Autonomous movable body, boarding availability determination method, and program

Abstract

To make an autonomous movable body ride on the location not affected by step motion of a footstep moving in a circular manner.SOLUTION: An autonomous movable body according to an embodiment comprises: a detection control unit which moves a supporting part by controlling a telescopic mechanism so that a detection unit is located at a first position which is the position of a tread surface of a footstep of a boarding plate with multiple footsteps being fed, near the end facing the footstep when the autonomous movable body arrives at an entrance of a passenger conveyor, controls the detection unit so as to detect a first distance corresponding to the distance between the first position and the tread surface, moves the supporting part by controlling the telescopic mechanism so that the detection unit is located at a second position which is the tread surface position away from the first position by the distance equivalent to the footstep length corresponding to the length of the footstep in the traveling direction, and controls the detection unit so as to detect a second distance corresponding to the distance between the second position and the tread surface; and a determination unit which determines whether or not the autonomous movable body can ride on the footstep based on the difference between the first distance and the second distance.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] Embodiments of the present invention relate to an autonomous mobile body, a method for determining whether boarding is possible, and a program.

Background Art

[0002] Conventionally, in passenger conveyors such as escalators installed in commercial facilities, transportation facilities, etc., the facility staff performs an operation to stop the operation, and also conducts a daily inspection of the escalator by visually observing the appearance, listening to sounds, etc. Also, in the regular inspection performed by a professional, a simple confirmation equivalent to the daily inspection is manually executed.

[0003] In such inspection work, labor saving is expected, and it is conceivable to substitute the daily inspection in accordance with the morning startup and the stop after business hours performed by the escalator facility manager with an autonomous mobile body such as a robot. When having the autonomous mobile body perform the inspection work, the movement of the autonomous mobile body between floors is essential. In the conventional in-building patrol-type autonomous mobile body, an elevator was used for moving between floors, but when substituting the autonomous mobile body 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

Patent Document 4

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, when boarding an autonomous mobile device on a passenger conveyor such as an escalator, it is necessary to board at a position where it is not affected by the step movement of the steps that are moving in a circular motion during operation.

Means for Solving the Problems

[0006] The autonomous mobile device according to the embodiment is an autonomous mobile device that can board on the steps of a passenger conveyor including a plurality of steps connected in an endless manner and moving, and is provided downward and can detect the distance from an object that may exist. A detection unit, a support unit that supports the detection unit, a telescopic mechanism that moves the support unit in the front-rear direction of the autonomous mobile device to expand and contract the distance between the detection unit and the autonomous mobile device, and when the autonomous mobile device arrives at a boarding and alighting opening that is an entrance in the moving direction of the plurality of steps in the passenger conveyor, the telescopic mechanism is controlled so that the detection unit is located at a first position that is a position near the tread surface of the step facing the step of the boarding and alighting plate where the plurality of steps are fed out and arranged at the boarding and alighting opening. Move the support unit so that the detection unit is controlled to detect a first distance that is the distance from the first position to the tread surface, and the telescopic mechanism is controlled so that the detection unit is located at a second position that is the position of the tread surface separated by a distance corresponding to the step length that is the length in the traveling direction of the step from the first position. A detection control unit that controls the detection unit to detect a second distance that is the distance from the second position to the tread surface, and a determination unit that determines whether or not the autonomous mobile device can board on the step based on the difference between the first distance and the second distance, and when it is determined by the determination unit that boarding is possible, a travel control unit that causes the autonomous mobile device to travel so as to board on the step.

Brief Description of the Drawings

[0007]

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BEST MODE FOR CARRYING OUT THE INVENTION

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

[0009] (Embodiment) FIG. 1 is a diagram showing an example of the overall configuration of the autonomous movement control system 1000 according to the 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. The robot 200 is an example of an autonomous mobile body. Details of the robot 200 will be described later.

[0011] The escalator 1 includes a plurality of steps 100, a railing panel 101, a handrail belt 102, an entrance / exit 103, a landing 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, for example, of 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 entrances / exits 103 on the upper and lower floors by a drive motor (not shown). That is, each step 100 moves while circulating between the entrance / exit 103 on the upper floor and the entrance / exit 103 on the lower floor. Thereby, each step 100 serves as a footrest for the users of the escalator 1.

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

[0014] The handrail belt 102 is configured to be graspable by a user when riding on the escalator 1. The handrail belt 102 is an endless belt and is movably wound around the respective peripheral edges of a 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 or the like.

