Automatic driving device, escalator and escalator taking method of automatic driving device

Abstract

An automatic travel device (10) is provided with at least one arm (17), a memory (12) that stores a program, and a processor (13) that executes the program. When the automatic driving device (10) reaches the elevator taking position of the escalator (50), the processor (13) controls the at least one arm (17) to grasp the moving handrail (5) of the escalator (50), so that the automatic driving device (10) takes the escalator (50).

Description

Technical Field

[0001] The present invention relates to an automatic driving device, an escalator, and an escalator riding method using the automatic driving device. Background Art

[0002] Conventionally, there is known an automatic driving device that can enable passengers to go up and down a passenger conveyor device such as an escalator.

[0003] For example, the passenger conveyor device described in Patent Document 1 comprises: a communication unit for transmitting and receiving signals between the passenger conveyor and a robot travel control device for controlling the travel of the robot; and a speed control unit for changing the speed of the passenger conveyor to a speed at which the robot can get on and off the passenger conveyor, based on an instruction for changing the speed of the passenger conveyor received by the communication unit in accordance with an estimated arrival time of the robot at the passenger conveyor.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2019-001613 Summary of the invention

[0007] Problem that the invention aims to solve

[0008] However, in Patent Document 1, there is no means for supporting an autonomous driving device such as a robot so as not to topple over during riding on an escalator. Therefore, there is a case where the autonomous driving device topples over during riding on an escalator.

[0009] Therefore, an object of the present disclosure is to provide an automatic driving device, an escalator, and an escalator riding method using an automatic driving device, which can prevent the automatic driving device from tipping over during riding the escalator.

[0010] Means used to solve problems

[0011] The automatic driving device disclosed in the present invention comprises: at least one arm; a memory storing a program; and a processor executing the program. When the automatic driving device reaches the boarding position of the escalator, the processor controls the at least one arm to grasp the moving handrail of the escalator, so that the automatic driving device can board the escalator.

[0012] The escalator riding method of the automatic driving device disclosed in the present invention comprises the following steps: when the automatic driving device reaches the boarding position of the escalator, the automatic driving device stops and sends a deceleration command or a stop command to the escalator only when no person is on the escalator; when the escalator receives the deceleration command or the stop command from the automatic driving device, the escalator decelerates or stops the movement of the steps, moving handrails and railings of the escalator; and when the automatic driving device reaches the boarding position of the escalator, the automatic driving device is controlled so that the arm of the automatic driving device grabs the moving handrail of the escalator, thereby allowing the automatic driving device to board the escalator.

[0013] Effects of the Invention

[0014] According to the present disclosure, it is possible to prevent the automatic driving device from falling over while riding an escalator. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a figure which shows the structure of the escalator 50.

[0016] Figure 2 It is a diagram showing the structure of the automatic driving device 10 .

[0017] Figure 3 It is a diagram showing the positional relationship between the automatic driving device 10 and the escalator 50.

[0018] Figure 4 It is a diagram showing the structure of the arm 17 and the roller 23.

[0019] Figure 5 This is a diagram showing a connection state between the arm 17 and the moving handrail 5 and the handrail 22 of the escalator 50 when the automatic driving device 10 is boarding the escalator 50 .

[0020] Figure 6 This is a diagram showing a connection state between the arm 17 and the moving handrail 5 and the handrail 22 of the escalator 50 when the automatic driving device 10 is riding on the escalator 50 .

[0021] Figure 7 1 is a diagram showing a connection state between the arm 17 and the moving handrail 5 and the handrail 22 of the escalator 50 when the automatic driving device 10 goes down the escalator 50 .

[0022] Figure 8 This is a flowchart showing the operation procedure of the automatic driving device 10 and the escalator 50 according to the first embodiment.

[0023] Fig. 9 This is a flowchart showing the operation procedure of the automatic driving device 10 and the escalator 50 according to the second embodiment.

