Introduction of
Robot Friendly Asset Promotion
Association (RFA)

Rev.1.2

List of contents
1. Overview
2. Initiatives and Action Plans of Technical Committees (TC)
2-1. Elevator Cooperation TC
2-2. Security Cooperation TC
2-3. Physical Environment Characteristics TC
2-4. Robot Fleet Management TC
2-5. Medium-Term Action Plan

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2

List of contents
1. Overview
2. Initiatives and Action Plans of Technical Committees (TC)
2-1. Elevator Cooperation TC
2-2. Security Cooperation TC
2-3. Physical Environment Characteristics TC
2-4. Robot Fleet Management TC
2-5. Medium-Term Action Plan

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3

Overview
RFA

Robot Friendly Asset Promotion Association (General Incorporated Association)

HP

https://robot-friendly.org

Emailrfa@supportoffice.jp

Establishment
date
Inauguration
date

Address

Representative
Director

PurposeActivity

August 10, 2022
September 2, 2022
#507 Kikai Shinko Kaikan 3-5-8 Shiba-koen, Minato-ku, Tokyo

Tsutomu Wakitani (American Honda Motor Co., Inc. Solution system, R&D Business unit, Vice
President, Executive Chief Engineer)
Supporting the creation of a robot-friendly environment to enable the widespread use of robots inall types of facilities(1) In order to collaborate between facilities and robots, organize and solve issues that companies
should cooperate with, and then create an environment where each company can focus oncompetitive areas.
(2) Definition of a robot-friendly environment in facilities(3) Collecting and disseminating information on robot-friendly environments(4) Other activities necessary to achieve the above objectives

Logo
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4Organization chart
RFA is building a robot-friendly environment in four areas.
General Meetingof Members(Regular Member
Companies)
AuditorBoard of directors

Standardization
Meetings

Elevator
Cooperation TC

Secretariat

Security
Cooperation TC

Physical Environment
Characteristics TC

Robot Fleet
Management TC

Shared Marker STC
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5

History
In order to collaborate between facilities and robots, RFA is organizing and solving issues thatcompanies should cooperate with.
2019

The Ministry of Economy, Trade and Industry (METI) and NEDO launched the “Robot
Implementation Model Construction Promotion Task Force (TF)'' to consider the useof robots to solve labor shortages.

2020

The TF was transferred to the Robot Revolution and Industrial IoT Initiative Council (RRI), which
was established based on the new robot strategy. Facility management TC was establishedwithin the TF to consider standards for cooperation between robots and elevators.

2021

Facility management TC has published the "Robot-Elevator Cooperation Interface
Definition (Draft)" which indicates the areas and technical specifications that should bestandardized in cooperation between robots and elevators.

2022

Facility management TC launched the “Security Collaboration Sub TC" to consider standards
for collaboration between robots and facility doors, etc. The Facility Management TC within
RRI was progressively dissolved and “Robot Friendly Asset Promotion Association(RFA)” was established.

2023

In addition to the ``Elevator Coordination TC'' and ``Security Coordination TC’’, RFA has
newly launched ``Physical Environment Characteristics TC'' and ``Robot Fleet
Management TC,'' resulting in a 4TC system.
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6

List of contents
1. Overview
2. Initiatives and Action Plans of Technical Committees (TC)
2-1. Elevator Cooperation TC
2-2. Security Cooperation TC
2-3. Physical Environment Characteristics TC
2-4. Robot Fleet Management TC
2-5. Medium-Term Action Plan

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7

Four TCs Overview
RFA is building a robot-friendly environment in four areas.
Elevator CooperationTC• Publication of a manual that enables easy and stable introduction and operation ofrobot x elevator cooperation system• Brush up on robot x elevator collaboration standards• Activities to promote the practical application of robot business using a robot x
elevator collaboration system

Security CooperationTC• Publication of a standard for cooperation between robots and security system• Publication of a guideline to enable easy and stable introduction of robot x security
cooperation system

PhysicalEnvironment
Characteristics TC• Investigate and compile the physical environment and related regulations of various
facilities.
• Based on the above, quantitatively define the "robot-friendly environment level" andpublish standards/manuals.

Robot Fleet
Management TC• Achieving the operation of multiple robots of multiple types within the same facility(specifically, enabling robots to pass each other)• In order to achieve the above, specifications for communication/operation must be
developed and standardized/manualized.
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8

2-1. Activities of Elevator Cooperation TC
A standard was published to enable robots to cooperate with elevators and provide services using
vertical movement.

Robot

ELV

Robot

Cooperation standard

ELV

P Company

A Company

P Company

A Company

Q Company

B Company

Q Company

B Company

R Company

C Company

Separate development required
for each collaboration

R Company

C Company

Common collaboration platform
compatible with each company's
ELV/robot
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9

Robot/Elevator cooperation Interface definition ( RFA B 0001 : 2022 )RFA have created a communication standard between robot servers and elevator servers, and theJapanese and English versions of the standard are currently on sale.