[0015] The landing plates 104 are respectively provided at the entrances and exits 103 located on the upper and lower floors. The landing plates 104 serve as footrests when users get on and off the escalator 1 and are removably installed. A comb plate 104c in a comb shape is provided at the end of the landing plate 104 facing the step 100. Below the landing plate 104, a drive motor and the folded steps 100 and the like are stored. The width of the comb plate 104c is, for example, about 150 mm, but is not limited thereto. 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 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 pulled 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 entrances and exits 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 facing each other across the step 100 near the landing plate 104 on the upper floor. These tip panels 105f are installed at positions straddling before and after the comb plate 104c in the moving direction of a plurality of steps 100.

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

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

[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 sandwiched therebetween. Devices connected to an operation panel (not shown) and other power distribution devices and the like are housed in the space surrounded by the skirt guard panel 105, the inner deck 106, the outer deck 107, and the like.

[0022] The inlets 108 are installed near the upper and lower entrances 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 entrances 103, the respective handrail belts 102 are paid out. Also, the respective handrail belts 102 are paid in to a pair of inlets 108 installed on the exit side of the upper and lower entrances 103.

[0023] A control device 300 is provided below the landing plate 104 in the truss. The control device 300 controls a drive motor (not shown) to control the cyclic movement of the plurality of staircases 100.

[0024] Next, the details of the staircase 100 will be described. FIG. 2 is a perspective view showing the configuration of the step 100 of the escalator 1 according to the embodiment. As shown in FIG. 2, the step 1002 includes a bracket 21 having a substantially fan-shaped side surface shape, a tread surface (also referred to as a "cleat surface") 100a provided on the upper portion 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 connecting shaft 25 is rotatably mounted thereon. The step connecting shaft 25 is horizontally disposed at a predetermined interval along the moving direction of the step 100. The step connecting shaft 25 engages with the left and right step chains 3, and a pair of left and right wheels (front wheels) 26 are provided at both ends thereof. In addition, a pair of left and right wheels (rear wheels) 27 are provided on both sides of the lower end of the 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) on both side edges and the front edge of the tread surface 100a of the step 100 of the present embodiment. The demarcation line is for making it easier to see the boundary between two consecutive steps 100 and is, for example, made of resin and colored yellow or the like. Here, the front edge is the edge in the advancing direction of the step 100.

[0027] FIG. 3 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 embodiment as viewed from above. As shown in FIG. 3, the steps 100 are drawn out from the comb 104c. If the length of the tread surface 100a or the continuous tread surface 100a in the advancing direction is equal to or greater than the step length, the robot 200 can board the steps 100. That is, in order for the robot 200 to be able to board the steps 100, the tread surfaces 100a of at least two steps 100 need to form an estimated portion with a gap 501 therebetween and not form a step. Here, the step length is the length of the step in the advancing direction, for example, 400 mm or the like is applicable. However, it is not limited thereto.

[0028] The robot 200 of the present embodiment determines whether the robot 200 can board the steps 100 by determining the presence or absence of a step in such continuous steps 100. Hereinafter, the details of the robot 200 will be described.

[0029] FIG. 4 is a schematic diagram showing an example of the appearance of the robot 200 according to the embodiment. FIG. 4 shows a view of the robot 200 as seen from the side.

[0030] The robot 200 according to the present embodiment includes an imaging unit 210 at the upper part as shown in FIG. 4. This imaging unit 210 is, for example, a camera, and images a front region in the advancing direction of the robot 200. In the present embodiment, the front region includes, but is not limited to, the boarding and alighting plate 104, the comb 104c, the steps 100, and the like.

[0031] Further, the robot 200 includes a depth sensor 221, an arm 222, and a telescopic mechanism 230 in its main body portion. The depth sensor 221 is composed of, for example, a light emitting unit and a light receiving unit, and is a sensor that emits a laser or the like from the light emitting unit and receives the laser reflected by an object with the light receiving unit to detect the distance to the object. The depth sensor 221 is an example of a detection unit. Note that, as long as it is a sensor capable of detecting the distance to an object, a sensor other than the depth sensor can also be used.

[0032] The arm 222 holds the depth sensor 221 at its tip with the light emitting part and the light receiving part facing downward. The arm 222 is an example of a support part.

