Autonomous moving body, passenger conveyor boarding control method and program

Abstract

To allow an autonomous moving body to ride on a passenger conveyor while preventing a decrease in the operation efficiency of the passenger conveyor. [Solution] An autonomous moving body of an embodiment includes a detection unit that detects torque due to wheel rotation, an imaging unit that is arranged at a boarding / alighting opening, which is the entrance in the direction of movement of the multiple steps, and continuously images the multiple steps that are extended from the boarding / alighting board on which the autonomous moving body can travel, an image analysis unit that analyzes the multiple images continuously captured by the imaging unit and calculates a horizontal movement speed, which is the movement speed of the multiple steps when they are moving horizontally, and a drive control unit that drives the wheels to rotate in a first direction so as to bring the autonomous moving body closer to the steps on the boarding / alighting board, and when the torque of the wheels is detected by the detection unit, and the detected torque of the wheels is in the direction opposite to the first direction, stops the rotational drive of the wheels, thereby allowing the autonomous moving body to ride on the steps.

Description

[Technical field]

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

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

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

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

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

[0006] An autonomous mobile body of an embodiment is an autonomous mobile body that can ride on steps of a passenger conveyor that has a plurality of steps that are endlessly connected and move in a circulatory manner, and includes wheels, a detection unit that detects torque due to the rotation of the wheels, an imaging unit that is arranged at a boarding / alighting entrance that is an entrance in the moving direction of the plurality of steps and that continuously images the plurality of steps that are extended from a boarding / alighting board on which the autonomous mobile body can run, an image analysis unit that analyzes the plurality of images continuously captured by the imaging unit and calculates a horizontal movement speed that is the movement speed of the plurality of steps when they are moving horizontally, and a detection unit that detects torque due to the rotation of the wheels, a detection unit that detects torque due to the rotation of the wheels, an imaging unit that is arranged at a boarding / alighting entrance that is an entrance in the moving direction of the plurality of steps and that continuously images the plurality of steps that are extended from a boarding / alighting board on which the autonomous mobile body can run, an image analysis unit that calculates a horizontal movement speed that is the movement speed of the plurality of steps when they are moving horizontally, and a detection unit that detects torque due to the rotation of the wheels, Before The opposite direction to the first direction It was detected that a torque of a drive control unit that stops the rotational drive of the wheels when the autonomous moving body is placed on the steps, The drive control unit further drives the wheels in the first direction to rotate the autonomous mobile body in order to move the autonomous mobile body down from the step when the detection unit detects that a torque in the same direction as the first direction has been generated in the wheels while the autonomous mobile body is on the step, the wheels including front wheels and rear wheels, and the drive control unit drives the front wheels and the rear wheels in the first direction to rotate independently of each other so as to bring the autonomous mobile body closer to the step on the boarding and alighting board, and when the detection unit detects that a torque in the opposite direction to the first direction has been generated in the front wheels, and then, when the detection unit detects that a torque in a direction opposite to the first direction has been generated in the rear wheels, the rotational drive of the rear wheels is stopped, thereby causing the autonomous moving body to ride on the step; and, when the detection unit detects that a torque in the same direction as the first direction has been generated in the front wheels while the autonomous moving body is on the step, the front wheels are rotationally driven in the first direction; and then, when the detection unit detects that a torque in the same direction as the first direction has been generated in the rear wheels, the rear wheels are rotationally driven in the first direction, thereby causing the autonomous moving body to descend from the step. . [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 block diagram illustrating an example of a configuration of a robot according to an embodiment. [Diagram 5] FIG. 5 is a diagram for explaining an example of the length of the robot when riding on an escalator that moves upward in the embodiment. [Figure 6] FIG. 6 is a diagram for explaining an example of the length of the robot when riding on an escalator that moves downward in the embodiment. [Figure 7]FIG. 7 is a flowchart