Passenger conveyor system and moving body

Abstract

The invention relates to a passenger conveyor system and a moving body. Comprising a passenger conveyor and a moving body, and the passenger conveyor is provided with a plurality of steps which move from an elevator boarding port to an elevator descending port in the front-back direction; a driving device for moving the steps; and a control device of the driving device, a magnetic body is arranged on the antiskid plate surface of at least one specific step among the plurality of steps, and the moving body is provided with a moving body main body; a moving device that moves the moving body main body; the electromagnet device is arranged on the lower surface of the moving body main body; and a moving body control unit which, when the moving body main body is taken on the specific step, attracts the magnetic body by means of the electromagnet device so as to fix the moving body main body on the specific step.

Description

[0001] Citation of related applications such as priority basic application

[0002] This application is based on Japanese Patent Application No. 2023-099811 (filing date: June 19, 2023) and claims the benefit of priority from that application, and the present application incorporates the entire contents of that application by reference. Technical Field

[0003] Embodiments of the present invention relate to a passenger conveyor system and a moving body. Background Art

[0004] Conventionally, during the periodic inspection of passenger conveyors such as escalators and moving walkways, operators took the stairs to check various items, but it was a heavy burden for the operators to go to the passenger conveyor to perform the inspection each time.

[0005] Therefore, a technology has been developed in which a mobile body such as a robot that moves autonomously performs the inspection work of the passenger conveyor instead of workers. Summary of the invention

[0006] When the above-mentioned moving body performs the inspection work, the moving body needs to ride on the steps. In this case, there is a problem that the moving body may fall from the moving steps and damage the parts of the passenger conveyor, or may cause an accident.

[0007] Therefore, in view of the above-mentioned problems, an embodiment of the present invention aims to provide a passenger conveyor system and a moving body that allow a moving body performing an inspection operation to stably ride on a moving step and move.

[0008] A passenger conveyor system according to one embodiment of the present invention includes a passenger conveyor and a moving body, wherein the passenger conveyor has: a plurality of steps that move from a boarding entrance to a disembarking entrance in a front-to-rear direction; a driving device that moves the steps; and a control device for the driving device, wherein a magnetic body is provided on an anti-slip plate surface of at least one specific step among the plurality of the steps, and the moving body has: a moving body main body; a moving device that moves the moving body main body; an electromagnet device that is provided on the lower surface of the moving body main body; and a moving body control unit, wherein when the moving body main body rides on the specific step, the moving body control unit uses the electromagnet device to attract the magnetic body to fix the moving body main body on the specific step.

[0009] In addition, a moving body according to one embodiment of the present invention comprises: a moving body main body; a moving device that moves the moving body main body; an electromagnet device that is arranged on the lower surface of the moving body main body; and a moving body control unit, wherein when the moving body main body moves from the entrance to the exit of a passenger conveyor and rides on a specific step having a magnetic body, the moving body control unit uses the electromagnet device to attract the magnetic body and fix the moving body main body on the specific step.

[0010] In the embodiment of the present invention, a movable body that performs an inspection operation can stably move on the moving steps. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is a side explanatory view of the escalator according to one embodiment of the present invention as viewed from the right side.

[0012] Figure 2 This is a side view as seen from the right side near the upper floor entrance.

[0013] Figure 3 This is a bird's-eye view of the escalator entrance area.

[0014] Figure 4 (a) is a schematic diagram when the moving object is located on the upper side of the boarding and alighting platform and the camera detects the identifier of a specific descending step. (b) is a schematic diagram when the moving object is located on the lower side of the boarding and alighting platform and detects the identifier of a specific ascending step.

[0015] Figure 5 It is a block diagram of an escalator and a moving body.

[0016] Figure 6 This is a flowchart showing the flow from when a moving object gets on an escalator to when it gets off.

[0017] Figure 7 (a) is a schematic diagram when there is a moving object on the lower-level boarding board and an identifier of a specific step is detected, (b) is a schematic diagram when the moving object is on the specific step, (c) is a schematic diagram when the specific step on which the moving object is riding and the preceding step are parallel in a horizontal state, and (d) is a schematic diagram when the moving object is getting on or off the stairs on the lower-level boarding board. DETAILED DESCRIPTION

[0018] Reference Figure 1 to Figure 7 An escalator 10 and a moving body 100 as a passenger conveyor system according to an embodiment of the present invention will be described.

