Autonomous mobile body, passenger conveyor boarding control method and program

Abstract

To make an autonomous mobile body board on a passenger conveyor while preventing a deterioration in operation efficiency of the passenger conveyor.SOLUTION: An autonomous mobile body according to an embodiment includes: a detection part for detecting torque due to rotation of wheels; an imaging part arranged at a boarding-alighting port being an entrance in a movement direction of a plurality of footsteps to continuously image the plurality of footsteps delivered from a boarding-alighting plate on which the autonomous mobile body can travel; an image analysis part for analyzing a plurality of imaged images continuously imaged by the imaging part and calculating a horizontal movement speed which is a movement speed while the plurality of footsteps are moving horizontally; and a drive control part for rotationally driving the wheels in a first direction so as to bring the autonomous mobile body closer to the footsteps on the boarding-alighting plate, and making the autonomous mobile body board on the footsteps by stopping rotational drive of the wheels when detected wheel torque is an opposite direction to the first direction in the case that the detection part detects the wheel torque.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] An embodiment of the present invention relates to an autonomous moving body, a passenger conveyor boarding control method, and a program. [Background technology]

[0002] In recent years, autonomous mobile bodies such as robots have been used to clean passenger conveyors such as escalators and perform equipment inspections. When using the passenger conveyor of an autonomous mobile body to move up or down floors, the operating passenger conveyor is stopped or the moving speed of the patrolling steps is adjusted before the autonomous mobile body gets on or off the passenger conveyor. Furthermore, when the autonomous mobile body gets on the passenger conveyor, the passenger conveyor is operated exclusively for the autonomous mobile body to avoid sharing the passenger conveyor with other users. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6516074 [Patent Document 2] Japanese Patent Application Publication No. 2019-1613 [Patent Document 3] Japanese Patent Application Publication No. 2019-1612 Summary of the Invention [Problem to be solved by the invention]

[0004] As described above, the conventional technology has the problem that stopping the passenger conveyor, adjusting the moving speed, and operating the passenger conveyor exclusively for the autonomous moving body leads to a decrease in the operating efficiency of the passenger conveyor.

[0005] It is also possible to confirm information between the autonomous moving body and the passenger conveyor, but this would require the establishment of mechanisms for exchanging and confirming information in both the autonomous moving body and the passenger conveyor, which would result in the problem of complicating the configurations of both the autonomous moving body and the passenger conveyor. [Means for solving the problem]

[0006] The autonomous mobile body of one embodiment is an autonomous mobile body that can ride on the steps of a passenger conveyor that has a plurality of steps that are connected endlessly and move in a circular motion, and is equipped with wheels, a detection unit that detects the torque caused by the rotation of the wheels, an imaging unit that is arranged at a boarding / alighting entrance that is the entrance to the direction of movement of the plurality of steps and that continuously images the plurality of steps that are extended from a boarding / alighting platform on which the autonomous mobile body can travel, an image analysis unit that analyzes the multiple images continuously captured by the imaging unit and calculates a horizontal movement speed that is the movement speed of the plurality of steps when they are moving horizontally, and a drive control unit that drives the wheels to rotate in a first direction so as to bring the autonomous mobile body closer to the steps on the boarding / alighting platform, and when the torque of the wheels is detected by the detection unit, and the detected torque of the wheels is in the direction opposite to the first direction, stops the rotational drive of the wheels, thereby allowing the autonomous mobile body to ride on the steps. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a diagram illustrating an example of the overall configuration of an autonomous mobile object control system according to an embodiment. [Figure 2] FIG. 2 is a perspective view showing the configuration of steps of the passenger conveyor according to the embodiment. [Figure 3] FIG. 3 is a plan view showing an example of the tread surfaces of a plurality of steps, boarding and alighting plates, and combs as viewed from above in the embodiment. [Figure 4] FIG. 4 is a block diagram illustrating an example of a configuration of a robot according to an embodiment. [Figure 5] FIG. 5 is a diagram for explaining an example of the length of the robot when riding on an escalator that moves upward in the embodiment. [Figure 6] FIG. 6 is a diagram illustrating an example of the length of the robot when riding on an escalator that moves downward in the embodiment. [Figure 7]FIG. 7 is a flowchart illustrating an example of a procedure of the escalator getting-on / off control process according to the embodiment. [Figure 8] FIG. 8 is a flowchart illustrating an example of the procedure (continuation) of the escalator getting on and off control process according to the embodiment. [Figure 9] FIG. 9 is a diagram showing an example of a base point when riding on an escalator that moves upward in the embodiment. [Figure 10] FIG. 10 is a diagram showing an example of a state of confirmation of a user when riding on an escalator that moves upward in the embodiment. [Figure 11] FIG. 11 is a diagram showing an example of a boarding reference position when boarding an escalator that moves upward in the embodiment. [Figure 12] FIG. 12 is a diagram showing an example of a state in which the robot adjusts its speed when riding on an escalator that moves upward in the embodiment. [Figure 13] FIG. 13 is a diagram illustrating an example of a state in which a robot enters a step that moves upward in the embodiment. [Figure 14] FIG. 14 is a diagram showing an example of a state in which the front wheels are on the steps when riding on an escalator that is moving upward in the embodiment. [Figure 15] FIG. 15 is a diagram showing an example of a state in which the rear wheels are on the steps when riding on an escalator that moves upward in the embodiment. [Figure 16] FIG. 16 is a diagram showing an example of a state in which the front wheels run onto the board when a passenger gets off the escalator that is moving upward in the embodiment. [Figure 17] FIG. 17 is a diagram showing an example of a state in which the rear wheels run onto the boarding / alighting plate when a passenger gets off the escalator that is moving upward in the embodiment. [Figure 18] FIG. 18 is a diagram showing an example of a base point when riding on an escalator that moves downward in the embodiment. [Figure 19] FIG. 19 is a diagram showing an example of a state of confirmation of a user when riding on an escalator that is moving downward in the embodiment. [Figure 20] FIG. 20 is a diagram showing an example of a boarding reference position when boarding an escalator that is moving downward in the embodiment. [Figure 21] FIG. 21 is a diagram showing an example of a state in which the robot adjusts its speed when riding on a descending escalator in the embodiment. [Figure 22] FIG. 22 is a diagram illustrating an example of a state in which a robot in an embodiment steps onto a step that moves downward. [Figure 23] FIG. 23 is a diagram showing an example of a state in which the front wheels are on the steps when riding on a descending escalator in the embodiment. [Figure 24] FIG. 24 is a diagram showing an example of a state in which the rear wheels are on the steps when riding on an escalator that is moving downward in the embodiment. [Figure 25] FIG. 25 is a diagram showing an example of a state in which the front wheels run onto the board when a passenger gets off the escalator that is moving downward in the embodiment. [Figure 26] FIG. 26 is a diagram showing an example of a state in which the rear wheels run onto the board when a passenger gets off the escalator that is moving upward in the embodiment. DETAILED DESCRIPTION OF THE INVENTION

