Passenger conveyor and control method

Abstract

To provide a passenger conveyor capable of keeping work smoothly such as an inspection of an autonomous movable body for a passenger conveyor and capable of preventing defects due to contacting between the third party and an autonomous movable body.SOLUTION: A passenger conveyor according to the present embodiment comprises a first detection unit to detect the intrusion to each of two getting on / off boards, a second detection unit to detect the intrusion in the range closer to the footstep side than the detection range of the first detection unit and on each of the two getting on / off boards, and a control device to control the passenger conveyor. The control device comprises an alarm output unit to output the alarm when the intrusion is detected by the first detection unit in the case that an autonomous movable body exists on the footstep, and a processing control unit to execute prescribed processing for intrusion prevention when the intrusion is detected by the second detection unit after outputting the alarm.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] FIELD OF THE INVENTION Embodiments of the present invention relate to passenger conveyors and control methods. [Background technology]

[0002] BACKGROUND ART In passenger conveyors such as escalators installed in commercial facilities, public transport facilities, and the like, daily inspections and periodic inspections are now being performed by autonomous mobile bodies such as robots. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6516074 [Patent Document 2] Japanese Patent Application Publication No. 2019-001613 [Patent Document 3] Japanese Patent Application Publication No. 2019-001612 Summary of the Invention [Problem to be solved by the invention]

[0004] However, if a third party other than a maintenance worker enters the passenger conveyor while an autonomous mobile body is riding on the passenger conveyor and performing inspection or other work, the inspection or other work may be hindered, or the third party may come into contact with the autonomous mobile body, causing the autonomous mobile body to tip over or other malfunctions. [Means for solving the problem]

[0005] The passenger conveyor of one embodiment is a passenger conveyor connected to an autonomous moving body via a network, and comprises a plurality of steps that are connected endlessly and move, two boarding and alighting boards that are arranged on the entrance and exit sides of the movement direction of the plurality of steps, with the plurality of steps extended on the entrance side and the plurality of steps taken in on the exit side, a first detection unit that detects intrusion on each of the two boarding and alighting boards, a second detection unit that detects intrusion on each of the two boarding and alighting boards in a range on the step side beyond the detection range of the first detection unit, and a control device that controls the passenger conveyor, and the control device comprises an alarm output unit that outputs an alarm when intrusion is detected by the first detection unit when the autonomous moving body is present on the steps, and a processing control unit that executes predetermined processing to prevent intrusion if intrusion is detected by the second detection unit after the alarm is output. [Brief explanation of the drawings]

[0006] [Figure 1] FIG. 1 is a diagram showing an example of the overall configuration of an escalator control system according to an embodiment. [Figure 2] FIG. 2 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 3] FIG. 3 is a block diagram showing a functional configuration of the control device according to the embodiment. [Figure 4] FIG. 4 is a block diagram showing the functional configuration of the robot according to the embodiment. [Figure 5] FIG. 5 is a sequence diagram showing an example of the overall process flow of on / off control of the first sensor and the second sensor when the robot performs inspection work in this embodiment. [Figure 6] FIG. 6 is a flowchart illustrating an example of a procedure for an escalator control process according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0007] 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 that are substantially the same.

[0008] (Embodiment) FIG. 1 is a diagram showing an example of the overall configuration of an escalator control system 1000 according to an embodiment.

[0009] As shown in FIG. 1, the escalator control system 1000 includes an escalator 1 and a robot 200. The robot 200 rides on the escalator 1 and inspects the escalator 1 by capturing an image of the escalator 1 using an imaging unit 210 provided in the robot 200. The robot 200 is an example of an autonomous moving body.

[0010] The escalator 1 includes a plurality of steps 100, a balustrade panel 101, a handrail belt 102, a boarding / alighting entrance 103, a boarding / alighting board 104, a skirt guard panel 105, an inner deck 106, an outer deck 107, 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.

[0011] 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.

[0012] 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.

[0013] 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.

[0014] The boarding and alighting plates 104 are provided at the boarding and alighting 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, folded steps 100, etc. are stored under the boarding and alighting plate 104. Hereinafter, the comb plate 104c may be referred to as comb 104c.

[0015] 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.

[0016] 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.

[0017] 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.

[0018] 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.

[0019] 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. Each of the left and right intermediate panels 105m is provided with a speaker 155. The speaker 155 outputs an alarm or the like in response to an instruction from the control device 300, which will be described later.

[0020] 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.

[0021] 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.