[0024] Fig.10 This is a diagram showing a connection state between the automatic driving device 10 and the escalator 50 according to the third embodiment.

[0025] Description of Reference Numerals

[0026] 1 main frame; 2A upper boarding and alighting door; 2B lower boarding and alighting door; 3, 16 speakers; 4 steps; 5 moving handrails; 6 control panel; 7A, 7B floors; 8, 11 control device; 9 display; 10 automatic driving device; 12 memory; 13 processor; 14, 21 wireless communication device; 15 camera; 17 arm; 17A right arm; 17B left arm; 18 driving device; 19 arm driving device; 20 battery; 22, 22A, 22B handrail; 23 roller; 23A right roller; 23B left roller; 24, 24A, 24B inner side plate; 50 escalator; 171 first part; 172 second part; 173 third part; 174 fourth part; 175 fifth part; X fulcrum. DETAILED DESCRIPTION

[0027] Hereinafter, embodiments will be described with reference to the drawings.

[0028] Implementation method 1.

[0029] Figure 1 It is a figure which shows the structure of the escalator 50.

[0030] The main frame 1 and the handrail 22 are installed between the floor of the upper floor where the escalator 50 is arranged and the floor of the lower floor where the escalator 50 is arranged.

[0031] The upper entrance 2A is arranged on the upper floor where the escalator 50 is arranged. The lower entrance 2B is arranged on the lower floor where the escalator 50 is arranged. When the escalator 50 is an escalator for ascending, the lower entrance 2B becomes the escalator position, and the upper entrance 2A becomes the escalator position. When the escalator 50 is an escalator for descending, the lower entrance 2B becomes the elevator position, and the upper entrance 2A becomes the elevator position. The upper entrance 2A is provided with a floor 7A forming a floor surface. The lower entrance 2B is provided with a floor 7B forming a floor surface.

[0032] The control panel 6 is responsible for the overall operation control of the escalator 50 , such as the travel control of the steps 4 , the moving handrail 5 , and the handrail 22 .

[0033] The wireless communication device 21 is configured to be able to communicate with the automatic driving device 10 .

[0034] The control device 8 is configured to control and manage a plurality of escalators 50 in a building through the control panel 6. The control device 8 displays necessary information on the display 9 and outputs it from the speaker 3.

[0035] Figure 2 It is a diagram showing the structure of the automatic driving device 10 .

[0036] The autonomous driving device 10 includes a wireless communication device 14 , a camera 15 , a speaker 16 , an arm 17 , a battery 20 , a driving device 18 , an arm driving device 19 , a control device 11 , and rollers 23 .

[0037] The control device 11 includes a memory 12 and a processor 13. The memory 12 stores a program. The processor 13 executes the program stored in the memory 12. The operation of the control device 11 described below is performed by the processor 13 executing the program in the memory 12.

[0038] The wireless communication device 14 communicates with the control panel 6 of the escalator 50 via, for example, a wireless LAN (Local Area Network).

[0039] When a person gets on or off the escalator 50 , the camera 15 captures an image of the escalator 50 and the surroundings of the escalator 50 , and outputs the captured image to the control device 11 .

[0040] The travel drive device 18 generates a driving force for the automatic travel device 10 to travel. The travel drive device 18 includes, for example, wheels for moving the automatic travel device 10 and a motor for driving the wheels. The motor can be operated by receiving power supplied from the battery 20.

[0041] The battery 20 supplies electric power for operating each device constituting the automatic driving device 10 .

[0042] The arm driving device 19 drives the arm 17 .

[0043] Figure 3 1 is a diagram showing the positional relationship between the automatic driving device 10 and the escalator 50. The automatic driving device 10 grabs the moving handrail 5 when riding the escalator 50. The automatic driving device 10 is suspended from the moving handrail 5 while riding the escalator 50. The automatic driving device 10 releases the moving handrail 5 when getting off the escalator 50.