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

[0009] (Embodiment) FIG. 1 is a diagram illustrating an example of the overall configuration of an autonomous mobile control system 1000 according to an embodiment. As shown in FIG. 1, the autonomous mobile object control system 1000 includes an escalator 1 and a robot 200.

[0010] The robot 200 rides on the escalator 1 and performs various tasks such as inspecting the escalator 1. As shown in FIG. 1, the robot 200 can move using wheels 211. The robot 200 is also provided with an imaging unit 210. The robot 200 is an example of an autonomous moving body. Details of the robot 200 will be described later.

[0011] Escalator 1 includes a plurality of steps 100, balustrade panels 101, handrail belts 102, entrance / exit doors 103, boarding / exiting boards 104, skirt guard panels 105, inner decks 106, outer decks 107, inlets 108, first sensors 151, second sensors 152, and a control device 300. Escalator 1 is an example of a passenger conveyor. In the example of FIG. 1, the control device 300 and robot 200 of escalator 1 are connected via a network, but in this embodiment, they do not necessarily need to be connected via a network.

[0012] Here, the boarding / alighting entrance 103 is an entrance in the direction of movement of the multiple steps 100. In the example of Fig. 1, the boarding / alighting entrance 103 is shown to be provided at the bottom of the escalator 1, but the boarding / alighting entrance 103 may also be provided on the upper side (not shown) of the escalator 1. The boarding / alighting board 104 is a plate-like member that is placed at the boarding / alighting entrance 103 and on which the robot 200 can travel.

[0013] The steps 100 are connected endlessly. Each step 100 is made of, for example, aluminum die-casting and is supported by a truss (not shown) at a set inclination angle. Each step 100 moves cyclically as a stepped platform between the boarding / alighting entrances 103 on the upper and lower floors by a drive motor (not shown). In other words, each step 100 moves in a circle between the boarding / alighting entrances 103 on the upper floor and the boarding / alighting entrances 103 on the lower floor. As a result, each step 100 serves as a foothold for users of the escalator 1.

[0014] The balustrade panels 101 are installed on both sides of the multiple steps 100 in the width direction of the escalator 1. In other words, a pair of balustrade panels 101 are installed opposite each other with the multiple steps 100 in between. The balustrade panels 101 are formed of, for example, transparent glass or acrylic.

[0015] The handrail belt 102 is configured so that users can place their hands on it while riding the escalator 1. The handrail belt 102 is an endless belt that is movably wound around the periphery of each of the pair of balustrade 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 made of, for example, rubber.

[0016] The boarding and alighting plates 104 are provided at the entrances 103 located on the upper and lower floors, respectively. The boarding and alighting plates 104 serve as footholds for users when getting on and off the escalator 1, and are installed in a removable manner. A comb-tooth shaped comb plate 104c is provided at the end of the boarding and alighting plate 104 facing the steps 100. A drive motor and folded steps 100, etc., are stored under the boarding and alighting plate 104. The width of the comb plate 104c is, for example, approximately 150 mm, but is not limited to this. Note that hereinafter, the comb plate 104c may also be referred to as comb 104c.

[0017] In other words, the multiple steps 100 arranged in a staircase pattern between the upper and lower floors are approximately horizontal to each other near the boarding and alighting boards 104 of the upper and lower floors, and are pulled out from below the boarding and alighting board 104 on the entrance side and retracted below the boarding and alighting board 104 on the exit side.

[0018] The skirt guard panels 105 extend in the extension direction of the escalator 1 near both widthwise ends of the multiple steps 100. The skirt guard panels 105 are composed of two pairs of end panels 105f installed near the boarding / alighting entrances 103 on the upper and lower floors, and multiple intermediate panels 105m installed between the end panels 105f on the upper and lower floors.

[0019] That is, a pair of tip panels 105f are installed near the boarding / alighting board 104 on the upper floor, facing each other across the steps 100. These tip panels 105f are installed at positions spanning the front and rear of the comb plate 104c in the moving direction of the multiple steps 100.

[0020] In addition, another pair of tip panels 105f are installed near the boarding / alighting board 104 on the lower floor, facing each other across the steps 100. These tip panels 105f are installed at positions spanning the front and rear of the comb plate 104c in the moving direction of the multiple steps 100.

[0021] A plurality of intermediate panels 105m are arranged between the tip panels 105f installed on the upper and lower floors on one side of the width of the plurality of steps 100 so as to connect them. In addition, a plurality of intermediate panels 105m are arranged between the tip panels 105f installed on the upper and lower floors on the other side of the width of the plurality of steps 100 so as to connect them.

[0022] The inner deck 106 covers the upper end of the skirt guard panel 105. The outer deck 107 is installed adjacent to the inner deck 106 with the parapet panel 101 in between. In the space enclosed by the skirt guard panel 105, the inner deck 106, the outer deck 107, etc., devices connected to an operation panel (not shown) and other power distribution devices are housed, for example.

[0023] The inlets 108 are installed near the upper and lower floor entrances 103 so as to be connected to the respective end panels 105f. Of the upper and lower floor entrances 103, a pair of inlets 108 installed on the entrance side each have a handrail belt 102 that is reeled out. Also, of the upper and lower floor entrances 103, a pair of inlets 108 installed on the exit side each have a handrail belt 102 that is reeled in.