[0022] A control device 300 is provided below the board 104. The control device 300 controls the escalator 1. Details of the control device 300 will be described later.

[0023] On both the upper and lower floors, first sensors 151 are provided at the left and right inlets 108. The first sensors 151 are sensors that detect the intrusion of people or the like into the boarding and alighting board 104. In addition, on both the upper and lower floors, second sensors 152 are provided at the tip panels 105f on the step 100 side from the left and right inlets 108. The first sensor 151, the second sensor 152, and the control device 300 will be described in detail later.

[0024] Next, the first sensor 151 and the second sensor 152 will be described in detail. Fig. 2 is a plan view showing an example of the configuration of the escalator 1 according to the embodiment, seen from above, near the boarding / alighting entrance 103. Fig. 2 shows an example of the area near the boarding / alighting entrance 103 on a lower floor and the area near the boarding / alighting entrance 103 on an upper floor. The example in Fig. 2 shows an example of the step 100 moving upward, that is, moving from a lower floor to an upper floor.

[0025] The first sensors 151 are configured, for example, by distance sensors. As shown in Fig. 2, the first sensors 151 are provided in the left and right inlets 108, and have fan-shaped detection ranges 1510 in the space on the boarding and alighting board 104 side. The two detection ranges 1510 of the left and right first sensors 151 cover the range on the opposite side of the boarding and alighting board 104 from the steps 100, and are capable of detecting a third party, such as a person entering the boarding and alighting board 104 from outside the escalator 1.

[0026] The second sensors 152 are, for example, infrared sensors. As shown in FIG. 2, the second sensors 152 are provided on the left and right end panels 105f, closer to the step 100 than the first sensors 151 and in front of the comp plate 104c. One of the left and right second sensors 152 functions as a light-emitting unit, and the other functions as a light-receiving unit that receives infrared light, etc., emitted from the light-emitting unit. Therefore, the second sensors 152 have a linear detection range 1520 on the boarding / alighting plate 104 that is closer to the step 100 than the detection range 1510 of the first sensor 151 and crosses the space above the step 100 from left to right in front of the comp plate 104c. Therefore, if a third party detected by the first sensor 151 moves further to the step 100 and attempts to get on, the second sensor 152 will detect the intrusion.

[0027] Next, the control device 300 will be described in detail. As shown in FIG. 3, the control device 300 according to the embodiment is connected to a first sensor 151, a second sensor 152, and a speaker 155 by wire or wirelessly. As shown in FIG. 3, the control device 300 mainly includes a communication unit 301, a sensor control unit 302, an alarm output unit 304, and a drive control unit 303. The communication unit 301 is a processing unit that communicates with the robot 200. In this embodiment, the communication unit 301 receives various information from the robot 200, such as the current location of the robot 200, arrival at the boarding / alighting platform 104, standing on the steps 100, and instructions to move or stop the steps 100. The communication unit 301 also transmits various instructions, such as instructions to move or stop, to the robot 200.

[0028] The sensor control unit 302 controls the on / off of each of the first sensor 151 and the second sensor 152. Specifically, when the robot 200 moves to the boarding / alighting plate 104 to get on the steps 100, the sensor control unit 302 turns off both the first sensor 151 and the second sensor 152. Furthermore, when the robot 200 gets on the steps 100 from the boarding / alighting plate 104, the sensor control unit 302 turns on both the first sensor 151 and the second sensor 152. The sensor control unit 302 is an example of a detection control unit.

[0029] Here, turning off the first sensor 151 and the second sensor 152 includes not only turning off the first sensor 151 and the second sensor 152 themselves but also invalidating the detection signal from the first sensor 151 and the detection signal from the second sensor 152. Furthermore, turning on the first sensor 151 and the second sensor 152 includes not only turning on the first sensor 151 and the second sensor 152 themselves but also validating and processing the detection signal from the first sensor 151 and the detection signal from the second sensor 152.

[0030] When the alarm output unit 304 determines that the robot 200 is present on the steps 100 based on a notification from the robot 200 via the communication unit 301, and when the first sensor 151 detects intrusion, it determines that a third party has intruded onto the boarding / alighting plate 104 in an attempt to get on the steps 100, and outputs an alarm to the speaker 155. In this case, the alarm output unit 304 may be configured to output an alarm to the speaker 155 of the floor on which the intrusion was detected, as well as to the speaker 155 of a floor other than the floor on which the intrusion was detected.

