Passenger conveyor system and moving body

Abstract

The invention provides a passenger conveyor system and a moving body. A gap between a skirt panel and a step of a passenger conveyor can be automatically checked through the moving body. The moving body is provided with a moving body main body which is carried on a step of the passenger conveyor and moves; when the moving body main body moves from one entrance to the other entrance, the left camera shoots a gap between the left skirt panel and the left side part of the upper surface of the step, and the right camera shoots a gap between the right skirt panel and the right side part of the upper surface of the step; the moving body stores, in time series, an image of the gap on the left side captured by the left camera and an image of the gap on the right side captured by the right camera.

Description

[0001] [Citation of Priority Basic Application and Other Related Applications]

[0002] This application is based on Japanese Patent Application No. 2023-195010 (filing date: November 16, 2023), and the present application claims priority from the Japanese Patent Application. The present application incorporates the entire contents of the Japanese Patent Application by reference. Technical Field

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

[0004] In the past, in passenger conveyors such as escalators and electric walkways, the structure is that apron plates for preventing clothes from being caught in steps are respectively provided on the lower part of a pair of left and right handrails, and the steps travel between the pair of left and right hand handrails. Summary of the invention

[0005] In the above-mentioned passenger conveyor, an appropriate gap is set between the panel constituting the apron plate and the step, but due to deformation of the apron plate, a sufficient gap may not be ensured between the panel and the step or the panel and the step may come into contact. Therefore, when inspecting the escalator, the maintenance personnel visually inspect whether there is any abnormality in the gap between the apron plate and the step, but visual inspection is time-consuming and laborious.

[0006] In view of the above problems, an object of an embodiment of the present invention is to provide a passenger conveyor system and a moving body capable of automatically checking a gap between an apron plate and a step of a passenger conveyor by a moving body.

[0007] An embodiment of the present invention is a passenger conveyor system, which includes a passenger conveyor and a moving body, characterized in that the passenger conveyor comprises: a left and right hand railing, which is provided in a pair along the front-to-back direction from an entrance and exit on one side to an entrance and exit on the other side; a left and right hand apron plates, which are provided in a pair along the front-to-back direction at the lower part of the left and right hand railings; a step, which moves in the front-to-back direction from the entrance and exit on one side to the entrance and exit on the other side between the left and right hand apron plates; and a main control unit, which moves the step, and the moving body comprises: a moving body main body, which is mounted on the step and moves; a left camera, which is provided on the moving body main body a right camera, which is arranged on the moving body, and photographs the gap between the apron plate on the left and the left side portion of the upper surface of the step during the movement of the moving body from the entrance and exit of one side to the entrance and exit of the other side; a moving body control unit, which stores the images of the gap on the left side photographed by the left camera in a time series, and stores the images of the gap on the right side photographed by the right camera in a time series.

[0008] According to the embodiment of the present invention, the gap between the apron plate and the step of the passenger conveyor can be automatically checked by the moving body. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 This is an explanatory diagram of an escalator according to one embodiment of the present invention.

[0010] Figure 2 This is a longitudinal sectional view of a state where a moving body is mounted on steps, as viewed from the lower floor side.

[0011] Figure 3 are the left gap image and the right gap image taken by the left camera.

[0012] Figure 4 It is a block diagram of an escalator and a moving body.

[0013] Figure 5 This is a flow chart when the moving body checks the left and right gaps. DETAILED DESCRIPTION

[0014] Reference Figure 1 to Figure 5 An escalator 10 and a moving body 100 as a passenger conveyor system according to an embodiment of the present invention will be described.

[0015] (1) Escalator 10

[0016] Reference Figure 1 and Figure 2The overall structure of the escalator 10 will be described. Figure 1 This is an explanatory diagram of the escalator 10 viewed from the left 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, when looking up at the upper floor from the lower floor, the upper floor is the front side and the lower floor is the rear side.

[0017] like Figure 1 As shown, a truss 12 serving as a frame of an escalator 10 spans across the upper and lower floors of a building 1 and is supported in the front-rear direction using support angles 2 and 3 .