[0019] (1) Escalator 10

[0020] Reference Figure 1The overall structure of the escalator 10 will be described. Figure 1 This is an explanatory diagram of the escalator 10 viewed from the right side. However, in order to facilitate understanding of the internal structure of the escalator 10, the components on the right side of the escalator 10 are omitted. In addition, when describing the front and rear directions of the escalator 10, looking down from the upper floor to the lower floor, the upper floor is the rear side and the lower floor is the front side.

[0021] like Figure 1 As shown, the truss 12 as the frame of the escalator 10 spans the upper and lower floors of the building 1 and is supported in the front-rear direction using support angle irons 2 and 3. Inside the machine room 14 on the upper floor side of the upper end of the truss 12, there are provided a drive device 18 for moving the steps 30, a pair of left and right step sprockets 24, 24, and a pair of left and right belt sprockets not shown. The drive device 18 has a motor 20, a speed reducer 21, a small drive sprocket 19 mounted on the output shaft of the speed reducer 21, and a disc electromagnetic brake 23 for stopping the rotation of the motor 20 and keeping it in a stopped state. A large drive sprocket 17 is coaxially mounted on the pair of left and right step sprockets 24, 24, and an endless drive chain 22 is spanned between the large drive sprocket 17 and the small drive sprocket 19. In addition, inside the machine room 14 on the upper floor side, there is provided a control device 50 as a main control unit for controlling the motor 20 and the electromagnetic brake 23.

[0022] A pair of left and right driven sprockets 26, 26 are provided inside the machine room 16 located at the lower layer side of the lower end of the truss 12. A pair of left and right endless step chains 28, 28 are laid between the left and right pair of step sprockets 24, 24 on the upper layer side and the left and right pair of driven sprockets 26, 26 on the lower layer side. A pair of left and right first wheels 301, 301 of a plurality of steps 30 are connected at regular intervals between the left and right pair of step chains 28, 28. When the motor 20 rotates, the first wheels 301 of the steps 30 travel on the guide rails dedicated to the first wheels fixed to the truss 12 (at Figure 1 The diagram is omitted and recorded in Figure 2 ), the second wheel 302 of the step 30 travels on the second wheel dedicated guide rail 25 fixed to the truss 12.

[0023] A pair of left and right handrails 36, 36 are erected on both sides of the upper part of the truss 12. A handrail rail 39 is provided on the upper part of the handrail 36, and an endless handrail belt 38 moves along the handrail rail 39. The left and right handrail belts 38, 38 rotate together with the left and right pair of step sprockets 24, 24 through a pair of left and right belt sprockets (not shown) and move synchronously with the steps 30.

[0024] An upper front apron plate 40 is provided at the lower front portion of the upper side of the pair of left and right handrails 36, and a lower front apron plate 42 is provided at the lower front portion of the lower side. Entrances 46 and 48, which are the entrances and exits of the handrail 38, protrude from the front apron plates 40 and 42, respectively. An apron plate 44 is provided at the lower side portions of the pair of left and right handrails 36, respectively, and the steps 30 travel between the pair of left and right apron plates 44 and 44.

[0025] The upper-layer boarding and descending board 32 is horizontally arranged on the ceiling surface of the machine room 14, which is the entrance and exit between the left and right pair of apron plates 44, 44 on the upper layer side. The lower-layer boarding and descending board 34 is horizontally arranged on the ceiling surface of the machine room 16, which is the entrance and exit between the left and right pair of apron plates 44, 44 on the lower layer side. A comb-tooth-shaped combing portion 60 is provided at the top end of the upper-layer boarding and descending board 32, and the steps 30 enter or are sent out of the comb-tooth-shaped combing portion 60. In addition, a comb-tooth-shaped combing portion 62 is also provided at the top end of the lower-layer boarding and descending board 34.

[0026] (2) Step 30

[0027] Below, refer to Figure 1-2 The structure of the step 30 will be described.