[0031] The drive control unit 303 controls the driving of the patrol movement of the plurality of steps 100. When the second sensor 152 detects intrusion after the alarm output unit 304 outputs an alarm based on detection by the first sensor 151, the drive control unit 303 according to this embodiment determines that the intruder has continued to approach the steps 100 despite the alarm output, and executes a process to stop the movement of the plurality of steps 100 as a predetermined process to prevent intrusion. Here, the drive control unit 303 is an example of a process control unit that executes a predetermined process to prevent intrusion when the second detection unit detects intrusion after the alarm is output.

[0032] Next, the robot 200 will be described in detail. FIG. 4 is a block diagram showing the functional configuration of the robot 200 according to the embodiment. As shown in FIG. 4, the robot 200 mainly includes a communication unit 201, a control unit 202, a traveling control unit 203, and an imaging unit 210.

[0033] The imaging unit 210 is a camera that captures images of the area around the robot 200 and the area in front of the robot 200 where the steps 100 of the escalator 1 are located.

[0034] The communication unit 201 is a functional unit responsible for communication with the control device 300 of the escalator 1. In this embodiment, the communication unit 201 transmits various instructions to the control device 300, such as an instruction to operate the escalator 1 or an instruction to stop the escalator 1. The control unit 202 executes various control processes based on the captured image from the imaging unit 210. The control unit 202 also executes the process of inspecting the escalator 1.

[0035] The travel control unit 203 controls the travel of the robot 200 by controlling the driving of a drive motor (not shown) provided in the robot 200. In this embodiment, based on various notifications and instructions from the control device 300, the travel control unit 203 performs control such as moving the robot 200 to the boarding and alighting plate 104, moving from the boarding and alighting plate 104 to the steps 100 to get on the escalator 1, or moving from the steps 100 to the boarding and alighting plate 104 to get off the escalator 1.

[0036] Next, the escalator control process performed by the escalator control system 1000 according to this embodiment configured as above will be described. First, the on / off control of the first sensor 151 and the second sensor 152 when the robot 200 rides on the steps 100 of the escalator 1 to perform inspection work will be described.

[0037] 5 is a sequence diagram showing an example of the overall process flow of on / off control of the first sensor 151 and the second sensor 152 when the robot 200 performs inspection work in this embodiment. In this example, an example will be described in which, on an escalator 1 in which steps 100 move upward from a lower floor to an upper floor, the robot 200 gets on the steps 100 from a lower floor, performs inspection work on the rising steps 100, and gets off when the steps 100 reach the upper floor.

[0038] The robot 200 moves to the boarding / alighting plate 104 of the escalator 1 to be inspected in order to inspect the escalator 1 (S101). When the robot 200 arrives at the boarding / alighting plate 104, the robot 200 transmits an instruction to stop the steps 100 (sometimes referred to as an instruction to stop the escalator 1) to the control device 300 of the escalator 1 (S102). Here, the instruction to stop the steps 100 includes a robot ID for identifying the robot 200.

[0039] In the control device 300, when the communication unit 301 receives a step stop instruction from the robot 200, the drive control unit 303 stops the movement of the step 100 (S103). Next, the sensor control unit 302 turns off both the first sensor 151 and the second sensor 152 (S104). Next, the communication unit 301 The robot 200 transmits a sensor-off notification indicating that both the first sensor 151 and the second sensor 152 have been turned off to the robot 200 having the robot ID that transmitted the stop instruction (S105).

[0040] When the robot 200 receives the sensor-off notification from the control device 300, it moves from the boarding / alighting plate 104 to the steps 100 to get on the escalator 1 (S106). Then, the robot 200 enters an inspection mode and starts inspecting the steps 100 (S107). Next, the robot 200 transmits an inspection start notification to the control device 300 indicating that the inspection work has started (S108).

[0041] In the control device 300, when the communication unit 301 receives the inspection start notification from the robot 200, the sensor control unit 302 turns on both the first sensor 151 and the second sensor 152 (S109). Next, the drive control unit 303 starts the movement of the steps 100 (S110).

[0042] The robot 200 performs inspection work on the escalator 1 while standing on the steps 100 moving up to the upper floor (S111), and when the robot 200 completes the inspection work, it sends an inspection completion notification indicating that the inspection work has been completed to the control device 300 (S112).