[0033] The telescopic mechanism 230 is a mechanism that moves the arm 222 in the front - rear direction of the robot 200 to expand and contract the distance between the depth sensor 221 and the main body of the robot 200. FIG. 5 is a schematic diagram showing an example of the configuration of the telescopic mechanism 230 and the arm 222 according to the embodiment. In the present embodiment, as shown in FIG. 5, the depth sensor 221 is attached to the lower surface of the tip of the arm 222. The light emitting part and the light receiving part of the depth sensor 221 face downward.

[0034] As shown in FIG. 5, the telescopic mechanism 230 moves the arm 211 in the front - rear direction of the robot 200 by a rack - and - pinion mechanism. That is, as shown in FIG. 5, the telescopic mechanism 230 includes a rack gear 231 attached to the upper surface of the arm 222, a circular pinion gear 232 that meshes with the rack gear 231, a shaft part 233 that is also received at the center of the pinion gear 232 and rotates the pinion gear 232, and a motor 234 that has a drive shaft via a gear (not shown) on the shaft part 233.

[0035] By rotating the motor 234 forward and backward, the pinion gear 232 is rotated by the shaft part 233, and the rotation is transmitted to the rack gear 231, causing the arm 222 to expand and contract in the left - right direction of FIG. 5, that is, in the front - rear direction of the robot 200. Here, the arm 222 has a length of at least the step length.

[0036] Next, the functional configuration of the robot 200 will be described. FIG. 6 is a block diagram showing an example of the functional configuration of the robot 200 according to the embodiment. The robot 200 according to the present embodiment includes, as described above, an imaging unit 210, a depth sensor 221, an arm 222, and a telescopic mechanism 230. Also, as shown in FIG. 6, the robot 200 of the present embodiment further includes a communication unit 201, an analysis unit 204, a determination unit 202, a detection control unit 205, and a travel control unit 203.

[0037] The communication unit 201 performs various communications with the control device 300 of the escalator 1. In the present embodiment, the communication unit 201 can transmit an operation stop command or an operation command for the escalator 1 to the control device 300. The analysis unit 204 analyzes the captured image captured by the imaging unit 210.

[0038] The detection control unit 205 is electrically connected to the depth sensor 221 and the motor 234 of the telescopic mechanism 230, and can control the depth sensor 221 and the telescopic mechanism 230 by sending various instructions to each of the depth sensor 221 and the motor 234 of the telescopic mechanism 230.

[0039] When the robot 200 arrives at the boarding and alighting opening 103 of the escalator 1, the detection control unit 205 controls the telescopic mechanism 230 (that is, the motor 234) to move the arm 222 so that the depth sensor 221 is located at a first position which is the position of the tread surface 100a of the step 100 near the comb 104c, which is the end facing the step 100 of the boarding and alighting plate 104 at the boarding and alighting opening 103, and controls the depth sensor 221 to detect a first distance which is the distance from the first position to the tread surface 100a.

[0040] Also, the detection control unit 205 controls the telescopic mechanism 230 (that is, the motor 234) to move the arm 222 so that the depth sensor 221 is located at a second position which is the position of the tread surface 100a at a distance corresponding to the step length from the first position, and controls the depth sensor 221 to detect a second distance which is the distance from the second position to the tread surface 100a.

[0041] The determination unit 202 calculates the difference between the first distance and the second distance detected by the depth sensor 221 under the control of the detection control unit 205. That is, the determination unit 202 calculates the difference between the first distance measured at the first position near the COM 104c and the second distance measured at the second position that is separated from the COM 104c by the step length. Then, the determination unit 202 determines whether the robot 200 can board the step 100 based on the difference.

[0042] Specifically, when the difference between the first distance measured at the COM 104c and the second distance measured at the position separated from the COM 104c by the step length is within a predetermined range, the determination unit 202 determines that the robot 200 can board the step 100. Here, the predetermined range is a range of 0 or a very small numerical value with an error degree, and it is a range of values that can determine that there is no step on the tread surface 100a of the step 100 and it is horizontal.

[0043] Therefore, when the difference between the first distance and the second distance is within the predetermined range, the determination unit 202 determines that there is no step on the tread surface 100a of the continuous step 100, and determines that the robot 200 can board the step 100.

[0044] On the other hand, when the difference between the first distance and the second distance is outside the predetermined range, the determination unit 202 determines that there is a step on the tread surface 100a of two continuous steps 100, and determines that the robot 200 cannot board the step 100.

