Autonomous moving body, autonomous moving body control system, and autonomous moving body control method

Abstract

To accurately ride on a footstep by an autonomous moving body single body.SOLUTION: An autonomous moving body according to an embodiment includes an imaging control unit configured to cause an imaging unit to capture an image of an area in front of the autonomous moving body when the autonomous moving body reaches an entrance / exit of a passenger conveyor, an image processing unit configured to analyze a pair of index objects in an image captured by the imaging unit, the pair of index objects being provided at bilaterally symmetrical positions on the passenger conveyor and serving as indexes for position adjustment, and a traveling control unit configured to control a driving unit to cause the autonomous moving body to travel, to adjust a position of the autonomous moving body based on the pair of index objects in the captured image such that a position of a center of gravity of the autonomous moving body coincides with a center position of a step in a width direction, and to cause the autonomous moving body to travel toward the step at the adjusted position.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] FIELD Embodiments of the present invention relate to an autonomous mobile object, an autonomous mobile object control system, and an autonomous mobile object control method. [Background technology]

[0002] Maintenance and inspection work on passenger conveyors such as escalators that have multiple steps that are connected together in an endless manner and move is usually performed by maintenance personnel. In recent years, technology has become known for performing maintenance and inspection of escalators as passenger conveyors using autonomous mobile bodies such as maintenance robots. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2023-167662 [Patent Document 2] Patent No. 6516074 [Patent Document 3] Japanese Patent Application Publication No. 2019-1613 [Patent Document 4] Japanese Patent Application Publication No. 2019-1612 Summary of the Invention [Problem to be solved by the invention]

[0004] Thus, when performing maintenance and inspection of a passenger conveyor using an autonomous mobile body, the autonomous mobile body needs to get on and off the steps. For this reason, when performing maintenance and inspection of a passenger conveyor using an autonomous mobile body, it is desirable for the maintenance worker to be able to accurately get on the steps using the autonomous mobile body alone, without having to stay on the passenger conveyor being maintained and without requiring major modifications to the passenger conveyor. [Means for solving the problem]

[0005] The autonomous mobile body of one embodiment is an autonomous mobile body that can autonomously move up the steps of a passenger conveyor that has a plurality of steps that are connected endlessly and move, and is equipped with an imaging unit, a drive unit that drives the autonomous mobile body to move, an imaging control unit that causes the imaging unit to capture an image of what is ahead when the autonomous mobile body reaches an entrance where passengers get on and off the passenger conveyor, an image processing unit that analyzes a pair of index objects that are located in symmetrical positions on the passenger conveyor in the image captured by the imaging unit and that can serve as indicators for position adjustment, and a travel control unit that controls the drive unit to cause the autonomous mobile body to travel, and controls the drive unit to adjust the position of the autonomous mobile body based on the pair of index objects in the image so that the center of gravity of the autonomous mobile body coincides with the center position of the steps in the width direction, and causes the autonomous mobile body to travel towards the steps in the adjusted position. [Brief explanation of the drawings]

[0006] [Figure 1] FIG. 1 is a diagram illustrating an example of the overall configuration of a robot control system according to an embodiment. [Figure 2] FIG. 2 is a diagram illustrating an example of the configuration of an escalator according to an embodiment. [Figure 3] FIG. 3 is a diagram illustrating an example of the surface of the board according to the embodiment. [Figure 4] FIG. 4 is a diagram illustrating an example of a comp plate according to an embodiment. [Figure 5] FIG. 5 is a block diagram illustrating an example of a functional configuration of the control device according to the embodiment. [Figure 6] FIG. 6 is a block diagram illustrating an example of a functional configuration of a server in the elevator cloud according to the embodiment. [Figure 7] FIG. 7 is a block diagram illustrating an example of a functional configuration of a server in the robot cloud according to the embodiment. [Figure 8] FIG. 8 is a block diagram illustrating an example of a functional configuration of the robot according to the embodiment. [Figure 9]FIG. 9 is a sequence diagram showing an example of the overall flow of the robot control process according to the embodiment. [Figure 10] FIG. 10 is a flowchart illustrating an example of a procedure for the position adjustment process according to the embodiment. [Figure 11] FIG. 11 is a flowchart showing an example of the procedure of image processing according to the embodiment. [Figure 12] FIG. 12 is a diagram for explaining an example in which the boarding and disembarking board and the camera are not parallel to each other in the embodiment. [Figure 13] FIG. 13 is a diagram showing an example in which the distances from the center position of the camera to two screws are the same in a captured image in the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0007] Hereinafter, embodiments will be described with reference to the drawings.

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

[0009] As shown in FIG. 1, the robot control system 1000 of this embodiment mainly comprises an escalator 1, a control device 100 provided on the escalator 1, a controller 150, a control room 160, a server 210 in an elevator cloud 200, a server 310 in a robot cloud 300, a monitoring center 400, and a robot 500 as an autonomous moving body.

