JP7706995B2 - DETECTION SYSTEM, DETECTION METHOD, AND INFORMATION PROCESSING APPARATUS - Google Patents

Description

The present invention relates to a detection system, a detection method, and an information processing device.

For example, at construction sites, no-entry areas are designated by using cone bars attached to traffic cones and tape to indicate no-entry.

In addition, no-entry areas are being set up along the driving routes of autonomous robots or remote-controlled robots. For example, opportunities for service robots to be used are increasing in facilities such as commercial facilities, accommodation facilities, and offices, and no-entry areas are being set up for robots.

In this regard, technologies related to intrusion detection are known (e.g., Patent Document 1 and Patent Document 2).

JP 2003-218679 A JP 2017-4184 A

However, for example, no-entry areas change daily depending on the progress of work at a construction site. In addition, for the driving routes of autonomous robots or remote-controlled robots, it may be necessary to set no-entry areas according to the situation within the facility, which changes daily. For this reason, there is a demand for technology that can easily set no-entry areas.

In one aspect, the present invention aims to provide a technique for easily setting areas where entry is prohibited.

A detection system of one embodiment of the present invention includes a plurality of detection sensors, each having an optical emission module capable of emitting light by changing the direction of emission and a optical reception module capable of receiving light by changing the direction of light reception to a direction independent of the direction of emission of the optical emission module, and an information processing device that selects a first detection sensor and a second detection sensor from the plurality of detection sensors, and upon receiving a detection notification indicating that light irradiated from the first detection sensor has been detected by the second detection sensor, controls the first detection sensor and the second detection sensor to determine the direction of light emission of the first detection sensor and the direction of light reception of the second detection sensor, and determines a line connecting the position of the first detection sensor and the position of the second detection sensor as the boundary of a no-entry area.

You can easily set areas where entry is prohibited.

11A and 11B are diagrams illustrating a detection sensor for detecting entry according to an embodiment; 4A and 4B are diagrams illustrating an example of installation of a detection sensor according to an embodiment. 10A and 10B are diagrams illustrating examples of setting no-entry areas according to the embodiment; FIG. 1 is a diagram illustrating a functional block configuration of an information processing device according to an embodiment. 11A and 11B are diagrams illustrating a process for setting a no-entry area according to the embodiment; 10 is a diagram illustrating an example of no-entry area information according to the embodiment. FIG. 11 is a diagram illustrating an example of an operational flow of a process for detecting entry into a no-entry area according to the embodiment; FIG. FIG. 2 is a diagram illustrating a functional block configuration of the robot according to the embodiment. FIG. 11 is a diagram illustrating an example of an operation flow of a control process executed by a control unit of a robot according to an embodiment. FIG. 2 is a diagram illustrating an example of a hardware configuration of a computer for realizing an information processing device, a detection sensor control device, and a robot control device according to the embodiment.

Several embodiments of the present invention will be described in detail below with reference to the drawings. Note that the same reference numerals are used to designate corresponding elements in multiple drawings.

FIG. 1 is a diagram illustrating a detection sensor 101 for detecting intrusion according to an embodiment. FIG. 1(a) shows an example of the detection sensor 101. FIG. 1(b) shows an example of the detection sensor 101 with each part separated. The detection sensor 101 may include, for example, a control device 111, an audio output device 112, a communication module 113, a warning light 114, a light emitting module 115, a light receiving module 116, a power supply device 117, and a position sensor 118.

The control device 111 controls each part of the detection sensor 101, such as the audio output device 112, the communication module 113, the warning light 114, the light emitting module 115, the light receiving module 116, the power supply device 117, and the position sensor 118. The audio output device 112 may be, for example, a device that outputs sound, such as a speaker. For example, the audio output device 112 outputs a warning sound when the control device 111 detects entry into a no-entry area. The communication module 113 may be, for example, a module for the detection sensor 101 to wirelessly communicate with other devices. The warning light 114 may be, for example, a light that emits light indicating a warning, such as a rotating light, and may emit light of various colors, such as red, yellow, green, blue, and purple. The warning light 114 may be, for example, a PATLITE (registered trademark).

The light emitting module 115 and the light receiving module 116 may, for example, operate as sensors that detect entry into a prohibited area. For example, if the light receiving module 116 of a certain detection sensor 101 can detect light irradiated from the light emitting module 115 of another detection sensor 101, the control device 111 can determine that entry into the area between those light emitting modules 115 and light receiving modules 116 has not occurred. On the other hand, for example, if the light from the light emitting module 115 of the other detection sensor 101 that was being received by the light receiving module 116 is no longer detected, the control device 111 can determine that entry into the area between those light emitting modules 115 and light receiving modules 116 has occurred.

