Automatic travel device, escalator, and method for riding an escalator on an automatic travel device

Abstract

An automatic traveling device (10) comprises at least one arm (17), a memory (12) that stores a program, and a processor (13) that executes the program. The processor (13), when the automatic traveling device (10) arrives at a boarding location for an escalator (50), controls the at least one arm (17) to hold a moving handrail (5) of the escalator (50), thereby allowing the automatic traveling device (10) to ride the escalator (50).

Description

Technical Field

[0001] The present disclosure relates to an automatic driving device, an escalator, and a method for an automatic driving device to board an escalator.

Background Art

[0002] Conventionally, an automatic driving device that can get on and off a passenger conveyor device such as an escalator has been known.

[0003] For example, the passenger conveyor device described in Patent Document 1 includes a communication unit for transmitting and receiving signals between a passenger conveyor and a robot travel control device for controlling the travel of the robot, and the speed of the passenger conveyor is adjusted according to the predicted arrival time of the robot at the passenger conveyor. A speed control unit that changes the speed of the passenger conveyor to the boarding and alighting possible speed of the robot received by the communication unit based on the command to change the speed of the passenger conveyor received by the communication unit.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, Patent Document 1 does not provide means for supporting an automatic driving device such as a robot so as not to fall while boarding an escalator. Therefore, there is a case where the automatic driving device may fall while boarding the escalator.

[0006] Therefore, an object of the present disclosure is to provide an automatic driving device, an escalator, and a method for an automatic driving device to board an escalator that can prevent the automatic driving device from falling while boarding the escalator.

Means for Solving the Problems

[0007] The automatic driving device of the present disclosure includes at least one arm, a memory for storing a program, and a processor for executing the program. When the automatic driving device arrives at the boarding position of the escalator, the processor controls at least one arm to grasp the handrail of the escalator, thereby boarding the automatic driving device on the escalator.

[0008] The escalator boarding method of the automatic driving device of the present disclosure includes steps of: when the automatic driving device arrives at the boarding position of the escalator, stopping the automatic driving device and sending a deceleration command or a stop command to the escalator only when no one is boarding the escalator; when the escalator receives a deceleration command or a stop command from the automatic driving device, decelerating or stopping the running of the steps, handrail, and railing of the escalator; and when the automatic driving device arrives at the boarding position of the escalator, controlling the arm of the automatic driving device to grasp the handrail of the escalator, thereby boarding the automatic driving device on the escalator.

Advantages of the Invention

[0009] According to the present disclosure, it is possible to prevent the automatic driving device from falling while boarding the escalator.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

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Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Embodiments for Carrying Out the Invention

[0011] Hereinafter, embodiments will be described with reference to the drawings. Embodiment 1. FIG. 1 is a diagram showing the configuration of the escalator 50.

[0012] The main frame 1 and the railing 22 are spanned between the floor of the upper floor where the escalator 50 is arranged and the floor of the lower floor where the escalator 50 is arranged.

[0013] The upper boarding and alighting opening 2A is arranged on the upper floor where the escalator 50 is arranged. The lower boarding and alighting opening 2B is arranged on the lower floor where the escalator 50 is arranged. When the escalator 50 is an upward escalator, the lower boarding and alighting opening 2B becomes the boarding position, and the upper boarding and alighting opening 2A becomes the alighting position. When the escalator 50 is a downward escalator, the lower boarding and alighting opening 2B becomes the alighting position, and the upper boarding and alighting opening 2A becomes the boarding position. A floor plate 7A forming the floor surface is arranged at the upper boarding and alighting opening 2A. A floor plate 7B forming the floor surface is arranged at the lower boarding and alighting opening 2B.

[0014] The control panel 6 is responsible for the operation control of the entire escalator 50, such as the progress control of the steps 4, the handrail 5, and the railing 22.

[0015] The wireless communication device 21 is configured to be communicable with the automatic driving device 10. The control device 8 is configured to control and manage a plurality of escalators 50 in the building through the control panel 6. The control device 8 displays necessary information on the display 9 and outputs it from the speaker 3.

[0016] Figure 2 is a diagram showing the configuration of the automatic driving device 10. The automatic driving device 10 includes a wireless communication device 14, a camera 15, a speaker 16, an arm 17, a battery 20, a travel driving device 18, an arm driving device 19, a control device 11, and a roller 23.

[0017] The control device 11 includes a memory 12 and a processor 13. The memory 12 stores programs. The processor 13 executes the programs stored in the memory 12. The operations of the control device 11 described below are performed by the processor 13 executing the programs in the memory 12.

