Autonomous moving object, method for determining working

Abstract

The invention relates to an autonomous mobile body, a method for determining whether or not to ride, and a program product. The present invention is provided with: a detection unit for detecting the distance from a lower object; a support unit that supports the detection unit; an extension / contraction mechanism that extends / contracts the distance between the detection unit and the autonomous moving body by moving the support unit; when the autonomous moving body arrives at the access opening, the detection control part controls the telescoping mechanism to move the supporting part so that the detection part is located above a first position of a stepping surface of one step near the access opening, controls the detection part to detect a first distance from the stepping surface at the first position, controls the telescoping mechanism to move the supporting part, and controls the detection part to detect a second distance from the stepping surface at the second position. Controlling the detection part to be located above a second position of the stepping surface of another step which is separated from the first position by the step length, and controlling the detection part to detect a second distance from the stepping surface at the second position; a determination unit that determines whether the autonomous moving body is able to take the passenger conveyor on the basis of the difference between the first and second distances; and a travel control unit that causes the autonomous moving body to ride on the passenger conveyor when it is determined that the autonomous moving body can ride on the passenger conveyor.

Description

Technical Field

[0001] Embodiments of the present invention relate to an autonomous mobile body, a determination method for boarding availability, and a program product. Background Art

[0002] In passenger conveyors such as escalators installed in commercial facilities, transportation facilities, etc., conventionally, the person in charge of the facility performs an operation to stop the operation, and conducts a daily inspection of the escalator by visually observing the appearance, listening to sounds, etc. In addition, in the regular inspection performed by professionals, simple confirmations equivalent to the daily inspection are also carried out manually.

[0003] This kind of inspection work is expected to save labor, and it is considered to replace the facility manager of the escalator with an autonomous mobile body such as a robot to perform daily inspections corresponding to the start in the morning and the stop after business hours. When an autonomous mobile body performs the inspection work, the movement between the upper and lower floors of the autonomous mobile body is essential. In the conventional autonomous mobile body that patrols inside a building, the movement between the upper and lower floors uses an elevator, but when an autonomous mobile body replaces the daily management work of the escalator, it is necessary to make the autonomous mobile body board the escalator.

[0004] Patent Document 1: Japanese Patent No. 6516074

[0005] Patent Document 2: Japanese Unexamined Patent Application Publication No. 2019-001613

[0006] Patent Document 3: Japanese Unexamined Patent Application Publication No. 2019-001612

[0007] Patent Document 4: International Publication No. 2018 / 109822

[0008] However, when an autonomous mobile body boards a passenger conveyor such as an escalator, it is necessary to board it at a position that is not affected by the step movement of the steps that move in a cycle during operation. Summary of the Invention

[0009] The autonomous mobile body of the embodiment includes: a detection unit disposed downward and capable of detecting the distance to an object existing below; a support unit that supports the detection unit; a telescopic mechanism that moves the support unit in the front-rear direction of the autonomous mobile body to change the distance between the detection unit and the autonomous mobile body; and a detection control unit. When the autonomous mobile body reaches the boarding and alighting opening, which is the entrance in the moving direction of a plurality of steps connected in a loop in the passenger conveyor, the detection control unit controls the telescopic mechanism to move the support unit so that the detection unit is located above a first position, which is the position of the tread surface of one of the steps near the end of the boarding and alighting plate disposed at the boarding and alighting opening facing the steps. The detection unit is controlled to detect the distance to the tread surface, i.e., the first distance, at the first position. The telescopic mechanism is controlled to move the support unit so that the detection unit is located above a second position, which is the position of the tread surface of another step in the steps that is at a distance equivalent to the length of each step in the traveling direction, i.e., the step length, from the first position. The detection unit is controlled to detect the distance to the tread surface, i.e., the second distance, at the second position. The autonomous mobile body further includes: a determination unit that determines whether the autonomous mobile body can board the passenger conveyor based on the difference between the first distance and the second distance; and a travel control unit that causes the autonomous mobile body to travel to board the passenger conveyor when it is determined by the determination unit that boarding is possible. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 FIG. is an example of the overall configuration of the autonomous mobile body control system according to the embodiment.

[0011] Figure 2 FIG. is a perspective view showing the configuration of the steps of the passenger conveyor according to the embodiment.

[0012] Figure 3 FIG. is a top view showing an example of the tread surfaces, boarding and alighting plates, and comb teeth of a plurality of steps according to the embodiment as viewed from above.

[0013] Figure 4 FIG. is a schematic view showing an example of the appearance of the robot according to the embodiment.

