JP2010189162A - Elevator with inspection system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an elevator with an inspection system using sensors mounted on a self-propelled robot which goes round a building, for automatically inspecting the operating condition and the function. <P>SOLUTION: The elevator 1 includes the inspection system 50. The inspection system 50 includes elevator side communication devices 51, 52, an inspection control device 53, an inspecting operation command device 54, and a data processor 55. The elevator side communication devices 51, 52 are communicated in connection with a robot side communication device 205. The inspection control device 53 outputs a control signal to move a passenger car 4 in response to a call signal and an operation signal delivered from the robot 200. The inspecting operation command device 54 receives from the robot 200 measurement data which the sensors of the robot 200 acquire during a time right before the robot 200 gets on the passenger car 4 but right after it gets off. The data processor 55 basically analyzes the received measurement data and information for operating the passenger car 4 received from the inspection control device 53. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an elevator equipped with an inspection system that performs unmanned operation state inspection.

  When performing elevator maintenance, workers go directly to the site, inspect with various measuring devices, and adjust and replace consumables as necessary. As the function of the elevator is improved, the inspection items at the time of the maintenance are diversified, so that the time and cost required for work per elevator are also increasing. Patent Documents 1 to 3 describe inspection devices that partially inspect the functions of existing facilities.

  The automatic check device described in Patent Document 1 automatically checks the call function of an elevator call device. In addition, the inspection device described in Patent Document 2 detects a shift in the angle of view, focus, and the like of the in-car monitoring camera and notifies a neighboring management center or the like. The inspection device described in Patent Document 3 automatically performs an inspection operation after an earthquake occurs. It is determined whether or not it is possible to return to normal operation after an earthquake by detecting whether an abnormal sound is generated during the inspection operation with a telephone set provided in the car.

  Patent Documents 4 and 5 describe robots that use an elevator to go around a building. The security robot described in Patent Document 4 includes an ultrasonic sensor and an optical sensor for recognizing the surrounding environment, a gyro sensor and a pulse encoder for detecting a movement amount and a movement direction. In addition to the above sensors, the security robot includes an infrared detection sensor that detects a human body, a fire detection sensor that detects flames and smoke, a water leakage detection sensor that detects whether there is water on the floor, a camera, and a microphone. Yes.

  A monitoring computer is provided to monitor the operation status and current position of the security robot. The monitoring computer can receive abnormality information and video and sound at that time from the security robot by wireless communication, and can remotely operate the security robot by transmitting a command to the security robot as necessary. Then, the security robot patrols the security area in charge according to the map information inside the building and the preset program or the command of the monitoring computer. The security robot moves between floors using an elevator.

  The cleaning robot described in Patent Document 5 communicates with an elevator control panel, calls a norikura, and designates a destination floor. The elevator control panel starts counting by a built-in timer when the cleaning robot gets on or off the board. When the predetermined time or more has elapsed, the elevator control panel determines that there is some abnormality in the cleaning robot and outputs an alarm. As a means for communicating with the robot, the robot is provided with a robot-side optical transmission device, and on the elevator side, a landing light transmission device is provided at the elevator hall on each floor, and an in-car optical transmission device is provided in the elevator car.

  Also, when a disaster such as an earthquake occurs during the operation of the cleaning robot, the elevator control panel outputs a signal from the landing light transmission device or the in-car light transmission device according to the current position of the cleaning robot, and the cleaning robot Suspend work.

JP 2007-119106 A JP 2005-263421 A JP 2005-132563 A JP 2003-288118 A JP 2007-137650 A

  Since the inspection devices described in Patent Documents 1 to 3 perform inspection based on information monitored using an existing communication line, it is not necessary for an operator to go to the site. However, only information that can be acquired by the camera and microphone can be examined. Therefore, in order to acquire other information, it is necessary to equip each elevator with a sensor for detecting necessary information. However, a sensor that is used only during maintenance becomes a factor that increases the installation cost of an elevator, and periodic calibration is required to ensure that the value detected by the sensor is correct.

  Further, the security robot described in Patent Document 4 and the cleaning robot described in Patent Document 5 only use an elevator. These self-propelled robots provide communication means with the outside, but are only used for receiving external instructions and reporting work results. In general, a self-propelled robot is equipped with various sensors in order to perform operation control.

  Therefore, the present invention provides an elevator equipped with an inspection system for inspecting the operation state and function by using a sensor equipped on a self-propelled robot that circulates in a building.

  The elevator according to the present invention is installed in a building provided with a self-propelled robot that circulates in a building and includes at least an acceleration sensor, a gyro sensor, an acoustic sensor, a robot side communication device, and a driving device. This elevator includes an inspection system that automatically performs inspections related to riding operations by utilizing each measurement data acquired by each sensor of the robot. This inspection system has an elevator side communication device, an inspection control device, an inspection operation command device, and a data processing device. The elevator side communication device is connected to the robot side communication device to perform data communication with the robot. When the inspection control device receives a call signal for calling on the ride and an operation signal for designating the destination floor from the robot via the robot side communication device and the elevator side communication device, the inspection control device controls the operation of the ride. A control signal is output to the elevator control device. The inspection operation command device obtains at least one measurement data from the robot through the robot side communication device and the elevator side communication device before the robot gets on the ride until it gets off. The data processing device analyzes at least one of the measurement data obtained by the inspection operation command device based on the riding operation information obtained from the elevator control device.