The detection sensor 101 may be capable of changing the direction of light irradiation of the light-emitting module 115 and the direction of light reception of the light-receiving module 116. For example, in FIG. 1, the light-emitting module 115 and the light-receiving module 116 can rotate horizontally. That is, for example, the light-emitting module 115 can irradiate light in a 360-degree irradiation direction in the horizontal direction. Also, for example, the light-receiving module 116 can receive light in a 360-degree light reception direction in the horizontal direction. Also, for example, the arrangement of the light-emitting module 115 and the light-receiving module 116 in the detection sensor 101 may be interchangeable. The emission wavelength of the light-emitting module 115 may be, for example, in the visible light range that can clearly indicate a no-entry area, and may be, for example, in the red region. Also, the emission wavelength may be, for example, in the infrared range.

The power supply device 117 is, for example, a device that supplies power to the detection sensor 101. The power supply device 117 may include, for example, a battery. The position sensor 118 may be, for example, a sensor that measures the position of the detection sensor 101. The position sensor 118 is, for example, a Global Positioning System (GPS). In one embodiment, the detection sensor 101 may be installed on a traffic cone or the like. The traffic cone may be, for example, a traffic cone (registered trademark).

FIG. 2 is a diagram showing an example of installation of the detection sensor 101 according to the embodiment. FIG. 2 shows an exemplary intrusion detection system 200. The detection system 200 may include, for example, the detection sensor 101, an information processing device 201, and a control device 202. The detection system 200 may also include, for example, a robot 205.

2, the detection sensor 101 is installed on a triangular cone. Also, in the example of FIG. 2, the detection sensor 101 is shown in two types, a first type and a second type. The arrangement of the light emitting module 115 and the light receiving module 116 of the first type and the second type of detection sensor 101 is different. In the first type of detection sensor 101, the light emitting module 115 is arranged in the upper row, and the light receiving module 116 is arranged in the lower row. On the other hand, in the second type of detection sensor 101, the light emitting module 115 and the light receiving module 116 are swapped, and the light receiving module 116 is arranged in the upper row, and the light emitting module 115 is arranged in the lower row. Therefore, the light emitted by the light emitting module 115 of the first type of detection sensor 101 is at a height that can be received by the light receiving module 116 of the second type of detection sensor 101. Furthermore, the light emitted by the light emitting module 115 of the second type detection sensor 101 is at a height that can be received by the light receiving module 116 of the first type detection sensor 101.

For example, suppose that a robot 205 or the like enters the section between the first type detection sensor 101 and the second type detection sensor 101. In this case, the light emitted from the light-emitting module 115 is blocked and cannot be received by the light-receiving module 116, so the entrance can be detected by the light-receiving detection sensor 101.

The information processing device 201 may be, for example, a computer with a communication function, such as a smartphone, a tablet terminal, a personal computer (PC), a mobile PC, a wearable device, or a communication device. The information processing device 201 may be, for example, a terminal used by a worker who installs the detection sensor 101, a terminal used by a worker working at a site where a no-entry area is installed, or a communication device that notifies information to the control device 202. The control device 202 may be, for example, a computer such as a server computer managed by an administrator who manages the no-entry areas.

The robot 205 may include, for example, a robot that works at construction sites and engineering work sites, and a service robot that works in commercial facilities, accommodation facilities, offices, and the like. The robot 205 may include, for example, a control device 215. The control device 215 may control each part of the robot 205. In one example, the control device 215 may control the drive mechanism of the robot 205 to move the robot 205.

In the embodiment, when setting a no-entry area, the worker installing the detection sensors 101 can set the no-entry area by, for example, arranging the first type detection sensors 101 and the second type detection sensors 101 alternately, as described below. Note that the no-entry area may include, for example, objects within the area that people and robots should not approach. When the information processing device 201 defines the no-entry area, it may notify information about the no-entry area to the control device 202 used by the administrator who manages the no-entry area.

In addition, when an entry into a prohibited area occurs, it is preferable to notify the person or robot that has entered that an entry act is being performed. In addition, in the event of an entry into a prohibited area, it may be preferable to notify the control device 202 used by the administrator who manages the prohibited area that an entry has occurred.

Therefore, for example, when the detection sensor 101 detects an intrusion, it may output a warning sound from the audio output device 112 or output a warning light by turning on the warning light 114 to warn those in the vicinity. This can prevent people from approaching objects that should not be approached within the no-entry area.

In addition, when the detection sensor 101 detects an intrusion, it may transmit an intrusion notification indicating the intrusion to the information processing device 201. For example, when the information processing device 201 receives a notification that an intrusion has been detected by the detection sensor 101, it may notify the control device 202 that an intrusion has occurred. This makes it possible to notify the administrator that an intrusion has occurred.