[0014] Figure 5 FIG. is a schematic view showing an example of the configuration of the telescopic mechanism and the arm according to the embodiment.

[0015] Figure 6 FIG. is a block diagram showing an example of the functional configuration of the robot according to the embodiment.

[0016] Figure 7This is a diagram showing an example of the relationship between the first distance, the second distance, and the step difference of the steps in the escalator during upward operation in the embodiment.

[0017] Figure 8 This is a diagram showing an example of the relationship between the first distance, the second distance, and the step difference of the steps in the escalator during downward operation in the embodiment.

[0018] Figure 9 This is a schematic diagram showing an example where the horizontal portion of the continuous steps sent out from the comb teeth is equal to or longer than the step length in the embodiment.

[0019] Figure 10 This is a schematic diagram showing an example where the horizontal portion of the continuous steps sent out from the comb teeth is shorter than the step length in the embodiment.

[0020] Figure 11 This is a flowchart showing an example of the steps of the boarding determination process in the embodiment.

[0021] Figure 12 This is a schematic diagram showing the relationship between the detected distance and the step difference of the steps in the modified example. Detailed Embodiment

[0022] Hereinafter, the embodiment will be described in detail with reference to the accompanying drawings. In addition, the present invention is not limited to the following embodiment. In addition, the constituent elements in the following embodiment include elements that can be easily conceived by those skilled in the art or substantially identical elements.

[0023] (Embodiment)

[0024] Figure 1 This is a diagram showing an example of the overall configuration of the autonomous mobile body control system 1000 in the embodiment.

[0025] As Figure 1 shown, the autonomous mobile body control system 1000 includes an escalator 1 and a robot 200.

[0026] The robot 200 rides on the escalator 1 to inspect the escalator 1. The robot 200 is an example of an autonomous mobile body. Details of the robot 200 will be described later.

[0027] The escalator 1 includes a plurality of steps 100, a railing panel 101, a handrail 102, a boarding and alighting opening 103, a boarding and alighting plate 104, a skirt guard 105, an inner cover 106, an outer cover 107, an entrance / exit 108, a first sensor 151, a second sensor 152, and a control device 300. The escalator 1 is an example of a passenger conveyor.

[0028] A plurality of steps 100 are connected in a ring. Each step 100 is formed of, for example, an aluminum die-casting and is supported by a truss (not shown) having a set inclination angle. In addition, each step 100 is cyclically moved as a stepped boarding platform between the upper and lower boarding and alighting openings 103 by a drive motor (not shown). That is, each step 100 cyclically moves between the upper boarding and alighting opening 103 and the lower boarding and alighting opening 103. Thus, each step 100 becomes a foothold for users of the escalator 1.

[0029] The railing panels 101 are provided on both sides of the plurality of steps 100 in the width direction of the escalator 1. That is, a pair of railing panels 101 are provided opposite to each other with the plurality of steps 100 therebetween. The railing panels 101 are formed of, for example, transparent glass, acrylic resin, or the like.

[0030] The handrail 102 is configured such that a user can hold it when boarding the escalator 1. The handrail 102 is a ring-shaped belt and is movably wound around the peripheral portions of the pair of railing panels 101. The handrail 102 is moved in synchronization with the movement of each step 100 by a drive motor (not shown). The handrail 102 is formed of, for example, rubber or the like.

[0031] The boarding and alighting plates 104 are respectively provided at the upper and lower boarding and alighting openings 103. The boarding and alighting plates 104 not only serve as footholds for users when boarding and alighting the escalator 1 but are also provided so as to be detachable. A comb-shaped comb plate 104c is provided at an end portion of the boarding and alighting plate 104 facing the step 100. A drive motor, the folded steps 100, and the like are stored below the boarding and alighting plate 104. The width of the comb plate 104c is, for example, about 150 mm, but is not limited thereto. Hereinafter, the comb plate 104c may sometimes be referred to as a comb 104c.

[0032] That is, the plurality of steps 100 arranged in a stepped manner between the upper and lower levels are substantially horizontal to each other near the upper and lower boarding and alighting plates 104, are led out from below the boarding and alighting plate 104 on the entrance side, and are introduced below the boarding and alighting plate 104 on the exit side.

[0033] The skirt guards 105 extend along the extending direction of the escalator 1 near both ends in the width direction of the plurality of steps 100. The skirt guards 105 are composed of two pairs of front panels 105f provided near the upper and lower boarding and alighting openings 103 and a plurality of intermediate panels 105m provided between the front panels 105f at the upper and lower levels.

