Autonomous moving body control system and autonomous moving body control method

Abstract

To prevent damage to a passenger conveyor, a user and an autonomous moving body.SOLUTION: An autonomous mobile body control system according to an embodiment includes a control device configured to control a passenger conveyor including a plurality of steps connected in an endless manner and configured to move, and an autonomous mobile body configured to be autonomously movable on the steps of the passenger conveyor, wherein the control device includes a drive control unit configured to control movement of the steps, and a transmission control unit configured to control transmission of a transmission wave to a transmission device capable of transmitting the transmission wave in an upper range of a landing board from which the plurality of steps are drawn out or drawn in at a boarding and alighting place of the passenger conveyor, and the autonomous mobile body includes a drive unit, a reception unit configured to receive the transmission wave, and a traveling control unit configured to control traveling so as to avoid reception of the transmission wave by controlling the drive unit.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] FIELD An embodiment of the present invention relates to an autonomous mobile object control system and an autonomous mobile object control method. [Background technology]

[0002] Conventional autonomous mobile objects such as patrol robots patrol within a building while avoiding obstacles by using floor maps stored in built-in memory and various sensors such as cameras attached to the main body. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-1612 [Patent Document 2] Japanese Patent Application Publication No. 2023-124409 [Patent Document 3] Japanese Patent Publication No. 2022-16331 Summary of the Invention [Problem to be solved by the invention]

[0004] However, if a passenger conveyor such as an escalator is installed on a floor, when the autonomous mobile body circulates near the passenger conveyor and arrives at the entrance / exit of the passenger conveyor, it may follow the movement of the steps without instructions, get on the steps, and move to another floor. If the autonomous mobile body gets on the steps, it may fall or tip over, damaging the equipment on the passenger conveyor or the autonomous mobile body, or may cause injury to people. [Means for solving the problem]

[0005] An embodiment of the autonomous mobile body control system is an autonomous mobile body control system comprising: a control device that controls a passenger conveyor having a plurality of steps that are connected endlessly and move; and an autonomous mobile body that can move autonomously on the steps of the passenger conveyor, wherein the control device comprises: a drive control unit that controls the movement of the steps; and a transmission control unit that controls the transmission of a transmission wave from a transmitter that can emit a transmission wave to an area above a boarding and alighting board where the plurality of steps are extended or retracted at an entrance where passengers get on and off the passenger conveyor; and the autonomous mobile body comprises a drive unit, a receiving unit that can receive the transmission wave, and a travel control unit that controls the drive unit to travel in a manner that avoids receiving the transmission wave. [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 state of radio waves transmitted by the transmitting device according to the embodiment. [Figure 4] FIG. 4 is a block diagram illustrating an example of a functional configuration of the control device according to the embodiment. [Figure 5] FIG. 5 is a block diagram illustrating an example of a functional configuration of a server in the elevator cloud according to the embodiment. [Figure 6] FIG. 6 is a block diagram illustrating an example of a functional configuration of a server in the robot cloud according to the embodiment. [Figure 7] FIG. 7 is a block diagram illustrating an example of a functional configuration of the robot according to the embodiment. [Figure 8] FIG. 8 is a sequence diagram showing an example of the overall flow of the robot and escalator control process according to the embodiment. [Figure 9] FIG. 9 is a flowchart illustrating an example of a procedure for a movement process of a robot according to the embodiment. [Figure 10]FIG. 10 is a sequence diagram showing an example of the overall flow of the control process for the robot and the escalator according to the embodiment (when the robot rides on the steps). [Figure 11] FIG. 11 is a diagram showing an example of the state of radio waves transmitted by a transmitting device in the modified example. 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-casting, 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. That is, 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. Here, the boarding / alighting entrances 193 are the places where users get on and off the escalator 2.

[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] 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 tip panels 105f installed near the boarding / alighting entrances 193 on the upper and lower floors, and multiple intermediate panels 105m installed between the tip panels 105f on the upper and lower floors.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] A transmitter 154 is provided inside each of the pair of left and right inlets 108. In addition, a notched window 153 is provided across the surface of each of the pair of inlets 108 in the width direction of the step 110 (the surface on the boarding / alighting entrance 193 side) and the surface in the traveling direction of the step 110 (the surface on the step 110 side).