Since it is possible that the intruder is a robot 205, when the detection sensor 101 detects an intrusion, it may transmit a beacon to notify nearby robots 205 that an intrusion has occurred.

For example, when the control device 215 of the robot 205 receives a beacon from the detection sensor 101, the control device 215 of the robot 205 may stop the movement of the robot 205. This can prevent the robot from approaching an object that is not desired to be approached within the no-entry area.

Next, the setting of the no-entry area will be described. FIG. 3 is a diagram illustrating the setting of the no-entry area according to the embodiment. FIG. 3(a) illustrates a rectangular no-entry area set using four detection sensors 101. As shown in FIG. 3(a), the detection sensors 101 are installed in the order of type 1, type 2, type 1, and type 2 clockwise from the upper left. As a result, the light irradiated by the first-type detection sensor 101 at the upper left can be received by the second-type detection sensor 101 at the upper right. The light irradiated by the second-type detection sensor 101 at the upper right can be received by the first-type detection sensor 101 at the lower right. The light irradiated by the first-type detection sensor 101 at the lower right can be received by the second-type detection sensor 101 at the lower left. The light irradiated by the second-type detection sensor 101 at the lower left can be received by the first-type detection sensor 101 at the upper left. Therefore, if the light receiving module 116 of any of the four detection sensors 101 is no longer able to receive light, entry into a no-entry area can be detected.

Also, the shape of the no-entry area can be set in various ways depending on how the detection sensor 101 is installed. Figs. 3(b) to 3(d) show the setting of the no-entry area by an exemplary detection sensor 101. In Figs. 3(b) to 3(d), the first type detection sensor 101 is marked with "1" and the second type detection sensor 101 is marked with "2". Fig. 3(b) shows the rectangular no-entry area of Fig. 3(a). Fig. 3(c) shows a straight no-entry line. As exemplified in Fig. 3(c), the detection sensor 101 that defines the no-entry area does not have to form a closed area. Also, as shown in Fig. 3(d), the no-entry area can be set in various shapes depending on the installation position of the detection sensor 101.

The process of setting the no-entry areas mentioned above will now be explained further.

Figure 4 is a diagram illustrating an example of a functional block configuration of the information processing device 201 according to the embodiment. The information processing device 201 includes, for example, a control unit 401, a storage unit 402, and a communication unit 403. The control unit 401 includes, for example, a determination unit 411 and a decision unit 412, and may also include other functional units. The storage unit 402 of the information processing device 201 stores information such as no-entry area information 600, which will be described later. The communication unit 403 communicates with other devices such as the detection sensor 101, the control device 202, and the robot 205, for example, according to instructions from the control unit 401. Details of each of these units and details of the information stored in the storage unit 402 will be described later.

Figure 5 is a diagram illustrating a process for setting a no-entry area according to an embodiment. The control unit 401 of the information processing device 201 may start the operation flow of Figure 5 when, for example, an instruction to execute a process for setting a no-entry area is input.

In step 501 (hereinafter, step is written as "S", for example, S501), the control unit 401 detects the detection sensor 101 to be set. For example, the user may install a pair of the first type detection sensor 101 and the second type detection sensor 101 at the outer edge of the area to be defined as a no-entry area, and then start each detection sensor 101 to transmit a registration instruction from the detection sensor 101 to the information processing device 201. In this case, the control unit 401 of the information processing device 201 may execute the following process by, for example, setting one of the two detection sensors 101 that transmitted the registration instruction as the detection sensor 101 on the light-emitting side and the other as the detection sensor 101 on the light-receiving side. The detection sensor 101 on the light-emitting side may be called, for example, the first detection sensor. The detection sensor 101 on the light-receiving side may be called, for example, the second detection sensor.

In S502, the control unit 401 causes the light receiving module 116 of the light receiving side detection sensor 101 to search for the light emitted by the light emitting module 115 of the detection sensor 101 on the emitting side. In the search, for example, the detection sensor 101 on the emitting side may emit light while gradually rotating the light emitting module 115 at a predetermined angle until it rotates 360 degrees horizontally. Also, the detection sensor 101 on the light receiving side may attempt to detect the light emitted from the detection sensor 101 on the emitting side in the current light receiving direction of the light receiving module 116.

In S503, the control unit 401 determines whether the light emitted by the light emitting module 115 of the detection sensor 101 on the light-emitting side is detected by the light receiving module 116 of the detection sensor 101 on the light-receiving side. For example, assume that the light emitted from the light emitting module 115 of the detection sensor 101 on the light-emitting side at any angle until the light emitting module 115 of the detection sensor 101 on the light-emitting side makes one rotation is detected by the light receiving module 116 of the detection sensor 101 on the light-receiving side. In this case, the detection sensor 101 on the light-receiving side may transmit a detection notification to the information processing device 201. Then, for example, if the control unit 401 of the information processing device 201 has not received a detection notification, it may determine in S503 that the detection sensor 101 on the light-emitting side has not been detected (NO in S503), and the flow proceeds to S504.