[0034] That is, a pair of front panels 105f are provided opposite to each other with the step 100 therebetween near the upper boarding and alighting plate 104. These front panels 105f are provided at positions straddling the front and rear of the comb plate 104c in the moving direction of the plurality of steps 100.

[0035] In addition, another pair of front end panels 105f are disposed opposite to each other with the steps 100 sandwiched therebetween near the lower landing plate 104. These front end panels 105f are disposed at positions straddling the front and rear of the comb plate 104c in the moving direction of the plurality of steps 100.

[0036] Between the front end panels 105f disposed on the upper and lower levels on one side in the width direction of the plurality of steps 100, a plurality of intermediate panels 105m are arranged in a manner of connecting the front end panels 105f disposed on the upper and lower levels. In addition, between the front end panels 105f disposed on the upper and lower levels on the other side in the width direction of the plurality of steps 100, a plurality of intermediate panels 105m are also arranged in a manner of connecting the front end panels 105f disposed on the upper and lower levels.

[0037] The inner cover plate 106 covers the upper end portion of the skirt guard 105. The outer cover plate 107 is disposed adjacent to the inner cover plate 106 with the railing panel 101 sandwiched therebetween. In the space surrounded by the skirt guard 105, the inner cover plate 106, the outer cover plate 107, etc., for example, devices connected to an operation panel (not shown) and other distribution devices are housed.

[0038] The entrances and exits 108 are disposed near the upper and lower landing openings 103 and connected to the respective front end panels 105f. The handrails 102 are respectively sent out from a pair of entrances and exits 108 on the entrance side in the upper and lower landing openings 103. In addition, the handrails 102 respectively enter a pair of entrances and exits 108 on the exit side in the upper and lower landing openings 103.

[0039] A control device 300 is disposed below the landing plate 104 of the truss. The control device 300 controls a drive motor (not shown) to control the circulating movement of the plurality of steps 100.

[0040] Next, the step 100 will be described in detail.

[0041] Figure 2 is a perspective view showing the configuration of the step 100 of the escalator 1 according to the embodiment. As Figure 2 shown, the step 100 includes a carriage 21 having a substantially fan-shaped side surface shape, a tread surface (also referred to as a "track plate") 100a provided on the upper part of the carriage 21, and a kick plate 23 arranged along the arc shape of the carriage 21.

[0042] At the front end of the bracket 21, a shaft mounting portion 24 is formed, and the step connecting shaft 25 is rotatably mounted thereon. The step connecting shaft 25 is disposed horizontally at a predetermined interval along the moving direction of the step 100. The step connecting shaft 25 engages with the left and right step chains 3, and a pair of left and right wheels (front wheels) 26 are provided at both ends thereof. In addition, a pair of left and right wheels (rear wheels) 27 are provided on both sides of the lower end of the kick plate 23 of the bracket 21. The pair of left and right wheels (rear wheels) 27 correspond to one wheel and the other wheel. Here, the left and right rear wheels are respectively referred to as rear wheels 27a and 27b, but when the left and right are not distinguished, they are referred to as rear wheels 27.

[0043] In addition, as Figure 2 shown, in the step 100 of the present embodiment, boundary lines 30 are provided (added) at both side edges and the front edge of the tread surface 100a. The boundary lines 30 are used to make it easy to observe the boundary between two consecutive steps 100, and are made of resin and colored yellow, for example. Here, the front edge is the edge in the traveling direction of the step 100.

[0044] Figure 3 is a top view showing an example of the tread surface 100a, the boarding and alighting plate 104, and the comb teeth 104c of the plurality of steps 100 in the embodiment as viewed from above.

[0045] As Figure 3 shown, when the step 100 is sent out from the comb teeth 104c, if the length of the tread surface 100a or the continuous tread surface 100a in the traveling direction is equal to or greater than the step length, the robot 200 can board the escalator 1. That is, in order for the robot 200 to board the escalator 1, it is necessary to form a horizontal portion (i.e., a flat area) with at least two tread surfaces 100a of the steps 100 sandwiching a gap 501, without forming a step difference. Here, the step length is the length of one step 100 in the traveling direction, and is, for example, 400 mm or the like. However, it is not limited thereto.

[0046] The robot 200 of the present embodiment determines whether the robot 200 can board the escalator 1 by determining whether there is a step difference in such continuous steps 100. Hereinafter, the robot 200 will be described in detail.

[0047] Figure 4 is a schematic diagram showing an example of the appearance of the robot 200 of the embodiment. In Figure 4 shows a view of the robot 200 as viewed from the side.