[0045] Hereinafter, a specific example will be given for explanation. FIG. 7 is a diagram showing an example of the relationship between the first distance and the second distance and the step difference of the step 100 in the case of the upward operation in the escalator 1 according to the embodiment. In the example of FIG. 7, an example in which the robot 200 stops immediately before the comb 104c is shown. Further, in FIG. 7, the first position is a position separated from the front part of the main body of the robot 200 by the width of the comb 104c (for example, 150 mm), and the second position is a position separated from the first position by the step length (for example, 400 mm), that is, an example of a position separated from the front part of the main body of the robot 200 by about 550 mm is shown. The same applies to FIG. 8 described later.

[0046] In FIG. 7(a), the first distance and the second distance are unchanged and the difference is within a predetermined range. Therefore, it can be seen that there is no step difference between two consecutive steps 100 fed out from the comb 104c. Therefore, in the example of FIG. 7(a), the determination unit 202 determines that the robot 200 can board the step.

[0047] On the other hand, in FIG. 7(b), the second distance is smaller than the first distance and the difference is outside the predetermined range. Therefore, it can be seen that there is a step difference between two consecutive steps 100 fed out from the comb 104c. Therefore, in the example of FIG. 7(b), the determination unit 202 determines that the robot 200 cannot board the step.

[0048] In the example of FIG. 7, an example of the upward operation in which the step 100 moves upward is shown, but the same determination can be made in the case of the downward operation in which the step 100 moves downward.

[0049] FIG. 8 is a diagram showing an example of the relationship between the first distance and the second distance and the step difference of the step 100 in the case of the downward operation in the escalator 1 according to the embodiment. In FIG. 8(a), the first distance and the second distance are unchanged and the difference is within a predetermined range. Therefore, it can be seen that there is no step difference between two consecutive steps 100 fed out from the comb 104c. Therefore, in the example of FIG. 8(a), the determination unit 202 determines that the robot 200 can board the step.

[0050] On the other hand, in Fig. 8(b), the second distance is greater than the first distance, and the difference is outside the predetermined range. Therefore, it can be seen that there is a step between two consecutive steps 100 fed out from the comb 104c. For this reason, in the example of Fig. 8(b), the determination unit 202 determines that the robot 200 cannot board the step.

[0051] Fig. 9 is a schematic diagram showing an example in which the horizontal portion of the consecutive steps 100 fed out from the comb 104c in the embodiment is longer than the step length. That is, in the example of Fig. 9, since one or more steps 100 protrude from the comb 104c to the surface, the determination unit 202 determines that the robot 200 can board the step 100.

[0052] Fig. 10 is a schematic diagram showing an example in which the horizontal portion of the consecutive steps 100 fed out from the comb 104c in the embodiment is less than the step length. That is, in the example of Fig. 10, since one step portion of the step 100 does not protrude from the comb 104c to the surface, the determination unit 202 determines that the robot 200 cannot board the step 100.

[0053] Returning to Fig. 6, the traveling control unit 203 controls the traveling 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 robot 200 can board the step 100, the traveling control unit 203 causes the robot 200 to travel so as to board the step 100.

[0054] Next, the boarding determination process by the robot 200 according to the present embodiment configured as described above will be described. Fig. 11 is a flowchart showing an example of the procedure of the boarding determination process according to the embodiment.

[0055] First, the robot 200 starts moving (S11). Then, when the robot 200 arrives at the boarding and alighting port 103 (S12), it stops traveling (S13). The position of the boarding and alighting port 103 can be, for example, a position immediately before the comb 104c.

[0056] Here, the robot 200 determines its arrival at the boarding and alighting opening 103 or the position immediately before the comb 104c based on the captured image by the imaging unit 210. For example, when the analysis unit 204 analyzes the captured image and recognizes the comb 104c shown in the captured image or the screws existing immediately before the comb 104c on the boarding and alighting plate 104, the robot 200 may be determined to have arrived at the position at the boarding and alighting opening 103 or immediately before the comb 104c.

[0057] When the robot 200 arrives at the boarding and alighting opening 103, the communication unit 201 transmits an operation stop instruction to the control device 300 of the escalator 1 (S14). Thereby, upon receiving the operation stop, the control device 300 stops the operation of the escalator 1, that is, the circulating movement of the steps 100 according to the instruction.

