Moving body and moving body controlling method

Abstract

To provide a moving body for providing support to allow users of a passenger conveyor to use the passenger conveyor safely and comfortably, and a moving body controlling method.SOLUTION: A moving body comprises a camera device, a moving mechanism, an analysis unit, and a motion control unit. The camera device photographs an area including a boarding position of a passenger conveyor. The analysis unit analyzes imaging information photographed using the camera device and determines to move to a forward position or a rear position of a user upon detecting the user who is about to board the passenger conveyor. The motion control unit controls the moving mechanism so as to move to the position determined by the analysis unit.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] An embodiment of the present invention relates to a moving object and a moving object control method. [Background technology]

[0002] A passenger conveyor, such as an escalator, that is widely used in general has steps that move forward automatically. A user can move to a desired location with little effort by stepping on the steps from the entrance of the escalator while the steps are moving and then stepping off the steps at the exit at the destination. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2012-115312 A Summary of the Invention [Problem to be solved by the invention]

[0004] Users need to be careful when using escalators, especially when getting on and off moving steps, as they can easily lose their balance. To maintain safety and comfort, users also need to be careful while riding the escalator, such as not walking on the steps and not causing a nuisance to other users.

[0005] However, some users may not be fully aware of the need to take these precautions, which not only causes inconvenience to the user but also to other users around them.

[0006] The present invention has been made in consideration of the above circumstances, and has an object to provide a moving body and a moving body control method for assisting passenger conveyor users in using the passenger conveyor safely and comfortably. [Means for solving the problem]

[0007] According to an embodiment for achieving the above object, a moving body includes a camera device, a moving mechanism, an analysis unit, and an operation control unit. The camera device captures an image of an area including a boarding position of the passenger conveyor. The analysis unit analyzes the image information captured by the camera device, and when it detects a user about to board the passenger conveyor, determines to move to a position behind or in front of the user. The operation control unit controls the moving mechanism to move to the position determined by the analysis unit. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is an external view showing a configuration of a robot device, which is a moving body, according to first and second embodiments. [Diagram 2] FIG. 1 is a block diagram showing a configuration of a robot device, which is a moving body, according to first and second embodiments. [Diagram 3] 4 is a flowchart showing the operation of the robot device, which is a moving body, according to the first embodiment. [Figure 4] FIG. 1A is a diagram showing a state in which a moving body according to the first embodiment has moved to a position in front of a user and is using an escalator, and FIG. 1B is a diagram showing a state in which a moving body has moved to a position behind a user and is using an escalator. [Diagram 5] 10 is a flowchart showing the operation of a robot device, which is a moving body, according to the second embodiment. [Figure 6] FIG. 11 is an external view showing a configuration of a robot device, which is a moving body, according to a third embodiment. [Figure 7] FIG. 11 is a block diagram showing a configuration of a robot device, which is a moving body, according to a third embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] In the following, as an embodiment of the present invention, a process will be described in which a robot device, which is a moving body, assists a user in using an escalator E, which is a passenger conveyor. The escalator E has stepped steps as a tread surface that moves in a predetermined direction. The steps have a predetermined width and a predetermined height for each step, and move upward or downward within the escalator E.

[0010] First Embodiment Configuration of the robot device according to the first embodiment Fig. 1 is an external view showing the configuration of a robot device 1A according to a first embodiment, and Fig. 2 is a functional block diagram showing the detailed configuration of the robot device 1A. The robot device 1A includes a housing 10 having a width corresponding to the steps of an escalator E, and a camera device 11, a moving mechanism 12, and a CPU 13A installed in the housing 10. The housing 10 has a width equal to that of the steps of the escalator E, or a width that is a predetermined ratio of the width of the steps of the escalator E, for example, half the width of the steps.

[0011] The camera device 11 captures an image of an area including the entrance of the escalator E. The movement mechanism 12 is a mechanism for moving the robot device 1A.

