Autonomous moving body, boarding availability determination method and program

Abstract

To mount an autonomous mobile body at a position not affected by step movement of patrol-moving steps. [Solution] An autonomous moving body of an embodiment is equipped with a detection control unit that, when the autonomous moving body arrives at the boarding and alighting entrance of a passenger conveyor, controls the extension mechanism to move the support unit so that the detection unit is located at a first position, which is the position of the step tread near the end of a boarding and alighting board from which multiple steps are extended, facing the steps, and controls the detection unit to detect a first distance, which is the distance from the tread, at the first position, and controls the extension mechanism to move the support unit so that the detection unit is located at a second position, which is the position of the tread a distance equivalent to the step length, which is the length of the steps in the direction of travel, from the first position, and controls the detection unit to detect a second distance, which is the distance from the tread, at the second position; and a judgment unit that judges whether or not the autonomous moving body can board the step based on the difference between the first distance and the second distance.

Description

[Technical field]

[0001] An embodiment of the present invention relates to an autonomous moving object, a boarding permission determination method, and a program. [Background technology]

[0002] In passenger conveyors such as escalators installed in commercial facilities, transportation facilities, etc., traditionally, facility personnel operate the escalators to stop operation and also conduct daily inspections of the escalators by visually inspecting the appearance and listening to sounds, etc. In addition, periodic inspections conducted by specialized companies also involve simple manual checks equivalent to those of daily inspections.

[0003] It is expected that such inspection work will reduce the number of people required, and it is conceivable that the daily inspections performed by facility managers of escalators, which are started up every morning and stopped after business hours, will be performed by autonomous mobile bodies such as robots. When using autonomous mobile bodies to perform inspection work, it is essential that the autonomous mobile bodies move between floors. Conventional patrol-type autonomous mobile bodies within buildings use elevators to move between floors, but when using autonomous mobile bodies to perform daily escalator management work, it is necessary to have the autonomous mobile body ride on the escalator. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6516074 [Patent Document 2] JP 2019-001613 A [Patent Document 3] JP 2019-001612 A [Patent Document 4] International Publication No. 2018 / 109822 Summary of the Invention [Problem to be solved by the invention]

[0005] However, when an autonomous mobile body is placed on a passenger conveyor such as an escalator, it is necessary to place the autonomous mobile body in a position that is not affected by step motion of the steps that move in a circular motion during operation. [Means for solving the problem]

[0006] The autonomous moving body of the embodiment is an autonomous moving body that can ride on the steps of a passenger conveyor having a plurality of steps that are endlessly connected and move, the steps being provided facing downward, downward a support part supporting the detection part; and an extension mechanism for extending or retracting the distance between the detection part and the autonomous moving body by moving the support part in a forward or backward direction of the autonomous moving body, and when the autonomous moving body arrives at a boarding / alighting entrance that is an entrance in a moving direction of the plurality of steps on the passenger conveyor, the extension mechanism is controlled to move the support part so that the detection part is located at a first position that is a position of a tread of the step near an end of a boarding / alighting plate that is disposed at the boarding / alighting entrance and from which the plurality of steps are extended, the first distance that is a distance from the tread at the first position. a detection control unit that controls the detection unit so that the detection unit is positioned at a second position, which is a position of the step surface a distance away from the first position by a step length that is the length of the step in the traveling direction of the step, and controls the detection unit to detect a second distance, which is the distance from the step surface, at the second position; a determination unit that determines whether the autonomous moving body can board the step based on a difference between the first distance and the second distance; and a driving control unit that drives the autonomous moving body to board the step when the determination unit determines that boarding is possible. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is a diagram illustrating an example of an overall configuration of an autonomous mobile control system according to an embodiment. [Diagram 2] FIG. 2 is a perspective view showing a configuration of steps of a passenger conveyor according to an embodiment. [Diagram 3]FIG. 3 is a plan view showing an example of the tread surfaces of a plurality of steps, boarding and alighting plates, and combs as viewed from above in the embodiment. [Figure 4] FIG. 4 is a schematic diagram illustrating an example of an appearance of the robot according to the embodiment. [Diagram 5] FIG. 5 is a schematic diagram showing an example of the configuration of the extension mechanism and the arm according to the embodiment. [Figure 6] FIG. 6 is a block diagram illustrating an example of a functional configuration of the robot according to the embodiment. [Figure 7] FIG. 7 is a diagram showing an example of the relationship between the first distance, the second distance, and the step height in the case of upward operation of the escalator according to the embodiment. [Figure 8] FIG. 8 is a diagram showing an example of the relationship between the first distance, the second distance, and the step height in the case of a descending operation of the escalator according to the embodiment. [Figure 9] FIG. 9 is a schematic diagram showing an example in which the horizontal portion of successive steps fed from a comb is equal to or longer than the step length in the embodiment. [Figure 10] FIG. 10 is a schematic diagram showing an example in which the horizontal portion of successive steps paid out from a comb is less than the step length in an embodiment. [Figure 11] FIG. 11 is a flowchart illustrating an example of a procedure of the boarding permission determination process according to the embodiment. [Figure 12] FIG. 12 is a schematic diagram showing the relationship between the detected distance and the step height in the modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

