Moving device

Abstract

[Problem] To provide a moving device equipped with a hand unit, which is configured to operate an operation button of an elevator, and capable of getting on the elevator, performing a predetermined operation in the elevator at its own discretion, and getting off the elevator. [Solution] The moving device according to the present invention is a moving device 1 that is capable of getting on an elevator and moving to upper and lower floors, and comprises: a moving body capable of autonomously moving; a hand unit configured to operate an operation button of the elevator; and a control unit that controls the movement of the moving body and the operation of the hand unit. The control unit is provided with: a getting-on mode in which the moving body gets on the elevator; and a getting-off mode M of, after execution of the getting-on mode, causing the hand unit to operate a predetermined operation button of the elevator on the basis of its own control judgment without the need to receive a command signal from the elevator or the outside of the elevator, and getting off the elevator.

Description

Mobile Device

[0001] The present invention relates to a mobile device, and more particularly to a mobile device that can be used in an elevator to move between upper and lower floors.

[0002] 2. Description of the Related Art Conventionally, an autonomous mobile device is known that moves autonomously within a building while recognizing its own position and the surrounding environment, as disclosed in Patent Document 1.

[0003] Japanese Patent Application Laid-Open No. 2018-5470

[0004] However, in an autonomous mobile device such as that disclosed in Patent Document 1, when a robot gets into an elevator and attempts to move up or down to another floor, the communication environment inside the elevator deteriorates, making it unable to receive command signals and unable to operate. Also, when considering a robot that gets off the elevator by operating a specific operation button on the elevator with a hand unit, there is a problem in that the operation button must be operated inside the elevator without receiving command signals from outside. Furthermore, in order to allow other users to use the elevator, it is difficult for a robot that is operated by a hand unit to move to another floor to get into the elevator and move to another floor.

[0005] The present invention has been made to solve such problems, and aims to provide a moving device that has a hand unit configured to operate the elevator's operation buttons, allowing a person to get on the elevator, perform predetermined operations inside the elevator at their own discretion, and then disembark.

[0006] In order to achieve the above object, according to one embodiment of the present invention, a mobile device capable of riding an elevator and moving to upper and lower floors comprises: an autonomously moving body; a hand unit configured to operate operation buttons of the elevator; and a control unit that controls the movement of the moving body and the operation of the hand unit, wherein the control unit is configured to have a ride mode in which the moving body enters the elevator, and an alight mode in which, after the ride mode is executed, the control unit operates a predetermined operation button of the elevator using the hand unit based on its own control judgment without receiving a command signal from the elevator or outside the elevator, to alight the elevator. According to one embodiment of the present invention configured in this way, the mobile device capable of riding an elevator and moving to upper and lower floors comprises: an alight mode in which, after the ride mode is executed, the control unit operates a predetermined operation button of the elevator using the hand unit based on its own control judgment without receiving a command signal from the elevator or outside the elevator, to alight the elevator. As a result, even if the communication environment becomes relatively poor after the mobile device enters the elevator, the mobile device can operate a predetermined operation button on the elevator using the hand unit based on its own control judgment and exit the elevator. Therefore, for example, a mobile device equipped with a hand unit configured to operate the elevator operation button can enter the elevator, perform a predetermined operation in the elevator at its own discretion, and exit the elevator. Furthermore, after entering various types of existing elevators, the mobile device can perform a predetermined operation in the elevator at its own discretion and exit the elevator.

[0007] According to one embodiment of the present invention, the mobile device preferably includes an audio output device that outputs audio to the elevator user. According to one embodiment of the present invention configured in this manner, the mobile device includes an audio output device that outputs audio to the elevator user. This allows the mobile device to communicate messages to the user by audio while being separated from the user, when there is a user who is about to use or is currently using the elevator. In particular, messages can be communicated in a contactless manner to users who require careful consideration of contact when the mobile device is riding in the elevator, such as elderly people and children.

[0008] According to one embodiment of the present invention, the disembarkation mode of the control unit preferably comprises a first disembarkation mode in which, if it is determined that the hand unit cannot operate the operation button corresponding to the planned disembarkation floor after executing the boarding mode, the control unit makes the moving object wait at a predetermined position until the elevator status satisfies a predetermined condition, and then, after it is determined that the elevator status satisfies the predetermined condition, operates the predetermined operation button of the elevator with the hand unit to disembark the elevator. According to one embodiment of the present invention configured as described above, the disembarkation mode of the control unit preferably comprises a first disembarkation mode in which, if it is determined that the hand unit cannot operate the operation button corresponding to the planned disembarkation floor after executing the boarding mode, the control unit makes the moving object wait at a predetermined position until the elevator status satisfies the predetermined condition, and then, after it is determined that the elevator status satisfies the predetermined condition, operates the predetermined operation button of the elevator with the hand unit to disembark the elevator. As a result, if the control unit determines that there is a person in the elevator after the moving object has boarded the elevator in the first disembarking mode and that the operation button cannot be operated, the control unit can operate the predetermined operation button of the elevator using the hand unit to exit the elevator after determining that the person in the elevator has disembarked and that the elevator situation satisfies a predetermined condition, for example, that there is no person present, and then operate the predetermined operation button of the elevator using the hand unit to exit the elevator. Therefore, if the moving device determines that it is not possible to operate the operation button based on its own control judgment after executing the boarding mode, even without receiving a command signal from the elevator or outside the elevator, it waits until the elevator situation satisfies a predetermined condition, and then operates the predetermined operation button of the elevator using the hand unit, allowing the user to exit the elevator while taking into consideration the safety of those around them. If the moving device determines that the elevator situation satisfies a predetermined condition, for example, that there are no users in the elevator, it can cancel the wait and exit the elevator.

[0009] According to one embodiment of the present invention, the disembarking mode of the control unit preferably includes a second disembarking mode in which, when it is determined that a reason has arisen that the user cannot disembark at the planned disembarkation floor, the control unit makes the moving body wait until the elevator situation satisfies a predetermined condition, and then operates a predetermined operation button of the elevator with the hand unit to disembark the elevator. According to one embodiment of the present invention configured as described above, the disembarking mode of the control unit preferably includes a second disembarking mode in which, when it is determined that a reason has arisen that the user cannot disembark at the planned disembarkation floor, the control unit makes the moving body wait until the elevator situation satisfies a predetermined condition, and then operates a predetermined operation button of the elevator with the hand unit to disembark the elevator. As a result, when the mobile device determines that a reason has arisen that the user cannot disembark at the planned disembarkation floor, the control unit makes the moving body wait until the elevator situation satisfies a predetermined condition based on its own control judgment, without receiving a command signal from the elevator or outside the elevator, and then operates a predetermined operation button of the elevator with the hand unit to disembark the elevator while taking into consideration the safety of those around it.

[0010] According to one embodiment of the present invention, the disembarking mode of the control unit preferably includes a third disembarking mode in which, when it is determined that a reason has arisen that the user cannot disembark at the planned disembarkation floor, the control unit makes the moving object wait until it is determined that the elevator has entered a standby state where no boarding or disembarking requests have been received, and then the hand unit operates a predetermined operation button on the elevator to disembark the elevator. According to one embodiment of the present invention configured as described above, the disembarking mode of the control unit preferably includes a third disembarking mode in which, when it is determined that a reason has arisen that the user cannot disembark at the planned disembarkation floor, the control unit makes the moving object wait until it is determined that the elevator has entered a standby state where no boarding or disembarking requests have been received, and then the hand unit operates a predetermined operation button on the elevator to disembark the elevator. As a result, when the mobile device determines that the elevator has entered a standby state where no boarding or disembarking requests have been received, the mobile device cancels the standby state and causes the hand unit to operate a predetermined operation button on the elevator, allowing the user to disembark the elevator while taking into consideration the safety of those around them.

[0011] According to one embodiment of the present invention, the disembarkation mode of the control unit preferably includes a voice notification mode in which, when another user presses the elevator operation button while in the elevator, the elevator stops at a floor other than the scheduled arrival floor and the doors open, the voice output device notifies the user by voice that the mobile device is on board; if the user does not board the elevator, the disembarkation mode in which the user disembarks at the scheduled arrival floor continues; and if the user boards the elevator, the control unit executes a standby mode in which the user waits until the user disembarks. According to one embodiment of the present invention configured as described above, the disembarkation mode of the control unit includes a voice notification mode in which, when another user presses the elevator operation button while in the elevator, the elevator stops at a floor other than the scheduled arrival floor and the doors open, the voice output device notifies the user by voice that the mobile device is on board. This reduces the probability that the user will board the elevator and increases the possibility of the user being able to move to the scheduled arrival floor quickly.

[0012] According to one embodiment of the present invention, the disembarkation mode of the control unit preferably includes a wall-side standby mode in which, if it is determined that the elevator is heading for a floor other than the planned disembarkation floor or has stopped at a floor other than the planned disembarkation floor, the control unit moves into a wall-side region on the left, right, or rear side of the elevator and then enters a standby state. According to one embodiment of the present invention configured in this manner, the disembarkation mode of the control unit preferably includes a wall-side standby mode in which, if it is determined that the elevator is heading for a floor other than the planned disembarkation floor or has stopped at a floor other than the planned disembarkation floor, the control unit moves into a wall-side region on the left, right, or rear side of the elevator and then enters a standby state. This allows the elevator to be placed in a wall-side region, for example, a retreat standby position, so as not to disturb other users when it is expected that other users will board the elevator.

