Autonomous mobile body control system, passenger conveyor, autonomous mobile body, autonomous mobile body control method, and program

Abstract

To operate and stop a passenger conveyor at appropriate timing regardless of the specifications of the passenger conveyor when an autonomous mobile body is made to get on the passenger conveyor, and to make the autonomous mobile body get on at a position not affected by step movement of a footstep during operation.SOLUTION: An autonomous mobile body control system according to an embodiment comprises: a first detection unit that is provided below the vicinity of an end of a getting-on-and-off board facing footsteps and is capable of detecting a first gap which is a gap between two footsteps passing through the vicinity of the end; a second detection unit that is provided below the getting-on-and-off board at a position separated by a predetermined distance from an installation position of the first detection unit and is capable of detecting a second gap which is a gap between the two circulating footsteps; and a first determination unit that determines that an autonomous mobile body can get on the footsteps if, after detecting the first gap, the second gap is not yet detected by the second detection unit or if the second gap is detected consecutively.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] Embodiments of the present invention relate to an autonomous movement control system, a passenger conveyor, an autonomous mobile body, an autonomous movement control method, and a program.

Background Art

[0002] In passenger conveyors such as escalators installed in commercial facilities, transportation facilities, etc., conventionally, the facility staff performs an operation to stop the operation and conducts daily inspections of the escalator by visual inspection of the appearance, listening to sounds, etc. Also, in the regular inspections performed by specialized contractors, simple confirmations equivalent to daily inspections are manually executed.

[0003] In such inspection work, labor saving is expected, and it is conceivable to have an autonomous mobile body such as a robot substitute for the daily inspections in accordance with the morning startup and the stop after business hours performed by the facility manager of the escalator. When having the autonomous mobile body perform the inspection work, the movement of the autonomous mobile body between floors is essential. Conventional circulating autonomous mobile bodies inside buildings used elevators for movement between floors, but when having the autonomous mobile body substitute for the daily management work of the escalator, it is necessary to have the autonomous mobile body board the escalator.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, when boarding an autonomous mobile onto a passenger conveyor such as an escalator, there are the following problems. When boarding an autonomous mobile onto a passenger conveyor, it must board at a position that is not affected by the step difference movement of the steps during operation. Also, in order to board an autonomous mobile onto a passenger conveyor, the passenger conveyor must be operated and stopped at an appropriate timing.

Means for Solving the Problems

[0006] The autonomous mobile control system according to the embodiment is an autonomous mobile control system including a passenger conveyor and an autonomous mobile connected to the passenger conveyor via a network, where the passenger conveyor includes a plurality of steps that are connected in an endless manner and move, a boarding and alighting platform disposed on the entrance side in the moving direction of the plurality of steps, where the plurality of steps are fed out, and a first detection unit provided below the vicinity of the end portion of the boarding and alighting platform facing the steps, and capable of detecting a first gap that is the gap between two steps passing through the vicinity of the end portion. A second detection unit is provided below the boarding and alighting platform and at a position separated from the installation position of the first detection unit by a predetermined distance, and is capable of detecting a second gap that is the gap between two steps that circulate. A drive control unit controls the drive of the circulating movement of the plurality of steps and stops the movement of the plurality of steps when the first detection unit detects the first gap. The autonomous mobile control system includes a first determination unit that determines that the autonomous mobile can board the steps when the second detection unit has not yet detected the second gap or has continuously detected the second gap after the detection of the first gap. The autonomous mobile includes a travel control unit that controls the travel of the autonomous mobile and performs control to board the autonomous mobile onto the steps when the first determination unit determines that the autonomous mobile can board the steps.

Brief Description of the Drawings

[0007]

Figure 1

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[0008] Hereinafter, embodiments will be described in detail with reference to the drawings. Note that the present invention is not limited by the following embodiments. Also, the constituent elements in the following embodiments include those that can be easily assumed by those skilled in the art or those that are substantially the same.

[0009] (First Embodiment) FIG. 1 is a diagram showing an example of the overall configuration of the autonomous movement control system 1000 according to the first embodiment.

[0010] As shown in FIG. 1, the autonomous movement control system 1000 includes an escalator 1 and a robot 200. The robot 200 rides on the escalator 1 and inspects the escalator 1 by imaging it with an imaging unit 210 provided in the robot 200. The robot 200 is an example of an autonomous mobile body.

[0011] The escalator 1 includes a plurality of steps 100, a railing panel 101, a handrail belt 102, a boarding and alighting opening 103, a boarding and alighting plate 104, a skirt guard panel 105, an inner deck 106, an outer deck 107, and an inlet 108, a first sensor 151, a second sensor 152, and a control device 300. The escalator 1 is an example of a passenger conveyor.

[0012] The plurality of steps 100 are connected in an endless manner. Each step 100 is formed of, for example, aluminum die-cast and is supported by a truss (not shown) having a set inclination angle. Also, each step 100 circulates and moves as a stepped platform between the boarding and alighting openings 103 on the upper and lower floors by a drive motor (not shown). That is, each step 100 moves while circulating between the boarding and alighting opening 103 on the upper floor and the boarding and alighting opening 103 on the lower floor. Thereby, each step 100 serves as a foothold for the users of the escalator 1.

[0013] The railing panel 101 is installed on both sides of a plurality of steps 100 in the width direction of the escalator 1. That is, a pair of railing panels 101 are installed facing each other with a plurality of steps 100 in between. The railing panel 101 is formed of, for example, transparent glass or acrylic.

[0014] The handrail belt 102 is configured such that a user can hold onto it when riding on the escalator 1. The handrail belt 102 is an endless belt and is movably wound around the peripheral edge of each of the pair of railing panels 101. The handrail belt 102 moves in synchronization with the movement of each step 100 by a drive motor (not shown). The handrail belt 102 is formed of, for example, rubber.

[0015] The landing plates 104 are respectively provided at the landing openings 103 located on the upper and lower floors. The landing plates 104 serve as footrests when users board and alight from the escalator 1 and are removably installed. A comb plate 104c in the shape of a comb is provided at the end of the landing plate 104 facing the steps 100. Below the landing plate 104, a drive motor and folded steps 100, etc. are stored. Hereinafter, the comb plate 104c may be referred to as the comb 104c.

[0016] That is, a plurality of steps 100 arranged in a staircase shape between the upper and lower floors are substantially horizontal with respect to each other near the landing plates 104 on the upper and lower floors, are pulled out from below the landing plate 104 on the entrance side, and are drawn into below the landing plate 104 on the exit side.

[0017] The skirt guard panel 105 extends in the extending direction of the escalator 1 near both ends in the width direction of a plurality of steps 100. The skirt guard panel 105 is composed of two pairs of tip panels 105f installed near the landing openings 103 on the upper and lower floors and a plurality of intermediate panels 105m installed between the tip panels 105f on the upper and lower floors.

[0018] That is, a pair of tip panels 105f are installed opposite to each other with the staircase 100 interposed therebetween near the upper and lower landing plates 104. These tip panels 105f are installed at positions straddling the front and rear of the comb plate 104c in the moving direction of the plurality of staircases 100.

[0019] Also, another pair of tip panels 105f are installed opposite to each other with the staircase 100 interposed therebetween near the upper and lower landing plates 104. These tip panels 105f are installed at positions straddling the front and rear of the comb plate 104c in the moving direction of the plurality of staircases 100.

