WO2023228240A1 - 自動走行装置、エスカレータおよび自動走行装置のエスカレータ乗車方法 - Google Patents

自動走行装置、エスカレータおよび自動走行装置のエスカレータ乗車方法 Download PDF

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Publication number
WO2023228240A1
WO2023228240A1 PCT/JP2022/021087 JP2022021087W WO2023228240A1 WO 2023228240 A1 WO2023228240 A1 WO 2023228240A1 JP 2022021087 W JP2022021087 W JP 2022021087W WO 2023228240 A1 WO2023228240 A1 WO 2023228240A1
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WIPO (PCT)
Prior art keywords
escalator
automatic traveling
traveling device
command
automatic
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/JP2022/021087
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English (en)
French (fr)
Japanese (ja)
Inventor
守真 横田
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 Building Solutions Corp
Original Assignee
Mitsubishi Electric Building Solutions Corp
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 Building Solutions Corp filed Critical Mitsubishi Electric Building Solutions Corp
Priority to CN202280096264.4A priority Critical patent/CN119255890A/zh
Priority to JP2024522736A priority patent/JP7679552B2/ja
Priority to PCT/JP2022/021087 priority patent/WO2023228240A1/ja
Publication of WO2023228240A1 publication Critical patent/WO2023228240A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages

