Automatic traveling device, escalator, and escalator riding method for automatic traveling device

Abstract

An automatic travel device (10) is provided with arms (17A, 17B), a memory (12) that stores a program, and a processor (13) that executes the program. When the automatic driving device (10) reaches the taking position of the escalator, the processor (13) detects the action of the stairs of the escalator, controls the arms (17A, 17B) to grasp the clamping plates of the stairs, and enables the automatic driving device (10) to advance and take the escalator after the arms grasp the clamping plates of the stairs.

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 enables passengers to get on and off a passenger conveyor device such as an escalator.

[0003] For example, the passenger conveyor device described in patent document 1 comprises: a passenger conveyor; a communication unit for transmitting and receiving signals with a robot travel control device, the robot travel control device being used to control the travel of the robot; and a speed control unit, which changes the speed of the passenger conveyor to a speed at which the robot can get on and off the passenger conveyor based on a speed change instruction of the passenger conveyor received by the communication unit in accordance with the 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. 2019-1613 Summary of the invention

[0007] Problems to be solved by the invention

[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, the autonomous driving device may topple 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 the automatic driving device, which can prevent the automatic driving device from tipping over during riding the escalator.

[0010] Means for solving problems

[0011] The automatic driving device disclosed in the present invention has an 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 detects the movement of the steps of the escalator and controls the arm to grasp the clamping plate of the step. After the arm grasps the clamping plate of the step, the automatic driving device moves forward to board the escalator.

[0012] The escalator boarding 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 instruction or a stop instruction to the escalator only when no one is boarding the escalator; when the escalator receives the deceleration instruction or the stop instruction from the automatic driving device, the escalator decelerates or stops the movement of the steps and the moving handrail of the escalator; and the automatic driving device detects the movement of the steps of the escalator, the arm of the automatic driving device grabs the clamping plate of the step, and after the arm grabs the clamping plate of the step, the automatic driving device moves forward 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 1 is a diagram showing the structure of the automatic driving device 10 .

[0017] Figure 3 1 and 2 are diagrams showing the structures of the left arm 17A and the right arm 17B.

[0018] Figure 4 The figure shows the connection state of the left arm 17A and the right arm 17B and the step 4 of the escalator 50 when the automatic driving device 10 is riding on the escalator 50 .

[0019] Figure 5 The figure shows the state in which the left arm 17A and the right arm 17B are connected to the steps 4 of the escalator 50 just before the automatic driving device 10 goes down the escalator 50 .

[0020] Figure 6 This is a diagram showing the positional relationship between the arms 17A and 17B and the steps 4 when the autonomous driving device 10 rides on the ascending escalator 50 .

[0021] Figure 7 This is a diagram showing the positional relationship between the arms 17A and 17B and the steps 4 when the autonomous driving device 10 is riding on the ascending escalator 50 .

[0022] Figure 8 1 is a diagram showing the positional relationship between the arms 17A and 17B and the steps 4 when the automatic driving device 10 descends the ascending escalator 50 .

[0023] Fig. 9 This is a diagram showing the positional relationship between the arms 17A and 17B and the steps 4 when the autonomous driving device 10 rides on the downward escalator 50 .

[0024] Fig.10 This is a diagram showing the positional relationship between the arms 17A and 17B and the steps 4 when the autonomous driving device 10 is riding on the downward escalator 50 .

[0025] Fig.11 1 and 2 are diagrams showing the positional relationship between the arms 17A and 17B and the steps 4 when the automatic driving device 10 descends the downward escalator 50 .

[0026] Fig.12 This is a flowchart showing the operation process of the automatic driving device 10 and the escalator 50 according to the first embodiment.

[0027] Fig.13 This is a flowchart showing the operation process of the automatic driving device 10 and the escalator 50 according to the second embodiment. DETAILED DESCRIPTION

[0028] Hereinafter, embodiments will be described with reference to the drawings.

[0029] Implementation method.

[0030] Figure 1 It is a figure which shows the structure of the escalator 50.

[0031] The main frame 1 is installed between the ground of the upper floor where the escalator 50 is arranged and the ground of the lower floor where the escalator 50 is arranged.