illustrating an example of a procedure of the escalator getting on and off control process according to the embodiment. [Figure 8] FIG. 8 is a flowchart illustrating an example of the procedure (continuation) of the escalator getting on and off control process according to the embodiment. [Figure 9] FIG. 9 is a diagram showing an example of a base point when riding on an escalator that moves upward in the embodiment. [Figure 10] FIG. 10 is a diagram showing an example of a state of confirmation of a user when riding on an escalator moving upward in the embodiment. [Figure 11] FIG. 11 is a diagram showing an example of a boarding reference position when boarding an escalator that moves upward in the embodiment. [Figure 12] FIG. 12 is a diagram showing an example of a state in which the robot is adjusting its speed when riding on an escalator that moves upward in the embodiment. [Figure 13] FIG. 13 is a diagram showing an example of a state in which a robot steps onto a step that moves upward in the embodiment. [Figure 14] FIG. 14 is a diagram showing an example of a state in which the front wheels are on the steps when riding on an escalator moving upward in the embodiment. [Figure 15] FIG. 15 is a diagram showing an example of a state in which the rear wheels are placed on the steps when riding on an escalator moving upward in the embodiment. [Figure 16] FIG. 16 is a diagram showing an example of a state in which the front wheels run onto the boarding plate when a person gets off the escalator that is moving upward in the embodiment. [Figure 17] FIG. 17 is a diagram showing an example of a state in which the rear wheels run onto the boarding / alighting plate when a person gets off the escalator that is moving upward in the embodiment. [Figure 18] FIG. 18 is a diagram showing an example of a base point when riding on an escalator that moves downward in the embodiment. [Figure 19] FIG. 19 is a diagram showing an example of a state of confirmation of a user when riding on an escalator moving downward in an embodiment. [Figure 20] FIG. 20 is a diagram showing an example of a boarding reference position when boarding an escalator that moves downward in the embodiment. [Figure 21] FIG. 21 is a diagram showing an example of a state in which the robot is adjusting its speed when riding on an escalator that is moving downward in the embodiment. [Figure 22] FIG. 22 is a diagram showing an example of a state in which a robot in an embodiment steps onto a step moving downward. [Figure 23] FIG. 23 is a diagram showing an example of a state in which the front wheels are on the steps when riding on an escalator moving downward in the embodiment. [Figure 24] FIG. 24 is a diagram showing an example of a state in which the rear wheels are placed on the steps when riding on an escalator moving downward in the embodiment. [Diagram 25] FIG. 25 is a diagram showing an example of a state in which the front wheels run onto the boarding plate when a person gets off the escalator moving downward in the embodiment. [Figure 26] FIG. 26 is a diagram showing an example of a state in which the rear wheels run onto the boarding / alighting plate when a person gets off the escalator that is moving upward in the embodiment. 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. As shown in FIG. 1, the autonomous mobile control system 1000 includes an escalator 1 and a robot 200.

[0010] The robot 200 rides on the escalator 1 and performs various tasks such as inspecting the escalator 1. As shown in Fig. 1, the robot 200 can move using wheels 211. The robot 200 is also provided with an imaging unit 210. The robot 200 is an example of an autonomous mobile 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. In the example of FIG. 1, the control device 300 of the escalator 1 and the robot 200 are connected via a network, but in this embodiment, the two do not necessarily need to be connected via a network.

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

[0013] 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.

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

[0015] The handrail belt 102 is configured so that users can place their hands on it while riding 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.

[0016] 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.

[0017] 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.

[0018] 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.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] The inner deck 106 covers the upper end of the skirt guard panel 105. The outer deck 107 is installed adjacent to the inner deck 106 with the parapet panel 101 in between. In the space 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.

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

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

[0025] Next, the steps 100 will be described in detail. Fig. 2 is a perspective view showing the configuration of a step 100 of an escalator 1 according to an embodiment. As shown in Fig. 2, a step 1002 includes a bracket 21 having a substantially sector-shaped side shape, a tread 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. As shown in Fig. 2, the arc-shaped portion of the riser 23 protrudes on the opposite side of the moving direction of the step 100, that is, toward the previous step 100.