[0018] The wireless communication device 14 communicates with the control panel 6 of the escalator 50 through, for example, a wireless LAN (Local Area Network).

[0019] The camera 15 captures images of the escalator 50 and its surroundings when getting on and off the escalator 50, and outputs the captured images to the control device 11.

[0020] The travel driving device 18 generates a driving force for the automatic driving device 10 to travel. The travel driving device 18 includes, for example, wheels for the automatic driving device 10 to move and a motor for driving the wheels. The motor can operate by receiving power supply from the battery 20.

[0021] The battery 20 supplies power for each device constituting the automatic driving device 10 to operate.

[0022] The arm driving device 19 drives the arm 17. FIG. 3 is a diagram showing the positional relationship between the automatic driving device 10 and the escalator 50. When boarding the escalator 50, the automatic driving device 10 grasps the moving handrail 5. While boarding the escalator 50, the automatic driving device 10 is in a state of hanging on the moving handrail 5. When getting off the escalator 50, the automatic driving device 10 releases the moving handrail 5.

[0023] FIG. 4 is a diagram showing the configuration of the arm 17 and the roller 23. The arm 17 is configured to be able to grasp the moving handrail 5. The arm 17 is connected to the fulcrum X and has a first portion 171 that extends perpendicular to the main body of the automatic driving device 10, a second portion 172 that is connected to the first portion 171 and extends in a direction bent 90 degrees from the first portion 171, a third portion 173 that is connected to the second portion 172 and extends in a direction bent (-90 degrees) from the second portion 172, and a fourth portion 174 that is connected to the third portion 173 and extends in a direction bent (-90 degrees) from the third portion 173. The second portion 172 has a fifth portion 175 that faces the fourth portion 174 and has the same length as the fourth portion 174.

[0024] As shown in FIG. 6(a) described later, when the third portion 173 of the arm 17 contacts the upper surface of the moving handrail 5, the fourth portion 174 of the arm 17 contacts the right side surface of the moving handrail 5, and the fifth portion 175 of the arm 17 contacts the left side surface of the moving handrail 5, the arm 17 is in a state of being hooked on the moving handrail 5. The arm 17 is configured to be rotatable about the fulcrum X located on the side surface of the automatic driving device 10 as the moving handrail 5 advances. The roller 23 is disposed on the side surface of the main body of the automatic driving device 10. The roller 23 is configured to be rotatable along the advancing direction of the railing 22.

[0025] FIG. 5 is a diagram showing the connection state of the arm 17 with the handrail 5 and the railing 22 of the escalator 50 when the automatic driving device 10 gets on the escalator 50. FIG. 5(a) shows the state when viewed from the vertically upward direction. FIG. 5(b) shows the connection state when viewed from the boarding position. FIG. 5(c) shows the state when viewed from the lateral direction (the direction perpendicular to the railing 22) of the escalator 50. By the arm 17 grasping the handrail 5, the automatic driving device 10 gets on the escalator.

[0026] FIG. 6 is a diagram showing the connection state of the arm 17 with the handrail 5 and the railing 22 of the escalator 50 while the automatic driving device 10 is on the escalator 50. FIG. 6(a) shows the state when viewed from the vertically upward direction. FIG. 6(b) shows the connection state when viewed from the boarding position. FIG. 6(c) shows the state when viewed from the lateral direction (the direction perpendicular to the railing 22) of the escalator 50. By the arm 17 grasping the handrail 5, the automatic driving device 10 moves together with the handrail 5 in a floating state in the air. The roller 23 contacts the inner plate 24 of the railing 22 and rotates in the advancing direction of the railing 22.

[0027] FIG. 7 is a diagram showing the connection state of the arm 17 with the handrail 5 and the railing 22 of the escalator 50 when the automatic driving device 10 gets off the escalator 50. FIG. 7(a) shows the state when viewed from the vertically upward direction. FIG. 7(b) shows the connection state when viewed from the getting-off position. FIG. 7(c) shows the state when viewed from the lateral direction (the direction perpendicular to the railing 22) of the escalator 50.

[0028] Due to the folding back of the handrail 5, the arm 17 can no longer grasp the handrail 5, so the arm 17 is released from the handrail 5, and the automatic driving device 10 lands at the getting-off position.

[0029] FIG. 8 is a flowchart showing the operation procedure of the automatic driving device 10 and the escalator 50 of Embodiment 1.