[0032] 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 position for ascending, and the upper entrance 2A becomes the position for descending. When the escalator 50 is an escalator for descending, the lower entrance 2B becomes the position for descending, and the upper entrance 2A becomes the position for ascending. The upper entrance 2A is provided with a floor 7A forming the ground. The lower entrance 2B is provided with a floor 7B forming the ground.

[0033] The control panel 6 is responsible for the overall operation control of the escalator 50 , such as the travel control of the steps 4 and the moving handrail 5 .

[0034] The wireless communication device 21 is configured to be able to communicate with the automatic driving device 10 .

[0035] 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.

[0036] Figure 2 1 is a diagram showing the structure of the automatic driving device 10 .

[0037] The autonomous driving device 10 includes a wireless communication device 14 , a camera 15 , a speaker 16 , a left arm 17A, a right arm 17B, a battery 20 , a driving device 18 , an arm driving device 19 , and a control device 11 .

[0038] 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.

[0039] The wireless communication device 14 communicates with the control panel 6 of the escalator 50 via, for example, a wireless LAN (Local Area Network).

[0040] When a user 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 .

[0041] The travel drive device 18 generates a driving force for driving the automatic travel device 10. 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.

[0042] The battery 20 supplies electric power for operating each device constituting the automatic driving device 10 .

[0043] The arm driving device 19 drives the left arm 17A and the right arm 17B.

[0044] Figure 3 1 and 2 are diagrams showing the structures of the left arm 17A and the right arm 17B.

[0045] The left arm 17A and the right arm 17B are configured to be slidable in the up-down direction and to be extendable, retractable, and rotatable.

[0046] Figure 4 The figure shows the state of engagement between the left arm 17A and the right arm 17B and the step 4 of the escalator 50 during the process of the automatic driving device 10 riding on the escalator 50. The protrusions 42 of the left arm 17A and the right arm 17B are fitted into the groove 43 of the clamping plate 41 of the step 4. The arm driving device 19 applies force to the right direction to the fulcrum of the left arm 17A and applies force to the left direction to the fulcrum of the right arm 17B so that the engaged state is maintained.

[0047] Figure 5 The figure shows the state in which the left arm 17A and the right arm 17B are connected to the steps 4 of the escalator 50 just before the automatic driving device 10 goes down the escalator 50 .

[0048] In order to release the protrusions 42 of the left arm 17A and the right arm 17B from being engaged in the grooves 43 of the clamping plate 41 of the step 4, the arm driving device 19 applies force to the left side of the fulcrum of the left arm 17A and to the right side of the fulcrum of the right arm 17B.

[0049] Figure 6 This is a diagram showing the positional relationship between the arms 17A and 17B and the steps 4 when the autonomous driving device 10 rides on the ascending escalator 50 .

[0050] The arm driving device 19 performs control so that the distal ends of the left arm 17A and the right arm 17B move downward, whereby the left arm 17A and the right arm 17B can grip the step 4 of the escalator 50 .

[0051] Figure 7 This is a diagram showing the positional relationship between the arms 17A and 17B and the steps 4 when the autonomous driving device 10 is riding on the ascending escalator 50 .

[0052] In response to the rise of the step 4, the arm driving device 19 slides the left arm 17A and the right arm 17B upward and rotates the left arm 17A and the right arm 17B so that the tips of the left arm 17A and the right arm 17B move upward.

[0053] Figure 8 1 is a diagram showing the positional relationship between the arms 17A and 17B and the steps 4 when the automatic driving device 10 descends the ascending escalator 50 .

[0054] The arm driving device 19 performs control so that the left arm 17A and the right arm 17B can release the steps 4 of the escalator 50 .

[0055] Fig. 9 This is a diagram showing the positional relationship between the arms 17A and 17B and the steps 4 when the autonomous driving device 10 rides on the downward escalator 50 .

[0056] The arm driving device 19 performs control so that the distal ends of the left arm 17A and the right arm 17B move downward, whereby the left arm 17A and the right arm 17B can grip the step 4 of the escalator 50 .

[0057] Fig.10 This is a diagram showing the positional relationship between the arms 17A and 17B and the steps 4 when the autonomous driving device 10 is riding on the downward escalator 50 .

[0058] The arm driving device 19 performs control so as to extend the left arm 17A and the right arm 17B in response to the descent of the step 4 , whereby the left arm 17A and the right arm 17B are not released from the step 4 .