[0012] The CPU 13A is, for example, a CPU (Central Processing Unit) provided in a general-purpose microcomputer, and constitutes one or more information processing units described below by installing and executing a predetermined mobile object control program.

[0013] The CPU 13A has an imaging information acquisition unit 131, an analysis unit 132A, and an operation control unit 133A. The imaging information acquisition unit 131 acquires imaging information captured by the camera device 11. The analysis unit 132A analyzes the imaging information acquired by the imaging information acquisition unit 131 to monitor the usage status of the escalator E and determines whether or not a user is about to get on the escalator E. When the analysis unit 132A detects a user about to get on the escalator E, it determines to move the robot device 1A to a position in front of the user. The operation control unit 133A controls the movement mechanism 12 to move the robot device 1A to the position determined by the analysis unit 132A.

[0014] <Operation of the robot device according to the first embodiment> 3 is a flowchart showing the operation of the robot apparatus 1A. When the robot apparatus 1A is on standby, it stops at a predetermined position near the elevator E, for example, a charging spot, or wanders around the elevator E. While the robot apparatus 1A is on standby, the camera device 11 captures an image of an area including the boarding position of the escalator E. The imaging information acquisition unit 131 acquires imaging information captured by the camera device 11 and sends it to the analysis unit 132A.

[0015] The analysis unit 132A analyzes the acquired imaging information and monitors whether or not there is a user who is about to get on the escalator E (S1). When the analysis unit 132A detects that there is a user X1 who is about to get on the escalator E ("YES" in S1), it determines that the robot device 1A moves to a position in front of the user X1 and gets on the escalator E in conjunction with the user's movement (S2).

[0016] The operation control unit 133A controls the moving mechanism 12 so that the robot apparatus 1A moves to a position in front of the user X1 as determined by the analysis unit 132A and gets on the escalator E in conjunction with the user's operation (S3). As a result, while in a position in front of the user X1, the robot apparatus 1A automatically gets on the escalator E from the boarding entrance in conjunction with the operation of the user X1, and uses the escalator E as shown in Fig. 4(a). When the robot apparatus 1A arrives at the exit of the escalator E, it automatically gets off and leaves the user X1.

[0017] In this manner, the robot device 1A operates to prevent the user X1 from walking forward on the steps while riding on the escalator E, thereby making it possible to avoid contact between users.

[0018] The operation control unit 133A may recognize the crowded state of the escalator E from the analysis result of the imaging information by the analysis unit 132A, and may determine the timing of movement based on the recognized content. For example, when multiple users are detected consecutively within a predetermined distance by the analysis process of the imaging information, the operation control unit 133A selects the leading user among these users, moves to a position in front of this user, and controls the movement mechanism 12 to get on the escalator E in conjunction with the movement of this user.

[0019] By controlling in this manner, it is possible to prevent multiple users who board the escalator E in succession from walking forward on the steps while riding the escalator, thereby avoiding contact between the users.

[0020] Second Embodiment Configuration of the robot device according to the second embodiment The robot apparatus 1B according to the second embodiment has a similar configuration to the robot apparatus 1A described in the first embodiment, and therefore detailed description of parts having the same functions will be omitted.

[0021] In this embodiment, when an analysis unit 132B of a CPU 13B of the robot apparatus 1B detects a user about to get on the escalator E, the analysis unit 132B acquires attribute information of the user and determines the operation content of the robot apparatus 1B based on the acquired attribute information. For example, based on the acquired attribute information, the analysis unit 132B determines whether the robot apparatus 1B should move to a position behind or in front of the user.

[0022] <Operation of the robot device according to the second embodiment> 5 is a flowchart showing the operation of the robot apparatus 1B. During standby, the camera device 11 of the robot apparatus 1B captures an image of an area including the boarding position of the escalator E. The imaging information acquisition unit 131 acquires imaging information captured by the camera device 11 and sends it to the analysis unit 132B.