[0013] According to one embodiment of the present invention, the autonomous mobile device preferably includes a display device that displays text or images, and the control unit has a standby display mode that displays, while the standby state is in progress, that the mobile device is in a standby state using the display device. According to one embodiment of the present invention configured in this manner, the control unit has a standby display mode that displays, while the standby state is in progress, that the mobile device is in a standby state using the display device. This makes it possible to inform the user of the operating status of the autonomous mobile device, even if the user happens to be in the same elevator as the mobile device, making it easier for the user to feel at ease. It also makes it less likely for the user to feel anxious that the mobile device may operate.

[0014] According to one embodiment of the present invention, the disembarkation mode of the control unit preferably includes a fourth disembarkation mode in which, if the elevator does not operate even when the hand unit operates the operation button for the elevator toward the desired disembarkation floor and it is determined that the elevator may already be located at the desired disembarkation floor, the hand unit operates a button for requesting movement of the elevator to another floor to disembark the elevator. According to one embodiment of the present invention configured in this manner, the disembarkation mode of the control unit preferably includes a fourth disembarkation mode in which, if the elevator does not operate even when the hand unit operates the operation button for the elevator toward the desired disembarkation floor and it is determined that the elevator may already be located at the desired disembarkation floor, the hand unit operates a button for requesting movement of the elevator to another floor to disembark the elevator. This allows the user to disembark to another floor at their own discretion if the elevator does not move even when the hand unit operates the operation button.

[0015] According to one embodiment of the present invention, the disembarking mode of the control unit preferably includes a fifth disembarking mode in which, when the mobile device is in the elevator and it is determined that the elevator is in a standby state in which no boarding or disembarking requests have been received, a predetermined operation button of the elevator is operated by the hand unit to disembark the elevator. According to one embodiment of the present invention configured in this manner, the disembarking mode of the control unit preferably includes a fifth disembarking mode in which, when the mobile device is in the elevator and it is determined that the elevator is in a standby state in which no boarding or disembarking requests have been received, a predetermined operation button of the elevator is operated by the hand unit to disembark the elevator. This allows the mobile device to disembark the elevator at its own discretion by operating the operation button with the hand unit when the elevator is in a standby state, regardless of the cause.

[0016] According to one embodiment of the present invention, the elevator preferably includes a light unit that turns on a light, and the alighting mode of the control unit includes a sixth alighting mode in which, when the lighting inside the elevator is off, the light is turned on and a predetermined operation button of the elevator is operated with the hand unit to alight the elevator. According to one embodiment of the present invention configured in this manner, the elevator preferably includes a light unit that turns on a light, and the alighting mode of the control unit includes a sixth alighting mode in which, when the lighting inside the elevator is off, the light unit is turned on and a predetermined operation button of the elevator is operated with the hand unit to alight the elevator. This enables the light unit to be turned on when the lighting inside the elevator is off, improving image recognition by a camera and operability by the hand unit.

[0017] According to one embodiment of the present invention, the disembarking mode of the control unit preferably includes a seventh disembarking mode in which, when the elevator arrives at the disembarking floor with other users in the elevator, the voice output device outputs a voice indicating a desire to disembark, and the disembarking operation is initiated if it is determined that there are no obstacles on the route from the moving body to the door. According to one embodiment of the present invention configured in this manner, the disembarking mode of the control unit preferably includes a seventh disembarking mode in which, when the elevator arrives at the disembarking floor with other users in the elevator, the voice output device outputs a voice indicating a desire to disembark, and the disembarking operation is initiated if it is determined that there are no obstacles on the route from the moving body to the door. This allows the user to communicate their desire to disembark by voice output and attempt to disembark if the elevator arrives at the disembarking floor with other users in the elevator. If the user cooperates, disembarking is possible, increasing the probability of disembarking at the planned arrival floor and allowing the user to arrive at the planned arrival floor more quickly.

[0018] According to one embodiment of the present invention, the disembarking mode of the control unit preferably includes an eighth disembarking mode in which, if it is determined that the waiting state during the elevator ride exceeds a predetermined time, the voice output device outputs a voice indicating that the user wishes to disembark at the next arrived floor, and if it is determined that there are no obstacles on the route from the moving body to the door, the disembarking operation is initiated. According to one embodiment of the present invention configured as described above, the disembarking mode of the control unit preferably includes an eighth disembarking mode in which, if it is determined that the waiting state during the elevator ride exceeds a predetermined time, the voice output device outputs a voice indicating that the user wishes to disembark at the next arrived floor, and if it is determined that there are no obstacles on the route from the moving body to the door, the disembarking operation is initiated. As a result, if the waiting state of the moving device during the elevator ride exceeds a predetermined time, it can be determined that there are many other users and the user may attempt to disembark because there is a possibility of disturbing other users.

[0019] According to one embodiment of the present invention, the dismounting mode of the control unit preferably includes a ninth dismounting mode in which, when it is determined that the operation of the elevator is different from an expected operation despite the operation of the operation button of the elevator toward the desired dismounting floor by the hand unit, the moving object is made to wait until a predetermined condition is met, and then the predetermined operation button of the elevator is operated by the hand unit to dismount the elevator. According to one embodiment of the present invention configured as described above, the dismounting mode of the control unit preferably includes a ninth dismounting mode in which, when it is determined that the operation of the elevator is different from an expected operation despite the operation of the operation button of the elevator toward the desired dismounting floor by the hand unit, the moving object is made to wait until a predetermined condition is met, and then the predetermined operation button of the elevator is operated by the hand unit to dismount the elevator. As a result, if an operation button input fails or other unexpected floor movement occurs, the moving body is put into a standby state, and once the elevator situation has settled down and the elevator situation meets predetermined conditions, the user operates a predetermined operation button of the elevator with the hand unit to get off the elevator. Therefore, by operating the moving device from the elevator standby state, it is possible to increase the reliability of getting off and the stability of control.

[0020] According to the moving device of the present invention, a hand unit configured to operate the elevator operation buttons is provided, and the user can get on the elevator and perform a predetermined operation in the elevator at his / her own discretion to get off.

[0021] 1 is a diagram illustrating a state in which a mobile device according to one embodiment of the present invention gets on an elevator. FIG. 1 is a front view of a mobile body and an on-board functional unit of a mobile device according to one embodiment of the present invention. FIG. 2 is a rear perspective view of the mobile body and the on-board functional unit of a mobile device according to one embodiment of the present invention, seen from diagonally behind. FIG. 3 is a bottom view of a drive mechanism of a mobile device according to one embodiment of the present invention, seen from below the mobile device. FIG. 4 is a block diagram schematically illustrating the configuration of a mobile body of a mobile device according to one embodiment of the present invention. FIG. 5 is a block diagram schematically illustrating the configuration of an on-board functional unit of a mobile device according to one embodiment of the present invention. FIG. 6 is a block diagram schematically illustrating the configuration of a control unit of a mobile device according to one embodiment of the present invention. FIG. 7 is a schematic flowchart illustrating, in a simplified manner, the flow of a boarding mode and a disembarking mode executed by a mobile device according to one embodiment of the present invention. FIG. 8 is a schematic flowchart illustrating, in a simplified manner, the disembarking mode executed by a mobile device according to one embodiment of the present invention. FIG. 9 is a schematic flowchart illustrating, in a simplified manner, the disembarking mode executed by a mobile device according to one embodiment of the present invention. FIG. 10 is a diagram illustrating an example of a retracted standby position of a mobile device according to one embodiment of the present invention. FIG. 11 is a diagram illustrating a state in which a mobile device according to one embodiment of the present invention is pressing an operation button on a second operation panel with a hand unit. FIG. 12 is a diagram illustrating a state in which a mobile device according to one embodiment of the present invention is positioned in an elevator toward an open door position.

[0022] A mobile device according to an embodiment of the present invention will now be described with reference to the accompanying drawings. First, FIG. 1 is a diagram showing a mobile device according to an embodiment of the present invention getting into an elevator. FIG. 2 is a front view of the mobile body and on-board functional units of the mobile device according to an embodiment of the present invention. FIG. 3 is a rear perspective view of the mobile body and on-board functional units of the mobile device according to an embodiment of the present invention, seen obliquely from the rear. FIG. 4 is a bottom view of the drive mechanism of the mobile device according to an embodiment of the present invention, seen from below the mobile device. FIG. 5 is a block diagram schematically showing the configuration of the mobile body of the mobile device according to an embodiment of the present invention. FIG. 6 is a block diagram schematically showing the configuration of the on-board functional units of the mobile device according to an embodiment of the present invention. FIG. 7 is a block diagram schematically showing the configuration of the control unit of the mobile device according to an embodiment of the present invention. In the following description of an embodiment of the present invention, the direction in which the front of the mobile body (the side facing the face monitor, the front side of the page in FIG. 2 ) faces is referred to as the forward side, the direction in which the rear of the mobile body (the back side of the page in FIG. 2 ) faces opposite the front of the mobile body is referred to as the rear side, the right side when viewed from the rear of the mobile body to the front is referred to as the right side, and similarly, the left side when viewed from the rear of the mobile body to the front is referred to as the left side.