[0059] Fig.111 and 2 are diagrams showing the positional relationship between the arms 17A and 17B and the steps 4 when the automatic driving device 10 descends the downward escalator 50 .

[0060] The arm driving device 19 performs control so that the left arm 17A and the right arm 17B release the step 4 of the escalator 50 and the left arm 17A and the right arm 17B can be retracted.

[0061] Fig.12 This is a flowchart showing the operation process of the automatic driving device 10 and the escalator 50 according to the first embodiment.

[0062] 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.

[0063] In step S102 , the control device 11 stops the driving of the automatic driving device 10 by controlling the driving drive device 18 .

[0064] In step S103, the control device 11 determines whether there is someone riding on the escalator 50 based on the image obtained from the camera 15. If there is someone riding on the escalator 50, the process proceeds to step S104. If there is no one riding on the escalator 50, the process proceeds to step S105.

[0065] In step S104, the control device 11 controls the travel drive device 18 based on the image obtained from the camera 15 until the escalator 50 is in a state where no one is riding, thereby stopping the travel of the automatic travel device 10.

[0066] In step S105, the control device 11 transmits 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 running of the steps 4 and the moving handrail 5 of the escalator 50.

[0067] In step S106 , the control device 11 outputs a broadcast sound from the speaker 16 that the escalator 50 has stopped.

[0068] In step S107 , the control device 11 detects the movement of the step 4 of the escalator 50 based on the image obtained from the camera 15 , and controls the arms 17A and 17B through the arm driving device 19 so that the arms 17A and 17B can grasp the clamping plate 41 of the step 4 .

[0069] In step S108, the control device 11 transmits 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 causes the steps 4 and the moving handrail 5 of the escalator 50 to travel.

[0070] In step S109 , the control device 11 outputs a broadcast sound of the start of the escalator 50 from the speaker 16 .

[0071] In step S110 , the control device 11 controls the travel drive device 18 to move the automatic travel device 10 forward a predetermined distance and then stop.

[0072] In step S111 , the control device 11 outputs a broadcast voice from the speaker 16 to advise people not to get on the escalator 50 .

[0073] In step S112, the control device 11 determines whether the automatic driving device 10 has reached the specified position of the escalator 50 based on the image obtained from the camera 15. When the automatic driving device 10 has reached the specified position of the escalator 50, the process proceeds to step S113. The specified position is, for example, when the step 4 grasped by the arms 17A and 17B is connected to the descending position.

[0074] In step S113 , the control device 11 controls the arms 17A and 17B through the arm driving device 19 so that the arms 17A and 17B can release the clamping plates 41 of the steps 4 .

[0075] In step S114, the control device 11 determines whether the automatic driving device 10 has reached immediately before the descending position of the escalator 50 based on the image obtained from the camera 15. When the automatic driving device 10 has reached immediately before the descending position of the escalator 50, the process proceeds to step S115. Immediately before the descending position is when the step 4 on which the automatic driving device 10 is placed is connected to the descending position.

[0076] In step S115, the control device 11 transmits 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 running of the steps 4 and the moving handrail 5 of the escalator 50.

[0077] In step S116 , the control device 11 outputs a broadcast sound from the speaker 16 that the escalator 50 has stopped.

[0078] In step S117 , the control device 11 controls the travel drive device 18 to move the automatic travel device 10 forward.

[0079] In step S118, the control device 11 transmits 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 causes the steps 4 and the moving handrail 5 of the escalator 50 to travel.

[0080] In step S119 , the control device 11 outputs a broadcast sound of the start of the escalator 50 from the speaker 16 .

[0081] Implementation method 2.

[0082] 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.

[0083] Fig.13 This is a flowchart showing the operation process of the automatic driving device 10 and the escalator 50 according to the second embodiment.

[0084] 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.

[0085] In step S202 , the control device 11 stops the traveling of the automatic traveling device 10 by controlling the traveling drive device 18 .

[0086] In step S203, the control device 11 determines whether there is someone riding on the escalator 50 based on the image obtained from the camera 15. If there is someone riding on the escalator 50, the process proceeds to step S204. If there is no one riding on the escalator 50, the process proceeds to step S205.