[0026] The transmitting device 154 is a device that transmits radio waves in response to instructions from the control device 100, which will be described later. The radio waves transmitted from the transmitting device 154 extend over a fan-shaped range from the notched window 153 to the space above the boarding / alighting board 104. Here, the radio waves are an example of a transmission wave.

[0027] 3 is a diagram showing an example of the state of radio waves transmitted by the transmitting device 154 according to the embodiment. As shown in FIG. 3, the radio waves transmitted in a fan shape by the transmitting devices 154 inside each of the pair of inlets 108 cover the entire space above the boarding and alighting board 104. The radio waves that cover this fan-shaped range are referred to as a virtual wall 155. As will be described later, the virtual wall 155 prohibits the robot 500 from entering the boarding and alighting board 104.

[0028] Returning to Fig. 2, 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.

[0029] 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. Key switch 152 can be operated by a maintenance person or the like. When key switch 152 is operated, 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 an operation performed to carry out inspection work.

[0030] Next, the control device 100 will be described in detail. As shown in FIG. 4, the control device 100 according to the embodiment is connected to a transmitting device 154 and a key switch 152 by wire or wirelessly. As shown in FIG. 4, the control device 100 mainly includes a communication unit 101, a transmission control unit 114, a control unit 102, and a drive control unit 103.

[0031] The communication unit 101 is a processing unit that communicates with the server 210 of the elevator cloud 200 via the controller 150.

[0032] The transmission control unit 114 controls the transmission of radio waves to the transmitting device 154. That is, the transmission control unit 114 commands the transmitting device 154 to turn on or off the transmission of radio waves. Specifically, the transmission control unit 114 controls the transmitting device 154 so that radio waves are transmitted to cover the entire area above the boarding and alighting board.

[0033] Furthermore, when the communication unit 101 receives a notification from the server 210 of the elevator cloud 200 that the robot 500 has started its work, the transmission control unit 114 sends a command to the transmitting device 154 to turn on radio wave transmission, causing the transmitting device 154 to start transmitting radio waves. Furthermore, when the communication unit 101 receives an instruction to move the steps 110 from the server 210 of the elevator cloud 200, the transmission control unit 114 sends a command to the transmitting device 154 to turn off radio wave transmission, causing the transmitting device 154 to start transmitting radio waves.

[0034] Furthermore, when the communication unit 101 receives an instruction to stop the steps 110 from the server 210 of the elevator cloud 200, the transmission control unit 114 sends a command to the transmitting device 154 to turn off radio wave transmission, thereby stopping the transmission of radio waves.

[0035] 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 issues a command to the drive device 120 to control the driving of the multiple steps 110 for cyclic movement.

[0036] 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.

[0037] 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.

[0038] 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 via a network to a monitoring center 400 (an in-house server) and a server 310 in the robot cloud 300. Details of the server 210 in the elevator cloud 200 will be described later.

[0039] 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.

[0040] 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 via a network to one or more robots 500 in the building 3, and transmits various instructions to each robot 500. Details of the server 310 of the robot cloud 300 will be described later.

[0041] Next, the server 210 in the elevator cloud 200 will be described. Fig. 5 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. 5, the server 210 mainly includes a control unit 211, a communication unit 212, and a storage unit 220 as a general computer configuration.

[0042] The storage unit 220 is a storage medium (memory device) such as a ROM, a RAM, etc. The storage unit 220 stores various programs.

[0043] 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 . The control unit 211 is made up of a hardware processor (CPU).

[0044] Next, the server 310 in the robot cloud 300 will be described. FIG. 6 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. 6, the server 310 mainly includes a control unit 311, a communication unit 312, and a storage unit 320, as a general computer configuration.

[0045] The storage unit 320 is a storage medium (memory device) such as a ROM, a RAM, etc. The storage unit 320 stores various programs.

[0046] 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 .

[0047] 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.