[0028] First, the step 30 includes: a pair of left and right step frames 303, 303 formed into a triangle; an anti-slip plate surface 304 provided on the upper surface of the pair of left and right step frames 303, 303; a kick plate surface 305 provided on the front surface of the pair of left and right step frames 303, 303; a pair of left and right first wheels 301, 301 provided at the rear of the pair of left and right step frames 303, 303; and a pair of left and right second wheels 302, 302 provided at the lower part of the front surface of the pair of left and right step frames 303, 303, i.e., the lower part of the kick plate surface 305. The pair of left and right first wheels 301 of the step 30 is integrally formed with the step chain 28. Figure 2 As shown, the triangular step frame 303 has an opening 306 at its center portion, and is manufactured by non-magnetic aluminum die casting while maintaining the strength of the step frame 303 to reduce its weight.

[0029] The first wheel 301 of the step 30 travels on the first wheel dedicated guide rail 27 fixed to the truss 12 (see Figure 2 ), the second wheel 302 of the step 30 travels on the second wheel dedicated guide rail 25 fixed to the truss 12 (refer to Figure 1 and Figure 2 ).

[0030] Among the multiple steps 30 connected in a ring shape, a rectangular metal plate 307 as a magnetic body is installed on the lower surface of the anti-slip plate surface 304 of one step (hereinafter referred to as a "specific step") 300. In addition, quadrilateral identifiers 308 are respectively provided at the four corners of the anti-slip plate surface 304. The identifier 308 is formed by, for example, applying a paint of a color such as white or red on the anti-slip plate surface 304, and the paint can be identified from the color of the anti-slip plate surface 304 or the yellow line.

[0031] (3) Moving body 100

[0032] Next, refer to Figure 2 A moving body 100 is described for checking whether the left and right handrails 38, 38 and the steps 30 of the escalator 10 move synchronously and for checking the damage state of the left and right handrails 36. The moving body 100 is a robot capable of autonomous movement and is intended to inspect the escalator 10 without human intervention.

[0033] like Figure 2 As shown, the mobile body 100 has a substantially cubic mobile body 102, and the size of the mobile body 102 is designed to be able to ride on the anti-slip surface 304 of one step 30. The mobile body 102 is provided with a mobile body control unit 104 composed of a computer, etc., a moving motor 108, a rechargeable battery 110, a camera 112, an electromagnet device 114, and a mobile body communication unit 116. The rechargeable battery 110 is a power source for each device of the mobile body 100.

[0034] Four wheels 106 as moving means are provided at the bottom of the moving body 102, and the four wheels 106 are rotated by a moving motor 108. The moving body control unit 104 controls the rotation, stop, and rotation direction of the moving motor 108 to make the moving body 100 move forward, backward, or rotate rightward or leftward.

[0035] The electromagnet device 114 is provided on the lower surface of the moving body 102. When the moving body 102 of the moving body 100 is mounted on the anti-slip plate surface 304 of the specific step 300, the electromagnet device 114 is operated to attract the metal plate 307 as a magnetic body by magnetic force, thereby fixing the moving body 102 on the anti-slip plate surface 304 of the specific step 300.

[0036] The camera 112 is a detection device that is installed in front of the mobile body 102, captures an image as a dynamic image or a still image, and performs image analysis on the image to detect an object. Figure 3 and Figure 4 Detection of an identifier 308 of a particular step 300 by the camera 112 is illustrated.

[0037] When the step 30 is in descending operation, Figure 4 As shown in (a), the moving body 102 is located on the upper side of the boarding and landing board 32, and the camera 112 is directed diagonally downward to the front. Then, the camera 112 continues to shoot the anti-slip plate surface 304 of the step 30 sent out from the comb-tooth portion 60 at the top of the boarding and landing board 32, monitoring the left and right pair of identifiers 308, 308. Figure 3 When a pair of left and right identifiers 308, 308 located in front of the anti-slip plate surface 304 is detected from the image captured by the camera 112, it is considered that the specific step 300 is sent out, and the mobile body control unit 104 sends a stop signal of the step 30 to the communication unit 64 of the control device 50 via the mobile body communication unit 116. In addition, the pair of left and right identifiers 308, 308 located in front of the anti-slip plate surface 304 are monitored because: during the descending operation, the pair of left and right identifiers 308, 308 located in the front are first sent out from the comb tooth portion 60.