[0030] In step S101, the control device 11 determines whether the automatic driving device 10 has arrived at the boarding position of the escalator 50 based on the image obtained from the camera 15. When the automatic driving device 10 arrives at the boarding position of the escalator 50, the process proceeds to step S102.

[0031] In step S102, the control device 11 stops the running of the automatic driving device 10 by controlling the running drive device 18.

[0032] In step S103, the control device 11 determines whether a person is boarding the escalator 50 based on the image obtained from the camera 15. If a person is boarding the escalator 50, the process proceeds to step S104. If no person is boarding the escalator 50, the process proceeds to step S105.

[0033] In step S104, the control device 11 stops the running of the automatic driving device 10 by controlling the running drive device 18 based on the image obtained from the camera 15 until no person is boarding the escalator 50.

[0034] In step S105, the control device 11 transmits a stop command for the escalator 50 to the escalator 50 through the wireless communication device 14. The wireless communication device 21 of the escalator 50 receives the stop command. The control panel 6 of the escalator 50 stops the progress of the steps 4, handrail 5, and railing 22 of the escalator 50.

[0035] In step S106, the control device 11 causes the speaker 16 to output an announcement voice indicating that the escalator 50 has stopped.

[0036] In step S107, the control device 11 detects the position of the handrail 5 of the escalator 50 based on the image obtained from the camera 15, and controls the arm 17 through the arm drive device 19 so that the arm 17 can grasp the handrail 5.

[0037] In step S108, the control device 11 transmits a start command for the escalator 50 to the escalator 50 through the wireless communication device 14. The wireless communication device 21 of the escalator 50 receives the start command. The control panel 6 of the escalator 50 advances the steps 4, the handrail 5 and the railing 22 of the escalator 50. The autonomous driving device 10 hangs on the handrail 5. The roller 23 rotates in the advancing direction of the railing 22.

[0038] In step S109, the control device 11 causes the speaker 16 to output an announcement voice indicating that the escalator 50 has started.

[0039] In step S110, the control device 11 causes the speaker 16 to output an announcement voice requesting that no one board the escalator 50.

[0040] In step S111, when the autonomous driving device 10 arrives at the alighting position of the escalator 50, the process proceeds to step S112.

[0041] In step S112, the arm 17 is released from the handrail 5 by folding back the handrail 5. The autonomous driving device 10 lands at the alighting position.

[0042] Embodiment 2. In Embodiment 1, when the autonomous driving device 10 boards and alights from the escalator 50, the escalator 50 is stopped. In Embodiment 2, when the autonomous driving device 10 boards and alights from the escalator 50, the escalator 50 is decelerated.

[0043] FIG. 9 is a flowchart showing the operation procedure of the autonomous driving device 10 and the escalator 50 according to Embodiment 2.

[0044] In step S201, the control device 11 determines whether the automatic driving device 10 has arrived at the boarding position of the escalator 50 based on the image obtained from the camera 15. When the automatic driving device 10 arrives at the boarding position of the escalator 50, the process proceeds to step S202.

[0045] In step S202, the control device 11 stops the running of the automatic driving device 10 by controlling the running drive device 18.

[0046] In step S203, the control device 11 determines whether a person is boarding the escalator 50 based on the image obtained from the camera 15. If a person is boarding the escalator 50, the process proceeds to step S204. If no person is boarding the escalator 50, the process proceeds to step S205.

[0047] In step S204, the control device 11 stops the running of the automatic driving device 10 by controlling the running drive device 18 until no person is boarding the escalator 50 based on the image obtained from the camera 15.

[0048] In step S205, the control device 11 transmits a deceleration command for the escalator 50 to the escalator 50 through the wireless communication device 14. The wireless communication device 21 of the escalator 50 receives the deceleration command. The control panel 6 of the escalator 50 decelerates the progress of the steps 4, handrail 5, and railing 22 of the escalator 50.

[0049] In step S206, the control device 11 causes the speaker 16 to output an announcement voice indicating that the escalator 50 is decelerating.

[0050] In step S207, the control device 11 detects the position of the handrail 5 of the escalator 50 based on the image obtained from the camera 15, and controls the arm 17 through the arm drive device 19 so that the arm 17 can grasp the handrail 5.

[0051] In step S208, the control device 11 transmits an acceleration command for the escalator 50 to the escalator 50 through the wireless communication device 14. The wireless communication device 21 of the escalator 50 receives the acceleration command. The control panel 6 of the escalator 50 accelerates the movement of the steps 4, the handrail 5, and the railing 22 of the escalator 50. The automatic driving device 10 hangs on the handrail 5. The roller 23 rotates in the advancing direction of the railing 22.