[0018] Inside the machine room 14 located on the upper side of the upper end of the truss 12, there are provided: a driving device 18 for moving the step 30; a pair of left and right step sprockets 24, 24; and a pair of left and right belt sprockets not shown. The driving device 18 has a motor 20, a speed reducer 21, a small driving 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 stopped. A large driving sprocket 17 is coaxially mounted on the pair of left and right step sprockets 24, 24, and an endless driving chain 22 is spanned between the small driving sprocket 19. In addition, inside the machine room 14 on the upper side, there is provided a control device 50 as a main control unit for controlling the motor 20, the electromagnetic brake 23, etc.

[0019] 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 pair of left and right step sprockets 24, 24 on the upper layer side and the pair of left and right 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 pair of left and right step chains 28, 28. When the motor 20 rotates, the first wheel 301 of the step 30 travels on a guide rail fixed to the truss 12, not shown, dedicated to the first wheel. On the other hand, the second wheel 302 of the step 30 travels on a guide rail 25 fixed to the truss 12, dedicated to the second wheel.

[0020] A pair of left and right handrails 36, 36 are erected on both sides of the upper part of the truss 12. A handrail track 39 is provided on the upper part of the handrail 36, and an endless handrail belt 38 moves along the handrail track 39.

[0021] 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, 48 as entrances and exits of the handrail 38 protrude from the front apron plates 40, 42, respectively.

[0022] like Figure 1As shown, apron plates 44 are provided at the lower side of the inner side (step 30 side) of the left and right pair of handrails 36, and the step 30 runs between the left and right pair of apron plates 44, 44. The apron plates 44 are provided in the front and rear direction from the front apron plate 42 on the lower layer side to the front apron plate 40 on the upper layer side. Figure 2 As shown in FIG. 1 , the apron plate 44 is composed of an inclined plate 68 having one end mounted on the lower part of the inner side surface (step 30 side) of the handrail 36, and a vertical plate 70 vertically arranged downward from the other end of the inclined plate 68. The inclined plate 68 is inclined downward from the inner side surface of the handrail 36. The upper end of the vertical plate 70 is mounted on the other end of the inclined plate 68, and the lower end of the vertical plate 70 is fixed to the Figure 2 The steps 30 are mounted on the trusses 12 (not shown). Furthermore, the steps 30 run between the vertical plates 70, 70 of the left and right pair of apron plates 44. Figure 2 As shown, a left gap (hereinafter referred to as "left gap") 72 is provided between the left vertical plate 70 and the left side portion of the upper surface (anti-slip surface) of the step 30, and a right gap (hereinafter referred to as "right gap") 74 is provided between the right vertical plate 70 and the right side portion of the upper surface (anti-slip surface) of the step 30. The left gap 72 is set to a preset left reference value SL (e.g., 1 mm), and the right gap 74 is set to a preset right reference value SR (e.g., 1 mm). By providing the left gap 72 and the right gap 74 in this way, the step 30 can smoothly move without contacting the left and right pair of vertical plates 70, 70 when moving.

[0023] like Figure 1 As shown, the handrail belt 38 rotates together with the step sprocket 24 via a belt sprocket (not shown) and moves synchronously with the steps 30.

[0024] The upper-level 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 railings 36, 36 on the upper level. The lower-level 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 railings 36, 36 on the lower level. The upper-level boarding and descending board 32 has comb-like teeth 60 at the top end, and the steps 30 enter or are pulled out of the comb-like teeth 60. In addition, the lower-level boarding and descending board 34 also has comb-like teeth 62 at the top end.

[0025] (2) Moving body 100

[0026] Below, refer to Figure 2 The moving body 100 for inspecting the left and right apron plates 44 of the escalator 10 and the left and right gaps 72 and 74 of the steps 30 will be described. The moving body 100 is a robot capable of independent movement, and its purpose is to inspect the escalator 10 without human intervention.

