JP2019001613A - Passenger conveyor device, control method of passenger control device, and control system for passenger conveyor device - Google Patents

Abstract

To provide a passenger conveyor device capable of executing the traveling of a robot using a passenger conveyor efficiently while securing the safety.SOLUTION: A passenger conveyor device includes a passenger conveyor, a communication unit for executing transmission and reception of signals with a robot traveling control device for controlling the traveling of a robot, and a speed control unit for varying the speed of the passenger conveyor to a getting on/off possible speed of the robot to the passenger conveyor that is received by the communication unit based on an instruction of changing the speed of the passenger conveyor which is received by the communication unit in accordance with an estimated arrival time of the robot to the passenger conveyor.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a passenger conveyor device, a method for controlling a passenger conveyor device, and a passenger conveyor device control system.

  As a technical background of this technical field, there is JP-A-7-125962 (Patent Document 1). This gazette states that “the input device for reading the speed registration data is installed at the entrance, and when the boarding / exiting of the handicapped person takes a low speed operation according to the speed registration data, While the vehicle is on the middle part, the speed is returned to the standard speed, and the acceleration / deceleration at the time of changing the speed is reduced to such an extent that the passenger on the man conveyor does not become unstable. "

JP 7-125962 A

  In recent years, an environment for using a robot as a labor force has been improved, and an autonomous mobile robot that travels freely is required to move efficiently to a movement target position. However, in the technique described in Patent Document 1, the speed of the conveyor is changed after reading the speed registration data in each conveyor. For this reason, if the acceleration / deceleration is reduced to such an extent that passengers on the man conveyor do not become unstable, it takes time until the speed of the conveyor is reduced to the low speed operation according to the speed registration data after the speed registration data is swallowed. This hindered efficient movement.

  Therefore, the present invention provides a passenger conveyor device, a passenger conveyor device control method, and a passenger conveyor device control capable of efficiently carrying out traveling to a target position of a robot using a passenger conveyor while ensuring safety. The purpose is to provide a system.

In order to solve the above problems, for example, the configuration described in the claims is adopted.
The present application includes a plurality of means for solving the above-described problems. For example, a signal transmission / reception is performed between a passenger conveyor and a robot traveling control device for controlling the traveling of the robot. The speed of the passenger conveyor is received by the communication unit based on a command to change the speed of the passenger conveyor received by the communication unit in accordance with a predicted arrival time of the robot to the passenger conveyor. It is a passenger conveyor apparatus provided with the speed control part which changes to the speed at which the said boarding / alighting of the said robot can be boarded / exited.

According to the present invention as described above, traveling to the target position of the robot using the passenger conveyor can be carried out efficiently while ensuring safety, a passenger conveyor device, a method for controlling the passenger conveyor device, And it is possible to provide a passenger conveyor device control system.
Problems, configurations, and effects other than those described above will be clarified by the following description of embodiments.

It is a figure showing the whole passenger conveyor device control system composition concerning an embodiment. It is a block diagram which shows the structure of the passenger conveyor apparatus which concerns on embodiment. It is a flowchart which shows the control method of the passenger conveyor apparatus which concerns on embodiment. It is a block diagram which shows the structure of the robot which concerns on embodiment. It is a flowchart which shows the control method of the robot which concerns on embodiment. It is a block diagram which shows the structure of the robot travel control apparatus which concerns on embodiment. It is a flowchart which shows the traveling control method of the robot which concerns on embodiment.

  Hereinafter, embodiments of a passenger conveyor device, a passenger conveyor device control method, and a passenger conveyor device control system to which the present invention is applied will be described in detail with reference to the drawings. In the embodiment described below, the overall configuration of the passenger conveyor device control system will be described first, and then the passenger conveyor device, the robot, and the robot traveling control device that constitute the passenger conveyor device control system will be described.

≪Passenger conveyor control system≫
Drawing 1 is a figure showing the whole passenger conveyor device control system composition concerning an embodiment. A passenger conveyor apparatus control system 1 shown in this figure is a system for freely running a robot 20 in a building including a passenger conveyor 10. The passenger conveyor apparatus 1 a including the passenger conveyor 10 and the robot 20 And a robot travel control device 30.

  Of these, the passenger conveyor device 1 a includes a plurality of passenger conveyors 10. Each of these passenger conveyors 10 includes a drive control unit 11 and is further connected to one central control device 12. Among these, the passenger conveyor 10 is an escalator here, and is spanned between floor portions having different heights in a building, and is used for transporting passengers up and down in the height direction.

  A plurality of such passenger conveyors 10 are arranged inside and outside the building, and each passenger conveyor 10 includes a drive control unit 11. Further, these passenger conveyors 10 may have variations in controllability as long as the controllability of the operation speed is free. For this reason, the high-performance conveyor 10a in which the controllability of the driving speed is good and the driving speed can be changed gently and the other general conveyor 10b may be arranged in the building.

  The passenger conveyor 10 as described above is connected to the central control device 12 in the drive control unit 11, and the operation is controlled via the drive control unit 11 in accordance with an instruction from the central control device. In addition to the escalator illustrated here, the passenger conveyor 10 may be a moving sidewalk, for example.

  The robot 20 is a movable type that travels, and is particularly capable of getting on and off the passenger conveyor 10. Such a robot 20 has, for example, wheels, and includes a drive control unit 21 and is configured to be able to run and stop freely. A plurality of such robots 20 are arranged with respect to the building, and are configured to freely move between different floors in the building under the control of the robot travel control device 30 described below.

  In addition, these robots 20 may have variations in traveling performance as long as they have the above traveling properties. For this reason, the high performance robot 20a which has the driving | running | working performance which can be boarded / alighted on the passenger conveyor 10 like a general adult, and the other general robot 20b may be arrange | positioned in a building.

  The robot traveling control device 30 controls the operation of the passenger conveyor 10 and the traveling of the robot 20 to freely travel the robot 20 in the building where the passenger conveyor 10 is provided. Such a robot traveling control device 30 is connected to the central control device 12 of the passenger conveyor 10, for example, and controls the driving of each passenger conveyor 10 via the central control device 12. The robot travel control device 30 also constitutes the robot device 1b together with the robot 20.

  Hereinafter, the detailed configuration of the passenger conveyor device control system 1 is described as follows: the configuration of the passenger conveyor 10 in the passenger conveyor device 1a and the control method of the passenger conveyor device, the configuration and robot control method of the robot 20, the configuration of the robot travel control device 30 and the robot It demonstrates in order of a traveling control method.

≪Passenger conveyor 10≫
<Configuration of passenger conveyor 10>
FIG. 2 is a block diagram illustrating a configuration of the passenger conveyor according to the embodiment, and is a block diagram mainly illustrating the drive control unit 11. Hereinafter, the configuration of the passenger conveyor 10 will be described with reference to FIGS. 1 and 2. The drive control unit 11 of each passenger conveyor 10 includes a communication unit 11a, an operation control unit 11b, a speed control unit 11c, a voice guidance unit 11d, a passenger sensing unit 11e, and an input / output control unit 11f. Details of each component are as follows.

[Communication unit 11a]
The communication unit 11 a is an input / output interface that performs transmission and reception of information with the central control device 12, and performs transmission and reception of signals with the robot travel control device 30 via the central control device 12. Such a communication part 11a is not specifically limited, In addition to the wired communication by communication lines, such as an electric wire and an optical fiber, it can take the form of the wireless communication which does not require a direct connection.

[Operation control unit 11b]
It is a part which starts or stops the driving | operation control part 11b and the operation of the passenger conveyor 10. FIG. The operation control unit 11b operates the passenger conveyor 10 in accordance with an instruction from the central control device 12 received by the communication unit 11a or an instruction transmitted from the robot travel control device 30 via the central control device 12. Start or stop.

[Speed controller 11c]
It is a part which controls the driving speed of the speed control part 11c and the passenger conveyor 10. The speed control unit 11c determines the operation speed of the passenger conveyor 10 according to the instruction from the central control device 12 received by the communication unit 11a or the instruction transmitted from the robot travel control device 30 via the central control device 12. Control.

