WO2022029971A1 - 自律移動体の制御装置および自律移動体 - Google Patents

自律移動体の制御装置および自律移動体 Download PDF

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Publication number
WO2022029971A1
WO2022029971A1 PCT/JP2020/030250 JP2020030250W WO2022029971A1 WO 2022029971 A1 WO2022029971 A1 WO 2022029971A1 JP 2020030250 W JP2020030250 W JP 2020030250W WO 2022029971 A1 WO2022029971 A1 WO 2022029971A1
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WIPO (PCT)
Prior art keywords
control device
moving body
autonomous
autonomous moving
autonomous mobile
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2020/030250
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English (en)
French (fr)
Japanese (ja)
Inventor
誠一 熊谷
大輔 水野
淳二 堀
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Electric Corp
Mitsubishi Electric Building Solutions Corp
Original Assignee
Mitsubishi Electric Corp
Mitsubishi Electric Building Techno Service Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Electric Corp, Mitsubishi Electric Building Techno Service Co Ltd filed Critical Mitsubishi Electric Corp
Priority to CN202080104166.1A priority Critical patent/CN116018570B/zh
Priority to JP2022541056A priority patent/JP7255756B2/ja
Priority to PCT/JP2020/030250 priority patent/WO2022029971A1/ja
Publication of WO2022029971A1 publication Critical patent/WO2022029971A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • the present disclosure relates to a control device for an autonomous mobile body and an autonomous mobile body.
  • Patent Document 1 discloses an autonomous mobile body.
  • the autonomous moving body detects that it has entered the step of the passenger conveyor based on the difference in the number of rotations between the front wheels and the rear wheels.
  • An object of the present disclosure is to provide a control device for an autonomous mobile body and an autonomous mobile body capable of easily getting the autonomous mobile body into a step of a passenger conveyor.
  • the control device for the autonomous moving body stops or decelerates the autonomous moving body when the autonomous moving body reaches a preset position from the step of the passenger conveyor, and the autonomous moving body gets on the step. It is equipped with a control unit that controls the timing of the operation.
  • the autonomous moving body includes a main body forming an outer shell, a drive wheel provided on the main body to generate a rotational driving force, a driven wheel provided on the main body and not generating a rotational driving force, and the main body.
  • the control device is provided in the above and controls the movement of the main body by rotating the drive wheels.
  • the control device controls the timing at which the autonomous moving body is stopped or decelerated when the autonomous moving body reaches a preset position from the step of the passenger conveyor, and the autonomous moving body is made to board the step. .. Therefore, the autonomous mobile body can be easily boarded on the step of the passenger conveyor.
  • FIG. It is a side view of the autonomous moving body in Embodiment 1.
  • FIG. It is a perspective view of the driven wheel of the autonomous moving body in Embodiment 1.
  • FIG. It is a side view for demonstrating the operation of the autonomous moving body in Embodiment 1.
  • FIG. It is a figure which shows the vibration of the acceleration in the vertical direction of the main body of the autonomous moving body in Embodiment 1.
  • FIG. It is a flowchart for demonstrating operation of the control device of an autonomous moving body in Embodiment 1.
  • FIG. It is a hardware block diagram of the control device of the autonomous moving body in Embodiment 1.
  • FIG. It is a side view of the autonomous moving body in Embodiment 2.
  • FIG. It is a side view for demonstrating the operation of the autonomous moving body in Embodiment 2.
  • FIG. It is a figure which shows the distance to the object which exists under the autonomous moving body in Embodiment 2.
  • FIG. It is a flowchart for demonstrating operation of the control device of an autonomous moving body in Embodiment 2.
  • FIG. It is a side view of the autonomous moving body in Embodiment 3.
  • FIG. It is a side view for demonstrating the operation of the autonomous moving body in Embodiment 3.
  • FIG. It is a figure which shows the vibration of the acceleration in the traveling direction of the contact body of the autonomous moving body in Embodiment 3.
  • FIG. It is a figure which shows the vibration of the acceleration in the vertical direction of the contact body of the autonomous moving body in Embodiment 3.