[0044] Figure 4 It is a diagram showing the structure of the arm 17 and the roller 23.

[0045] The arm 17 is configured to be able to grasp the moving handrail 5. The arm 17 includes a first portion 171 connected to the fulcrum X and extending perpendicularly to the main body of the automatic driving device 10; a second portion 172 connected to the first portion 171 and extending in a direction bent in a 90-degree direction from the first portion 171; a third portion 173 connected to the second portion 172 and extending in a direction bent in a (-90-degree) direction from the second portion 172; and a fourth portion 174 connected to the third portion 173 and extending in a direction bent in a (-90-degree) direction from the third portion 173. The second portion 172 includes a fifth portion 175 that is opposite to the fourth portion 174 and has the same length as the fourth portion 174.

[0046] As described later Figure 6 As shown in (a), the third portion 173 of the arm 17 contacts the upper surface of the moving handrail 5, the fourth portion 174 of the arm 17 contacts the right side surface of the moving handrail 5, and the fifth portion 175 of the arm 17 contacts the left side surface of the moving handrail 5, whereby the arm 17 is hooked on the moving handrail 5. The arm 17 is configured to be rotatable around the fulcrum X located on the side surface of the automatic driving device 10 as the moving handrail 5 moves. The roller 23 is arranged on the side surface of the main body of the automatic driving device 10. The roller 23 is configured to be rotatable along the moving direction of the handrail 22.

[0047] Figure 5 This is a diagram showing a connection state between the arm 17 and the moving handrail 5 and the handrail 22 of the escalator 50 when the automatic driving device 10 is boarding the escalator 50 . Figure 5 (a) shows the state when viewed from vertically above. Figure 5 (b) shows the connection status when viewed from the riding position. Figure 5 (c) shows a state when viewed from the lateral direction (the direction perpendicular to the handrail 22) of the escalator 50. The automatic driving device 10 is mounted on the escalator by holding the moving handrail 5 with the arm 17.

[0048] Figure 6 This is a diagram showing a connection state between the arm 17 and the moving handrail 5 and the handrail 22 of the escalator 50 when the automatic driving device 10 is riding on the escalator 50 . Figure 6 (a) shows the state when viewed from vertically above. Figure 6 (b) shows the connection status when viewed from the riding position. Figure 6 (c) shows the state when viewed from the lateral direction (perpendicular to the handrail 22) of the escalator 50. The arm 17 grasps the moving handrail 5, and the automatic driving device 10 moves together with the moving handrail 5 while suspended in the air. The roller 23 contacts the inner plate 24 of the handrail 22 and rotates in the direction of travel of the handrail 22.

[0049] Figure 71 is a diagram showing a connection state between the arm 17 and the moving handrail 5 and the handrail 22 of the escalator 50 when the automatic driving device 10 goes down the escalator 50 . Figure 7 (a) shows the state when viewed from vertically above. Figure 7 (b) shows the connection status when viewed from the lowered position. Figure 7 (c) shows a state when the escalator 50 is viewed from the lateral direction (direction perpendicular to the handrail 22).

[0050] The arm 17 cannot grip the moving handrail 5 due to the folding back of the moving handrail 5 , so the arm 17 is separated from the moving handrail 5 , and the autonomous driving device 10 lands on the ground at the descending position.

[0051] Figure 8 This is a flowchart showing the operation procedure of the automatic driving device 10 and the escalator 50 according to the first embodiment.

[0052] In step S101, the control device 11 determines whether the automatic driving device 10 has reached the boarding position of the escalator 50 based on the image obtained from the camera 15. When the automatic driving device 10 has reached the boarding position of the escalator 50, the process proceeds to step S102.

[0053] In step S102 , the control device 11 stops the traveling of the automatic traveling device 10 by controlling the traveling drive device 18 .

[0054] In step S103, the control device 11 determines whether a person is riding on the escalator 50 based on the image obtained from the camera 15. If a person is riding on the escalator 50, the process proceeds to step S104. If a person is not riding on the escalator 50, the process proceeds to step S105.