  In addition, when the robot is equipped with a camera, the inspection operation command device sends the image data obtained by the camera between the robot side communication device and the elevator side before the robot gets on the ride until it gets off. Obtained from a robot via a communication device. The elevator-side communication device is disposed at each of the positions where communication with the robot waiting in each elevator hall of the building and the position where communication with the robot riding on the rider can be made.

  The inspection operation command device issues an instruction to stop the robot for a certain period of time at a position straddling the sill door device in order to check the optical door sensor provided in the saddle door device. Alternatively, the inspection operation command device issues an instruction to stop the robot for a certain period of time at a position across the sill of the saddle door device in order to check the safety shoe provided on the saddle door device of the riding board. Alternatively, the inspection operation command device issues an instruction to move the robot to a designated position inside the riding board in order to adjust the focal position and the angle of view of the indoor camera installed in the riding board.

  The data processing device is a hall floor of the floor on which the norikura is landing, with a pattern of measurement data measured by at least one of the acceleration sensor and the gyro sensor while the robot passes through the sill of the norihi noshi door device. Is compared with a pattern of measurement data measured in advance in a state where the level difference between the vehicle and the riding bed is within the allowable range, and it is determined whether or not the level difference is within the allowable range.

  When the robot has an illuminance meter, the inspection operation command device sends the illuminance data obtained by the illuminance meter through the robot side communication device and the elevator side communication device while the robot is riding on the rider. Obtain from a robot. Then, the data processing apparatus compares the illuminance data with an allowable value of illuminance prepared in advance, and determines whether there is any abnormality in the riding illuminator.

  In addition, when the robot includes a thermometer, the inspection operation command device sends the temperature data obtained by the thermometer via the robot-side communication device and the elevator-side communication device while the robot is on the ride. Obtain from a robot. The data processing device compares the temperature data with a temperature preset in the Norikura air conditioner and outputs the result to the inspection control device. The inspection control device outputs a signal for calibrating the temperature of the air conditioner to the elevator control device.

  Then, the inspection control device notifies the result of each measurement data analyzed by the data processing device to the maintenance center that supervises this elevator.

  When this elevator is provided with multiple riders in the same hoistway, the inspection control device returns a different ride from the patrol to the floor where the robot got off to go to the floor where the robot got off. Wear it and wait until it comes.

  This elevator serves as a riding rod, an upper riding rod and a lower riding rod arranged in the same hoistway, an outer frame that connects the upper riding rod and the lower riding rod so as to be relatively movable, an upper riding rod and a lower riding rod. When the inspection control device receives a call signal from the robot via the elevator side communication device, the inspection control device is arranged between the nomen A control signal for landing one of the passengers in the elevator hall where the robot stands by is output to the elevator control device. Then, after carrying out automatic inspection of one of the upper and lower rides by the inspection system, if a call signal is received from the robot via the elevator side communication device of the elevator hall on the floor where the robot is alighted, the inspection control The apparatus outputs to the elevator control device a control signal for landing the upper or lower boarding on the side different from the side on which the robot got off the floor to the floor on which the robot got off.

  The inspection control device causes the inspection operation command device to obtain measurement data from the robot when a call signal is received or when a predetermined period or more has elapsed since the previous inspection.

  According to the elevator inspection system of the present invention, by using various sensors mounted on a self-propelled robot that circulates in a building, a regular worker has been carried out by bringing equipment to the site in the past. Inspection work can be performed automatically. In addition, the elevator can be periodically inspected at times when the elevator is not used at all, such as at night. Furthermore, since installation and removal work of equipment is not required, it is possible to measure data necessary for periodic inspections in several times by utilizing the time when there is no user, not only at night.

  If it is a self-propelled robot that patrols the building for security, etc., it will patrol every day, so even if multiple elevators are installed in the building, inspection per unit must be carried out frequently. Can do. As it becomes easier to find signs of malfunctions such as secular changes, it will be possible to respond accurately and promptly, such as replacing consumables.

Sectional drawing which shows the elevator of 1st Embodiment which concerns on this invention. The block diagram of the inspection system of the elevator shown in FIG. The perspective view in the state where the robot straddled the threshold of the elevator door apparatus of the elevator shown in FIG. The flowchart of the elevator inspection system shown in FIG. The flowchart which shows the procedure of the opening time measurement of the door in FIG. The flowchart which shows the procedure of the door sensor function confirmation in FIG. The flowchart which shows the procedure of the level check of the hall floor and boarding floor in FIG. The flowchart which shows the procedure of the noise check and vibration check in FIG. The figure of an example which attached | subjected the evaluation level when the inspection system of the elevator shown in FIG. 2 transmits inspection result data to a maintenance center. Sectional drawing which shows the elevator of 2nd Embodiment which concerns on this invention. Fig. 11 is a flowchart of the elevator inspection system shown in Fig. 10.

  The elevator 1 of 1st Embodiment which concerns on this invention is demonstrated with reference to FIGS. The elevator 1 includes an inspection system 50 and is installed in a building 100 where a self-propelled robot 200 that circulates in the building is provided. The inspection system 50 for the elevator 1 communicates with the robot 200, and automatically performs inspections related to the operation of the elevator 1 by utilizing sensors equipped in the robot 200.