[0023] As shown in FIG. 1 , a mobility device 1 according to an embodiment of the present invention is a mobility device capable of traveling up and down floors by riding on an elevator 20. The mobility device 1 includes an autonomously mobile body 2 and an onboard functional unit 4 (see FIG. 2 ) mounted on the mobile body 2. The elevator 20 forms a lifting device for users and objects that moves users and objects to their destination floors by ascending or descending. The mobile body 2 can use the elevator 20 to travel to different floors (e.g., any floor, such as an upper floor or a lower floor). The elevator 20 includes a door 21 that opens and closes the entrance and exit of the elevator 20, a first operation panel 22 on which operation buttons are arranged for users of the elevator 20 to request a floor to disembark, and a second operation panel 23 on which operation buttons are arranged for users of the elevator 20 to request a floor to disembark.

[0024] The moving object 2 is configured to be capable of autonomous travel based on its own judgment. As shown in FIG. 1 , the moving object 2 can move from an external region R1 of the elevator 20 (e.g., a moving object 2 in the external region R1 is shown by a dashed line as 2a) to an internal region R2 of the elevator 20 (e.g., a moving object 2 in the internal region R2 is shown by a dashed line as 2b) while the door 21 is open (the state in which the door 21 is open is shown by a dashed line). The moving object 2 can also move, turn, change direction, etc. within the internal region R2 of the elevator 20. The moving object 2 can also move from the internal region R2 of the elevator 20 (e.g., a moving object 2 in the internal region R2 is shown by a dashed line as 2b) to the outside of the elevator 20 (e.g., a moving object 2 in the external region R1 is shown by a dashed line as 2a) while the door 21 is open, while disembarking. The elevator 20 can ascend and descend with the moving object 2 on board to a destination floor.

[0025] 2 and 3, the moving body 2 is configured to be movable on, for example, a floor surface F. The moving body 2 constitutes a vehicle that can travel on the floor surface F, and is, for example, a robot that can travel autonomously. Note that although the moving body 2 is configured to be capable of traveling autonomously, it may also be configured as an externally operable moving body that is operated by receiving commands from outside.

[0026] The mobile object 2 comprises a mobile object main body 6 that constitutes the main body of the mobile object 2, a drive mechanism 8 attached below the mobile object main body 6, and a control unit 10. The mobile object main body 6 comprises a column extending upward, and a top portion 2a is disposed at the top of the column. The top portion 2a forms a cylindrical case with closed top and bottom surfaces. The top portion 2a is positioned, for example, at a height within a range of approximately 1 m to 2 m from the floor F. The mobile object 2 is configured to be able to autonomously travel to a point based on the judgment of the control unit 10, using a front camera 60 and a depth information acquisition unit 64 provided on the mobile object 2.

[0027] As shown in FIG. 4 , the drive mechanism 8 is, for example, a Mecanum mechanism (Mecanum wheel). The drive mechanism 8 is configured to be capable of not only forward and backward movement, but also on-the-spot turning and horizontal movement left and right. The drive mechanism 8 is, for example, a drive mechanism capable of pivoting, such as a Mecanum mechanism, an omni-wheel mechanism, or an opposed two-wheel mechanism. The drive mechanism 8 can change the forward and backward orientation of the mobile body within a range of, for example, a 50 cm radius from the center of the mobile body when viewed from above. The drive mechanism 8 may also be an omni-wheel mechanism, a wheel mechanism, a caterpillar mechanism, a leg mechanism, or the like. The drive mechanism 8 includes, for example, two wheels with rollers tilted 45 degrees to the right and two wheels with rollers tilted 45 degrees to the left. The drive mechanism 8 achieves movement in any direction by combining this characteristic wheel structure with control of the forward and reverse rotation of each wheel by the control unit 10. The drive mechanism 8 is rotatably attached to the bottom of the mobile body main body 6. The drive mechanism 8 has two wheels, one on each side of the front (front side), and two wheels, one on each side of the rear (rear side). The number and arrangement of the wheels may be changed. A driving force is transmitted to the drive mechanism 8 from a main body drive unit 12. The main body drive unit 12 is, for example, a brushless motor and is disposed on each tire. The main body drive unit 12 may be an in-wheel motor, or may be disposed separately from the tires.

[0028] As shown in Fig. 2, the on-board functional unit 4 is mounted on the moving body 2. The moving body 2 is equipped with the on-board functional unit 4. The moving body 2 is equipped with a mechanism for mainly moving the main body. The on-board functional unit 4 is equipped with devices that realize various functions on the moving body 2 other than moving the main body. Since the on-board functional unit 4 is mounted on the moving body 2, it moves together with the moving body 2.

[0029] 2, 3, and 6, the on-board functional unit 4 includes a front camera 60 disposed on the front side for capturing surrounding video and images, a rear camera 61 (see FIG. 3) disposed on the rear side for capturing surrounding video and images, an infrared camera 62 for capturing images by emitting infrared rays, a depth information acquisition unit 64 for capturing depth images that measure the distance to surrounding objects, a torso camera 63 disposed on the front side for capturing surrounding video and images, an ultrasonic sensor 65 that can detect surrounding obstacles and the like using ultrasonic waves, a hand unit 66 that is a hand configured to perform operations on an object, a torso lifting device 67 that raises and lowers the height of devices such as the torso camera 63 and the hand unit 66, a monitor unit 68 that displays facial expressions and comments, and a cylindrical lighting unit 69 that can light up in any pattern of the on-board functional unit 4 to illuminate the surroundings or to display a rotating red light to alert people in the surroundings.

[0030] As shown in FIG. 6 , the onboard functional unit 4 further includes environmental sensors, such as a temperature sensor 71 for detecting air temperature, an air pressure sensor 72 for detecting air pressure, a humidity sensor 73 for detecting air humidity, an odor sensor 74 for detecting the presence and strength of odors, a radiation dose detector 75 for detecting radiation doses, a CO2 concentration sensor 76 for detecting CO2 concentrations, a mobile unit depth information acquisition unit 77 mounted on the front side of the lower mobile unit body and capturing depth images measuring the distance to surrounding objects, a wheel odometry 70 (see FIG. 6 ) for counting the number of wheel rotations and acquiring movement information indicating the distance traveled and the number of rotations, an acceleration sensor 81 (see FIG. 6 ) for detecting acceleration, and an audio output device 80 for outputting audio to elevator users. The onboard functional unit 4 may also include an acceleration sensor. For example, various cameras and sensors mounted on the onboard functional unit 4 function as environmental sensors for measuring the external environment. The components of the built-in functional unit 4 are not limited to the entirety, and may be only a part of them.

[0031] The front camera 60 is, for example, an RGB camera. The front camera 60 is attached, for example, to the front of the top 2a, and can capture video and images of the front side of the moving body. The front camera 60 is configured to be able to capture images at any angle by adjusting the shooting angle of the camera device according to the position and distance of the subject to be photographed. Note that the other camera devices are also configured to be able to capture images at any angle by adjusting the shooting angle in a similar manner. The rear camera 61 is, for example, an RGB camera. The front camera 60 is attached, for example, to the rear of the top, and can capture video and images of the rear side of the moving body 2. The infrared camera 62 is attached, for example, to the front of the torso 2b, and can recognize and capture images of the surrounding environment even in dark places.

[0032] The depth information acquisition unit 64 is attached, for example, to the front of the torso 2b and can acquire distance information to surrounding objects. The depth information acquisition unit 64 may be, for example, a LiDAR that captures depth images. The torso camera 63 can capture images from the height of the torso 2b. Therefore, it is easy to check the work object, etc., by video using the camera according to the height of the torso 2b. The ultrasonic sensor 65 can detect materials that reflect sound waves. The ultrasonic sensor 65 is also resistant to dust, etc. The ultrasonic sensor 65 is positioned on the outer periphery of the main body at a position that divides the outer periphery into six equal parts. Therefore, the ultrasonic sensor 65 can detect obstacles around the mobile object 2.

[0033] The hand unit 66 includes a right hand extending from the right side of the torso 2b and a left hand extending from the left side of the torso 2b. Therefore, the hand unit 66 is configured to be able to move up and down together with the torso 2b. The right and left hands, like the hands of a human body, include shoulder joints, upper arms, elbow joints, arms, wrist joints, and finger joints. Therefore, the hand unit 66 of the on-board functional unit 4 can, as a robot, perform movements that are similar to those performed by a human's fingers, such as pressing an elevator push button with a finger. The hand unit 66 is configured to operate the operation buttons on the first operation panel 22 or the second operation panel 23 of the elevator with the right and / or left hands.

[0034] The trunk lifting device 67 has the function of raising and lowering the height of some of the devices mounted on the mounted functional unit 4, such as a camera or an arm. More specifically, the trunk lifting device 67 is configured to be able to raise and lower the height of the trunk 2b along the column portion up to the top 2a of the moving body 2. The trunk lifting device 67 also has the function of maintaining the trunk 2b fixed at a predetermined height.

[0035] The monitor unit 68 is provided on the upper part of the body 2b and forms a front-facing monitor portion. The monitor unit 68 can transmit information to the surroundings by displaying facial expressions, text information, etc. For example, the monitor unit 68 functions as a display device that displays text or images. The lighting unit 69 is provided around the entire periphery of the top 2a. When the lighting unit 69 is turned on, it illuminates the surroundings of the mobile body 2 and the onboard functional unit 4. This makes it easier to see the image from the RGB camera and to perform work using the hand unit 66 in relatively dark environments. The lighting state of the lighting unit 69 can also be changed from a constant lighting state to a rotating lighting state. The rotating lighting state is a state in which the light appears to rotate, for example, by moving a part with a high amount of light. The lighting unit 69 can also be turned on in red and set to a rotating lighting state.