[0024] A control device 300 is provided below the boarding and alighting plate 104 on the truss. The control device 300 controls a drive motor (not shown) to control the cyclic movement of the plurality of steps 100.

[0025] Next, the steps 100 will be described in detail. Fig. 2 is a perspective view showing the configuration of a step 100 of an escalator 1 according to an embodiment. As shown in Fig. 2, a step 1002 includes a bracket 21 having a substantially fan-shaped side surface, a tread surface (also referred to as a "cleat surface") 100a provided on the upper part of the bracket 21, and a riser 23 arranged along the arc shape of the bracket 21. As shown in Fig. 2, the arc-shaped portion of the riser 23 protrudes on the opposite side of the moving direction of the step 100, i.e., towards the previous step 100.

[0026] A shaft mounting portion 24 is formed at the tip of the bracket 21, to which a step connecting shaft 25 is rotatably attached. The step connecting shafts 25 are arranged horizontally at a predetermined interval along the direction of movement of the steps 100. This step connecting shaft 25 is engaged with the left and right step chains 3, and a pair of left and right wheels (front wheels) 211A is provided at both ends of the step connecting shaft 25. In addition, a pair of left and right wheels (rear wheels) 211B is provided on both sides of the lower end of the riser 23 of the bracket 21. When the front wheels 211A and rear wheels 211B are not distinguished, they will be referred to as wheels 211.

[0027] Furthermore, as shown in Fig. 2, the steps 100 of this embodiment are provided with demarcation lines on both side edges and the front edge of the tread surface 100a. The demarcation lines are intended to make the boundary between two consecutive steps 100 easier to see, and are made of resin and colored yellow, for example. Here, the front edge refers to the edge of the steps 100 in the traveling direction.

[0028] FIG. 3 is a plan view showing an example of the tread surfaces 100a, boarding / alighting plates 104, and combs 104c of the steps 100 in the embodiment as viewed from above. As shown in Figure 3, steps 100 are extended from comb 104c, and robot 200 can ride on steps 100 if the length of step surface 100a or consecutive step surfaces 100a in the direction of travel is equal to or greater than the step length. In other words, for robot 200 to be able to ride on steps 100, the tread surfaces 100a of at least two steps 100 must form a horizontal portion with gap 501 between them, without forming a step. Here, step length refers to the dimension of the steps in the direction of travel, and is, for example, 400 mm. However, it is not limited to this.

[0029] Next, the robot 200 will be described in detail. FIG. 4 is a block diagram showing an example of the configuration of the robot 200 according to the embodiment. 4, the robot 200 according to this embodiment mainly includes the pair of left and right front wheels 211A described above, the pair of left and right rear wheels 211B described above, a pair of left and right torque sensors 213A corresponding to the front wheels 211A, a pair of left and right torque sensors 213B corresponding to the rear wheels 211B, an imaging unit 210, and a control device 250.

[0030] The front wheels 211A and rear wheels 211B are independently controlled by a drive control section 252 of a control device 250, which will be described later. Each of the pair of left and right torque sensors 213A is provided on the rotation shaft of the front wheel 211A and detects the rotation torque relative to the rotation shaft of the front wheel 211A. Each of the pair of left and right torque sensors 213B is provided on the rotation shaft of the rear wheel 211B and detects the rotation torque relative to the rotation shaft of the rear wheel 211B. The positive or negative sign of the torque detected by the torque sensor 213 indicates the direction of the torque, and the direction of the torque coincides with the rotation direction of the wheels 211 (front wheel 211A, rear wheel 211B). The drive control unit 252, which will be described later, determines the rotation direction of the wheels 211 (front wheel 211A, rear wheel 211B) from the direction of the torque detected by the torque sensor 213. The pair of left and right torque sensors 213A and the pair of left and right torque sensors 213B are an example of a detection unit.

[0031] The imaging unit 210 is provided on the front of the robot 200 and is a camera or the like that continuously captures images of the area in front of the robot 200. In this embodiment, the imaging unit 210 continuously captures images of the multiple steps 100 extended from the boarding and alighting board 104 at predetermined time intervals.

[0032] 5 and 6 are diagrams illustrating an example of the length of the robot 200 in this embodiment. Fig. 5 shows an example of riding on the steps 100 of an escalator 1 that is moving upward, and Fig. 6 shows an example of riding on the steps 100 of an escalator 1 that is moving downward.

[0033] When the robot 200 steps onto the step 100 while it is moving upward, the length LR1 from the front end (also referred to as the tip) of the robot 200 to the ground contact area of ​​the rear wheel 211B is set shorter than the step length L1 of the step 100 minus the protruding dimension L2 of the step 100 due to the riser 23, as shown in Fig. 5, so that the robot 200 can step onto the step 100. Here, the protruding dimension is the length of the portion where two consecutive steps 100 moving across a step overlap at the step portion. In other words, the protruding dimension is the length by which the upper end of the upper step 100 of the two consecutive steps 100 protrudes toward the lower step 100 due to the riser 23.

[0034] Furthermore, when the robot 200 steps onto the step 100 while it is moving downward, in order to enable the robot 200 to step onto the step 100, the length LR2 from the rear end (also called the rear end or rear tail) of the robot 200 to the ground contact portion of the front wheel 211A is shorter than the length obtained by subtracting the protruding dimension L2 of the riser 23 of the step 100 from the step length L1 of the step 100, as shown in Figure 6.

[0035] 4, the control device 250 is a device that performs various controls of the robot 200. As shown in FIG.

[0036] The image analysis unit 251 analyzes a plurality of captured images taken consecutively at a predetermined time interval by the imaging unit 210. Then, the image analysis unit 251 calculates the horizontal movement speed, which is the movement speed of the steps 100 when they are moving horizontally, from the change in the positions of the plurality of steps shown in the plurality of captured images and the time intervals between the images.