[0043] In the control device 300, when the communication unit 301 receives an inspection completion notification from the robot 200, the drive control unit 303 stops the movement of the steps 100 (S113). Next, the sensor control unit 302 turns off both the first sensor 151 and the second sensor 152 (S114). Next, the communication unit 301 transmits a sensor-off notification indicating that both the first sensor 151 and the second sensor 152 have been turned off to the robot 200 having the robot ID that transmitted the instruction to stop the steps 100 (S115).

[0044] When the robot 200 receives the sensor-off notification from the control device 300, it moves from the steps 100 to the boarding / alighting board 104 on the upper floor, thereby getting off the escalator 1 (S116). Then, the robot 200 transmits a movement notification to the control device 300 indicating that it has moved to the boarding / alighting board 104 (S117).

[0045] In the control device 300, when the communication unit 301 receives a movement notification from the robot 200, the sensor control unit 302 turns on both the first sensor 151 and the second sensor 152 (S118). Next, the drive control unit 303 starts moving the steps 100 (S119). This completes the transfer work by the robot 200. This process prevents the first sensor 151 and the second sensor 152 from detecting the robot 200 when it steps onto the steps 100 for inspection work.

[0046] In the above example, an inspection work on an escalator 1 in which the steps 100 move upward from a lower floor to an upper floor was explained as an example, but the same can be applied to an escalator 1 in which the steps 100 move upward from an upper floor to a lower floor, in which the robot 200 boards the steps 100 from an upper floor, performs inspection work on the steps 100 as they descend, and then disembarks when the steps 100 descend to the lower floor and arrive there.

[0047] Next, the control process of the escalator 1 by the control device 300 according to this embodiment will be described. 6 is a flowchart showing an example of the procedure of the escalator control process according to the embodiment. This process is executed while the first sensor 151 and the second sensor 152 are turned on and the robot 200 is performing an inspection work on the steps 100 (S111) in the process described in FIG.

[0048] The sensor control unit 302 is in a state of waiting for detection by the first sensor 151 (S201, S201: No). If the first sensor 151 detects something (S201: Yes), the alarm output unit 304 determines that a third party has entered the escalator 1 and is attempting to get on the step 100, and outputs an alarm to the speaker 155 (S202).

[0049] Next, the sensor control unit 302 waits for detection by the second sensor 152 (S203). If the second sensor 152 detects something (S203: Yes), the drive control unit 303 determines that a third party is attempting to step on the steps 100 despite the alarm being output, and stops the movement of the steps 100 (S205).

[0050] On the other hand, if the second sensor 152 has not detected anything in S203 (S203: No), the sensor control unit 302 determines whether a predetermined time has elapsed since the alarm was output in S202 (S204). If the predetermined time has not elapsed (S204: No), the process returns to S203 and waits for detection by the second sensor 152. On the other hand, if it is determined in S204 that the predetermined time has elapsed since the alarm was output (S204: Yes), the process ends.

[0051] In this way, when the robot 200 is present on the step 100, the control device 300 of the escalator 1 in this embodiment outputs an alarm if the first sensor 151 detects the intrusion of a third party, and after the alarm is output, if the second sensor 152 detects the intrusion of a third party, it executes a predetermined process to prevent intrusion.

[0052] That is, in this embodiment, third parties are prevented in two stages from entering the passenger conveyor while the robot 200 is on the escalator 1. Therefore, according to this embodiment, work such as inspection of the robot 200 on the escalator 1 can be carried out smoothly, and problems caused by third parties coming into contact with the robot 200 can be prevented.

[0053] Furthermore, according to this embodiment, the existing first sensor 151 and second sensor 152 can be utilized, so that the robot 200 can realize dedicated functions for inspection and other tasks by simply modifying the software, without requiring any structural changes.

[0054] Furthermore, after outputting an alarm, the control device 300 of the escalator 1 according to this embodiment executes a process to stop the movement of the plurality of steps 100 as a predetermined process for preventing intrusion when the second sensor 152 detects the intrusion of a third party. Therefore, in this embodiment, the steps 100 are stopped as the second intrusion prevention process, so that even if a third party intrudes into the escalator 1, there is little impact of causing malfunction. Therefore, according to this embodiment, work such as inspection of the robot 200 on the escalator 1 can be carried out more smoothly, and malfunctions caused by a third party coming into contact with the robot 200 can be more reliably prevented.

[0055] Furthermore, the control device 300 of the escalator 1 according to this embodiment turns off the first sensor 151 and the second sensor 152 when the robot 200 moves to the boarding / alighting platform 104 to get on the steps 100, and turns on the first sensor 151 and the second sensor 152 when the robot 200 gets on the steps 100 from the boarding / alighting platform 104. Therefore, according to this embodiment, it is possible to prevent the first sensor 151 and the second sensor 152 from detecting the robot 200 when it gets on the steps 100 for work such as inspection.