[0058] Next, the detection control unit 205 controls the telescopic mechanism 230 to move the arm 222 forward and move the depth sensor 221 to the first position which is the position of the tread surface 100a of the step 100 near the comb 104c (S15). Then, the detection control unit 205 causes the depth sensor 221 to detect the first distance at the first position (S16).

[0059] Next, the detection control unit 205 controls the telescopic mechanism 230 to move the arm 222 forward and move the depth sensor 221 to the second position which is the position of the tread surface 100a separated from the first position by a distance corresponding to the step length (S17). Then, the detection control unit 205 causes the depth sensor 221 to detect the second distance at the second position (S18).

[0060] Next, the determination unit 202 obtains the difference between the first distance detected in S16 and the second distance detected in S18, and determines whether the difference is within a predetermined range (S19). When the difference is within the predetermined range (S19: Yes), the determination unit 202 determines that the robot 200 can board the step 100 (S20). Then, the traveling control unit 203 causes the robot 200 to travel and board the step 100 (S21). After that, the inspection work of the escalator 1 by the robot 200 is carried out.

[0061] Here, as the inspection work of the escalator 1, there are confirmation works such as checking for vibrations and abnormal noises of the steps 100 during the operation of the escalator 1, and confirmation works for the presence or absence of gaps between the skirt guard panel 105 and the steps 100 and damage to the panels and triangular guards during boarding the escalator 1. However, the inspection work is not limited to these.

[0062] In S19, when the difference is outside the predetermined range (S19: No), the determination unit 202 determines that the robot 200 cannot board the step 100 (S22). Then, the process proceeds to S15. In this case, the movement of the step 100 of the escalator 1 is restarted, and the process is repeatedly executed from S15.

[0063] As described above, in the robot 200 according to this embodiment, when the robot 200 arrives at the boarding and alighting opening 103 of the escalator 1, the detection control unit 205 controls the telescopic mechanism 230 so that the depth sensor 221 is positioned at the first position, which is the position of the tread surface 100a of the step 100 near the comb 104c, which is the end of the boarding and alighting plate 104 of the boarding and alighting opening 103 facing the step 100, by moving the arm 222, and controls the depth sensor 221 to detect the first distance, which is the distance from the first position to the tread surface 100a. Further, the detection control unit 205 controls the telescopic mechanism 230 to move the arm 222 forward so that the depth sensor 221 is positioned at the second position, which is the position of the tread surface 100a at a distance corresponding to the step length from the first position, and controls the depth sensor 221 to detect the second distance, which is the distance from the second position to the tread surface 100a. Then, the determination unit 202 determines whether the robot 200 can board the step 100 based on the difference between the first distance and the second distance detected by the depth sensor 221 under the control of the detection control unit 205.

[0064] Specifically, in this embodiment, the determination unit 202 of the robot 200 determines that the robot 200 can board the step 100 when the difference between the first distance and the second distance is within the predetermined range, and determines that the robot 200 cannot board the step 100 when the difference is outside the predetermined range.

[0065] Therefore, according to this embodiment, from the difference between the first distance to the tread surface 100a detected at the first position and the second distance to the tread surface 100a at the second position that is one tread length (tread length) away from the first position of the step 100, it is possible to determine whether there is one or more horizontal portions of the tread surface 100a of the continuous steps 100. That is, according to this embodiment, when the robot 200 is made to ride on the step 100 of the escalator 1, regardless of the differences in the specifications of the escalator 1 such as 1.5 steps or 3 steps of the horizontal portion, the horizontal portions of a plurality of continuous steps 100 can be accurately determined. Therefore, according to this embodiment, the robot 200 can be made to ride at a position that is not affected by the step movement of the step 100 that is moving in a circular motion during operation. Further, according to this embodiment, regardless of the differences in the specifications of the escalator 1, since the horizontal portions of a plurality of continuous steps 100 can be accurately determined on the robot 200 side, it is not necessary to provide a determination function for boarding on the escalator 1 side, and the processing on the escalator 1 side can be reduced.

[0066] (Modification example) In the above embodiment, the distance to the tread surface 100a was detected by the depth sensor 221 at two positions, namely, the first position near the comb 104c of the tread surface 100a and the second position that is one tread length away from the first position toward the step 100 side, but it is not limited to this.

[0067] For example, the detection control unit 205 can be configured to control the depth sensor 221 to detect the distance to the tread surface 100a while controlling the telescopic mechanism 230 to move the arm 222 forward at a predetermined interval.

