JP2017158410A - Monitoring system for mobile device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a monitoring system for mobile device, capable of easily monitoring driving by a motor for a series of mobile bodies.SOLUTION: The monitoring system for mobile device includes: a current detection part 102 for detecting currents of motors 27, 27'; an inrush current detection part 103 for detecting an inrush current α in the motors 27, 27' from an output of the current detection part 102; a lapse time detection unit 104 for detecting lapse time H1, H2 from detection of the inrush current α; and a determination part 101 for determining a driving state of the motors 27, 27' on the basis of the detection of the inrush current α and the lapse time H1, H2.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a monitoring system for a mobile device that monitors a driving state of an electric motor provided in the mobile body.

  Examples of the mobile device provided with an electric motor in each mobile body include an article transport crane, a moving shelf, a partition panel device, a transport robot, and the like. For example, such a partition panel device is disclosed in Patent Document 1. Technology is adopted. According to Patent Document 1, the partition panel device (moving body device) is provided with press-contact frames provided above and below a panel (moving body) that is suspended from an upper rail and travels, and a plurality of panels are connected to each other. Then, the upper and lower press contact frames are moved upward and downward by a motor (electric motor) to close the gap formed between the panel and the ceiling surface and the gap formed between the panel and the floor surface. It is designed to block sound and light leaks.

Japanese Patent No. 2886629 (column 7, FIG. 10)

  By the way, in the partition panel device of Patent Document 1, electric power is supplied to the motor of each panel from a trolley provided on the upper rail on the ceiling side. Therefore, as the number of panels increases, the number of motors increases in proportion to the number of panels, and a large power source is required to drive these motors simultaneously. Further, since the motors of the panels are driven simultaneously, it is difficult to monitor the driving state of the motors of the panels. On the other hand, if each panel is provided with an individual communication control unit and controlled using the motor address, the driving state of each motor can be monitored, but there is a problem that the configuration becomes complicated.

  The present invention has been made paying attention to such problems, and an object of the present invention is to provide a monitoring system for a mobile device that can simply monitor the driving of a series of mobile devices by an electric motor.

In order to solve the above problems, a monitoring system for a mobile device according to the present invention includes:
Each of the plurality of moving bodies has a motor, and is a monitoring system for a moving body device that is controlled so that the motors of the respective moving bodies are sequentially driven,
A current detector for detecting the current of the motor;
An inrush current detector for detecting an inrush current in the motor from the output of the current detector;
An elapsed time detector for detecting an elapsed time from the detection of the inrush current;
And a determination unit that determines a driving state of the electric motor based on the detection of the inrush current and the elapsed time.
According to this feature, if the detection unit cannot detect the inrush current again within a predetermined elapsed time after detecting the inrush current, the moving body monitoring system has completed the driving of the motors of all the moving bodies. Since it is possible to determine, it is possible to monitor the driving completion of the motors of all the moving bodies with a simple configuration without grasping the number of moving bodies and the number of moving bodies in which the motors have been driven. .

The determination unit determines a predetermined first time longer than a time from when the electric motor of the one moving body is driven to when the electric motor of the adjacent moving body starts to drive by the elapsed time. The driving state of the electric motor is determined in comparison with time.
According to this feature, if the next inrush current cannot be detected within a predetermined first time, it can be determined that the driving of the motors of all the moving bodies has been completed.

The determination unit is configured to determine a driving state of the electric motor by comparing the current with a predetermined current threshold when the elapsed time exceeds a first time.
According to this feature, it is possible to detect a state in which the current value is abnormally large in the first time, for example, a locked state of the electric motor.

An informing means for informing an error according to a result of the determination unit is provided.
According to this feature, it is possible to detect a malfunction such as idling of the electric motor of the moving body and notify the error by the notifying means, so it is possible to grasp the malfunction or failure of the electric motor.

It is a perspective view which shows the example of installation of the partition panel apparatus in an Example. (A) thru | or (c) is the schematic diagram which showed a mode that the up-and-down clearance gap of the partition panel which comprises a partition panel apparatus was obstruct | occluded sequentially by the closure member. It is a circuit diagram which shows the circuit switching structure in the electric circuit which the last partition panel and an adjacent partition panel have. (A) thru | or (c) are the schematic diagrams shown about the connection of the electric power feeding connector and power receiving connector between adjacent partition panels. It is a block diagram which shows the structure of a monitoring system. It is the schematic which shows a mode that the electric current value which flows into a power supply circuit is monitored. It is a flowchart which shows the flow of monitoring by a control means. It is explanatory drawing which shows the pattern which has produced malfunctions, such as idling of a drive part. In a modification, it is explanatory drawing which shows the pattern in which the drive part is a locked state. In a modification, it is explanatory drawing which shows the pattern which has abnormality in the drive motor of the one side of a drive part. It is explanatory drawing which shows the pattern which is taking too much time until the drive of all the drive parts is completed.