  As shown in FIG. 1, the elevator 1 includes a hoisting machine 3, a riding rod 4, a counterweight 5, an elevator operation control unit 6, an elevator control device 7, a landing door device 8, a saddle door device 41, a door sensor 411, and a safety. A shoe 412, a lighting device 42, and an indoor camera 43 are provided. The hoisting machine 3 suspends a riding rod 4 and a counterweight 5 connected by a main rope 31 in a hoistway 2 in a hanging manner. The elevator operation control unit 6 controls the hoisting machine 3 based on a control signal from the elevator control device 7 to move and stop the riding rod 4.

  A call button 102 for calling the norikura 4 is provided in the elevator hall 101 on each floor. An operation button 44 for setting the destination floor and opening and closing the door is provided inside the riding board 4. The elevator control device 7 sends a control signal for controlling the operation of the passenger car 4 based on the call signal input from the call button 102 and the operation signal input from the operation button 44 to the elevator operation control unit 6 and the car door. Output to the device 41 respectively.

  The landing door device 8 is opened in conjunction with the saddle door device 41 in a state where the riding rod 4 has landed on the floor. The door sensor 411 and the safety shoe 412 are incorporated in the heel door device 41. The door sensor 411 is an infrared sensor, and detects an object that crosses the doorway in a state where the saddle door device 41 and the landing door device 8 are opened. The safety shoe 412 is attached so as to protrude beyond the contact portion of the door panel of the saddle door device 41, and detects an obstacle by retracting to the door panel side when it comes into contact with the object placed across the doorway. The illuminating device 42 is installed in the passenger car 4, for example, the ceiling. The indoor camera 43 is installed at a position above the operation button 44 and can capture almost the entire area of the passenger car 4 in the room.

  As the self-propelled robot 200, a security robot or a cleaning robot that patrols all the floors every day after the user leaves the building 100 is preferable. As shown in FIG. 2, the robot 200 includes at least an acceleration sensor 201, a gyro sensor 202, an acoustic sensor 203, a camera 204, a robot side communication device 205, and a driving device 206, and in addition to this, an illuminometer 207 and a thermometer 208 A timer 209 and the like are incorporated. As shown in FIG. 1, the robot 200 uses the elevator 1 to visit each floor of the building 100.

  The inspection system 50 includes elevator-side communication devices 51 and 52, an inspection control device 53, an inspection operation command device 54, and a data processing device 55. The elevator side communication devices 51 and 52 are connected to the robot side communication device 205 and perform wireless communication between the robot 200 and the elevator 1. The elevator side communication devices 51 and 52 are respectively installed in the elevator hall 101 and the passenger car 4 on each floor. In an environment that is not suitable for wireless communication, connection ports may be provided in both the elevator hall 101 and the ride 4 and the robot 200 to perform wired communication.

  If the robot 200 includes an arm that can directly operate the call button 102 or the operation button 44, the robot 200 may be pressed. However, it is necessary to be able to communicate between the elevator side communication devices 51 and 52 and the robot side communication device 205 in order to distinguish them from people and exchange data.

  The inspection control device 53 is sent from the robot 200 via the call signal sent from the robot 200 via the elevator-side communication device 51 in the elevator hall 101, and the elevator-side communication device 52 in the passenger car 4. In response to the operation signal, a control signal is output to the elevator control device 7 to move the riding rod 4. When a plurality of elevators 1 are installed in the same building 100 as shown in FIG. 2, the inspection control device 53 performs so-called group management for managing the plurality of elevators 1 in an integrated manner. The operation in the inspection operation of 1 is controlled.

  The inspection operation command device 54 sends data measured by each sensor mounted on the robot 200 from immediately before the robot 200 gets on the ride 4 to immediately after it gets off from the robot 200 to the robot side communication device 205 and the elevator. Obtained via the side communication devices 51 and 52. The data acquired from the robot 200 by the inspection operation command device 54 includes data acquired by the acceleration sensor 201, gyro sensor 202, acoustic sensor 203, illuminometer 207, thermometer 208, timer 209, and image taken by the camera 204. It is data.

  Further, the inspection operation command device 54 stops for a certain time at a position straddling the sill 413 of the heel door device 41 as shown in FIG. 3 in order to inspect the door sensor 411 and the safety shoe 412 of the heel door device 41. The robot 200 is instructed to do so. Further, the inspection operation command device 54 instructs the robot 200 to move to a designated position inside the riding rod 4 in order to adjust the focal position and the angle of view of the indoor camera 43 of the riding rod 4.

  The data processing device 55 analyzes the data obtained from the inspection operation command device 54 from the robot 200 and the operation information of the riding car 4 obtained from the elevator control device 7 controlled by the inspection control device 53. The analyzed result is stored in a storage medium provided in the data processing device 55 or the inspection control device 53, and as shown in FIG. 2, the network 301 or the like is sent to the maintenance center 300 that controls the elevator 1 of the building 100. It is reported via. The notification to the maintenance center 300 may be performed when the analysis result exceeds the allowable value or when the analysis result for several times is accumulated.