[0010] In this embodiment, one or more escalators 1 are installed in a building 3 (an example of a building) such as an office building or an apartment building. Although only a single escalator 1 is shown in the example of FIG. 1, multiple escalators 1 can be installed. Furthermore, a control device 100 is provided corresponding to each of the multiple escalators 1.

[0011] First, the details of the escalator 1 will be described. 2 is a diagram for explaining the configuration of the escalator 1 according to the embodiment. Note that a robot 500 is also shown in FIG.

[0012] As shown in FIG. 2, the robot control system 1000 includes the escalator 1 and the robot 500.

[0013] The escalator 1 includes a plurality of steps 110, a balustrade panel 191, a handrail belt 192, a boarding / alighting entrance 193, a boarding / alighting board 104, a skirt guard panel 105, an inner deck 106, an outer deck 107, an inlet 108, a key switch 152, a control device 100, and a drive device 120. The escalator 1 is an example of a passenger conveyor.

[0014] The steps 110 are connected endlessly. Each step 110 is made of, for example, aluminum die-cast, and is supported by a truss 170 at a set inclination angle. Each step 110 moves cyclically as a stepped platform between the boarding / alighting entrances 193 on the upper and lower floors by a drive motor (not shown) of the drive unit 120. In other words, each step 110 moves in a circle between the boarding / alighting entrances 193 on the upper floor and the boarding / alighting entrances 193 on the lower floor. As a result, each step 110 serves as a foothold for users of the escalator 1. The boarding / alighting entrances 193 are where users get on and off the escalator 1.

[0015] The balustrade panels 191 are installed on both sides of the steps 110 in the width direction of the escalator 1. In other words, a pair of balustrade panels 191 are installed opposite each other with the steps 110 in between. The balustrade panels 191 are formed of, for example, transparent glass or acrylic.

[0016] The handrail belt 192 is configured so that users can place their hands on it while riding the escalator 1. The handrail belt 192 is an endless belt that is movably wound around the periphery of each of the pair of balustrade panels 191. The handrail belt 192 moves in synchronization with the movement of each step 110 by the drive motor of the drive device 120. The handrail belt 192 is made of, for example, rubber.

[0017] The boarding and alighting plates 104 are provided at the boarding and alighting entrances 193 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 110. A drive motor, folded steps 110, etc. are stored under the boarding and alighting plate 104. Note that hereinafter, the comb plate 104c may also be referred to as comb 104c.

[0018] In other words, the multiple steps 110 arranged in a staircase-like manner 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.

[0019] FIG. 3 is a diagram showing an example of the surface of the boarding and alighting plate 104 according to the embodiment. FIG. 3 shows a diagram of the boarding and alighting plate 104 as seen from diagonally above. As shown in FIG. 3, the boarding and alighting plate 104 according to the present embodiment is installed on the upper surface of a truss by a pair of screws 1041 near the left and right ends. This pair of screws 1041 is fastened at positions that are the same distance from the center position of the boarding and alighting plate 104. In other words, the pair of screws 1041 are provided symmetrically on the left and right sides of the boarding and alighting plate 104. Here, the pair of left and right screws 1041 are an example of a pair of index objects. A pair of index objects is provided at symmetrical positions and can serve as an index for position adjustment.

[0020] Fig. 4 is a diagram showing an example of a comp plate 104c according to an embodiment. Fig. 4 shows the comp plate 104c as seen obliquely from above. The comp plate 104c according to this embodiment is attached to the boarding / alighting plate 104 with ten screws 1042, as shown in Fig. 4. As shown in Fig. 4, five of the ten screws 1042 are provided on each side, symmetrically positioned on either side of the center of the comp plate 104c.

[0021] Returning to Figure 2, the skirt guard panels 105 extend in the extension direction of the escalator 1 near both widthwise ends of the multiple steps 110. The skirt guard panels 105 are composed of two pairs of end panels 105f installed near the boarding / alighting entrances 193 on the upper and lower floors, and multiple intermediate panels 105m installed between the end panels 105f on the upper and lower floors.

[0022] 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 110. These tip panels 105f are installed at positions straddling the front and rear of the comb plate 104c in the moving direction of the multiple steps 110.

[0023] 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 110. 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 110.

[0024] 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 plurality of steps 110 in the width direction so as to connect them. Also, a plurality of intermediate panels 105m are arranged between the tip panels 105f installed on the upper and lower floors on the other side of the plurality of steps 110 in the width direction so as to connect them.

[0025] 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 a parapet panel 191 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, etc. are stored.

[0026] The inlets 108 are installed near the upper and lower floor entrances 193 so as to be connected to the respective end panels 105f. Of the upper and lower floor entrances 193, a pair of inlets 108 installed on the entrance side each have a handrail belt 192 that is reeled out. Also, of the upper and lower floor entrances 193, a pair of inlets 108 installed on the exit side each have a handrail belt 192 that is reeled in.