[0055] In step S104 , the control device 11 stops the travel of the automatic travel device 10 by controlling the travel drive device 18 based on the image obtained from the camera 15 until a state is reached where no one is riding on the escalator 50 .

[0056] In step S105, the control device 11 sends a stop command of the escalator 50 to the escalator 50 via the wireless communication device 14. The wireless communication device 21 of the escalator 50 receives the stop command. The control panel 6 of the escalator 50 stops the steps 4, the moving handrail 5 and the handrail 22 of the escalator 50.

[0057] In step S106 , the control device 11 causes the speaker 16 to output an announcement sound indicating that the escalator 50 has stopped.

[0058] In step S107 , the control device 11 detects the position of the moving handrail 5 of the escalator 50 based on the image obtained from the camera 15 , and controls the arm 17 through the arm driving device 19 so that the arm 17 can grasp the moving handrail 5 .

[0059] In step S108, the control device 11 sends a start command of the escalator 50 to the escalator 50 via the wireless communication device 14. The wireless communication device 21 of the escalator 50 receives the start command. The control panel 6 of the escalator 50 moves the steps 4, the moving handrail 5 and the handrail 22 of the escalator 50. The automatic driving device 10 is suspended from the moving handrail 5. The roller 23 rotates along the travel direction of the handrail 22.

[0060] In step S109 , the control device 11 causes the speaker 16 to output an announcement sound indicating that the escalator 50 has started.

[0061] In step S110 , the control device 11 causes the speaker 16 to output a broadcast voice asking people not to get on the escalator 50 .

[0062] In step S111, when the automatic driving device 10 reaches the descending position of the escalator 50, the process proceeds to step S112.

[0063] In step S112, the arm 17 is detached from the moving handrail 5 by the folding back of the moving handrail 5. The automatic driving device 10 lands at the descending position.

[0064] Implementation Method 2

[0065] In the first embodiment, the escalator 50 is stopped when the automatic driving device 10 gets on or off the escalator 50. In the second embodiment, the escalator 50 is decelerated when the automatic driving device 10 gets on or off the escalator 50.

[0066] Fig. 9 This is a flowchart showing the operation procedure of the automatic driving device 10 and the escalator 50 according to the second embodiment.

[0067] In step S201, the control device 11 determines whether the automatic driving device 10 has reached the boarding position of the escalator 50 based on the image obtained from the camera 15. When the automatic driving device 10 has reached the boarding position of the escalator 50, the process proceeds to step S202.

[0068] In step S202 , the control device 11 stops the traveling of the automatic traveling device 10 by controlling the traveling drive device 18 .

[0069] In step S203, the control device 11 determines whether a person is riding on the escalator 50 based on the image obtained from the camera 15. If a person is riding on the escalator 50, the process proceeds to step S204. If a person is not riding on the escalator 50, the process proceeds to step S205.

[0070] In step S204 , the control device 11 stops the travel of the automatic travel device 10 by controlling the travel drive device 18 based on the image obtained from the camera 15 until a state is reached where no one is riding on the escalator 50 .

[0071] In step S205, the control device 11 sends a deceleration instruction of the escalator 50 to the escalator 50 via the wireless communication device 14. The wireless communication device 21 of the escalator 50 receives the deceleration instruction. The control panel 6 of the escalator 50 decelerates the movement of the steps 4, the moving handrail 5 and the handrail 22 of the escalator 50.

[0072] In step S206 , the control device 11 causes the speaker 16 to output an announcement sound indicating that the escalator 50 is decelerating.

[0073] In step S207 , the control device 11 detects the position of the moving handrail 5 of the escalator 50 based on the image obtained from the camera 15 , and controls the arm 17 through the arm driving device 19 so that the arm 17 can grasp the moving handrail 5 .