  An example of the flow of the automatic inspection operation performed by the inspection system 50 of the elevator 1 having the above configuration will be described according to the flowcharts of FIGS. When the robot 200 arrives at the elevator hall 101 in order to change the floor in the course of traveling around the building 100, the robot 200 moves from the robot side communication device 205 to the elevator side communication device to call the passenger 4 as shown in FIG. A call signal is wirelessly transmitted to 51 (S10). When the calling signal is input from the elevator side communication device 51, the inspection control device 53 arranges the riding rod 4 and at the same time determines whether the elevator 1 has passed a certain period from the previous inspection date (S20).

  When the predetermined period has elapsed, the inspection control device 53 instructs the inspection operation command device 54 to start the inspection of the elevator 1. The inspection operation command device 54 instructs the robot 200 to transmit the data of each sensor to start the automatic inspection (S30). When the robot 200 is operating for patrol, the robot 200 permits transmission of sensor data (S40), and maintains the communication state while waiting for the next instruction.

  After the norikura 4 arrives (S50), the door is opened. At this time, the elevator control device 7 outputs a door opening start signal. The inspection operation command device 54 detects this via the inspection control device 53, and starts the door opening time measurement step (S60) shown in FIG. As shown in FIG. 5, the inspection operation command device 54 receives a signal indicating that the coffin door device 41 has been opened from the elevator control device 7 via the inspection control device 53 (S 61), and then via the elevator-side communication device 51. This is transmitted to the robot 200.

  When there are a plurality of elevators 1 in the building 100, the inspection control device 53 notifies the robot 200 via the inspection operation command device 54 in advance which elevator 1 has been arranged. Thereby, the robot 200 can wait in front of the door of the elevator 1 that arrives.

  The robot 200 that has received the signal indicating that the saddle door device 41 has been opened transmits a signal indicating that the forward movement is started to the inspection operation command device 54, and then, as shown in FIG. As shown in FIG. 5, the timer 209 starts measuring the door opening time (S62). Moreover, after transmitting the signal of the completion of opening of the heel door device 41, the inspection operation command device 54 starts the door sensor function confirmation step (S80) shown in FIG. 6 at the same time. Further, when a signal indicating that the vehicle has started moving forward is received from the robot 200, the inspection operation command device 54 starts a level check step (S90) for determining the height difference between the hall floor and the riding floor. Thereafter, the step of measuring the door opening time (S60), the door sensor function confirmation step (S80), and the level check step (S90) are executed substantially in parallel.

  Therefore, the door opening time measuring step (S60) will be described with reference to FIG. When the inspection operation command device 54 detects that the robot 200 has passed the coffin door device 41 by the door sensor 411, the inspection operation command device 54 immediately instructs the robot 200 to return to the position across the threshold 413 of the coffin door device 41 and stop. Put out.

  When a certain time set in the elevator control device 7 for closing the coffin door device 41 elapses after the coffin door device 41 is opened, a signal for starting door closing is sent from the elevator control device 7 as shown in FIG. Is output (S63). At this time, since the robot 200 is stopped on the threshold 413, the door sensor 411 is operating. Therefore, the coffin door device 41 is not actually closed. The inspection control device 53 detects a door closing start signal and notifies the robot 200 via the inspection operation command device 54. The robot 200 transmits the door opening time from the completion of door opening to the start of door closing measured by the timer 209 to the inspection operation command device 54 (S64).

  The inspection operation command device 54 sends the door opening time to the data processing device 55. The data processor 55 compares the preset door opening time (S65). When the measured value is within the allowable range, the measured value is output and recorded as the current inspection result to the inspection control device 53 (S66). If the measured value is outside the allowable range, the measured value is output to the inspection operation command device 54 together with an error from the set value. The inspection operation command device 54 outputs a command signal for calibrating the error to the elevator control device 7 via the inspection control device 53.

  Upon receiving the calibration command signal, the elevator control device 7 calibrates the set door opening time according to the command signal (S67), and outputs a door opening completion signal (S61). Then, a series of door opening times are measured again. This operation is repeated several times until the measurement result falls within the allowable range. When the measured value falls within the allowable range, the number of calibrations and the measured value are output to the inspection control device 53 and recorded. If the allowable value is not reached even after repeated calibration several times, the failure is output to the inspection control device 53 and recorded.

  Note that the door opening time is set for the saddle door device 41. Therefore, once it is confirmed that the door opening time is within the allowable range, it is not necessary to measure when the robot 200 gets on or off the other floor. Further, the door opening time measurement step (S60) may be completed in the operation of the robot 200 traveling without being completed on the same floor. That is, when the opening time needs to be calibrated, the door closing start time is corrected (S67) until the next time the robot 200 rides on the elevator 4 and the robot 200 is reconfirmed when entering the elevator. The procedure of performing

  Next, the door sensor function confirmation step (S80) shown in FIG. 6 will be described. First, the function of the door sensor 411 will be described. The door sensor 411 continues to output a detection signal to the elevator control device 7 while detecting that the infrared light path is blocked. While receiving this detection signal, the elevator control device 7 gives priority to keeping the saddle door device 41 open even if a door closing start signal is output. Even when the detection signal is received after the door closing start signal has already been output, the elevator control device 7 immediately outputs a signal for opening the door.