[0027] A control device 100 is provided below the board 104. The control device 100 controls the escalator 1. Details of the control device 100 will be described later.

[0028] On both the upper and lower floors, a key switch 152 is provided on the intermediate panel 105m from one side of the inlet 108 to the step 110 side. This key switch 152 is connected to the control device 100 by wire or wirelessly. When key switch 152 is operated by a maintenance person or the like, a switching signal is sent to control device 100, which then switches the operation mode of escalator 1 between normal operation and maintenance operation. Maintenance operation is operation for carrying out inspection work. Here, key switch 152 is an example of an operation unit.

[0029] Next, the control device 100 will be described in detail. As shown in FIG. 5, the control device 100 according to the embodiment is connected to a key switch 152 by wire or wirelessly. As shown in FIG. 5, the control device 100 mainly includes a communication unit 101, a control unit 102, and a drive control unit 103.

[0030] The communication unit 101 is a processing unit that communicates with the server 210 of the elevator cloud 200 via the controller 150.

[0031] The control unit 102 performs various controls of the escalator 1. Specifically, the control unit 102 switches between normal operation and maintenance operation in response to an instruction from the key switch 152 or an instruction from the server 210 of the elevator cloud 200. The drive control unit 103 controls the driving of the cyclic movement of the plurality of steps 110 .

[0032] Returning to Fig. 1, the controller 150 is connected to the server 210 in the elevator cloud 200 via a network. The controller 150 is an intermediary device that controls communication between the control device 100 and the server 210 and has an interface function and a hub function for mediating various signals exchanged between the control device 100 and the server 210. The controller 150 is configured as a computer that includes a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), etc.

[0033] The manager of building 3 is present in the control room 160 and gives various instructions to the control device 100. The manager of the control room 160 also receives various instructions from the control device 100 by email or the like via a PC or terminal device.

[0034] The server 210 in the elevator cloud 200 instructs the control device 100 via the controller 150 to perform various controls on the escalator 1, or receives various requests and data from the control device 100 via the controller 150. The server 210 in the elevator cloud 200 is connected to a monitoring center 400 (an in-house server) and a server 310 in the robot cloud 300 via a network.

[0035] An in-house server (not shown) is installed in the monitoring center 400. The in-house server is a server installed in an affiliated company of the escalator 1, and collects information necessary for the maintenance management and remote monitoring of the escalator 1 from the escalator 1. This allows maintenance personnel to deal with the malfunction by referring to the information necessary for maintenance management collected in the in-house server of the monitoring center 400. Furthermore, when functions or services are executed through the elevator / escalator cloud 200, the in-house server of the monitoring center 400 can be accessed as necessary to refer to building and escalator information, or the maintenance personnel can obtain information necessary for managing the escalator 1.

[0036] The server 310 of the robot cloud 300 receives various requests and various data from the server 210 of the elevator cloud 200. The server 310 of the robot cloud 300 is connected to one or more robots 500 in the building 3 via a network, and transmits various instructions to each of the robots 500.

[0037] The server 210 of the elevator cloud 200 and the server 310 of the robot cloud 300 will be described in detail later.

[0038] Next, the server 210 in the elevator cloud 200 will be described. Fig. 6 is a block diagram showing an example of the functional configuration of the server 210 in the elevator cloud 200 according to the embodiment. As shown in Fig. 6, the server 210 mainly includes a control unit 211, a communication unit 212, and a storage unit 220 as a general computer configuration.

[0039] The storage unit 220 is a storage medium (memory device) such as a ROM, a RAM, etc. The storage unit 220 stores various programs.

[0040] The communication unit 212 is made up of a communication device having a predetermined communication protocol, and performs communication processing between the server 210 and the controller 150 and communication processing between the server 210 and the server 310 in the robot cloud 300 .

[0041] The control unit 211 is made up of a hardware processor (CPU).

[0042] Next, the server 310 in the robot cloud 300 will be described. FIG. 7 is a block diagram illustrating an example of a functional configuration of the server 310 in the robot cloud 300 according to the embodiment. As shown in FIG. 7, the server 310 mainly includes a control unit 311, a communication unit 312, and a storage unit 320, as a general computer configuration.

[0043] The storage unit 320 is a storage medium (memory device) such as a ROM, a RAM, etc. The storage unit 320 stores various programs.

[0044] The communication unit 312 is made up of a communication device having a predetermined communication protocol, and performs communication processing between the server 310 and the server 210 in the elevator cloud 200 , and communication processing between the server 310 and the robot 500 .

[0045] The control unit 311 is made up of a hardware processor (CPU) and controls various processes related to the escalator 1 and the robot 500.

[0046] Next, the robot 500 will be described. 8 is a block diagram showing an example of the functional configuration of a robot 500 according to an embodiment. As shown in FIG. 8, the robot 500 mainly includes a camera 506, a microphone 507, a speaker 504, various sensors 505, a control unit 501, a communication unit 502, an imaging control unit 511, an image processing unit 508, a traveling control unit 509, a driving unit 503, and a storage unit 510.