[0020] A plurality of intermediate panels 105m are arranged between the tip panels 105f installed on the upper and lower floors on one side in the width direction of the plurality of staircases 100 so as to connect them. Also, a plurality of intermediate panels 105m are arranged between the tip panels 105f installed on the upper and lower floors on the other side in the width direction of the plurality of staircases 100 so as to connect them.

[0021] The inner deck 106 covers the upper end portion of the skirt guard panel 105. The outer deck 107 is installed adjacent to the inner deck 106 with the railing panel 101 interposed therebetween. In the space surrounded by the skirt guard panel 105, the inner deck 106, the outer deck 107, etc., equipment connected to an operation panel (not shown, for example) and other power distribution equipment are housed.

[0022] The inlets 108 are installed near the upper and lower boarding and alighting openings 103 so as to be connected to the respective tip panels 105f. From a pair of inlets 108 installed on the entrance side of the upper and lower boarding and alighting openings 103, the respective handrail belts 102 are paid out. Also, to a pair of inlets 108 installed on the exit side of the upper and lower boarding and alighting openings 103, the respective handrail belts 102 are retracted.

[0023] Below the boarding and alighting plate 104 in the truss, a first sensor 151, a second sensor 152, and a control device 300 are provided. Details of the first sensor 151, the second sensor 152, and the control device 300 will be described later.

[0024] Next, the details of the step 100 will be described. FIG. 2 is a perspective view showing the configuration of the step 100 of the escalator 1 according to the first embodiment. As shown in FIG. 2, the step 100 includes a bracket 21 having a substantially fan-shaped side surface shape, a tread surface 100a provided on the upper part of the bracket 21, and risers 23 arranged along the arc shape of the bracket 21.

[0025] A shaft mounting portion 24 is formed at the tip of the bracket 21, and a step connection shaft 25 is rotatably mounted thereon. The step connection shaft 25 is horizontally disposed at a predetermined interval along the moving direction of the step 100. The step connection 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. Further, a pair of left and right wheels (rear wheels) 27 are provided on both sides of the lower end of the riser 23 of the bracket 21. The pair of left and right wheels (rear wheels) 27 correspond to one wheel and the other wheel. Here, each of the left and right rear wheels is referred to as a rear wheel 27a, 27b, and when the left and right are not distinguished, it is referred to as a rear wheel 27.

[0026] Further, as shown in FIG. 2, demarcation lines are provided (attached) at both side edges and the front edge of the tread surface 100a of the step 100 in the present embodiment. The demarcation line is for making it easier to see the boundary between two consecutive steps 100, and is made of, for example, resin and colored yellow or the like. Here, the front edge is the edge in the traveling direction of the step 100.

[0027] Next, the first sensor 151 and the second sensor 152 will be described. FIG. 3 is a schematic diagram showing an example of the internal structure of the installation locations of the first sensor 151 and the second sensor 152 in the first embodiment. FIG. 4 is a schematic view showing an example of the installation positions of the first sensor 151 and the second sensor 152 in the first embodiment from the exterior of the escalator 1. FIG. 5 is a plan view showing an example of the tread surface 100a of a plurality of steps 100, the landing plate 104, and the comb 104c in the first embodiment as viewed from above.

[0028] As shown in FIG. 3, the first sensor 151 and the second sensor 152 are attached to the support member 155 (bracket) of the truss at the lower part of the inlet 108 at a position where they do not contact the step 100. Specifically, as shown in FIG. 4, the first sensor 151 is provided at a position about 100 mm away from the position corresponding to the comb 104c toward the landing plate 104 below the vicinity of the comb 104c, which is the end portion of the landing plate 104 facing the step 100. Note that such a distance is an example and is not limited thereto. The first sensor 151 is an example of the first detection unit.

[0029] Further, as shown in FIG. 4, the second sensor 152 is provided at a position separated from the installation position of the first sensor 151 by a predetermined distance on the side opposite to the comb 104c (the landing plate 104 side). The predetermined distance corresponds to the distance of the brake slip of the escalator 1, and for example, a distance of about 200 to 250 mm can be given. Here, the distance of the brake slip of the escalator 1 is the distance that the step 100 travels from when a stop command is sent to the escalator 1 until the movement of the step 100 of the escalator 1 actually stops. However, such a distance is an example and is not particularly limited. The second sensor 152 is an example of the second detection unit.

[0030] Each of the first sensor 151 and the second sensor 152 is a laser sensor in which the light emitting part and the light receiving part are integrated. Each of the first sensor 151 and the second sensor 152 emits a laser in a direction parallel to the landing plate 104 or the tread surface 100a of the step 100 from the light emitting part, and detects the gap between two consecutive steps 100 that circulate as shown in FIG. 5 based on the presence or absence of the reception of the laser reflected from the step 100 by the light receiving part.

[0031] That is, it is assumed that when each of the first sensor 151 and the second sensor 152 receives the reflected laser emitted from the light emitting unit at the light receiving unit, the gap is not detected because the laser is reflected by the step 100. On the other hand, when each of the first sensor 151 and the second sensor 152 does not receive the reflected laser emitted from the light emitting unit at the light receiving unit, it is assumed that the gap between two consecutive steps 100 is detected.

[0032] Here, the gap between two steps 100 detected by the first sensor 151 is referred to as the first gap, and the gap between two steps 100 detected by the second sensor 152 is referred to as the second gap.

[0033] Next, the details of the control device 300 will be described. FIG. 6 is a block diagram showing the functional configuration of the control device 300 according to the first embodiment. As shown in FIG. 6, the control device 300 mainly includes a communication unit 301, a determination unit 302, and a drive control unit 303.

[0034] The communication unit 301 is a functional unit responsible for communication with the robot 200. In the present embodiment, the communication unit 301 transmits the determination result by the determination unit 302 described later to the robot 200. Further, the communication unit 301 receives various instructions such as an operation instruction and a stop instruction of the escalator 1 from the robot 200.

[0035] The determination unit 302 determines the timing at which the robot 200 can board the step 100 using the detection results of the first sensor 151 and the second sensor 152. FIG. 7 is a diagram showing an example of determining the timing at which the robot 200 can board the step 100 by the determination unit 302 according to the first embodiment. FIG. 7 shows an example of viewing a plurality of steps 100 circulated by the escalator 1 from the side.

[0036] FIG. 7(a) shows the positions of the stairs 100, the first sensor 151, and the second sensor 152. FIG. 7(b) shows an example where the robot 200 can board the stairs 100. FIG. 7(c) shows an example where the robot 200 cannot board the stairs 100.

[0037] After the determination unit 302 detects the first gap between the two stairs 100 circulated by the first sensor 151, as shown in FIG. 7(b), when the second sensor 152 has not yet detected the second gap between the two stairs 100, it is determined that it is the timing when the robot 200 can board the stairs 100. That is, when the second gap has not yet reached the second sensor 152, as shown in FIG. 7(b), the tread surfaces 100a of the plurality of stairs 100 coming out of the comb 104c are in a horizontal state for a length of at least one stair 100, for example, 600 mm or the like. Therefore, the determination unit 302 determines that it is the timing when the robot 200 can board the stairs 100.

[0038] In addition, when the determination unit 302 continuously detects the second gap between the two stairs 100, it is determined that it is the timing when the robot 200 can board the stairs 100.

[0039] Also, after the determination unit 302 detects the first gap between the two stairs 100 circulated by the first sensor 151 and the second sensor 152 detects the second gap between the two stairs 100, but then the second sensor 152 no longer detects the second gap between the two stairs 100, the determination unit 302 determines that it is the timing when the robot 200 cannot board the stairs 100. That is, in this case, as shown in FIG. 7(c), the next stair 100 has circulated, and a step is generated in the continuous stairs 100 coming out of the comb 104c. Therefore, there is no continuous horizontal tread surface 100c, and there is no space for the robot 200 to board, so the determination unit 302 determines that it is the timing when the robot 200 cannot board.