  In order to check these functions, when the inspection operation command device 54 receives a signal indicating that the robot 200 has started to move forward (S70), the robot 200 detects that the door sensor 411 of the saddle door device 41 is based on this signal. Predict when to cut off infrared rays. When the robot 200 continues to move forward and the infrared rays from the door sensor 411 are blocked (S81), the detection signal is sent from the elevator control device 7 to the inspection operation command device 54 via the inspection control device 53. The inspection operation command device 54 sends the predicted value of the timing at which the infrared rays are blocked and the detection signal of the door sensor 411 to the data processing device 55. The data processing device 55 compares the timing at which the detection signal of the door sensor 411 is detected with the predicted value, and determines whether the door sensor 411 is functioning normally.

  Further, instructed by the inspection operation command device 54, the robot 200 has returned to the position straddling the sill door device 41 and stopped. Therefore, the inspection operation command device 54 confirms that the saddle door device 41 does not operate when the detection signal of the door sensor 411 is continuously output when the door control start signal is output from the elevator control device 7. (S82). The fact that the door sensor 411 is functioning correctly is output from the inspection operation command device 54 to the inspection control device 53 (S83) and recorded.

  The inspection operation command device 54 ignores the detection signal of the door sensor 411 and sends an instruction to close the saddle door device 41 to the elevator control device 7 (S84). When the heel door device 41 starts to close, the safety shoe 412 operates by contacting the robot 200 (S85). The elevator control device 7 outputs a control signal for opening the saddle door device 41 when detecting a signal that the safety shoe 412 is activated. The inspection operation command device 54 confirms that the safety shoe 412 is functioning correctly by detecting the signal that the safety shoe 412 is activated and the control signal that opens the saddle door device 41, respectively (S86). The fact that the safety shoe 412 is functioning correctly is output to the inspection control device 53 and recorded (S87).

  If the function check of the safety shoe 412 is not automatically added to the items of the inspection system, the inspection operation command device 54 instructs the robot 200 to return to the position across the threshold 413 of the heel door device 41. Not issued. Therefore, the function confirmation of the door sensor 411 is determined by whether or not the door sensor 411 outputs a detection signal when the robot 200 passes the saddle door device 41. When the door opening time is not within the allowable range as a result of the door opening time measurement, the inspection operation command device 54 immediately outputs a signal requesting the elevator control device 7 to open the saddle door device 41. Thereafter, the door opening time is calibrated, and the door opening time measurement is repeated several times.

  The level check step (S90) is performed according to FIG. When the level check is started, the robot 200 starts recording by the acceleration sensor 201 and the gyro sensor 202 (S91). The inspection operation command device 54 acquires measurement data of the acceleration sensor 201 and the gyro sensor 202 before and after passing through the sill 413 from the robot 200 after the robot 200 enters the platform 4 (S92). The inspection operation command device 54 has data patterns of the acceleration sensor 201 and the gyro sensor 202 that are measured when the level difference between the hall floor and the floor is within an allowable range. The inspection operation command device 54 sends this data pattern and the measurement data obtained from the robot 200 to the data processing device 55 (S93). The data processing device 55 confirms that the level difference between the hall floor and the floor is within the allowable range by comparing the data pattern with the measurement data when the level difference is within the allowable range (S94) (S95). )

  A plurality of data patterns are prepared in association with the level difference. Therefore, the inspection operation command device 54 assesses how much level difference has occurred from the magnitude of the deviation of the measurement data. When the level difference exceeds the allowable range, the inspection operation command device 54 causes the elevator control device 7 to perform level adjustment via the inspection control device 53 (S96). Further, the inspection operation command device 54 instructs the robot 200 to pass through the heel door device 41 again (S97). The robot 200 gets off from the rider 4 to check the level (S98). Then, after the level is calibrated by the elevator control device 7, the robot 200 rides while measuring with the acceleration sensor 201 and the gyro sensor 202. If the level difference is within the allowable range, the presence / absence and number of calibrations and the final measurement data are sent from the inspection operation command device 54 to the inspection control device 53 and recorded (S99).

  When the door opening time measurement, the door sensor function confirmation, and the level check are completed, the inspection operation command device 54 confirms the destination floor with the robot 200. The robot 200 transmits the destination floor to the inspection control device 53 via the elevator side communication device 52 in the riding board 4 (S100), and waits in the riding board (S110).

  When a signal indicating completion of closing of the coffin door device 41 is sent from the elevator control device 7, the inspection operation command device 54 starts a camera designated position check, illuminance check, noise check and vibration check step (S120). In order to adjust the angle of view and the focus of the indoor camera 43 installed in the passenger car 4, in the camera designated position check, the inspection operation command device 54 uses the image data taken by the indoor camera 43 of the passenger car 4 as an elevator. Obtained from the control device 7. This image data is stored together with other inspection records.

  The illuminance check is performed using the illuminance meter 207 of the robot 200. The inspection operation command device 54 sends the illuminance data of the illuminating device 42 obtained from the robot 200 and the allowable illuminance value prepared in advance to the data processing device 55 via the elevator-side communication device 52. The data processing device 55 compares the obtained illuminance data with an allowable value, and determines whether there is an abnormality in the light source of the illumination device 42 in the riding rod 4. For example, when the measurement data is lower than the preset illuminance, there is a problem that some of the plurality of light sources of the illuminating device 42 are not turned on or the light transmitting plate of the illuminating device 42 is dirty. Judge that Illuminance measurement data and determination results are stored in the inspection control device 53 together with other data. The camera designated position check and the illuminance check may be performed at least once while the robot 200 travels around the building 100.