[0048] As Figure 4As shown in the figure, the robot 200 of the present embodiment has a camera unit 210 at its upper part. The camera unit 210 is, for example, a camera, and images the front area in the traveling direction of the robot 200. In the present embodiment, as the front area, the boarding and alighting board 104, the comb teeth 104c, the steps 100, etc. can be cited, but are not limited to these.

[0049] In addition, the robot 200 has a depth sensor 221, an arm 222, and a telescopic mechanism 230 in its main body part.

[0050] The depth sensor 221 is, for example, a sensor composed of a light emitting part and a light receiving part. Laser or the like is emitted from the light emitting part, and the light receiving part receives the laser reflected by an object, thereby detecting the distance to the object. The depth sensor 221 is an example of a detection unit. In addition, as long as it is a sensor capable of detecting the distance to an object, a sensor other than the depth sensor can also be used.

[0051] The arm 222 holds the depth sensor 221 at its front end with the light emitting part and the light receiving part facing downward. The arm 222 is an example of a supporting part.

[0052] The telescopic mechanism 230 is a mechanism that moves the arm 222 in the front-rear direction of the robot 200 to change the distance between the depth sensor 221 and the main body of the robot 200.

[0053] Figure 5 It is a schematic diagram showing an example of the configuration of the telescopic mechanism 230 and the arm 222 of the embodiment.

[0054] In the present embodiment, as Figure 5 shown, the depth sensor 221 is mounted on the lower surface of the front end of the arm 222. The light emitting part and the light receiving part of the depth sensor 221 face downward.

[0055] As Figure 5 shown, the telescopic mechanism 230 moves the arm 222 in the front-rear direction of the robot 200 through a rack and pinion mechanism. That is, as Figure 5 shown, the telescopic mechanism 230 is composed of a rack gear 231 mounted on the upper surface of the arm 222, a circular pinion 232 meshing with the rack gear 231, a shaft part 233 provided at the center of the pinion 232 to rotate the pinion 232, and a motor 234 having a drive shaft connected to the shaft part 233 via a gear (not shown).

[0056] By rotating the motor 234 forward and backward, the pinion 232 is rotated by the shaft part 233, and its rotation is transmitted to the rack gear 231, and the arm 222 expands and contracts in the Figure 5 left-right direction, that is, the front-rear direction of the robot 200. Here, the arm 222 is at least as long as the step length.

[0057] Next, the functional components of the robot 200 will be described.

[0058] Figure 6 It is a block diagram showing an example of the functional components of the robot 200 according to the embodiment.

[0059] As described above, the robot 200 of the present embodiment includes a camera unit 210, a depth sensor 221, an arm 222, and a telescopic mechanism 230.

[0060] In addition, as Figure 6 shown, the robot 200 of the present embodiment further includes a communication unit 201, an analysis unit 204, a determination unit 202, a detection control unit 205, and a travel control unit 203.

[0061] The communication unit 201 performs various communications with the control device 300 of the escalator 1. In the present embodiment, the communication unit 201 can send an operation stop command and an operation command of the escalator 1 to the control device 300.

[0062] The analysis unit 204 analyzes the captured image captured by the camera unit 210.

[0063] The detection control unit 205 is electrically connected to the depth sensor 221 and the motor 234 of the telescopic mechanism 230, and sends various instructions to the depth sensor 221 and the motor 234 of the telescopic mechanism 230 respectively, thereby enabling control of the depth sensor 221 and the telescopic mechanism 230.

[0064] When the robot 200 reaches the boarding and alighting opening 103 of the escalator 1, the detection control unit 205 controls the telescopic mechanism 230 (i.e., the motor 234) to move the arm 222 so that the depth sensor 221 is located above the first position, which is the position of the tread surface 100a of the step 100 near the comb 104c at the end of the boarding and alighting plate 104 of the boarding and alighting opening 103 facing the step 100, and controls the depth sensor 221 to detect the distance from the tread surface 100a at the first position, that is, the first distance.

[0065] In addition, the detection control unit 205 controls the telescopic mechanism 230 (i.e., the motor 234) to move the arm 222 so that the depth sensor 221 is located above the second position, which is the position of the tread surface 100a that is at a distance equivalent to the step length from the first position, and controls the depth sensor 221 to detect the distance from the tread surface 100a at the second position, that is, the second distance.

[0066] The determination unit 202 calculates the difference between the first distance and the second distance detected by the depth sensor 221 under the control of the detection control unit 205. That is, the determination unit 202 calculates the difference between the first distance measured at the first position near the comb 104c and the second distance measured at the second position that is the step length away from the first position in the traveling direction of the robot 200. Then, the determination unit 202 determines whether the robot 200 can board the escalator 1 based on this difference.