[0040] Further, when the determination unit 302 determines that the robot 200 cannot board the step 100, and after the plurality of steps are slightly moved by the drive control unit 303 described later, when the second sensor 152 detects the second gap between the two steps 100, the determination unit 302 determines that the robot 200 can board the step 100. Here, the determination unit 302 is an example of the first determination unit.

[0041] The drive control unit 303 controls the drive of the cyclic movement of the plurality of steps by controlling the drive of a drive motor (not shown). In the present embodiment, when the first sensor 151 detects the first gap between the two steps 100, the drive control unit 303 stops the movement of the plurality of steps. After it is determined that the robot 200 cannot board the step 100, the drive control unit 303 slightly moves (inching) the plurality of steps 100.

[0042] Next, details of the robot 200 will be described. FIG. 8 is a block diagram showing a functional configuration of the robot 200 according to the first embodiment. As shown in FIG. 8, the robot 200 mainly includes a communication unit 201, a determination unit 202, an analysis unit 204, a travel control unit 203, and an imaging unit 210.

[0043] The imaging unit 210 is a camera and images the surrounding area of the robot 200 and a front area where the steps 100 of the escalator 1 are located.

[0044] The analysis unit 204 removes noise from the captured image of the front area captured by the imaging unit 210. Then, the analysis unit 204 performs image analysis on the captured image from which the noise has been removed, and detects the end portion of the step facing the descending plate, that is, the farthest front edge portion of the step 100 extending horizontally from the comb 104c. Specifically, the analysis unit 204 detects a demarcation line 30a (also referred to as a tip portion) attached to the farthest front edge portion of the step 100 extending horizontally from the comb 104c from the captured image of the front area.

[0045] FIG. 9 is a diagram showing an example of a front area detected by the robot 200 according to the first embodiment. FIG. 9(a) is a view of the landing 103 and the stairs 100 where the robot 200 is located as seen from above, and FIG. 9(b) shows a perspective view of the landing 103 and the stairs 100. FIG. 9(c) shows an image of the landing 103 and the stairs 100 as seen from the viewpoint of the robot 200.

[0046] As shown in FIGS. 9(a) and 9(b), the imaging unit 210 of the robot 200 images the front area within the fan-shaped imaging range 701 and obtains the imaging image shown in FIG. 9(c). Then, the analysis unit 204 detects the farthest demarcation line 30a of the stairs 100 extending horizontally from the comb 104c from the image captured within this imaging range 701.

[0047] Here, when the tread surfaces 100a of the plurality of stairs 100 are horizontal, in the captured image, as shown in FIG. 9(c), the demarcation lines 30 at both side edges of the stairs 100 appear continuously at the boundary 901 of the plurality of tread surfaces 100a. On the other hand, when there are steps in the tread surfaces 100a of the plurality of stairs 100, since the surface of the riser 23 of the stairs 100 is formed in an arc shape, the surface of the riser 23 of the stairs 100 on the side farther from the comb 104c protrudes toward the previous stairs 100 side. For this reason, in the captured image, the demarcation lines 30 at both side edges of the stairs 100 appear discontinuously at the boundary that is the step portion of the plurality of tread surfaces 100a.

[0048] Therefore, the analysis unit 204 determines the continuity of the demarcation lines 30 at both side edges of the stairs 100 from the captured image, specifies the range where the tread surfaces 100a are horizontally continuous, and detects the farthest demarcation line 30a. Here, the imaging unit 210 and the analysis unit 204 are examples of a detection unit.

[0049] The communication unit 201 is a functional unit responsible for communication with the control device 300 of the escalator 1. In the present embodiment, the communication unit 201 transmits various instructions such as an operation instruction and a stop instruction for the escalator 1 to the control device 300.

[0050] The determination unit 202 determines whether the distance from the comb 104c to the leading edge portion detected by the analysis unit 204, that is, the demarcation line 30, is longer than the tread length which is the length in the traveling direction of the predetermined step 100. Here, the tread length is, for example, 400 mm or the like, but is not limited thereto. The determination unit 202 is an example of a second determination unit.

[0051] FIG. 10 is a diagram for explaining a method of calculating the distance from the comb 104c to the farthest demarcation line 30a by the robot 200 according to the first embodiment. FIG. 10(a) is a side view of the robot 200 at the boarding and alighting opening 103 and a plurality of steps 100 that are circulated. FIG. 10(b) shows a figure for calculation.

[0052] The determination unit 202 calculates, from the captured image, the focal length from the imaging unit 210 to the comb 104c and the focal length to the farthest demarcation line 30a on the horizontal portion of the boarding and alighting opening 103, and determines the distance by which the step 100 protrudes from the comb 104c by calculating the difference between the two focal lengths. Then, when the distance from the comb 104c to the farthest demarcation line 30a on the horizontal portion of the boarding and alighting opening 103 is equal to or greater than the tread length (for example, 400 mm), the determination unit 202 determines that the robot 200 can board the step 100.

[0053] As shown in FIG. 10(a), let the height of the position of the imaging unit 210 of the robot 200 be X, the position of the farthest demarcation line 30a on the horizontal portion of the boarding and alighting opening 103m be point A, the position of the comb 104c be point B, and the distance from the comb 104c to the farthest demarcation line 30a on the horizontal portion of the boarding and alighting opening 103 be L.

[0054] As shown in Fig. 10(b), since the distance L is the distance between point A and point B, the determination unit 202 obtains the distance from the position of the imaging unit 210 to point A and the distance from the position of the imaging unit 210 to point B, and calculates the difference between the distance from the position of the imaging unit 210 to point A and the distance from the position of the imaging unit 210 to point B to calculate the distance L.

[0055] Therefore, the determination unit 202 obtains the focal length from the position of the imaging unit 210 of the robot 200 to point A detected from the image of the step 100 taken by the imaging unit 210, multiplies the pixel size of the imaging unit 210 by the focal length, and further divides by the resolution to calculate the distance from the imaging unit 210 to point A. Let this distance be f A be.

[0056] Then, the determination unit 202 calculates the angle θ A when looking at point A from the position of the height X of the imaging unit 210 as follows in (1). Also, the determination unit 202 calculates the horizontal distance L A from the imaging unit 210 to point A by the following formula (2).

[0057]

Equation

[0058] The determination unit 202 calculates for point B in the same manner as for point A using the following formulas (3) and (4).

Equation

[0059] Here, f B is the distance from the imaging unit 210 to point B, θ B is the angle when looking at point B from the position of the height X of the imaging unit 210, and L B is the horizontal distance from the imaging unit 210 to point A.

[0060] Then, the determination unit 202 calculates the distance L between the farthest demarcation line 30a on the horizontal part of the boarding and alighting opening 103 and the comb 104c by the following formula (5). L = L A -L B ···(5)

[0061] Next, when the determination unit 202 determines that the distance L > the step length (400 mm), it determines that the robot 200 can board the escalator 1. On the other hand, when L ≤ the step length (400 mm), the jog operation of the escalator 1 is performed, and it is necessary to make L > the step length (400 mm).

[0062] For example, in the case of the escalator 1 running at 30 m per minute, since 30 (m / minute) / 60 = 0.5 m / s, the step 100 of the escalator 1 moves 0.5 m every time it operates for 1 second. In order for the step 100 to move 0.1 m, a start-up of 0.2 seconds is required.