[0037] Furthermore, the image analysis unit 251 identifies a base point from the positions of the multiple steps 100 in the multiple captured images. Here, the base point is a position where the multiple steps 100 change from horizontal movement to step movement. When the steps 100 are moving upward, the image analysis unit 251 identifies, from the captured images, a position where the steps 100 change from horizontal movement to upward movement as the base point. On the other hand, when the steps 100 are moving downward, the image analysis unit 251 identifies, from the captured images, a position where the steps 100 no longer appear in the captured images where the steps 100 change from horizontal movement to downward movement as the base point.

[0038] When multiple steps 100 are moving upward, the image analysis unit 251 identifies, as multiple boarding reference positions, positions at distances obtained by adding the protruding dimension to the distance of each integral multiple of the step length of the steps 100 from the identified base point (see FIG. 11). Here, the boarding reference positions are virtual positions where the front wheel 211A and the rear wheel 211B can remain positioned on one step 100. When multiple steps 100 are moving downward, the image analysis unit 251 identifies, as multiple boarding reference positions, positions at distances obtained by subtracting the protruding dimension from the distance of each integral multiple of the step length of the steps 100 from the identified base point (see FIG. 20). Note that the boarding reference positions may also be referred to as boarding reference points. Furthermore, the image analysis unit 251 determines the presence of a user ahead from the captured image.

[0039] The drive control unit 252 rotationally drives and controls the wheels 211. Specifically, the drive control unit 252 rotationally drives the wheels 211 in a first direction so as to move the robot 200 closer to the steps 100 on the boarding and alighting plate 104. Specifically, when the image analysis unit 251 determines that no user is present ahead, the drive control unit 252 rotationally drives the wheels 211 in the first direction so as to move the robot 200 closer to the steps 100 on the boarding and alighting plate 104.

[0040] The drive control unit 252 drives the wheels 211 to rotate so that the robot 200 approaches the steps 100 from the boarding reference position at a horizontal movement speed.

[0041] Furthermore, the drive control unit 252 adjusts the movement speed of the robot 200 and drives the wheels 211 to rotate so that the front or rear end of the robot 200 overlaps with the boarding reference position until the robot 200 reaches the boarding reference position. Specifically, when the robot 200 gets on the step 100 that is moving upward, the movement speed of the robot 200 is adjusted and the wheels 211 are driven to rotate so that the front end of the robot 200 overlaps with the boarding reference position until the robot 200 reaches the boarding reference position. On the other hand, when the robot 200 gets on the step 100 that is moving downward, the movement speed of the robot 200 is adjusted and the wheels 211 are driven to rotate so that the rear end of the robot 200 overlaps with the boarding reference position until the robot 200 reaches the boarding reference position. Then, the drive control unit 252 drives the wheels 211 to rotate so that the movement speed of the robot 200 approaches the step 100 from the boarding reference position at the horizontal movement speed of the step 100.

[0042] That is, the drive control unit 252 drives the wheels 211 to rotate so that the robot 200 first slows down and then accelerates to move to the boarding reference position, and then drives the wheels 211 to rotate so that the movement speed of the robot 200 approaches the step 100 at a horizontal movement speed from the boarding reference position.

[0043] When the torque sensor 213 detects the torque of the wheels 211, the drive control unit 252 determines the rotation direction of the wheels 211 (front wheels 211A, rear wheels 211B) from the direction of the torque detected by the torque sensor 213. Then, when the drive control unit 252 determines that the direction of the torque of the wheel 211 detected by the torque sensor 213 is opposite to the first direction, the drive control unit 252 stops the rotational drive of the wheel 211, thereby controlling the robot 200 to move onto the step 100.

[0044] Furthermore, when the torque of the wheel 211 is detected by the torque sensor 213 while the robot 200 is standing on the step 100, if the drive control unit 252 determines that the torque of the wheel 211 detected by the torque sensor 213 is in the same direction as the first direction, it controls the robot 200 to dismount from the step 100 by rotating the wheel 211 in the first direction.

[0045] More specifically, the drive control unit 252 independently drives and rotates the pair of left and right front wheels 211A and the pair of left and right rear wheels 211B. The drive control unit 252 drives and rotates the front wheels 211A and the rear wheels 211B in a first direction so that the robot 200 approaches the steps on the boarding / alighting board 104.

[0046] When the torque sensor 213A detects the torque of the front wheel 211A, and the drive control unit 252 determines that the direction of the torque of the front wheel 211A detected by the torque sensor 213A is opposite to the first direction, the drive control unit 252 performs control to stop the rotational drive of the front wheel 211A. Then, when the torque sensor 213B detects the torque of the rear wheel 211B, and the drive control unit 252 determines that the direction of the torque of the rear wheel 211B detected by the torque sensor 213B is opposite to the first direction, the drive control unit 252 performs control to stop the rotational drive of the rear wheel 211B, and causes the robot 200 to ride on the steps 100.

[0047] When the torque sensor 213A detects the torque of the front wheel 211A while the robot 200 is standing on the steps 100, if the drive control unit 252 determines that the direction of the torque of the front wheel 211A detected by the torque sensor 213A is the same as the first direction, the drive control unit 252 drives the front wheel 211A to rotate in the first direction. Then, when the torque sensor 213B detects the torque of the rear wheel 211B thereafter, if the drive control unit 252 determines that the direction of the torque of the rear wheel 211B detected by the torque sensor 213B is the same as the first direction, the drive control unit 252 controls the robot 200 to move down from the steps 100 by driving the rear wheel 211B to rotate in the first direction.

[0048] Next, the escalator getting-on / off control process performed by the robot 200 according to this embodiment configured as described above will be described.

[0049] 7 and 8 are flowcharts showing an example of the procedure of the escalator getting on and off control process according to the embodiment. In explaining FIGS. 7 and 8, schematic diagrams (FIGS. 9 to 17) illustrating an example in which the robot 200 gets on the step 100 moving upward and schematic diagrams (FIGS. 8 to 26) illustrating an example in which the robot 200 gets on the step 100 moving downward will also be explained.

[0050] That is, the processes of Figures 7 and 8 are performed in the same way both when the robot 200 gets on and off the step 100 moving upward on the escalator 1 and when the robot 200 gets on and off the step 100 moving downward on the escalator 1.