[0027] The moving body 100 has a moving body body 102 of a substantially cubic shape, and the size of the moving body body 102 is designed to be large enough to ride on one step 30. A robot control unit 104, which is a moving body control unit and is composed of a computer or the like, is provided inside the moving body body 102. Four wheels 106 are provided at the bottom of the moving body body 102, and the four wheels 106 are rotated by a moving motor 108. The robot control unit 104 can make the moving body 100 move forward, backward, or rotate rightward or leftward by controlling the rotation, stop, and rotation direction of the moving motor 108.

[0028] like Figure 2 As shown, a support column 118 is vertically erected from the upper surface of the moving body 102 of the moving body 100, and the left arm 120 protrudes horizontally to the left from the upper end of the support column 118, and the right arm 122 protrudes horizontally to the right from the upper end of the support column 118. When the moving body 100 is observed from the rear, the left arm 120, the right arm 122 and the support column 118 are roughly T-shaped. A left-side camera (hereinafter referred to as the "left camera") 110 is installed near the top of the left arm 120. In addition, a right-side camera (hereinafter referred to as the "right camera") 112 is also installed near the top of the right arm 122. The left camera 110 and the right camera 112 can shoot the bottom, and the respective images are transmitted to the robot control unit 104.

[0029] The position of the left camera 110 in the left arm 120 is located directly above the left gap 72 between the vertical plate 70 of the left apron plate 44 and the left side portion of the upper surface of the step 30. A left light 124 that is continuously lit during inspection is provided at the lower portion of the left side surface of the mobile body 102, illuminating the left gap 72 and the upper surfaces of the apron plate 44 and the step 30 located therearound from obliquely above, thereby emphasizing the left gap 72 relative to the surroundings. Furthermore, the left camera 110 can capture the left gap 72 that is illuminated by the left light 124 and emphasized relative to the surroundings in a time series from directly above. Hereinafter, the captured image is referred to as a "left gap image" (refer to Figure 3 (a)).

[0030] The position of the right camera 112 in the right arm portion 122 is located directly above the right gap 74 between the vertical plate 70 of the right apron plate 44 and the right side portion of the upper surface of the step 30. A right light 126 that is continuously lit during inspection is provided at the lower portion of the right side surface of the mobile body 102, and illuminates the right gap 74, the apron plate 44 and the upper surface of the step 30 located therearound from obliquely above, thereby emphasizing the right gap 74 relative to the surroundings. The right camera 112 can capture the right gap 74 that is illuminated by the right light 126 and emphasized relative to the surroundings in a time series from directly above. Hereinafter, the captured image is referred to as a "right gap image" (refer to Figure 3 (b)).

[0031] A storage unit 114 is provided inside the mobile body 102, and can store a time series of left gap images obtained by the left camera 110 photographing the left gap 72 and a time series of right gap images obtained by the right camera 112 photographing the right gap 74. The left gap images and right gap images stored in the storage unit 114 are transmitted to the control device 50 by the robot control unit 104 via the robot communication unit 116.

[0032] (3) Electrical Configuration of the Escalator 10 and the Moving Body 100

[0033] Below, refer to Figure 4 The electrical structure of the escalator 10 and the moving body 100 is explained in the block diagram.

[0034] In the control device 50 located inside the mechanical room 14 on the upper side, a communication unit 64 and a drive circuit 66 are connected. The communication unit 64 is used to communicate with the robot communication unit 116 which is the mobile communication unit of the mobile body 100 and the monitoring device 200 located at the external maintenance center, and the drive circuit 66 is used to control the motor 20 and the electromagnetic brake 23.

[0035] The robot control unit 104 of the moving body 100 is connected to a moving motor 108 , a left camera 110 , a right camera 112 , a storage unit 114 , a robot communication unit 116 for communicating with the communication unit 64 , a left light 124 , and a right light 126 .

[0036] (4) Method for inspecting the left gap 72 and the right gap 74 by the moving body 100

[0037] Next, a method of inspecting the left gap 72 and the right gap 74 between the pair of left and right apron plates 44 and the step 30 using the moving body 100 will be described.