[0026] 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 engages with the left and right step chains 3, and a pair of left and right wheels (front wheels) 211A are provided at both ends. In addition, a pair of left and right wheels (rear wheels) 211B are provided on both sides of the lower end of the riser 23 of the bracket 21. When there is no need to distinguish between the front wheels 211A and the rear wheels 211B, they will be referred to as wheels 211.

[0027] 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.

[0028] 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 the robot 200 can ride on the steps 100 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. 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 a horizontal portion with a gap 501 therebetween, and no step must be formed. Here, the step length is the dimension of the steps in the traveling direction, and is, for example, 400 mm. However, it is not limited to this.

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

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

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

[0032] 5 and 6 are diagrams for explaining an example of the length of the robot 200 in the embodiment. Fig. 5 shows an example of the case where the robot 200 rides on the steps 100 of the escalator 1 moving upward, and Fig. 6 shows an example of the case where the robot 200 rides on the steps 100 of the escalator 1 moving downward.

[0033] When the robot 200 gets on the step 100 that is moving upward, the length LR1 of the contact part of the rear wheel 211B from the front part (also called the tip part) of the robot 200 to the step 100 is shorter than the step length L1 of the step 100 minus the protruding dimension L2 of the step 100 by the riser 23, as shown in Fig. 5, so that the robot 200 can get on the step 100. Here, the protruding dimension is the length of the part where two consecutive steps 100 moving over a step overlap at the step part. In other words, the protruding dimension is the length by which the upper end part of the upper step 100 of the two consecutive steps 100 protrudes toward the lower step 100 by the riser 23.

[0034] In addition, when the robot 200 climbs onto the step 100 moving downward, in order to enable the robot 200 to climb onto the step 100, the length LR2 from the rear end (also called the rear end or tail) of the robot 200 to the ground contact portion of the front wheel 211A is set shorter than the step length L1 of the step 100 minus the protruding dimension L2 of the riser 23 of the step 100, as shown in FIG. 6.

[0035] 4, the control device 250 is a device that performs various controls of the robot 200. The control device 250 mainly includes an image analysis unit 251 and a drive control unit 252, as shown in FIG.

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

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

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

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

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

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

[0042] In other words, the drive control unit 252 rotates and drives the wheels 211 so that the robot 200 first decelerates and then accelerates to move to the boarding reference position, and then rotates and drives the wheels 211 so that the movement speed of the robot 200 approaches the step 100 at a horizontal movement speed from the boarding reference position.

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

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

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

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

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

[0048] Next, a process of controlling getting on and off an escalator by the robot 200 according to this embodiment configured as above will be described.

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

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

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

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

[0053] Returning to FIG. 7, next, the image analysis unit 251 judges whether or not a user appears in the captured image (whether or not a user has been detected) (S13).

[0054] 10 and 19 are diagrams showing an example of a state of confirmation of a user in the embodiment. The image analysis unit 251 judges whether or not a user 300 is present on the boarding / alighting board 104, as shown in FIG. Returning to FIG. 7, if a user is detected (S13: Yes), the process waits until the user leaves.

[0055] On the other hand, if no user is detected (S13: No), the drive control unit 252 drives the front wheels 211A and the rear wheels 211B to rotate in a first rotation direction and starts approaching the steps 100 (S14). This causes the robot 200 to travel on the boarding / alighting plate 104 toward the steps 100. Then, the image analysis unit 251 analyzes the multiple captured images to calculate the horizontal movement speed of the steps 100 (S15). Next, the image analysis unit 251 analyzes the captured images to set a boarding reference position P (S16).