[Voice guidance unit 11d]
The voice guidance unit 11d emits a voice announcement, and includes a speaker and its control unit. Such a voice guidance unit 11d is a passenger on the passenger conveyor 10 in accordance with an instruction from the central control device 12 received by the communication unit 11a or an instruction transmitted from the robot travel control device 30 via the central control device 12. Broadcast an announcement against

[Passenger sensing unit 11e]
The passenger detection part 11e is for monitoring the passenger | crew's boarding condition to the passenger conveyor 10, for example, is comprised by the human sensitive sensor. A signal related to passenger boarding information sensed by the passenger sensing unit 11e is transmitted from the communication unit 11a to the robot travel control device 30 via the central control device 12.

[Input / output control unit 11f]
The input / output control unit 11f is connected to the communication unit 11a, the operation control unit 11b, the speed control unit 11c, the voice guidance unit 11d, and the passenger sensing unit 11e described above. The input / output control unit 11f controls the operation of the passenger conveyor 10 in accordance with instructions from the robot travel control device 30 received by the communication unit 11a, along with transmission / reception of signals between these components.

  Such an input / output control unit 11f is a computer constituted by a CPU, a ROM, and a RAM. When the CPU executes a program recorded in the ROM or the RAM, the input / output control unit 11f of the passenger conveyor 10 described below is executed. Implement operation control.

<Control method of passenger conveyor device>
FIG. 3 is a flowchart illustrating a control method of the passenger conveyor device according to the embodiment. The control method of the passenger conveyor apparatus shown in this flowchart is a control method of the passenger conveyor apparatus implemented by the input / output control unit 11f. Hereinafter, the procedure of the control method of the passenger conveyor device will be described along the flowchart of FIG. 3 with reference to the overall configuration diagram of FIG. 1 and the block diagram of FIG.

[Step S101]
In step S101, the input / output control unit 11f starts normal operation of the passenger conveyor 10 under the control of the operation control unit 11b. Here, the normal operation of the passenger conveyor 10 is started using the operation start signal transmitted from the central controller 12 to the communication unit 11a as a trigger.

[Step S102]
In step S102, the input / output control unit 11f determines whether or not the communication unit 11a has received an emergency stop command. This emergency stop command is an instruction transmitted from the central controller 12 or the robot travel controller 30 via the central controller 12. When this emergency stop command is an instruction transmitted from the robot travel control device 30, it is a transmission from step S313a of the robot travel control method described below with reference to FIG. As will be described in detail later, the robot traveling control device 30 transmits this emergency stop command when an abnormality occurrence is received from the robot 20. The communication unit 11a receives the emergency stop command transmitted in this way.

  If the input / output control unit 11f determines that an emergency stop command has been received (YES), the process proceeds to step S103a. On the other hand, if it is determined that the emergency stop command has not been received (NO), the process proceeds to step S103.

[Step S103a]
In step S103a, the input / output control unit 11f broadcasts an emergency stop voice announcement under the control of the voice guide unit 11d, prompts the passengers and the passenger conveyor 10 to urge safety, and proceeds to the next step S104a.

[Step S104a]
In step S104a, the input / output control unit 11f makes an emergency stop of the operation of the passenger conveyor 10 under the control of the operation control unit 11b. And the process of the operation of the passenger conveyor 10 is complete | finished. As described above, when the operation of the passenger conveyor 10 is emergency stopped based on the emergency stop command transmitted from the robot travel control device 30, when an abnormality occurs in the robot 20 that is on the passenger conveyor 10. The passenger conveyor 10 can be emergency stopped, and the passenger conveyor 10 can be operated safely.

[Step S103]
On the other hand, in step S103, the input / output control unit 11f determines whether or not the communication unit 11a has received a speed change command. This speed change command includes information on the operation speed of the passenger conveyor 10. This driving speed is a speed set for each robot 20 and is a possible getting-on / off speed at which the robot 20 trying to get on the passenger conveyor 10 can get on and off the passenger conveyor 10.

  The speed change command including such a speed at which the user can get on and off is a command transmitted from the robot travel control device 30 and is transmitted from step S307 of the robot travel control method described below with reference to FIG. As will be described in detail later, the robot traveling control device 30 sends a speed change command to each passenger conveyor 10 included in the robot movement route in accordance with the estimated arrival time at which the robot arrives at the passenger conveyor 10. Send. The communication unit 11a receives the speed change command transmitted in this way.

  If the input / output control unit 11f determines that the speed change command has been received (YES), the process proceeds to the next step S104. On the other hand, if the input / output control unit 11f determines that the speed change command has not been received (NO), the input / output control unit 11f returns to step S102 and continues the operation at the normal speed.

[Step S104]
Next, in step S104, the input / output control unit 11f determines whether the passenger sensing unit 11e has not sensed a passenger and has no passenger sensing. The input / output control unit 11f repeats the determination until it is determined that no passenger is detected (YES), and proceeds to the next step S105 when it is determined that no passenger is detected (YES).

[Step S105]
In step S105, the input / output control unit 11f changes the operation speed of the passenger conveyor 10 under the control of the speed control unit 11c, and starts operation at the changed speed. At this time, the speed control unit 11c reduces the operation speed of the passenger conveyor 10 to the possible getting on / off speed received by the communication unit 11a together with the speed change command in the previous step S103.

  As described above, after confirming that there is no passenger in step S104, it is possible to eliminate the danger of a passenger falling due to a change in the driving speed by changing the driving speed of the passenger conveyor 10. Therefore, it is possible to ensure safety in operation of the passenger conveyor 10.

  In the previous step S104, among the passenger conveyors 10, in the high-performance conveyor 10a having good controllability of the driving speed, the driving speed can be changed while ensuring safety for the passengers. Therefore, in the input / output control unit 11f of the high-performance conveyor 10a, after determining that the speed change command is received (YES) in Step S103, the flow may proceed to the next Step S105 immediately without performing Step S104. . Thereby, the efficient operation of the passenger conveyor 10 matched with the controllability of the driving speed is possible.

[Step S106]
Next, in step S106, the input / output control unit 11f transmits from the communication unit 11a to the robot travel control device 30 via the central control device 12 that the speed of the passenger conveyor 10 has been changed.

  Thereby, the robot travel control device 30 can detect that the passenger conveyor 10 on which the robot 20 is about to get on has been changed to the speed at which the robot 20 can get on and off, and the passenger speed whose driving speed has been changed to the speed at which it can get on and off. 10 can be controlled to safely get the robot 20 on board.

[Step S107]
In step S107, the input / output control unit 11f determines whether or not the communication unit 11a has received an emergency stop command. The emergency stop command is an instruction transmitted from the central controller 12 or from the robot travel controller 30 via the central controller 12. When this emergency stop command is an instruction transmitted from the robot travel control device 30, it is a transmission from step S313a of the robot travel control method described below with reference to FIG.

  If it is determined that the emergency stop command has been received (YES), the input / output control unit 11f proceeds to step S103a described above, and executes step S103a and step S104a to end the process. On the other hand, if it is determined that an emergency stop command has not been received (NO), the process proceeds to step S108.

[Step S108]
In step S108, the input / output control unit 11f determines whether or not the communication unit 11a has received a speed return command. This speed return command is an instruction transmitted from the robot travel control device 30 via the central control device 12, and is transmitted from step S314 described later with reference to FIG. As will be described in detail later, the robot travel control device 30 transmits a speed return command when it is confirmed that the robot 20 has got off from the passenger conveyor 10. The communication unit 11a receives the speed return command transmitted in this way.

  If the input / output control unit 11f determines that the speed return command has been received (YES), the process proceeds to step S109. On the other hand, if the input / output control unit 11f determines that the emergency stop command has not been received (NO), step S107. Return to.

[Step S109]
In step S109, the input / output control unit 11f determines whether the passenger sensing unit 11e has not sensed a passenger and has no passenger sensing. The input / output control unit 11f repeats the determination until it is determined that no passenger is detected (YES), and proceeds to the next step S110 when it is determined that no passenger is detected (YES).

[Step S110]
In step S110, the input / output control unit 11f performs a speed return process for returning the operation speed of the passenger conveyor 10 to the low speed of the normal operation under the control of the speed control unit 11c. After that, if necessary, the communication unit 11a transmits the fact that the speed of the passenger conveyor 10 has been returned to the normal operation speed to the robot travel control device 30 via the central control device 12, and performs processing. Terminate.

  As described above, after the speed return command is received from the robot travel control device 30 in step S108, the procedure is to return the operating speed of the passenger conveyor 10, so that it is necessary to reduce the speed by changing the speed of the passenger conveyor 10. To the limit. Thereby, the conveyance capability of the passenger conveyor 10 can be maintained.