[0038] First, the robot control unit 104 uses the moving motor 108 to move the moving body 100 from the lower-level boarding and landing board 34 to the center portion in the width direction of the lowest step 30. At this time, the left camera 110 of the left arm 120 is located at a position where it can capture the left gap 72, and the right camera 112 of the right arm 122 is located at a position where it can capture the right gap 74. In addition, the left lamp 124 and the right lamp 126 are turned on. Hereinafter, the position to which the moving body 100 has moved is referred to as the "starting point".

[0039] When the step 30 moves to the upper layer, the moving body 100 also moves accordingly (refer to Figure 1 and Figure 2 ), the left gap 72 is photographed in time series by the left camera 110, and the right gap 74 is photographed in time series by the right camera 112, and the photographed left gap image (refer to Figure 3(a)) and right gap image (refer to Figure 3 (b)) is stored in the storage unit 114.

[0040] When the moving body 100 on the steps 30 rises to the top and reaches the upper boarding and landing board 32 from the steps 30, the left camera 110 and the right camera 112 finish photographing and the inspection of the left gap 72 and the right gap 74 finishes. This position is hereinafter referred to as the "end point".

[0041] The robot control unit 104 transmits the time-series left gap image (dynamic image) and the time-series right gap image (dynamic image) from the start point to the end point from the storage unit 114 to the communication unit 64 of the control device 50 via the robot communication unit 116 .

[0042] In the control device 50, the left gap image is analyzed, and when the left gap 72 is narrower than the left reference value SL, a flag indicating the presence of an abnormality is established. In addition, the position where the abnormality exists is stored as the distance JL from the starting point. The distance JL is calculated as follows. First, the photographing time t of the left gap image when the abnormality exists is extracted. However, the photographing time t is the time when the starting point is photographed as t=0. The photographing time t is multiplied by the speed v of the step 30 to calculate the distance JL from the starting point. As a result, the left gap 72 becomes narrower at a position away from the starting point by a distance JL. In addition, when there are multiple positions where the left gap 72 is narrower than the predetermined left reference value SL, the distance JL of each position is stored.

[0043] The control device 50 also analyzes the right gap image in the same manner, and when the right gap 74 is narrower than a predetermined right reference value SR, sets a flag indicating the presence of an abnormality, and stores the position of the abnormality as the distance JR from the starting point.

[0044] When there is an abnormality in the left gap 72 or the right gap 74 , the control device 50 reports the abnormality and the distance JL or the distance JR to the monitoring device 200 .

[0045] according to Figure 5 The flowchart of further illustrates the inspection method of the left gap 72 and the right gap 74 described above.

[0046] In step S1, the escalator 10 starts operating, and when the steps 30 are in normal operation, the process proceeds to step S2. Here, the steps 30 rise.

[0047] In step S2, the control device 50 determines whether the number of passengers in the escalator 10 is less than or more than the reference number of passengers through a passenger detection sensor (not shown). If the number of passengers is less than the reference number of passengers, the control device 50 proceeds to step S3 (in the case of "yes"); if the number of passengers is more than the reference number of passengers, the control device 50 proceeds to step S2 (in the case of "no"). Thus, when there are a large number of passengers, the presence of the moving body 100 will not become an obstacle to the passengers.

[0048] In step S3, it is determined that there are few passengers, so the control device 50 controls the robot control unit 104 to load the moving body 100 from the lower floor board 34 onto the steps 30. Then, the process proceeds to step S4.

[0049] In step S4, when the control device 50 confirms that the moving body 100 has been loaded onto the lowest step 30, it determines that the moving body 100 has reached the starting point and starts imaging the left gap 72 and the right gap 74. Then, the process proceeds to step S5.

[0050] In step S5, while the moving body 100 is moving from the lower floor to the upper floor with the steps 30, the robot control unit 104 captures the left gap image and the right gap image in time series using the left camera 110 and the right camera 112. Then, the process proceeds to step S6.

[0051] In step S6, when the moving body 100 is lowered from the uppermost step 30 to the upper-level boarding and landing board 32, the process proceeds to step S7.