[0052] In step S209, the control device 11 causes the speaker 16 to output an announcement voice indicating that the escalator 50 is accelerating.

[0053] In step S210, the control device 11 causes the speaker 16 to output an announcement voice requesting that no one board the escalator 50.

[0054] In step S211, when the automatic driving device 10 arrives at the alighting position of the escalator 50, the process proceeds to step S212.

[0055] In step S212, the control device 11 transmits a deceleration command for the escalator 50 to the escalator 50 through the wireless communication device 14. The wireless communication device 21 of the escalator 50 receives the deceleration command. The control panel 6 of the escalator 50 decelerates the movement of the steps 4, the handrail 5, and the railing 22 of the escalator 50.

[0056] In step S213, the control device 11 causes the speaker 16 to output an announcement voice indicating that the escalator 50 is decelerating.

[0057] In step S214, due to the folding of the handrail 5, the arm 17 is released from the handrail 5. The automatic driving device 10 lands at the alighting position.

[0058] In step S215, the control device 11 transmits a speed increase command for the escalator 50 to the escalator 50 through the wireless communication device 14. The wireless communication device 21 of the escalator 50 receives the speed increase command. The control panel 6 of the escalator 50 increases the speed of the steps 4, the handrail 5, and the railing 22 of the escalator 50.

[0059] In step S216, the control device 11 causes the speaker 16 to output an announcement voice indicating that the escalator 50 is increasing its speed.

[0060] Embodiment 3. FIG. 10 is a diagram showing the connection state between the automatic traveling device 10 of Embodiment 3 and the escalator 50.

[0061] The automatic traveling device 10 includes a right arm 17A, a left arm 17B, a right roller 23A, and a left roller 23B.

[0062] The right arm 17A is disposed on the right side of the main body of the automatic traveling device 10. The left arm 17B is disposed on the left side of the main body of the automatic traveling device 10.

[0063] The arm drive device 19 can control the right arm 17A and the left arm 17B in the same manner as it controlled the arm 17 in Embodiments 1 and 2.

[0064] The right roller 23A is in contact with the inner plate 24A of the right railing 22A and is configured to be rotatable in the traveling direction of the right railing 22A. The left roller 23B is in contact with the inner plate 24B of the left railing 22B and is configured to be rotatable in the traveling direction of the left railing 22B.

[0065] Modification. (Announcement) In the above embodiment, the speaker 16 of the automatic traveling device 10 announces the deceleration of the escalator 50 and the like, but the present invention is not limited to this. The speaker 3 of the escalator 50 may announce the deceleration of the escalator 50 and the like.

[0066] The embodiments disclosed this time should be considered as illustrative in all respects and not restrictive. The scope of the present disclosure is shown by the scope of claims rather than the above description, and it is intended that all modifications within the meaning and scope equivalent to the scope of claims be included.

Description of Reference Numerals

[0067] 1 main frame, 2A upper entrance / exit, 2B lower entrance / exit, 3, 16 speakers, 4 steps, 5 handrail, 6 control panel, 7A, 7B floorboards, 8, 11 control devices, 9 display, 10 automatic driving device, 12 memory, 13 processor, 14, 21 wireless communication devices, 15 camera, 17 arm, 17A right arm, 17B left arm, 18 traveling drive device, 19 arm drive device, 20 battery, 22, 22A, 22B railing, 23 roller, 23A right roller, 23B left roller, 24, 24A, 24B inner plate, 50 escalator, 171 first part, 172 second part, 173 third part, 174 fourth part, 175 fifth part, X fulcrum.

Claims

1. An automatic driving device, a first arm disposed on the left side of a main body of the automatic driving device; and a second arm disposed on the right side of the main body of the automatic driving device. A first roller arranged on a left side surface of a main body of the automatic traveling device, and a second roller arranged on a right side surface of the main body of the automatic traveling device; A memory for storing a program; A processor for executing the program, when the automated driving device arrives at a boarding position of the escalator, the processor controls the first arm to grab a moving handrail on the left side of the escalator and controls the second arm to grab a moving handrail on the right side of the escalator, thereby causing the automated driving device to board the escalator; After the first arm grasps the left handrail and the second arm grasps the right handrail, the automatic traveling device is suspended from the left handrail and the right handrail as the left handrail and the right handrail move forward, An automatic traveling device, wherein the first roller is configured to contact the inner plate of a left handrail of the escalator and rotate in the direction of travel of the left handrail, and the second roller is configured to contact the inner plate of a right handrail of the escalator and rotate in the direction of travel of the right handrail.