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

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

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

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

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

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

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

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

[0064] Then, the drive control unit 252 judges whether or not torque in the direction opposite to the rotation direction (i.e., the first rotation direction) is generated in the rear wheel 211B by the torque sensor 213B (S22). If torque in the direction opposite to the rotation direction is not generated in the rear wheel 211B (S22: No), the process waits as it is, and the drive control unit 252 continues driving the rotation of the rear wheel 211B.

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

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

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

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

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

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

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

[0072] As described above, the robot 200 according to this embodiment includes an image analysis unit 251 that analyzes a plurality of captured images successively captured by the imaging unit 210 to calculate a horizontal movement speed, which is a movement speed of the plurality of steps 100 when they are moving horizontally, and a torque sensor 213 that rotates and drives the wheels 211 in a first direction so as to move the robot 200 closer to the steps 100 on the boarding / alighting plate 104, and detects the speed of the wheels 211 by the torque sensor 213. Second The opposite direction to 1 A torque of and a drive control unit 252 that stops the rotational drive of the wheels 211 when it is determined that the robot 200 is on the steps 100.

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

[0074] In addition, in the robot 200 according to this embodiment, the drive control unit 252 further detects the torque of the wheels 211 from the torque sensor 213 while the robot 200 is on the steps 100. Second Same direction as 1 A torque of When it is determined that the robot 200 is in a position to dismount from the steps 100, the wheels 211 are driven to rotate in the first direction, thereby causing the robot 200 to dismount from the steps 100. Therefore, according to this embodiment, the robot 200 autonomously determines the dismounting position from the steps 100 of the escalator 1, and the robot 200 dismounts from the steps 100 without changing the horizontal moving speed of the steps 100, so there is no need to stop the escalator 1 or adjust the moving speed. Therefore, according to this embodiment, there is no need to perform a dedicated operation for the robot, and it is possible to prevent a decrease in the operating efficiency of the escalator 1. In addition, there is no need to incorporate a mechanism for exchanging information and confirming information in both the robot 200 and the escalator 1, and in particular, there is no need to provide a special configuration for the escalator 1, so that it is possible to avoid a complication of the configurations of the robot 200 and the escalator 1.

[0075] In the robot 200 according to this embodiment, the drive control unit 252 drives and rotates the front wheels 211A and the rear wheels 211B independently, drives and rotates the front wheels 211A and the rear wheels 211B in a first direction so as to move the robot 200 closer to the steps 100 on the boarding / alighting board 104, and detects the torque of the front wheels 211A by the torque sensor 213A. Second The opposite direction to 1 A torque ofIf it is determined that the torque of the rear wheel 211B is detected by the torque sensor 213B, the drive control unit 252 stops the rotation of the front wheel 211A. Second The opposite direction to 1 A torque of If it is determined that the robot 200 is on the steps 100, the drive control unit 252 stops the rotational drive of the rear wheels 211B, thereby causing the robot 200 to ride on the steps 100. If the torque sensor 213A detects the torque of the front wheels 211A while the robot 200 is on the steps 100, the drive control unit 252 Second Same direction as 1 A torque of If it is determined that the front wheel 211A is in the first direction, the drive control unit 252 drives the front wheel 211A to rotate in the first direction. Second Same direction as 1 A torque of If it is determined that the robot 200 is in a dismounted state, the rear wheels 211B are rotationally driven in a first direction to cause the robot 200 to descend from the steps 100.

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

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

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

[0079] Furthermore, in the robot 200 according to this embodiment, the drive control unit 252 rotationally drives the wheels 211 so that the robot 200 decelerates once and then accelerates to move to the boarding reference position, and then rotationally drives the wheels 211 so that the movement speed of the robot 200 approaches the steps 100 from the boarding reference position at a horizontal movement speed. Therefore, according to this embodiment, it is possible to reliably realize the robot 200 traveling at the same speed as the horizontal movement speed of the steps 100 and getting on to the steps 100. Therefore, according to this embodiment, there is no need to perform a dedicated robot operation, and it is possible to prevent a decrease in the operating efficiency of the escalator 1.