[0052] In step S7, when the moving body 100 is unloaded on the upper-level boarding and landing platform 32, it is regarded as reaching the end point, and the photography of the left camera 110 and the right camera 112 is terminated, and the process proceeds to step S8.

[0053] In step S8, the robot control unit 104 transmits the time-series left gap image and right gap image to the communication unit 64 of the control device 50 via the robot communication unit 116. Then, the process proceeds to step S9.

[0054] In step S9 , the control device 50 determines whether there is an abnormality based on the left gap image and the right gap image of the time series, and then proceeds to step S10 .

[0055] In step S10, if there is an abnormality in the left gap 72 or the right gap 74, the process proceeds to step S11. If there is no abnormality, the left gap 72 and the right gap 74 are considered normal, and the inspection ends.

[0056] In step S11, the abnormality in the left gap 72 or the right gap 74 and its position (distance JL or distance JR) are transmitted to the monitoring device 200 of the maintenance center. Then, the inspection is terminated.

[0057] (5) Effect

[0058] According to the present embodiment, the operator does not need to visually check whether there is an abnormality in the left gap 72 and the right gap 74, and can check only by mounting the moving body 100 on the steps 30 and moving from the lower floor to the upper floor.

[0059] When an abnormality exists in the left gap 72 or the right gap 74 , the position where the abnormality exists can also be confirmed.

[0060] When an abnormality occurs in the left gap 72 or the right gap 74 , the abnormality is transmitted to the monitoring device 200 , so that even a maintenance person in a remote location can confirm the abnormality.

[0061] Since the left gap 72 and the right gap 74 are illuminated by the left light 124 and the right light 126 , respectively, the gaps that are dark areas can be made to stand out and can be clearly photographed by the left camera 110 and the right camera 112 .

[0062] (6) Modification

[0063] Next, modifications of the above-described embodiment will be described.

[0064] In the above embodiment, the left gap 72 and the right gap 74 are inspected by moving the step 30 of the moving body 100 from the lower floor to the upper floor. However, the inspection may be performed by descending from the upper floor to the lower floor instead.

[0065] In addition, in the above-mentioned embodiment, the control device 50 analyzes whether the left gap 72 or the right gap 74 is abnormal, but the analysis may be performed by the robot control unit 104. In addition, the time series of left gap images and right gap images may be sent to a portable terminal such as a smart phone or a tablet terminal owned by a maintainer of the escalator 10, and the portable terminal may perform the analysis, and further, the time series of left gap images and right gap images may be displayed by an image display device of the portable terminal, and the maintainer may perform a more detailed check by visual inspection.

[0066] In addition, in the above embodiment, the left light 124 and the right light 126 are continuously lit during the inspection to illuminate the left gap 72 and the right gap 74, but instead, the left light 124 and the right light 126 can be flashed to emit strobe light to make the dark area emerge more significantly during photography.

[0067] In the above embodiment, the apron plate 44 is composed of the inclined plate 68 and the vertical plate 70 , but a structure in which only the vertical plate 70 is directly attached to the lower part of the handrail 36 may be adopted.

[0068] In the above embodiment, the case where there is no yellow boundary line on the upper surface of the step 30 is described. However, if yellow boundary lines are formed on the left and right sides of the upper surface of the step instead, the left gap 72 and the right gap 74 can be more clearly photographed.

[0069] In addition, in the above-mentioned embodiment, the lengths of the left arm 120 and the right arm 122 are fixed, but the lengths of the left and right arms 120 and 122 in the left and right directions may be respectively extended and retracted. Thus, even in the escalator 10 in which the lengths of the left and right arms 120 and 122 in the left and right directions of the steps 30 are different, the left camera 110 and the right camera 112 can be always located above the left gap 72 and the right gap 74 by extending and retracting the left arm 120 and the right arm 122.

[0070] In the above embodiment, the left arm 120 and the right arm 122 protrude from the support column 118 in the left and right directions. However, the left arm 120 and the right arm 122 may protrude from the left and right sides of the mobile body 102, respectively.

[0071] In addition, in the above-mentioned embodiment, the application to the escalator 10 is described, but it can also be applied to the moving walkway instead. In addition, in the moving walkway, the steps are called "pedals".