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

[0009] (Embodiment) FIG. 1 is a diagram illustrating an example of an overall configuration of an autonomous mobile control system 1000 according to an embodiment.

[0010] As shown in FIG. 1, the autonomous mobile control system 1000 includes an escalator 1 and a robot 200. The robot 200 rides on the escalator 1 and inspects the escalator 1. The robot 200 is an example of an autonomous moving body. The robot 200 will be described in detail later.

[0011] The escalator 1 includes a plurality of steps 100, a balustrade panel 101, a handrail belt 102, a boarding entrance 103, a boarding board 104, a skirt guard panel 105, an inner deck 106, an outer deck 107, an inlet 108, a first sensor 151, a second sensor 152, and a control device 300. The escalator 1 is an example of a passenger conveyor.

[0012] The steps 100 are connected in an endless manner. Each step 100 is made of, for example, aluminum die casting, and is supported by a truss (not shown) with a set inclination angle. Each step 100 moves in a circular manner as a stepped platform between the boarding / alighting entrances 103 on the upper and lower floors by a drive motor (not shown). That is, each step 100 moves in a circular motion between the boarding / alighting entrances 103 on the upper floor and the boarding / alighting entrances 103 on the lower floor. In this way, each step 100 serves as a foothold for users of the escalator 1.

[0013] The balustrade panels 101 are installed on both sides of the multiple steps 100 in the width direction of the escalator 1. In other words, a pair of balustrade panels 101 are installed facing each other with the multiple steps 100 in between. The balustrade panels 101 are formed of, for example, transparent glass or acrylic.

[0014] The handrail belt 102 is configured so that users can place their hands on it while riding on the escalator 1. The handrail belt 102 is an endless belt, and is movably wound around the peripheral edges of each of the pair of balustrade panels 101. The handrail belt 102 moves in synchronization with the movement of each step 100 by a drive motor (not shown). The handrail belt 102 is made of, for example, rubber.

[0015] The boarding and alighting boards 104 are provided at the boarding and alighting entrances 103 located on the upper and lower floors, respectively. The boarding and alighting boards 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 board 104 facing the steps 100. A drive motor and the folded steps 100, etc. are stored under the boarding and alighting board 104. The width of the comb plate 104c is, for example, about 150 mm, but is not limited to this. Note that hereinafter, the comb plate 104c may be referred to as a comb 104c.

[0016] In other words, the multiple steps 100 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.

[0017] The skirt guard panel 105 extends in the extension direction of the escalator 1 near both widthwise ends of the steps 100. The skirt guard panel 105 is composed of two pairs of end panels 105f installed near the boarding / alighting entrances 103 on the upper and lower floors, and multiple intermediate panels 105m installed between the end panels 105f on the upper and lower floors.

[0018] That is, a pair of tip panels 105f are installed opposite each other with the steps 100 in between near the boarding and alighting board 104 on the upper floor. 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 100.

[0019] In addition, another pair of end panels 105f are installed near the boarding / alighting board 104 on the lower floor, facing each other across the steps 100. These end panels 105f are installed at positions straddling the front and rear of the comb plate 104c in the moving direction of the multiple steps 100.