[0036] The temperature sensor 71 is provided, for example, at the rear of the mobile body 2 and can measure the ambient temperature. All or some of the temperature sensor 71, the atmospheric pressure sensor 72, the humidity sensor 73, the odor sensor 74, the dose detector 75, and the CO2 concentration sensor 76 may be connected to a USB port or the like provided on the mobile body 2. The atmospheric pressure sensor 72 is provided, for example, at the top 2a and can measure the ambient atmospheric pressure. The humidity sensor 73 is provided, for example, at the rear of the mobile body 2 and can measure the ambient humidity. The odor sensor 74 is provided, for example, at the rear of the mobile body 2 and can measure the ambient odor. The dose detector 75 is provided, for example, at the rear of the mobile body 2 and can measure the ambient radiation dose, thereby helping to detect radiation, such as whether the radiation level is changing from normal. The CO2 concentration sensor 76 is provided, for example, at the rear of the mobile body 2 and can measure the ambient CO2 concentration, thereby helping to detect changes in the CO2 concentration, such as whether something is burning. The moving body depth information acquisition unit 77 is attached to, for example, the front part of the torso 2b and can acquire distance information to surrounding objects. The moving body depth information acquisition unit 77 acquires depth information of the surrounding environment. The moving body depth information acquisition unit 77 is configured, for example, by a LiDAR that captures depth images. As shown in FIG. 2 , the audio output device 80 is, for example, a speaker. The audio output device 80 can be changed to a device that can output audio.

[0037] As shown in FIG. 5 , the moving body 2 further includes a control unit 10 that controls the movement of the moving body 2 and the operation of the hand unit 66. The control unit 10 functions as an operation procedure execution unit, which will be described later. The control unit 10 is disposed inside the moving body main body 6. The control unit 10 constitutes the control unit of the moving body 2, and also constitutes the control unit of the on-board function unit 4. Thus, the control unit 10 can execute each control function of the moving body 2 and can also execute each control function of the on-board function unit 4. For example, the control unit 10 has a function of executing autonomous traveling of the moving body 2 to a predetermined point while utilizing a moving body-side depth information acquisition unit 77 (see FIG. 2 ) provided in the moving body 2, etc. The control unit 10 is electrically connected to, for example, the onboard functional unit 4, the main body drive unit 12, the front camera 60, the rear camera 61, the infrared camera 62, the depth information acquisition unit 64, the torso camera 63, the ultrasonic sensor 65, the hand unit 66, the torso lifting device 67, the monitor unit 68, the lighting unit 69, the audio output device 80, the temperature sensor 71, the air pressure sensor 72, the humidity sensor 73, the odor sensor 74, the dose detector 75, and the CO2 concentration sensor 76, and has the function of controlling the connected devices. The control unit 10 is also electrically connected to an external server via the Internet and can send and receive command signals. Specifically, the control unit 10 can execute the dismount mode, etc., without receiving a command signal from an external device while the onboard mode or dismount mode, described below, is in operation.

[0038] The control unit 10 has a built-in CPU, memory, etc., and controls connected devices based on a predetermined control program recorded in the memory, etc. The electrical connection between the control unit 10 and other devices may be entirely or partially connected via wireless communication such as infrared communication or other methods. The control unit 10 may be electrically connected to a control unit external to the mobile object 2 via the Internet. A part of the control unit 10 may be located in a location physically separated from the mobile object 2, or may be provided in the form of a program on a server via the Internet.

[0039] The control unit 10 can perform predetermined operations and controls of connected devices at the discretion of the control unit 10, and may also receive commands from outside the mobile object 2 to perform predetermined operations and controls of connected devices. For example, the control unit 10 performs predetermined operations and controls at the discretion of the control unit 10 for predetermined control, but may wait for commands from outside to perform operations and controls for certain types of control.

[0040] For example, the control unit 10 can recognize the first operation panel 22, the second operation panel 23, etc., and even all of the push buttons on the operation panels through image recognition from images acquired by the front camera 60, etc. Furthermore, for example, the control unit 10 can recognize the presence of a person in the elevator from images acquired by the front camera 60, etc., and can also recognize the interior walls of the elevator 20 through image recognition, etc.

[0041] For example, the control unit 10 can execute control to cause the moving object 2 to board the elevator 20 in a boarding mode 30. The control unit 10 can execute control to cause the moving object 2 to disembark from the elevator 20 in a disembarking mode M. The control unit 10 is also electrically connected to an external server, for example, via the Internet. The control unit 10 is equipped with a control program that enables the control unit 10 to execute boarding and disembarking operations based on its own judgment and control without receiving commands from the outside, at least while boarding and disembarking the elevator 20. Examples of control modes that the control unit can execute are shown below.

[0042] The control unit 10 has a boarding mode 30 in which the moving body 2 enters the elevator, and a disembarking mode M in which, after the boarding mode is executed, the moving body 2 disembarks the elevator by operating a predetermined operation button of the elevator using the hand unit 66 based on its own control judgment, even without receiving a command signal from the elevator 20 or outside the elevator.

[0043] The disembarking mode M of the control unit includes a first disembarking mode M1 in which, if it is determined that the hand unit 66 cannot operate the operation button corresponding to the planned disembarking floor after executing the boarding mode 30, the control unit makes the moving body wait at a predetermined position until the elevator situation satisfies predetermined conditions, and then, after determining that the elevator situation satisfies the predetermined conditions, operates a predetermined operation button of the elevator using the hand unit 66 to disembark the elevator.

[0044] The disembarking mode M of the control unit includes a second disembarking mode M2 ​​in which, when it is determined that a reason has arisen that prevents the passenger from disembarking at the planned disembarking floor, the moving body waits until the elevator situation satisfies predetermined conditions, and then the hand unit 66 is used to operate a predetermined operation button on the elevator to disembark the elevator.

[0045] The disembarking mode M of the control unit includes a third disembarking mode M3 in which, when it is determined that a reason has arisen that prevents the passenger from disembarking at the planned disembarking floor, the control unit makes the moving body wait until it determines that the elevator has entered a standby state where it has not received any requests for boarding or disembarking, and then operates a predetermined operation button on the elevator using the hand unit 66 to disembark the elevator.

[0046] The disembarking mode M of the control unit includes a voice notification mode 32 that notifies the user by voice using the voice output device that the moving device is on board when another user presses the elevator operation button while on board the elevator 20, causing the elevator to stop at a floor other than the scheduled arrival floor and the door to open; if the user does not get on the elevator, the disembarking mode M that disembarks at the scheduled arrival floor continues; and if the user gets on the elevator, the waiting mode 34 is executed, which waits until the user gets off.

[0047] The disembarking mode M of the control unit includes a wall side standby mode 36 in which, when it is determined that the elevator is heading for a floor other than the floor at which the passenger is scheduled to disembark or when the elevator stops at a floor other than the floor at which the passenger is scheduled to disembark, the elevator moves to the wall W side area on the left or right side or the back side of the elevator 20 and then enters a standby state.

[0048] The control unit includes a standby display mode 38 that displays, on the display device, that the mobile device is in a standby state while the standby state is being executed.

[0049] The disembarking mode M of the control unit includes a fourth disembarking mode M4 in which, when the elevator does not operate even when the hand unit 66 is operated to operate the operation button for the elevator to the desired disembarking floor and it is determined that the elevator may already be located at the desired disembarking floor, the hand unit 66 is used to operate a request button for movement to another floor on the elevator to disembark.

[0050] The disembarking mode M of the control unit includes a fifth disembarking mode M5 in which, when the moving device is in the elevator and it is determined that the elevator is in a standby state where no requests for boarding or disembarking have been received, the hand unit 66 is used to operate a predetermined operation button on the elevator to disembark the elevator.

[0051] The disembarking mode M of the control unit includes a sixth disembarking mode M6 in which, when the lighting inside the elevator is off, the lights are turned on and a predetermined operating button on the elevator is operated using the hand unit 66 to disembark the elevator.

[0052] The disembarking mode M of the control unit includes a seventh disembarking mode M7 that, when the elevator arrives at the planned disembarking floor while there are other users in the elevator, outputs a voice from the voice output device indicating that the user wishes to disembark, and starts the disembarking operation if it is determined that there are no obstacles on the movement route from the moving body to the door.

[0053] The disembarking mode M of the control unit includes an eighth disembarking mode M8 which, when it is determined that the waiting state during the ride in the elevator will exceed a predetermined time, causes the audio output device to output a voice indicating that the user wishes to disembark at the next floor arrived at, and starts the disembarking operation when it is determined that there are no obstacles on the movement route from the moving body to the door.

[0054] The disembarking mode M of the control unit includes a ninth disembarking mode M9 in which, if it is determined that the operation of the elevator differs from the expected operation despite the operation of the operation button of the elevator to the intended disembarking floor by the hand unit 66, the moving body 2 waits until the elevator situation satisfies a predetermined condition, and then the predetermined operation button of the elevator is operated by the hand unit 66 to disembark the elevator.

[0055] Next, the boarding mode and dismounting mode executed by the autonomously mobile body 2 and the controller of the onboard functional unit 4 will be described with reference to Figures 8 to 11. Figure 8 is a schematic flowchart illustrating in a simplified manner the flow of the boarding mode and dismounting mode executed by the mobile device 1. Figure 9 is a schematic flowchart illustrating in a simplified manner the dismounting mode executed by the mobile device according to one embodiment of the present invention. Figure 10 is a schematic flowchart illustrating in a simplified manner the dismounting mode executed by the mobile device according to one embodiment of the present invention. Figure 11 is a schematic flowchart illustrating in a simplified manner the dismounting mode executed by the mobile device according to one embodiment of the present invention.