  • FIG. It is a flowchart for demonstrating operation of the control device of an autonomous moving body in Embodiment 3.
  • FIG. It is a side view for demonstrating the operation of the autonomous moving body in Embodiment 4.
  • FIG. It is a figure which shows the appearance of the leading edge portion of the step which the autonomous moving body got in and the step in front in Embodiment 4.
  • FIG. It is a side view for demonstrating the operation of the autonomous moving body in Embodiment 5.
  • FIG. 1 is a side view of an autonomous moving body according to the first embodiment.
  • the autonomous moving body includes a main body 1, a pair of drive wheels 2, a driven wheel 3, a driven side rotation detection device 4, a driven side direction detection device 5, an acceleration detection device 6, and a camera 7. And a control device 8.
  • the main body 1 forms the outer shell of the autonomous moving body.
  • the main body 1 is formed in a rectangular parallelepiped.
  • the pair of drive wheels 2 are rotatably provided on the rear side of the lower part of the main body 1.
  • the pair of drive wheels 2 are provided so that a rotational driving force can be generated by a motor or the like (not shown).
  • the driven wheel 3 is provided on the front side of the lower part of the main body 1.
  • the driven wheel 3 is provided so as not to generate a driving force.
  • the driven side rotation detection device 4 is provided on the front side of the main body 1.
  • the driven side rotation detecting device 4 is provided so as to be able to detect the rotation speed of the driven wheel 3.
  • the driven side direction detection device 5 is provided on the front side of the main body 1.
  • the driven side direction detecting device 5 is provided so as to be able to detect the direction of the driven wheel 3.
  • the acceleration detection device 6 is provided so as to be able to detect the acceleration of the main body 1.
  • the camera 7 is provided on the front side of the upper part of the main body 1.
  • the camera 7 is provided so as to be able to photograph the front of the main body 1.
  • the control device 8 is provided inside the main body 1.
  • the control device 8 includes a control unit 8a.
  • the control unit 8a is provided so as to be able to control the rotation of the drive wheel 2 based on the detection result of the driven side rotation detection device 4, the detection result of the driven side direction detection device 5, and the shooting result of the camera 7.
  • FIG. 2 is a perspective view of the driven wheel of the autonomous moving body according to the first embodiment.
  • the driven wheel 3 is provided so as to be able to change its direction by rotating around the vertical direction. As a result, the autonomous mobile body can smoothly change the direction of travel.
  • FIG. 3 is a side view for explaining the operation of the autonomous moving body in the first embodiment.
  • the control device 8 controls the driven wheel 8 based on the change in the rotation speed or the direction of the driven wheel 3. Detects that 3 has boarded step 9. At this time, the control device 8 applies a brake (not shown) to stop the autonomous moving body.
  • the control device 8 causes the pair of drive wheels 2 to get into step 9.
  • the control device 8 rotates the pair of drive wheels 2 at preset timings based on the vibration pattern of the acceleration information detected by the acceleration detection device 6, thereby setting the pair of drive wheels 2 in step 9. Let me get in.
  • the control device 8 rotates the pair of drive wheels 2 until the speed of the pair of drive wheels 2 and the speed of the driven wheels 3 match, so that the pair of drive wheels 2 get into step 9.
  • the control device 8 determines the distance from the front step 9 based on the image of the camera 7. When the distance to the front step 9 is within the allowable range, the control device 8 stops the rotation of the pair of drive wheels 2. When the distance to the front step 9 is out of the allowable range, the control device 8 adjusts the stop position by rotating the pair of drive wheels 2.
  • FIG. 4 is a diagram showing vibration of acceleration in the vertical direction of the main body of the autonomous moving body in the first embodiment.
  • FIG. 4 shows a vibration pattern when the driven wheel 3 is on step 9 of the passenger conveyor.
  • the driven wheel 3 is temporarily and periodically impacted.
  • the vibration of the main body 1 becomes large temporarily and periodically.
  • FIG. 5 is a flowchart for explaining the operation of the control device of the autonomous moving body in the first embodiment.