In S504, the control unit 401 rotates the light receiving direction of the light receiving module 116 of the light receiving side detection sensor 101 by a predetermined angle, and the flow returns to S502, and the search is repeated. Note that if the rotation angle of the light receiving module 116 reaches 360 degrees in S504, the control unit 401 may end the operation flow of FIG. 5. In this case, the control unit 401 may display information indicating that the light emitted by the light emitting module 115 could not be detected, for example, on the display screen of the display device provided in the information processing device 201.

On the other hand, when the control unit 401 of the information processing device 201 receives a detection notification, it may determine in S503 that the light emitted by the detection sensor 101 on the light-emitting side has been detected by the detection sensor 101 on the light-receiving side (YES in S503), and the flow proceeds to S505.

In S505, the control unit 401 determines the pair of the light emitting module 115 of the detection sensor 101 on the emitting side and the light receiving module 116 of the detection sensor 101 on the receiving side. For example, the control unit 401 may control each detection sensor 101 to determine the orientation based on the current light emission direction of the light emitting module 115 of the detection sensor 101 on the emitting side and the current light receiving direction of the light receiving module 116 of the detection sensor 101 on the receiving side.

In S506, the control unit 401 determines the line connecting the positions of the two detection sensors 101 as the boundary of the no-entry area. For example, the control unit 401 may collect angle information indicating the current light emission direction of the light emitting module 115 of the detection sensor 101 on the emitting side and the current light reception direction of the light receiving module 116 of the detection sensor 101 on the receiving side. Furthermore, in the processing of S506, the control unit 401 may collect information on the current position of each detection sensor 101. Then, the control unit 401 registers information on the light emitting module 115 of the detection sensor 101 on the emitting side and the light receiving module 116 of the detection sensor 101 on the receiving side in the no-entry area information 600.

FIG. 6 is a diagram illustrating no-entry area information 600 according to an embodiment. In the no-entry area information 600, for example, records corresponding to the detection sensors 101 that configure the no-entry areas are registered. In the example of FIG. 6, the no-entry area information 600 registers records in which information on identification information, position, irradiation destination, irradiation direction, irradiation source, and light receiving direction is associated.

The identification information of the no-entry area information 600 is, for example, an identifier for identifying the detection sensor 101 corresponding to the record. The position of the no-entry area information 600 may be, for example, information indicating the position of the detection sensor 101 corresponding to the record. The position of the no-entry area information 600 may be, for example, information on longitude and latitude measured by the position sensor 118 equipped in the detection sensor 101. For example, identification information for identifying the other party's detection sensor 101 equipped with the light receiving module 116 that receives light irradiated by the light emitting module 115 of the detection sensor 101 corresponding to the record may be registered in the irradiation destination of the no-entry area information 600. For example, the irradiation direction of the light of the light emitting module 115 when the light irradiated by the light emitting module 115 of the detection sensor 101 corresponding to the record is detected by the light receiving module 116 of the other party's detection sensor 101 may be registered in the irradiation direction of the no-entry area information 600. Therefore, the irradiation direction of the no-entry area information 600 may indicate the direction in which the light receiving module 116 of the other detection sensor 101 is located, as viewed from the light emitting module 115 of the detection sensor 101 corresponding to the record.

The source of irradiation in the no-entry area information 600 may be, for example, identification information that identifies the detection sensor 101 that is the source of the light received in S503 by the light receiving module 116 of the detection sensor 101 corresponding to the record. The light receiving direction in the no-entry area information 600 may be, for example, the light receiving direction of the light received in S503 by the light receiving module 116 of the detection sensor 101 corresponding to the record. Therefore, the light receiving direction in the no-entry area information 600 may indicate the direction in which the light emitting module 115 of the other detection sensor 101 is located, as seen from the light receiving module 116 of the detection sensor 101 corresponding to the record.

Then, in the process of S506, the control unit 401 may register the information of the light emitting module 115 of the detection sensor 101 on the emitting side and the light receiving module 116 of the detection sensor 101 on the receiving side, which are collected as a pair, in the no-entry area information 600, and set the no-entry area. This allows the control unit 401 to determine the line connecting the positions of the two detection sensors 101 as the boundary of the no-entry area.