[0067] Specifically, when the difference between the first distance and the second distance is within a specified range, the determination unit 202 determines that the robot 200 can board the escalator 1. Here, the specified range is 0 or a numerical range with a negligible error from 0, which is a range of values at which the tread surface 100a of the step 100 has no step difference and can be determined to be horizontal.

[0068] Therefore, when the difference between the first distance and the second distance is within the specified range, the determination unit 202 determines that there is no step difference in the tread surfaces 100a of the continuous steps 100, and determines that the robot 200 can board the escalator 1.

[0069] On the other hand, when the difference between the first distance and the second distance is outside the specified range, the determination unit 202 determines that there is a step difference in the tread surfaces 100a of two consecutive steps 100, and determines that the robot 200 cannot board the escalator 1.

[0070] Hereinafter, specific examples will be given for illustration.

[0071] Figure 7 is a diagram showing an example of the relationship between the first distance and the second distance and the step difference of the step 100 in the case of ascending operation in the escalator 1 of the embodiment. In Figure 7 the example shows a case where the robot 200 stops immediately in front of the comb 104c. In addition, in Figure 7 the following example is shown: The first position is a position that is the width (for example, 150 mm) of the comb 104c away from the front of the main body of the robot 200, and the second position is a position that is the step length (for example, 400 mm) away from the first position, that is, a position that is about 550 mm away from the front of the main body of the robot 200. The same applies to the following Figure 8 as well.

[0072] In Figure 7 in (a), the second distance remains unchanged with respect to the first distance, and the difference is within the specified range. Therefore, it can be seen that there is no step difference between two consecutive steps 100 sent out from the comb 104c. Therefore, in Figure 7 in the example of (a), the determination unit 202 determines that the robot 200 can use two consecutive steps 100 to board the escalator 1.

[0073] On the other hand, in Figure 7 (b) thereof, the second distance is smaller than the first distance, and the difference is outside the specified range. Therefore, it can be known that there is a step difference between two consecutive steps 100 sent out from the comb 104c. Therefore, in Figure 7 (b) of the example, the determination unit 202 determines that the robot 200 cannot board the escalator 1.

[0074] In Figure 7 the example shows an example in the case of the ascending operation in which the step 100 moves upward, but the determination can be made in the same manner in the case of the descending operation in which the step 100 moves downward.

[0075] Figure 8 is a diagram showing an example of the relationship between the first distance and the second distance and the step difference of the step 100 in the case of the descending operation in the escalator 1 of the embodiment.

[0076] In Figure 8 (a) thereof, the second distance remains unchanged with respect to the first distance, and the difference is within the specified range. Therefore, it can be known that there is no step difference between two consecutive steps 100 sent out from the comb 104c. Therefore, in Figure 8 (a) of the example, the determination unit 202 determines that the robot 200 can use two consecutive steps 100 to board the escalator 1.

[0077] On the other hand, in Figure 8 (b) thereof, the second distance is larger than the first distance, and the difference is outside the specified range. Therefore, it can be known that there is a step difference between two consecutive steps 100 sent out from the comb 104c. Therefore, in Figure 8 (b) of the example, the determination unit 202 determines that the robot 200 cannot board the escalator 1.

[0078] Figure 9 is a schematic diagram showing an example in which the horizontal part of the consecutive steps 100 sent out from the comb 104c in the embodiment is equal to or longer than the step length. That is, in Figure 9 the example, as the horizontal part, the step 100 exits from the comb 104c to the outside by one or more steps. Therefore, the determination unit 202 determines that the robot 200 can board the escalator 1.

[0079] Figure 10 is a schematic diagram showing an example in which the horizontal part of the consecutive steps 100 sent out from the comb 104c in the embodiment is less than the step length. That is, in Figure 10 the example, as the horizontal part, the amount by which the step 100 exits from the comb 104c to the outside is less than one step. Therefore, the determination unit 202 determines that the robot 200 cannot board the escalator 1.

[0080] Return Figure 6 The travel control unit 203 drives and controls a drive motor (not shown) provided in the robot 200, thereby controlling the travel of the robot 200. In the present embodiment, when the determination unit 202 determines that the robot 200 can board the escalator 1, the travel control unit 203 causes the robot 200 to travel to board the escalator 1.

[0081] Next, the determination process for whether the robot 200 of the present embodiment configured as described above can board will be described.