Definitions

  • the present disclosure relates to an automatic traveling device, an escalator, and an escalator riding method for the automatic traveling device.
  • the passenger conveyor device described in Patent Document 1 includes a communication unit for transmitting and receiving signals between the passenger conveyor and a robot travel control device for controlling the travel of the robot, and a communication unit for transmitting and receiving signals between the passenger conveyor and a robot travel control device for controlling the travel of the robot.
  • a speed control unit that changes the speed of the passenger conveyor to a speed that allows the robot to get on and off the passenger conveyor 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 the expected arrival time of the passenger conveyor; Equipped with.
  • Patent Document 1 does not provide a means for supporting an automatic traveling device such as a robot so that it does not fall down while riding on an escalator. Therefore, the automatic traveling device may fall down while riding on the escalator.
  • an object of the present disclosure is to provide an automatic traveling device, an escalator, and an escalator riding method for an automatic traveling device that can prevent the automatic traveling device from falling down while riding on the escalator.
  • the automatic traveling device of the present disclosure includes at least one arm, a memory that stores a program, and a processor that executes the program.
  • the processor causes the automatic traveling device to ride on the escalator by controlling the at least one arm to grasp the moving handrail of the escalator when the automatic traveling device arrives at the escalator boarding position.
  • the method of riding an escalator using an automatic traveling device is such that the automatic traveling device stops the automatic traveling device only when no person is riding on the escalator when the automatic traveling device arrives at the escalator boarding position. , a step of also transmitting a deceleration command or a stop command to the escalator, and a step of decelerating or stopping the running of the escalator steps, moving handrail, and handrail when the escalator receives the deceleration command or stop command from the automatic traveling device. and a step of causing the automatic traveling device to ride the escalator by controlling an arm of the automatic traveling device to grasp a moving handrail of the escalator when the automatic traveling device arrives at a riding position on the escalator. Equipped with.
  • FIG. 5 is a diagram showing the configuration of an escalator 50.
  • FIG. 1 is a diagram showing the configuration of an automatic traveling device 10.
  • FIG. 5 is a diagram showing the positional relationship between the automatic traveling device 10 and the escalator 50.
  • FIG. 3 is a diagram showing the configuration of an arm 17 and a roller 23.
  • FIG. 5 is a diagram illustrating a state in which the arm 17 is connected to the handrail 5 and the handrail 22 of the escalator 50 when the automatic traveling device 10 gets on the escalator 50.
  • FIG. 5 is a diagram illustrating a state in which the arm 17 is connected to the handrail 5 and the handrail 22 of the escalator 50 while the automatic traveling device 10 is riding on the escalator 50.
  • FIG. 1 is a diagram showing the configuration of an automatic traveling device 10.
  • FIG. 5 is a diagram showing the positional relationship between the automatic traveling device 10 and the escalator 50.
  • FIG. 3 is a diagram showing the configuration of an arm
  • FIG. 5 is a diagram illustrating a state in which the arm 17 is connected to the handrail 5 and the handrail 22 of the escalator 50 when the automatic traveling device 10 gets off the escalator 50.
  • FIG. 5 is a flowchart showing the operation procedure of the automatic traveling device 10 and the escalator 50 of the first embodiment.
  • 7 is a flowchart showing the operating procedure of the automatic traveling device 10 and the escalator 50 according to the second embodiment.
  • 5 is a diagram showing a connection state between an automatic traveling device 10 and an escalator 50 according to a third embodiment.
  • FIG. 5 is a diagram illustrating a state in which the arm 17 is connected to the handrail 5 and the handrail 22 of the escalator 50 when the automatic traveling device 10 gets off the escalator 50.
  • FIG. 5 is a flowchart showing the operation procedure of the automatic traveling device 10 and the escalator 50 of the first embodiment.
  • 7 is a flowchart showing the operating procedure of the automatic traveling device 10 and
  • FIG. 1 is a diagram showing the configuration of an escalator 50.
  • the main frame 1 and the parapet 22 are spanned between the upper floor where the escalator 50 is placed and the lower floor where the escalator 50 is placed.
  • the upper entrance 2A is located on the upper floor where the escalator 50 is located.
  • the lower entrance 2B is arranged on the lower floor where the escalator 50 is arranged.
  • the escalator 50 is an up escalator
  • the lower entrance 2B is the boarding position
  • the upper entrance 2A is the exit position.
  • the escalator 50 is a down escalator
  • the lower entrance 2B is the exit position
  • the upper entrance 2A is the boarding position.
  • a floor plate 7A forming a floor surface is arranged at the upper entrance 2A.
  • a floor plate 7B forming a floor surface is arranged at the lower entrance 2B.
  • the control panel 6 controls the overall operation of the escalator 50, such as controlling the progress of the steps 4, the handrail 5, and the handrail 22.
  • the wireless communication device 21 is configured to be able to communicate with the automatic traveling device 10.
  • the control device 8 is configured to control and manage a plurality of escalators 50 in the building through the control panel 6.
  • the control device 8 displays necessary information on the display 9 and outputs it from the speaker 3.
  • FIG. 2 is a diagram showing the configuration of the automatic traveling device 10.
  • the automatic traveling device 10 includes a wireless communication device 14, a camera 15, a speaker 16, an arm 17, a battery 20, a travel drive device 18, an arm drive device 19, a control device 11, and a roller 23. .
  • the control device 11 includes a memory 12 and a processor 13.
  • Memory 12 stores programs.
  • Processor 13 executes programs stored in memory 12. The operation of the control device 11 described below is performed by the processor 13 executing a program in the memory 12.