[0048] Next, the robot 500 will be described. 7 is a block diagram showing an example of the functional configuration of a robot 500 according to an embodiment. As shown in FIG. 7, 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 image capture control unit 511, a radio wave receiving unit 508, a traveling control unit 509, a driving unit 503, and a storage unit 510.

[0049] The camera 506 captures images of the surroundings of the robot 500 and sends the captured images to an imaging control unit 511 .

[0050] 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.

[0051] 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.

[0052] The communication unit 502 is composed 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. In this embodiment, the communication unit 502 receives an instruction from the server 310 in the robot cloud 300 to start the robot 500's work.

[0053] The storage unit 510 is a storage medium (memory device) such as a ROM, a RAM, etc. The storage unit 510 stores various programs.

[0054] 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. The imaging control unit 511 controls the imaging by the camera 506 .

[0055] Radio wave receiving unit 508 receives radio waves transmitted from transmitting device 154. Radio wave receiving unit 508 is an example of a receiving unit.

[0056] The driving unit 503 drives the robot 500 to move. The traveling control unit 509 controls the driving of the driving unit 503 in response to instructions from the server 310 in the robot cloud 300, thereby controlling the traveling of the robot 500.

[0057] In this embodiment, travel control unit 509 controls drive unit 503 to travel so as to avoid receiving radio waves emitted by transmitter 154. Specifically, travel control unit 509 controls drive unit 503 to stop when radio wave receiving unit 508 receives radio waves, and to travel when radio wave receiving unit 508 does not receive radio waves.

[0058] Furthermore, when the communication unit 502 receives an instruction to start the robot 500 from the server 310 of the robot cloud 300, the traveling control unit 509 starts traveling.

[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 control process for the robot 500 and the escalator 1 performed by the robot control system 1000 according to this embodiment configured as described above will be described. 8 is a sequence diagram showing an example of the overall flow of the robot control process according to the embodiment. In the example of FIG. 8, the robot 500 moves around without riding on the steps 110.

[0061] First, in the server 310 of the robot cloud 300, the communication unit 312 transmits a robot task start instruction to the robot 500 (S101). The robot task is, for example, a task such as patrolling and guarding the building 3, but is not limited to this.

[0062] In the robot 500, when the communication unit 502 receives an instruction to start a robot task from the server 310 of the robot cloud 300, the travel control unit 509 controls the drive unit 503 to start movement (S102).

[0063] Next, the communication unit 312 of the server 310 of the robot cloud 300 transmits a robot work start notification to the server 210 of the elevator cloud 200 (S103). When the communication unit 212 of the server 210 of the elevator cloud 200 receives the robot work start notification, it transmits the received robot work start notification to the control device 100 of the escalator 1 via the controller 150 (S104).

[0064] In the control device 100, when the communication unit 101 receives the notification that the robot operation has started, the transmission control unit 114 sends a command to the transmitting device 154 to turn on radio wave transmission, causing the transmitting device 154 to transmit radio waves (S105). As a result, a virtual wall 155 is formed on the boarding and alighting platform 104 as shown in FIG. 3.

[0065] Meanwhile, the robot 500 runs while avoiding the virtual wall 155, thereby running while avoiding the steps 110 (S106). Then, the running control unit 509 of the robot 500 causes the robot 500 to run and move along a predetermined route (S107).

[0066] Here, the movement process of the robot 500 in S106 will be described. FIG. 9 is a flowchart showing an example of a procedure for a movement process of the robot 500 according to the embodiment.

[0067] In the robot 500, the traveling control unit 509 drives the driving unit 503 to move the robot 500 forward (S201). Next, the radio wave receiving unit 508 determines whether or not it has received radio waves transmitted from the transmitting device 154 while the robot 500 is moving forward (S202). If it has not received radio waves (S202: No), the process returns to S201, and the robot 500 continues moving forward.

[0068] On the other hand, if the radio wave receiving unit 508 receives radio waves from the transmitting device 154 (S202: Yes), the traveling control unit 509 stops the motor of the driving unit 503 to stop traveling (S203). Through the above processing, the robot 500 moves while avoiding the virtual wall 155, and as a result, it avoids stepping on the steps 110.