[0020] A plurality of intermediate panels 105m are arranged between the end panels 105f installed on the upper and lower floors on one side of the width direction of the plurality of steps 100 so as to connect them. Also, a plurality of intermediate panels 105m are arranged between the end panels 105f installed on the upper and lower floors on the other side of the width direction of the plurality of steps 100 so as to connect them.

[0021] The inner deck 106 covers the upper end of the skirt guard panel 105. The outer deck 107 is installed adjacent to the inner deck 106 with the parapet panel 101 in between. In the space surrounded 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.

[0022] The inlets 108 are installed near the upper and lower floor entrances 103 so as to be connected to the respective end panels 105f. Of the upper and lower floor entrances 103, a pair of inlets 108 installed on the entrance side each have a handrail belt 102 reeled out. Also, of the upper and lower floor entrances 103, a pair of inlets 108 installed on the exit side each have a handrail belt 102 reeled in.

[0023] A control device 300 is provided below the boarding and alighting plate 104 on the truss. The control device 300 controls a drive motor (not shown) to control the cyclic movement of the multiple steps 100.

[0024] Next, the steps 100 will be described in detail. 2 is a perspective view showing the configuration of a step 100 of an escalator 1 according to an embodiment. As shown in FIG. 2, the step 1002 includes a bracket 21 having a substantially sector-shaped side shape, a step surface (also called a "cleat surface") 100a provided on the upper part of the bracket 21, and a riser 23 arranged along the arc shape of the bracket 21.

[0025] A shaft attachment portion 24 is formed at the tip of the bracket 21, to which a step connecting shaft 25 is rotatably attached. The step connecting shafts 25 are arranged horizontally at a predetermined interval along the moving direction of the steps 100. This step connecting shaft 25 is engaged with the left and right step chains 3, and a pair of left and right wheels (front wheels) 26 are provided at both ends. In addition, a pair of left and right wheels (rear wheels) 27 are provided on both sides of the lower end of the riser 23 of the bracket 21. The pair of left and right wheels (rear wheels) 27 correspond to one wheel and the other wheel. Here, the left and right rear wheels are referred to as rear wheels 27a and 27b, respectively, but when no distinction is made between left and right, they are referred to as rear wheels 27.

[0026] In addition, the steps 100 of this embodiment are provided (marked) with demarcation lines on both side edges and the front edge of the tread surface 100a, as shown in Fig. 2. The demarcation lines are intended to make the boundary between two consecutive steps 100 easier to see, and are made of resin and colored yellow, for example. Here, the front edge refers to the edge of the steps 100 in the traveling direction.

[0027] FIG. 3 is a plan view showing an example of the tread surfaces 100a, the boarding and alighting plates 104, and the combs 104c of the steps 100 in the embodiment as viewed from above. As shown in Fig. 3, the steps 100 are extended from the comb 104c, and if the length of the step surface 100a or the length of the continuous step surfaces 100a in the traveling direction is equal to or greater than the step length, the robot 200 can ride on the steps 100. In other words, for the robot 200 to be able to ride on the steps 100, the step surfaces 100a of at least two steps 100 must form an estimated portion with a gap 501 therebetween, and must not form a step. Here, the step length is the length of the steps in the traveling direction, and is, for example, 400 mm. However, it is not limited to this.

[0028] The robot 200 of this embodiment judges whether or not the robot 200 can get on the steps 100 by judging the presence or absence of a step between the successive steps 100. The robot 200 will be described in detail below.

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

[0030] The robot 200 according to this embodiment includes an imaging unit 210 on the upper part, as shown in Fig. 4. The imaging unit 210 is, for example, a camera, and captures an image of the area ahead of the robot 200 in the traveling direction. In this embodiment, the area ahead may include, but is not limited to, the boarding and disembarking board 104, the comb 104c, the steps 100, and the like.