[0063] When L - 400 mm > 0, it is not necessary to operate the escalator 1. However, when L - 400 mm < 0, the determination unit 202 sends an instruction for jog operation to the escalator 1 via the communication unit 201, and performs the jog operation of the escalator 1 until L - 400 mm > 0.

[0064] L x = 400 mm - L, and the determination unit 202 x rounds up the calculation result of L / 10 to an integer. The determination unit 202 multiplies the integerized result by 0.2 seconds, and sends an instruction for jog operation to the escalator 1 via the communication unit 201 so as to move for the number of seconds of the result.

[0065] As an example, when the distance L from the step 100 to the outermost demarcation line 30a at the horizontal part of the boarding and alighting opening 103 from the comb 104c is 257 mm, it is necessary to move the step 100 by 143 mm. The jog operation time in this case is as follows. L x = 400 mm - 257 mm = 143 mm L x / 10 = 143 / 10 = 14.3 ≈ 15 15 × 0.2 (s) = 3 (s) 0.5 m × 3 (s) = 1.5 m

[0066] Therefore, the escalator 1 can move the step 100 by 1.5 m and position the farthest demarcation line 30a at the horizontal part of the boarding and alighting opening 103 of the step 100 at a position about 407 mm from the comb 104c.

[0067] Returning to FIG. 8, the travel control unit 203 controls the travel of the robot 200 by driving and controlling a drive motor (not shown) provided in the robot 200. In the present embodiment, when the determination unit 202 determines that the distance from the comb 104c to the demarcation line 30 detected by the analysis unit 204 is longer than the step length, the travel control unit 203 performs control to allow the robot 200 to board the step 100.

[0068] Next, the autonomous movement system control process by the autonomous movement system control system 1000 according to the first embodiment configured as described above will be described. First, the process of determining whether the robot 200 can board the step 100 will be described.

[0069] FIG. 11 is a flowchart showing an example of the procedure of the process of determining whether the robot 200 can board the step 100 according to the first embodiment. First, the robot 200 starts moving (S101). Then, when the robot 200 arrives at the boarding and alighting opening 103 (S102), it stops moving (S103). Here, the robot 200 determines its arrival at the boarding and alighting opening 103 based on the captured image by the imaging unit 210.

[0070] Next, the imaging unit 210 of the robot 200 captures an image of the front area including the step 100 at the horizontal part of the boarding and alighting opening 103 (S104). Next, the analysis unit 204 performs pre-processing such as noise removal and correction on the captured image captured by the imaging unit 210 (S105). Next, the analysis unit 204 detects the farthest demarcation line 30a (tip) at the horizontal part of the boarding and alighting opening 103 from the captured image on which the pre-processing has been performed (S106).

[0071] Then, the determination unit 202 determines whether the farthest demarcation line 30a (tip) has been detected (S107). If the farthest demarcation line 30a (tip) is not detected and not specified (S107: No), the determination unit 202 of the robot 200 transmits an operation signal indicating a jog instruction for the escalator 1 to the control device 300 of the escalator 1 via the communication unit 201 (S114). Then, the process returns to S104. As a result, the step 100 jogs on the escalator 1, so the robot 200 repeats the process from S104.

[0072] In S107, if the farthest demarcation line 30a (tip) is detected and specified (S107: Yes), the determination unit 202 calculates the stop position of the robot 200, that is, the distance from the comb 104c to the farthest demarcation line 30a (tip), by the above-described method (S108). Then, the determination unit 202 determines whether the calculated distance is within the range of values that the robot 200 can board, that is, whether the distance is greater than the step length (S109). If the distance is outside the range of values that the robot 200 can board, that is, if the distance is less than or equal to the step length (S109: No), the determination unit 202 of the robot 200 transmits an operation signal indicating a jog instruction for the escalator 1 to the control device 300 of the escalator 1 via the communication unit 201 (S114), and the process returns to S104. As a result, the step 100 jogs on the escalator 1, so the robot 200 repeats the process from S104.

[0073] In S109, if the distance is within the range of values that the robot 200 can board, that is, if the distance is greater than the step length (S109: Yes), the determination unit 202 determines that the robot 200 can board the step 100 of the escalator 1, and causes the traveling control unit 203 to travel the robot 200 and board the step 100 (S110). Then, the communication unit 201 transmits an operation signal to the control device 300 of the escalator 1 (S111). As a result, the escalator 1 operates with the robot 200 boarding the step 100.

[0074] Next, while on the step 100, the robot 200 performs an inspection operation on the escalator 1 (S112). Then, when the robot 200 has completed the implementation of the necessary inspection items, it gets off the step 100 to end the inspection (S113).

[0075] Here, the inspection operation of the escalator 1 includes checking for vibrations and abnormal noises of the step 100 during the operation of the escalator 1, checking the gap between the skirt guard panel 105 and the step 100 during boarding the escalator 1, checking for damage to the panel and triangular guard, etc. However, the inspection operation is not limited to these.

[0076] Next, the determination process of the boarding timing of the robot 200 on the step 100 by the robot 200 and the escalator will be described. FIG. 12 is a sequence diagram showing an example of the determination process of the boarding timing of the robot 200 on the step 100 by the robot 200 and the escalator according to the first embodiment.

[0077] First, similar to the determination process in FIG. 11, the robot 200 starts moving (S201). Then, when the robot 200 arrives at the boarding and alighting opening 103 (S202), it stops traveling (S203). Next, the communication unit 201 of the robot 200 transmits a stop operation instruction for inspection to the control device 300 of the escalator 1 (S204).

[0078] In the control device 300 of the escalator 1, when the communication unit 301 receives the stop operation instruction, the drive control unit 303 starts the stop operation of the escalator 1 (S205). Then, the determination unit 302 determines whether the first sensor 151 has detected the gap (the first gap) between the two steps 100 (S206). If the first sensor 151 has not detected the first gap (S206: No), it enters the state of waiting for the detection of the first gap.

[0079] When the first sensor 151 detects the first gap (S206: Yes), the determination unit 302 sends a stop instruction for the operation of the escalator 1 to the drive control unit 303. Upon receiving such a stop instruction, the drive control unit 303 stops the movement of the plurality of steps (S207).

[0080] Next, the determination unit 302 determines whether the second sensor 152 detects the gap (the second gap) between the two steps 100 (S208). When the second sensor 152 does not detect the second gap (S208: No), since the next step 100 has not yet moved, the determination unit 302 determines that the robot 200 can board, and transmits a boarding - possible notification to the robot 200 via the communication unit 301 (S213).

[0081] In the robot 200, when the communication unit 201 receives the boarding - possible notification, it determines that it is the timing when it can board the escalator 1 (S214). Then, the process proceeds to S104 in FIG. 11. Thereby, on the robot 200 side, the front area including the step 100 is imaged, and whether it is possible to board is determined based on the distance to the tip of the farthest demarcation line 30a in the process after S104.

[0082] In S208, when the second sensor 152 detects the second gap (S208: Yes), the determination unit 302 further continuously determines whether the second sensor 152 detects the second gap (S209). And when the second sensor 152 continuously detects the second gap (S209: Yes), since the next step 100 has just moved, the determination unit 302 determines that it is the timing when the robot 200 can board, and transmits a boarding - possible notification to the robot 200 via the communication unit 301 (S213).