[0038] When the step 30 is in ascending operation, Figure 4 As shown in (b), the moving body 102 is located on the lower side of the boarding and descending board 34, and the shooting direction of the camera 112 is directed obliquely downward to the rear. Then, the camera 112 continues to shoot the rear of the anti-slip plate surface 304 of the step 30 sent out from the comb-tooth portion 62 located at the top of the boarding and descending board 34, and monitors the left and right pair of identifiers 308, 308. When the left and right pair of identifiers 308, 308 located at the rear of the anti-slip plate surface 304 are detected from the image shot by the camera 112, it is considered that a specific step 300 is sent out, and the moving body control unit 104 sends a stop signal of the step 30 to the communication unit 64 of the control device 50 via the moving body communication unit 116. In addition, the left and right pair of identifiers 308, 308 located at the rear of the anti-slip plate surface 304 are monitored because: during the ascending operation, the left and right pair of identifiers 308, 308 located at the rear are first sent out from the comb-tooth portion 62.

[0039] (4) Electrical Configuration of Escalator 10 and Moving Body 100

[0040] Below, refer to Figure 5 The electrical structure of the escalator 10 and the moving body 100 is explained in the block diagram.

[0041] like Figure 5 As shown, the control device 50 located inside the machine room 14 on the upper side is connected to a communication unit 64 for communicating with a moving body communication unit 116 of the moving body 100 described later, and is also connected to a drive circuit 66 for controlling the motor 20 and the electromagnetic brake 23.

[0042] The moving body control unit 104 of the moving body 100 is connected to a moving motor 108 , a rechargeable battery 110 , a camera 112 , an electromagnet device 114 , and a moving body communication unit 116 . The moving body communication unit 116 communicates with the communication unit 64 in the control device 50 .

[0043] (5) Method of getting on and off the moving object 100

[0044] Below, refer to Figure 6 Flowchart and Figure 7 The method of the moving body 100 when taking the escalator and getting off the escalator on the specific step 300 of the escalator 10 is described. Here, the escalator 10 is in descending operation. In addition, the moving body 100 moves to the boarding and descending board 32 on the upper layer side in advance, and stops in a state where the camera 112 can shoot the oblique downward direction in front.

[0045] In step S1, the step 30 is sent out from the comb-tooth portion 60 of the upper boarding and landing board 32, and the camera 112 photographs the anti-slip plate surface 304 of the sent step 30, monitoring the left and right pair of identifiers 308, 308 (refer to Figure 7 Then, if a pair of left and right identifiers 308, 308 located in front of the anti-slip plate surface 304 is detected, it is considered that the specific step 300 is sent out from the comb tooth portion 60, and the process proceeds to step S2 (case y). If a pair of left and right identifiers 308, 308 cannot be detected, the process continues with step S1 (case n).

[0046] In step S2, the moving body control unit 104 receives the detection of the specific step 300, sends a stop signal to the control device 50, and the process proceeds to step S3.

[0047] In step S3, the control device 50 receives the input of the stop signal, stops the motor 20 using the electromagnetic brake 23, stops the movement of the steps 30, that is, stops the escalator 10, and proceeds to step S4.

[0048] In step S4, the specific step 300 stops while being delivered from the comb teeth portion 60 of the boarding and landing platform 32, and the upper surface of the boarding and landing platform 32 and the anti-slip plate surface 304 of the specific step 300 are located on the same horizontal plane. Therefore, the moving body 100 moves forward using the moving motor 108, and rides from the boarding and landing platform 32 to the anti-slip plate surface 304 of the specific step 300 (refer to Figure 7 Then, the process proceeds to step S5.

[0049] In step S5, the moving body control unit 104 turns on the electromagnet device 114, and the electromagnet device 114 attracts the metal plate 307 of the specific step 300 to fix the moving body 102 on the anti-slip plate surface 304 of the specific step 300. Then, the process proceeds to step S6.