[0047] The camera 506 captures images of the surroundings of the robot 500 and sends the captured images to the imaging control unit 511. The camera 506 is an example of an imaging unit.

[0048] The microphone 507 is an input device for inputting sounds around the robot 500 . The speaker 504 is an output device that outputs various contents as audio.

[0049] The various sensors 505 include, but are not limited to, a distance sensor, a vibration sensor, a human sensor, an acceleration sensor, a load sensor, and the like.

[0050] The communication unit 502 is made up of a communication device having a predetermined communication protocol, and performs communication processing between the robot 500 and the server 310 in the robot cloud 300 .

[0051] The storage unit 510 is a storage medium (memory device) such as a ROM, a RAM, etc. The storage unit 510 stores various programs.

[0052] The control unit 501 is made up of a hardware processor (CPU). During normal operation of the escalator 1, the control unit 501 reads and executes various programs from the storage unit 510, thereby causing the robot 500 to perform various operations.

[0053] The imaging control unit 511 controls imaging by the camera 506. When the robot 500 reaches the entrance 193 of the escalator 1, the imaging control unit 511 according to this embodiment controls the camera 506 to capture an image of the area ahead.

[0054] The image processing unit 508 acquires the captured image captured by the camera 506 and performs image processing. In this embodiment, the image processing unit 508 analyzes a pair of screws 1041 on the left and right of the boarding and alighting plate 104 of the escalator 1 in the captured image captured by the camera 506.

[0055] The driving unit 503 drives the robot 500 to move. The travel control unit 509 controls the driving of the drive unit 503 in response to instructions from the server 310 in the robot cloud 300, thereby controlling the travel of the robot 500. The travel control unit 509 according to this embodiment controls the drive unit 503 to adjust the position of the robot 500 so that the center of gravity of the robot 500 coincides with the center position of the steps 110 in the width direction, based on the screws 1042 as a pair of index objects on the boarding and alighting plate 104 in the captured image, and causes the robot 500 to travel toward the steps 110 at the adjusted position.

[0056] More specifically, the traveling control unit 509 determines whether the distance between each of the screws 1041, which are index objects provided at positions symmetrical to the left and right, and the camera 506 (corresponding to the position of the center of gravity of the robot 500) is the same, and if the distances are not the same, the traveling control unit 509 controls the driving unit 503 to change the position of the robot 500 so that the distances become the same. On the other hand, if the distances are the same, the traveling control unit 509 does not change the position of the robot 500.

[0057] The traveling control unit 509 further controls the drive unit 503 based on the captured image to adjust the posture of the robot 500 so that the robot 500 is approximately parallel to the width direction of the steps 110, and causes the robot 500 to travel toward the steps 110 in the adjusted position and posture.

[0058] More specifically, the driving control unit 509 controls the drive unit 503 to rotate the robot 500 and adjust its posture so that the straight line connecting the pair of screws 1041 in the captured image is approximately parallel to the bottom edge of the captured image.

[0059] The above configuration of the robot 500 is an example, and the robot 500 may further include an input unit such as a touch panel.

[0060] Next, a robot control process performed by the robot control system 1000 according to this embodiment configured as above will be described. FIG. 9 is a sequence diagram showing an example of the overall flow of the robot control process according to the embodiment.

[0061] It is assumed that the escalator 1 is in normal operation (S101). In this state, the communication unit 212 of the server 210 of the elevator cloud 200 transmits a maintenance operation instruction to the control device 100 of the escalator 1 to instruct the control device 100 to perform maintenance operation for maintenance and inspection work (S102). In the control device 100, when the communication unit 101 receives the maintenance operation instruction via the controller 150, the control unit 102 stops the operation of the escalator 1 (S102). The maintenance operation is an operation in which the movement of the steps 110 is temporarily stopped by stopping the operation of the escalator 1, and then, as described below, once the robot 500 gets on the steps 110, the steps 110 are gradually moved to allow the robot 500 to perform the maintenance and inspection work.

[0062] Next, in the server 210 of the elevator cloud 200, the communication unit 212 transmits a maintenance start instruction to the server 310 of the robot cloud 300 to instruct the start of maintenance and inspection work on the robot 500 (S103).

[0063] Next, in the server 310 of the robot cloud 300, when the communication unit 312 receives the maintenance start instruction from the server 210 of the elevator cloud 200, the communication unit 312 transmits the received maintenance start instruction to the robot 500 (S104).

[0064] In the robot 500, when the communication unit 502 receives a maintenance start instruction from the server 310 of the robot cloud 300, the travel control unit 509 controls the drive unit 503 to move the robot 500 to just before the boarding / alighting plate 104 of the escalator 1 (S105). Then, the robot 500 executes a position adjustment process (S106). Details of the position adjustment process will be described later.