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

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

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

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

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

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

[0086] The escalator getting on and off control program executed by the robot 200 in the above-described embodiment and modified examples may be configured to be provided by recording it 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.

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

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

[0089] 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]

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

Claims

1. An autonomous moving body that can ride on a step of a passenger conveyor having a plurality of steps that are endlessly connected and move in a circular manner, Wheels and A detection unit that detects a torque caused by the rotation of the wheel; an imaging unit that is disposed at an entrance of the plurality of steps in a moving direction and that continuously images the plurality of steps extended from a boarding / alighting plate on which the autonomous moving body can travel; an image analysis unit that analyzes a plurality of captured images successively captured by the imaging unit and calculates a horizontal movement speed that is a movement speed when the plurality of steps are moving horizontally; a drive control unit that drives the wheels in a first direction to rotate the autonomous moving body so as to approach the steps on the boarding and alighting board, and stops the rotational drive of the wheels when the detection unit detects that a torque in a direction opposite to the first direction is generated in the wheels, thereby causing the autonomous moving body to ride on the steps; the drive control unit further drives the wheel in rotation in the first direction when the detection unit detects that a torque in the same direction as the first direction has been generated in the wheel with the autonomous moving body on the step, thereby causing the autonomous moving body to dismount from the step; The wheels include front wheels and rear wheels, The drive control unit independently drives and rotates the front wheels and the rear wheels, drives and rotates the front wheels and the rear wheels in the first direction so as to bring the autonomous moving body closer to the step on the boarding and alighting board, stops the rotational drive of the front wheels when the detection unit detects that a torque in a direction opposite to the first direction has been generated in the front wheels, and then stops the rotational drive of the rear wheels when the detection unit detects that a torque in a direction opposite to the first direction has been generated in the rear wheels, thereby causing the autonomous moving body to ride on the step, and when the detection unit detects that a torque in the same direction as the first direction has been generated in the front wheels while the autonomous moving body is on the step, rotationally drives the front wheels in the first direction, and then when the detection unit detects that a torque in the same direction as the first direction has been generated in the rear wheels, rotationally drives the rear wheels in the first direction, thereby causing the autonomous moving body to descend from the step. Autonomous mobile body.

2. The image analysis unit identifies, from the captured image, a base point at which the multiple steps change from horizontal movement to step movement, and, when the multiple steps are moving upward, identifies a position at a distance from the base point obtained by adding a protruding dimension indicating the length of the overlapping portion of two consecutive steps moving in steps to a distance that is an integer multiple of the step length, which is the dimension in the traveling direction of the steps, as a boarding reference position indicating a position at which the front wheel and the rear wheel can remain positioned on one of the steps, and, when the multiple steps are moving downward, identifies a position at a distance from the base point obtained by subtracting the protruding dimension from the distance that is an integer multiple of the step length, as the boarding reference position. The drive control unit adjusts a moving speed of the autonomous moving body to rotate and drive the wheels so that a front end or a rear end of the autonomous moving body overlaps with the boarding reference position up to the boarding reference position, and rotates and drives the wheels so that the moving speed of the autonomous moving body approaches the step at the horizontal moving speed from the boarding reference position. The autonomous moving body according to claim 1 .

3. The drive control unit rotationally drives the wheels so that the autonomous moving body decelerates once and then accelerates to move to the boarding reference position, and rotationally drives the wheels so that the moving speed of the autonomous moving body approaches the step at the horizontal moving speed from the boarding reference position. The autonomous moving body according to claim 2 .

4. The steps of the passenger conveyor move upward and downward, a length from a leading end of the autonomous moving body to a ground contact portion of the rear wheel is shorter than a length obtained by subtracting the protruding dimension from the step length of the step; The autonomous moving body according to claim 2 .