Example of standard use case

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10

This year's activities of elevator cooperation TC
Supporting use case creation while utilizing already published collaboration standards

Background• Although the standard for communication between robots and elevators has been
established, implementation examples are yet to be developed.
• When a person in charge actually wants to introduce a collaboration system, it iscomplicated because there are many people involved, and there is often no one to leadthe way.
• In many cases, the person in charge is not accustomed to operating robots, and it is often
unclear how to utilize the system even though the system has been introduced.

TargetSupporting the smooth introduction/operation of a robot x elevator collaboration system

Activities① Publication of a manual that enables easy and stable introduction and operation of robot
x elevator cooperation system② Brush up on robot x elevator collaboration standards③ Promote the practical application of robot business using a robot x elevator collaboration
systemCopyright (C) Robot Friendly Asset Promotion Association All rights reserved.

112-2. Activities of Security Cooperation TC
Publish standards for robots to provide surface services while cooperating with access control
systems/doors/flapper gates, etc.
Cooperation between robots and security systems
IndoorElevator

automatic door

Flapper gate

▽GL
Ex.❸
Floor cleaning

Sensoroffice area

Entrance

OutdoorEx.❶
IndoordeliveryEx. ❷OutdoordeliveryEx.❹
Patrol security

Public underground space
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12

Example of standard use case
It is assumed that a wide variety of robots will provide services while moving back and forth between eachsecurity area.
Robot type

No

b
c

CleaningdGuide

Visitors register at the entrance of thevisiting company ➡ The guide robot will
escort the visitor to the reception room.

fghAfter the unmanned semi-exclusive area
is cleared of security, the cleaning robot
performs regular cleaning.
Visitors register with a guide robot at thebuilding entrance. ➡ The guide robot will
escort visitors to the entrance of thecompany they are visiting.

Security（Outdoor）

Tenant management areaeReceive parcels at the building
entrance➡Delivery to common areadelivery company entrance
Pick up at the exclusive
entrance➡Delivery to the person in
charge in the restricted area
Cleaning robots regularly clean buildings
and common areas

Building side management areaa

Delivery

Public space

Operation

Automatic door

Common space（Entrance, etc.）c

Automatic shutter

Flapper gate

Semi-exclusive area

※Closed only at nightaAuthentication（Corridor, elevator, etc.
after security check）

Exclusive
area

f

g

d

Automatic door

（Reception
Authenticationetc.） Electric lockautomatic swingeAuthentication

Securityb

Security robots regularly patrol theperimeter of the building and common
door
areas within the building.
Restricted area Restricted area
Security robots regularly patrol exclusive（reception room）（Office etc.）
areas and restricted areas
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hAuthentication

Security

Authentication

13

This year's activities of security cooperation TC
Security cooperation TC publishes a standard/guideline.

Background

TargetActivities• Since robot services are limited to areas where robots can move, the incorporation ofrobots into work is not widespread.
• Increasing number of scenes where robots can play an active role, such as non-contact
services• Individual modifications are required for each robot/building equipment/service, whichtends to increase development costs/product prices.

Support for collaboration between robots and security (access control systems, doors,
flapper gates, etc.)① Publication of a standard for cooperation between robots and security system② Publication of a guideline to enable easy and stable introduction of robot x security
cooperation system
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142-3. Activities of Physical Environment Characteristics TC
Quantification of robot friendly level (sample image)
Field

Level A

Level B

Level C

Slope

0 1/12 or underover 1/12

Step

0 5mm or underover 5mmGap

width:10mm or underwidth: from 10mm to 20mm

width:over 20mm

or

and

depth: 5mm or under

depth:over 5mm

Aisle width

1.2m or overfrom 0.8m to 1.2m

under 0.8m

Entrance width

1.2m or overfrom 0.8m to 1.2m

under 0.8m

Elevator size

The size that the robot can turn ar 1.35m or overDoorautomatic door that keep opening automatic door(except LevelA)

Slipperiness of the floor CSR: 0.4 or over

CSR: under 0.4

under 1.35m
not automatic door
N/A

Fliction of the floor

not high-pile carpet

high-pile carpet

N/A

Ceiling

N/A

N/A

N/A

Wall

N/A

N/A

N/A

Sunlight

no direct sunlightno direct sunlight on light-receivinN/A

Illuminance1lx or over on marker

N/A

Network

cover the entire area

cover the spot area where connect none

Obstacles

none

N/A

recognizable

unrecognizable

and

or

there is avoidable paththere is no avoidable pathLevel ARegardless of the purpose, most robots can move.

Level B

Most robots can move, but not for some applications.

Level C

Performance requirements for robots are strict,and inexpensive robots cannot move.

Flow image from level identification to robot introduction
Step1: Decide on the application of the robot.
Step2: Determine the area or route where you want the robot to move.
Step3: Rate the robot friendly level of the area or route you have decided.
Step4: Select a robot that is suitable for the application and level.
Step5: By converting the physical environment side to robot friendly,
you can select robots with a lower level of robot friendly revel.