  EMBODIMENT OF THE INVENTION The form for implementing the monitoring system of the moving body apparatus which concerns on this invention is demonstrated below based on an Example.

  A mobile device monitoring system according to an embodiment will be described with reference to FIGS. In the following, the front side of the screen in FIG. 2 is the front side (front side) of the partition panel device, and the back side of the screen in FIG. 2 is the back side (rear side) of the partition panel device, as viewed from the front side. The direction will be described as a reference.

  The monitoring system 1 according to the present embodiment includes a partition panel device 10 (moving body device) having a plurality of partition panels 2, 2,. In the following description, it is assumed that the drive states of the drive motors 27 and 27 ′ (electric motors) 27A, 27A,. First, the partition panel device 10 to which the monitoring system 1 is applied will be described.

  The partition panel device 10 according to this embodiment is installed to partition an indoor space such as an office, an exhibition hall, or a conference room, and is installed across the ceiling C in the indoor space as shown in FIG. It is mainly composed of a plurality of partition panels 2, 2,... Suspended at upper ends by suspension members 30, 30 movable along the rail 3 (guide path), and is provided at one end of the rail 3. The partition panels 2, 2,... Stored at the position of the storage rail 31 are manually moved sequentially in the direction of the movement restricting end 5 along the rail 3, and the partition panels 2, 2,. The indoor space can be partitioned by being connected to the door. The movement regulating end 5 is an end that regulates the movement of the front partition panel 2 when the partition panel 2 installed at the head of the partition panels 2, 2,. It is a predetermined side wall part or support column constituting the part. In addition, details of the electric circuits 70, 70,... Provided in the partition panels 2, 2,... And these electric circuits 70, 70,.

  2A, the rear partition panel 2 ′ of the partition panels 2, 2,... Constituting the partition panel device 10 includes a side closing mechanism 4 ( The gap between the side portion 2a of the partition panel 2 ′ and the side portion closing mechanism 4 is closed by the side portion closing member 4a that moves so as to be able to advance and retreat in the left-right direction from the pressing mechanism. When the gap between the side part 2a of the partition panel 2 ′ and the side part closing mechanism 4 is closed by the side part closing member 4a, the side panel closing member 4a causes the partition panel 2 ′ to move toward the movement restricting end part 5. Are pressed in the direction of the movement restricting end 5, and the adjacent partition panels 2, 2, ... 2 'are brought into close contact with each other. Sound insulation and shielding are improved. In addition, the movement of the side closing member 4a in the left-right direction in the side closing mechanism 4 is performed by a mechanism using an electric motor that operates by operating an operation switch.

  The partition panel 2 includes a panel body provided with panel members 20a and 20a on the front and back sides, and a closing device 22 and 22 ′ that are stored one by one at the upper and lower ends of the panel body between the front and back panel members 20a and 20a. Consists mainly of. The closing devices 22 and 22 'are driven toward the rail 3 and the floor F by two drive motors 27 and 27' (drive unit 27A), respectively.

  Further, the partition panel 2 can close the gaps between the upper and lower ends thereof, the lower surface of the rail 3 and the floor surface F of the floor by the closing operation by the closing devices 22 and 22 ′, and the side closing mechanism 4 described above. In addition to the lateral blockage, the sound insulation and shielding of the indoor space partitioned by the partition panel device 10 can be secured. In addition, the ceiling surface in a present Example points out the surface which the closure apparatus 22 contact | abuts when closing the clearance gap by the side of the ceiling C, ie, the one part lower surface of the member (here rail 3) provided in the ceiling C. The same applies to the floor surface in the present embodiment. Further, the closing operation by the closing devices 22 and 22 ′ described above is performed by the power receiving connector 71 (provided on the side portion 2 a of the rear partition panel 2 ′ from the power supply connector 72 (electrode) provided in the side portion closing mechanism 4. Electricity is supplied through the electrode) and electricity flows through an electric circuit 70 described later. A pair of power receiving connector 71 and power feeding connector 72 (electrode) are provided at the same height above the side portions 2a, 2a ′ of the partition panel 2, and adjacent partition panels 2, 2,. The power receiving connector 71 and the power feeding connector 72 provided on the respective side portions 2a, 2a 'facing each other are connected so that the power from the power source 6 is supplied in order to the adjacent partition panels 2, 2,. (See FIG. 3 and FIG. 4).