In S507, the control unit 401 determines whether installation of the detection sensor 101 is complete. For example, if a user who installs the detection sensor 101 operates the next detection sensor 101 to cause the next detection sensor 101 to send a registration instruction to the information processing device 201, the control unit 401 may determine NO in S507, and the flow returns to S501. In this case, the control unit 401 sets the detection sensor 101 that was the light receiving side in the previous execution of the process of S501 as the detection sensor 101 on the emitting side, and repeats the process with the next detection sensor 101 that has received a new registration instruction as the detection sensor 101 on the light receiving side.

On the other hand, for example, if a user who installs a detection sensor 101 in a no-entry area inputs completion of installation of the detection sensor 101 to the information processing device 201, the control unit 401 may determine YES in S507, and the flow proceeds to S508.

In S508, the control unit 401 determines whether or not to close the no-entry area. For example, if a user who installs the detection sensor 101 in the no-entry area inputs an input to the control unit 401 of the information processing device 201 indicating that the area will not be closed (S508 is NO), the flow proceeds to S514. On the other hand, for example, if a user who installs the detection sensor 101 in the no-entry area inputs an input to the control unit 401 of the information processing device 201 indicating that the area will be closed (S508 is YES), the flow proceeds to S509.

In the subsequent processing from S509 to S512, for example, processing similar to the processing from S502 to S505 may be executed. In one example, in the processing from S509 to S512, the control unit 401 may execute processing similar to the processing from S502 to S505, with the detection sensor 101 that was on the light receiving side in the last execution of the processing from S505 in the execution of the operation flow of FIG. 5 as the detection sensor 101 on the light emitting side. Also, in the processing from S509 to S512, the control unit 401 may execute processing similar to the processing from S502 to S505, with the detection sensor 101 that was on the light emitting side in the first execution of the processing from S505 in the execution of the operation flow of FIG. 5 as the detection sensor 101 on the light receiving side. When the processing from S512 is completed, the flow proceeds to S513.

In S513, the control unit 401 may register information on the light emitting module 115 of the detection sensor 101 on the emitting side and the light receiving module 116 of the detection sensor 101 on the receiving side in the no-entry area information 600, and determine the boundary to close the no-entry area.

In S514, the control unit 401 transmits the confirmed no-entry area information 600 to the control device 202, and this operation flow ends. This allows the information on the no-entry area to be notified to an administrator who uses the control device 202.

As described above, according to the operation flow of FIG. 5, the control unit 401 can register records including information on the detection sensors 101 that constitute the no-entry areas in the no-entry area information 600. Since information is automatically registered in the no-entry area information 600 when the detection sensors 101 are installed, the user can easily set the no-entry areas. Furthermore, according to the operation flow of FIG. 5, the control unit 401 can determine the orientation of the light-emitting module 115 and the light-receiving module 116 of the detection sensor 101.

Figure 7 is a diagram illustrating an example of an operational flow of a process for detecting entry into a no-entry area according to an embodiment. For example, the control device 111 of the detection sensor 101 may start the operational flow of Figure 7 when an instruction to execute a process for detecting entry into a no-entry area is input.

In S701, the control device 111 of the detection sensor 101 determines whether or not light blocking has been detected. For example, the multiple detection sensors 101 that make up the no-entry area may receive light emitted from the light-emitting module 115 of the detection sensor 101 with the other light-receiving modules 116, as shown in the no-entry area information 600. In this case, the control device 111 of the detection sensor 101 may detect light blocking when the light-receiving module 116 is no longer able to receive light. If light blocking has not been detected (NO in S701), the flow repeats the process of S701. On the other hand, if light blocking has been detected (YES in S701), the flow proceeds to S702.

In S702, the control device 111 of the detection sensor 101 transmits an intrusion notification to the information processing device 201. This allows the user of the information processing device 201 to know that an intrusion has occurred. Then, in one embodiment, the control unit 401 of the information processing device 201, for example, upon receiving the intrusion notification, may transmit information about the intrusion notification to the control device 202. This allows the administrator using the control device 202 to know that an intrusion has occurred.

In S703, the control device 111 of the detection sensor 101 transmits, for example, a beacon. The beacon may be, for example, a beacon for notifying the robot 205 that an entry into a prohibited area has occurred.

In S704, the control device 111 of the detection sensor 101 outputs, for example, a warning. For example, the control device 111 of the detection sensor 101 may output a warning sound from the audio output device 112 or turn on the warning light 114, thereby outputting a warning to the surroundings of the detection sensor 101.

In S705, the control device 111 determines, for example, whether reception of the blocked light has returned. For example, the control device 111 of the detection sensor 101 that sent the entry notification may determine that reception of light has returned when light is subsequently received again by the light receiving module 116. If reception of the blocked light has not returned in S705 (NO in S705), the flow returns to S703 and the process is repeated. On the other hand, if reception of the blocked light has returned (YES in S705), the flow proceeds to S706.