[0050] In step S6, the moving body control unit 104 receives the fact that the moving body main body 102 is seated and fixed on the specific step 300, and transmits a start signal of the escalator 10 to the control device 50. Then, the process proceeds to step S7.

[0051] In step S7, the control device 50 releases the electromagnetic brake 23 and uses the motor 20 via the drive circuit 66 to lower the step 30. That is, the escalator 10 is started. Even if the escalator 10 is started and the specific step 300 is lowered, the moving body 102 does not fall over, but lowers stably because it is fixed to the specific step 300 having the metal plate 307 by the electromagnet device 114. Then, the process proceeds to step S8.

[0052] In step S8, when the specific step 300 descends, the camera 112 continues to shoot the specific step 300 on which it is riding and the step (hereinafter referred to as the "preceding step") 30 that moves previously, and the moving body control unit 104 monitors whether the specific step 300 and the preceding step 30 are parallel to each other in a horizontal state. More specifically, in the image shot by the camera 112, if there is no step between the specific step 300 and the preceding step 30, and the side end of the anti-slip plate surface of the specific step 300 and the side end of the anti-slip plate surface of the preceding step 30 are in a straight line, it is determined that they are parallel to each other in a horizontal state (refer to Figure 7 Then, if it is detected that the specific step 300 and the preceding step 30 are parallel in a horizontal state, it is determined that the lower-level boarding and landing board 34 is approaching, and the process proceeds to step S9 (case y). If it is not detected, it is determined that the specific step 300 has not yet approached the lower-level boarding and landing board 34 and continues to descend, and the process proceeds to step S8 (case n).

[0053] In step S9, the moving body control unit 104 receives and detects that the specific step 300 and the preceding step 30 are parallel in a horizontal state, and sends a stop signal of the escalator 10 to the control device 50, and enters step S10. At this time, the anti-slip surface of each specific step 300 and the preceding step 30 is located on the same horizontal plane with the upper surface of the boarding and landing board 32.

[0054] In step S10, the control device 50 stops the motor 20 using the electromagnetic brake 23, and stops the movement of the step 30, that is, the escalator 10. When the movement of the step 30 stops, the preceding step 30 stops in a state where it is about to enter the comb-tooth portion 62 at the top end of the boarding and landing board 34 located on the lower floor side. Then, the process proceeds to step S11.

[0055] In step S11, since the movement of the specific step 300 stops, the moving body control unit 104 turns off the electromagnet device 114 and proceeds to step S12.

[0056] In step S12, since the magnetic force of the electromagnet device 114 disappears, the moving body control unit 104 uses the moving motor 108 of the moving body main body 102 to move the moving body 100 forward, thereby the moving body 100 moves on the anti-slip surface 304 of the specific step 300 and the anti-slip surface 304 of the preceding step 30 located on the same horizontal plane, and goes up and down on the boarding and landing board 34 (refer to Figure 7 (d)). Then end.

[0057] (6) Effect

[0058] According to the present embodiment, when the moving body 100 rides on the moving specific step 300 , the electromagnet device 114 attracts and fixes the metal plate 307 which is a magnetic body, so that the moving body 100 does not fall or drop from the moving specific step 300 .

[0059] Furthermore, when the moving body 100 is getting on or off the specific step 300 , the magnetic force of the electromagnet device 114 is released, so that the moving body 100 can be moved by the moving motor 108 .

[0060] Furthermore, the moving body 100 located on the boarding platform 32 monitors the identifier 308 of the specific step 300 by the camera 112, and when the identifier 308 of the specific step 300 is detected, the movement of the specific step 300 is stopped, so that passengers can board the elevator reliably and safely.

[0061] In addition, when the moving body 100 descends from a specific step 300, the step 30 is stopped when the specific step 300 and the preceding step 30 are parallel in a horizontal state, thereby ensuring a horizontal path to the boarding plate 34, and the moving body 100 can reliably and safely descend to the boarding plate 34.