[0082] Figure 11 It is a flowchart showing an example of the steps of the determination process for whether the robot can board in the embodiment.

[0083] First, the robot 200 starts moving (S11). Then, when the robot 200 reaches the boarding and alighting opening 103 (S12), it stops traveling (S13). As the stop position of the robot 200 at the boarding and alighting opening 103, for example, it can be set to a position immediately in front of the comb 104c in the traveling direction.

[0084] Here, the robot 200 determines the arrival at the boarding and alighting opening 103 or the position immediately in front of the comb 104c based on the captured image of the imaging unit 210. For example, the analysis unit 204 analyzes the captured image, and when the comb 104c captured in the captured image and small screws or the like existing immediately in front of the comb 104c on the boarding plate 104 are recognized, it can be determined that the robot 200 has reached the boarding and alighting opening 103 or the position immediately in front of the comb 104c.

[0085] If the robot 200 reaches the boarding and alighting opening 103, the communication unit 201 sends an operation stop instruction to the control device 300 of the escalator 1 (S14). Thereby, the control device 300 that has received the operation stop instruction stops the operation of the escalator 1, that is, the circulating movement of the steps 100, according to the instruction.

[0086] Next, the detection control unit 205 controls the telescopic mechanism 230 to move the arm 222 forward and move the depth sensor 221 above the tread surface 100a of the step 100 near the comb 104c, that is, above the first position (S15). Then, the detection control unit 205 causes the depth sensor 221 to detect a first distance at the first position (S16).

[0087] Next, the detection control unit 205 controls the telescopic mechanism 230 to further move the arm 222 forward so that the depth sensor 221 moves to a position above the tread surface 100a that is at a distance equivalent to the step length away from the first position, i.e., above the second position (S17). Then, the detection control unit 205 causes the depth sensor 221 to detect a second distance at the second position (S18).

[0088] Next, the determination unit 202 obtains the difference between the first distance detected in S16 and the second distance detected in S18, and determines whether this difference is within a specified range (S19). When the difference is within the specified range (S19: Yes), the determination unit 202 determines that the robot 200 can board the escalator 1 (S20). Then, the travel control unit 203 causes the robot 200 to travel and board the escalator 1 (S21). After that, the robot 200 performs an inspection operation on the escalator 1.

[0089] Here, as the inspection operation of the escalator 1, operations such as confirming whether there is vibration or abnormal noise in the steps 100 during the operation of the escalator 1, and confirming whether there is damage to the gap between the skirt guard 105 and the steps 100, the panel, or the triangular guard during boarding the escalator 1 can be cited. However, the inspection operation is not limited to these.

[0090] In S19, when the difference is outside the specified range (S19: No), the determination unit 202 determines that the robot 200 cannot board the escalator 1 (S22). Then, the process transfers to S15. In this case, the movement of the steps 100 of the escalator 1 starts again, and the process is repeatedly executed starting from S15.

[0091] Thus, in the robot 200 of the present embodiment, when the detection control unit 205 determines that the robot 200 has reached the boarding and alighting opening 103 of the escalator 1, it controls the telescopic mechanism 230 to move the arm 222 so that the depth sensor 221 is located above the first position, which is the position of the tread surface 100a of the step 100 near the comb 104c at the end of the boarding and alighting plate 104 of the boarding and alighting opening 103 facing the step 100, and controls the depth sensor 221 to detect the distance from the tread surface 100a, i.e., the first distance, at the first position. In addition, the detection control unit 205 controls the telescopic mechanism 230 to move the arm 222 forward so that the depth sensor 221 is located above the second position, which is the position of the tread surface 100a that is at a distance equivalent to the step length from the first position, and controls the depth sensor 221 to detect the distance from the tread surface 100a, i.e., the second distance, at the second position. Then, the determination unit 202 determines whether the robot 200 can board the escalator 1 based on the difference between the first distance and the second distance detected by the depth sensor 221 under the control of the detection control unit 205.

[0092] Specifically, in the present embodiment, when the difference between the first distance and the second distance detected by the determination unit 202 of the robot 200 is within a specified range, it is determined that the robot 200 can board the escalator 1, and when the above difference is outside the specified range, it is determined that the robot 200 cannot board the escalator 1.