[0065] Next, the robot 500 rides onto the steps 110 in the position and posture adjusted by the travel control unit 509 (S107). When riding is complete, the communication unit 502 transmits a riding completion notification to the server 310 of the robot cloud 300 (S108). This riding completion notification is transmitted from the server 310 of the robot cloud 300 to the server 210 of the elevator cloud 200 (S109), and further transmitted from the server 210 of the elevator cloud 200 to the control device 100 of the escalator 1 (S110).

[0066] In the control device 100, when the communication unit 101 receives a boarding completion notification from the server 210 of the elevator cloud 200 via the controller 150, the control unit 102 starts the operation of the escalator 1 (S111). Then, the drive control unit 103 drives the drive motor (not shown) of the drive device 120 to move the steps 110 (S112).

[0067] While the steps 110 are moving, the robot 500 performs maintenance work on the escalator 1 (S113). When the maintenance work by the robot 500 is completed and the steps 110 on which the robot 500 is riding reach the disembarking floor, the drive control unit 103 of the control device 100 stops the steps 110, thereby stopping the maintenance operation (S114).

[0068] In the robot 500, when the image processing unit 508 confirms from the image captured by the camera 506 that the steps 110 have stopped (S115), the traveling control unit 509 controls the drive unit 503 to cause the robot 500 to descend from the steps 110 onto the boarding and alighting plate 104 (116). Next, the traveling control unit 509 causes the robot 500 to move out of the boarding and alighting plate 104 (S117).

[0069] Next, the communication unit 502 of the robot 500 transmits a maintenance completion notification to the server 310 of the robot cloud 300 (S118). This maintenance completion notification is transmitted from the server 310 of the robot cloud 300 to the server 210 of the elevator cloud 200 (S119), and further transmitted from the server 210 of the elevator cloud 200 to the control device 100 of the escalator 1 (S120). This completes the series of maintenance work.

[0070] Next, the position adjustment process by the robot 500 in S106 will be described in detail. FIG. 10 is a flowchart illustrating an example of a procedure for the position adjustment process according to the embodiment.

[0071] First, the imaging control unit 511 of the robot 500 images and confirms the boarding / deboarding board 104 with the camera 506 (S201). Then, the image processing unit 508 performs image processing on the image captured in S201 (S202).

[0072] Here, the image processing in S202 will be described. FIG. 11 is a flowchart showing an example of the procedure of image processing according to the embodiment.

[0073] The image processing unit 508 first performs a filter process on the captured image to remove noise (S301). Next, the image processing unit 508 performs a binarization process on the image after the filter process (S302). Next, the image processing unit 508 performs a labeling process on the binarized image (S303), and then detects contours (S304). Next, the image processing unit 508 determines shape characteristics from the detected contours (S305). As a result, the boarding and alighting plate 104 and the screws 1041 thereon are detected from the captured image.

[0074] 10, after image processing, the image processing unit 508 determines whether or not there are two screws 1041 in the captured image (S203). If there are not two screws 1041 in the captured image (S203: No), the traveling control unit 509 and the driving unit 503 move the robot 500 backward, or the imaging control unit 511 changes the imaging magnification of the camera 506 (S204). Then, the process returns to S201.

[0075] In S203, if there are two screws 1041 in the captured image (S203: Yes), the traveling control unit 509 determines the getting-on position on the captured image (S205).

[0076] Next, the traveling control unit 509 determines whether the boarding and alighting plate 104 and the camera 506 (i.e., the robot 500) are parallel or not (S206). Specifically, the traveling control unit 509 determines whether the boarding and alighting plate 104 and the camera 506 (i.e., the robot 500) are parallel or not based on whether the line connecting the two screws 1041 of the boarding and alighting plate 104 appears parallel to the bottom side of the captured image.

[0077] 12 is a diagram illustrating an example in the embodiment where the boarding and alighting plate 104 and the camera 506 are not parallel to each other. As shown in FIG. 12, if the line connecting the two screws 1041 of the boarding and alighting plate 104 appears tilted with respect to the bottom of the captured image, the traveling control unit 509 determines that the boarding and alighting plate 104 and the camera 506 are not parallel to each other.

[0078] 10, if the boarding / disembarking plate 104 and the camera 506 are not parallel (S206: No), the traveling control unit 509 controls the driving unit 503 to rotate the robot 500, for example, by the tilt angle shown in FIG. 12 (S207). Then, the process returns to S201.

[0079] On the other hand, if it is determined in S206 that the boarding and alighting plate 104 and the camera 506 are parallel (S206: Yes), the traveling control unit 509 determines the position coordinates of the two screws 1041 on the boarding and alighting plate 104 in the captured image and the distance between each of them and the camera (i.e., the robot) (S208).

[0080] Next, the traveling control unit 509 determines whether the distances from the center position of the camera 506 to the two screws 1041 are the same or not (S209).