[0069] There are also cases where the robot 500 is placed on the steps 110 to perform inspection work or other tasks on the steps 110. The control process for the robot 500 and the escalator 1 in such cases will be described. FIG. 10 is a sequence diagram showing an example of the overall flow of the control process for the robot 500 and the escalator 1 according to the embodiment (when the robot 500 rides on the steps 110).

[0070] First, when the robot 500 rides on the steps 110 to perform a task, the travel control unit 6509 starts moving (S301), and stops when it arrives in front of the boarding / alighting board 104 (S302). Then, the communication unit 312 transmits a request to stop the steps 110 to the server 310 of the robot cloud 300 (S303).

[0071] This request to stop the steps 110 is transmitted from the server 310 of the robot cloud 300 to the server 210 of the elevator cloud 200 (S304), and then transmitted from the server 210 of the elevator cloud 200 to the control device 100 (S305).

[0072] In the control device 100, when the communication unit 101 receives a request to stop the steps 110 via the controller 150, the drive control unit 103 stops the movement of the steps 110 by sending a command to stop the steps 110 to the drive device 120 (S306).

[0073] Next, the transmission control unit 114 of the control device 100 sends a command to the transmitting device 154 to turn off transmission (S307). As a result, the virtual wall 155 disappears above the boarding and alighting plate 104.

[0074] Therefore, the robot 500 is caused by the travel control unit 509 to proceed onto the boarding / alighting platform 104 and then onto the steps 110 (S308). Next, in the robot 500, the communication unit 502 transmits a request to move the steps 110 to the server 310 of the robot cloud 300 (S309).

[0075] This request to move the steps 110 is transmitted from the server 310 of the robot cloud 300 to the server 210 of the elevator cloud 200 (S310), and then transmitted from the server 210 of the elevator cloud 200 to the control device 100 (S311).

[0076] In the control device 100, when the communication unit 101 receives a request to move the step 110 via the controller 150, the drive control unit 103 sends a request to move the step 110 to the drive device 120, thereby starting the movement of the step 110 (S312).

[0077] Next, the transmission control unit 114 of the control device 100 sends a command to turn on transmission to the transmitting device 154 (S313). As a result, a virtual wall 155 is formed on the boarding / alighting board 104. This makes it possible to prevent other robots 500 from getting on the steps 110.

[0078] While the steps 110 are moving, the robot 500 mounted on the steps 110 performs inspection work, etc. Then, when the steps 110 approach the disembarking floor, the robot 500 determines that it is approaching the disembarking floor using the camera 506, etc. Then, the communication unit 502 transmits a request to turn off radio wave transmission to the server 310 of the robot cloud 300 (S314).

[0079] This transmission off request is transmitted from the server 310 of the robot cloud 300 to the server 210 of the elevator cloud 200 (S315), and then transmitted from the server 210 of the elevator cloud 200 to the control device 100 (S316).

[0080] In the control device 100, when the communication unit 101 receives the transmission-off request via the controller 150, the transmission control unit 114 sends a command to the transmitting device 154 to turn off transmission (S317). As a result, the virtual wall 155 disappears from above the boarding and alighting board 104.

[0081] Next, in the control device 100, the drive control section 103 sends a command to the drive device 120 to stop the steps 110, thereby stopping the movement of the steps 110 (S318). After confirming with the camera 506 that the steps 110 have stopped moving, the robot 500 dismounts from the steps 110 onto the boarding / alighting plate 104 (S319). This completes the inspection work of the escalator 1 by the robot 500.

[0082] As described above, in the robot control system 1000 according to this embodiment, the control device 100 comprises a drive control unit 103 that controls the movement of the steps 110, and a transmission control unit 114 that controls the transmission of radio waves from a transmitter 154 that can transmit transmission waves to the range above the board 104 at the entrance 193 of the escalator 1, and the robot 500 comprises a drive unit 503, a radio wave receiving unit 508 that can receive radio waves, and a travel control unit 509 that controls the drive unit 503 to travel in a manner that avoids receiving radio waves.