[0093] Therefore, according to the present embodiment, based on the difference between the first distance to the tread surface 100a detected at the first position and the second distance to the tread surface 100a detected at the second position, which is at a distance equivalent to the length of one step (step length) of the step 100 from the first position, it can be determined whether there is more than one step of the horizontal portion of the tread surface 100a of the continuous steps 100. That is, according to the present embodiment, when the robot 200 boards the escalator 1, it is possible to accurately determine the horizontal portion of the continuous multiple steps 100 regardless of the differences in the specifications of the escalator 1 related to the horizontal portion, such as the 1.5-step type and the 3-step type. Thus, according to the present embodiment, the robot 200 can be boarded at a position not affected by the step difference movement of the steps 100 that move circularly during operation.

[0094] In addition, according to the present embodiment, regardless of the differences in the specifications of the escalator 1, the horizontal portion of the continuous multiple steps 100 can be accurately determined on the side of the robot 200. Therefore, there is no need to provide a boarding determination function on the side of the escalator 1, and the processing on the side of the escalator 1 can be reduced.

[0095] (Variant example)

[0096] In the above-described embodiment, the distance from the stepping surface 100a is detected at two locations, namely, a first location near the comb teeth 104c of the stepping surface 100a and a second location that is a step length away from the first location in the traveling direction of the robot 200. However, the present invention is not limited thereto.

[0097] For example, the detection control unit 205 can be configured to control the telescopic mechanism 230 to move the arm 222 forward at a predetermined interval (e.g., a distance interval shorter than the step length), and at the same time, control the depth sensor 221 to detect the distance from the stepping surface 100a. Thus, in addition to the two distances between the stepping surfaces 100a of two consecutive steps 100, the gap between the two steps 100 can also be detected.

[0098] In this case, the determination unit 202 can be configured to, when the depth sensor 221 detects the gap between two consecutive steps 100, if the difference between the two distances detected before and after the gap is within a predetermined range, determine that the robot 200 can board the escalator 1; if the difference between the two distances is outside the predetermined range, determine that the robot 200 cannot board the escalator 1.

[0099] Here, the determination unit 202 can be configured to determine that the gap between the two steps 100 is detected as long as the distance detected by the depth sensor 221 is greater than the distance from the stepping surface 100a and is equal to or greater than a predetermined threshold.

[0100] Figure 12 It is a schematic diagram showing the relationship between the detected distance and the step difference of the step 100 in the modified example. In Figure 12 An example of the case where the step 100 moves upward is shown, but the same applies to the case where the step 100 moves downward.

[0101] In Figure 12 In (a), the distances detected before and after the gap remain unchanged and the difference is within the predetermined range. Therefore, it can be known that there is no step difference between the two consecutive steps 100 sent out from the comb teeth 104c. Therefore, in the example of Figure 12 In (a), the determination unit 202 determines that the robot 200 can board the escalator 1.

[0102] On the other hand, in Figure 12 In (b), there is a difference between the two distances detected before and after the gap, and the difference is outside the predetermined range. Therefore, it can be known that there is a step difference between the two consecutive steps 100 sent out from the comb teeth 104c. Therefore, in the example of Figure 12 In (b), the determination unit 202 determines that the robot 200 cannot board the escalator 1.

[0103] According to this modification example, while the detection control unit 205 of the robot 200 controls the telescopic mechanism 230 to move the arm 222 forward at a specified interval, it controls the depth sensor 221 to detect the distance from the depth sensor 221 to the tread surface 100a. In addition, when the depth sensor 221 detects the gap between the two steps 100, the determination unit 202 determines that the robot 200 can board the escalator 1 when the difference between the two distances detected before and after the gap is within the specified range, and determines that the robot 200 cannot board the escalator 1 when the difference between the two distances is outside the specified range.

[0104] Therefore, according to this modification example, in addition to achieving the same effects as the above-described embodiment, the depth sensor 221 can determine whether there is a step difference in the step 100 before moving to the second position that is the length of the step away from the first position near the comb 104c, so that the determination of whether boarding is possible can be made in advance.

[0105] The robot 200 of the above-described embodiment and modification example includes control devices such as a CPU, storage devices such as a ROM and a RAM, external storage devices such as an HDD and a CD drive device, a display device such as a display device, and an input device such as a touch panel, and has a hardware configuration using a general computer.

[0106] The determination program for whether boarding is possible executed by the robot 200 of the above-described embodiment and modification example is pre-loaded in a ROM or the like and provided.

[0107] The determination program for whether boarding is possible executed by the robot 200 of the above-described embodiment and modification example may also be configured to be recorded in a computer-readable recording medium such as a CD-ROM, a floppy disk (FD), a CD-R, or a DVD in a form that can be installed or executed and provided.