  • the wireless communication device 14 communicates with the control panel 6 of the escalator 50 via, for example, a wireless LAN (Local Area Network).
  • a wireless LAN Local Area Network
  • the camera 15 images the escalator 50 and its surroundings when getting on and off the escalator 50, and outputs the captured image to the control device 11.
  • the traveling drive device 18 generates a driving force for the automatic traveling device 10 to travel.
  • the traveling drive device 18 includes, for example, wheels on which the automatic traveling device 10 moves and a motor that drives the wheels.
  • the motor can be operated by receiving power from the battery 20.
  • the battery 20 supplies electric power for operating each device that makes up the automatic traveling device 10.
  • FIG. 3 is a diagram showing the positional relationship between the automatic traveling device 10 and the escalator 50.
  • the automatic traveling device 10 grasps the moving handrail 5 when getting on the escalator 50.
  • the automatic traveling device 10 hangs from the moving handrail 5 while riding on the escalator 50.
  • the automatic traveling device 10 releases the moving handrail 5 when getting off the escalator 50.
  • FIG. 4 is a diagram showing the configuration of the arm 17 and the roller 23.
  • the arm 17 is configured to be able to grip the moving handrail 5.
  • the arm 17 has a first portion 171 connected to the fulcrum X and extending perpendicularly to the main body of the automatic traveling device 10, and a direction in which the arm 17 is connected to the first portion 171 and bent in a 90 degree direction from the first portion 171.
  • a third portion 173 that connects to the second portion 172 and extends in a direction bent from the second portion 172 (-90 degrees);
  • a fourth portion 174 is connected to the fourth portion 174 and extends in a direction bent from the third portion 173 ( ⁇ 90 degrees).
  • the second portion 172 has a fifth portion 175 that faces the fourth portion 174 and has the same length as the fourth portion 174 .
  • the third portion 173 of the arm 17 contacts the top surface of the moving handrail 5, and the fourth portion 174 of the arm 17 contacts the right side surface of the moving handrail 5.
  • the arm 17 becomes hooked on the movable handrail 5.
  • the arm 17 is configured to be rotatable about a fulcrum X located on the side of the automatic traveling device 10 as the moving handrail 5 advances.
  • the roller 23 is arranged on the side surface of the main body of the automatic traveling device 10. The roller 23 is configured to be rotatable along the traveling direction of the balustrade 22.
  • FIG. 5 is a diagram showing the state of connection between the arm 17 and the moving handrail 5 and handrail 22 of the escalator 50 when the automatic traveling device 10 gets on the escalator 50.
  • FIG. 5(a) shows the state when viewed from vertically above.
  • FIG. 5(b) shows the connection state when viewed from the riding position.
  • FIG. 5C shows the state of the escalator 50 when viewed from the lateral direction (direction perpendicular to the handrail 22).
  • FIG. 6 is a diagram showing a state in which the arm 17 is connected to the handrail 5 and handrail 22 of the escalator 50 while the automatic traveling device 10 is riding on the escalator 50.
  • FIG. 6(a) shows the state when viewed from vertically above.
  • FIG. 6(b) shows the connection state when viewed from the riding position.
  • FIG. 6C shows the state of the escalator 50 when viewed from the lateral direction (direction perpendicular to the handrail 22).
  • FIG. 7 is a diagram showing the state of connection between the arm 17 and the handrail 5 and handrail 22 of the escalator 50 when the automatic traveling device 10 exits the escalator 50.
  • FIG. 7(a) shows the state when viewed from vertically above.
  • FIG. 7(b) shows the connection state when viewed from the alighting position.
  • FIG. 7C shows the state of the escalator 50 when viewed from the lateral direction (direction perpendicular to the handrail 22).
  • the arm 17 By folding back the movable handrail 5, the arm 17 is no longer able to grip the movable handrail 5, so that the arm 17 is released from the movable handrail 5, and the automatic traveling device 10 lands at the alighting position.
  • FIG. 8 is a flowchart showing the operating procedure of the automatic traveling device 10 and the escalator 50 of the first embodiment.
  • step S101 the control device 11 determines whether the automatic traveling device 10 has arrived at the boarding position of the escalator 50 based on the image obtained from the camera 15.
  • the process advances to step S102.
  • step S102 the control device 11 stops the automatic traveling device 10 from traveling by controlling the traveling drive device 18.
  • step S103 the control device 11 determines whether a person is on the escalator 50 based on the image obtained from the camera 15. If a person is on the escalator 50, the process advances to step S104. If no person is on the escalator 50, the process advances to step S105.
  • step S104 the control device 11 controls the travel drive device 18 based on the image obtained from the camera 15 until the escalator 50 is no longer occupied, thereby causing the automatic travel device 10 to run. Stop.
  • step S105 the control device 11 transmits a command to stop the escalator 50 to the escalator 50 via the wireless communication device 14.
  • the wireless communication device 21 of the escalator 50 receives the stop command.
  • the control panel 6 of the escalator 50 stops the steps 4, the handrail 5, and the handrail 22 of the escalator 50 from moving forward.
  • step S106 the control device 11 causes the speaker 16 to output an announcement sound that the escalator 50 will stop.
  • step S107 the control device 11 detects the position of the moving handrail 5 of the escalator 50 based on the image obtained from the camera 15, and moves the arm through the arm drive device 19 so that the arm 17 can grasp the moving handrail 5. 17.
  • step S108 the control device 11 transmits a command to start the escalator 50 to the escalator 50 via the wireless communication device 14.
  • the wireless communication device 21 of the escalator 50 receives the activation command.
  • the control panel 6 of the escalator 50 moves the steps 4, the handrail 5, and the handrail 22 of the escalator 50.
  • the automatic traveling device 10 hangs from the moving handrail 5.