Project Report to Construct a Basis for Research and Development of Innovative Robots(March 2022)
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15

Benefits of standardizing physical environment characteristics
Create the standard that defines environments in which robots can easily run (robot-friendly environments) andencourage the introduction of robots by utilizing the standard.
Benefits

Problems
Robot Maker

It is difficult to have a common understanding regarding
facility design, and general specifications cannot be set :••It takes time to understand the situation before
introducing robots.

When introducing robots, it takes time and money tocustomize them according to the situation of eachfacility.

User(e.g. Real estate developer)

There are no standards that can be referenced to create arobot friendly environment :• Because users do not know how to make theenvironment robot friendly and how much it will cost
before introducing it, they are not making progress in
improving the environment.
• Customization costs were higher than expectedduring implementation and the expected ROI could
not be achieved.
• Implementation takes time and does not proceed
according to the expected schedule.

Having standards and guidelines related to the physicalenvironment will help develop general-purpose
specifications.
••

Reduces time spent on assessment and customization
before and during deployment.
Reduces development and integration costs.

Standards and guidelines regarding the physicalenvironment will be developed, and methods for making
the environment robot-friendly will be available forreference, making it possible to understand the time andcost of introducing robots.
• Easier to calculate ROI and progress in considering
implementation.
• The implementation will proceed according to the
expected ROI and schedule, and it will be possible toexpand horizontally and apply it to newly constructed
properties.

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16

This year's activities of Physical environment characteristics TC
Physical environment characteristics TC publishes a standard/manual.

Background• Currently, vendors are only introducing robots to facilities where thespecifications developed by each company are applicable.
• By standardizing the physical environment characteristics of facilities, we will
break away from the above current situation and realize a situation where we
can gain economies of scale.

TargetDefine physical environment characteristic levels and issue a standard

Activities① Publication of a standard for physical environment characteristic levels② Discussion on shared markers used for self-location recognition③ Appeal for standardization of physical environment characteristics levels

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17

2-4. Activities of Robot Fleet Management TC
Building a system that allows multiple types of robots to move within one facility• Congestion or impassability on the route (robots stuck together)Issues toconsider• Congestion in the elevator hall (cannot get on and off) and congestion when
passing through the security gate
• Congestion at waiting and evacuation areas

Cleaning
Robot

Delivery
Robot

Guide
Robot

Security
Robot

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18

Items to consider in robot fleet management
Consider the possibility of standardization in the following three items.
Items

Goal image①Standard robot control
implementation

Multiple robot platform management platforms provide standard control over robots(Robot standby control, evacuation control, etc.)②Information coordination
between robot platforms

Standardize the method of information coordination (robot position information, status,etc.) between robot management platforms.
(This collaboration is required when robot management PFs coexist in a facility.)③Standardization of robot
operation rules

Standardize robot behavior/operation (e.g., robots driving on the left)

Robot management platform X

Robot A

Robot B

Standardization
Item②

Robot
Cloud

Robot
Cloud

Robot C

Robot D

Robot management platform Y

Robot E

Robot F

Standardization
Item①

Robot
Cloud

Robot
Cloud

Robot G

Robot H

Standardization Item③
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19

Robot Fleet Management TC activities over the next two years
Robot Fleet Management TC publishes a standard/manual.

Background• If robots meet each other in a narrow passageway, a deadlock will occur (robots cannot
resolve the situation and human assistance is required)• The more human help is required, the higher the operational hurdles become, reducing
the incentive to continue using robots.

TargetCreating an environment where robots can pass each other and multiple robots of multiple
types can operate within a single facility.

Activities① Publishing a standard for communication specifications to enable robots to pass eachother
② Publishing a manual for operations to enable robots passing each other
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20

2-5. Medium-Term Action Plan
RFA will address the following three cross-cutting issues :Business

Demarcation
points of
responsibility

Social acceptance

•
•
•
•
•
•
•
•

Currently, it is not cost-effective to modify facilities and equipment for one robot/service.
There is a need to reduce the cost of each service by sharing facilities and equipment between multiple typesof robots/services.
Cross-sectional collaboration is important in terms of services, data, infrastructure, etc., both indoors andoutdoors.
Occurs in an environment where one robot is shared or multiple robots coexist.
Ownership: Who owns the robot, who will bear the cost of renovating the facility (whose assets will it berecorded in)?
Operation: Who will provide guarantee when trouble occurs with shared robots/equipment?
Service robots aren't perfect, but neither are human services.
Creating an atmosphere where imperfect robots and humans can coexist by dividing up and collaborating onservices.

Expand business/define demarcation points of responsibility
Achieving standardization in four TCs

2023

2024

2025

2026

2027

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2028

Socialimplementation ofservice robots

Instilling social acceptance2122