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

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

[0033] The extension mechanism 230 is a mechanism that moves the arm 222 in the forward and backward directions of the robot 200 to extend or shorten the distance between the depth sensor 221 and the main body of the robot 200 . FIG. 5 is a schematic diagram showing an example of the configuration of the extension mechanism 230 and the arm 222 according to the embodiment. 5, in this embodiment, a depth sensor 221 is attached to the underside of the tip of an arm 222. A light emitting portion and a light receiving portion of the depth sensor 221 face downward.

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

[0035] By rotating the motor 234 forward and backward, the pinion gear 232 rotates by the shaft 233, and the rotation is transmitted to the rack gear 231, causing the arm 222 to extend and retract in the left-right direction in Fig. 5, i.e., in the front-rear direction of the robot 200. Here, the arm 222 has a length of at least the length of the steps.

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

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

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

[0039] When the robot 200 arrives at the entrance 103 of the escalator 1, the detection control unit 205 controls the extension mechanism 230 (i.e., the motor 234) to move the arm 222 so that the depth sensor 221 is positioned at a first position, which is the position of the tread surface 100a of the step 100 near the com 104c, which is the end portion of the entrance / exit board 104 of the entrance / exit board 103 that faces the step 100, and controls the depth sensor 221 to detect a first distance, which is the distance to the tread surface 100a at the first position.

[0040] In addition, the detection control unit 205 controls the extension mechanism 230 (i.e., the motor 234) to move the arm 222 so that the depth sensor 221 is positioned at a second position, which is a position on the tread surface 100a that is a distance away from the first position corresponding to the step length, and controls the depth sensor 221 to detect the second distance, which is the distance to the tread surface 100a at the second position.

[0041] The determination unit 202 calculates the difference between the first distance and the second distance detected by the depth sensor 221 under the control of the detection control unit 205. That is, the determination unit 202 calculates the difference between the first distance measured at a first position near the comb 104c and the second distance measured at a second position that is the step length away from the comb 104c. Then, the determination unit 202 determines whether or not the robot 200 can ride on the step 100 based on the difference.

[0042] Specifically, when the difference between the first distance measured by the comb 104c and the second distance measured at a position the step length away from the comb 104c is within a predetermined range, the judgment unit 202 judges that the robot 200 can stand on the steps 100. Here, the "predetermined range" is a very small range of values, such as 0 or an error between 0 and the step surface 100a of the steps 100, within which it can be judged that there are no steps and that the step surface 100a is level.

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

[0044] On the other hand, if the difference between the first distance and the second distance is outside the specified range, the judgment unit 202 judges that a step exists between the tread surfaces 100a of two consecutive steps 100, and judges that the robot 200 cannot board the steps 100.

[0045] Below, a specific example will be given for explanation. Fig. 7 is a diagram showing an example of the relationship between the first distance and the second distance and the step height of the step 100 in the case of upward operation in the escalator 1 according to the embodiment. In the example of Fig. 7, the robot 200 is stopped just before the comb 104c. Also, Fig. 7 shows an example in which the first position is a position away from the front of the main body of the robot 200 by the width of the comb 104c (e.g., 150 mm), and the second position is a position away from the first position by the step length (e.g., 400 mm), that is, a position away from the front of the main body of the robot 200 by about 550 mm. The same applies to Fig. 8 described later.

[0046] In Fig. 7(a), the first distance and the second distance are unchanged and the difference is within a predetermined range, so it can be seen that there is no step difference between the two consecutive steps 100 extended from the comb 104c. Therefore, in the example of Fig. 7(a), the judgment unit 202 judges that the robot 200 can ride on the steps.

[0047] On the other hand, in Fig. 7(b), the second distance is smaller than the first distance, and the difference is outside the predetermined range, so it is understood that there is a step between the two consecutive steps 100 extended from the comb 104c. Therefore, in the example of Fig. 7(b), the judgment unit 202 judges that the robot 200 cannot ride on the steps.

[0048] In the example of FIG. 7, an example of an upward operation in which the steps 100 move upward is shown, but a similar determination can be made in the case of a downward operation in which the steps 100 move downward.