[0081] 13 is a diagram showing an example in which, in a captured image in the embodiment, the distances from the center position of the camera 506 to the two screws 1041 are the same. As shown in FIG. 13, if the distances from the center position of the camera 506 to the two screws 1041 are not the same (S209: No), the traveling control unit 509 controls the driving unit 503 to move the robot 500 left and right (S210). Then, the process returns to S201.

[0082] On the other hand, in S209, if the distances from the center position of the camera 506 to the two screws 1041 are the same (S209: Yes), the traveling control unit 509 determines that the position of the robot 500 is appropriate for riding and completes position correction (S211).

[0083] As described above, the robot 500 according to this embodiment includes an imaging control unit 511 that causes the camera 506 to capture an image of the area ahead when the robot 500 reaches the boarding / alighting entrance 193 of the escalator 1; an image processing unit 508 that analyzes the screws 1041 on the boarding / alighting plate 104, which are a pair of index objects that are located at symmetrical positions on the escalator 1 and can serve as indexes for position adjustment, in the image captured by the camera 506; and a travel control unit 509 that controls the drive unit 503 to make the robot 500 travel, and adjusts the position of the robot 500 based on the two screws 1041, which are a pair of index objects in the captured image, so that the center of gravity of the robot 500 coincides with the center position of the width of the step 110, and causes the robot 500 to travel toward the step 110 at the adjusted position.

[0084] That is, according to this embodiment, a maintenance worker does not need to stay on the escalator 1 to be maintained, and a part of the existing facility is used as the index object. Therefore, according to this embodiment, no major modifications are required to the escalator 1, and the robot 500 alone can accurately ride on the steps 110.

[0085] Furthermore, in the robot 500 according to this embodiment, the traveling control unit 509 further controls the drive unit 503 based on the captured image so that the robot 500 is approximately parallel to the width direction of the steps 110, thereby adjusting the posture of the robot 500, and causes the robot 500 to travel toward the steps 110 in the adjusted position and posture.

[0086] In other words, according to this embodiment, even if the posture of the robot 500 is tilted relative to the steps 110, by using a part of the existing facility as the indicator object, the robot 500 alone can accurately board the steps 110 without requiring major modifications to the escalator 1.

[0087] In addition, in the robot 500 according to this embodiment, the travel control unit 509 determines whether the distance between each of the two screws 1041, which are index objects provided at positions symmetrical to the left and right, and the camera 506 is the same, and if they are not the same, controls the drive unit 503 to change the position of the robot 500 so that the above distances become the same.

[0088] Therefore, according to this embodiment, the posture of the robot 500 can be accurately determined based on whether the distances between the camera 506 and each of the two screws 1041 are the same. Therefore, according to this embodiment, the robot 500 alone can accurately board the steps 110 without requiring any major modifications to the escalator 1.

[0089] In addition, in the robot 500 according to this embodiment, the traveling control unit 509 determines whether the distance between the camera 506 and each of the two screws 1041, which are index objects located at symmetrical positions, is the same, and if the distances are the same, the position of the robot 500 is not changed.

[0090] Therefore, according to this embodiment, the posture of robot 500 can be accurately determined based on whether the distances between camera 506 and each of two screws 1041 are the same. Therefore, according to this embodiment, robot 500 alone can accurately board steps 110 without requiring major modifications to escalator 1.

[0091] (Variation) There are various modifications to the above embodiment. In the above embodiment, there are two screws 1041 as index objects, but the number of index objects is not limited to this. For example, if there are three or more screws 1041 as index objects, the traveling control unit 509 can be configured to adjust the position and posture of the center of gravity of the robot 500 based on the index objects (screws 1041) that are closest to each end of the boarding and disembarking plate 104.

[0092] Therefore, according to this modification, it is possible to determine the position and posture of the robot 500 even when there are three or more screws 1041. Therefore, according to this embodiment, the robot 500 alone can accurately board the steps 110 without requiring major modifications to the escalator 1.

[0093] Furthermore, in the above embodiment, if the pair of screws 1041 cannot be detected in the captured image, the robot 500 is moved backward or the magnification of the camera 506 is changed and an image is captured again by the camera 506, but there are cases where the pair of screws 1041 still cannot be detected. In such a case, the image processing unit 508 may be configured to analyze another pair of index objects on the left and right of the escalator 1 in the captured image, and the travel control unit 509 may be configured to control the drive unit 503 based on the other pair of index objects in the captured image to adjust the position and posture of the center of gravity of the robot 500.

[0094] In this case, the other pair of left and right indicator objects may include, for example, the left and right inlets 108 of the escalator 1, the left and right decks 106, 107 near the inlets 108, the left and right handrail belts 192 of the escalator 1, or a pair of left and right balustrade panels 191 indicating the handrail belts 192.