5. The steps of the passenger conveyor move downward, a length from a rear end of the autonomous moving body to a ground contact portion of the front wheel is shorter than a length obtained by subtracting the protruding dimension from the step length of the step; The autonomous moving body according to claim 2 .

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

7. A passenger conveyor boarding control method executed by 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 cyclically, comprising: The autonomous moving body includes a wheel, a detection unit that detects a torque caused by the rotation of the wheel, and an imaging unit that is disposed at a boarding / alighting opening that is an entrance of the movement direction of the plurality of steps and that continuously images the plurality of steps extended from a boarding / alighting board on which the autonomous moving body can run, A step of analyzing a plurality of captured images successively captured by the imaging unit to calculate a horizontal movement speed, which is a movement speed when the plurality of steps are moving horizontally; a drive control step of rotating the wheels in a first direction so as to move the autonomous moving body closer to the steps on the boarding and alighting board, and stopping the rotational drive of the wheels when the detection unit detects that a torque in a direction opposite to the first direction is generated in the wheels, thereby causing the autonomous moving body to ride on the steps; The drive control step further includes, when the detection unit detects that a torque in the same direction as the first direction is generated in the wheel while the autonomous moving body is on the step, driving the wheel to rotate in the first direction to cause the autonomous moving body to dismount from the step; The wheels include front wheels and rear wheels, The drive control step includes independently driving and rotating the front wheels and the rear wheels, driving the front wheels and the rear wheels in the first direction so as to bring the autonomous moving body closer to the step on the boarding and alighting plate, stopping the rotational drive of the front wheels when the detection unit detects that a torque in a direction opposite to the first direction has been generated in the front wheels, and then stopping the rotational drive of the rear wheels when the detection unit detects that a torque in a direction opposite to the first direction has been generated in the rear wheels, thereby causing the autonomous moving body to ride on the step, and when the detection unit detects that a torque in the same direction as the first direction has been generated in the front wheels while the autonomous moving body is on the step, driving the front wheels in the first direction, and then driving the rear wheels in the first direction, thereby causing the autonomous moving body to descend from the step. A method for controlling passenger boarding on a conveyor.

8. 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 in a circular manner, The autonomous moving body includes a wheel, a detection unit that detects a torque caused by the rotation of the wheel, and an imaging unit that is disposed at a boarding / alighting opening that is an entrance of the movement direction of the plurality of steps and that continuously images the plurality of steps extended from a boarding / alighting board on which the autonomous moving body can run, A step of analyzing a plurality of captured images successively captured by the imaging unit to calculate a horizontal movement speed, which is a movement speed when the plurality of steps are moving horizontally; a drive control step of rotating the wheels in a first direction so as to move the autonomous moving body closer to the steps on the boarding and alighting board, and stopping the rotational drive of the wheels when the detection unit detects that a torque in a direction opposite to the first direction has been generated in the wheels, thereby causing the autonomous moving body to ride on the steps; The drive control step further includes, when the detection unit detects that a torque in the same direction as the first direction is generated in the wheel while the autonomous moving body is on the step, driving the wheel to rotate in the first direction to cause the autonomous moving body to dismount from the step; The wheels include front wheels and rear wheels, The drive control step includes independently driving and rotating the front wheels and the rear wheels, driving the front wheels and the rear wheels in the first direction so as to bring the autonomous moving body closer to the step on the boarding and alighting plate, stopping the rotational drive of the front wheels when the detection unit detects that a torque in a direction opposite to the first direction has been generated in the front wheels, and then stopping the rotational drive of the rear wheels when the detection unit detects that a torque in a direction opposite to the first direction has been generated in the rear wheels, thereby causing the autonomous moving body to ride on the step, and when the detection unit detects that a torque in the same direction as the first direction has been generated in the front wheels while the autonomous moving body is on the step, driving the front wheels in the first direction, and then driving the rear wheels in the first direction, thereby causing the autonomous moving body to descend from the step. program.

Images