[0056] As shown in Figure 8, when the mobility device 1 attempts to move to another floor using the elevator, the control unit 10 executes the boarding mode and the disembarking mode. When the user attempts to board the elevator, the control unit 10 begins control from Start in Figure 8 and proceeds to S1. The control unit 10 makes a boarding request for the elevator 20 by pressing, with the finger of the hand unit 66, the operation button on the building operation panel 24 provided on the building-side wall W1 (see Figure 1) outside the elevator 20. When the elevator 20 arrives at the floor where the mobility device 1 is located and the operation button was pressed, the door 21 changes from the closed state to the open state.

[0057] In S1, the control unit 10 determines whether a user or an object to be transported (hereinafter referred to as "user") is already inside the elevator 20 based on images from the front camera 60, the depth information acquisition unit 64, etc. If the control unit 10 determines that a user is present inside the elevator 20, the process proceeds to S2. If the control unit 10 determines that a user is not present inside the elevator 20, the process proceeds to S3. If the control unit 10 determines that a user is not present, the mobile device 1 boards the elevator, thereby preventing contact between the mobile device 1 and the user, etc.

[0058] In S2, the control unit 10 determines not to get into the elevator 20, and outputs a voice message to the user saying "Do not get in" via the voice output device 80. The control unit 10 puts the moving object 2 into a standby state on the spot, or, if necessary, moves it away so as not to disturb other users. After executing S2, the control unit 10 proceeds to the end and executes control again from the start to try to use the elevator to move to another floor.

[0059] In S3, the control unit 10 executes a boarding operation to enter the elevator 20. The control unit 10 executes a boarding mode in which the moving object 2 enters the elevator 20, and moves the moving object 2, for example, from position 2a to position 2b by autonomous driving. In the boarding mode, the control unit 10 determines whether a user is present in the elevator 20 based on images from the front camera 60, the depth information acquisition unit 64, etc. If the control unit 10 determines that a user is not present in the elevator 20, the process proceeds to S4. When the moving object 2 enters the elevator 20, a user may be present in a location that is blind spot from outside the elevator. For example, this may be a location next to the first operation panel 22. Therefore, if the control unit 10 determines that a user is present in the elevator 20, the process proceeds to S5.

[0060] In S4, after the boarding mode is executed, the control unit 10, based on its own control judgment, operates a predetermined operation button of the elevator using the hand unit 66 to execute a disembarking mode for disembarking the elevator, even without receiving a command signal from the elevator or outside the elevator. Generally, elevators 20 are often installed inside buildings made of concrete or the like. Furthermore, the elevator 20 is designed so that passengers ride inside a box-shaped cage made of, for example, steel. When the moving object 2 enters the elevator 20, the communication signal between the moving object 2 and the outside may become relatively poor. Therefore, in this embodiment, the control unit 10 operates on its own judgment after entering the elevator 20, for example, after starting the boarding mode, without waiting for a command signal from outside the elevator. In this embodiment, after determining that no passenger is present inside the elevator 20, the control unit 10 rotates the moving object 2 so that the front of the moving object 2 faces the first operation panel 22 or the second operation panel 23. 13, the control unit 10 recognizes the first operation panel 22, etc., using the front camera 60, etc. The control unit 10 brings the mobile object 2 close to the first operation panel 22 or the second operation panel 23, etc., and presses the operation button of the planned arrival floor (planned disembarkation floor) with the hand unit 66 to request the elevator 20 to get off the elevator 20. After executing S4, the control unit 10 proceeds to S7.

[0061] In S5, if the control unit 10 determines that a user is present, it recognizes the user's location using the front camera 60 or the like, and moves the vehicle 2 to a standby position or, if possible, to a retreat standby position 25 (see FIG. 12 ) located in a wall area away from the user, thereby putting the vehicle 2 into a standby state. To reduce the possibility of contact with the user and further enhance safety, the control unit 10 prioritizes the standby state over the vehicle 2's disembarkation. The determination of whether a user is present is based on the recognition of people and objects (mainly people) through images acquired by the front camera 60 or the like. In FIG. 12 , an example of the retreat standby position 25 is indicated by a dashed line. The retreat standby position 25 is, for example, a position near the wall on the far side of the elevator 20 (the far side as viewed from the door 21). This position is designed to minimize obstruction to user entry and exit and minimize blind spots when identifying the user from the vehicle 1.

[0062] In S5, the control unit 10 executes, for example, a first disembarkation mode M1. According to the first disembarkation mode M1, if the control unit 10 determines that the hand unit 66 cannot operate the operation button corresponding to the planned disembarkation floor after executing the boarding mode, the control unit 10 causes the moving body 2 to wait at a predetermined position until the elevator status satisfies a predetermined condition. After determining that the elevator status satisfies the predetermined condition, the control unit 10 operates the predetermined operation button of the elevator using the hand unit 66 to disembark the elevator. In this case, if the control unit 10 determines that a user is present and the operation button cannot be operated, the control unit 10 causes the moving body 2 to wait at the evacuation waiting position 25 until the user disembarks from the elevator 20. After determining that the user has disembarked and the elevator 20 is empty, the control unit 10 proceeds to S6. The operation of causing the moving body 2 to wait at a predetermined position until the elevator status satisfies the predetermined condition may, for example, cause the moving body 2 to wait at a wall position opposite the user. Furthermore, "determining that the elevator situation satisfies a specified condition" can be defined as not only a state in which there are no other passengers in elevator 20 other than itself, but also other conditions such as a state in which elevator 20 is not moving to another floor, a waiting state in which the elevator is assumed to have not received any requests for boarding or disembarking, a state in which there is only one other passenger in elevator 20, or a state in which there is only one other passenger of adult size in elevator 20.

[0063] Regarding "determining that the elevator's status satisfies a predetermined condition," for example, a determination based on a camera image may be made by detecting a change in illuminance when the elevator has not operated for a certain period of time and the interior lighting has gone out or become dark, thereby determining that the elevator has entered a standby state. In this case, the moving device may be provided with an illuminance sensor that detects the change in illuminance. As another example, the determination based on a camera image may be made by recognizing letters, numbers, etc. displayed on a display or the like inside the elevator to determine that the elevator is in a standby state. As another example, the determination may be made by detecting a change in air pressure using a barometric pressure sensor to determine that the elevator is not moving between floors. As another example, the determination may be made by detecting a change in acceleration in the vertical direction that is within a certain range using an acceleration sensor to determine that the elevator is in a standby state. In this case, the moving device is provided with an acceleration sensor.

[0064] In S6, the control unit 10 approaches the first operation panel 22 or the like and presses the operation button of the planned arrival floor (planned disembarkation floor) with the hand unit 66 to request the elevator 20 to exit the elevator 20. After executing S6, the control unit 10 proceeds to S7. If the control unit 10 determines that multiple panels, such as the first operation panel 22 and the second operation panel 23, are present in the elevator, it selects and operates an operation panel farther from the entrance, for example, an operation panel closer to the evacuation standby position. This makes it less likely to disturb other users if the mobility device 1 is in standby mode for some reason.

[0065] In S7, the elevator 20 arrives at the scheduled arrival floor, and the door 21 changes from a closed state to an open state, as shown in Fig. 14. The control unit 10 recognizes that the elevator 20 has arrived at the scheduled arrival floor based on an image from the front camera 60 or information from the air pressure sensor 72, and proceeds to S8.

[0066] In S8, the control unit continues the disembarking mode in which the moving object 2 disembarks from the elevator 20, and moves the moving object 2, for example, from position 2b (see FIG. 1) to position 2a by autonomous traveling. After executing S8, the control unit 10 proceeds to END and ends control of the disembarking mode.

[0067] As another modified example, the disembarking mode can be executed by the same control as S5, S6, S7, and S8 when it is determined that a reason has arisen that the user cannot disembark at the planned disembarking floor, for example, because a user has boarded the elevator 20 while the moving body 2 is aboard. For example, when it is determined that a reason has arisen that the user cannot disembark at the planned disembarking floor, for example, because many users have boarded the elevator later, the disembarking mode of the control unit 10 may execute a second disembarking mode in which the moving body waits until the situation of the elevator 20 satisfies a predetermined condition (for example, the predetermined condition described in S5), and then a predetermined operation button of the elevator is operated by the hand unit 66 to disembark the elevator.

[0068] Similarly, the control unit 10 can execute the disembarking mode by the same control as S5, S6, S7, and S8 when it determines that a reason has arisen that prevents the passenger from disembarking at the planned disembarking floor. In this case, the control unit 10 makes the moving body wait until it determines that the elevator has entered a standby state in which no boarding or disembarking requests are being received, and then executes a third disembarking mode M3 in which the elevator is disembarked by operating a predetermined operation button on the elevator with the hand unit 66. Note that the control unit 10 determines that the elevator 20 has entered a standby state in which no boarding or disembarking requests are being received because the elevator is not operating, the interior lights are turned off, or the like.