  Moreover, after confirming that there are no passengers on the passenger conveyor 10 in step S109, the procedure of returning the operation speed of the passenger conveyor 10 can eliminate the danger of a passenger falling due to a change in the operation speed. It is possible, and it is possible to ensure safety in operation of the passenger conveyor 10.

  In step S109, among the passenger conveyors 10, in the high-performance conveyor 10a having good controllability of the driving speed, the driving speed can be changed while ensuring safety for the passengers. Therefore, in the input / output control unit 11f of the high-performance conveyor 10a, after determining that the speed return command has been received (YES) in Step S108, the flow may proceed immediately to the next Step S110 without performing Step S109. . Thereby, the efficient operation of the passenger conveyor 10 matched with the controllability of the driving speed is possible.

<Effects of passenger conveyor device and passenger conveyor device control method>
In the passenger conveyor device and the passenger conveyor device control method described above, the speed of the passenger conveyor 10 is based on the speed change command transmitted from the robot travel control device 30 in accordance with the expected arrival time of the robot 20 on the passenger conveyor 10. Is changed to the speed at which the robot 20 can get on and off. For this reason, it is possible to reduce the speed of the passenger conveyor 10 in accordance with the timing at which the robot 20 traveling according to the movement route calculated by the robot traveling control device 30 gets on the passenger conveyor 10. As a result, the robot 20 can travel safely and efficiently according to the travel route including the passenger conveyor 10.

<< Robot 20 >>
<Configuration of robot 20>
FIG. 4 is a block diagram showing a configuration of the robot according to the embodiment, and is a block diagram mainly showing the drive control unit 21. Hereinafter, the configuration of the robot 20 will be described with reference to FIGS. 1 and 4. As shown in this figure, the drive control unit 21 of each robot 20 includes a communication unit 21a, a travel control unit 21b, a position detection unit 21c, a voice guidance unit 21d, an abnormality detection unit 21e, an input / output control unit 21f, and an input unit. 21g is provided. Details of each component are as follows.

[Communication unit 21a]
The communication unit 21 a is an input / output interface that performs transmission and reception of signals with the robot traveling control device 30, and performs transmission and reception of information with the robot traveling control device 30. Such a communication unit 21a takes the form of wireless communication that does not require direct connection, and if wireless communication with the robot traveling control device 30 is possible within the traveling range of the robot 20, the standard of wireless communication is particularly good. It is not limited.

[Running control unit 21b]
The traveling control unit 21b controls the traveling speed, traveling direction, and brake of the robot 20. The traveling control unit 21b controls the traveling of the robot 20 in accordance with the instruction from the robot traveling control device 30 received by the communication unit 21a.

[Position detector 21c]
The position detector 21c is for detecting the current position of the robot 20 in the building where the passenger conveyor 10 is provided. Such a position detection part 21c is comprised by the receiver etc., for example, and detects the signal from the transmitter arrange | positioned in various places of a building. Such a signal detected by the position detection unit 21c is transmitted from the communication unit 21a to the robot travel control device 30.

[Voice guidance part 21d]
The voice guidance unit 21d emits a voice announcement, and includes a speaker and its control unit. Such a voice guidance unit 21d broadcasts a voice announcement around the robot 20 in accordance with an instruction from the robot travel control device 30 received by the communication unit 21a.

[Abnormality detection unit 21e]
The abnormality detection unit 21e detects an abnormality of the robot 20. The abnormality of the robot 20 detected here is an abnormality of the entire part that affects the traveling of the robot 20. For example, in addition to the mechanical and electrical abnormality for controlling the traveling of the robot 20, The posture is abnormal. The abnormality detected by the abnormality detection unit 21e is transmitted as a signal from the communication unit 21a to the robot travel control device 30.

[Input / output control unit 21f]
The input / output control unit 21f is connected to the communication unit 21a, the travel control unit 21b, the position detection unit 21c, the voice guidance unit 21d, and the abnormality detection unit 21e described above. The input / output control unit 21f controls the traveling of the robot 20 in accordance with instructions from the robot traveling control device 30 received by the communication unit 21a as well as exchange of signals between these components.

  Such an input / output control unit 21f is a computer constituted by a CPU, a ROM, and a RAM. When the CPU executes a program recorded in the ROM or the RAM, the control of the robot 20 described below is performed. To implement.

[Input unit 21g]
The input unit 21g is for setting the movement target position of the robot 20, and is connected to the input / output control unit 21f. The input unit 21g may be configured as an operation button, or may be a display screen of a display unit provided with a touch panel.

  The input unit 21g may be provided in a terminal device separate from the robot 20. This terminal device includes a communication unit together with the input unit 21g. Such a terminal device may be a remote controller provided for each robot 20 or may be a personal computer common to a plurality of robots 20. When the terminal device provided with the input unit 21g is common to the plurality of robots 20, the information regarding the movement target position of one robot 20 set in the input unit 21g is transmitted via the robot traveling control device 30 described below. It is assumed that the configuration is input to the communication unit 21 a of the robot 20.

<Robot control method>
FIG. 5 is a flowchart illustrating the robot control method according to the embodiment. The robot control method shown in this flowchart is a robot control method implemented by the input / output control unit 21f. The procedure of the robot control method will be described below with reference to the overall configuration diagram of FIG. 1 and the block diagram of FIG. 4 along the flowchart of FIG.

[Step S201]
In step S201, the input / output control unit 21f determines whether or not there is an input for moving the robot 20 from the input unit 21g. The input for moving the robot 20 includes the input of the movement target position information set for the building where the passenger conveyor device 1a is provided. The input / output control unit 21f repeats the determination until it is determined that there is an input (YES), and when it is determined that there is an input (YES), the process proceeds to the next step S202.

[Step S202]
In step S202, the input / output control unit 20f transmits movement information of the robot 20 from the communication unit 21a to the robot travel control device 30. This movement information is information relating to the movement target position of the robot 20 input from the input unit 21g at the time of input for moving the robot 20 determined in the previous step S201.

[Step S203]
In step S203, the input / output control unit 20f determines whether or not the communication unit 21a has received a travel route. This movement route is the movement route of the robot 20 transmitted from the robot traveling control device 30, and is the movement route of the robot 20 for reaching the movement target position input from the input unit 21g. This movement route is a transmission from step S303 of the robot traveling control method described later with reference to FIG. As will be described in detail later, the robot travel control device 30 calculates the movement route of the robot 20 when the movement information transmitted from the robot 20 is received in step S203. The calculated travel route may include use of the passenger conveyor 10. The robot travel control device 30 transmits the calculated movement route to the robot 20. The communication unit 21a receives the travel route transmitted in this way.

  The input / output control unit 21f repeats the determination until it is determined that the travel route is received (YES), and proceeds to the next step S204 when it is determined that the travel route is received (YES).

  In addition, when the input unit 21g of the robot 20 is common to the plurality of robots 20, information regarding the movement target position of one robot 20 set in the input unit 21g is first input to the robot travel control device 30 described below. Is done. For this reason, the input / output control means 20f of the robot 20 may start processing from this step S203 without performing the previous steps S201 and S202.

[Step S204]
In step S204, the input / output control unit 21f starts traveling of the robot 20 under the control of the traveling control unit 21b. The traveling of the robot 20 is performed according to the movement route received in the previous step S203. The traveling of the robot 20 according to the movement route is performed while confirming the current position of the robot 20 based on a signal detected at any time by the position detection unit 21c.

[Step S205]
In step S205, the input / output control unit 21f determines whether or not the robot 20 has arrived at the movement target position set in the input unit 21g. Such a determination is performed by confirming the current position of the robot 20 based on signals detected as needed by the position detection unit 21c. If the input / output control unit 21f determines that the robot 20 has arrived at the movement target position (YES), the process proceeds to step S206a. On the other hand, if it is determined that it has not arrived (NO), the process proceeds to the next step S206.

[Step S206a]
In step S206a, the input / output control unit 21f transmits information that the robot 20 has arrived at the movement target position from the communication unit 21a to the robot travel control device 30, and ends the process.

[Step S206]
In step S206, the input / output control unit 21f determines whether or not the robot 20 has arrived at the passenger conveyor 10. Such a determination is performed by confirming the current position of the robot 20 based on signals detected as needed by the position detection unit 21c. When the input / output control unit 21f determines that the robot 20 has arrived in front of the passenger conveyor 10 (YES), the input / output control unit 21f proceeds to the next step S207. On the other hand, if it is determined that it has not arrived (NO), the process returns to step S205.