  • the roller 23 rotates in the direction in which the balustrade 22 moves.
  • step S109 the control device 11 causes the speaker 16 to output an announcement sound indicating that the escalator 50 will start.
  • step S110 the control device 11 causes the speaker 16 to output an announcement voice requesting that no one get on the escalator 50.
  • step S111 when the automatic traveling device 10 arrives at the exit position of the escalator 50, the process advances to step S112.
  • step S112 the arm 17 is released from the movable handrail 5 by folding back the movable handrail 5.
  • the automatic traveling device 10 lands at the alighting position.
  • Embodiment 2 In the first embodiment, when the automatic traveling device 10 gets on and off the escalator 50, the escalator 50 is stopped. In the second embodiment, when the automatic traveling device 10 gets on and off the escalator 50, the escalator 50 is decelerated.
  • FIG. 9 is a flowchart showing the operating procedure of the automatic traveling device 10 and the escalator 50 of the second embodiment.
  • step S201 the control device 11 determines whether the automatic traveling device 10 has arrived at the boarding position of the escalator 50 based on the image obtained from the camera 15.
  • the process advances to step S202.
  • step S202 the control device 11 stops the automatic traveling device 10 from traveling by controlling the traveling drive device 18.
  • step S203 the control device 11 determines whether a person is on the escalator 50 based on the image obtained from the camera 15. If a person is on the escalator 50, the process advances to step S204. If no person is on the escalator 50, the process advances to step S205.
  • step S204 the control device 11 controls the travel drive device 18 based on the image obtained from the camera 15 until the escalator 50 is no longer occupied, thereby causing the automatic travel device 10 to run. Stop.
  • step S205 the control device 11 transmits a deceleration command for the escalator 50 to the escalator 50 via the wireless communication device 14.
  • the wireless communication device 21 of the escalator 50 receives the deceleration command.
  • the control panel 6 of the escalator 50 decelerates the progress of the steps 4, the handrail 5, and the handrail 22 of the escalator 50.
  • step S206 the control device 11 causes the speaker 16 to output an announcement sound that the escalator 50 will decelerate.
  • step S207 the control device 11 detects the position of the moving handrail 5 of the escalator 50 based on the image obtained from the camera 15, and controls the arm drive device 19 so that the arm 17 can grasp the moving handrail 5. 17.
  • step S208 the control device 11 transmits a command to increase the speed of the escalator 50 to the escalator 50 via the wireless communication device 14.
  • the wireless communication device 21 of the escalator 50 receives the speed increase command.
  • the control panel 6 of the escalator 50 accelerates the progress of the steps 4, the moving handrail 5, and the handrail 22 of the escalator 50.
  • the automatic traveling device 10 hangs from the moving handrail 5.
  • the roller 23 rotates in the direction in which the balustrade 22 moves.
  • step S209 the control device 11 causes the speaker 16 to output an announcement voice that the escalator 50 will increase speed.
  • step S210 the control device 11 causes the speaker 16 to output an announcement voice requesting that no one get on the escalator 50.
  • step S211 when the automatic traveling device 10 arrives at the exit position of the escalator 50, the process advances to step S212.
  • step S212 the control device 11 transmits a command to decelerate the escalator 50 to the escalator 50 via the wireless communication device 14.
  • the wireless communication device 21 of the escalator 50 receives the deceleration command.
  • the control panel 6 of the escalator 50 decelerates the progress of the steps 4, the handrail 5, and the handrail 22 of the escalator 50.
  • step S213 the control device 11 causes the speaker 16 to output an announcement sound that the escalator 50 is decelerating.
  • step S214 the arm 17 is released from the movable handrail 5 by folding back the movable handrail 5.
  • the automatic traveling device 10 lands at the alighting position.
  • step S215 the control device 11 transmits a command to increase the speed of the escalator 50 to the escalator 50 via the wireless communication device 14.
  • the wireless communication device 21 of the escalator 50 receives the speed increase command.
  • the control panel 6 of the escalator 50 accelerates the progress of the steps 4, the moving handrail 5, and the handrail 22 of the escalator 50.
  • step S216 the control device 11 causes the speaker 16 to output an announcement voice that the escalator 50 will increase speed.
  • FIG. 10 is a diagram showing a connection state between the automatic traveling device 10 and the escalator 50 according to the third embodiment.
  • the automatic traveling device 10 includes a right arm 17A, a left arm 17B, a right roller 23A, and a left roller 23B.
  • the right arm 17A is arranged on the right side of the main body of the automatic traveling device 10.
  • the left arm 17B is arranged on the left side of the main body of the automatic traveling device 10.
  • the arm drive device 19 can control the right arm 17A and the left arm 17B in the same way as it controlled the arm 17 in the first and second embodiments.
  • the right roller 23A is configured to be able to rotate in the advancing direction of the right handrail 22A by contacting the inner plate 24A of the right handrail 22A.
  • the left roller 23B is configured to contact the inner plate 24B of the left handrail 22B and to be rotatable in the traveling direction of the left handrail 22B.
  • the speaker 16 of the automatic traveling device 10 announces the deceleration of the escalator 50, etc., but the present invention is not limited to this.
  • the speaker 3 of the escalator 50 may announce the deceleration of the escalator 50, etc.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Escalators And Moving Walkways (AREA)
PCT/JP2022/021087 2022-05-23 2022-05-23 自動走行装置、エスカレータおよび自動走行装置のエスカレータ乗車方法 Ceased WO2023228240A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN202280096264.4A CN119255890A (zh) 2022-05-23 2022-05-23 自动行驶装置、自动扶梯以及自动行驶装置的自动扶梯乘梯方法
JP2024522736A JP7679552B2 (ja) 2022-05-23 2022-05-23 自動走行装置、エスカレータおよび自動走行装置のエスカレータ乗車方法
PCT/JP2022/021087 WO2023228240A1 (ja) 2022-05-23 2022-05-23 自動走行装置、エスカレータおよび自動走行装置のエスカレータ乗車方法