[0023] The analysis unit 132B analyzes the acquired imaging information and monitors whether or not there is a user about to get on the escalator E (S11). When the analysis unit 132B detects that there is a user X2 about to get on the escalator E ("YES" in S11), it further analyzes the imaging information and acquires attribute information, etc. of this user X2 (S12).

[0024] The analysis unit 132B determines the operation details of the robot apparatus 1B based on the acquired attribute information (S13). The operation control unit 133B controls the moving mechanism 12 so as to operate the robot apparatus 1B according to the operation details determined by the analysis unit 132B (S14).

[0025] The operation contents of the robot apparatus 1B determined by the analysis unit 132B and specific examples of the operation of the robot apparatus 1B based on the determined contents will be described below with reference to operation examples (1) to (6).

[0026] [Example of operation (1)] When the analysis unit 132B acquires, as the attribute information of the user X2, information indicating that the user X2 is wearing a skirt, it determines that the robot apparatus 1B moves to a position behind the user X2 and gets into the elevator E in conjunction with the movement of the user X2. The movement control unit 133B controls the movement mechanism 12 so as to operate the robot apparatus 1B according to the content determined by the analysis unit 132B.

[0027] As a result, the robot device 1B, while positioned behind the user X2, automatically gets on the escalator E from the entrance in conjunction with the movement of the user X2, and uses the escalator E as shown in Fig. 4(b). By operating the robot device 1B in this manner, if the user X2 is wearing a skirt, other users cannot get on the escalator immediately after the user X2, and it is possible to prevent surreptitious photography of the user X2.

[0028] By setting the height of the robot apparatus 1B to about three steps (for example, about 600 mm), it is possible to prevent other users standing on the steps at the rear of the robot apparatus 1B from taking surreptitious photographs of the user X2.

[0029] [Example (2)] When the analysis unit 132B acquires, as the attribute information of the user X2, information indicating that the user X2 is carrying baggage that is restricted from being brought onto the escalator E, it determines that the robot apparatus 1B moves to a position in front of the user X2 and stops there. Examples of baggage that is restricted from being brought onto the escalator E include a stroller, a cart, or a long object having a length equal to or longer than a predetermined length. The operation control unit 133B controls the movement mechanism 12 so as to operate the robot apparatus 1B according to the content determined by the analysis unit 132B.

[0030] By operating in this manner, the robot device 1B can prevent the user X2 carrying baggage that is restricted from being brought onto the escalator E from getting on the escalator E.

[0031] The robot device 1B may move so as to guide a user carrying baggage that is restricted from being brought onto the escalator E, to a location where an elevator (not shown) is installed.

[0032] [Example (3)] When the analysis unit 132B acquires, as the attribute information of the user X2, information indicating that the user X2 is an elderly person, a person using crutches, a person with a disability, or a person who has difficulty maintaining an upright posture due to an intoxicated state or the like, and is about to board an escalator E moving upward, the analysis unit 132B determines that the robotic device 1B moves to a position behind the user X2 and boards the escalator E in conjunction with the movement of the user X2. The operation control unit 133B controls the movement mechanism 12 so as to operate the robotic device 1B according to the content determined by the analysis unit 132B.

[0033] By operating in this manner, when a person who has difficulty maintaining a standing posture uses an escalator E moving upward, the robot device 1B can provide assistance, such as supporting the user X2 from behind, to ensure the safety of the user X2.

[0034] [Example (4)] When the analysis unit 132B acquires, as the attribute information of the user X2, information indicating that the user X2 is an elderly person, a person using crutches, a person with a disability, or a person who has difficulty maintaining an upright posture due to an intoxicated state or the like, and is about to board an escalator E moving downward, the analysis unit 132B determines that the robotic device 1B moves to a position in front of the user X2 and boards the escalator E in conjunction with the movement of the user X2. The movement control unit 133B controls the movement mechanism 12 so as to operate the robotic device 1B according to the content determined by the analysis unit 132B.