[Step S207]
In step S207, the input / output control means 20f broadcasts a voice announcement to the effect that the robot 20 gets on the passenger conveyor 10 under the control of the voice guide unit 21d, and prompts the surroundings of the robot 20 to urge safety, and next step S208. Proceed to

[Step S208]
In step S208, the input / output control unit 21f determines whether or not the communication unit 21a has received permission to board the passenger conveyor 10. This boarding permission is information transmitted from step S309 of the robot traveling control method described later with reference to FIG. As will be described in detail later, when the speed of the passenger conveyor 10 on which the robot 20 gets is changed to the speed at which the robot 20 can get on and off, the robot traveling control device 30 Send a boarding permission to the customer. In the communication part 21a, the boarding permission transmitted in this way is received.

  The input / output control unit 21f repeats the determination until it is determined that the boarding permission is received (YES), and proceeds to the next step S209 when it is determined that the boarding permission is received (YES).

[Step S209]
In step S209, the input / output control unit 21f causes the robot 20 that has arrived at the passenger conveyor 10 to get on the passenger conveyor 10 that is operating at the speed at which the robot 20 can get on and off under the control of the travel control unit 21b.

[Step S210]
In step S210, the input / output control unit 21f transmits information that the robot 20 has boarded the passenger conveyor 10 from the communication unit 21a to the robot travel control device 30. At this time, the input / output control unit 21f transmits the time when the robot 20 gets on the passenger conveyor 10 to the robot travel control device 30 as boarding information.

[Step S211]
In step S211, the input / output control unit 21f determines whether the abnormality detection unit 21e has detected an abnormality of the robot 20. The abnormality detected by the abnormality detection unit 21e is an abnormality of the entire part that affects the traveling of the robot 20, and includes a mechanical and electrical abnormality for controlling the traveling of the robot 20, and an abnormality in the posture of the robot 20. is there. If the input / output control unit 21f determines that the abnormality detection unit 21e has detected an abnormality (YES), the process proceeds to step S212a. On the other hand, if it is determined that no abnormality is detected (NO), the process proceeds to step S212.

[Step S212a]
In step S212a, the input / output control unit 21f transmits information related to the detection of abnormality from the communication unit 21a to the robot travel control device 30, and proceeds to the next step S213a. If the detected abnormality of the robot 20 is in a state where communication by the communication unit 21a is not possible, the flow proceeds to step S213a as it is without performing step S212a.

[Step S213a]
In step S213a, the input / output control unit 21f broadcasts an audio announcement notifying that an abnormality has occurred in the robot 20 under the control of the audio guide unit 21d, and is safe around the robot 20 on the passenger conveyor 10. Encourage arousal and finish the process. If the detected abnormality of the robot 20 is in a state where the voice announcement broadcast by the voice guidance unit 21d is not possible, the process is terminated without performing step S213a, and the robot is placed on the passenger conveyor 10. 20 is kept in a standby state.

[Step S212]
On the other hand, in step S212, the input / output control unit 21f determines whether or not the robot 20 has exited from the passenger conveyor 10. Such a determination is performed by confirming the current position of the robot 20 based on signals detected as needed by the position detection unit 21c. If the input / output control unit 21f determines that the robot 20 has got off the passenger conveyor 10 (YES), the input / output control unit 21f proceeds to the next step S213. On the other hand, when it is determined that the robot 20 has not got off the passenger conveyor 10 (NO), the process returns to step 211.

[Step S213]
In step S213, the input / output control unit 21f transmits information that the robot 20 got off the passenger conveyor 10 from the communication unit 21a to the robot travel control device 30. At this time, the input / output control unit 21f transmits the time when the robot 20 gets off the passenger conveyor 10 to the robot travel control device 30 as getting-off information. Then, the process returns to the previous step S205.

<< Robot Travel Control Device 30 >>
<Configuration of Robot Travel Control Device 30>
FIG. 6 is a block diagram illustrating a configuration of the robot traveling control device according to the embodiment. Hereinafter, the configuration of the robot travel control device 30 will be described with reference to FIGS. 1 and 6. As shown in this figure, the robot travel control device 30 includes a communication unit 30a, a passenger conveyor information storage unit 30b, a robot information storage unit 30c, a building map storage unit 30d, a travel route calculation unit 30e, an estimated arrival time calculation unit 30f, A travel monitoring unit 30g and an input / output control unit 30h are provided. Details of each component are as follows.

[Communication unit 30a]
The communication unit 30a is an input / output interface that performs transmission and reception of signals between the passenger conveyors 10 and the robots 20 in the passenger conveyor device 1a. Such a communication part 30a is implemented via the central control apparatus 12, for example, about communication between the passenger conveyors 10. FIG. The communication form in this case is not particularly limited, and may take the form of wireless communication that does not require direct connection in addition to wired communication using a communication line such as an electric wire or an optical fiber. On the other hand, the communication with each robot 20 is in the form of wireless communication that does not require direct connection. If wireless communication with the robot traveling control device 30 is possible within the traveling range of the robot 20, wireless communication is possible. The communication standard is not particularly limited.

[Passenger conveyor information storage unit 30b]
The passenger conveyor information storage unit 30b stores the controllability of the operation speed of each passenger conveyor 10 and the current situation in association with the conveyor ID of each passenger conveyor 10. The controllability of the operation speed is, for example, whether the passenger conveyor 10 is a high-performance conveyor 10a capable of gently changing the operation speed or other general conveyors 10b. It may be classified performance. Further, the current situation is information related to the operation of each passenger conveyor 10, such as maintenance information of the passenger conveyor 10, congestion status, information on energy saving operation, and the like.

[Robot information storage unit 30c]
The robot information storage unit 30 c stores the traveling performance and current position information of each robot 20 in association with the robot ID of each robot 20. The travel performance includes a travel speed at which the robot 20 can travel safely, a speed of the passenger conveyor 10 at which the robot 20 can safely get on and off, that is, a speed at which the robot 20 can get on and off. The speed at which passengers can get on and off the passenger conveyor 10 in each robot 20

<< Robot Travel Control Device 30 >>
<Configuration of Robot Travel Control Device 30>
FIG. 6 is a block diagram illustrating a configuration of the robot traveling control device according to the embodiment. Hereinafter, the configuration of the robot travel control device 30 will be described with reference to FIGS. 1 and 6. As shown in this figure, the robot travel control device 30 includes a communication unit 30a, a passenger conveyor information storage unit 30b, a robot information storage unit 30c, a building map storage unit 30d, a travel route calculation unit 30e, an estimated arrival time calculation unit 30f, A travel monitoring unit 30g and an input / output control unit 30h are provided. Details of each component are as follows.

[Communication unit 30a]
The communication unit 30a is an input / output interface that performs transmission and reception of signals between the passenger conveyors 10 and the robots 20 in the passenger conveyor device 1a. Such a communication part 30a is implemented via the central control apparatus 12, for example, about communication between the passenger conveyors 10. FIG. The communication form in this case is not particularly limited, and may take the form of wireless communication that does not require direct connection in addition to wired communication using a communication line such as an electric wire or an optical fiber. On the other hand, the communication with each robot 20 is in the form of wireless communication that does not require direct connection. If wireless communication with the robot traveling control device 30 is possible within the traveling range of the robot 20, wireless communication is possible. The communication standard is not particularly limited.

[Passenger conveyor information storage unit 30b]
The passenger conveyor information storage unit 30b stores the controllability of the operation speed of each passenger conveyor 10 and the current situation in association with the conveyor ID of each passenger conveyor 10. The controllability of the operation speed is, for example, whether the passenger conveyor 10 is a high-performance conveyor 10a capable of gently changing the operation speed or other general conveyors 10b. It may be classified performance. Further, the current situation is information related to the operation of each passenger conveyor 10, such as maintenance information of the passenger conveyor 10, congestion status, information on energy saving operation, and the like.

[Robot information storage unit 30c]
The robot information storage unit 30 c stores the traveling performance and current position information of each robot 20 in association with the robot ID of each robot 20. The travel performance includes a travel speed at which the robot 20 can travel safely, a speed of the passenger conveyor 10 at which the robot 20 can safely get on and off, that is, a speed at which the robot 20 can get on and off. As for the speed at which the passenger conveyor 10 can get on and off in each robot 20, the speed of normal operation of the passenger conveyor 10 is the maximum speed. The current position information is position information that is updated as needed based on information transmitted from each robot 20.