[0083] In S209, when the second sensor 152 does not detect the second gap (S209: No), after the second gap is first detected in S208, the next step 100 further moves, and the second gap has passed the position of the second sensor 152. Therefore, the determination unit 302 determines that it is the timing when the robot 200 cannot board, and transmits a non-boardable notification to the robot 200 via the communication unit 301 (S210).

[0084] In the robot 200, when the communication unit 201 receives a non-boardable notification, the determination unit 202 determines that it is the timing when it is impossible to board the escalator 1. Then, in the escalator 1, the communication unit 201 transmits a jog operation instruction to the control device 300 so that the next step 100 gradually moves slightly and reaches the position of the second sensor 152 (S211).

[0085] In the control device 300 of the escalator 1, when the communication unit 301 receives a jog operation instruction, the drive control unit 303 executes a jog operation to slightly move the step 100 of the escalator 1 (S212). Then, the process returns to S209, and the determination unit 302 determines whether the second sensor 152 detects the second gap (S209). In this way, the determination of the detection of the second gap is repeated while the step 100 is jog-operated in S212.

[0086] Then, as a result of the jog operation, when the second sensor 152 detects the second gap (S209: Yes), since the next step 100 has just moved, the determination unit 302 determines that it is the timing when the robot 200 can board, and transmits a boardable notification to the robot 200 via the communication unit 301 (S213).

[0087] Thus, in this embodiment, the escalator 1 includes a plurality of steps 100 that are connected in an endless manner and move, a landing plate 104 that is disposed on the entrance side in the moving direction of the plurality of steps 100 and from which the plurality of steps 100 are extended, a first sensor 151 that is provided below the vicinity of a comb 104c which is an end portion of the landing plate 104 facing the steps 100 and is capable of detecting a first gap which is a gap between two steps passing through the vicinity of the comb 104c, a second sensor 152 that is provided below the landing plate 104 at a position separated from the installation position of the first sensor 151 by a predetermined distance and is capable of detecting a second gap which is a gap between two steps that circulate, a drive control unit 303 that controls the drive of the circulating movement of the plurality of steps 100 and stops the movement of the plurality of steps 100 when the first sensor 151 detects the first gap, and a determination unit 302 that determines that the robot 200 can board the step when the second sensor 152 has not yet detected the second gap or has continuously detected the second gap after the detection of the first gap, and a communication unit 301 that transmits the determination result by the determination unit 302 to the robot 200. Further, the robot 200 of this embodiment includes a communication unit 201 that receives the determination result from the escalator 1, and a travel control unit 203 that controls the travel of the robot 200 and performs control to allow the robot 200 to board the step 100 when the determination unit 302 determines that the robot 200 can board the step 100.

[0088] Therefore, according to this embodiment, by detecting the gap at the position near the comb 104c of the plurality of steps 100 that circulate and at the position in front of the landing plate 104 side from that position, the position of the step 100 can be known, so that it is possible to grasp how much the step 100 extends from the comb 104c. For this reason, according to this embodiment, it is possible to accurately determine the timing for the robot 200 to board the step 100, and regardless of the specifications of the escalator 1, it is possible to operate and stop the passenger conveyor at an appropriate timing, and it is also possible to board at a position not affected by the step difference movement of the steps during operation.

[0089] In addition, the determination unit 302 of the escalator 1 according to the present embodiment further detects the second gap by the second sensor 152 after detecting the first gap. However, if the second sensor 152 no longer detects the second gap thereafter, the robot 200 determines that it cannot board the step 100.

[0090] Therefore, according to the present embodiment, by more accurately grasping the operation of the step 100, it is possible to more accurately determine the timing for the robot 200 to board the step 100. Therefore, according to the present embodiment, regardless of the specifications of the escalator 1, the passenger conveyor can be operated and stopped at a more appropriate timing, and the robot can board at a position not affected by the step difference movement of the steps during operation.

[0091] In addition, after it is determined that the robot 200 cannot board the step 100, the drive control unit 303 of the escalator 1 according to the present embodiment slightly moves (inching) a plurality of steps 100. Further, after the plurality of steps 100 have moved slightly, if the second sensor 152 detects the second gap, the determination unit 202 determines that the robot 200 can board the step 100.

[0092] Therefore, according to the present embodiment, by more accurately grasping the operation of the step 100, it is possible to more accurately determine the timing for the robot 200 to board the step 100. Therefore, according to the present embodiment, regardless of the specifications of the escalator 1, the passenger conveyor can be operated and stopped at a more appropriate timing, and the robot can board at a position not affected by the step difference movement of the steps during operation.

[0093] In addition, the robot 200 according to the present embodiment includes an imaging unit 210 that images a front region including the tread surface 100a of the step 100 from the COG 104c, an analysis unit 204 that analyzes the captured image of the front region and detects the demarcation line 30a of the farthest front edge of the horizontally extending step 100, and a determination unit 202 that determines whether the distance from the COG 104c to the farthest demarcation line 30c is longer than the step length which is a predetermined length in the traveling direction of the step. The travel control unit 203 further performs control to allow the robot 200 to board the step 100 when the distance from the COG 104c to the farthest demarcation line 30c is longer than the step length.

[0094] Therefore, according to the present embodiment, based on the captured image of the range including the step 100 in the front region of the robot 200, the distance in which the plurality of tread surfaces 100a of the plurality of consecutive steps 100 extending horizontally are continuous is calculated from the COG 104c. Thus, it is possible to more reliably determine whether the robot 200 can board. Therefore, according to the present embodiment, regardless of the specifications of the escalator 1, the passenger conveyor can be operated and stopped at a more appropriate timing, and the robot 200 can board at a position not affected by the step difference movement of the steps during operation.

[0095] (Second Embodiment) In the first embodiment, the determination of the boarding timing of the robot 200 was performed on the side of the control device 300 of the escalator 1. However, in this second embodiment, the control device 300 transmits the detection results by the first sensor 151 and the second sensor 152 to the robot 200 each time, and the robot 200 determines the boarding timing of the robot 200 on its own side.

[0096] The configuration of the autonomous movement control system 1000, the configuration of the escalator 1, the configuration of the control device 300, and the configuration of the robot 200 according to the second embodiment are the same as those in the first embodiment. However, in this embodiment, the following points are different from the first embodiment.

[0097] The communication unit 301 of the control device 300 of the escalator 1 according to the present embodiment has the same functions as those in the first embodiment, and in addition, transmits the detection results by the first sensor 151 and the second sensor 152 to the robot 200 each time the results are detected. Further, the communication unit 301 receives an instruction regarding the drive control of the escalator 1 from the robot 200.

[0098] In addition, the communication unit 201 of the robot 200 in the present embodiment has the same functions as those in the first embodiment, and in addition, receives the detection results by the first sensor 151 and the second sensor 152 from the control device 300 of the escalator 1, and transmits an instruction regarding the drive control to the control device 300. Further, when the first gap is detected by the determination unit 202 of the communication unit 201, a stop instruction for the movement of the step 100 of the escalator 1 is transmitted to the control device 300 of the escalator 1 as an instruction for drive control.

[0099] In addition, the determination unit 202 of the robot 200 in the present embodiment has the same functions as those in the first embodiment, and in addition, has the functions of the determination unit 302 of the control device 300 of the escalator 1 according to the first embodiment.

[0100] That is, the determination unit 202 determines the timing at which the robot 200 can board the step 100 using the detection results of the first sensor 151 and the second sensor 152. Specifically, after the determination unit 202 detects the first gap between the two steps 100 circulated by the first sensor 151, and when the second sensor 152 has not yet detected the second gap between the two steps 100, the determination unit 202 determines that it is the timing at which the robot 200 can board the step 100.