[0068] In this case, when the depth sensor 221 detects the gap between two continuous steps 100, when the difference between the two distances detected before and after the gap is within a predetermined range, it is determined that the robot 200 can board the step 100, and when the difference between the two distances is outside the predetermined range, the determination unit 202 can be configured to determine that the robot 200 cannot board the step.

[0069] Here, when the distance detected by the depth sensor 221 is greater than the distance to the tread surface 100a and is equal to or greater than a predetermined threshold value, the determination unit 202 may be configured to determine that the gap between the two steps 100 has been detected.

[0070] FIG. 12 is a schematic diagram showing the relationship between the detected distance and the step difference of the step 100 in the modified example. FIG. 12 shows an example in which the step 100 moves upward, but the same applies when the step 100 moves downward.

[0071] In FIG. 12(a), the distances detected before and after the gap are unchanged and the difference is within a predetermined range. Therefore, it can be seen that there is no step difference between the two consecutive steps 100 fed out from the comb 104c. For this reason, in the example of FIG. 12(a), the determination unit 202 determines that the robot 200 can board the step.

[0072] On the other hand, in FIG. 12(b), there is a difference between the two distances detected before and after the gap, and the difference is outside the predetermined range. Therefore, it can be seen that there is a step difference between the two consecutive steps 100 fed out from the comb 104c. For this reason, in the example of FIG. 12(b), the determination unit 202 determines that the robot 200 cannot board the step.

[0073] According to this modified example, in the robot 200, the detection control unit 205 controls the telescopic mechanism 230 to move the arm 222 forward at a predetermined interval, and controls the depth sensor 221 to detect the distance to the tread surface 100a with the depth sensor 221. Further, when the depth sensor 221 detects the gap between the two steps 100, the determination unit 202 determines that the robot 200 can board the step 100 when the difference between the two distances detected before and after the gap is within a predetermined range, and determines that the robot 200 cannot board the step when the difference between the two distances is outside the predetermined range.

[0074] Therefore, according to this modification example, in addition to achieving the same effects as the above-described embodiment, before the depth sensor 221 moves from the first position near the COM 104c to the second position away from the tread length, the presence or absence of a step on the tread 100 can be determined, so that the determination of whether boarding is possible can be made earlier.

[0075] The robot 200 according to the above-described embodiment and modification example 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.

[0076] The boarding permission determination program executed by the robot 200 according to the above-described embodiment and modification example is provided by being pre-embedded in a ROM or the like.

[0077] The boarding permission determination program executed by the robot 200 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, or a DVD in an installable format or an executable format file.

[0078] Furthermore, the boarding permission determination program executed by the robot 200 according to the above-described embodiment and modification example may be configured to be stored on a computer connected to a network such as the Internet and provided by being downloaded via the network. Also, the boarding permission determination program executed by the robot 200 according to the above-described embodiment and modification example may be configured to be provided or distributed via a network such as the Internet.

[0079] The boarding permission determination program executed by the robot 200 according to the above-described embodiments and modification examples has a module configuration including the above-described respective units (communication unit 201, analysis unit 204, detection control unit 205, determination unit 202, travel control unit 203). As actual hardware, the CPU (processor) reads out the boarding permission determination program from the above-described ROM and executes it, whereby the above-described respective units are loaded onto the main storage device, and the communication unit 201, analysis unit 204, detection control unit 205, determination unit 202, and travel control unit 203 are generated on the main storage device.

[0080] 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

[0081] 1… escalator (passenger conveyor), 100… step, 100a… tread surface, 103… boarding and alighting opening, 104… boarding and alighting plate, 104c… comb plate (comb), 200… robot (autonomous mobile body), 201… communication unit, 202… determination unit, 203… travel control unit, 204… analysis unit, 205… detection control unit, 300… control device, 221… depth sensor, 222… arm (support unit), 230… telescopic mechanism, 231… 1000… autonomous movement control system.