[0049] FIG. 8 is a diagram showing an example of the relationship between the first distance, the second distance, and the step height of the steps 100 in the case of a descending operation of the escalator 1 according to the embodiment. In Fig. 8(a), the first distance and the second distance are unchanged and the difference is within a predetermined range, so it can be seen that there is no step difference between the two successive steps 100 extended from the comb 104c. Therefore, in the example of Fig. 8(a), the judgment unit 202 judges that the robot 200 can ride on the steps.

[0050] On the other hand, in Fig. 8(b), the second distance is greater than the first distance, and the difference is outside the predetermined range, so it is understood that there is a step between the two consecutive steps 100 extended from the comb 104c. Therefore, in the example of Fig. 8(b), the judgment unit 202 judges that the robot 200 cannot ride on the steps.

[0051] 9 is a schematic diagram showing an example in which the horizontal portion of the continuous steps 100 extending from the comb 104c is equal to or longer than the step length in the embodiment. That is, in the example of FIG. 9, since one or more steps of the steps 100 extend beyond the comb 104c, the judgment unit 202 judges that the robot 200 can ride on the steps 100.

[0052] 10 is a schematic diagram showing an example in which the horizontal portion of the continuous steps 100 extending from the comb 104c is less than the step length in the embodiment. That is, in the example of FIG. 10, one step of the steps 100 does not extend beyond the comb 104c, so the judgment unit 202 judges that the robot 200 cannot ride on the steps 100.

[0053] 6, the traveling control unit 203 controls the traveling of the robot 200 by controlling the driving of a driving motor (not shown) provided in the robot 200. In this embodiment, when the determination unit 202 determines that the robot 200 can ride on the steps 100, the traveling control unit 203 causes the robot 200 to ride on the steps 100.

[0054] Next, a boarding permission / prohibition determination process performed by the robot 200 according to this embodiment configured as above will be described. FIG. 11 is a flowchart illustrating an example of a procedure of the boarding permission determination process according to the embodiment.

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

[0056] Here, the robot 200 determines whether it has arrived at the position immediately before the boarding / alighting entrance 103 or the COM 104c based on the captured image by the imaging unit 210. For example, when the analysis unit 204 analyzes the captured image and recognizes the COM 104c shown in the captured image or a screw or the like immediately before the COM 104c on the boarding / alighting board 104, it may be determined that the robot 200 has arrived at the position immediately before the boarding / alighting entrance 103 or the COM 104c.

[0057] When the robot 200 arrives at the entrance / exit 103, the communication unit 201 transmits an operation stop command to the control device 300 of the escalator 1 (S14). In response to this, the control device 300 receives the command to stop operation and stops the operation of the escalator 1, i.e., the patrol movement of the steps 100, in accordance with the command.

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

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

[0060] Next, the determination unit 202 calculates the difference between the first distance detected in S16 and the second distance detected in S18, and determines whether or not the difference is within a predetermined range (S19). If the difference is within the predetermined range (S19: Yes), the determination unit 202 determines that the robot 200 can get on the steps 100 (S20). Then, the travel control unit 203 travels the robot 200 and causes it to get on the steps 100 (S21). Thereafter, the robot 200 performs an inspection of the escalator 1.

[0061] Here, the inspection work for the escalator 1 includes checking for vibrations or abnormal sounds of the steps 100 while the escalator 1 is in operation, checking for gaps between the skirt guard panel 105 and the steps 100 while riding the escalator 1, and checking for damage to the panel or the triangular guard, etc. However, the inspection work is not limited to these.

[0062] In S19, if the difference is outside the predetermined range (S19: No), the judgment unit 202 judges that the robot 200 cannot ride on the steps 100 (S22). Then, the process proceeds to S15. In this case, the movement of the steps 100 of the escalator 1 is resumed, and the process is repeated from S15.