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Application Number Priority Date Filing Date Title
PCT/JP2022/021087 WO2023228240A1 (ja) 2022-05-23 2022-05-23 自動走行装置、エスカレータおよび自動走行装置のエスカレータ乗車方法

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5421394U (https=) * 1977-07-15 1979-02-10
JPS54124488A (en) * 1978-03-04 1979-09-27 Orenstein & Koppel Ag Moving stairway provided with taking device for carrying cart
JPH0929668A (ja) * 1995-07-20 1997-02-04 Mitsubishi Denki Bill Techno Service Kk エスカレーターの作業用足場台およびその取り付け方法
JPH11335057A (ja) * 1998-05-29 1999-12-07 Nippon Fillester Co Ltd エスカレータの車椅子乗載装置
JP2015003810A (ja) * 2013-06-21 2015-01-08 株式会社日立ビルシステム 乗客コンベアの荷物運搬装置
JP2019001613A (ja) * 2017-06-15 2019-01-10 株式会社日立ビルシステム 乗客コンベアー装置、乗客コンベアー装置の制御方法、および乗客コンベアー装置制御システム

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008229788A (ja) * 2007-03-22 2008-10-02 Toyota Motor Corp 倒立型移動体
JP7407379B2 (ja) * 2020-04-22 2024-01-04 康彦 可知 昇降装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5421394U (https=) * 1977-07-15 1979-02-10
JPS54124488A (en) * 1978-03-04 1979-09-27 Orenstein & Koppel Ag Moving stairway provided with taking device for carrying cart
JPH0929668A (ja) * 1995-07-20 1997-02-04 Mitsubishi Denki Bill Techno Service Kk エスカレーターの作業用足場台およびその取り付け方法
JPH11335057A (ja) * 1998-05-29 1999-12-07 Nippon Fillester Co Ltd エスカレータの車椅子乗載装置
JP2015003810A (ja) * 2013-06-21 2015-01-08 株式会社日立ビルシステム 乗客コンベアの荷物運搬装置
JP2019001613A (ja) * 2017-06-15 2019-01-10 株式会社日立ビルシステム 乗客コンベアー装置、乗客コンベアー装置の制御方法、および乗客コンベアー装置制御システム

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CN119255890A (zh) 2025-01-03
JPWO2023228240A1 (https=) 2023-11-30

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