  • step S1 the control device 8 determines whether or not the driven wheel 3 has boarded step 9. If the driven wheel 3 does not get into step 9 in step S1, the control device 8 performs the operation of step S1. When the driven wheel 3 gets into step 9 in step S1, the control device 8 performs the operation of step S2.
  • step S2 the control device 8 stops the autonomous moving body. After that, the control device 8 performs the operation of step S3. In step S3, the control device 8 determines whether or not the current time is a preset timing.
  • step S3 If the current time is not the preset timing in step S3, the control device 8 performs the operation of step S3. When the current time is the preset timing in step S3, the control device 8 performs the operation of step S4.
  • step S4 the control device 8 causes the pair of drive wheels 2 to get into step 9. After that, the control device 8 performs the operation of step S5. In step S5, the control device 8 determines whether or not the distance from the front step 9 is within the allowable range.
  • step S6 the control device 8 rotates the pair of drive wheels 2 so that the distance from the front step 9 is within an allowable range. After that, the control device 8 performs the operation of step S5.
  • step S7 the control device 8 stops the rotation of the pair of drive wheels 2. After that, the control device 8 ends the operation.
  • the control device 8 stops or decelerates the autonomous moving body when the autonomous moving body reaches a preset position from step 9 of the passenger conveyor, and causes the autonomous moving body to move. Control the timing of getting into step 9. Therefore, the autonomous mobile body can be easily boarded in step 9 of the passenger conveyor.
  • control device 8 stops or decelerates the autonomous moving body when the vibration pattern of the acceleration information of the autonomous moving body becomes a preset pattern.
  • the control device 8 stops or decelerates the drive wheels 2 when the vibration pattern of the acceleration in the traveling direction of the autonomous moving body becomes a preset pattern.
  • the control device 8 stops or decelerates the drive wheels 2 when the vibration pattern of the acceleration in the vertical direction of the autonomous moving body becomes a preset pattern. Therefore, the autonomous mobile body can be easily boarded in step 9 of the passenger conveyor without making the autonomous mobile body a complicated configuration.
  • control device 8 detects the vibration cycle of the acceleration information in the autonomous moving body in the state where the driven wheel 3 is in contact with the step 9, and at the timing derived from the position of the autonomous moving body and the vibration cycle. It controls the timing at which the autonomous mobile body gets into step 9. Therefore, the autonomous moving body can be more reliably boarded in step 9 of the passenger conveyor.
  • control device 8 detects that the passenger conveyor has reached a preset position from step 9 based on the change in the rotation speed of the driven wheel 3 of the autonomous moving body. Therefore, the position of the autonomous moving body can be detected more reliably.
  • control device 8 detects that the passenger conveyor has reached a preset position from step 9 based on the change in the direction of the driven wheel 3 of the autonomous moving body. Therefore, the position of the autonomous moving body can be detected more reliably.
  • control device 8 stops or decelerates the autonomous moving body when the autonomous moving body reaches a preset position from step 9 of the passenger conveyor, and then moves the autonomous moving body for a preset time. After that, the autonomous mobile body is stopped. Therefore, the autonomous mobile body can be stopped at an appropriate position in step 9.
  • control device 8 decelerates the autonomous moving body when the autonomous moving body reaches a preset position from step 9 of the passenger conveyor, and then presets a vibration pattern of acceleration information of the autonomous moving body. Stop the autonomous mobile when it becomes the pattern. Therefore, the autonomous mobile body can be stopped at an appropriate position in step 9.
  • FIG. 6 is a hardware configuration diagram of the control device for the autonomous mobile body according to the first embodiment.
  • Each function of the control device 8 can be realized by a processing circuit.
  • the processing circuit comprises at least one processor 100a and at least one memory 100b.
  • the processing circuit comprises at least one dedicated hardware 200.
  • each function of the control device 8 is realized by software, firmware, or a combination of software and firmware. At least one of the software and firmware is written as a program. At least one of the software and firmware is stored in at least one memory 100b. At least one processor 100a realizes each function of the control device 8 by reading and executing a program stored in at least one memory 100b. At least one processor 100a is also referred to as a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, and a DSP.