In S706, the control device 111 stops outputting the warning, and the flow returns to S701. The control device 111 may stop outputting the warning to the area around the detection sensor 101, for example, by stopping output of the attention-call sound from the audio output device 112 or by stopping illumination of the warning light 114.

As described above, according to the embodiment, the control device 111 of the detection sensor 101 can detect an entry into a no-entry area and output a warning when an entry occurs. This can prevent people and other objects from approaching objects that should not be approached within the no-entry area.

In addition, in the embodiment, a beacon is transmitted when reception of light by the light receiving module 116 is interrupted. As a result, when the robot 205 enters a prohibited area, the robot 205 can be notified of the entry and stopped moving. Note that, although the example in FIG. 7 describes an example in which the detection sensor 101 transmits a beacon when reception of light by the light receiving module 116 is interrupted, the embodiment is not limited to this. In another embodiment, the detection sensor 101 may transmit a beacon at a predetermined time interval.

Next, we will explain the control of the robot 205 according to the embodiment.

8 is a diagram illustrating a functional block configuration of the robot 205 according to the embodiment. The robot 205 includes, for example, a control device 215 and a driving unit 804. The control device 215 includes, for example, a control unit 801, a storage unit 802, and a communication unit 803. The control unit 801 of the control device 215 controls, for example, each unit of the robot 205. The storage unit 802 of the control device 215 may store, for example, information such as the movement route of the robot 205 and the no-entry area information 600. The communication unit 803 communicates with other devices such as the detection sensor 101 and the information processing device 201 according to, for example, instructions from the control unit 801. In addition, the control unit 801 of the control device 215 may control the driving unit 804. The driving unit 804 may be, for example, a driving mechanism such as a motor. The driving unit 804 may control the driving unit 804 according to instructions from the control unit 801 to move the robot 205.

FIG. 9 is a diagram illustrating an example of an operational flow of a control process executed by the control unit 801 of the robot 205 according to the embodiment. For example, the control unit 801 may start the operational flow of FIG. 9 when the robot 205 is started.

In S901, the control unit 801 of the robot 205 determines whether or not a beacon has been detected. The beacon may be, for example, a beacon transmitted by the detection sensor 101 in the processing of S703.

In S902, the control unit 801 of the robot 205 controls the drive unit 804 to stop the movement of the robot 205.

In S903, the control unit 801 of the robot 205 transmits a request notification to the information processing device 201 to request the provision of information on the no-entry areas. For example, when the control unit 401 of the information processing device 201 receives a request notification for the no-entry area information 600 from the robot 205, the control unit 401 transmits the no-entry area information 600 to the robot 205 that transmitted the request notification. Note that the information processing device 201 may, for example, obtain the no-entry area information 600 from the control device 202 and transmit it to the robot 205.

In S904, the control unit 801 of the robot 205 receives the no-entry area information 600 from the information processing device 201 and updates the no-entry area based on the no-entry area information 600.

In S904, the control unit 801 of the robot 205 changes the route to one that avoids the no-entry area based on the received no-entry area information 600, resumes movement, and the flow returns to S901 to repeat the process.

As described above, according to the operation flow of FIG. 9, the robot 205 can stop moving when it enters a no-entry area. This can prevent the robot 205 from approaching an object in the no-entry area that should not be approached. Furthermore, when an entry occurs, the robot 205 can obtain the latest shape of the no-entry area by being provided with the no-entry area information 600, and can determine a new movement route that avoids the no-entry area. Note that the robot 205 may obtain information about the no-entry area from, for example, the information processing device 201 and the control device 202, and update the no-entry area every time a no-entry area is set.

Although the above describes an embodiment, the embodiment is not limited to this. For example, the above-described operation flow is an example, and the embodiment is not limited to this. If possible, the operation flow may be executed by changing the order of the processes, may include additional processes, or may omit some processes.

In the above embodiment, an example is described in which a no-entry area is set using two types of detection sensors 101, a first type and a second type. In this case, for example, the first type and the second type detection sensors 101 are installed alternately, and an even number of detection sensors 101 are installed, so that a closed no-entry area can be easily set. However, for example, the no-entry area does not have to be closed, and a part of it may be open. For example, in cases where some sides of the no-entry area are installed next to a wall, or when it is desired to prevent entry from only one direction, the no-entry area does not have to be closed, and a no-entry area may be set by installing an odd number of detection sensors 101.

Furthermore, the detection sensors 101 are not limited to two types. For example, three or more types of detection sensors 101 may be used. For example, the detection sensors 101 that form the no-entry area may each have a light emitting module 115 and a light receiving module 116 of different heights. In this way, when setting the no-entry area, the number of detection sensors 101 that have a light receiving module 116 that can receive light emitted by a certain detection sensor 101 is limited to one, making it easy to set the no-entry area.