[0083] Therefore, in this embodiment, the robot 500 can be reliably prevented from boarding the escalator 1 when there is no instruction to board the escalator 1 by the radio wave virtual wall 155 above the boarding and alighting board 104, thereby preventing damage to the escalator 1, the user, and the robot 500.

[0084] Furthermore, in the robot control system 1000 according to this embodiment, the transmission control unit 114 controls the transmitter 154 so that radio waves are transmitted over the entire area above the boarding and alighting board 104, and the travel control unit 509 controls the drive unit 503 so that it stops when the radio wave receiving unit 508 receives radio waves, and travels when the radio wave receiving unit 508 does not receive radio waves.

[0085] Therefore, in this embodiment, the robot 500 can be more reliably prevented from boarding the escalator 1 when there is no instruction to board, by using a virtual wall 155 generated by radio waves that covers the entire area above the boarding and alighting board 104, thereby preventing damage to the escalator 1, users, and the robot 500.

[0086] Furthermore, in the robot control system 1000 according to this embodiment, the server 310 of the robot cloud 300 transmits to the robot 500 an instruction to start the robot 500's operations, and transmits to the server 210 of the elevator cloud 200 a notification of the robot 500's start of operations. When the server 210 of the elevator cloud 200 receives the notification of the start of operations from the server 310 of the robot cloud 300, it transmits the received notification of the start of operations to the control device 100. The control device 100 includes a communication unit 101 that receives the notification of the start of operations from the server 210 of the elevator cloud 200. When the notification of the start of operations is received, the transmission control unit 114 causes the transmitting device 154 to transmit radio waves. The robot 500 further includes a communication unit 502 that receives an instruction to start operations from the server 310 of the robot cloud 300. When the communication unit 502 receives the instruction to start operations from the server 310 of the robot cloud 300, the traveling control unit 509 starts traveling.

[0087] For this reason, in this embodiment, when the robot 500 starts its work, such as patrolling, the transmitter 154 transmits radio waves to the space above the boarding and alighting board 104. Therefore, while the robot 500 is performing its work, the virtual wall 155 can more reliably prevent the robot 500 from stepping onto the steps 110 of the escalator 1, thereby preventing damage to the escalator 1, users, and the robot 500.

[0088] In the robot control system 1000 according to this embodiment, when the robot 500 arrives at the boarding / alighting entrance 193, the communication unit 502 of the robot 500 transmits an instruction to stop the steps 110 to the server 310 of the robot cloud 300, and when the server 310 of the robot cloud 300 receives the instruction to stop the steps 110 from the robot 500, the server 310 of the robot cloud 300 transmits the received instruction to stop the steps 110 to the server 210 of the elevator cloud 200, and the server 210 of the elevator cloud 200 transmits the instruction to stop the steps 110 to the server 210 of the robot cloud 300. When an instruction to stop the step 110 is received from the server 310 of the cloud 300, the communication unit 101 transmits the received instruction to stop the step 110 to the control device 100, the communication unit 101 receives the instruction to stop the step 110 from the server 210 of the elevator cloud 200, the drive control unit 103 stops the movement of the step 110 when the communication unit 101 receives the instruction to stop the step 110, and the transmission control unit 114 causes the transmitting device 154 to stop transmitting radio waves when the communication unit 101 receives the instruction to stop the step 110.

[0089] Therefore, in this embodiment, when the step 110 is stopped and the robot 500 steps onto the step 110, no radio waves are transmitted from the transmitter 154, so that the robot 500 can pass through the boarding and alighting board 104 and reliably step onto the step 110.

[0090] In the robot control system 1000 according to this embodiment, when the robot 500 gets on the step 110, the communication unit 502 of the robot 500 transmits an instruction to move the step 110 to the server 310 of the robot cloud 300, and when the server 310 of the robot cloud 300 receives an instruction to move the step 110 from the robot 500, the communication unit 502 transmits the received instruction to move the step 110 to the server 210 of the elevator cloud 200, and the server 210 of the elevator cloud 200 transmits the received instruction to move the step 110 to the server 210 of the robot cloud 300. When an instruction to move the step 110 is received from the server 310 of the cloud 300, the communication unit 101 transmits the received instruction to move the step 110 to the control device 100, the communication unit 101 receives the instruction to move the step 110 from the server 210 of the elevator cloud 200, the drive control unit 103 starts moving the step 110 when the communication unit 101 receives the instruction to move the step 110, and the transmission control unit 114 causes the transmitting device 154 to start transmitting radio waves when the communication unit 101 receives the instruction to move the step 110.