[0072] 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 subject matter of the invention. These embodiments and their variations are included in the scope and subject matter 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, characterized in that: The passenger conveyor comprises: A pair of left and right hand railings are arranged along the front-to-back direction from the entrance and exit of one side to the entrance and exit of the other side; A pair of left and right apron plates, which are arranged at the lower part of the pair of left and right railings along the front-rear direction; a step that moves in the front-rear direction from the entrance on one side to the entrance on the other side between the pair of left and right apron plates; and a main control unit, which moves the steps, The mobile body comprises: A moving body that is carried on the steps and moves; a left camera disposed on the moving body and configured to capture a gap between the left apron plate and a left side portion of the upper surface of the step while the moving body moves from the entrance on one side to the entrance on the other side; a right camera disposed on the moving body and capturing a gap between the right apron plate and a right side portion of the upper surface of the step while the moving body moves from the one entrance to the other entrance; as well as The moving body control unit stores the image of the gap on the left side captured by the left camera in time series, and stores the image of the gap on the right side captured by the right camera in time series.

2. The passenger conveyor system according to claim 1, characterized in that the moving body control unit, the main control unit or a portable terminal located outside the passenger conveyor, Based on the image of the gap on the left side of the time series, it is determined whether the gap on the left side from the entrance and exit on one side to the entrance and exit on the other side is narrower than a predetermined left reference value, and even if a part of the gap on the left side from the entrance and exit on one side to the entrance and exit on the other side is narrower than the left reference value, it is determined that an abnormality exists, Based on the image of the gap on the right side of the time series, it is determined whether the gap on the right side from the entrance and exit on one side to the entrance and exit on the other side is narrower than a predetermined right reference value. Even if a portion of the gap on the right side from the entrance and exit on one side to the entrance and exit on the other side is narrower than the right reference value, it is determined that an abnormality exists.

3. The passenger conveyor system according to claim 2, characterized in that the moving body control unit, the main control unit or a portable terminal located outside the passenger conveyor, The position where the gap on the left side is narrower than the left reference value is obtained based on the shooting time of the image of the gap on the left side and the moving speed of the step, The position where the gap on the right side is narrower than the right reference value is obtained based on the photographing time of the image of the gap on the right side and the moving speed of the step.

4. The passenger conveyor system according to claim 1, characterized in that The mobile body comprises: a left light for illuminating the gap on the left side between the apron plate on the left side and the left side portion of the upper surface of the step; and A right lamp illuminates the gap on the right side between the apron plate on the right side and the right side portion of the upper surface of the step.

5. The passenger conveyor system according to claim 4, characterized in that The left lamp and the right lamp are continuously lit or flashed to emit a stroboscopic light.

6. The passenger conveyor system according to claim 1, characterized in that The mobile body comprises: A left arm portion protruding to the left from the main body of the mobile body; and A right arm portion protruding to the right from the main body of the mobile body, The left camera is arranged on the left arm. The right camera is arranged on the right arm.

7. The passenger conveyor system according to claim 6, characterized in that The left arm can be extended and retracted freely in the left and right directions. The right arm can be extended and retracted in the left-right direction.

8. A mobile object, characterized in that: The mobile body comprises: A moving body body, which is carried on steps for movement, wherein the steps move between a pair of left and right apron plates, wherein the pair of left and right apron plates are arranged at the lower part of a pair of left and right handrails in the front-to-back direction, and wherein the pair of left and right handrails are arranged in the front-to-back direction from one entrance and exit of the passenger conveyor to the other entrance and exit; a left camera disposed on the moving body and photographing a gap between the left apron plate and a left side portion of the upper surface of the step while the moving body moves from one entrance to the other entrance of the passenger conveyor; a right camera disposed on the moving body and capturing a gap between the right apron plate and a right side portion of the upper surface of the step while the moving body moves from the one entrance to the other entrance; The moving body control unit stores the image of the gap on the left side captured by the left camera in time series, and stores the image of the gap on the right side captured by the right camera in time series.

Images