[0101] In addition, when the determination unit 202 continuously detects the second gap between the two steps 100, the determination unit 202 determines that it is the timing at which the robot 200 can board the step 100.

[0102] Further, after the determination unit 302 detects the first gap between the two steps 100 traversed by the first sensor 151 and then the second sensor 152 detects the second gap between the two steps 100, if the second sensor 152 no longer detects the second gap between the two steps 100, the robot 200 determines that it is the timing when it is impossible to board the step 100.

[0103] Furthermore, when the determination unit 202 determines that the robot 200 cannot board the step 100, and after slightly moving a plurality of steps, if the second sensor 152 detects the second gap between the two steps 100, the robot 200 determines that it can board the step 100.

[0104] Next, the autonomous movement system control process by the autonomous movement system control system 1000 according to the second embodiment configured as described above will be described. The process of determining whether the robot 200 can board the step 100 is performed in the same manner as the process in the first embodiment described with reference to FIG. 11.

[0105] The determination process of the boarding timing of the robot 200 on the step 100 by the robot 200 and the escalator according to the second embodiment will be described. FIG. 13 is a flowchart showing an example of the procedure of the determination process of the boarding timing of the robot 200 on the step 100 according to the second embodiment. FIG. 13 shows only the process on the robot 200 side.

[0106] In the control device 300 of the escalator 1, the communication unit 301 transmits the detection results at the first sensor 151 and the second sensor 152 to the robot 200 each time. Further, in the control device 300, when the communication unit 301 receives an instruction regarding drive control from the robot 200, the drive control unit 303 controls the movement of the step 100 of the escalator 1 according to the instruction.

[0107] First, similar to the determination process in FIG. 11, the robot 200 starts moving (S201). Then, when the robot 200 arrives at the boarding and alighting opening 103 (S202), it stops traveling (S203). Next, the communication unit 201 of the robot 200 transmits a stop operation instruction for inspection to the control device 300 of the escalator 1 (S401). As a result, the escalator 1 starts a stop operation.

[0108] Next, based on the reception of the detection result from the control device 300, the determination unit 202 determines whether the first sensor 151 has detected the gap (the first gap) between the two steps 100 (S402). If the first sensor 151 has not detected the first gap (S402: No), it enters a state of waiting for the detection of the first gap.

[0109] If the first sensor 151 has detected the first gap (S402: Yes), the determination unit 202 transmits a stop instruction for the operation of the escalator 1 to the control device 3003 via the communication unit 201 (S403). As a result, the escalator 1 stops the movement of the plurality of steps.

[0110] Next, based on the reception of the detection result from the control device 300, the determination unit 202 determines whether the second sensor 152 has detected the gap (the second gap) between the two steps 100 (S404). If the second sensor 152 has not detected the second gap (S404: No), since the next step 100 has not yet moved, the determination unit 202 determines that the robot 200 can board (S407). Then, the process proceeds to S104 in FIG. 11. As a result, the robot 200 images the front area including the step 100, and determines whether it can board based on the distance to the tip of the farthest demarcation line 30a in the process after S104.

[0111] In S404, when the second sensor 152 detects the second gap (S404: Yes), the determination unit 202 further continuously determines whether the second sensor 152 detects the second gap (S405). Then, when the second sensor 152 continuously detects the second gap (S405: Yes), since the next step 100 has just moved, the determination unit 202 determines that it is the timing when the robot 200 can board (S407). Then, the process proceeds to S104 in FIG. 11.

[0112] In S405, when the second sensor 152 does not detect the second gap (S405: No), after the second gap is first detected in S404, the next step 100 has moved further, and the second gap has passed the position of the second sensor 152. Therefore, the determination unit 202 determines that it is the timing when the robot 200 cannot board, and the communication unit 201 transmits a jog operation instruction to the control device 300 (S406). Thereby, a jog operation for slightly moving the step 100 of the escalator 1 is executed. Then, the process returns to S405, and the determination unit 202 determines whether the second sensor 152 detects the second gap (S405). In this way, the determination of the detection of the second gap is repeated while the step 100 is jog-operated in S406.

[0113] Then, as a result of the jog operation, when the second sensor 152 detects the second gap (S405: Yes), since the next step 100 has just moved, the determination unit 202 determines that it is the timing when the robot 200 can board (S407). Then, the process proceeds to S104 in FIG. 11.

[0114] Thus, in this embodiment, the control device 300 transmits the detection results by the first sensor 151 and the second sensor 152 to the robot 200 each time, and on the robot 200 side, similar to the determination unit 302 of the control device 300 of the escalator 1 according to the first embodiment, the determination of the boarding timing of the robot 200 is performed. Therefore, according to this embodiment, similar to the first embodiment, regardless of the specifications of the escalator 1, the passenger conveyor can be operated and stopped at an appropriate timing, and passengers can board at a position not affected by the step difference movement of the steps during operation.

[0115] (Modification example) There are various modification examples in the above embodiment. In the above embodiment, the case where the robot 200 boards the step 100 that moves upward in the escalator 1 has been described as an example, but it is not limited thereto.

[0116] For example, this embodiment can also be applied when the robot 200 gets off the escalator 1. For example, after the robot 200 boards the escalator 1 and needs to get off, using the focal length (see FIG. 10) used in the first embodiment, the step 100 in front of the boarding step 100 is detected by the imaging unit 210 and the analysis unit 204, and the robot 200 may be configured to obtain the focal length from the imaging unit 210 to the step 100.

[0117] (Modification example 1) For example, when the robot 200 gets off the escalator 1 while the steps 100 of the escalator 1 are moving upward, after the robot 200 gets on the step 100, the imaging unit 210 detects the uppermost part of the riser 23 of the step 100 existing in the upper front, and the analysis unit 204 is configured to obtain the focal length to the uppermost part of the riser 23 by image processing. Then, as it approaches the disembarkation opening, since the position of the uppermost part of the riser 23 of the step 100 and the imaging unit 210 move apart, when the focal length becomes longer than a preset threshold value, the robot 200 transmits a stop operation instruction to the control device 300 of the escalator 1, and the control device 300 that has received the stop operation instruction can be configured to stop the operation of the escalator 1. Also in this Modification 1, the same operational effects as those of the first and second embodiments are achieved.

[0118] (Modification 2) For example, when the robot 200 gets off the escalator 1 while the steps 100 of the escalator 1 are moving downward, after the robot 200 gets on the step 100 of the escalator 1, the imaging unit 210 detects the tread surface 100a or the cleat of the step 100 existing in the lower front, and the analysis unit 204 is configured to calculate the focal length to the detected tread surface 100a or cleat by image processing. Then, as it approaches the disembarkation opening, since the position of the tread surface 100a or cleat of the step 100 and the imaging unit 210 move closer, when the focal length becomes shorter than a preset threshold value, the robot 200 transmits a stop operation instruction to the control device 300 of the escalator 1, and the control device 300 that has received the stop operation instruction can be configured to stop the operation of the escalator 1. Also in this Modification 2, the same operational effects as those of the first and second embodiments are achieved.

[0119] (Modification 3) Also, for example, when the distances of the tread surface 100a, the cleat, and the riser 23 are detected and the comb 104c is detected, the robot 200 transmits a stop operation instruction to the control device 300 of the escalator 1, and the control device 300 that has received the stop operation instruction can be configured to stop the operation of the escalator 1. Also in this Modification 3, the same operational effects as those of the first and second embodiments are achieved.