  The noise check and vibration check are performed according to FIG. The inspection operation command device 54 acquires the position, moving direction, and moving speed data of the riding rod 4 from the elevator control device 7 (S121). Further, the inspection operation command device 54 transmits data measured by the acceleration sensor 201, the gyro sensor 202, and the acoustic sensor 203 while the vehicle 4 is moving via the robot side communication device 205 and the elevator side communication device 52. Obtained from the robot 200 (S122).

  Each data obtained by the inspection operation command device 54 is associated with the data of the riding position, the moving direction, and the moving speed and sent to the data processing device 55 (S123). The data processing device 55 compares the reference value and allowable value set in advance according to the position, moving direction, moving speed, etc. of the ride 4 with the obtained measurement data (S124). When the measurement data deviates from the reference value and the allowable value, the position of the rider 4 at that time and the deviation from the reference value are sent to the inspection control device and recorded (S125).

  In addition to this, the lighting of the call button 102 and the operation button 44 is checked using the camera 204 of the robot 200, and the volume of the announcement flowing in the cabin of the riding board 4 is checked using the acoustic sensor 203 of the robot 200. Inspection items can be set according to the sensors installed in the robot 200, such as checking the volume of the intercom and checking the set temperature of the air conditioner in the cabin using the thermometer 208 of the robot 200. And what can be dealt with by calibrating the set value can be improved on the spot by outputting a calibration signal from the inspection control device 53 based on the analysis result outputted from the data processing device 55. . In addition, what is required to be adjusted by the worker is recorded together with the measurement data that the response is necessary.

  When the rider 4 arrives at the destination floor designated by the robot 200 (S130), it is confirmed that the rider 4 has landed from the elevator control device 7 and the saddle door device 41 has been opened through the inspection control device 53. The inspection operation command device 54 is notified. When the inspection control device 53 notifies the robot 200 that the heel door device 41 has been opened, the robot 200 gets off (S140). The inspection operation command device 54 checks the level of the floor on which the robot 200 is placed by receiving the detection signal of the door sensor 411 of the saddle door device 41 from the elevator control device 7 on the destination floor. Then, the inspection of the section from the floor where the robot is placed to the destination floor is completed.

  The inspection operation command device 54 obtains the measurement data of the acceleration sensor 201 and the gyro sensor 202 even when the robot 200 gets off from the ride 4 and performs a level check of the hall floor and the ride floor on the destination floor. May be. By the way, the robot 200 patrols all the floors of the building 100. Therefore, if the level check of the floor where the robot 200 is alighted is measured when the robot 200 gets on the rider 4, the level check of all the floors can be performed without fail.

  In FIG. 4, when the robot 200 calls on boarding via the elevator-side communication device 51 (S10), if a certain period has not elapsed since the previous inspection execution date, the inspection control device 53 causes the robot 200 to Arrange the Norikura 4 so that you can move to the next floor to patrol. Then, the robot 200 is transported to the floor requested by the robot 200.

  When a series of inspection operations are completed, as shown in FIG. 2, the inspection control device 53 performs maintenance for integrated management of the neighboring building 100 using the acquired inspection result data, for example, using an Internet line or a dedicated line. It transmits to the center 300 collectively. At this time, by giving some evaluation to each inspection item of the inspection result data, the subsequent response becomes smooth. In particular, items that require workers to go to the site are given high priority evaluations.

  An example in which the evaluation rank is assigned to the inspection result data is shown in FIG. In FIG. 9, a five-level evaluation is given for each of the inspection items with respect to safety and customer impact. The safety degree “1” is the safest, and the influence degree “1” indicates the least influence. And based on these, from the viewpoint of judgment of the specified value (inspection result), “A: Good (within the reference value)”, “B: Necessary to respond by the next time (outside the reference value but within the allowable range)”, “ “C: Side action is necessary (exceeds allowable range)”.

  In FIG. 9, focusing on the item of illuminance check, the safety degree is “2”, while the influence degree is “5”, so the specified value judgment is “C”. In the inspection, it has been detected that the lighting device 42 is not blinking or insufficient in illuminance. Since the illuminance in the passenger car 4 has a great influence on the user, priority is given to the determination of the degree of influence.

  The maintenance center 300 is connected to the elevator 1 installed in the neighboring building 100 via the network 301 or the like, and the inspection results are periodically reported from the inspection system 50 of each elevator 1. The worker who is waiting at the maintenance center 300 can examine whether there is a need to go to the site or whether it can be improved by remote control based on the report of the inspection result that has been reported. The burden on maintenance can be reduced, and a quick and appropriate response can be made. Of the elevators that have been inspected, those that require urgent response depending on the inspection results can be remotely operated from the maintenance center 300.

  The elevator 1 of 2nd Embodiment which concerns on this invention is demonstrated with reference to FIG. 10 and FIG. As shown in FIG. 10, the elevator 1 is a double deck elevator having two riding rods 4 in the same hoistway 2. As shown in FIG. 10, the elevator 1 includes an outer frame 45, an upper riding rod 4 </ b> A, a lower riding rod 4 </ b> B, and a floor adjustment mechanism 46. The upper riding rod 4A and the lower riding rod 4B are vertically arranged in the outer frame 45, and can be moved up and down within the range of the outer frame 45, respectively. The inter-story adjustment mechanism 46 is disposed between the upper and lower rods 4A and 4B, and adjusts the relative distance between the upper and lower rods 4A and 4B. And the thing of the same structure as the structure with which the riding rod 4 of the elevator 1 of 1st Embodiment was equipped is equipped with the upper riding rod 4A and the lower riding rod 4B.