[0091] Therefore, in this embodiment, for example, when the robot 500 starts to perform work on the step 110, the step 110 starts to move, and radio waves are emitted from the transmitter 154 to form a virtual wall 155 on the boarding and alighting board 104, thereby reliably preventing other robots 500 from entering the step 110 while the step 110 is moving.

[0092] (Variation) There are various modifications to the above embodiment. In the above embodiment, the transmission control unit 114 controls whether to form or disappear the virtual wall 155 on the boarding / alighting platform 104 by sending radio wave transmission on / off to the transmitting device 154, but this is not limited to this. For example, the transmitting device 154 and the transmission control unit 114 may be configured to change the range of the radio waves, in other words, to change the range of the virtual wall 155.

[0093] 11 is a diagram showing an example of the state of radio waves transmitted by the transmitting device 154 in the modified example. As shown in FIG. 11, the virtual walls 155 formed by the radio waves from the left and right transmitting devices 154 do not overlap, and therefore there is a space between the two virtual walls 155 where the radio waves do not reach. This allows the robot 500 to travel through this space. In other words, the transmission control unit 114 can be configured to cause the transmitting device 154 to transmit radio waves in such a way that the virtual wall 155 is not formed in the space on the boarding and disembarking platform 104 through which the robot 500 is to pass.

[0094] Furthermore, for example, when it is desired to have the robot 500 travel on one of the left and right sides of the boarding and alighting platform 104, the transmission control unit 114 may be configured so that radio waves are not emitted from one of the transmitting devices 154, but are emitted from the other transmitting device 154 within the range of the space on the other side of the boarding and alighting platform 104, thereby forming a virtual wall 155. This makes it possible to control the travel range of the robot 500.

[0095] In the above embodiment, radio waves are transmitted from the transmitting device 154, but the transmitted waves are not limited to radio waves. For example, the transmitting device 154 may be configured to transmit infrared waves.

[0096] In addition, in the above embodiment, the transmitting device 154 is configured to be provided in the inlet 108, but this is not limitative. For example, the transmitting device 154 may be provided on both sides of the boarding and alighting plate 104, the inner deck 106, the scooter guard panel 105, etc.

[0097] The robot 500 and the control device 100 according to the above-described embodiment and modified example are 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 have a hardware configuration that utilizes a normal computer.

[0098] 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.

[0099] 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.

[0100] 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.

[0101] 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, radio wave receiving unit 508, and driving control unit 509), 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, radio wave receiving unit 508, and driving control unit 509 are generated on the main memory.

[0102] The control programs executed by the control device 100 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 control device 100 according to the above embodiments and variations may be configured to be provided by being recorded on a computer-readable recording medium such as a CD-ROM, a flexible disk (FD), a CD-R, or a DVD in an installable or executable format.

[0104] Furthermore, the control program executed by the control device 100 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 control device 100 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 control device 100 in the above-mentioned embodiment and modified example has a modular structure including each of the above-mentioned functional units (communication unit 101, transmission control unit 114, control unit 102, drive control unit 103), and in actual hardware, the CPU reads and executes the control program from the above-mentioned ROM, loading each of the above-mentioned units onto the main memory device, and the communication unit 101, transmission control unit 114, control unit 102, and drive control unit 103 are generated on the main memory device.

[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, 101...communication unit (first communication unit), 102...control unit, 114...transmission control unit, 103...drive control unit, 104...boarding and alighting plate, 110...step, 120...drive unit, 170...truss, 150...controller, 153...notched window, 154...transmitting device, 160...control room, 193...boarding and alighting entrance, 200...elevator cloud, 210...server (elevator server), 3 00...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...Radio wave receiving unit (receiving unit), 509...Travel control unit, 510...Memory unit, 511...Imaging control unit, 1000...Robot control system.