  • At least one memory 100b is a non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, EEPROM, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD, or the like.
  • the processing circuit comprises at least one dedicated hardware 200
  • the processing circuit may be implemented, for example, as a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof.
  • each function of the control device 8 is realized by a processing circuit.
  • each function of the control device 8 is collectively realized by a processing circuit.
  • a part may be realized by the dedicated hardware 200, and the other part may be realized by software or firmware.
  • the function of the control unit 8a is realized by a processing circuit as dedicated hardware 200, and for the functions other than the function of the control unit 8a, at least one processor 100a reads a program stored in at least one memory 100b. It may be realized by executing the above.
  • the processing circuit realizes each function of the control device 8 by hardware 200, software, firmware, or a combination thereof.
  • FIG. 7 is a side view of the autonomous moving body according to the second embodiment.
  • the same or corresponding parts as those of the first embodiment are designated by the same reference numerals. The explanation of this part is omitted.
  • the autonomous moving body includes a main body 1, a pair of driving wheels 2, a driven wheel 3, a distance detection device 10, a camera 7, and a control device 8.
  • the main body 1 forms the outer shell of the autonomous moving body.
  • the main body 1 is formed in a rectangular parallelepiped.
  • the pair of drive wheels 2 are rotatably provided on the front side of the lower part of the main body 1.
  • the pair of drive wheels 2 are provided so that a rotational driving force can be generated by a motor or the like (not shown).
  • the driven wheel 3 is provided on the rear side of the lower part of the main body 1.
  • the driven wheel 3 is provided so as not to generate a driving force.
  • the distance detection device 10 is provided on the front side of the main body 1.
  • the distance detection device 10 is provided so as to be able to detect the distance to an object existing below.
  • the camera 7 is provided on the front side of the upper part of the main body 1.
  • the camera 7 is provided so as to be able to photograph the front of the main body 1.
  • the control device 8 is provided inside the main body 1.
  • the control device 8 is provided so as to be able to control the rotation of the drive wheel 2 based on the detection result of the distance detection device 10 and the shooting result of the camera 7.
  • FIG. 8 is a side view for explaining the operation of the autonomous moving body in the second embodiment.
  • the control device 8 detects the gap in the adjacent step 9 based on the detection result of the distance detection device 10. At this time, the control device 8 applies a brake (not shown) to stop the autonomous moving body.
  • control device 8 rotates the pair of drive wheels 2 at preset timings after detecting the gap in the adjacent step 9.
  • the control device 8 stops the pair of drive wheels 2. For example, the control device 8 stops the pair of drive wheels 2 at a preset timing after detecting the gap in the adjacent step 9 in the front. For example, the control device 8 rotates the pair of drive wheels 2 for a preset time and then stops them.
  • the control device 8 determines the distance from the front step 9 based on the image of the camera 7. When the distance to the front step 9 is within the allowable range, the control device 8 stops the rotation of the pair of drive wheels 2. When the distance to the front step 9 is out of the allowable range, the control device 8 adjusts the stop position by rotating the pair of drive wheels 2.
  • FIG. 9 is a diagram showing the distance to an object existing below the autonomous moving body in the second embodiment.
  • FIG. 9 shows a detection pattern of the distance detection device 10 immediately before the autonomous moving body gets into step 9 of the passenger conveyor.
  • the distance to the object existing below the autonomous moving body is temporarily and periodically increased.
  • the distance detected by the distance detecting device 10 becomes temporarily and periodically longer.
  • FIG. 10 is a flowchart for explaining the operation of the control device of the autonomous moving body in the second embodiment.
  • step S11 the control device 8 determines whether or not a gap in an adjacent step 9 is detected. If the gap in the adjacent step 9 is not detected in step S11, the control device 8 performs the operation of step S11. When the gap of the adjacent step 9 is detected in step S11, the control device 8 performs the operation of step S12.