[0051] First, the imaging unit 210 of the robot 200 takes images of the steps 100 of the escalator 1 continuously at predetermined time intervals to obtain a plurality of captured images (S11). Then, the image analysis unit 251 analyzes the captured images to detect the base point BP (S12).

[0052] 9 and 18 are diagrams showing an example of a base point BP in an embodiment. As shown in Fig. 9, when the step 100 is moving upward, the image analysis unit 251 detects, as the base point BP, the position where the step 100 changes from horizontal movement to upward movement, which is step movement. Also, as shown in Fig. 18, when the step 100 is moving downward, the image analysis unit 251 detects, as the base point BP, the position where the step 100 changes from horizontal movement to downward movement, which is step movement. Here, Figs. 8 and 18 also show a virtual step 120 below the boarding and alighting plate 104 in order to determine a position on the step 100 where the robot 200 can get on.

[0053] Returning to FIG. 7, next, the image analysis unit 251 determines whether or not the user is captured in the captured image (whether or not the user is detected) (S13).

[0054] 10 and 19 are diagrams showing an example of a state of user confirmation in the embodiment. As shown in FIGS. Returning to FIG. 7, if a user is detected (S13: Yes), the system waits until the user leaves.

[0055] On the other hand, if a user is not detected (S13: No), the drive control unit 252 drives the front wheels 211A and the rear wheels 211B to rotate in the first rotation direction, and starts approaching the steps 100 (S14). As a result, the robot 200 travels on the boarding / alighting plate 104 toward the steps 100. Then, the image analysis unit 251 analyzes the multiple captured images and calculates the horizontal movement speed of the steps 100 (S15). Next, the image analysis unit 251 analyzes the captured images and sets a boarding reference position P (S16).

[0056] 11 and 20 are diagrams showing an example of the boarding reference position P in the embodiment. As shown in Fig. 11, in the case of upward movement, the image analysis unit 251 sets a plurality of boarding reference positions P1 to P5. In addition, in the case of downward movement, as shown in Fig. 20, the image analysis unit 251 sets a plurality of boarding reference positions P9 to P13. Here, in Figs. 11 and 20, the plurality of boarding reference positions P9 to P13 are shown on a virtual step 120 to indicate which positions on the step 120 they correspond to.

[0057] Returning to FIG. 7 , next, the drive control unit 252 adjusts the movement speed of the robot 200 so that the front or rear end of the robot 200 overlaps with the boarding reference position P (S17). That is, when the robot 200 gets on the step 100 that is moving upward, the movement speed of the robot 200 is adjusted and the wheels 211 are rotationally driven so that the front end of the robot 200 overlaps with the boarding reference position P until the robot 200 reaches the boarding reference position P. On the other hand, when the robot 200 gets on the step 100 that is moving downward, the movement speed of the robot 200 is adjusted and the wheels 211 are rotationally driven so that the rear end of the robot 200 overlaps with the boarding reference position P until the robot 200 reaches the boarding reference position P. More specifically, the drive control unit 252 rotationally drives the front wheels 211A and the rear wheels 211B so that the robot 200 temporarily decelerates and then accelerates to move to the boarding reference position P.

[0058] 12 and 21 are diagrams showing an example of a state in which the robot 200 is adjusting its speed in the embodiment. As shown in Fig. 12, in the case of upward movement, the drive control unit 252 adjusts the movement speed of the robot 200 so that the front end of the robot 200 overlaps with the loading reference position P3. Also, as shown in Fig. 21, in the case of downward movement, the drive control unit 252 adjusts the movement speed of the robot 200 so that the rear end of the robot 200 overlaps with the loading reference position P11.

[0059] 7, next, the image analysis unit 251 analyzes the captured image to determine whether or not the robot 200 has reached the boarding reference position P (S18). If the robot 200 has not yet reached the boarding reference position P (S18: No), the process returns to S17, and the drive control unit 252 adjusts the movement speed.

[0060] 13 and 22, when the robot 200 reaches the boarding reference position P (S18: Yes), the drive control unit 252 rotationally drives the front wheels 211A and the rear wheels 211B so that the movement speed of the robot 200 approaches the step 100 from the boarding reference position P at the horizontal movement speed of the step 100 calculated in S15 (S19). As a result, when the step 100 is moving upward, the robot 100 moves closer to the step 100 while maintaining its leading edge at the boarding reference position P as the step 100 moves. When the step 100 is moving downward, the robot 100 moves closer to the step 100 while maintaining its trailing edge at the boarding reference position P as the step 100 moves.

[0061] 13 and 22 are diagrams showing an example of a state in which the robot 200 in the embodiment steps onto the steps 100. As shown in FIGS.

[0062] 7, the drive control unit 252 determines whether or not torque in the direction opposite to the rotation direction (i.e., the first rotation direction) is generated in the front wheel 211A by the torque sensor 213A (S20). If torque in the direction opposite to the rotation direction is not generated in the front wheel 211A (S20: No), the process returns to S19, and the approach to the step 100 continues.

[0063] On the other hand, if torque in the direction opposite to the rotation direction is generated in the front wheel 211A (S20: Yes), this means that the front wheel 211A has stepped onto the step 100. 14 and 23 are diagrams showing an example of a state in which the front wheel 211A is placed on the step 100 in the embodiment. Therefore, the drive control unit 252 stops the rotational driving of the front wheel 211A (S21). However, since the rear wheel 211B is still on the boarding / alighting board 104, the drive control unit 252 continues the rotational driving of the rear wheel 211B.

[0064] Then, the drive control unit 252 determines whether or not torque in the direction opposite to the rotation direction (i.e., the first rotation direction) is generated in the rear wheel 211B by the torque sensor 213B (S22). If torque in the direction opposite to the rotation direction is not generated in the rear wheel 211B (S22: No), the process remains on standby, and the drive control unit 252 continues to drive the rear wheel 211B to rotate.

[0065] On the other hand, if torque in the direction opposite to the rotation direction is generated in the rear wheel 211B (S22: Yes), this means that the rear wheel 211B has stepped onto the step 100. 15 and 24 are diagrams showing an example of a state in which the rear wheel 211B is placed on the step 100 in the embodiment. Therefore, the drive control unit 252 stops the rotational drive of the rear wheel 211B (S23). As a result, the robot 200 is placed on the step 100 and moves together with the step 100.