[0035] By operating in this manner, when a person who has difficulty maintaining an upright posture uses an escalator E moving downward, the robot device 1B can provide assistance, such as supporting the user X2 from the front, to ensure the safety of the user X2.

[0036] [Example (5)] When the analysis unit 132B acquires, as the attribute information of the user X2, information indicating that the user X2 is wearing a long skirt whose bottom end is within a predetermined distance from the floor surface and is about to board an escalator E moving upward, it determines that the robot device 1B moves to a position in front of the user X2 and boards the escalator E in conjunction with the movement of the user X2. The movement control unit 133B controls the movement mechanism 12 so as to operate the robot device 1B according to the content determined by the analysis unit 132B.

[0037] While riding on the escalator E together with user X2, the operation control unit 133B may send out a guard member (not shown) toward a location where the skirt is expected to get caught, such as the gap between the steps in front of user X2, or the gap between the steps and a skirt guard (not shown) at the bottom of the balustrade. The operation control unit 133B may also cause an output device (not shown) to output notification information to notify the user that caution is required to avoid getting the hem of the skirt caught.

[0038] Furthermore, when the analysis unit 132B acquires, as the attribute information of the user X2, information indicating that the user X2 is wearing a long skirt whose bottom end is within a predetermined distance from the floor surface and is about to board an escalator E moving downward, it determines that the robot device 1B moves to a position behind the user X2 and boards the escalator E in conjunction with the movement of the user X2. The movement control unit 133B controls the movement mechanism 12 so as to operate the robot device 1B according to the content determined by the analysis unit 132B.

[0039] While riding on the escalator E together with user X2, the operation control unit 133B may send out a guard member (not shown) toward a location where the skirt is expected to get caught, such as the gap between the steps behind user X2, or the gap between the steps and a skirt guard (not shown) at the bottom of the balustrade. The operation control unit 133B may also cause the output device to output notification information to notify the user that care must be taken to prevent the hem of the skirt from getting caught.

[0040] By operating the robot device 1B in this manner, when the user X2 uses the escalator, the long skirt worn by the user X2 can be prevented from being caught in the gap between the steps or the gap between the step and the skirt guard at the bottom of the balustrade.

[0041] [Example (6)] When the analysis unit 132B acquires, as the attribute information of the user X2, information indicating that the user X2 is carrying baggage larger than a predetermined value and is about to board an escalator E moving upward, it determines that the robot device 1B moves to a position behind the user X2 and boards the escalator E in conjunction with the movement of the user X2. The movement control unit 133B controls the movement mechanism 12 so as to operate the robot device 1B according to the content determined by the analysis unit 132B.

[0042] Furthermore, when the analysis unit 132B acquires, as the attribute information of the user X2, information indicating that the user X2 is carrying baggage larger than a predetermined value and is about to board an escalator E moving downward, it determines that the robot device 1B moves to a position in front of the user X2 and boards the escalator E in conjunction with the movement of the user X2. The movement control unit 133B controls the movement mechanism 12 so as to operate the robot device 1B according to the content determined by the analysis unit 132B.

[0043] By operating the robot device 1B in this manner, even if a user carrying large baggage drops the baggage while using the escalator E, the robot device 1B prevents the baggage from rolling downward. The robot device 1B may have a member for placing or holding the user's baggage.

[0044] Third Embodiment Configuration of the robot device according to the third embodiment FIG. 6 is an external view showing the configuration of a robot device 1C according to the third embodiment, and FIG. 7 is a functional block diagram showing the detailed configuration of the robot device 1C.

[0045] The robot device 1C according to the third embodiment has a similar configuration to the robot device 1A described in the first embodiment, except that it is further provided with a display device 14 and a cleaning member 15 for cleaning the inside of the escalator E. Therefore, detailed descriptions of parts having the same functions will be omitted.