[0120] (Modification Example 4) In the above-described embodiment, the position of the step 100 was detected by detecting the gaps between the continuous steps 100 with the first sensor 151 and the second sensor 152. However, the method for detecting the position of the step 100 is not limited to this. For example, the escalator 1 may be configured to detect the position of the step 100 by detecting the rear wheel 27 of the step 100 using the first sensor 151 and the second sensor 152, or other sensors. Even in this case, the same operational effects as those of the first and second embodiments are achieved.

[0121] The control device 300 of the escalator 1 according to the above-described embodiment and modification example includes a control device such as a CPU, a storage device such as a ROM (Read Only Memory) and a RAM, an external storage device such as an HDD and a CD drive device, a display device such as a display device, and an input device such as a keyboard and a mouse, and has a hardware configuration using an ordinary computer.

[0122] The control program executed by the control device 300 of the escalator 1 according to the above-described embodiment and modification example is provided by being pre-embedded in a ROM or the like.

[0123] The control program executed by the control device 300 of the escalator 1 according to the above-described embodiment and modification example may be configured to be recorded and provided on a computer-readable recording medium such as a CD-ROM, a flexible disk (FD), a CD-R, a DVD (Digital Versatile Disk), etc. in an installable format or an executable format file.

[0124] Furthermore, the control program executed by the control device 300 of the escalator 1 according to the above-described embodiments and modified examples may be stored on a computer connected to a network such as the Internet and provided by being downloaded via the network. Also, the control program executed by the control device 300 of the escalator 1 according to the above-described embodiments and modified examples may be configured to be provided or distributed via a network such as the Internet.

[0125] The control program executed by the control device 300 of the escalator 1 according to the above-described embodiments and modified examples has a module configuration including the above-described respective parts (communication unit 301, determination unit 302, drive control unit 303). As actual hardware, the CPU (processor) reads the control program from the above-described ROM and executes it, whereby the above-described respective parts are loaded onto the main storage device, and the communication unit 301, determination unit 302, and drive control unit 303 are generated on the main storage device.

[0126] The robot 200 according to the above-described embodiments and modified examples includes a control device such as a CPU, a storage device such as a ROM and a RAM, an external storage device such as an HDD and a CD drive device, a display device such as a display, and an input device such as a touch panel, and has a hardware configuration using an ordinary computer.

[0127] The control program executed by the robot 200 according to the above-described embodiments and modified examples is provided by being pre-embedded in a ROM or the like.

[0128] The control program executed by the robot 200 according to the above-described embodiments and modified examples may be configured to be recorded and provided on a computer-readable recording medium such as a CD-ROM, a flexible disk (FD), a CD-R, a DVD, etc. in an installable format or an executable format file.

[0129] Furthermore, the control program executed by the robot 200 according to the above-described embodiments and modifications may be stored on a computer connected to a network such as the Internet and provided by being downloaded via the network. Also, the control program executed by the robot 200 according to the above-described embodiments and modifications may be configured to be provided or distributed via a network such as the Internet.

[0130] The control program executed by the robot 200 according to the above-described embodiments and modifications has a module configuration including the above-described respective parts (communication unit 201, analysis unit 204, determination unit 202, travel control unit 203). As actual hardware, the CPU (processor) reads the control program from the above-described ROM and executes it, whereby the respective parts are loaded onto the main storage device, and the communication unit 201, analysis unit 204, determination unit 202, and travel control unit 203 are generated on the main storage device.

[0131] Although some embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, 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 the equivalent scope thereof.

Description of Reference Numerals

[0132] 1... escalator (passenger conveyor), 100... step, 100a... tread surface, 103... boarding and alighting opening, 104... boarding and alighting plate, 104c... comb plate (comb), 105... skirt guard panel, 108... inlet, 151... first sensor, 152... second sensor, 200... robot (autonomous mobile body), 201... communication unit, 202... determination unit, 203... travel control unit, 204... analysis unit, 30, 30c... demarcation line, 300... control device, 301... communication unit, 302... determination unit, 303... drive control unit, 1000... autonomous mobile body control system.

Claims

1. An autonomous mobile control system comprising a passenger conveyor and an autonomous mobile connected to the passenger conveyor via a network, wherein the passenger conveyor includes a plurality of steps that are connected in an endless manner and move; a landing provided on the entrance side in the moving direction of the plurality of steps, from which the plurality of steps are extended; a first detection unit provided below the vicinity of the end portion of the landing facing the steps, capable of detecting a first gap that is the gap between two steps passing through the vicinity of the end portion; a second detection unit provided below the landing, at a position separated by a predetermined distance from the installation position of the first detection unit, capable of detecting a second gap that is the gap between two steps that circulate; a drive control unit that controls the drive of the circulating movement of the plurality of steps and stops the movement of the plurality of steps when the first detection unit detects the first gap; and the autonomous mobile control system includes a first determination unit that, after the detection of the first gap, determines that the autonomous mobile can board the steps when the second detection unit has not yet detected the second gap or has continuously detected the second gap; the autonomous mobile includes a travel control unit that controls the travel of the autonomous mobile and performs control to allow the autonomous mobile to board the steps when the first determination unit determines that the autonomous mobile can board the steps; An autonomous mobile control system comprising the above.

2. The first determination unit further determines that the autonomous mobile cannot board the steps when, after the detection of the first gap, the second detection unit detects the second gap, but then the second detection unit stops detecting the second gap. The autonomous mobile control system according to Claim 1.

3. After the drive control unit determines that the autonomous mobile cannot board the steps, the drive control unit slightly moves the plurality of steps. The first determination unit further determines that the autonomous mobile can board the steps when the second detection unit detects the second gap after the plurality of steps have been slightly moved. The autonomous mobile control system according to Claim 2.

4. The passenger conveyor further includes the first determination unit; a first communication unit that transmits the determination result by the first determination unit to the autonomous mobile. The autonomous mobile includes a second communication unit that receives the determination result from the passenger conveyor. ​ ​ When the traveling control unit receives from the passenger conveyor the determination result indicating that the autonomous mobile body can board the step, the traveling control unit performs control to cause the autonomous mobile body to board the step. The autonomous mobile body control system according to claim 3.

5. The passenger conveyor further includes a first communication unit that transmits the detection results by the first detection unit and the second detection unit to the autonomous mobile body and receives an instruction regarding the drive control of the passenger conveyor from the autonomous mobile body. The autonomous mobile body includes a second communication unit that receives the detection results by the first detection unit and the second detection unit from the passenger conveyor and transmits an instruction regarding the drive control to the passenger conveyor, and further includes the first determination unit. When the first determination unit detects the first gap, the second communication unit transmits a stop instruction for the movement of the step to the passenger conveyor as an instruction for the drive control. The autonomous mobile body control system according to claim 3.

6. The autonomous mobile body further includes a detection unit that detects a front region including the tread surface of the step from an end portion of the boarding and alighting plate facing the step, and detects the farthest front edge portion of the step extending horizontally from the detected front region, and a second determination unit that determines whether a distance from the end portion to the front edge portion detected is longer than a step length that is a predetermined length in the traveling direction of the step. When the distance from the end portion to the front edge portion detected is longer than the step length, the traveling control unit further performs control to cause the autonomous mobile body to board the step. The autonomous mobile body control system according to claim 1.

7. The detection unit includes an imaging unit that images the front region, and an analysis unit that analyzes an imaging image of the front region imaged by the imaging unit and detects the farthest front edge portion. The autonomous mobile body control system according to claim 6, comprising the above.