[0056] (Variation) There are various modifications to the above embodiment. For example, in the above embodiment, when the second sensor 152 detects the intrusion of a third party, the drive control unit 303 executes a process of stopping the movement of the plurality of steps 100 as a predetermined process for preventing intrusion, but this is not limited to this. For example, when the second sensor 152 detects the intrusion of a third party, the alarm output unit 304 can be configured to output a further alarm to the speaker 155 as a predetermined process for preventing intrusion. In this case, the volume of the alarm output can be made louder than the volume of the alarm output from the first sensor 151, or the tone can be changed.

[0057] In this case, it is possible to prevent intrusion by issuing a further alarm without stopping the steps 100.

[0058] Furthermore, depending on the operating direction of the escalator 1, that is, the moving direction of the steps 100, the processing to be performed when the second sensor 152 detects something can be changed.

[0059] For example, in the case where the plurality of steps 100 move upward in a circular manner from the lower floor to the upper floor, if the second sensor 152 on the lower floor detects the intrusion of a third party at the boarding / alighting board 104 on the lower floor, the alarm output unit 304 can be configured to output a further warning to the speaker 155 on the lower floor as a predetermined process to prevent intrusion. Then, if the second sensor 152 on the upper floor detects the intrusion of a third party at the boarding / alighting board 104 on the upper floor, the drive control unit 303 may be configured to execute a process to stop the movement of the plurality of steps 100.

[0060] In this case, a third party on the lower floor can recognize the robot 200 while the robot 200 is performing an inspection near the lower floor, so intrusion can be prevented by outputting an alarm. However, if a third party attempts to intrude from an upper floor, it is difficult for the third party to see the floor below, so outputting an alarm is insufficient to prevent intrusion. For this reason, intrusion can be prevented by stopping the steps 100.

[0061] In the above embodiment and modified example, the alarm is output to the speaker 155, but the alarm may be output to a buzzer instead of the speaker 155.

[0062] The alarm can be configured to be continuously output as long as a third party is present within the detection range of the first sensor 151 and the second sensor 152. If the alarm output continues for a certain period of time or longer, it is possible that a person has fallen onto the boarding and alighting board 104 or that a foreign object has been left there, so the alarm output unit 304 may be configured to issue an abnormality signal to the manager's room.

[0063] In the case of an escalator 1 equipped with an automatic announcement function, in addition to outputting an alarm, it is also possible to output announcements such as "Inspection by a robot. Escalator is unavailable" from the speaker 155 or the like.

[0064] On the other hand, if the escalator 1 is not provided with an automatic announcement function, the control device 300 and the robot 200 can be configured to transmit information about the approach of a third party to the robot 200 and to output a warning from the robot 200 itself.

[0065] Furthermore, if a third party enters the escalator 1, the robot 200 will suspend the inspection work, but since this will undermine the reliability of the inspection data that the robot has acquired up to that point, once the third party has left, the robot can return to the necessary process and resume the inspection.

[0066] For example, if a third party enters while the robot 200 is on the step 100 and the inspection work is interrupted, the system can be configured so that after the problem is resolved, the robot 200 will resume the inspection work by going back to the point where it got on the escalator 1.

[0067] In the case of an escalator 1 that does not have the first sensor 151 or an escalator 1 that has the first sensor 151 but does not operate, the second sensor 152 can be configured to operate alone to prevent third parties from entering.

[0068] The control device 300 of the escalator 1 according to the above-described embodiment and modified example includes a control device such as a CPU, a storage device such as a ROM (Read Only Memory) or RAM, an external storage device such as a HDD or CD drive, a display device such as a display device, and input devices such as a keyboard and a mouse, and has a hardware configuration that utilizes a normal computer.

[0069] The control program executed by the control device 300 of the escalator 1 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.

[0070] The control program executed by the control device 300 of the escalator 1 according to the above-described embodiments and modifications 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 (Digital Versatile Disk).

[0071] Furthermore, the control program executed by the control device 300 of the escalator 1 according to the above-described 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 control program executed by the control device 300 of the escalator 1 according to the above-described embodiment and modified examples may be provided or distributed via a network such as the Internet.