2. 2. The automatic driving device of claim 1, wherein the processor controls the automatic driving device to stop when the automatic driving device arrives at a boarding position of the escalator, and then controls the first arm to grab the left moving handrail and the second arm to grab the right moving handrail.

3. The automatic driving device according to claim 1 , wherein the processor causes the automatic driving device to board the escalator only if there is no person on the escalator when the automatic driving device arrives at the boarding position of the escalator.

4. Equipped with a wireless communication device, The automatic traveling device according to claim 1 , wherein the processor transmits a deceleration command or a stop command to the escalator via the wireless communication device when the automatic traveling device arrives at the boarding position of the escalator.

5. Equipped with a speaker, The automatic driving device according to claim 4 , wherein, when the processor transmits the deceleration command or the stop command, the processor further announces through the speaker that the escalator will decelerate or stop.

6. 5. The automatic driving device according to claim 4, wherein the processor transmits a speed increase command or a start command to the escalator via the wireless communication device after the first arm grasps the left moving handrail and the second arm grasps the right moving handrail.

7. Equipped with a speaker, The automatic driving device according to claim 6 , wherein when the processor transmits the speed increase command or the start command, the processor further announces through the speaker that the escalator will speed up or start.

8. The automatic driving device according to claim 7 , wherein the processor further announces through the speaker, after the automatic driving device has boarded the escalator, a request that people not board the escalator.

9. The automatic driving device of claim 1, wherein the processor causes the automatic driving device to descend from the escalator by causing the first arm to release the left moving handrail and the second arm to release the right moving handrail when the automatic driving device arrives at a disembarking position of the escalator.

10. Equipped with a wireless communication device, The automated driving device according to claim 9 , wherein the processor transmits a deceleration command to the escalator via the wireless communication device when the automated driving device arrives at the disembarking position of the escalator.

11. Equipped with a speaker, The automatic driving device according to claim 10 , wherein, when the processor transmits the deceleration command, the processor further announces through the speaker that the escalator will decelerate.

12. The automated driving device according to claim 10 , wherein the processor transmits a speed increase command to the escalator through the wireless communication device after the automated driving device gets off the escalator.

13. Equipped with a speaker, The automatic driving device according to claim 12, wherein, when the processor transmits the speed increase command, the processor further announces through the speaker that the speed of the escalator will increase.

14. a step, a left handrail and a right handrail, a left balustrade and a right balustrade, a wireless communication device for receiving a deceleration command or a stop command from the automatic driving device according to claim 4 or 10; An escalator comprising: a control panel that, when the wireless communication device receives the deceleration command or the stop command, decelerates or stops the steps, the left handrail, the right handrail, and the left balustrade and the right handrail.

15. a step, a left handrail and a right handrail, a left balustrade and a right balustrade, a wireless communication device for receiving a speed increase command or a start command from the automatic driving device according to claim 6; The escalator includes a control panel that, when the wireless communication device receives the speed-up command or start command, increases the speed of the steps, the left handrail, the right handrail, and the left balustrade and the right handrail, or starts the travel of the steps, the left handrail, the right handrail, and the right handrail.

16. A method for riding an escalator on an automatic traveling device, comprising the steps of: a step of the automatic traveling device stopping the automatic traveling device and transmitting a deceleration command or a stop command to the escalator only when the automatic traveling device arrives at a boarding position of the escalator and only if no person is on the escalator; a step of slowing down or stopping travel of steps, moving handrails, and balustrades of the escalator when the escalator receives a deceleration command or a stop command from the automatic traveling device; a step of causing the automatic traveling device to ride on the escalator by controlling a first arm arranged on the left side of a main body of the automatic traveling device to grab a moving handrail on the left side of the escalator and controlling a second arm arranged on the right side of the main body of the automatic traveling device to grab a moving handrail on the right side of the escalator when the automatic traveling device arrives at a boarding position of the escalator; a step in which the first arm grasps the left handrail and the second arm grasps the right handrail, and then the automatic traveling device is suspended from the left handrail and the right handrail according to the progress of the left handrail and the right handrail; a first roller arranged on the left side of the main body of the automatic traveling device contacts the inner plate of the left hand rail of the escalator and rotates in the direction of travel of the left hand rail, and a second roller arranged on the right side of the main body of the automatic traveling device contacts the inner plate of the right hand rail of the escalator and rotates in the direction of travel of the right hand rail.

Images