8. Each of the plurality of steps is provided with demarcation lines at both side edges and a front edge of a tread surface on which the autonomous mobile body can ride on the step. The boarding and alighting plate has a comb-shaped comp plate at an end portion facing the plurality of steps. The analysis unit detects a demarcation line attached to the farthest front edge portion. The second determination unit determines whether a distance from the comb plate to the demarcation line detected is longer than the step length. When the distance from the demarcation line detected from the complete to the step length is longer than the step length, the traveling control unit controls the traveling of the autonomous mobile body so that the autonomous mobile body gets on the passenger conveyor. The autonomous mobile body control system according to claim 7.

9. A passenger conveyor connected to an autonomous mobile body via a network, A plurality of steps that are connected in an endless manner and move, A landing plate that is disposed on the entrance side in the moving direction of the plurality of steps and from which the plurality of steps are extended, A first detection unit that is provided below the vicinity of the end of the landing plate facing the steps and can detect a first gap that is the gap between two steps passing through the vicinity of the end, A second detection unit that is provided below the landing plate and at a position separated from the installation position of the first detection unit by a predetermined distance and can detect a second gap that is the gap between two steps that circulate, A drive control unit that controls the drive of the circulating movement of the plurality of steps and stops the movement of the plurality of steps when the first detection unit detects the first gap, A determination unit that determines that the autonomous mobile body can board the steps when the second detection unit has not yet detected the second gap or has continuously detected the second gap after the first gap has been detected, A communication unit that transmits the determination result by the determination unit to the autonomous mobile body, A passenger conveyor comprising the above.

10. After detecting the first gap, the determination unit further determines that the autonomous mobile body cannot board the steps when the second detection unit has detected the second gap but then the second detection unit no longer detects the second gap. The passenger conveyor according to claim 9.

11. After it is determined that the autonomous mobile body cannot board the steps, the drive control unit slightly moves the plurality of steps. After the plurality of steps have moved slightly, the determination unit further determines that the autonomous mobile body can board the steps when the second detection unit detects the second gap. The passenger conveyor according to claim 10.

12. An autonomous mobile body connected to a passenger conveyor via a network, The passenger conveyor is A plurality of steps that are connected in an endless manner and move, A landing plate that is disposed on the entrance side in the moving direction of the plurality of steps and from which the plurality of steps are extended, A first detection unit provided below the end portion of the boarding and alighting plate near the end facing the tread, capable of detecting a first gap which is the gap between two treads passing through the vicinity of the end portion; A second detection unit provided below the boarding and alighting plate, at a position separated by a predetermined distance from the installation position of the first detection unit, capable of detecting a second gap which is the gap between two circulating treads; and the autonomous mobile body is provided with: The autonomous mobile body A communication unit that receives the detection results from the first detection unit and the second detection unit from the passenger conveyor; Based on the received detection results, after detecting the first gap, when the second detection unit has not yet detected the second gap, or when the second detection unit has continuously detected the second gap, a determination unit that determines that the autonomous mobile body can board the tread; A travel control unit that controls the travel of the autonomous mobile body, and when the determination unit determines that the autonomous mobile body can board the tread, performs control to cause the autonomous mobile body to board the tread; An autonomous mobile body comprising:

13. The determination unit further determines that the autonomous mobile body cannot board the tread when, after detecting the first gap, the second detection unit detects the second gap, but then the second detection unit stops detecting the second gap. The autonomous mobile body according to claim 12.

14. The determination unit further determines that the autonomous mobile body can board the tread when, after determining that the autonomous mobile body cannot board the tread, the plurality of treads move slightly and then the second detection unit detects the second gap. The autonomous mobile body according to claim 13.

15. The autonomous mobile body further comprises a detection unit that detects a front region including the tread surface from the end portion of the boarding and alighting plate facing the tread, and detects the farthest front edge portion of the horizontally extending tread from the detected front region. The determination unit further determines whether the distance from the end portion to the detected front edge portion is longer than the tread length which is a predetermined length in the traveling direction of the tread. The travel control unit further performs control to cause the autonomous mobile body to board the tread when the distance from the end portion to the detected front edge portion is longer than the tread length. The autonomous mobile body according to claim 12.

16. The detection unit An imaging unit that images the front region; An analysis unit that analyzes the captured image of the front region captured by the imaging unit and detects the farthest front edge portion. The autonomous mobile body according to claim 15, comprising

17. An autonomous mobile body control executed in an autonomous mobile body control system including a passenger conveyor and an autonomous mobile body connected to the passenger conveyor via a network, wherein the passenger conveyor includes a plurality of steps that are connected in an endless manner and move, a landing plate that is disposed on the entrance side in the moving direction of the plurality of steps and from which the plurality of steps are extended, a first detection unit that is provided below the vicinity of the end portion of the landing plate facing the steps and is capable of detecting a first gap that is a gap between two steps passing through the vicinity of the end portion, and a second detection unit that is provided below the landing plate at a position separated from the installation position of the first detection unit by a predetermined distance and is capable of detecting a second gap that is a gap between two steps that circulate, controlling the driving of the circulating movement of the plurality of steps, and stopping the movement of the plurality of steps when the first detection unit detects the first gap; after detecting the first gap, when the second detection unit has not yet detected the second gap or has continuously detected the second gap, determining that the autonomous mobile body can board the steps; controlling the running of the autonomous mobile body, and performing control to allow the autonomous mobile body to board the steps when it is determined that the autonomous mobile body can board the steps; An autonomous mobile body control method including the above steps.

18. A program for causing a computer of a passenger conveyor connected to an autonomous mobile body via a network to execute, wherein the passenger conveyor includes a plurality of steps that are connected in an endless manner and move, a landing plate that is disposed on the entrance side in the moving direction of the plurality of steps and from which the plurality of steps are extended, a first detection unit that is provided below the vicinity of the end portion of the landing plate facing the steps and is capable of detecting a first gap that is a gap between two steps passing through the vicinity of the end portion, and a second detection unit that is provided below the landing plate at a position separated from the installation position of the first detection unit by a predetermined distance and is capable of detecting a second gap that is a gap between two steps that circulate, controlling the driving of the circulating movement of the plurality of steps, and stopping the movement of the plurality of steps when the first detection unit detects the first gap; After detecting the first gap, when the second detection unit has not yet detected the second gap, or when the second gap has been continuously detected, a step of determining that the autonomous mobile body can board the step; A step of transmitting the determination result to the autonomous mobile body; A program for causing the computer to execute.

19. A program for causing a computer of an autonomous mobile body connected to a passenger conveyor via a network to execute, The passenger conveyor includes A plurality of steps that are connected in an endless manner and move; A boarding and alighting platform arranged on the entrance side in the moving direction of the plurality of steps, from which the plurality of steps are fed out; A first detection unit provided below the vicinity of the end portion of the boarding and alighting platform facing the steps, capable of detecting a first gap that is the gap between two steps passing through the vicinity of the end portion; A second detection unit provided below the boarding and alighting platform and at a position separated from the installation position of the first detection unit by a predetermined distance, capable of detecting a second gap that is the gap between two steps that circulate; A step of receiving the detection results from the first detection unit and the second detection unit from the passenger conveyor; Based on the received detection results, after detecting the first gap, when the second detection unit has not yet detected the second gap, or when the second gap has been continuously detected, a step of determining that the autonomous mobile body can board the step; A driving step of controlling the driving of the autonomous mobile body and, when it is determined that the autonomous mobile body can board the step, performing control to cause the autonomous mobile body to board the step; A program for causing the computer to execute.

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