The configuration of the detection sensor 101 in the above-described embodiment is an example and is not limiting. For example, in another embodiment, the detection sensor 101 may further include an imaging device. In this case, for example, when the detection sensor 101 detects that the light receiving module 116 is no longer receiving light, the imaging device may capture an image of the entering object by capturing an image in the direction in which the light is received.

In the above embodiment, as described in FIG. 5, an example is described in which the detection sensors 101 are installed in sequence to determine the no-entry area, but the embodiment is not limited to this. For example, in another embodiment, the detection sensors 101 installed at each point in the no-entry area may search for other detection sensors 101, and the information processing device 201 may collect identification information for identifying the detected detection sensors 101, the position of each detection sensor 101, and information on the angle of irradiation and reception of light. Then, the control unit 401 of the information processing device 201 may automatically set the no-entry area based on the position information of the detection sensors 101 and information on the angle of the light receiving module 116 at which light from the light emitting module 115 is detected in the search.

A laser range finder (LRF) may be used as the detection sensor 101. In the above embodiment, the information processing device 201 may be a single device, or different information processing devices 201 may be used depending on the processing.

In the above embodiment, for example, in the processes of S505 and S512, the control unit 401 operates as the determination unit 411. Also, for example, in the processes of S506 and S513, the control unit 401 operates as the decision unit 412.

Figure 10 is a diagram illustrating an example of the hardware configuration of a computer 1000 for realizing the information processing device 201, the control device 111 of the detection sensor 101, and the control device 215 of the robot 205 according to an embodiment. The hardware configuration in Figure 10 includes, for example, a processor 1001, a memory 1002, a storage device 1003, a reading device 1004, a communication interface 1006, and an input/output interface 1007. The processor 1001, the memory 1002, the storage device 1003, the reading device 1004, the communication interface 1006, and the input/output interface 1007 are connected to each other, for example, via a bus 1008.

The processor 1001 may be, for example, a single processor, or a multi-processor or multi-core. The processor 1001 provides some or all of the functions of the above-mentioned units by using the memory 1002 to execute a program that describes, for example, the steps of the above-mentioned operational flow. For example, the processor 1001 of the information processing device 201 may operate as the determination unit 411 and the decision unit 412 by reading and executing a program stored in the storage device 1003.

The memory 1002 is, for example, a semiconductor memory, and may include a RAM area and a ROM area. The storage device 1003 is, for example, a semiconductor memory such as a hard disk or a flash memory, or an external storage device. Note that RAM is an abbreviation for Random Access Memory. Also, ROM is an abbreviation for Read Only Memory.

The reading device 1004 accesses the removable storage medium 1005 according to instructions from the processor 1001. The removable storage medium 1005 is realized by, for example, a semiconductor device, a medium where information is input and output by magnetic action, or a medium where information is input and output by optical action. The semiconductor device is, for example, a Universal Serial Bus (USB) memory. The medium where information is input and output by magnetic action is, for example, a magnetic disk. The medium where information is input and output by optical action is, for example, a CD-ROM, DVD, Blu-ray Disc, etc. (Blu-ray is a registered trademark). CD is an abbreviation for Compact Disc. DVD is an abbreviation for Digital Versatile Disk.

The storage unit 402 and the storage unit 802 may include, for example, a memory 1002, a storage device 1003, and a removable storage medium 1005. For example, the storage device 1003 may store no-entry area information 600.

The communication interface 1006 communicates with other devices according to instructions from the processor 1001. The communication interface 1006 of the information processing device 201 may be, for example, an example of the communication unit 403, and may communicate with the detection sensor 101 or with the robot 205 according to instructions from the processor 1001. The communication interface 1006 of the robot 205 may be, for example, an example of the communication unit 803, and may receive a beacon transmitted by the detection sensor 101 or communicate with the information processing device 201 according to instructions from the processor 1001.

The input/output interface 1007 may be, for example, an interface between an input device and an output device. The input device is, for example, a device such as a keyboard, a mouse, or a touch panel that accepts instructions from a user. The output device is, for example, a display device such as a display, and an audio output device such as a speaker.

Each program according to the embodiment is provided to the detection sensor 101, the information processing device 201, and the robot 205 in the following form, for example.
(1) It is pre-installed in the storage device 1003.
(2) Provided by a removable storage medium 1005.
(3) Provided from a server such as a program server.