  The configuration of the elevator 1 is the same as that of the elevator 1 of the first embodiment except that it is a double deck elevator. Therefore, components having the same functions as those of the first embodiment are denoted by the same reference numerals as those of the first embodiment, and description thereof is omitted. For details of each part, refer to the description of the first embodiment and the drawings.

  As in the first embodiment, the elevator 1 is premised on being installed in a building 100 where a self-propelled robot 200 that circulates in the building is provided. Further, the elevator 1 includes an inspection system 50 that communicates with the robot 200 and automatically performs inspections related to the operation of the upper and lower rods 4A and 4B.

  An example of the flow of the automatic inspection operation performed by the inspection system 50 of the elevator 1 will be described according to the flowchart of FIG. When the robot 200 arrives at the elevator hall 101, the robot 200 wirelessly transmits a calling signal to the elevator-side communication device 51 provided in the elevator hall 101 (D10). The inspection control device 53 arranges the upper riding rod 4A and the lower riding rod 4B, and at the same time determines whether a certain period has elapsed from the previous inspection date of the elevator 1 (D20). When the predetermined period has elapsed, the inspection control device 53 instructs the inspection operation command device 54 to start the inspection of the elevator 1.

  Further, the inspection operation command device 54 instructs the robot 200 to transmit data of each sensor necessary for starting the automatic inspection (D30). The robot 200 permits transmission of data from each sensor (D40), and maintains the communication state while waiting for the next instruction. In the present embodiment, of the two passengers, the passenger on the side that becomes the reference floor, the lower passenger 4B arrives in FIG. 10, and the door is opened (D50). Thereafter, the inspection system 50 performs the same inspection operation as the inspection operation in the first embodiment until the robot 200 gets on the lower floor 4B (D60), moves to the destination floor and then gets off to the destination floor (D80). The operation is performed on the lower saddle 4B (D70).

  The robot 200 that gets off to the destination floor patrols the floor where it gets off for security and cleaning. While the robot 200 is patroling, the inspection control device 53 transmits a control signal to the elevator control device 7 to land the upper landing rod 4A on the floor where the robot 200 is patroling (D90). When the robot 200 that has finished patrol returns to the elevator hall 101, it transmits a call signal to move to the next floor (D100). The inspection control device 53 again instructs the robot 200 to transmit data of each sensor necessary for automatic inspection (D110). The robot 200 permits transmission of each data of the sensor as in the case of the lower rider 4B (D120). The inspection control device 53 transmits a control signal to the elevator control device 7 so as to open the saddle door device 41 of the upper riding rod 4A that has already landed on the floor.

  After the eaves door device 41 of the upper riding rod 4A is opened (D130), the robot 200 gets on the upper riding rod 4A (D140), arrives at the next destination floor (D160), and gets off to that floor ( Until D170), the inspection system 50 performs the same inspection operation on the upper saddle 4A as the inspection operation of the first embodiment (D150).

  In order to check the level of all the floors of the building 100 by landing each of the upper and lower rods 4A and 4B, an inspection operation was performed in the same procedure as in the first embodiment. So, double the process is required. Therefore, the level check is also performed when the robot 200 gets off the boarding. Then, after the robot 200 gets off, the upper riding rod 4A and the lower riding rod 4B are always switched from the floor until the robot 200 gets on again.

  By doing in this way, whenever the robot 200 patrolls one floor, the level check of the upper rider 4A and the lower rider 4B can be performed on that floor. Therefore, the robot 200 patrolls the building 100 once, so that the level check of the upper rider 4A and the lower rider 4B for all floors can be completed. In addition, the vibration check and noise check over the entire hoistway 2 can be performed regardless of which robot the robot 200 is on, because the upper rod 4A and the lower rod 4B are connected by the outer frame 45. it can.

  If the level check results in a need for calibration, the inspection control device 53 outputs an instruction to the elevator control device 7. In addition to the elevator operation control unit 6, the elevator control device 7 may adjust the level adjustment by updating a set value of the floor adjustment mechanism 46, for example, a variable for determining the landing position. .

  A self-propelled robot 200 that patrols all the floors of the building 100, such as a security robot, is set to patrol almost at least once every day. Therefore, in the first embodiment and the second embodiment, the inspection of the elevator 1 does not have to complete all inspection items in one day, and may be performed in several times. Similarly, in the case of a building where a plurality of elevators 1 are installed as shown in FIG. 2, the inspection may be performed in several days.

  Further, the elevator 1 automatically performs an operation function check in cooperation with a self-propelled robot 200 that patrols the building. Therefore, it is desirable not to intervene inspection to such an extent that the operation of the robot 200 is hindered.