[0108] Moreover, the determination program for whether boarding is possible can be provided as a computer program product. In this case, it can be configured to store the determination program for whether boarding is possible executed by the robot 200 of the above-described embodiment and modification example on a computer connected to a network such as the Internet and provide it by downloading via the network. Alternatively, it can also be configured to provide or distribute the determination program for whether boarding is possible executed by the robot 200 of the above-described embodiment and modification example via a network such as the Internet.

[0109] The rideability determination program executed by the robot 200 in the above-described embodiments and modified examples has a modular configuration including the above-described respective units (communication unit 201, analysis unit 204, detection control unit 205, determination unit 202, travel control unit 203). As an actual hardware, the CPU (processor) reads the rideability determination program from the above ROM and executes it, whereby the above-described respective units are loaded onto the main storage device, and the communication unit 201, analysis unit 204, detection control unit 205, determination unit 202, and travel control unit 203 are generated on the main storage device.

[0110] Several embodiments of the present invention have been described, but these embodiments are presented as examples and are 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 gist of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are included in the invention described in the claims and its equivalent scope.

Claims

1. An autonomous mobile body, comprising: The detection unit is disposed downward and is capable of detecting the distance to an object existing below; A supporting portion, supporting the detecting portion; A telescopic mechanism that moves the support portion in the front-rear direction of the autonomous moving body to extend or retract the distance between the detection portion and the autonomous moving body; as well as Detection and control department, The detection control unit is: When the autonomous moving body reaches a boarding and alighting gate as an entrance in the moving direction of a plurality of steps connected in a loop in the passenger conveyor, The telescopic mechanism is controlled to move the support portion so that the detection portion is located above a first position, the first position being a position of a tread surface of one of the steps located near an end of a boarding board disposed at the entrance facing the steps, The detection unit is controlled to detect a first distance from the tread surface at the first position, The telescopic mechanism is controlled to move the support portion so that the detection portion is located above a second position, the second position being a position of a tread surface of another step of the steps at a distance from the first position corresponding to the length of each step in the direction of travel, i.e., the step length, The detection unit is controlled to detect a second distance from the tread surface at the second position, The autonomous mobile body further comprises: a determination unit that determines whether the autonomous moving object can board the passenger conveyor based on a difference between the first distance and the second distance; and The travel control unit causes the autonomous movable body to travel so as to allow the passenger to board the passenger conveyor when the determination unit determines that the passenger can board the vehicle.

2. The autonomous mobile object according to claim 1, wherein: The determination unit determines that the autonomous moving object can board the passenger conveyor when the difference is within a predetermined range, and determines that the autonomous moving object cannot board the passenger conveyor when the difference is outside the predetermined range.

3. The autonomous moving object according to claim 2, wherein: The detection control unit controls the telescopic mechanism to move the support unit forward at a predetermined interval, and controls the detection unit to detect the distance from the tread surface. When the detection unit detects a gap between two consecutive steps, the judgment unit judges that the autonomous moving body can board the passenger conveyor if the difference between two distances detected before and after the gap is within the specified range, and judges that the autonomous moving body cannot board the passenger conveyor if the difference between the two distances is outside the specified range.

4. A method for determining whether a passenger can board a vehicle, performed by an autonomous moving object, wherein: The autonomous mobile body comprises: The detection unit is disposed downward and is capable of detecting the distance to an object existing below; a supporting portion that supports the detecting portion; and The telescopic mechanism moves the support portion in the front-rear direction of the autonomous moving body to extend or retract the distance between the detection portion and the autonomous moving body. The method for determining whether or not to board includes: When the autonomous moving body reaches a passenger conveyor entrance in a moving direction of a plurality of steps connected in a ring shape, the telescopic mechanism is controlled to move the support portion so that the detection portion is located above a first position, the first position being a position of a tread surface of one of the steps located near an end of a boarding board disposed at the passenger conveyor entrance facing the steps; The step of controlling the detection unit to detect a first distance from the tread surface at the first position; The step of controlling the telescopic mechanism to move the support portion so that the detection portion is located above a second position, wherein the second position is a position of a tread surface of another step of the steps which is separated from the first position by a distance corresponding to the length of each step in the traveling direction, i.e., the step length; The step of controlling the detection unit to detect a second distance from the tread surface at the second position; A step of determining whether the autonomous moving object can board the passenger conveyor based on a difference between the first distance and the second distance; as well as The step of causing the autonomous moving body to travel so as to allow the passenger to board the passenger conveyor when it is determined that the passenger can board the passenger.

5. A program product, wherein A computer program is provided to be executed by a processor of the autonomous mobile body, and when the computer program is executed by the processor, the boarding permission determination method according to claim 4 is implemented.

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