Claims

1. An autonomous moving body that can ride on a step of a passenger conveyor having a plurality of steps that are endlessly connected and move, A detection unit that is provided facing downward and is capable of detecting a distance to a possible object; A support portion that supports the detection portion; an extension / retraction mechanism that moves the support unit in a front-rear direction of the autonomous moving body to extend or shorten a distance between the detection unit and the autonomous moving body; a detection control unit that controls the telescopic mechanism, when the autonomous moving body arrives at an entrance that is an entrance in the movement direction of the multiple steps on the passenger conveyor, to move the support unit so that the detection unit is located at a first position that is a position of a tread of the step near an end of a boarding / alighting plate that is arranged at the entrance and from which the multiple steps are extended, facing the step, and controls the detection unit to detect a first distance that is a distance from the tread at the first position, and controls the telescopic mechanism to move the support unit so that the detection unit is located at a second position that is a position of the tread a distance equivalent to a step length that is a length of the steps in the movement direction, from the first position, and controls the detection unit to detect a second distance that is the distance from the tread at the second position; a determination unit that determines whether or not the autonomous moving body can ride on the step based on a difference between the first distance and the second distance; a travel control unit that travels the autonomous moving body so as to ride on the steps when the determination unit determines that riding is possible; and An autonomous moving body comprising:

2. the determination unit determines that the autonomous moving body can get on the step when the difference is within a predetermined range, and determines that the autonomous moving body cannot get on the step when the difference is outside the predetermined range. The autonomous moving body according to claim 1 .

3. The detection control unit controls the telescopic mechanism to move the support unit forward at a predetermined interval, while controlling the detection unit to cause the detection unit to detect the distance to the tread surface, When the detection unit detects a gap between two consecutive steps, the determination unit determines that the autonomous moving body can board the step if a difference between two distances detected before and after the gap is within the predetermined range, and determines that the autonomous moving body cannot board the step if the difference between the two distances is outside the predetermined range. The autonomous moving body according to claim 2 .

4. A boarding permission determination method executed by an autonomous mobile body that can board on the steps of a passenger conveyor having a plurality of steps that are connected endlessly and move, comprising: The autonomous mobile body includes: a detection unit provided downward and capable of detecting the distance to a potentially existing object; a support unit that supports the detection unit; a telescopic mechanism that moves the support unit in the front-rear direction of the autonomous mobile body to expand and contract the distance between the detection unit and the autonomous mobile body; and when the autonomous mobile body arrives at a boarding and alighting opening that is an entrance in the moving direction of the plurality of steps in the passenger conveyor, controlling the telescopic mechanism to move the support unit so that the detection unit is located at a first position that is the position of the tread surface of the step near an end facing the step of a boarding and alighting plate disposed at the boarding and alighting opening and from which the plurality of steps are extended; controlling the detection unit to detect a first distance that is the distance to the tread surface at the first position; controlling the telescopic mechanism to move the support unit so that the detection unit is located at a second position that is the position of the tread surface separated from the first position by a distance corresponding to the step length that is the length of the step in the traveling direction of the step; controlling the detection unit to detect a second distance that is the distance to the tread surface at the second position; determining whether boarding on the step of the autonomous mobile body is possible based on the difference between the first distance and the second distance; when it is determined that boarding is possible, causing the autonomous mobile body to travel so as to board on the step; A boarding permission determination method including the above steps.

5. A program for causing a computer of an autonomous mobile body that can board on the steps of a passenger conveyor having a plurality of steps that are connected endlessly and move, to execute, comprising: The autonomous mobile body includes: a detection unit provided downward and capable of detecting the distance to a potentially existing object; a support unit that supports the detection unit; a telescopic mechanism that moves the support unit in the front-rear direction of the autonomous mobile body to expand and contract the distance between the detection unit and the autonomous mobile body; and when the autonomous mobile body arrives at a boarding and alighting opening that is an entrance in the moving direction of the plurality of steps in the passenger conveyor, controlling the telescopic mechanism to move the support unit so that the detection unit is located at a first position that is the position of the tread surface of the step near an end facing the step of a boarding and alighting plate disposed at the boarding and alighting opening and from which the plurality of steps are extended; Controlling the detection unit to detect a first distance which is the distance from the first position to the tread surface; Controlling the telescopic mechanism to move the support unit so that the detection unit is located at a second position which is the position of the tread surface at a distance corresponding to the tread length, which is the length in the advancing direction of the tread, from the first position; Controlling the detection unit to detect a second distance which is the distance from the second position to the tread surface; Judging whether the autonomous mobile body can board the tread based on the difference between the first distance and the second distance; When it is judged that boarding is possible, causing the autonomous mobile body to travel so as to board the tread; A program for causing the computer to execute the above.

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