Claims

1. An autonomous mobile body control system including a control device that controls a passenger conveyor having a plurality of steps that are connected in an endless manner and move, and an autonomous mobile body that can autonomously move to the steps of the passenger conveyor, The control device a drive control unit that controls the movement of the steps; a transmission control unit that controls transmission of a transmission wave from a transmitting device that can transmit a transmission wave to an area above a boarding / alighting board where the plurality of steps are extended or retracted at an entrance where the passengers get on and off the passenger conveyor; The autonomous moving body is A drive unit; a receiving unit capable of receiving the transmission wave; a travel control unit that controls the drive unit to travel so as to avoid receiving the transmission wave; An autonomous mobile control system comprising:

2. the transmission control unit controls the transmitting device so that the transmission wave is transmitted over an entire area above the board; The traveling control unit controls the drive unit to stop when the receiving unit receives the transmission wave, and to travel when the receiving unit does not receive the transmission wave. The autonomous mobile control system according to claim 1 .

3. The system further includes an elevator server connected to the control device via a network and controlling the control device, and an autonomous moving body server connected to the elevator server and the autonomous moving body via the network and controlling the autonomous moving body, the autonomous moving body server transmits to the autonomous moving body an instruction to start the operation of the autonomous moving body, and transmits to the elevator server a notification of the start of the operation of the autonomous moving body; When the elevator server receives the notification of the start of the service from the autonomous mobile object server, the elevator server transmits the received notification of the start of the service to the control device; The control device a first communication unit that receives a notification of the start of the service from the elevator server, the transmission control unit causes the transmitting device to transmit the transmission wave when the notification of the start of the service is received; The autonomous moving body is a second communication unit that receives the instruction to start the service from the autonomous mobile object server; the traveling control unit starts traveling when the second communication unit receives the instruction to start the service from the autonomous mobile body server. The autonomous mobile control system according to claim 2 .

4. the second communication unit of the autonomous mobile body transmits an instruction to stop the steps to the server for the autonomous mobile body when the autonomous mobile body arrives at the boarding / alighting entrance; when the autonomous moving body server receives an instruction to stop the steps from the autonomous moving body, the autonomous moving body server transmits the received instruction to stop the steps to the elevator server; when receiving an instruction to stop the steps from the autonomous mobile object server, the elevator server transmits the received instruction to stop the steps to the control device; the first communication unit receives an instruction to stop the steps from the elevator server; the drive control unit stops the movement of the steps when the first communication unit receives a stop instruction for the steps; the transmission control unit causes the transmitting device to stop transmitting the transmission wave when the first communication unit receives an instruction to stop the steps; The autonomous mobile control system according to claim 3 .

5. the second communication unit of the autonomous mobile body transmits an instruction to move the step to the server for the autonomous mobile body when the autonomous mobile body gets on the step; when the autonomous moving body server receives an instruction to move the steps from the autonomous moving body, the autonomous moving body server transmits the received instruction to move the steps to the elevator server; when receiving an instruction to move the steps from the autonomous mobile object server, the elevator server transmits the received instruction to move the steps to the control device; the first communication unit receives a step movement instruction from the elevator server; the drive control unit starts the movement of the steps when the first communication unit receives a movement instruction for the steps; the transmission control unit causes the transmitting device to start transmitting the transmission wave when the first communication unit receives the instruction to move the step; The autonomous mobile control system according to claim 4 .

6. An autonomous mobile body control method executed in an autonomous mobile body control system including a control device that controls a passenger conveyor having a plurality of steps that are connected endlessly and move, and an autonomous mobile body that can autonomously move to the steps of the passenger conveyor, a step in which the control device controls a transmitting device capable of transmitting a transmission wave to an area above a boarding / alighting board from which the plurality of steps are extended or retracted at an entrance where passengers get on and off the passenger conveyor; a step of the autonomous moving body receiving the transmission wave; a step of controlling a drive unit to cause the autonomous moving body to travel so as to avoid receiving the transmission wave; An autonomous mobile object control method comprising:

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