[0063] In this manner, in the robot 200 according to the present embodiment, when the robot 200 arrives at the entrance 103 of the escalator 1, the detection control unit 205 controls the telescopic mechanism 230 to move the arm 222 so that the depth sensor 221 is located at a first position, which is the position of the tread 100a of the step 100 near the com 104c, which is the end of the boarding / alighting board 104 of the entrance 103 facing the step 100, and controls the depth sensor 221 to detect a first distance, which is the distance from the tread 100a, at the first position. The detection control unit 205 also controls the telescopic mechanism 230 to move the arm 222 forward so that the depth sensor 221 is located at a second position, which is the position of the tread 100a at a distance equivalent to the step length from the first position, and controls the depth sensor 221 to detect a second distance, which is the distance from the tread 100a, at the second position. Then, the determination unit 202 determines whether or not the robot 200 can step onto the steps 100 based on the difference between the first distance and the second distance detected by the depth sensor 221 under the control of the detection control unit 205.

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

[0065] Therefore, according to this embodiment, it is possible to determine whether or not the horizontal portion of the tread surface 100a of the consecutive steps 100 exists in one or more steps of the steps 100 from the difference between the first distance to the tread surface 100a detected at the first position and the second distance to the tread surface 100a at the second position that is one step length (step length) away from the first position. That is, according to this embodiment, when the robot 200 is made to ride on the steps 100 of the escalator 1, the horizontal portion of the consecutive steps 100 can be accurately determined regardless of the difference in the specifications of the escalator 1, such as 1.5 steps or 3 steps. Therefore, according to this embodiment, the robot 200 can be made to ride on a position that is not affected by the step motion of the steps 100 that are moving around during operation. Furthermore, according to this embodiment, regardless of differences in the specifications of the escalator 1, the robot 200 accurately determines the horizontal portions of multiple consecutive steps 100, so there is no need to provide the escalator 1 with a function for determining whether or not boarding is possible, and the processing load on the escalator 1 side can be reduced.

[0066] (Modification) In the above embodiment, the depth sensor 221 detects the distance to the tread surface 100a at two locations: a first position near the comb 104c of the tread surface 100a, and a second position a step length away from the first position toward the step 100, but this is not limited to this.

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

[0068] In this case, the judgment unit 202 can be configured so that when the depth sensor 221 detects a gap between two consecutive steps 100, if the difference between the two distances detected before and after the gap is within a specified range, it determines that the robot 200 can board the step 100, and if the difference between the two distances is outside the specified range, it determines that the robot 200 cannot board the step.

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

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

[0071] In Fig. 12(a), the distances detected before and after the gap are constant and the difference is within a predetermined range, so it can be seen that there is no step difference between the two consecutive steps 100 extended from comb 104c. Therefore, in the example of Fig. 12(a), the judgment unit 202 judges that the robot 200 can ride on the steps.

[0072] On the other hand, in Fig. 12(b), there is a difference between the two distances detected before and after the gap, and the difference is outside the predetermined range, so it is understood that there is a step between the two consecutive steps 100 extended from the comb 104c. Therefore, in the example of Fig. 12(b), the judgment unit 202 judges that the robot 200 cannot ride on the steps.

[0073] According to this modification, the detection control unit 205 of the robot 200 controls the extension mechanism 230 to move the arm 222 forward at a predetermined interval, while controlling the depth sensor 221 to cause the depth sensor 221 to detect the distance to the tread surface 100a. When the depth sensor 221 detects a gap between the two steps 100, the determination unit 202 determines that the robot 200 can get on the steps 100 if the difference between the two distances detected before and after the gap is within a predetermined range, and determines that the robot 200 cannot get on the steps if the difference between the two distances is outside the predetermined range.

[0074] Therefore, according to this modified example, in addition to achieving the same effect as the above embodiment, the presence or absence of a step in the step 100 can be determined before the depth sensor 221 moves from the first position near the com 104c to the second position that is the step length away, so that a decision as to whether or not it is possible to board can be made early.

[0075] The robot 200 according to the above-described embodiment and modified examples is equipped with a control device such as a CPU, a storage device such as a ROM or a RAM, an external storage device such as a 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.

[0076] The boarding permission determination program executed by the robot 200 according to the above embodiment and the modified example is provided in a state that it is pre-installed in a ROM or the like.

[0077] The boarding eligibility determination program executed by the robot 200 in the above embodiments and modified examples 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.

[0078] Furthermore, the boarding permission / prohibition determination program executed by the robot 200 according to the above embodiment and modified examples may be stored in a computer connected to a network such as the Internet and provided by being downloaded via the network. Also, the boarding permission / prohibition determination program executed by the robot 200 according to the above embodiment and modified examples may be provided or distributed via a network such as the Internet.