[0066] Next, the drive control unit 252 determines whether or not torque in the same direction as the first rotation direction is generated in the front wheel 211A by the torque sensor 213A (S24). If torque in the same direction as the first rotation direction is not generated in the front wheel 211A (S24: No), the process remains on standby.

[0067] On the other hand, if torque in the same direction as the first rotation direction is generated in the front wheel 211A (S24: Yes), this means that the front wheel 211A has moved from the step 100 onto the boarding / alighting plate 104.

[0068] 16 and 25 are diagrams showing an example of a state in which the front wheel 211A climbs onto the boarding / deboarding plate 104 in the embodiment. Therefore, the drive control unit 252 drives the front wheel 211A to rotate in the first rotation direction so that the robot 200 moves at a horizontal movement speed (S25). Note that, because the rear wheel 211B is still on the steps 100, the drive control unit 252 does not drive the rear wheel 211B to rotate.

[0069] Next, the drive control unit 252 determines whether or not torque in the same direction as the first rotation direction is generated in the rear wheel 211B by the torque sensor 213B (S26). If torque in the same direction as the first rotation direction is not generated in the rear wheel 211B (S26: No), the process remains on standby.

[0070] On the other hand, if torque in the same direction as the first rotation direction is generated in the rear wheel 211B (S26: Yes), this means that the rear wheel 211B has moved from the step 100 onto the boarding / alighting plate 104.

[0071] 17 and 26 are diagrams showing an example of a state in which the rear wheel 211B climbs onto the boarding / deboarding plate 104 in the embodiment. Therefore, the drive control unit 252 rotates the rear wheel 211B in the first rotation direction so that the robot 200 moves at a horizontal movement speed (S27). As a result, the robot 200 dismounts from the steps 100.

[0072] As described above, the robot 200 according to this embodiment includes an image analysis unit 251 that analyzes multiple images captured successively by the imaging unit 210 and calculates the horizontal movement speed, which is the movement speed of the multiple steps 100 when they are moving horizontally, and a drive control unit 252 that drives the wheels 211 to rotate in a first direction so as to move the robot 200 closer to the steps 100 on the boarding and alighting board 104, and when the torque of the wheels 211 is detected by the torque sensor 213, stops the rotation of the wheels 211, thereby causing the robot 200 to ride on the steps 100 if it is determined that the direction of the detected torque is opposite to the first direction.

[0073] Therefore, according to this embodiment, the robot 200 autonomously determines the position where it should board the steps 100 of the escalator 1, and the robot 200 boards the steps 100 without changing the horizontal movement speed of the steps 100, so there is no need to stop the escalator 1 or adjust the movement speed. Therefore, according to this embodiment, there is no need to operate the escalator exclusively for the robot, and it is possible to prevent a decrease in the operating efficiency of the escalator 1. Furthermore, there is no need to incorporate mechanisms for exchanging and confirming information into both the robot 200 and the escalator 1, and in particular, there is no need to provide a special configuration for the escalator 1, so it is possible to avoid complicating the configurations of the robot 200 and the escalator 1.

[0074] Furthermore, in the robot 200 according to this embodiment, when the torque of the wheel 211 is detected by the torque sensor 213 while the robot 200 is on the steps 100, and when the drive control unit 252 determines that the direction of the detected torque of the wheel 211 is the same as the first direction, the drive control unit 252 drives the wheel 211 to rotate in the first direction, thereby causing the robot 200 to descend from the steps 100. Therefore, according to this embodiment, the robot 200 autonomously determines the position of the escalator 1 from the steps 100, and the robot 200 descends from the steps 100 without changing the horizontal movement speed of the steps 100, so there is no need to stop the escalator 1 or adjust the movement speed. Therefore, according to this embodiment, there is no need to operate the escalator exclusively for the robot, and a decrease in the operating efficiency of the escalator 1 can be prevented. Furthermore, there is no need to incorporate mechanisms for exchanging information or confirming information into either the robot 200 or the escalator 1, and in particular, the escalator 1 does not need to have a special configuration, so that the configurations of the robot 200 and the escalator 1 can be prevented from becoming complicated.

[0075] Furthermore, in the robot 200 according to this embodiment, the drive control unit 252 independently drives and rotates the front wheels 211A and the rear wheels 211B, drives and rotates the front wheels 211A and the rear wheels 211B in a first direction so as to move the robot 200 closer to the steps 100 on the boarding and alighting plate 104, and stops the rotation of the front wheels 211A when the torque sensor 213A detects the torque of the front wheels 211A and determines that the direction of the detected torque of the front wheels 211A is opposite to the first direction. Thereafter, when the torque sensor 213B detects the torque of the rear wheels 211B and determines that the direction of the detected torque of the rear wheels 211B is opposite to the first direction, the drive control unit 252 stops the rotation of the rear wheels 211B, thereby causing the robot 200 to climb onto the steps 100. When the torque sensor 213A detects torque of the front wheel 211A with the robot 200 on the steps 100, and the drive control unit 252 determines that the direction of the detected torque of the front wheel 211A is the same as the first direction, the drive control unit 252 drives the front wheel 211A to rotate in the first direction. After that, when the torque sensor 213B detects torque of the rear wheel 211B, and the drive control unit 252 determines that the detected torque of the rear wheel 211B is the same as the first direction, the drive control unit 252 drives the rear wheel 211B to rotate in the first direction, causing the robot 200 to descend from the steps 100.

[0076] Therefore, according to this embodiment, the robot 200 autonomously determines the boarding and disembarking positions on the steps 100 of the escalator 1, and the robot 200 boards and disembarks from the steps 100 without changing the horizontal movement speed of the steps 100, eliminating the need to stop the escalator 1 or adjust the movement speed. Therefore, according to this embodiment, there is no need to operate the escalator exclusively for the robot, and it is possible to prevent a decrease in the operating efficiency of the escalator 1. Furthermore, there is no need to incorporate mechanisms for exchanging and confirming information into both the robot 200 and the escalator 1, and in particular, there is no need to provide a special configuration for the escalator 1, so it is possible to avoid complicating the configurations of the robot 200 and the escalator 1.