[0046] The display device 14 is configured with, for example, a liquid crystal display. The operation control unit 133C causes predetermined information to be displayed on the display device 14. The cleaning member 15 is a brush-shaped member, and is installed under the robot device 1C so that the tip of the brush comes into contact with the floor surface.

[0047] <Operation of the robot device according to the third embodiment> In the robot apparatus 1C, similarly to the first or second embodiment, the analysis unit 132C determines the operation content of the robot apparatus 1C based on the imaging information of the camera device 11, and the operation control unit 133C controls the moving mechanism 12 based on the determined content.

[0048] In addition to these operations, the operation control unit 133C causes the display device 14 to display appropriately set display information, such as advertising information, departure time information for public transportation, or information on guidance inside a commercial facility.

[0049] By displaying various kinds of information on the display device 14 of the robot device 1C in this manner, it is possible to provide useful information to users of the escalator E and people in the vicinity of the escalator E.

[0050] Furthermore, when the analysis unit 132C detects people who are performing actions that impede safe operation, such as people who are playing pranks on the escalator E, people who are fighting, people who are sitting on the steps, people who are walking in the opposite direction to the moving direction of the steps, etc., by analyzing the image information captured by the camera device 11, the operation control unit 133C may display information on the display device 14 to alert these people. Furthermore, the robot device 1C may be provided with a speaker device (not shown) and output this information by voice. This allows the usage environment inside the escalator E to be kept safe.

[0051] In addition, the operation control unit 133C may control the movement mechanism 12 to repeatedly move a predetermined distance in a predetermined direction on the steps while the robot device 1C is standing on the steps of the escalator E, thereby causing the cleaning member 15 to clean the step grooves.

[0052] In addition, the robot device 1C may be provided with a cleaning member (not shown) for cleaning the balustrade of the escalator E, and while the robot device 1C is standing on the steps of the escalator E, the operation control unit 133C may control the moving mechanism 12 to bring the cleaning member into contact with the balustrade, thereby causing the cleaning member to clean the balustrade.

[0053] By configuring the robot device 1C in this manner, the robot device 1C can clean the inside of the escalator E while assisting users of the escalator E.

[0054] In the first to third embodiments described above, a plurality of robot devices may be made to stand by at one escalator or at a plurality of escalators installed in the same area, and these plurality of robot devices may simultaneously board one or a plurality of escalators. This allows assistance in using the escalators to be provided to a large number of users at the same time.

[0055] In the above-described first to third embodiments, the robot device may be communicably connected to an escalator control device, and the robot device may generate information indicating the congestion state of the escalator by analyzing image information captured by the camera device, and transmit the generated information to the escalator control device (not shown). The escalator control device may, for example, change the operation content of the escalator based on the information acquired from the robot device. When the escalator control device detects that the congestion level of the escalator is equal to or higher than a predetermined value based on the information acquired from the robot device, it may reduce the moving speed of the escalator by a predetermined value.

[0056] This allows the escalator control device to appropriately obtain information indicating the congestion status of the escalator and appropriately control the operation of the escalator based on the obtained information.

[0057] In addition, in the first to third embodiments described above, the robot device may have a mechanism for changing its shape, and the shape of the robot device, for example, its width or height, may be appropriately changed depending on the type of escalator to be boarded or the assistance to be provided to the user.

[0058] In the first to third embodiments described above, the robot device may wait near the entrance of a facility such as a store where an escalator is installed, and may move so as to guide visitors to the escalator.

[0059] Further, in the above-mentioned first to third embodiments, the passenger conveyor is an escalator, but the present invention is also applicable to the case where the passenger conveyor is a moving walkway.