[0095] Therefore, according to this modified example, even if a pair of index objects cannot be detected, another pair of objects can be used as index objects to determine the position and posture of the robot 500. Therefore, according to this embodiment, the escalator 1 does not require any major modifications, and the robot 500 alone can accurately board the steps 110.

[0096] In addition, in the above embodiment, the two screws 1041 of the board 104 are used as the index objects, but the present invention is not limited to this. For example, it is also possible to use a plurality of screws 1042 (an example of second screw portions) that fix the comb plates 104c at the end of each of the boards 104 on the step 110 side to the board 104 at symmetrical positions.

[0097] In this case, the travel control unit 509 is configured to adjust the position of the robot 500 so that the center of gravity of the robot 500 coincides with the center position of the step 110 in the width direction based on the positions of the multiple (10) screws 1042 in the captured image, and to adjust the posture of the robot 500 so that the straight line connecting the multiple screws 1042 in the captured image is approximately horizontal.

[0098] In this case, the position and posture of the robot 500 can be determined using the multiple screws 1042 on the existing comp plate 104c as indicator objects, so no major modifications to the escalator 1 are required and the robot 500 alone can accurately board the steps 110.

[0099] In addition, as an indicator object, a pair of left and right columnar members erected at symmetrical positions on the entrance and exit sides of the movement direction of the multiple steps 110, for example, a columnar body equipped with a sensor that detects people attempting to pass through the boarding / alighting entrance 193, can also be used.

[0100] In this case, the position and posture of the robot 500 can be determined using existing equipment as an index object, so no major modifications to the escalator 1 are required and the robot 500 alone can accurately board the steps 110.

[0101] The robot 500 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.

[0102] The control programs executed by the robot 500 according to the above-described embodiment and modifications are provided in a state that they are pre-installed in a ROM or the like.

[0103] The control program executed by the robot 500 according to the above embodiment and modified example may be configured to be provided by being recorded in an installable or executable format on a computer-readable recording medium such as a CD-ROM, a flexible disk (FD), a CD-R, or a DVD.

[0104] Furthermore, the control program executed by the robot 500 according to the above embodiment and modification 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 500 according to the above embodiment and modification may be provided or distributed via a network such as the Internet.

[0105] The control program executed by the robot 500 according to the above embodiment and modified example has a modular structure including each of the above-mentioned functional units (control unit 501, communication unit 502, imaging control unit 511, image processing unit 508, traveling control unit 509, and drive unit 503), and in terms of actual hardware, the CPU reads and executes the control program from the above-mentioned ROM, thereby loading each of the above-mentioned units onto the main memory, and the control unit 501, communication unit 502, imaging control unit 511, image processing unit 508, traveling control unit 509, and drive unit 503 are generated on the main memory.

[0106] 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]

[0107] 1...escalator, 100...control device, 193...boarding / exiting entrance, 104...boarding / exiting platform, 110...steps, 120...drive device, 170...truss, 150...controller, 152...key switch, 160...control room, 200...elevator cloud, 210...server (elevator server), 300...robot cloud, 310...server (robot server), 500...robot (autonomous mobile body), 501...control unit, 502...communication unit, 503...drive unit, 504...speaker, 505...various sensors, 506...camera (imaging unit), 507...microphone, 508...image processing unit, 509...travel control unit, 510...memory unit, 511...imaging control unit, 1000...robot control system.

Claims

1. An autonomous moving body that can autonomously move to steps of a passenger conveyor having a plurality of steps that are connected in an endless manner and move, An imaging unit; a drive unit that drives the autonomous moving body to travel; an imaging control unit that causes the imaging unit to capture an image of a front area when the autonomous moving body reaches an entrance where the passengers get on and off the passenger conveyor; an image processing unit that analyzes a pair of index objects that are provided at symmetrical positions on the passenger conveyor and that can serve as indexes for position adjustment in the captured image captured by the imaging unit; a travel control unit that controls the drive unit to travel the autonomous moving body, and also controls the drive unit to adjust the position of the autonomous moving body so that the center of gravity position of the autonomous moving body coincides with the center position of the step in the width direction based on the pair of index objects in the captured image, and causes the autonomous moving body to travel toward the step at the adjusted position; An autonomous moving body comprising:

2. The traveling control unit further controls the drive unit to adjust the attitude of the autonomous moving body so that the autonomous moving body is approximately parallel to the width direction of the steps based on the captured image, and causes the autonomous moving body to travel toward the steps in the adjusted position and attitude. The autonomous moving body according to claim 1 .

3. the traveling control unit determines whether or not a distance between each of the index objects provided at the left-right symmetrical positions and the imaging unit is the same, and if the distances are not the same, controls the driving unit to change the position of the autonomous moving body so that the distances become the same. The autonomous moving body according to claim 2 .

4. the traveling control unit does not change the position of the autonomous moving body when the distance is the same; The autonomous moving body according to claim 3 .