[Building map storage unit 30d]
The building map storage unit 30d stores a map of a building in a range where the robot 20 travels. This map includes a passenger conveyor 10 on which the robot 20 can travel.

[Movement route calculation unit 30e]
The movement route calculation unit 30e is a part for calculating the optimum movement route to the movement target position set for each robot 20 for each robot 20 individually. The movement route calculation unit 30e calculates a movement route based on the information on the movement destination position of each robot received by the communication unit 30a and the map stored in the building map storage unit 30d.

  Furthermore, the movement route calculation unit 30e refers to the current situation of each passenger conveyor 10 stored in the passenger conveyor information storage unit 30b, and the traveling performance and current position information of each robot 20 stored in the robot information storage unit 30c. Each robot 20 calculates a movement route that efficiently arrives at the movement target position. Here, arriving at the movement destination position efficiently means that the arrival at the movement destination position is safer and faster without hindering passengers getting on and off the passenger conveyors 10.

  For example, the travel route calculation unit 30e calculates the travel route, for example, among the passenger conveyors 10, the passenger conveyor 10 under maintenance, the crowded passenger conveyor 10, and the passenger who is in the energy saving operation and does not change the speed. The conveyor 10 and the like are excluded from the movement route. Further, among the passenger conveyors 10, the degree of congestion is set in a stepwise manner for the high-performance conveyor 10 a having good controllability of the operation speed and capable of changing the operation speed gradually. Depending on the degree, the travel route may be calculated as usable as the travel route without being excluded from the travel route. Thus, as described above, it is possible to calculate a movement route that allows the robot to arrive at the movement target position earlier, without hindering passengers getting on and off the passenger conveyors 10, and safely.

  The travel route calculation unit 30e as described above is a computer composed of a CPU, a ROM, and a RAM, and the CPU executes the program recorded in the ROM or RAM to calculate the travel route described above. carry out.

[Expected arrival time calculation unit 30f]
The estimated arrival time calculation unit 30f is a part that calculates an estimated time at which the robot 20 whose movement route has been calculated by the movement route calculation unit 30e will arrive at each passenger conveyor 10 located on the calculated movement route. The estimated arrival time calculation unit 30 f calculates the estimated time of arrival at each passenger conveyor 10 based on the traveling performance of the robot 20. Further, the estimated arrival time calculation unit 30f updates the estimated arrival time at which the robot 20 arrives at each passenger conveyor 10 based on the current position information of each robot stored in the robot information storage unit 30c and updated as needed. May be.

  Such an estimated arrival time calculation unit 30f is a computer constituted by a CPU, a ROM, and a RAM, and the CPU calculates a predicted arrival time by executing a program recorded in the ROM or RAM. To implement.

[Running monitoring unit 30g]
The traveling monitoring unit 30g stores the time when the communication unit 30a receives the boarding time and the getting-off time of each robot 20 with respect to each passenger conveyor 10. In addition, when the communication unit 30a receives an abnormality occurrence of the robot 20 that is on the passenger conveyor 10, the traveling monitoring unit 30g stores information regarding the occurrence of the abnormality.

[Input / output control unit 30h]
The input / output control unit 30h includes the communication unit 30a, passenger conveyor information storage unit 30b, robot information storage unit 30c, building map storage unit 30d, travel route calculation unit 30e, estimated arrival time calculation unit 30f, and travel monitoring described above. It is connected to the part 30g. The input / output control unit 30 h performs control of the passenger conveyor 10 and control of the traveling of the robot 20 as well as transmission and reception of signals between these components.

  Such an input / output control unit 30h is a computer constituted by a CPU, a ROM, and a RAM, and the CPU executes a program recorded in the ROM or RAM, whereby the robot traveling control described below is executed. To implement.

<Robot traveling control method>
FIG. 7 is a flowchart illustrating the robot travel control method according to the embodiment. The robot traveling control method shown in this flowchart is a robot traveling control method implemented by the input / output control unit 30h. The procedure of the robot traveling control method will be described below with reference to the overall configuration diagram of FIG. 1 and the block diagram of FIG. 6 along the flowchart of FIG.

[Step S301]
In step S301, the input / output control unit 30h determines whether or not the communication unit 30a has received the robot movement information. The movement information of the robot is information transmitted from the communication unit 21a of the specific robot 20 in step S202 of the previous robot control method, and the movement of the robot 20 input from the input unit 21g of the specific robot 20 Information about the target position. Hereinafter, the robot 20 to which the movement target position is input is referred to as a specific robot 20. The input / output control unit 30h repeats the determination until it is determined that the movement information is input from the communication unit 21a of the specific robot 20 (YES), and when the input is determined (YES), Proceed to step S302.

[Step S302]
In step S302, the input / output control unit 30h instructs the movement route calculation unit 30e because the specific robot 20 to which the robot movement information is input among the plurality of robots 20 arrives at the movement target position from the current position. Let's calculate the travel route. The calculation of the travel route by the travel route calculation unit 30e is as described above.

[Step S303]
In step S303, the input / output control unit 30h transmits the movement route calculated in step S302 from the communication unit 30a to the specific robot 20 via the central control device 12. The travel route transmitted in this manner is received by the communication unit 21a of the specific robot 20. And it is used for judgment of step S203 of the control method of the previous robot 20.

[Step S304]
In step S304, the input / output control unit 30h determines whether the communication unit 30a has received information that the specific robot 20 has arrived at the movement target position. This arrival information is information transmitted from the communication unit 21a of the specific robot 20 in step S206a of the previous robot control method. If the input / output control unit 30h determines that the received information has been received (YES), the input / output control unit 30h ends the processing. On the other hand, if it is determined that the arrived information is not received (NO), the process proceeds to the next step S305. If the passenger conveyor 10 is not included in the travel route calculated in step S303, the process ends without proceeding to step S305.

[Step S305]
In step S305, the input / output control unit 30h causes the estimated arrival time calculation unit 30f to calculate the estimated time at which the specific robot 20 that has transmitted the travel route arrives at the passenger conveyor 10. When there are a plurality of passenger conveyors 10 on the moving route, the estimated arrival time calculated here is the estimated arrival time at the passenger conveyor 10 on which the specific robot 20 traveling according to the moving route gets on. And The calculation of the estimated arrival time by the estimated arrival time calculation unit 30f is as described above.

[Step S306]
In step S306, the input / output control unit 30h determines whether or not the operation speed needs to be changed for the passenger conveyor 10 included in the movement route of the specific robot 20. At this time, the input / output control unit 30h refers to the traveling performance of the specific robot 20 stored in the robot information storage unit 30c, and the speed of the passenger conveyor 10 at which the specific robot 20 can safely get on and off (speed that can be boarded). However, when the speed is lower than the normal driving speed, it is determined that the driving speed of the passenger conveyor 10 needs to be changed (YES). Then, the process proceeds to next Step S307. On the other hand, if the speed of the passenger conveyor 10 on which the robot 20 can get on and off safely is the normal driving speed as a result of the reference, it is not necessary to change the operating speed of the passenger conveyor 10 ( NO), the process proceeds to step S309.

  By carrying out such a determination, it is possible to prevent unnecessary speed reduction of the passenger conveyor 10 in accordance with the performance of the robot 20 and to efficiently operate the passenger conveyor 10.

[Step S307]
In step S307, the input / output control unit 30h transmits a speed change command from the communication unit 30a to the passenger conveyor 10 on which the specific robot 20 next rides. Hereinafter, when the passenger conveyor 10 located next on the moving route, that is, when the robot 20 travels on the moving route, the passenger conveyor 10 to be boarded next is defined as a specific passenger conveyor 10.

  At this time, the input / output control unit 30h sends a specific passenger conveyor 10 to the specific passenger conveyor 10 at a transmission time that is earlier than the estimated arrival time calculated in step S305 by a time set for the estimated arrival time (for example, 5 seconds). Send a speed change command. For example, when the specific robot 20 arrives at the specific passenger conveyor 10, the transmission time is set so that the speed of the specific passenger conveyor 10 has been changed to the speed at which the specific robot 20 can get on and off. I will do it.

  This speed change command includes information on the speed at which the user can get on and off the specific robot 20 stored in the robot information storage unit 30c. The speed change command transmitted in this way is received by the communication unit 11a of the passenger conveyor 10 and is used for the determination in step S103 of the control method for the previous passenger conveyor 10.