[0087] In step S204, the control device 11 controls the travel drive device 18 based on the image obtained from the camera 15 until the escalator 50 is in a state where no one is riding, thereby stopping the travel of the automatic travel device 10.

[0088] In step S205, the control device 11 transmits a deceleration instruction 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 running of the steps 4 and the moving handrail 5 of the escalator 50.

[0089] In step S206 , the control device 11 outputs a broadcast sound from the speaker 16 that the escalator 50 is decelerating.

[0090] In step S207 , the control device 11 detects the movement of the step 4 of the escalator 50 based on the image obtained from the camera 15 , and controls the arms 17A and 17B through the arm driving device 19 so that the arms 17A and 17B can grasp the clamping plate 41 of the step 4 .

[0091] In step S208 , the control device 11 controls the travel drive device 18 to move the automatic travel device 10 forward a predetermined distance and then stop.

[0092] In step S209, the control device 11 transmits a speed-up command to the escalator 50 via the wireless communication device 14. The wireless communication device 21 of the escalator 50 receives the speed-up command. The control panel 6 of the escalator 50 speeds up the steps 4 and the moving handrail 5 of the escalator 50.

[0093] In step S210 , the control device 11 outputs a broadcast sound of the escalator 50 accelerating from the speaker 16 .

[0094] In step S211 , the control device 11 outputs a broadcast voice from the speaker 16 to advise people not to get on the escalator 50 .

[0095] In step S212, the control device 11 determines whether the automatic driving device 10 has reached the specified position of the escalator 50 based on the image obtained from the camera 15. When the automatic driving device 10 has reached the specified position of the escalator 50, the process proceeds to step S213. The specified position is, for example, when the step 4 grasped by the arms 17A and 17B is connected to the descending position.

[0096] In step S213, the control device 11 transmits a deceleration instruction 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 running of the steps 4 and the moving handrail 5 of the escalator 50.

[0097] In step S214 , the control device 11 outputs a broadcast sound of the escalator 50 decelerating from the speaker 16 .

[0098] In step S215 , the control device 11 controls the arms 17A and 17B through the arm driving device 19 so that the arms 17A and 17B can release the clamping plates 41 of the steps 4 .

[0099] In step S216, the control device 11 determines whether the automatic driving device 10 has reached immediately before the descending position of the escalator 50 based on the image obtained from the camera 15. When the automatic driving device 10 has reached immediately before the descending position of the escalator 50, the process proceeds to step S217. Immediately before the descending position is when the step 4 on which the automatic driving device 10 is placed is connected to the descending position.

[0100] In step S217 , the control device 11 controls the travel drive device 18 to move the automatic travel device 10 forward.

[0101] In step S218, the control device 11 transmits a speed-up 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 speed-up command. The control panel 6 of the escalator 50 speeds up the steps 4 and the moving handrail 5 of the escalator 50.

[0102] In step S219 , the control device 11 outputs a broadcast sound of the escalator 50 accelerating from the speaker 16 .

[0103] Variation example.

[0104] (1) Determination of location

[0105] In the above-mentioned embodiment, the control device 11 determines whether the automatic driving device 10 has reached the position immediately before the escalator 50, etc., based on the image obtained from the camera 15, but the present invention is not limited thereto. When the automatic driving device 10 approaches the position immediately before the escalator 50, the angles of the arms 17A and 17B change. Therefore, the control device 11 may also determine whether the automatic driving device 10 has reached the position immediately before the escalator 50, etc., by detecting the change in the angles of the arms 17A and 17B.

[0106] (2) Broadcast

[0107] In the above-mentioned 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.

[0108] The embodiments disclosed this time should be considered as illustrative in all aspects and not 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.

[0109] Description of symbols

[0110] 1: Main frame; 2A: Upper boarding and alighting entrance; 2B: Lower boarding and alighting entrance; 3, 16: Speaker; 4: Step; 5: Moving handrail; 6: Control panel; 7A, 7B: Floor; 8, 11: Control device; 9: Display; 10: Automatic driving device; 12: Memory; 13: Processor; 14, 21: Wireless communication device; 15: Camera; 17A, 17B: Arm; 18: Driving device; 19: Arm driving device; 20: Battery; 41: Clamp; 42: Protrusion; 43: Groove; 50: Escalator.