  • step S12 the control device 8 stops the autonomous moving body. After that, the control device 8 performs the operation of step S13.
  • the control device 8 determines whether or not the current time is a preset timing.
  • step S13 If the current time is not the preset timing in step S13, the control device 8 performs the operation of step S13.
  • the control device 8 performs the operation of step S14.
  • step S14 the control device 8 rotates a pair of drive wheels 2. After that, the control device 8 performs the operation of step S15. In step S15, the control device 8 stops the rotation of the pair of drive wheels 2. After that, the control device 8 performs the operation of step S16. In step S16, the control device 8 determines whether or not the distance from the front step 9 is within the allowable range.
  • step S16 If the distance from the previous step 9 in step S16 is not within the allowable range, the control device 8 operates in step S17.
  • step S17 the control device 8 rotates the pair of drive wheels 2 so that the distance from the front step 9 is within an allowable range. After that, the control device 8 performs the operation of step S16.
  • step S16 When the distance from the front step 9 in step S16 is within the allowable range, the control device 8 operates in step S18. In step S18, the control device 8 stops the rotation of the pair of drive wheels 2. After that, the control device 8 ends the operation.
  • the control device 8 decelerates the autonomous moving body when the autonomous moving body reaches a preset position from step 9 of the passenger conveyor, and then the autonomous moving body of the autonomous moving body.
  • the autonomous moving body is stopped when the moving distance meets a preset condition. Therefore, the autonomous mobile body can be stopped at an appropriate position in step 9.
  • FIG. 11 is a side view of the autonomous moving body according to the third embodiment.
  • the same or corresponding parts as those of the first embodiment are designated by the same reference numerals. The explanation of this part is omitted.
  • the autonomous moving body includes a main body 1, a pair of driving wheels 2, a driven wheel 3, a telescopic body 11, a contact body 12, a camera 7, an acceleration detection device 6, and a control device 8.
  • the main body 1 forms the outer shell of the autonomous moving body.
  • the main body 1 is formed in a rectangular parallelepiped.
  • the pair of drive wheels 2 are rotatably provided on the front side of the lower part of the main body 1.
  • the pair of drive wheels 2 are provided so that a rotational driving force can be generated by a motor or the like (not shown).
  • the driven wheel 3 is provided on the rear side of the lower part of the main body 1.
  • the driven wheel 3 is provided so as not to generate a driving force.
  • the telescopic body 11 is provided on the front side of the main body 1.
  • the stretchable body 11 is provided so as to be stretchable.
  • the contact body 12 is a wheel.
  • the contact body 12 is provided at the tip end portion of the stretchable body 11.
  • the contact body 12 is pressed downward by a spring or the like (not shown).
  • the camera 7 is provided on the front side of the upper part of the main body 1.
  • the camera 7 is provided so as to be able to photograph the front of the main body 1.
  • the acceleration detection device 6 is provided at the end of the telescopic body 11.
  • the acceleration detection device 6 is provided so as to be able to detect the acceleration of the contact body 12.
  • the control device 8 is provided inside the main body 1.
  • the control device 8 is provided so as to be able to control the rotation of the drive wheel 2 based on the detection result of the acceleration detection device 6 and the shooting result of the camera 7.
  • FIG. 12 is a side view for explaining the operation of the autonomous moving body in the third embodiment.
  • the control device 8 rotates the pair of drive wheels 2 in a state where the telescopic body 11 is extended and the contact body 12 is in contact with the ground.
  • the control device 8 detects that the contact body 12 has got into step 9 based on the magnitude of the vibration of the acceleration in the X direction detected by the acceleration detection device 6. do.
  • the control device 8 applies a brake (not shown) to stop the autonomous moving body.
  • the control device 8 causes the pair of driving wheels 2 and the driven wheels 3 to get into step 9.
  • the control device 8 detects the gap in the adjacent step 9 based on the detection result of the acceleration detection device 6, and then rotates the pair of drive wheels 2 at a preset timing and for a preset time.
  • the pair of driving wheels 2 and the driven wheels 3 are boarded in step 9.