[0077] Furthermore, in the robot 200 according to this embodiment, the image analysis unit 251 identifies, from the captured image, a base point where the multiple steps 100 change from horizontal movement to step movement, and when the multiple steps 100 are moving upward, identifies positions at distances obtained by adding a protrusion dimension indicating the length of the overlapping portion of two consecutive steps 100 moving stepwise from the distance of each integer multiple of the step length, which is the dimension in the direction of travel of the steps 100, as multiple boarding reference positions indicating positions where the front wheel 211A and the rear wheel 211B can remain positioned on one step 100. Furthermore, in this embodiment, when the multiple steps 100 are moving downward, the image analysis unit 251 identifies, as boarding reference positions, positions at distances obtained by subtracting the protrusion dimension from the distance of each integer multiple of the step length from the base point. Then, the drive control unit 252 adjusts the movement speed of the robot 200 and drives the wheels 211 to rotate so that the front part (when riding on the step 100 moving upward) or the rear part (when riding on the step 100 moving downward) of the robot 200 overlaps with the boarding reference position until the boarding reference position, and drives the front wheels 211A and rear wheels 211B to rotate so that the movement speed of the robot 200 approaches the step 100 at the horizontal movement speed of the step 100 from the boarding reference position.

[0078] Therefore, according to this embodiment, the robot 200 can board at the boarding reference position on the step 100, so that the robot 200 can remain on the step 100 after boarding, eliminating the need for dedicated robot operation and preventing a decrease in the operating efficiency of the escalator 1.

[0079] Furthermore, in the robot 200 according to this embodiment, the drive control unit 252 rotationally drives the wheels 211 so that the robot 200 first decelerates and then accelerates to move to the boarding reference position, and then rotates the wheels 211 so that the robot 200 approaches the steps 100 from the boarding reference position at a horizontal movement speed. Therefore, according to this embodiment, it is possible to reliably make the robot 200 travel at the same speed as the horizontal movement speed of the steps 100 and get the robot 200 onto the steps 100. Therefore, according to this embodiment, there is no need for dedicated robot operation, and a decrease in the operating efficiency of the escalator 1 can be prevented.

[0080] Furthermore, in the robot 200 according to this embodiment, when the plurality of steps 100 of the elevator 1 are moving up, the length from the front of the robot 200 to the ground contact portion of the rear wheels 211B is shorter than the length of the steps 100 minus the protruding dimension. Therefore, according to this embodiment, the robot 200 can reliably ride on the steps 100, and a decrease in the operating efficiency of the escalator 1 can be prevented.

[0081] Furthermore, in the robot 200 according to this embodiment, when the elevator 1 moves down on multiple steps 100, the length from the rear end of the robot 200 to the ground contact portion of the front wheel 211A is shorter than the step length of the steps 100 minus the protruding dimension. Therefore, according to this embodiment, the robot 200 can reliably ride on the steps 100, and the operating efficiency of the escalator 1 can be further improved.

[0082] Furthermore, in the robot 200 according to this embodiment, the image analysis unit 251 determines the presence of a user from the captured image, and the drive control unit 252 drives the wheels 211 to rotate in a first direction so that the robot 200 approaches the steps 100 on the boarding and alighting plate 104 when no user is present. Therefore, according to this embodiment, when there is temporarily no user on the escalator 1, the robot 200 can ride on the steps 100, and even when a user is using the escalator 1, the robot 200 can ride on the steps 100. As a result, this embodiment can be applied to applications where the robot rides with a person, such as a guide robot.

[0083] (Variation) In the above embodiment, the front wheels 211A and rear wheels 211B of the robot 200 are independently controlled, but it may be configured so that only the front wheels 211A are rotationally driven. In this case, the same effects as those of the above embodiment are achieved.

[0084] The robot 200 according to the above embodiment and modified example is equipped with a CPU (Central Processing Unit), storage devices such as ROM (Read Only Memory) and RAM (Random Access Memory), external storage devices such as HDD (Hard Disc Drive), SSD (Solid State Drive) and CD drive device, display device such as a display device, and input device such as a touch panel, and has a hardware configuration that utilizes a normal computer.

[0085] The escalator getting-on / off control program executed by the robot 200 according to the above embodiment and the modified example is provided in a state that it is pre-installed in a ROM or the like.

[0086] The escalator boarding / descending control program executed by the robot 200 according to the above-described embodiment and modified example may be configured to be provided by being recorded in an installable or executable file format on a computer-readable recording medium such as a CD-ROM, a flexible disk (FD), a CD-R, or a DVD.

[0087] Furthermore, the escalator getting on and off control program executed by the robot 200 according to the above embodiment 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 escalator getting on and off control program executed by the robot 200 according to the above embodiment and modified examples may be provided or distributed via a network such as the Internet.

[0088] The escalator boarding and disembarking control program executed by the robot 200 in the above-mentioned embodiment and modified example has a modular structure including the above-mentioned parts (image analysis unit 251, drive control unit 252), and in actual hardware, the CPU (processor) reads and executes the boarding eligibility determination program from the above-mentioned ROM, thereby loading the above-mentioned parts onto the main memory, and the image analysis unit 251 and drive control unit 252 are generated on the main memory.

[0089] Although several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be embodied in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included within the scope and spirit of the invention, and are also included in the scope of the invention and its equivalents as defined in the claims. [Explanation of symbols]

[0090] 1...escalator (passenger conveyor), 100...step, 100a...tread surface, 103...boarding / alighting entrance, 104...boarding / alighting board, 104c...complate (com), 200...robot (autonomous mobile body), 210...imaging unit, 213, 213A, 213B...torque sensor (detection unit), 211...wheel, 211A...front wheel, 211B...rear wheel, 250...control device, 251...image analysis unit, 252...drive control unit, 1000...autonomous mobile body control system.