[Step S308]
Next, in step S308, the input / output control unit 30h determines whether or not the communication unit 30a has received the speed-changed information from the specific passenger conveyor 10. This speed-changed information is information transmitted from the communication unit 11a of the specific passenger conveyor 10 in step S106 of the previous passenger conveyor 10 control method. The input / output control unit 30h repeats the determination until it is determined that it has been received (YES), and proceeds to the next step S309 if it is determined that it has been received (YES).

[Step S309]
In step S309, the input / output control unit 30h transmits a passenger conveyor boarding permission to the specific robot 20 from the communication unit 30a. This passenger conveyor boarding permission is received by the communication unit 21a of the specific robot 20, and is used for the determination in step S208 of the control method of the previous robot 20. Accordingly, when the speed at which the specific robot 20 can get on and off is lower than the speed of normal operation of the passenger conveyor 10, the speed of the specific passenger conveyor 10 is changed to the speed at which the specific passenger 20 can get on and off. On the other hand, a passenger conveyor boarding permission is transmitted. For this reason, it is possible to safely board the passenger conveyor 10 of the robot 20.

[Step S310]
In step S310, the input / output control unit 30h determines whether or not the communication unit 30a has received the robot boarding information from the specific robot 20. The passenger conveyor boarding information is information transmitted from the communication unit 21a of the specific robot 20 in step S210 of the previous robot control method, and is the time when the specific robot 20 gets on the specific passenger conveyor 10. is there. The input / output control unit 30h repeats the determination until it is determined that it has been received (YES), and proceeds to the next step S311 if it is determined that it has been received (YES).

[Step S311]
In step S311, the input / output control unit 30h records, on the travel monitoring unit 30g, the boarding time of the specific robot 20 received by the communication unit 30a on the specific passenger conveyor 10.

[Step S312]
In step S312, the input / output control unit 30h determines whether or not the communication unit 30a has received information on occurrence of an abnormality from the specific robot 20 on the specific passenger conveyor 10. This abnormality occurrence information is information transmitted from the communication unit 21a of the specific robot 20 in step S212a of the previous robot control method, and an abnormality in the entire part that affects the traveling of the robot 20 is detected. It is information for informing. If the input / output control unit 30h determines that it has been received (YES), the process proceeds to step S313a. On the other hand, if it is determined that it has not been received (NO), the process proceeds to step S313.

[Step S313a]
In step S313a, the input / output control unit 30h transmits an emergency stop command from the communication unit 30a to the specific passenger conveyor 10 on which the specific robot 20 is riding. This emergency stop command is received by the communication unit 11a of the specific passenger conveyor 10, and is used for the determination in step S102 or step S107 of the control method of the previous passenger conveyor 10. That is, when the specific robot 20 is a high-performance robot 20a that can safely ride on the passenger conveyor 10 that is normally operated, the speed change of the passenger conveyor 10 is not performed when the passenger conveyor 10 is boarded, so the determination in step S102 Used for. On the other hand, when the specific robot 20 is the general robot 20b, the speed of the passenger conveyor 10 is changed when the passenger conveyor 10 gets on, so that the determination is made in step S107.

[Step S314a]
Next, in step S314a, the input / output control unit 30h records the information on the occurrence of the abnormality of the specific robot 20 received in step S312 in the travel monitoring unit 30g.

[Step S315a]
Thereafter, in step S315a, the input / output control unit 30h causes the central controller 12 of the passenger conveyor 10 to issue an emergency stop alarm for the passenger conveyor 10 to the manager of the passenger conveyor 10. Thereafter, the process is terminated.

[Step S313]
On the other hand, in step S313, the input / output control unit 30h determines whether or not the communication unit 30a has received passenger conveyor getting-off information from the specific robot 20. This passenger conveyor disembarkation information is information transmitted from the communication unit 21a of the specific robot 20 in step S213 of the previous robot control method, and the time when the specific robot 20 got off the specific passenger conveyor 10 It is. If it is determined that the input / output control unit 30h has received (YES), the process proceeds to the next step S314. On the other hand, if it is determined that it has not been received (NO), the process returns to the previous step S312.

  Although illustration in the flowchart is omitted, the input / output control unit 30h does not start from the specific robot 20 even if a predetermined time elapses from the boarding time recorded as boarding information in the travel monitoring unit 30g in step S311. If the communication unit 30a does not receive the passenger conveyor disembarkation information, the process may proceed to step S313a without receiving the occurrence of the robot abnormality in step S312.

[Step S314]
Next, in step S314, the input / output control unit 30h records the getting-off time from the specific passenger conveyor 10 of the specific robot 20 received by the communication unit 30a in the travel monitoring unit 30g.

[Step S315]
In step S315, the input / output control unit 30h transmits a speed return command from the communication unit 30a to the specific passenger conveyor 10 immediately after the specific robot 20 gets off. This speed return command is received by the communication unit 11a of the specific passenger conveyor 10, and is used for the determination in step S108 of the control method for the previous passenger conveyor 10. Thereafter, the flow returns to step S304, and the flow is repeated until it is determined that the movement destination position has been reached (YES) or an alarm is issued in step S315a.

  Although illustration in the flowchart is omitted, when the process proceeds directly from step S306 to step S309, the process returns to step S304 without performing step S315. That is, when the specific robot 20 is the high-performance robot 20a, it is not necessary to change the speed of the passenger conveyor 10 to a low speed, so the process proceeds directly from step S306 to step S309. Accordingly, step S307 for transmitting the low speed operation command of the passenger conveyor is omitted. In this case, the flow returns to step S304 after step S314 without performing step S315 for transmitting the speed return command for the passenger conveyor.

≪Effect of passenger conveyor device control system≫
In the passenger conveyor device control system described above, the robot traveling control device 30 performs the operation for the specific passenger conveyor 10 in accordance with the expected arrival time when the specific robot 20 arrives at the specific passenger conveyor 10 included in the movement route. Then, a speed change command to the speed at which the specific robot 20 can get on and off is transmitted. For this reason, it is possible to reduce the speed of the passenger conveyor 10 in accordance with the timing at which the specific robot 20 traveling according to the travel route calculated by the robot travel control device 30 gets on the specific passenger conveyor 10. As a result, even if the passenger conveyor 10 is included in the travel route to the arrival destination position calculated by the robot travel control device 30, the robot 20 can travel safely and efficiently according to the travel route. Is possible.
The normal operation speed of 10 is the maximum speed. The current position information is position information that is updated as needed based on information transmitted from each robot 20.

[Building map storage unit 30d]
The building map storage unit 30d stores a map of a building in a range where the robot 20 travels. This map includes a passenger conveyor 10 on which the robot 20 can travel.

[Movement route calculation unit 30e]
The movement route calculation unit 30e is a part for calculating the optimum movement route to the movement target position set for each robot 20 for each robot 20 individually. The movement route calculation unit 30e calculates a movement route based on the information on the movement destination position of each robot received by the communication unit 30a and the map stored in the building map storage unit 30d.

  Furthermore, the movement route calculation unit 30e refers to the current situation of each passenger conveyor 10 stored in the passenger conveyor information storage unit 30b, and the traveling performance and current position information of each robot 20 stored in the robot information storage unit 30c. Each robot 20 calculates a movement route that efficiently arrives at the movement target position. Here, arriving at the movement destination position efficiently means that the arrival at the movement destination position is safer and faster without hindering passengers getting on and off the passenger conveyors 10.

  For example, the travel route calculation unit 30e calculates the travel route, for example, among the passenger conveyors 10, the passenger conveyor 10 under maintenance, the crowded passenger conveyor 10, and the passenger who is in the energy saving operation and does not change the speed. The conveyor 10 and the like are excluded from the movement route. Further, among the passenger conveyors 10, the degree of congestion is set in a stepwise manner for the high-performance conveyor 10 a having good controllability of the operation speed and capable of changing the operation speed gradually. Depending on the degree, the travel route may be calculated as usable as the travel route without being excluded from the travel route. Thus, as described above, it is possible to calculate a movement route that allows the robot to arrive at the movement target position earlier, without hindering passengers getting on and off the passenger conveyors 10, and safely.

  The travel route calculation unit 30e as described above is a computer composed of a CPU, a ROM, and a RAM, and the CPU executes the program recorded in the ROM or RAM to calculate the travel route described above. carry out.