  • the control device 8 rotates the pair of drive wheels 2 until the gap of the adjacent step 9 in front is detected based on the detection result of the acceleration detection device 6, so that the pair of drive wheels 2 and the driven wheels 3 are driven. And get into step 9.
  • control device 8 releases the contact body 12 from the contact with the step 9 by contracting the stretchable body 11.
  • the control device 8 determines the distance from the front step 9 based on the image of the camera 7. When the distance to the front step 9 is within the allowable range, the control device 8 stops the rotation of the pair of drive wheels 2. When the distance to the front step 9 is out of the allowable range, the control device 8 adjusts the stop position by rotating the pair of drive wheels 2.
  • FIG. 13 is a diagram showing vibration of acceleration in the traveling direction of the contact body of the autonomous moving body in the third embodiment.
  • FIG. 13 shows a vibration pattern when the contact body 12 gets into step 9 of the passenger conveyor.
  • the contact body 12 is pulled in the traveling direction when it comes into contact with the moving step 9.
  • the vibration of the acceleration in the traveling direction temporarily increases.
  • FIG. 14 is a diagram showing vibration of acceleration in the vertical direction of the contact body of the autonomous moving body in the third embodiment.
  • FIG. 14 shows a vibration pattern when the contact body 12 is on step 9 of the passenger conveyor.
  • the contact body 12 is temporarily and periodically impacted.
  • the vibration of the acceleration in the contact body 12 becomes large temporarily and periodically.
  • FIG. 15 is a flowchart for explaining the operation of the control device of the autonomous moving body in the third embodiment.
  • step S21 the control device 8 rotates the pair of drive wheels 2 in a state where the telescopic body 11 is extended and the contact body 12 is in contact with the ground. After that, the control device 8 performs the operation of step S22. In step S22, the control device 8 determines whether or not the contact body 12 has boarded step 9.
  • step S22 If the contact body 12 has not boarded step 9 in step S22, the control device 8 operates in step S22. When the contact body 12 gets into step 9 in step S22, the control device 8 performs the operation of step S23.
  • step S23 the control device 8 stops the autonomous moving body. After that, the control device 8 performs the operation of step S24.
  • step S24 the control device 8 determines whether or not the current time is a preset timing.
  • step S24 If the current time is not the preset timing in step S24, the control device 8 operates in step S24. When the current time is the preset timing in step S24, the control device 8 performs the operation of step S25.
  • step S25 the control device 8 rotates a pair of drive wheels 2. After that, the control device 8 performs the operation of step S26. In step S26, the control device 8 stops the rotation of the pair of drive wheels 2. After that, the control device 8 performs the operation of step S27. In step S27, the control device 8 releases the contact body 12 from contact with step 9 by contracting the stretchable body 11. After that, the control device 8 performs the operation of step S28. In step S28, the control device 8 determines whether or not the distance from the front step 9 is within the allowable range.
  • step S28 If the distance from the front step 9 in step S28 is not within the allowable range, the control device 8 operates in step S29.
  • step S29 the control device 8 rotates the pair of drive wheels 2 so that the distance from the front step 9 is within an allowable range. After that, the control device 8 performs the operation of step S28.
  • step S30 the control device 8 stops the rotation of the pair of drive wheels 2. After that, the control device 8 ends the operation.
  • the control device 8 stops or decelerates the drive wheels 2 when the vibration pattern of the acceleration in the vertical direction of the autonomous moving body becomes a preset pattern. Therefore, the autonomous mobile body can be easily boarded in step 9 of the passenger conveyor without making the autonomous mobile body a complicated configuration.
  • control device 8 detects the vibration cycle of the acceleration in the autonomous moving body in a state where the end portion of the telescopic body 11 is in contact with the step 9, and at the timing derived from the position of the autonomous moving body and the vibration cycle. It controls the timing at which the autonomous mobile body gets into step 9. Therefore, the autonomous moving body can be more reliably boarded in step 9 of the passenger conveyor.
  • FIG. 16 is a side view for explaining the operation of the autonomous moving body in the fourth embodiment.