Claims

1. An automatic driving device, wherein: The automatic driving device has: arm; a memory storing a program; and a processor that executes the program, When the automatic driving device reaches the boarding position of the escalator, the processor detects the movement of the steps of the escalator and controls the arm to grasp the clamping plate of the step. After the arm grasps the clamping plate of the step, the processor moves the automatic driving device forward to board the escalator.

2. The automatic driving device according to claim 1, wherein: The arm grips the step plate by the projection of the arm engaging the groove of the step plate.

3. The automatic driving device according to claim 1 or 2, 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 no one is boarding the escalator.

4. The automatic driving device according to any one of claims 1 to 3, wherein: The automatic driving device has a wireless communication device. When the automatic driving device reaches the boarding position of the escalator, the processor stops the automatic driving device and transmits a deceleration instruction or a stop instruction to the escalator via the wireless communication device.

5. The automatic driving device according to claim 4, wherein: The automatic driving device has 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.

6. The automatic driving device according to claim 4, wherein: When the processor transmits the deceleration instruction, after the automatic driving device gets on the escalator, the processor transmits a speed-up instruction to the escalator via the wireless communication device.

7. The automatic driving device according to claim 4, wherein: When the stop command is transmitted, the processor transmits a start command to the escalator through the wireless communication device after the arm grabs the clamping plate of the step.

8. The automatic driving device according to claim 6 or 7, wherein: The automatic driving device has a speaker. When sending the speed-up instruction or the start instruction, the processor further broadcasts the speed-up or start of the escalator through the speaker.

9. The automatic driving device according to claim 8, wherein: After the automatic driving device gets on the escalator, the processor further broadcasts through the speaker to remind people not to get on the escalator.

10. The automatic driving device according to claim 1, wherein: When the automatic driving device reaches the specified position of the escalator, the processor detects the movement of the steps of the escalator and controls the arm to release the clamping plate of the step. After the arm leaves the clamping plate of the step, the processor moves the automatic driving device forward and gets off the escalator.

11. The automatic driving device according to claim 10, wherein: The automatic driving device has a wireless communication device. When the automatic driving device reaches a predetermined position of the escalator, the processor transmits a deceleration instruction to the escalator via the wireless communication device.

12. The automatic driving device according to claim 10, wherein: The automatic driving device has a wireless communication device. The processor transmits a stop instruction to the escalator through the wireless communication device when the automatic driving device reaches a position immediately before a descending position of the escalator.

13. The automatic driving device according to claim 11 or 12, wherein: The automatic driving device has 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.

14. The automatic driving device according to any one of claims 11 to 13, wherein: The processor sends a speed-up instruction or a start instruction to the escalator through the wireless communication device after the automatic driving device gets off the escalator.

15. The automatic driving device according to claim 14, wherein: When sending the speed-up instruction or the start instruction, the processor further broadcasts the speed-up or start of the escalator through the speaker.

16. An escalator, wherein: The escalator has: steps and movable handrails; A wireless communication device that receives a deceleration instruction or a stop instruction from the automatic driving device according to any one of claims 4, 11, and 12; and A control panel decelerates or stops the movement of the steps and the moving handrail when the wireless communication device receives the deceleration instruction or the stop instruction.

17. An escalator, wherein: The escalator has: steps and movable handrails; A wireless communication device that receives a speed increase instruction or a start instruction from the automatic driving device according to claim 6 or 7; and A control panel is provided for accelerating or starting the travel of the steps and the moving handrail when the wireless communication device receives the speed-increasing instruction or the start instruction.

18. A method for riding an escalator using an automatic driving device, wherein: The escalator riding method of the automatic driving device comprises the following steps: When the automatic driving device reaches the boarding position of the escalator, the automatic driving device stops the automatic driving device only when no one is boarding the escalator, and sends a deceleration instruction or a stop instruction to the escalator; The escalator decelerates or stops the running of the steps and the moving handrail of the escalator when receiving a deceleration instruction or a stop instruction from the automatic running device; and The automatic driving device detects the movement of the steps of the escalator, and the arm of the automatic driving device grabs the clamping plate of the step. After the arm grabs the clamping plate of the step, the automatic driving device moves forward to get on the escalator.

Images