[0069] As another variation, in S5, the first disembarking mode of the control unit 10 determines that the elevator 20 satisfies a predetermined condition when another user is present, and then operates the elevator's predetermined operation button using the hand unit 66. However, even when another user is present, the elevator may arrive at the destination floor, for example, if the mobile device 1 is in standby mode after pressing an operation button and arrives at the destination floor, or if the elevator happens to arrive at the destination floor, as described below. Therefore, the seventh disembarking mode M7 of the control unit outputs a voice message indicating a desire to disembark using the audio output device 80 when the elevator 20 arrives at the destination floor with another user inside, and initiates disembarking operation if it is determined that there are no obstacles on the route from the moving body to the door. For example, even if there are only a few users in the elevator, disembarking operation can be attempted only if the user voices their desire to disembark and cooperates. This increases the likelihood of disembarking at the destination floor while ensuring a certain level of safety.

[0070] As another variation, in S5, if the waiting state of the moving device during the elevator ride exceeds a predetermined time and continues for too long, it can be determined that there are many other users, and since there is a possibility of disturbing other users, the user can attempt to disembark. The eighth disembarkation mode M8 of the disembarkation modes of the control unit 10 is a mode in which, when it is determined that the waiting state during the elevator ride exceeds a predetermined time, the voice output device outputs a voice indicating that the user wishes to disembark at the next floor arrived at, and the user attempts to disembark. As a result, if it is determined that there are no obstacles on the movement route from the moving body to the door, the disembarkation operation is initiated.

[0071] The basic flow of the boarding mode and disembarking mode has been described above in S1 to S8. Because the mobile device 1 is designed to be used in the same way as a user, a general user may also use the elevator 20 at the same time. Therefore, a situation different from the basic assumed situation may occur. Next, with reference to FIG. 9 , a case will be described in which the mobile device enters the elevator 20, but the elevator 20 starts moving before the operation button for the planned arrival floor is pressed with the hand unit 66. FIG. 9 is a simplified flowchart illustrating the disembarking mode executed by the mobile device.

[0072] In S11, the control unit 10 executes a boarding mode in which the transportation device 1 boards the elevator 20. The boarding mode is the same as S1 to S3 described above, and therefore a description thereof will be omitted. If the control unit 10 detects that the elevator 20 has started moving in response to a boarding request from a user on another floor after executing the boarding mode and before starting to operate the elevator operation buttons with the hand unit 66, and if it determines that the elevator has started moving, the process proceeds to S12.

[0073] In S12, the control unit 10 recognizes that the elevator 20 has started moving without the elevator's operation and can determine that a user from another floor is boarding the elevator 20, so the process proceeds to S13. Regarding "determining that the elevator has started moving," the control unit 10 may determine that the elevator has started moving by recognizing letters, numbers, etc. displayed on a display or the like inside the elevator, for example, based on a camera image. Alternatively, the determination may be made by detecting a change in air pressure using a barometric pressure sensor to determine that the elevator has started moving between floors. Alternatively, the determination may be made by detecting that a change in acceleration in the vertical direction exceeds a certain range using an acceleration sensor to determine that the elevator has started moving. In this case, the moving device is equipped with an acceleration sensor.

[0074] In S13, the control unit 10 determines that there is a high possibility that a user from another floor will board the elevator 20. Therefore, to reduce the possibility of contact with the user and further enhance safety, the control unit 10 moves the moving body 2 to a predetermined waiting position, such as the evacuation waiting position 25 (see FIG. 12 ). The control unit 10 places the moving body 2 in a waiting state at the evacuation waiting position 25. The control unit 10 places the moving body 2 in a waiting state at the evacuation waiting position until the user exits the elevator 20. In this manner, when the control unit determines that the elevator is heading toward a floor other than the planned disembarkation floor or stops at a floor other than the planned disembarkation floor through the wall-side waiting mode 36, the moving body 2 moves to a predetermined waiting position within the wall area on the left, right, or rear side of the elevator, such as the evacuation waiting position 25, and then enters a waiting state. Note that the control unit's wall-side waiting mode 36 of the disembarkation mode may also move the moving body 2 to a predetermined waiting position, such as the evacuation waiting position 25, to place the moving body 2 in a waiting state, even when it determines that the elevator is heading toward the planned disembarkation floor, in order to enhance safety. After executing S13, the control unit 10 proceeds to S14.

[0075] In the fifth disembarking mode M5, when the control unit 10 determines that the elevator is in a standby state where no boarding or disembarking requests have been received while the moving device is in the elevator, the control unit 10 operates a predetermined operation button on the elevator using the hand unit 66 to disembark the elevator. Therefore, regardless of the cause of the elevator standby state, if the elevator standby state occurs, the user can disembark from the elevator at their own discretion (e.g., S18 to S20). The disembarking floor may be set to a reference floor such as the first floor, or the original planned arrival floor may be selected.

[0076] When the elevator is in standby mode, the lighting inside the elevator may be turned off to save power, etc. In the sixth disembarking mode M6, the control unit 10 turns on the lighting unit 69 when the lighting inside the elevator is off, and the user can disembark the elevator by operating a predetermined operation button on the elevator with the hand unit 66. When the lighting is off, the user can turn on the lighting unit 69 at their own discretion, increasing the visibility of cameras, etc., and performing the operation of disembarking the elevator reliably (e.g., S18 to S20).

[0077] The control unit 10 may have a standby display mode 38 that displays, on the display device, that the mobile device is in a standby state while the standby state is being executed. Execution of the standby display mode 38 displays to other users that the mobile device is in a standby state, reducing the sense of anxiety of other users that the mobile device may move, and making it easier for the user to feel at ease.

[0078] In S14, if the control unit 10 determines that the user has got off and there are no more users in the elevator 20, and that the elevator 20 is not moving to another floor (the elevator 20 has not received a boarding request from a user), the control unit 10 proceeds to S15. If the elevator 20 were to receive a boarding request command from a user on another floor, there is a possibility that the moving body 2 would not be able to move in the desired direction or that the user would not be able to disembark at the scheduled arrival floor. Therefore, after determining that the elevator 20 has not received a boarding request command from a user on another floor, the control unit 10 presses the operation button of the elevator 20.

[0079] In S15, the control unit 10 causes the fingers of the hand unit 66 to start pressing an operation button on the building operation panel 24 provided on the building-side wall W1 outside the elevator 20 to make a boarding request for the elevator 20. More specifically, the control unit 10 causes the moving object 2 to move to adjust its position, orientation, etc., and approaches the first operation panel 22, etc., and starts pressing the operation button for the planned arrival floor (planned disembarkation floor) with the hand unit 66. However, if the control unit 10 detects that the elevator 20 has started moving during this operation, the process proceeds to S16. If the operation of pressing the operation button with the hand unit 66 is successful (if the elevator 20 has not started moving by the time the pressing operation is completed), the process proceeds to S18.

[0080] In S16, the control unit 10 recognizes that the elevator 20 has started moving without its own operation, and can determine that a user from another floor is getting on the elevator 20, so the process proceeds to S17.

[0081] In S17, the control unit 10 stops the operation of pressing the operation button with the hand unit 66, and returns to S13 or S14.

[0082] In S18, if the control unit 10 determines that the operation of pressing the operation button by the hand unit 66 was successful, the control unit 10 proceeds to S19. S19 is the same as S7, so a description thereof will be omitted. After executing S19, the control unit 10 proceeds to S20. Since S20 is also the same as S8, a description thereof will be omitted. After executing S20, the control unit 10 proceeds to END, and the series of controls is completed.

[0083] In addition, when the operation button is pressed using the hand unit 66 as in S15, there may be cases where the elevator does not operate even when the control unit 10 operates the operation button for the elevator's intended disembarkation floor using the hand unit, and the elevator may already be located at the intended disembarkation floor. In such cases, the elevator has arrived at the intended disembarkation floor for some reason and is in a standby state, so the moving device is trapped inside the elevator at the intended arrival floor, and it is necessary to press an operation button for another floor to operate the elevator. In the fourth disembarkation mode M4 of the disembarkation modes, if the elevator does not operate even when the operation button for the elevator's intended disembarkation floor is operated using the hand, and it is determined that the elevator may already be located at the intended disembarkation floor, the fourth disembarkation mode M4 allows the user to disembark the elevator by operating the elevator's movement request button for another floor using the hand unit 66, for example, by S18 to S20.

[0084] Next, a case where the elevator 20 does not operate as expected even though the transportation device 1 has entered the elevator 20 will be described with reference to Fig. 10. Fig. 10 is a schematic flowchart illustrating a simplified example of the disembarkation mode executed by the transportation device.

[0085] In S21, after the transportation device 1 boards the elevator 20 in the boarding mode, the control unit 10 executes the operation of pressing the operation button using the hand unit 66. According to the plan, if the operation button of the elevator 20 is properly operated, the elevator 20 will arrive at the scheduled arrival floor, as shown in S22 (S7), etc. However, even if the control unit 10 determines that the operation button of the elevator 20 was pressed by the hand unit 66, as shown in S23, the elevator 20 may perform an unexpected operation, such as moving to another floor, as shown in S24. For example, various causes are conceivable, such as when the operation button is not pressed properly using the hand unit 66 (when no input is made on the first operation panel 22), when the button is pressed twice due to vibrations generated when the operation button is pressed using the hand unit 66, thereby canceling the disembarkation request, or when the user boards an elevator intended for upward movement when the intended downward movement was intended. Examples of unexpected floor movement include an elevator moving in the opposite direction to the expected arrival floor, passing the expected arrival floor, or not starting to move (waiting). Methods for detecting unexpected floor movement include, for example, using camera images to recognize characters or numbers displayed on an elevator display. Alternatively, an air pressure sensor or acceleration sensor may be used to detect changes in air pressure or acceleration. In such a case, if the control unit determines that the elevator's operation differs from the expected operation despite the hand unit 66 operating the elevator's operation button toward the expected disembarkation floor in the ninth disembarkation mode, the control unit waits for the moving object until the elevator's status satisfies a predetermined condition, and then the hand unit 66 operates the elevator's predetermined operation button to disembark the elevator. Specifically, if the actual elevator 20 operation differs from the expected elevator 20 operation, the control unit 10 proceeds to S25.