5. When there are three or more index objects, the traveling control unit adjusts the position of the center of gravity and the attitude of the autonomous moving body based on the index objects closest to each of the left and right ends. The autonomous moving body according to claim 2 .

6. The image processing unit analyzes, from the captured image, a pair of screw portions that fix two boards, which are arranged on the entrance side and the exit side in the movement direction of the plurality of steps, respectively, from which the plurality of steps are extended on the entrance side and into which the plurality of steps are taken, at left and right portions of the boards, as the pair of index objects; the traveling control unit controls the drive unit to adjust the position of the autonomous moving body so that the position of the center of gravity of the autonomous moving body coincides with the center position of the step in the width direction, based on the positions of the pair of screw portions in the captured image, and adjusts the attitude of the autonomous moving body so that the straight line connecting the pair of screw portions becomes approximately horizontal in the captured image. The autonomous moving body according to claim 2 .

7. When the image processing unit cannot detect the pair of screw portions in the captured image, the image processing unit analyzes another pair of index objects on the left and right sides of the passenger conveyor in the captured image, the traveling control unit controls the drive unit based on the other pair of index objects in the captured image to adjust the position of the center of gravity and the attitude of the autonomous moving body. The autonomous moving body according to claim 6 .

8. The index objects are arranged on the entrance side and the exit side in the movement direction of the plurality of steps, and are a plurality of second screw portions that fix the comb plates at the step-side ends of two boards, from which the plurality of steps are extended on the entrance side and into which the plurality of steps are taken, to the boards at positions symmetrical to the left and right, the traveling control unit adjusts the position of the autonomous moving body based on the positions of the plurality of second screw portions in the captured image so that the position of the center of gravity of the autonomous moving body coincides with the center position of the step in a width direction, and adjusts the attitude of the autonomous moving body so that a straight line connecting the plurality of second screw portions in the captured image becomes approximately horizontal. The autonomous moving body according to claim 2 .

9. An autonomous mobile body control system comprising: a control device provided on a passenger conveyor having a plurality of steps that are endlessly connected and move, and that controls the passenger conveyor; an autonomous mobile body that can move autonomously on the passenger conveyor; an elevator server connected to the control device via a network and that controls the raising and lowering of the steps of the passenger conveyor; and an autonomous mobile body server connected to the elevator server and the autonomous mobile body via a network and that controls the autonomous mobile body, The autonomous moving body is An imaging unit; a drive unit that drives the autonomous moving body to travel; a communication unit that receives a maintenance work start instruction, which is an instruction to start a maintenance and inspection work, from the autonomous mobile body server; a travel control unit that controls the drive unit to travel the autonomous moving body, and when the communication unit receives an instruction to start the maintenance work, moves the autonomous moving body to an entrance / exit point where passengers get on and off the passenger conveyor; an imaging control unit that causes the imaging unit to capture an image of a front area when the autonomous moving body reaches the boarding / alighting entrance; an image processing unit that analyzes a pair of index objects that are provided at left-right symmetrical positions on the passenger conveyor and that can serve as indexes for position adjustment in the captured image captured by the imaging unit, the traveling control unit controls the drive unit to adjust the position of the autonomous moving body so that the center of gravity position of the autonomous moving body coincides with the center position of the step in a width direction, based on the pair of index objects in the captured image, and causes the autonomous moving body to travel toward the step at the adjusted position; when the autonomous moving body has boarded the step, the communication unit transmits a boarding completion notification indicating that boarding has been completed to the autonomous moving body server. Autonomous mobile control system.

10. An autonomous mobile body control method executed in an autonomous mobile body control system including: a control device provided on a passenger conveyor having a plurality of steps that are endlessly connected and move, and that controls the passenger conveyor; an autonomous mobile body that can move autonomously on the passenger conveyor; an elevator server connected to the control device via a network and that controls the raising and lowering of the steps of the passenger conveyor; and an autonomous mobile body server connected to the elevator server and the autonomous mobile body via a network and that controls the autonomous mobile body, The autonomous moving body is An imaging unit; a drive unit that drives the autonomous moving body to travel, controlling the drive unit to cause the autonomous moving body to travel, and when a maintenance work start instruction is received, moving the autonomous moving body to an entrance / exit point where passengers get on and off the passenger conveyor; When the autonomous moving body reaches the boarding / alighting entrance, causing the imaging unit to capture an image of a front view; analyzing a pair of index objects that are provided at symmetrical positions on the passenger conveyor and that can serve as indexes for position adjustment in the captured image captured by the imaging unit; a step of controlling the drive unit to adjust the position of the autonomous moving body so that the center of gravity position of the autonomous moving body coincides with the center position of the step in the width direction based on the pair of index objects in the captured image, and causing the autonomous moving body to travel toward the step at the adjusted position; transmitting a riding completion notification to the server for the autonomous mobile body, when the autonomous mobile body has boarded the step, indicating that the boarding has been completed; An autonomous mobile object control method comprising:

Images