[0074] In step S208, the control device 11 sends an acceleration command of the escalator 50 to the escalator 50 through the wireless communication device 14. The wireless communication device 21 of the escalator 50 receives the acceleration command. The control panel 6 of the escalator 50 accelerates the travel of the steps 4, the moving handrail 5 and the handrail 22 of the escalator 50. The automatic driving device 10 is suspended from the moving handrail 5. The roller 23 rotates along the travel direction of the handrail 22.

[0075] In step S209 , the control device 11 causes the speaker 16 to output an announcement sound indicating that the escalator 50 is accelerating.

[0076] In step S210 , the control device 11 causes the speaker 16 to output a broadcast voice asking people not to get on the escalator 50 .

[0077] In step S211, when the automatic driving device 10 reaches the descending position of the escalator 50, the process proceeds to step S212.

[0078] In step S212, the control device 11 sends a deceleration instruction of the escalator 50 to the escalator 50 via the wireless communication device 14. The wireless communication device 21 of the escalator 50 receives the deceleration instruction. The control panel 6 of the escalator 50 decelerates the movement of the steps 4, the moving handrail 5 and the handrail 22 of the escalator 50.

[0079] In step S213 , the control device 11 causes the speaker 16 to output an announcement sound indicating that the escalator 50 is decelerating.

[0080] In step S214, the arm 17 is detached from the moving handrail 5 by the folding back of the moving handrail 5. The autonomous driving device 10 lands at the descending position.

[0081] In step S215, the control device 11 sends an acceleration command of the escalator 50 to the escalator 50 via the wireless communication device 14. The wireless communication device 21 of the escalator 50 receives the acceleration command. The control panel 6 of the escalator 50 accelerates the movement of the steps 4, the moving handrail 5 and the handrail 22 of the escalator 50.

[0082] In step S216 , the control device 11 causes the speaker 16 to output an announcement sound indicating that the escalator 50 is accelerating.

[0083] Implementation method 3.

[0084] Fig.10 This is a diagram showing a connection state between the automatic driving device 10 and the escalator 50 according to the third embodiment.

[0085] The automatic driving device 10 includes a right arm 17A, a left arm 17B, a right roller 23A, and a left roller 23B.

[0086] The right arm 17A is disposed on the right side of the main body of the automatic driving device 10 . The left arm 17B is disposed on the left side of the main body of the automatic driving device 10 .

[0087] The arm driving device 19 can control the right arm 17A and the left arm 17B in the same manner as controlling the arm 17 in the first and second embodiments.

[0088] Right roller 23A contacts inner plate 24A of right handrail 22A and is rotatable in the travel direction of right handrail 22A. Left roller 23B contacts inner plate 24B of left handrail 22B and is rotatable in the travel direction of left handrail 22B.

[0089] Variation example.

[0090] (broadcast)

[0091] In the above-described embodiment, the speaker 16 of the automatic driving device 10 announces the deceleration of the escalator 50, but the present invention is not limited thereto. The speaker 3 of the escalator 50 may also announce the deceleration of the escalator 50, etc.

[0092] The embodiments disclosed herein should be considered in all respects as illustrative and non-restrictive. The scope of the present disclosure is indicated by the claims rather than the above description, and is intended to include all modifications within the meaning and scope equivalent to the claims.

Claims

1. An automatic driving device, wherein: The automatic driving device comprises: at least one arm; a memory storing a program; and a processor that executes the program, When the automatic driving device reaches a boarding position of the escalator, the processor controls the at least one arm to grasp a moving handrail of the escalator, thereby allowing the automatic driving device to board the escalator.

2. The automatic driving device according to claim 1, wherein: When the automatic driving device reaches the boarding position of the escalator, the processor controls so that after the automatic driving device is stopped, the at least one arm grabs the moving handrail of the escalator.

3. The automatic driving device according to claim 1 or 2, wherein: After the arm grabs the moving handrail, the automatic driving device is suspended from the moving handrail as the moving handrail moves.