Claims

1. An autonomous moving body that can ride on steps of a passenger conveyor that has a plurality of steps that are endlessly connected and move in a circular motion, Wheels and a detection unit that detects torque due to rotation of the wheel; an imaging unit that is arranged at a boarding / alighting entrance that is an entrance in the movement direction of the plurality of steps and that continuously images the plurality of steps that are extended from a boarding / alighting plate on which the autonomous moving body can travel; an image analysis unit that analyzes a plurality of captured images successively captured by the imaging unit and calculates a horizontal movement speed that is a movement speed of the plurality of steps when they are moving horizontally; a drive control unit that drives the wheels to rotate in a first direction so as to move the autonomous moving body closer to the steps on the boarding and alighting plate, and when the torque of the wheels is detected by the detection unit, stops the rotational drive of the wheels if the detected torque of the wheels is in a direction opposite to the first direction, thereby causing the autonomous moving body to ride on the steps; An autonomous moving body comprising:

2. the drive control unit further causes the autonomous moving body to dismount from the step by rotating the wheels in the first direction when the torque of the wheels is detected by the detection unit while the autonomous moving body is on the step and the detected torque of the wheels is in the same direction as the first direction; The autonomous moving body according to claim 1 .

3. The wheels include front wheels and rear wheels, The drive control unit drives the front wheels and the rear wheels to rotate independently, drives the front wheels and the rear wheels to rotate in the first direction so as to move the autonomous moving body closer to the steps on the boarding and alighting board, stops the rotational drive of the front wheels when the torque of the front wheels is detected by the detection unit and the detected torque of the front wheels is in a direction opposite to the first direction, and thereafter stops the rotational drive of the rear wheels when the torque of the rear wheels is detected by the detection unit and the detected torque of the rear wheels is in a direction opposite to the first direction. and when the torque of the front wheels is detected by the detection unit while the autonomous mobile body is on the step, if the detected torque of the front wheels is in the same direction as the first direction, the front wheels are rotationally driven in the first direction, and thereafter, when the torque of the rear wheels is detected by the detection unit, if the detected torque of the rear wheels is in the same direction as the first direction, the rear wheels are rotationally driven in the first direction, thereby causing the autonomous mobile body to dismount from the step. The autonomous moving body according to claim 2 .

4. The image analysis unit identifies, from the captured image, a base point where the multiple steps change from horizontal movement to step movement, and when the multiple steps are moving upward, identifies a position at a distance from the base point that is an integer multiple of the step length, which is the dimension in the direction of travel of the steps, plus a protruding dimension that indicates the length of the overlapping portion of two consecutive steps that are moving stepwise, as a boarding reference position that indicates a position where the front wheel and the rear wheel can remain positioned on one step, and when the multiple steps are moving downward, identifies a position at a distance from the base point that is an integer multiple of the step length minus the protruding dimension, as the boarding reference position, the drive control unit, up to the boarding reference position, adjusts the movement speed of the autonomous moving body to rotate the wheels so that a front end or a rear end of the autonomous moving body overlaps with the boarding reference position, and from the boarding reference position, rotates the wheels so that the movement speed of the autonomous moving body approaches the step at the horizontal movement speed. The autonomous moving body according to claim 3 .

5. the drive control unit rotationally drives the wheels so that the autonomous moving body temporarily decelerates and then accelerates to move to the boarding reference position, and rotationally drives the wheels so that the movement speed of the autonomous moving body approaches the step at the horizontal movement speed from the boarding reference position. The autonomous moving body according to claim 4 .

6. The plurality of steps of the passenger conveyor move upward, a length from the leading edge of the autonomous moving body to the ground contact portion of the rear wheel is shorter than a length obtained by subtracting the protruding dimension from the step length of the step; The autonomous moving body according to claim 4 .

7. The plurality of steps of the passenger conveyor move downward, a length from a rear end of the autonomous moving body to a ground contact portion of the front wheel is shorter than a length obtained by subtracting the protruding dimension from the step length of the step; The autonomous moving body according to claim 4 .

8. The image analysis unit determines the presence of a user from the captured image, the drive control unit, when the user is not present, drives the wheels to rotate in the first direction so as to move the autonomous moving body closer to the steps on the boarding and alighting board. The autonomous moving body according to claim 1 .

9. A passenger conveyor boarding control method executed by an autonomous moving body that can ride on steps of a passenger conveyor having a plurality of steps that are connected in an endless manner and move circulatingly, comprising: The autonomous moving body includes wheels, a detection unit that detects torque due to rotation of the wheels, and an imaging unit that is arranged at a boarding / alighting opening that is an entrance in the movement direction of the plurality of steps and that continuously images the plurality of steps that are extended from a boarding / alighting board on which the autonomous moving body can travel, a step of analyzing a plurality of captured images successively captured by the imaging unit and calculating a horizontal movement speed, which is a movement speed of the plurality of steps when they are moving horizontally; driving the wheels to rotate in a first direction so as to move the autonomous moving body closer to the steps on the boarding and alighting plate, and when the torque of the wheels is detected by the detection unit, stopping the rotation of the wheels when the detected torque of the wheels is in a direction opposite to the first direction, thereby causing the autonomous moving body to ride on the steps; A passenger conveyor boarding control method comprising:

10. A program to be executed by a computer of an autonomous moving body that can ride on steps of a passenger conveyor that has a plurality of steps that are connected endlessly and move in a circular motion, The autonomous moving body includes wheels, a detection unit that detects torque due to rotation of the wheels, and an imaging unit that is arranged at a boarding / alighting opening that is an entrance in the movement direction of the plurality of steps and that continuously images the plurality of steps that are extended from a boarding / alighting board on which the autonomous moving body can travel, a step of analyzing a plurality of captured images successively captured by the imaging unit and calculating a horizontal movement speed, which is a movement speed of the plurality of steps when they are moving horizontally; driving the wheels to rotate in a first direction so as to move the autonomous moving body closer to the steps on the boarding and alighting plate, and when the torque of the wheels is detected by the detection unit, stopping the rotation of the wheels when the detected torque of the wheels is in a direction opposite to the first direction, thereby causing the autonomous moving body to ride on the steps; A program for causing the computer to execute the above.

Images