[0072] The control program executed by the control device 300 of the escalator 1 in the above-mentioned embodiment and modified example has a modular structure including the above-mentioned units (communication unit 301, sensor control unit 302, alarm output unit 304, drive control unit 303), and in actual hardware, the CPU (processor) reads and executes the control program from the above-mentioned ROM, thereby loading the above-mentioned units onto the main memory, and the communication unit 301, sensor control unit 302, alarm output unit 304, and drive control unit 303 are generated on the main memory.

[0073] The robot 200 according to the above embodiment and modified example is equipped with a control device such as a CPU, a storage device such as a ROM or RAM, an external storage device such as an HDD or a CD drive, a display device such as a display device, and an input device such as a touch panel, and has a hardware configuration that utilizes a normal computer.

[0074] The control programs executed by the robot 200 according to the above-described embodiment and modifications are provided in a state that they are pre-installed in a ROM or the like.

[0075] The 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.

[0076] Furthermore, the 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 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.

[0077] The control program executed by the robot 200 according to the above embodiment and modified example has a modular structure including the above-mentioned units (communication unit 201, control unit 202, and driving control unit 203), and in terms of actual hardware, the CPU reads and executes the control program from the ROM, thereby loading the above-mentioned units onto the main memory, and the communication unit 201, control unit 202, and driving control unit 203 are generated on the main memory.

[0078] 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]

[0079] 1...escalator (passenger conveyor), 100...step, 103...boarding / alighting entrance, 104...boarding / alighting board, 104c...complate (com), 105...skirt guard panel, 108...inlet, 151...first sensor, 152...second sensor, 200...robot (autonomous mobile body), 201...communication unit, 202...control unit, 203...travel control unit, 300...control device, 301...communication unit, 302...sensor control unit, 303...drive control unit, 304...alarm output unit, 1000...escalator control system.

Claims

1. A passenger conveyor connected to an autonomous moving body via a network, A plurality of steps that are connected endlessly and move; two boarding and alighting boards that are arranged on the entrance side and the exit side in the moving direction of the plurality of steps, respectively, and from which the plurality of steps are extended on the entrance side and from which the plurality of steps are taken in on the exit side; a first detection unit that detects intrusion on each of the two boards; a second detection unit that is located on each of the two boards and detects intrusion in a range closer to the step than the detection range of the first detection unit; a control device for controlling the passenger conveyor, The control device an alarm output unit that outputs an alarm when the first detection unit detects intrusion while the autonomous moving body is on the step; a processing control unit that executes a predetermined process to prevent intrusion when intrusion is detected by the second detection unit after the output of the alarm; A passenger conveyor comprising:

2. The processing control unit a drive control unit that controls the driving of the patrol movement of the plurality of steps, and that, when the second detection unit detects intrusion, executes a process of stopping the movement of the plurality of steps as the predetermined process; 2. The passenger conveyor of claim 1, comprising:

3. the processing control unit outputs a further alarm as the predetermined process when the second detection unit detects intrusion.

2. A passenger conveyor according to claim 1.

4. The plurality of steps move upward in a circular manner from the lower floor to the upper floor, The processing control unit an alarm output unit that outputs a further warning on the lower floor as the predetermined process when the second detection unit on the lower floor detects intrusion at the boarding and alighting board on the lower floor; a drive control unit that executes, as the predetermined process, a process of stopping movement of the plurality of steps when the second detection unit of the upper floor detects intrusion at the boarding / alighting board of the upper floor by the second detection unit of the upper floor; 10. The passenger conveyor of claim 1, comprising:

5. a detection control unit that turns off the first detection unit and the second detection unit when the autonomous moving body moves to the boarding / alighting plate to get on the steps, and turns on the first detection unit and the second detection unit when the autonomous moving body gets on the steps from the boarding / alighting plate; The passenger conveyor of claim 1 further comprising:

6. A control method executed in a passenger conveyor connected to an autonomous moving body via a network, comprising: The passenger conveyor A plurality of steps that are connected endlessly and move; two boarding and alighting boards that are arranged on the entrance side and the exit side in the moving direction of the plurality of steps, respectively, and from which the plurality of steps are extended on the entrance side and from which the plurality of steps are taken in on the exit side; a first detection unit that detects intrusion on each of the two boards; a second detection unit that is located on each of the two boards and detects intrusion in a range closer to the step than the detection range of the first detection unit; outputting an alarm when the first detection unit detects intrusion while the autonomous moving body is on the step, and executing a predetermined process to prevent intrusion when the second detection unit detects intrusion after the alarm is output; A control method comprising:

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