[0062] In addition, since the identifiers 308 set on the specific step 300 are respectively set on the four corners of the anti-slip plate surface 304, when taking the elevator from the upper-level boarding platform 32, the left and right pair of identifiers 308, 308 located at the front are detected, and when taking the specific step 300 from the lower-level boarding platform 34, the left and right pair of identifiers 308, 308 located at the rear are detected.

[0063] [Example of Change]

[0064] Hereinafter, modified examples of the above-described embodiment will be described.

[0065] In the above embodiment, the camera 112 is provided in the moving body control unit 104 to detect the identifier 308 , but other sensors such as an image sensor may be used instead.

[0066] In the above-described embodiment, the number of the specific step 300 is one, but the number of the specific step 300 may be two or more among the plurality of steps 30 connected in a ring shape.

[0067] In addition, in the above-mentioned embodiment, when the moving body 100 goes down from the specific step 300, when the specific step 300 and the preceding step 30 are parallel in a horizontal state, the escalator 10 is stopped and goes down. However, instead, the camera 112 of the moving body 100 riding on the specific step 300 detects the yellow comb-teeth portion 62 of the boarding and landing board 34 on the lower layer side, and when the distance to the comb-teeth portion 62 becomes a predetermined distance, it is considered that the specific step 300 moves to the front of the comb-teeth portion 62, and the escalator 10 is stopped, and the moving body 100 goes down.

[0068] In addition, in the above-mentioned embodiment, although it is applied to the escalator 10 and demonstrated, it can also be applied to a moving walkway instead. In addition, the step in a moving walkway is called a "step".

[0069] The above describes an embodiment of the present invention, but the embodiment is presented as an example and is not intended to limit the scope of the invention. These new embodiments can be implemented in various other ways, and various omissions, substitutions, and changes can be made without departing from the scope of the main purpose of the invention. These embodiments or their variations are included in the scope or main purpose of the invention, and are included in the invention described in the claims and their equivalents.

Claims

1. A passenger conveyor system comprising a passenger conveyor and a moving body, wherein the passenger conveyor system is characterized in that: The passenger conveyor has: A plurality of steps moving in a front-to-rear direction from a stair entrance to a stair exit; a drive device that moves the steps; and A control device for the drive device, A magnetic body is provided on the anti-slip plate surface of at least one specific step among the plurality of steps. The mobile body has: Mobile body subject; A moving device that moves the moving body; an electromagnet device disposed on the lower surface of the moving body; and Mobile body control unit, When the moving body main body is mounted on the specific step, the moving body control unit attracts the magnetic body using the electromagnet device to fix the moving body main body on the specific step.

2. The passenger conveyor system according to claim 1, characterized in that An identifier is provided on the anti-slip plate surface of the specific step, In order to detect the identifier, a detection device is provided on the mobile body. When the moving body is on the boarding board at the entrance, when the detection device detects the identifier of the specific step sent from the boarding board, the moving body control unit sends a stop signal to the control device to stop the step, and uses the moving device to move the moving body from the boarding board to the stopped specific step.

3. The passenger conveyor system according to claim 1, characterized in that The moving body is provided with a detection device, the detection device is used to detect the moment when the step moved before and the specific step are parallel in a horizontal state compared to the specific step, When the moving object is on the specific step, When the detection device detects that the previously moved step and the specific step are in parallel in a horizontal state, the moving body control unit sends a stop signal to the control device to stop the step, and uses the moving device to move the main body of the moving body from the stopped specific step to the boarding and alighting platform at the lower staircase.

4. The passenger conveyor system according to claim 1, characterized in that The moving body is provided with a detection device, the detection device detects the comb teeth at the top of the boarding and landing board at the lower entrance, When the moving object is on the specific step, When the detection device detects the comb teeth, the moving body control unit sends a stop signal to the control device to stop the step, and uses the moving device to move the moving body from the stopped specific step to the boarding and descending platform at the lower staircase.

5. A mobile body, characterized in that: have: Mobile body subject; A moving device that moves the moving body; an electromagnet device disposed on the lower surface of the moving body; and Mobile body control unit, When the moving body moves from the entrance to the exit of the passenger conveyor and rides on a specific step having a magnetic body, the moving body control unit uses the electromagnet device to attract the magnetic body and fix the moving body on the specific step.

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