[Expected arrival time calculation unit 30f]
The estimated arrival time calculation unit 30f is a part that calculates an estimated time at which the robot 20 whose movement route has been calculated by the movement route calculation unit 30e will arrive at each passenger conveyor 10 located on the calculated movement route. The estimated arrival time calculation unit 30 f calculates the estimated time of arrival at each passenger conveyor 10 based on the traveling performance of the robot 20. Further, the estimated arrival time calculation unit 30f updates the estimated arrival time at which the robot 20 arrives at each passenger conveyor 10 based on the current position information of each robot stored in the robot information storage unit 30c and updated as needed. May be.

  Such an estimated arrival time calculation unit 30f is a computer constituted by a CPU, a ROM, and a RAM, and the CPU calculates a predicted arrival time by executing a program recorded in the ROM or RAM. To implement.

[Running monitoring unit 30g]
The traveling monitoring unit 30g stores the time when the communication unit 30a receives the boarding time and the getting-off time of each robot 20 with respect to each passenger conveyor 10. In addition, when the communication unit 30a receives an abnormality occurrence of the robot 20 that is on the passenger conveyor 10, the traveling monitoring unit 30g stores information regarding the occurrence of the abnormality.

[Input / output control unit 30h]
The input / output control unit 30h includes the communication unit 30a, passenger conveyor information storage unit 30b, robot information storage unit 30c, building map storage unit 30d, travel route calculation unit 30e, estimated arrival time calculation unit 30f, and travel monitoring described above. It is connected to the part 30g. The input / output control unit 30 h performs control of the passenger conveyor 10 and control of the traveling of the robot 20 as well as transmission and reception of signals between these components.

  Such an input / output control unit 30h is a computer constituted by a CPU, a ROM, and a RAM, and the CPU executes a program recorded in the ROM or RAM, whereby the robot traveling control described below is executed. To implement.

<Robot traveling control method>
FIG. 7 is a flowchart illustrating the robot travel control method according to the embodiment. The robot traveling control method shown in this flowchart is a robot traveling control method implemented by the input / output control unit 30h. The procedure of the robot traveling control method will be described below with reference to the overall configuration diagram of FIG. 1 and the block diagram of FIG. 6 along the flowchart of FIG.

[Step S301]
In step S301, the input / output control unit 30h determines whether or not the communication unit 30a has received the robot movement information. The movement information of the robot is information transmitted from the communication unit 21a of the specific robot 20 in step S202 of the previous robot control method, and the movement of the robot 20 input from the input unit 21g of the specific robot 20 Information about the target position. Hereinafter, the robot 20 to which the movement target position is input is referred to as a specific robot 20. The input / output control unit 30h repeats the determination until it is determined that the movement information is input from the communication unit 21a of the specific robot 20 (YES), and when the input is determined (YES), Proceed to step S302.

[Step S302]
In step S302, the input / output control unit 30h instructs the movement route calculation unit 30e because the specific robot 20 to which the robot movement information is input among the plurality of robots 20 arrives at the movement target position from the current position. Let's calculate the travel route. The calculation of the travel route by the travel route calculation unit 30e is as described above.

[Step S303]
In step S303, the input / output control unit 30h transmits the movement route calculated in step S302 from the communication unit 30a to the specific robot 20 via the central control device 12. The travel route transmitted in this manner is received by the communication unit 21a of the specific robot 20. And it is used for judgment of step S203 of the control method of the previous robot 20.

[Step S304]
In step S304, the input / output control unit 30h determines whether the communication unit 30a has received information that the specific robot 20 has arrived at the movement target position. This arrival information is information transmitted from the communication unit 21a of the specific robot 20 in step S206a of the previous robot control method. If the input / output control unit 30h determines that the received information has been received (YES), the input / output control unit 30h ends the processing. On the other hand, if it is determined that the arrived information is not received (NO), the process proceeds to the next step S305. If the passenger conveyor 10 is not included in the travel route calculated in step S303, the process ends without proceeding to step S305.

[Step S305]
In step S305, the input / output control unit 30h causes the estimated arrival time calculation unit 30f to calculate the estimated time at which the specific robot 20 that has transmitted the travel route arrives at the passenger conveyor 10. When there are a plurality of passenger conveyors 10 on the moving route, the estimated arrival time calculated here is the estimated arrival time at the passenger conveyor 10 on which the specific robot 20 traveling according to the moving route gets on. And The calculation of the estimated arrival time by the estimated arrival time calculation unit 30f is as described above.

[Step S306]
In step S306, the input / output control unit 30h determines whether or not the operation speed needs to be changed for the passenger conveyor 10 included in the movement route of the specific robot 20. At this time, the input / output control unit 30h refers to the traveling performance of the specific robot 20 stored in the robot information storage unit 30c, and the speed of the passenger conveyor 10 at which the specific robot 20 can safely get on and off (speed that can be boarded). However, when the speed is lower than the normal driving speed, it is determined that the driving speed of the passenger conveyor 10 needs to be changed (YES). Then, the process proceeds to next Step S307. On the other hand, if the speed of the passenger conveyor 10 on which the robot 20 can get on and off safely is the normal driving speed as a result of the reference, it is not necessary to change the operating speed of the passenger conveyor 10 ( NO), the process proceeds to step S309.

  By carrying out such a determination, it is possible to prevent unnecessary speed reduction of the passenger conveyor 10 in accordance with the performance of the robot 20 and to efficiently operate the passenger conveyor 10.

[Step S307]
In step S307, the input / output control unit 30h transmits a speed change command from the communication unit 30a to the passenger conveyor 10 on which the specific robot 20 next rides. Hereinafter, when the passenger conveyor 10 located next on the moving route, that is, when the robot 20 travels on the moving route, the passenger conveyor 10 to be boarded next is defined as a specific passenger conveyor 10.

  At this time, the input / output control unit 30h sends a specific passenger conveyor 10 to the specific passenger conveyor 10 at a transmission time that is earlier than the estimated arrival time calculated in step S305 by a time set for the estimated arrival time (for example, 5 seconds). Send a speed change command. For example, when the specific robot 20 arrives at the specific passenger conveyor 10, the transmission time is set so that the speed of the specific passenger conveyor 10 has been changed to the speed at which the specific robot 20 can get on and off. I will do it.

  This speed change command includes information on the speed at which the user can get on and off the specific robot 20 stored in the robot information storage unit 30c. The speed change command transmitted in this way is received by the communication unit 11a of the passenger conveyor 10 and is used for the determination in step S103 of the control method for the previous passenger conveyor 10.

[Step S308]
Next, in step S308, the input / output control unit 30h determines whether or not the communication unit 30a has received the speed-changed information from the specific passenger conveyor 10. This speed-changed information is information transmitted from the communication unit 11a of the specific passenger conveyor 10 in step S106 of the previous passenger conveyor 10 control method. The input / output control unit 30h repeats the determination until it is determined that it has been received (YES), and proceeds to the next step S309 if it is determined that it has been received (YES).

[Step S309]
In step S309, the input / output control unit 30h transmits a passenger conveyor boarding permission to the specific robot 20 from the communication unit 30a. This passenger conveyor boarding permission is received by the communication unit 21a of the specific robot 20, and is used for the determination in step S208 of the control method of the previous robot 20. Accordingly, when the speed at which the specific robot 20 can get on and off is lower than the speed of normal operation of the passenger conveyor 10, the speed of the specific passenger conveyor 10 is changed to the speed at which the specific passenger 20 can get on and off. On the other hand, a passenger conveyor boarding permission is transmitted. For this reason, it is possible to safely board the passenger conveyor 10 of the robot 20.

[Step S310]
In step S310, the input / output control unit 30h determines whether or not the communication unit 30a has received the robot boarding information from the specific robot 20. The passenger conveyor boarding information is information transmitted from the communication unit 21a of the specific robot 20 in step S210 of the previous robot control method, and is the time when the specific robot 20 gets on the specific passenger conveyor 10. is there. The input / output control unit 30h repeats the determination until it is determined that it has been received (YES), and proceeds to the next step S311 if it is determined that it has been received (YES).

[Step S311]
In step S311, the input / output control unit 30h records, on the travel monitoring unit 30g, the boarding time of the specific robot 20 received by the communication unit 30a on the specific passenger conveyor 10.