[0079] The boarding eligibility judgment program executed by the robot 200 in the above embodiment and modified example has a modular structure including each of the above-mentioned units (communication unit 201, analysis unit 204, detection control unit 205, judgment unit 202, and driving control unit 203), and in terms of actual hardware, the CPU (processor) reads out and executes the boarding eligibility judgment program from the above-mentioned ROM, thereby loading each of the above-mentioned units onto the main memory device, and the communication unit 201, analysis unit 204, detection control unit 205, judgment unit 202, and driving control unit 203 are generated on the main memory device.

[0080] Although some 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 implemented 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 in the scope and spirit of the invention, and are included in the scope of the invention and its equivalents described in the claims. [Explanation of symbols]

[0081] 1... escalator (passenger conveyor), 100... step, 100a... tread surface, 103... boarding / alighting entrance, 104... boarding / alighting board, 104c... COM plate (COM), 200... robot (autonomous mobile body), 201... communication unit, 202... judgment unit, 203... travel control unit, 204... analysis unit, 205... detection control unit, 300... control device, 221... depth sensor, 222... arm (support unit), 230... extension mechanism, 231... 1000... autonomous mobile body control system.

Claims

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

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

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

4. A method for determining whether or not a passenger can ride on a step of a passenger conveyor having a plurality of steps that are endlessly connected and move, the method being executed by an autonomous moving body that can ride on the step, The autonomous moving body is A detection unit that is provided facing downward and is capable of detecting a distance to an object present below; A support portion that supports the detection portion; an extension mechanism that moves the support unit in a front-rear direction of the autonomous moving body to extend or shorten a distance between the detection unit and the autonomous moving body; When the autonomous moving body arrives at a boarding / alighting entrance that is an entrance in a moving direction of the plurality of steps on the passenger conveyor, controlling the telescopic mechanism to move the support unit so that the detection unit is located at a first position that is a position of a tread surface of the step near an end of a boarding / alighting plate that is disposed at the boarding / alighting entrance and from which the plurality of steps are extended, the position facing the step; controlling the detection unit to detect a first distance, which is a distance to the tread surface at the first position; a step of controlling the telescopic mechanism to move the support part so that the detection part is located at a second position, which is a position of the step surface a distance corresponding to a step length, which is a length of the step in a traveling direction, away from the first position; controlling the detection unit to detect a second distance, which is a distance from the tread surface at the second position; determining whether or not the autonomous moving body can ride on the step based on a difference between the first distance and the second distance; When it is determined that riding is possible, traveling the autonomous moving body so as to ride on the step; A method for determining whether or not a passenger can board a vehicle.

5. A program to be executed by a computer of an autonomous moving body that can ride on a step of a passenger conveyor having a plurality of steps that are endlessly connected and move, The autonomous moving body is A detection unit that is provided facing downward and is capable of detecting a distance to an object present below; A support portion that supports the detection portion; an extension mechanism that moves the support unit in a front-rear direction of the autonomous moving body to extend or shorten a distance between the detection unit and the autonomous moving body; When the autonomous moving body arrives at a boarding / alighting entrance that is an entrance in a moving direction of the plurality of steps on the passenger conveyor, controlling the telescopic mechanism to move the support unit so that the detection unit is located at a first position that is a position of a tread surface of the step near an end of a boarding / alighting plate that is disposed at the boarding / alighting entrance and from which the plurality of steps are extended, the position facing the step; controlling the detection unit to detect a first distance, which is a distance to the tread surface at the first position; a step of controlling the telescopic mechanism to move the support part so that the detection part is located at a second position, which is a position of the step surface a distance corresponding to a step length, which is a length of the step in a traveling direction, away from the first position; controlling the detection unit to detect a second distance, which is a distance from the tread surface at the second position; determining whether or not the autonomous moving body can ride on the step based on a difference between the first distance and the second distance; When it is determined that riding is possible, traveling the autonomous moving body so as to ride on the step; A program for causing the computer to execute the above.

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