[0060] Although an embodiment of the present invention has been described, this embodiment is presented as an example and is not intended to limit the scope of the invention. This novel embodiment can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. This embodiment and its modifications are included in the scope and spirit of the invention, and are included in the invention and its equivalents described in the claims. [Explanation of symbols]

[0061] 1A, 1B, 1C... robot device, 10... housing, 11... camera device, 12... moving mechanism, 13A, 13B, 13C... CPU, 14... display device, 15... cleaning member, 131... imaging information acquisition unit, 132A, 132B, 132C... analysis unit, 133A, 133B, 133C... operation control unit

Claims

1. A camera device that photographs an area including a boarding position of the passenger conveyor; A moving mechanism; an analysis unit that analyzes image information captured by the camera device, and when a user is detected as being about to board the passenger conveyor, determines to move to a position behind or in front of the user; A moving body comprising: an operation control unit that controls the moving mechanism so as to move to the position determined by the analysis unit.

2. the passenger conveyor has a tread that moves in a predetermined direction; The moving body according to claim 1 , further comprising a housing having a width corresponding to the tread surface.

3. The moving body according to claim 1, wherein when the analysis unit detects a user attempting to board the passenger conveyor, the analysis unit acquires attribute information of the user and determines whether to move to a position behind or in front of the user based on the acquired attribute information.

4. the passenger conveyor is an escalator; The analysis unit analyzes the imaging information captured by the camera device, when acquiring information indicating that the user is wearing a skirt as attribute information of the user, determining to move to a position behind the user and to get on the escalator in conjunction with the movement of the user; When information indicating that the user is carrying baggage that is restricted from being brought onto the escalator is acquired as attribute information of the user, it is determined to move to a position in front of the user and stop there; When information is acquired as attribute information of the user that indicates that the user has difficulty maintaining an upright posture and is about to board an escalator moving upward, the robot moves to a position behind the user and determines to board the escalator in conjunction with the user's movement; When acquiring information indicating that the user has difficulty maintaining an upright posture and is about to board an escalator moving downward as attribute information of the user, the robot moves to a position in front of the user and determines to board the escalator in conjunction with the user's movement; When the information indicating that the user is wearing a skirt with the bottom end within a predetermined distance from the floor surface and is about to board an escalator moving upward is acquired as attribute information of the user, the robot moves to a position in front of the user and determines to board the escalator in conjunction with the user's movement; When the information indicating that the user is wearing a skirt with the bottom end within a predetermined distance from the floor surface and is about to board an escalator moving downward is acquired as the attribute information of the user, the robot moves to a position behind the user and decides to board the escalator in conjunction with the user's movement; When acquiring information indicating that the user is carrying baggage larger than a predetermined value and is about to board an escalator moving upward as attribute information of the user, the robot moves to a position behind the user and determines to board the escalator in conjunction with the user's movement; The mobile body of claim 1, which, when it acquires, as attribute information of the user, information indicating that the user is carrying luggage larger than a predetermined value and is about to board an escalator moving downward, moves to a position in front of the user and decides to board the escalator in conjunction with the user's movements.

5. The escalator tread surface is composed of stepped steps, The moving body according to claim 4 , further comprising a housing having a height corresponding to the steps.

6. Further comprising a display device, The moving body according to claim 1 , wherein the operation control unit causes the display device to display notification information for users of the passenger conveyor.

7. The moving body according to claim 1 , further comprising a cleaning member for cleaning an interior of the passenger conveyor.

8. A control device for the passenger conveyor is communicatively connected to the control device for the passenger conveyor. The analysis unit analyzes the image information captured by the camera device to generate information indicating a congestion state of the passenger conveyor, The moving body according to claim 1 , wherein the operation control unit transmits information indicating a congestion state of the passenger conveyor to a control device of the passenger conveyor.

9. The moving body according to claim 1 , further comprising a mechanism for changing a shape of the moving body in a width direction or a height direction.

10. A moving body including a camera device for photographing an area including a boarding position of a passenger conveyor and a moving mechanism, The method of controlling a moving object includes analyzing image information captured by the camera device, and when a user attempting to board the passenger conveyor is detected, determining to move to a position behind or in front of the user, and controlling the moving mechanism to move to the determined position.

Images