[Step S312]
In step S312, the input / output control unit 30h determines whether or not the communication unit 30a has received information on occurrence of an abnormality from the specific robot 20 on the specific passenger conveyor 10. This abnormality occurrence information is information transmitted from the communication unit 21a of the specific robot 20 in step S212a of the previous robot control method, and an abnormality in the entire part that affects the traveling of the robot 20 is detected. It is information for informing. If the input / output control unit 30h determines that it has been received (YES), the process proceeds to step S313a. On the other hand, if it is determined that it has not been received (NO), the process proceeds to step S313.

[Step S313a]
In step S313a, the input / output control unit 30h transmits an emergency stop command from the communication unit 30a to the specific passenger conveyor 10 on which the specific robot 20 is riding. This emergency stop command is received by the communication unit 11a of the specific passenger conveyor 10, and is used for the determination in step S102 or step S107 of the control method of the previous passenger conveyor 10. That is, when the specific robot 20 is a high-performance robot 20a that can safely ride on the passenger conveyor 10 that is normally operated, the speed change of the passenger conveyor 10 is not performed when the passenger conveyor 10 is boarded, so the determination in step S102 Used for. On the other hand, when the specific robot 20 is the general robot 20b, the speed of the passenger conveyor 10 is changed when the passenger conveyor 10 gets on, so that the determination is made in step S107.

[Step S314a]
Next, in step S314a, the input / output control unit 30h records the information on the occurrence of the abnormality of the specific robot 20 received in step S312 in the travel monitoring unit 30g.

[Step S315a]
Thereafter, in step S315a, the input / output control unit 30h causes the central controller 12 of the passenger conveyor 10 to issue an emergency stop alarm for the passenger conveyor 10 to the manager of the passenger conveyor 10. Thereafter, the process is terminated.

[Step S313]
On the other hand, in step S313, the input / output control unit 30h determines whether or not the communication unit 30a has received passenger conveyor getting-off information from the specific robot 20. This passenger conveyor disembarkation information is information transmitted from the communication unit 21a of the specific robot 20 in step S213 of the previous robot control method, and the time when the specific robot 20 got off the specific passenger conveyor 10 It is. If it is determined that the input / output control unit 30h has received (YES), the process proceeds to the next step S314. On the other hand, if it is determined that it has not been received (NO), the process returns to the previous step S312.

  Although illustration in the flowchart is omitted, the input / output control unit 30h does not start from the specific robot 20 even if a predetermined time elapses from the boarding time recorded as boarding information in the travel monitoring unit 30g in step S311. If the communication unit 30a does not receive the passenger conveyor disembarkation information, the process may proceed to step S313a without receiving the occurrence of the robot abnormality in step S312.

[Step S314]
Next, in step S314, the input / output control unit 30h records the getting-off time from the specific passenger conveyor 10 of the specific robot 20 received by the communication unit 30a in the travel monitoring unit 30g.

[Step S315]
In step S315, the input / output control unit 30h transmits a speed return command from the communication unit 30a to the specific passenger conveyor 10 immediately after the specific robot 20 gets off. This speed return command is received by the communication unit 11a of the specific passenger conveyor 10, and is used for the determination in step S108 of the control method for the previous passenger conveyor 10. Thereafter, the flow returns to step S304, and the flow is repeated until it is determined that the movement destination position has been reached (YES) or an alarm is issued in step S315a.

  Although illustration in the flowchart is omitted, when the process proceeds directly from step S306 to step S309, the process returns to step S304 without performing step S315. That is, when the specific robot 20 is the high-performance robot 20a, it is not necessary to change the speed of the passenger conveyor 10 to a low speed, so the process proceeds directly from step S306 to step S309. Accordingly, step S307 for transmitting the low speed operation command of the passenger conveyor is omitted. In this case, the flow returns to step S304 after step S314 without performing step S315 for transmitting the speed return command for the passenger conveyor.

≪Effect of passenger conveyor device control system≫
In the passenger conveyor device control system described above, the robot traveling control device 30 performs the operation for the specific passenger conveyor 10 in accordance with the expected arrival time when the specific robot 20 arrives at the specific passenger conveyor 10 included in the movement route. Then, a speed change command to the speed at which the specific robot 20 can get on and off is transmitted. For this reason, it is possible to reduce the speed of the passenger conveyor 10 in accordance with the timing at which the specific robot 20 traveling according to the travel route calculated by the robot travel control device 30 gets on the specific passenger conveyor 10. As a result, even if the passenger conveyor 10 is included in the travel route to the arrival destination position calculated by the robot travel control device 30, the robot 20 can travel safely and efficiently according to the travel route. Is possible.

  In addition, this invention is not limited to above-described embodiment and modification, Furthermore, various modifications are included. For example, the above-described embodiment has been described in detail for easy understanding of the present invention, and is not necessarily limited to one having all the configurations described. Further, a part of the configuration of an embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of an embodiment. Moreover, it is possible to add / delete / replace other configurations for a part of the configurations of the embodiments.

DESCRIPTION OF SYMBOLS 1 ... Passenger conveyor apparatus control system 1a ... Passenger conveyor apparatus 10 ... Passenger conveyor 10a ... High-performance conveyor 10b ... General conveyor 11a ... Communication part (passenger conveyor)
DESCRIPTION OF SYMBOLS 11b ... Operation control part 11c ... Speed control part 20 ... Robot 20a ... High performance robot 20b ... General robot 30 ... Robot travel control apparatus 30a ... Communication part 30c ... Robot information memory | storage part 30e ... Movement route calculation part 30f ... Expected arrival time calculation Part

Claims (7)

Passenger conveyors,
A communication unit for performing transmission and reception of signals with a robot traveling control device for controlling the traveling of the robot;
Based on the speed change command of the passenger conveyor received by the communication unit in accordance with the expected arrival time of the robot to the passenger conveyor, the speed of the passenger conveyor to the passenger conveyor received by the communication unit A passenger conveyor apparatus comprising: a speed control unit that changes to a speed at which the robot can get on and off. A plurality of passenger conveyors;
Among the plurality of passenger conveyors, the speed of the passenger conveyor existing on the movement route of the robot calculated by the robot traveling control device is adjusted according to the expected arrival time of the robot to each passenger conveyor. The passenger conveyor device according to claim 1, wherein the passenger conveyor device is changed to a boarding / exiting speed. The passenger according to claim 1, wherein, when the speed of the passenger conveyor is changed by the speed control unit, the communication unit transmits information on the change of the speed of the passenger conveyor to the robot travel control device. Conveyor device. The passenger conveyor apparatus according to claim 1, wherein the speed control unit returns the speed of the passenger conveyor to a speed before the change when the communication unit receives the information that the robot got off from the passenger conveyor. The passenger conveyor according to claim 1, further comprising: an operation control unit that stops operation of the passenger conveyor when an instruction to stop the passenger conveyor is received in a communication unit of the passenger conveyor on which the robot is riding. apparatus. A method for controlling a passenger conveyor device for causing a robot controlled by a robot traveling control device to travel according to a moving route including a passenger conveyor,
After the communication unit of the passenger conveyor device receives an instruction to change the speed of the passenger conveyor transmitted from the robot travel control device in accordance with the expected arrival time of the robot on the passenger conveyor,
The speed control unit of the passenger conveyor device changes the speed of the passenger conveyor to the speed at which the robot can get on and off the passenger conveyor transmitted from the robot travel control device and received by the communication unit. Control of the passenger conveyor device Method. Passenger conveyor control for running the robot according to a moving route including a robot, a robot travel control device for controlling the travel of the robot, and a passenger conveyor device provided with a passenger conveyor A system,
The robot travel control device includes:
A movement route calculation unit for calculating a movement route of the robot from the current position of the robot to a movement destination position;
Based on the current position of the robot, an estimated arrival time calculation unit that calculates an estimated arrival time for the robot to arrive at the passenger conveyor included in the travel route;
A robot information storage unit in which the operation speed of the passenger conveyor on which the robot can ride is stored as a boarding speed;
In accordance with the expected arrival time of the robot calculated by the estimated arrival time calculation unit, the speed at which the robot can get on and off stored in the robot information storage unit is set together with a speed change command for the passenger conveyor device. And a communication unit for transmitting to
The passenger conveyor device, together with the passenger conveyor,
A communication unit for performing transmission and reception of signals with the robot travel control device;
A passenger conveyor apparatus control system comprising: a speed control unit that changes the speed of the passenger conveyor to a speed at which the robot can get on and off the passenger conveyor received by the communication unit.

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