[0086] Regarding "determining whether the operation button of elevator 20 has been pressed," for example, the determination may be made based on a camera image, such as by detecting by image recognition that the target operation button has been pressed and has lit up, and determining that the operation button has been pressed. As another example, the determination may be made based on a camera image, such as by recognizing letters, numbers, etc. displayed on a display inside the elevator and determining that the elevator has started to move toward the floor that was pressed.

[0087] In this case, in S25, the control unit 10 causes the moving object 2 to wait at a predetermined position until the situation of the elevator 20 satisfies a predetermined condition, for example, until there are no more users in the elevator and the elevator is not receiving any operation requests from other users. After executing S25, the control unit 10 proceeds to S26.

[0088] In S26, if the control unit 10 determines that the elevator status satisfies a predetermined condition, for example, if it determines that the elevator is not moving to another floor, or as another example, if it determines that there is no user in the elevator, it operates a predetermined operation button on the elevator using the hand unit to request the elevator to the floor where the user plans to disembark. After executing S26, the control unit 10 proceeds to S22.

[0089] Since S22 is similar to S7 and S19, a description thereof will be omitted. After executing S22, the control unit 10 proceeds to S27. Since S27 is similar to S8 and S20, a description thereof will also be omitted. After executing S27, the control unit 10 proceeds to END, where the series of control operations is completed.

[0090] Next, a case will be described with reference to Fig. 11 where the mobile device gets into the elevator 20 and operates the button for the expected arrival floor, but the elevator does not operate as expected. Fig. 11 is a schematic flowchart illustrating a simplified example of the disembarkation mode executed by the mobile device.

[0091] In S31, the control unit 10, in the disembarking mode, presses the operation button of the scheduled arrival floor with the hand unit 66 to request the elevator 20 to disembark. S31 is similar to S4 etc. in terms of the operation of the operation button, so a description thereof will be omitted. After executing S31, if another user presses the elevator operation button while in the elevator, the elevator stops at a floor other than the scheduled arrival floor, and the door opens, the control unit 10 proceeds to S32.

[0092] In S32, if the elevator stops at a floor other than the expected arrival floor and the door opens, the control unit 10 can determine that another user is about to get on the elevator, and proceeds to S33.

[0093] In S33, the voice notification mode 32 of the control unit 10 notifies the user by voice via the voice output device 80 that the mobile device 1 is boarding. The voice notification is sent to other users who are about to board the elevator, requesting that the mobile device 1 board the next elevator if possible, since the mobile device is currently moving in the elevator. This is to reduce the possibility of contact between the mobile device 1 and the user as much as possible and to ensure a safe and prompt arrival at the scheduled arrival floor. If another user has boarded the elevator 20, the control unit 10 proceeds to S34. If no other user has boarded the elevator 20, the control unit 10 proceeds to S36.

[0094] In S34, the control unit 10 determines that a user is present in the elevator 20, and therefore enters a standby state as in S5. After executing S34, the control unit 10 proceeds to S35.

[0095] In S35, after the standby state of S34, the control unit 10 determines that the elevator's status satisfies a predetermined condition, and then, if necessary, operates a predetermined operation button on the elevator using the hand unit 66 to cause the user to exit the elevator. Since the arrival request for the elevator's scheduled arrival floor may be canceled or erased during the standby state, if necessary, the arrival request for the elevator at the scheduled arrival floor is executed again. In S35, the same operation button is pressed as in S6. After executing S35, the control unit 10 proceeds to S36.

[0096] S36 is similar to S7 and S19, and therefore its explanation will be omitted. If no other users have boarded the elevator 20, the control unit 10 determines that the disembarkation operation can be performed at the scheduled arrival floor as planned. After executing S36, the control unit 10 proceeds to S37. Since S37 is also similar to S8 and S20, its explanation will also be omitted. After executing S37, the control unit 10 proceeds to END, and the series of controls is completed.

[0097] According to one embodiment of the present invention configured as described above, the mobile device 1 is capable of riding an elevator and moving between floors. The control unit 10 is equipped with an alighting mode in which, after executing the riding mode, the control unit 10 operates a predetermined operation button of the elevator 20 using the hand unit 66 based on its own control judgment to alight the elevator 20, even without receiving a command signal (e.g., a command signal for executing the alighting mode) from the elevator 20 or outside the elevator 20. As a result, even if the communication environment becomes relatively poor after the mobile device 1 enters the elevator 20, the mobile device 1 can operate a predetermined operation button of the elevator 20 using the hand unit 66 based on its own control judgment to alight the elevator 20. Therefore, for example, the mobile device 1 equipped with the hand unit 66 configured to operate the operation button of the elevator 20 can ride the elevator 20, perform a predetermined operation in the elevator 20 at its own discretion, and alight. Furthermore, the mobile device 1 can ride, for example, various types of existing elevators 20, and then perform a predetermined operation in the elevator 20 at its own discretion to alight the elevator 20.

[0098] According to one embodiment of the present invention configured as described above, the transportation device 1 includes an audio output device 80 that outputs audio to a user of the elevator 20. This allows the transportation device 1 to communicate messages to the user by audio while being spaced apart from the user when the transportation device 1 is riding in the elevator 20 with the user, such as elderly people or children, in a contactless manner.

[0099] According to one embodiment of the present invention configured as described above, the disembarking mode of the control unit 10 includes a first disembarking mode M1 in which, if it is determined by the hand unit 66 after the boarding mode is executed that the operation button corresponding to the disembarking floor cannot be operated, the control unit 10 makes the moving object wait at a predetermined position until the situation of the elevator 20 satisfies a predetermined condition, and then, after determining that the situation of the elevator 20 satisfies the predetermined condition, operates a predetermined operation button of the elevator 20 by the hand unit 66 to disembark the elevator 20. As a result, if the control unit 10 determines in the first disembarking mode M1 that there is a person in the elevator 20 after the moving object 2 has boarded the elevator 20 and determines that the operation button cannot be operated, the control unit 10 determines that the person in the elevator 20 has disembarked and the situation of the elevator 20 satisfies a predetermined condition, for example, a condition that there is no person present, and then operates the predetermined operation button of the elevator 20 by the hand unit 66 to disembark the elevator 20. Therefore, if the transportation device 1 determines, based on its own control judgment, that it cannot operate the operation buttons after executing the boarding mode, even if it does not receive a command signal from the elevator 20 or outside the elevator 20, it waits until the situation of the elevator 20 satisfies a predetermined condition, and then operates a predetermined operation button of the elevator 20 with the hand unit 66, allowing the passenger to get off the elevator 20 while taking into consideration the safety of the surrounding area. If the transportation device 1 determines that the situation of the elevator 20 satisfies a predetermined condition, for example, that there are no passengers left in the elevator 20, it can cancel the wait and allow the passenger to get off.

[0100] According to one embodiment of the present invention configured as described above, the disembarking mode of the control unit 10 includes a second disembarking mode M2 ​​in which, when it is determined that a reason has arisen that the passenger cannot disembark at the planned disembarkation floor, the moving body 2 waits until the situation of the elevator 20 satisfies a predetermined condition, and then the hand unit 66 operates a predetermined operation button of the elevator 20 to disembark the elevator 20. As a result, when the moving device 1 determines that a reason has arisen that the passenger cannot disembark at the planned disembarkation floor, the moving body 2 waits until the situation of the elevator 20 satisfies a predetermined condition based on its own control judgment, without receiving a command signal from the elevator 20 or outside the elevator 20, and then the hand unit 66 operates a predetermined operation button of the elevator 20 to disembark the elevator 20 while taking into consideration the safety of the surrounding area.

[0101] According to one embodiment of the present invention configured as described above, the disembarking mode of the control unit 10 includes a third disembarking mode M3 in which, when it is determined that a reason has arisen that prevents the passenger from disembarking at the planned disembarking floor, the control unit 10 makes the moving body 2 wait until it determines that the elevator 20 has entered a standby state in which no boarding or disembarking requests have been received, and then operates a predetermined operation button of the elevator 20 with the hand unit 66 to disembark the elevator 20. As a result, when the moving device 1 determines that the elevator 20 has entered a standby state in which no boarding or disembarking requests have been received, the control unit 10 cancels the standby state and operates a predetermined operation button of the elevator 20 with the hand unit 66, allowing the passenger to disembark the elevator 20 while taking into consideration the safety of the surrounding area.

[0102] According to one embodiment of the present invention configured as described above, the disembarkation mode of the control unit 10, when another user presses the elevator 20 operation button while riding in the elevator 20, causing the elevator 20 to stop at a floor other than the scheduled arrival floor and the doors to open, notifies the user by voice via the voice output device 80 that the user is riding in the moving device 1. This reduces the probability that the user will board the elevator 20 and increases the possibility that the user will be able to move to the scheduled arrival floor quickly.