The hardware configuration of the computer 1000 described with reference to FIG. 10 is an example, and the embodiment is not limited thereto. For example, part of the above-mentioned configuration may be deleted, or new configuration may be added. In another embodiment, for example, part or all of the functions of the above-mentioned control unit 401 and control unit 801 may be implemented as hardware using FPGA, SoC, ASIC, PLD, or the like. Note that FPGA is an abbreviation for Field Programmable Gate Array. SoC is an abbreviation for System-on-a-chip. ASIC is an abbreviation for Application Specific Integrated Circuit. PLD is an abbreviation for Programmable Logic Device.

In the above, several embodiments are described. However, the embodiments are not limited to the above embodiments, and should be understood to include various modified and alternative forms of the above-mentioned embodiments. For example, it will be understood that the various embodiments can be embodied by modifying the components without departing from the spirit and scope of the embodiments. It will also be understood that various embodiments can be implemented by appropriately combining multiple components disclosed in the above-mentioned embodiments. Furthermore, it will be understood by those skilled in the art that various embodiments can be implemented by deleting some components from all the components shown in the embodiments, or by adding some components to the components shown in the embodiments.

101: Detection sensor 111: Control device 112: Audio output device 113: Communication module 114: Warning light 115: Light emitting module 116: Light receiving module 117: Power supply device 118: Position sensor 200: Detection system 201: Information processing device 202: Control device 205: Robot 215: Control device 401: Control unit 402: Memory unit 403: Communication unit 411: Confirmation unit 412: Determination unit 801: Control unit 802: Memory unit 803: Communication unit 804: Driving unit 1000: Computer 1001: Processor 1002: Memory 1003: Storage device 1004: Reading device 1005: Removable storage medium 1006: Communication interface 1007: Input/output interface 1008: Bus

Claims (8)

a plurality of detection sensors each having a light-emitting module capable of emitting light by changing a direction of irradiation and a light-receiving module capable of receiving light by changing a direction of receiving light in a direction independent of a direction of irradiation of the light-emitting module;
selecting a first detection sensor and a second detection sensor from the plurality of detection sensors;
upon receiving a detection notification indicating that the light irradiated from the first detection sensor has been detected by the second detection sensor, controlling the first detection sensor and the second detection sensor so as to determine a light irradiation direction of the first detection sensor and a light reception direction of the second detection sensor;
determining a line connecting the position of the first detection sensor and the position of the second detection sensor as a boundary of a no-entry area;
An information processing device;
a detection system comprising: The detection system according to claim 1, wherein the information processing device controls the first detection sensor and the second detection sensor to search for a direction in which light from the first detection sensor is detected by the second detection sensor by rotating a light irradiation direction of the first detection sensor and a light reception direction of the second detection sensor. The detection system according to claim 1 or 2, wherein the second detection sensor transmits an entry notification to the information processing device when the second detection sensor stops receiving light from the first detection sensor. The detection system according to any one of claims 1 to 3, wherein the second detection sensor outputs at least one of a sound and a light indicating a warning when the light received from the first detection sensor is no longer received. the second detection sensor transmits a beacon when the second detection sensor stops receiving light from the first detection sensor;
The detection system according to claim 1 , wherein the information processing device provides the robot with information indicating the no-entry area when the information processing device receives a notification of a request for provision from the robot. The robot comprises:
When the beacon is received, the movement is stopped,
Transmitting the provision request notification to the second detection sensor;
The detection system according to claim 5 , wherein, when the information indicating the no-entry area is received, the detection system changes a travel route to a route that avoids the no-entry area. selecting a first detection sensor and a second detection sensor from among a plurality of detection sensors, each of which has a light-emitting module capable of emitting light by changing the direction of irradiation and a light-receiving module capable of receiving light by changing the direction of reception of light in a direction independent of the direction of irradiation of the light-emitting module;
upon receiving a detection notification indicating that the light irradiated from the first detection sensor has been detected by the second detection sensor, controlling the first detection sensor and the second detection sensor so as to determine a light irradiation direction of the first detection sensor and a light reception direction of the second detection sensor;
determining a line connecting the position of the first detection sensor and the position of the second detection sensor as a boundary of a no-entry area;
A detection method executed by an information processing device, comprising: selecting a first detection sensor and a second detection sensor from among a plurality of detection sensors, each of which has a light-emitting module capable of emitting light by changing the direction of irradiation and a light-receiving module capable of receiving light by changing the direction of reception of light in a direction independent of the direction of irradiation of the light-emitting module;
a determination unit that, upon receiving a detection notification indicating that the light irradiated from the first detection sensor has been detected by the second detection sensor, controls the first detection sensor and the second detection sensor to determine a light irradiation direction of the first detection sensor and a light reception direction of the second detection sensor;
a determination unit that determines a line connecting a position of the first detection sensor and a position of the second detection sensor as a boundary of a no-entry area;
An information processing device comprising:

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