  • the same or corresponding parts as those of the first embodiment are designated by the same reference numerals. The explanation of this part is omitted.
  • the autonomous moving body gets into step 9 of the passenger conveyor during the descending operation.
  • the control device 8 adjusts the stop position based on the appearance of the leading edge portion between the step 9 on which the autonomous moving body has boarded and the step 9 in front based on the image of the camera 7.
  • FIG. 17 is a diagram showing how the leading edge portion of the step on which the autonomous moving body has boarded and the step in front in the fourth embodiment is viewed.
  • the appearance of the leading edge portion between the step 9 on which the autonomous moving body has boarded and the step 9 in front is A.
  • the appearance of the leading edge portion between the step 9 on which the autonomous moving body has boarded and the step 9 in front is B.
  • the control device 8 adjusts the stop position of the autonomous moving body in consideration of the appearance A and the appearance B.
  • control device 8 adjusts the stop position of the autonomous moving body in consideration of the appearance A and the appearance B. Therefore, the autonomous moving body can be stopped at an appropriate position in step 9 even for the passenger conveyor during the descending operation.
  • FIG. 18 is a side view for explaining the operation of the autonomous moving body in the fifth embodiment.
  • the same or corresponding parts as those of the first embodiment are designated by the same reference numerals. The explanation of this part is omitted.
  • control device 8 stops or decelerates the autonomous moving body before the driven wheel 3 gets into step 9 of the passenger conveyor.
  • the cover 13 includes a manhole cover 14 and a landing plate 15.
  • the manhole cover 14 is provided adjacent to the floor surface of the building.
  • the landing plate 15 is provided on the side opposite to the floor surface of the building with respect to the manhole cover 14.
  • the comb plate 16 is provided on the opposite side of the landing plate 15 from the manhole cover 14.
  • the comb 17 is provided between the comb plate 16 and step 9.
  • the comb 17 has a rake angle so as to smoothly connect to the comb plate 16 and step 9.
  • the acceleration detection device 6 sets the floor surface and the manhole cover of the building. 14, the landing plate 15, the comb plate 16, and the comb 17 detect the vibration of the acceleration according to the upper surface.
  • the control device 8 detects that the driven wheel 3 is approaching the comb 17 when the X-axis component and the Z-axis component are detected. In this case, the control device 8 stops or decelerates the pair of drive wheels 2. After that, the control device 8 controls the timing at which the autonomous mobile body gets into step 9.
  • the control device 8 detects that the driven wheel 3 is approaching the comb 17. Therefore, the autonomous moving body can be stopped or decelerated before the driven wheel 3 gets into step 9 of the passenger conveyor. As a result, the autonomous mobile body can be boarded in step 9 more safely.
  • the pattern other than the gap in the adjacent step 9 may be detected.
  • the non-slip pattern formed in step 9 may be detected.
  • the pattern of the pattern formed on the manhole cover 14, the landing plate 15, the comb plate 16 and the comb 17 may be detected. In these cases as well, the autonomous mobile body can be easily boarded in step 9 of the passenger conveyor.
  • information other than vibration or distance may be acquired to detect a pattern corresponding to the unevenness of the traveling surface of the autonomous moving body.
  • the shading pattern of the information of the image of the traveling surface may be detected as the pattern of the information corresponding to the unevenness of the traveling surface of the autonomous moving body.
  • the autonomous moving body can be easily boarded on the step of the passenger conveyor.
  • information other than vibration or distance may be acquired to detect the cycle of information corresponding to the unevenness of step 9 accompanying the movement of step 9.
  • the cycle of the shading pattern in the traveling direction of the information of the image of the step may be detected as the cycle of the information corresponding to the unevenness of the step accompanying the movement of the step.
  • the autonomous moving body can be easily boarded on the step of the passenger conveyor.
  • control device and the autonomous mobile body of the autonomous mobile body of the present disclosure can be used in the system for getting the autonomous mobile body onto the passenger conveyor.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Escalators And Moving Walkways (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Motorcycle And Bicycle Frame (AREA)
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