[0103] According to one embodiment of the present invention configured as described above, the disembarkation mode of the control unit 10 includes a wall-side standby mode 36 in which, when it is determined that the elevator 20 is heading for a floor other than the planned disembarkation floor or when the elevator 20 has stopped at a floor other than the planned disembarkation floor, the elevator moves to a wall-side area on the left, right, or rear side of the elevator 20 and then goes into a standby state. As a result, when it is expected that other users will board the elevator 20, the elevator can go into a standby state in a wall-side area, for example, a retreat standby position, so as not to disturb the other users.

[0104] According to one embodiment of the present invention configured as described above, the control unit 10 has a standby display mode 38 that displays on the display device that the mobile device 1 is in a standby state while the standby state is being executed. This allows the operation status of the mobile device 1 to be communicated to the user even if the user happens to be in the same elevator 20 as the mobile device 1, making it easier for the user to feel at ease. It also makes it less likely for the user to feel anxious that the mobile device 1 may operate.

[0105] According to one embodiment of the present invention configured as described above, the disembarking mode of the control unit 10 includes a fourth disembarking mode M4 in which, when the elevator 20 does not move even when the hand unit 66 operates an operation button for the elevator 20 toward the planned disembarking floor and it is determined that the elevator 20 may already be located at the planned disembarking floor, the hand unit 66 operates a movement request button for the elevator 20 to another floor to disembark the elevator 20. This allows the passenger to disembark at their own discretion when the elevator 20 does not move even when the hand unit 66 operates an operation button.

[0106] According to one embodiment of the present invention configured as described above, the disembarking mode of the control unit 10 includes a fifth disembarking mode M5 in which, when the moving device 1 is in the elevator 20 and it is determined that the elevator 20 is in a standby state in which no boarding or disembarking request has been received, the moving device 1 operates a predetermined operation button of the elevator 20 with the hand unit 66 to disembark the elevator 20. As a result, when the moving device 1 is in the elevator 20 in a standby state, regardless of the cause, the moving device 1 can disembark the elevator 20 at its own discretion by operating an operation button with the hand unit 66.

[0107] According to one embodiment of the present invention configured as described above, a lighting unit 69 that turns on a light is provided, and the disembarking mode of the control unit 10 includes a sixth disembarking mode M6 in which, when the lighting inside the elevator 20 is off, the lighting unit 69 is turned on and a predetermined operation button of the elevator 20 is operated with the hand unit 66 to disembark the elevator 20. This allows the lighting unit to be turned on when the lighting inside the elevator 20 is off, improving image recognition by a camera and operability by the hand unit 66.

[0108] According to one embodiment of the present invention configured as described above, the disembarking mode of the control unit 10 includes a seventh disembarking mode M7 in which, when the elevator 20 arrives at a planned disembarking floor with other users in it, the voice output device 80 outputs a voice indicating that the user wishes to disembark, and when it is determined that there are no obstacles on the route from the moving body 2 to the door, the disembarking operation is initiated. As a result, when the elevator 20 arrives at a planned disembarking floor with other users in it, the voice output can be used to convey the user's desire to disembark, allowing the user to attempt disembarkation. If the user's cooperation is obtained, disembarkation can be achieved, increasing the probability of disembarking at the planned arrival floor and allowing the user to arrive at the planned arrival floor more quickly.

[0109] According to one embodiment of the present invention configured as described above, the disembarking mode of the control unit 10 includes an eighth disembarking mode M8 that, if it is determined that the waiting state during a ride in the elevator 20 exceeds a predetermined time, causes the audio output device 80 to output a voice indicating that the user wishes to disembark at the next arrived floor, and starts the disembarking operation if it is determined that there are no obstacles on the movement route from the moving body 2 to the door. As a result, if the waiting state of the moving device 1 during a ride in the elevator 20 extends beyond a predetermined time, it can be determined that there are many other users, and since there is a possibility that the user will be disturbing other users, the user can attempt to disembark.

[0110] According to one embodiment of the present invention configured as described above, the disembarking mode of the control unit 10 includes a ninth disembarking mode M9 in which, if it is determined that the operation of the elevator 20 differs from the expected operation despite the operation of the operation button of the elevator 20 directed to the intended disembarking floor by the hand unit 66, the moving body 2 waits until the situation of the elevator 20 satisfies a predetermined condition, and then the predetermined operation button of the elevator 20 is operated by the hand unit 66 to disembark the elevator 20. As a result, if an operation button operation failure occurs or another unexpected floor movement occurs, the moving body 2 is put into a standby state, and once the situation of the elevator 20 has settled and the situation of the elevator 20 satisfies the predetermined condition, the predetermined operation button of the elevator 20 is operated by the hand unit 66 to disembark the elevator 20. Therefore, the moving device 1 can be operated from the standby state of the elevator 20, thereby improving the reliability of disembarking and the stability of control.

Claims

1. A mobile device capable of riding in an elevator and moving to upper and lower floors, comprising: a mobile body capable of autonomous movement; a hand unit configured to operate the elevator's operation buttons; and a control unit that controls the movement of the mobile body and the operation of the hand unit, wherein the control unit has a boarding mode in which the mobile body enters the elevator; and a disembarking mode in which, after the boarding mode is executed, the control unit operates a predetermined operation button of the elevator using the hand unit based on its own control judgment, without receiving a command signal from the elevator or outside the elevator, to disembark the elevator.

2. The moving device according to claim 1, further comprising an audio output device that outputs audio to users of the elevator.

3. The moving device according to claim 1, wherein the disembarking mode of the control unit includes a first disembarking mode in which, if it is determined that the hand unit cannot operate the operation button corresponding to the intended disembarking floor after the boarding mode is executed, the moving body waits at a predetermined position until the elevator situation satisfies a predetermined condition, and then, after it is determined that the elevator situation satisfies the predetermined condition, the hand unit operates a predetermined operation button of the elevator to disembark the elevator.

4. The moving device according to claim 1, wherein the disembarking mode of the control unit includes a second disembarking mode in which, if it is determined that a reason has arisen that prevents the user from disembarking at the planned disembarking floor, the moving body waits until the elevator situation satisfies a predetermined condition, and then the hand unit operates a predetermined operation button on the elevator to disembark the elevator.

5. The moving device according to claim 1, wherein the disembarking mode of the control unit includes a third disembarking mode in which, when it is determined that a reason has arisen that prevents the user from disembarking at the planned disembarking floor, the moving body waits until it is determined that the elevator has entered a standby state in which no requests for boarding or disembarking have been received, and then the hand unit operates a predetermined operating button on the elevator to disembark the elevator.

6. The disembarking mode of the control unit is a mobile device as described in claim 2, which includes a voice notification mode in which, when an elevator operation button is pressed by another user while the elevator is in the elevator, the elevator stops at a floor other than the scheduled arrival floor and the door opens, the voice output device notifies the user by voice that the mobile device is in the elevator, and if the user does not get on the elevator, the disembarking mode in which the user gets off at the scheduled arrival floor is continued, and if the user gets on the elevator, the standby mode is executed in which the mobile device waits until the user gets off.

7. The moving device of claim 1, wherein the disembarking mode of the control unit includes a wall-side standby mode in which, if it is determined that the elevator is heading toward a floor other than the floor at which the passenger is scheduled to disembark or if the elevator stops at a floor other than the floor at which the passenger is scheduled to disembark, the elevator moves into a wall-side area on the left, right, or rear side of the elevator and then enters a standby state.

8. A mobile device according to claim 1, further comprising a display device for displaying characters or images, and wherein the control unit has a standby display mode in which, while the standby state is being executed, the display device displays that the mobile device is in a standby state.

9. The moving device of claim 1, wherein the disembarking mode of the control unit includes a fourth disembarking mode in which, when the elevator does not operate even when the hand unit operates an operation button for the elevator to move to the desired disembarking floor and it is determined that the elevator may already be located at the desired disembarking floor, the hand unit operates a movement request button for the elevator to another floor to disembark the elevator.

10. The moving device according to claim 1, wherein the disembarking mode of the control unit includes a fifth disembarking mode in which, when the moving device is in the elevator and it is determined that the elevator is in a standby state in which no requests for boarding or disembarking have been received, the hand unit operates a predetermined operation button on the elevator to disembark the elevator.

11. A moving device as described in claim 1, further comprising a lighting unit that turns on a light, and the disembarking mode of the control unit includes a sixth disembarking mode in which, when the lights inside the elevator are off, the lighting unit is turned on and a predetermined operating button on the elevator is operated by the hand unit to disembark the elevator.

12. A moving device as described in claim 2, wherein the disembarking mode of the control unit includes a seventh disembarking mode in which, when the elevator arrives at the intended disembarking floor while there are other users in the elevator, the voice output device outputs a voice indicating that the user wishes to disembark, and, if it is determined that there are no obstacles on the movement route from the moving body to the door, the disembarking operation is initiated.

13. A moving device as described in claim 2, wherein the disembarking mode of the control unit includes an eighth disembarking mode in which, if it is determined that the waiting state during a ride in the elevator will exceed a predetermined time, the voice output device outputs a voice indicating that the user wishes to disembark at the next floor arrived at, and if it is determined that there are no obstacles on the movement route from the moving body to the door, the disembarking operation is initiated.

14. A moving device as described in claim 1, wherein the disembarking mode of the control unit includes a ninth disembarking mode in which, if it is determined that the operation of the elevator differs from the expected operation despite the hand unit having operated an operation button of the elevator toward the intended disembarking floor, the moving body waits until the elevator's situation satisfies a predetermined condition, and then the hand unit operates a predetermined operation button of the elevator to disembark the elevator.

Images