  DESCRIPTION OF SYMBOLS 1 ... Elevator, 4 ... Norikura, 4A ... Upper rider, 4B ... Lower rider, 7 ... Elevator control device, 41 ... Eaves door device, 42 ... Illumination device, 43 ... Indoor camera, 45 ... Outer frame, 46 ... Inter-story adjustment mechanism, 50 ... Inspection system, 51 ... Elevator side communication device (of elevator hall), 52 ... Elevator side communication device (within the ride), 53 ... Inspection control device, 54 ... Inspection operation command device, 55 DESCRIPTION OF SYMBOLS ... Data processing apparatus, 100 ... Building, 101 ... Elevator hall, 200 ... Robot, 201 ... Acceleration sensor, 202 ... Gyro sensor, 203 ... Acoustic sensor, 204 ... Camera, 205 ... Robot side communication device, 206 ... Drive device, 207 ... illuminance meter, 208 ... thermometer, 300 ... maintenance center, 411 ... door sensor, 412 ... safety shoe, 413 ... sill.

Claims (13)

An elevator installed in a building provided with a self-propelled robot that circulates in the building with at least an acceleration sensor, a gyro sensor, an acoustic sensor, a robot side communication device, and a driving device,
An inspection system that automatically performs inspections related to riding operations by utilizing each measurement data acquired by the acceleration sensor, the gyro sensor, and the acoustic sensor of the robot,
The inspection system includes:
An elevator communication device connected to the robot communication device for data communication with the robot;
When a call signal for calling the ride and an operation signal for designating a destination floor are received from the robot via the robot side communication device and the elevator side communication device, operation of the ride is performed to move the ride. An inspection control device for outputting a control signal to the elevator control device to be controlled;
An inspection operation command device for obtaining at least one of the measurement data from the robot through the robot side communication device and the elevator side communication device before the robot gets on the ride and after getting off the vehicle;
An elevator comprising: a data processing device that analyzes at least one of the measurement data obtained by the inspection operation command device based on riding operation information obtained from the elevator control device.   When the robot is equipped with a camera, the inspection operation commanding device transmits the image data obtained by the camera before the robot gets on the ride until after it gets off the robot side communication. The elevator according to claim 1, wherein the elevator is obtained from the robot via a device and the elevator-side communication device.   The elevator-side communication device is disposed at each of a position where communication with the robot waiting in each elevator hall of the building and a position where communication with the robot riding on the ride is possible. The elevator according to claim 1.   The inspection operation command device issues an instruction to stop the robot for a certain period of time at a position across the sill of the saddle door device in order to check the optical door sensor provided on the saddle door device of the riding rod. The elevator according to claim 1.   The inspection operation command device issues an instruction to stop the robot for a certain period of time at a position across the sill of the saddle door device in order to check a safety shoe provided in the saddle door device of the riding rod. The elevator according to claim 1.   The inspection operation command device issues an instruction to move the robot to a designated position inside the riding board in order to adjust a focal position and an angle of view of an indoor camera installed in the riding board room. The elevator according to claim 1.   The data processing device has a pattern of measurement data measured by at least one of the acceleration sensor and the gyro sensor while the robot passes through the sill of the saddle door device of the nodule. Whether the level difference is within the allowable range by comparing with the pattern of measurement data measured in advance in a state where the level difference between the hall floor of the floor and the boarding floor is within the allowable range The elevator according to claim 1, wherein: If the robot is equipped with a luminometer,
The inspection operation command device obtains illuminance data obtained by the illuminometer from the robot via the robot side communication device and the elevator side communication device while the robot is on the ride. ,
2. The elevator according to claim 1, wherein the data processing device compares the illuminance data with an allowable illuminance value prepared in advance to determine whether or not there is any abnormality in the riding illuminating device. If the robot is equipped with a thermometer,
The inspection operation command device obtains temperature data obtained by the thermometer from the robot through the robot side communication device and the elevator side communication device while the robot is on the ride. ,
The data processing device compares the temperature data with a temperature preset in the Norikura air conditioner, and outputs the result to the inspection control device,
The elevator according to claim 1, wherein the inspection control device outputs a signal for calibrating the temperature of the air conditioner to the elevator control device.   The elevator according to claim 1, wherein the inspection control device notifies a result of measurement data analyzed by the data processing device to a maintenance center that supervises the elevator.   When a plurality of the rides are provided in the same hoistway, the inspection control device causes the robot to make a different ride from the ride that has put the robot on the floor where the robot got off to go around. The elevator according to any one of claims 1 to 10, wherein the elevator stands by and waits until it comes back from. The riding board includes an upper boarding board and a lower boarding board arranged in the same hoistway, an outer casing frame that connects the upper boarding board and the lower boarding board so as to be relatively movable, the upper boarding board and A floor adjustment mechanism that is disposed between the lower saddle rods and adjusts the relative distance between them,
The inspection control device includes:
When the call signal is received from the robot via the elevator-side communication device, the elevator control device generates a control signal for landing one of the upper riding rod and the lower riding rod in an elevator hall where the robot waits. Output to
After the automatic inspection of one of the upper and lower rides is carried out by the inspection system, the call signal is received from the robot via the elevator side communication device of the elevator hall on the floor where the robot is alighted. In this case, a control signal is output to the elevator control device for landing the upper or lower rider on the side different from the side on which the robot is lowered to the floor to the floor on which the robot is lowered. ,
The elevator according to any one of claims 1 to 10, wherein   The inspection control device, when receiving the call signal, causes the inspection operation command device to obtain measurement data from the robot when a predetermined period or more has elapsed since the previous inspection. The elevator according to claim 1.

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