4. The automatic driving device according to any one of claims 1 to 3, wherein: The automatic driving device further includes rollers arranged on the side. The roller is configured to contact an inner plate of a handrail of the escalator and rotate in a traveling direction of the handrail.

5. The automatic driving device according to any one of claims 1 to 4, wherein: When the automatic driving device reaches the boarding position of the escalator, the processor causes the automatic driving device to board the escalator only when a person is not boarding the escalator.

6. The automatic driving device according to any one of claims 1 to 5, wherein: The automatic driving device includes a wireless communication device. When the automatic driving device reaches the boarding position of the escalator, the processor sends a deceleration instruction or a stop instruction to the escalator through the wireless communication device.

7. The automatic driving device according to claim 6, wherein: The automatic driving device includes a speaker. When sending the deceleration instruction or the stop instruction, the processor further broadcasts the deceleration or stop of the escalator through the speaker.

8. The automatic driving device according to claim 6, wherein: After the at least one arm of the automatic driving device grabs the moving handrail, the processor sends an acceleration instruction or a start instruction to the escalator through the wireless communication device.

9. The automatic driving device according to claim 8, wherein: The automatic driving device includes a speaker. When sending the acceleration instruction or the start instruction, the processor further broadcasts the acceleration or start of the escalator through the speaker.

10. The automatic driving device according to claim 9, wherein: After the automatic driving device gets on the escalator, the processor further broadcasts through the speaker to ask people not to get on the escalator.

11. The automatic driving device according to claim 1, wherein: When the automatic driving device reaches a descending position of the escalator, the processor causes the at least one arm to release the moving handrail to cause the automatic driving device to descend from the escalator.

12. The automatic driving device according to claim 11, wherein: The automatic driving device includes a wireless communication device. When the automatic driving device reaches the descending position of the escalator, the processor sends a deceleration instruction to the escalator through the wireless communication device.

13. The automatic driving device according to claim 12, wherein: The automatic driving device includes a speaker. When sending the deceleration instruction, the processor further broadcasts the deceleration of the escalator through the speaker.

14. The automatic driving device according to claim 12, wherein: The processor sends an acceleration instruction to the escalator through the wireless communication device after the automatic driving device goes down the escalator.

15. The automatic driving device according to claim 14, wherein: The automatic driving device includes a speaker. When sending the acceleration instruction, the processor further broadcasts the acceleration of the escalator through the speaker.

16. The automatic driving device according to any one of claims 1 to 15, wherein: The at least one arm includes: a first arm disposed on a left side of a main body of the automatic driving device; and a second arm disposed on a right side of the main body of the automatic driving device.

17. An escalator comprising: steps, movable handrails and railings; A wireless communication device that receives a deceleration instruction or a stop instruction from the automatic driving device according to claim 6 or 12; and A control panel decelerates or stops the movement of the steps, the moving handrail, and the handrail when the wireless communication device receives the deceleration instruction or the stop instruction.

18. An escalator comprising: steps, movable handrails and railings; a wireless communication device that receives an acceleration instruction or a start instruction from the automatic driving device according to claim 8; and A control panel accelerates or starts the movement of the steps, the moving handrail, and the handrail when the wireless communication device receives the acceleration instruction or the start instruction.

19. An escalator riding method of an automatic driving device, comprising the following steps: When the automatic driving device reaches the boarding position of the escalator, the automatic driving device stops the automatic driving device and sends a deceleration command or a stop command to the escalator only when no one is boarding the escalator; The escalator decelerates or stops the running of the steps, moving handrails and railings of the escalator when receiving a deceleration instruction or a stop instruction from the automatic driving device; and When the automatic driving device reaches a boarding position of the escalator, the automatic driving device is controlled so that an arm of the automatic driving device grabs a moving handrail of the escalator, thereby allowing the automatic driving device to board the escalator.

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