that is a next acquisition target,
After the device information is acquired from the opening/closing device or the peripheral device to be acquired, the movement control means moves the unmanned moving body to the opening/closing device or the peripheral device to be the next acquisition target based on the first movement instruction information acquired by the first acquisition means.
Collection program.

Images