  Next, the structure of the electric circuit 70 (70A, 70B) provided in each partition panel 2, 2 'will be described with reference to FIG. Since the electric circuit 70 of the partition panels 2 and 2 'has the same configuration, only the electric circuit 70A of the partition panel 2' will be described, and the description of the electric circuit 70B of the adjacent partition panel 2 will be omitted.

  As shown in FIG. 3, the electric circuit 70 </ b> A includes a pair of input terminals 71 a and 71 b (+ pole input terminal 71 a and −pole input terminal 71 b) provided on the power receiving connector 71 and a pair provided on the power feeding connector 72. Output terminals 72a, 72b (+ polar output terminal 72a, -polar output terminal 72b), a first line 73 connecting the input terminal 71a and the output terminal 72a, an input terminal 71b, and an output terminal 72b. And a first line 73 and a second branch line 77 that connect the first line 73 and the second line 74 to each other.

  The first line 73 is provided with an electromagnetic relay 75 (relay) at a position downstream of the first branch line 76 and the second branch line 77. The electromagnetic relay 75 includes a movable portion 75a that operates between a terminal portion 73a upstream of the electromagnetic relay 75 and a terminal portion 73b downstream of the electromagnetic relay 75 in the first line 73, and a coil portion 75b. And. The movable portion 75a does not connect the terminal portion 73a and the terminal portion 73b when the coil portion 75b is in a non-energized state, and electrically connects the terminal portion 73a and the terminal portion 73b when the coil portion 75b is in an energized state. Connect to. That is, the electromagnetic relay 75 switches the energization state of the input terminal 71a and the output terminal 72a from non-conduction to conduction.

  The first branch line 76 and the second branch line 77 are electrically connected in series with the upper and lower drive motors 27 and 27 ′ in the partition panel 2 ′ and the upper and lower microswitches 25 c and 25 c ′, respectively. The microswitches 25c and 25c ′ are connected to the power receiving connector 71 side of the drive motors 27 and 27 ′. The microswitches 25c and 25c 'are connected to the coil unit 75b via a logic device 78 that is turned on when the energization state from both the microswitches 25c and 25c' is confirmed.

  The microswitches 25c and 25c 'can switch circuits between the coil part 75b side and the drive motors 27 and 27' side. Specifically, the microswitches 25c and 25c ′ connect a circuit to the drive motors 27 and 27 ′ when the closing devices 22 and 22 ′ are not in the closed state, and the closing devices 22 and 22 ′ are in the closed state. The circuit can be connected to the coil portion 75b side only when

  Next, the connection between the electric circuits 70, 70,... In the adjacent partition panels 2, 2,. Here, the connection between the power feeding connector 72 provided on the side part 2a 'of the rearmost partition panel 2' and the power receiving connector 71 provided on the side part 2a of the adjacent partition panel 2 will be described. Moreover, since the power supply connector 72 provided in the side part closing mechanism 4 has substantially the same configuration as the power supply connector 72 of the partition panels 2 and 2 ′, the description of the power supply connector 72 provided in the side part closing mechanism 4 is omitted.

  As shown in FIG. 4A, a power receiving connector 71 and a power feeding connector 72 are shown above the opposing side portions 2a and 2a 'of the adjacent partition panels 2 and 2' so as to face each other at the same height position. It is attached with screws that do not. The power receiving connector 71 has a plurality of substantially T-shaped pin contacts 71c, 71c,..., And the pin contacts 71c, 71c,... Are connected to the input terminals 71a, 71b of the electric circuit 70 described above. The connected portions 71g, 71g,... The power supply connector 72 has a plurality of socket contacts 72c, 72c,..., And the socket contacts 72c, 72c,... Are connected to the output terminals 72a, 72b of the electric circuit 70 described above.

  The pin contacts 71c, 71c,... Are detachably attached toward the inside of the base member 71d that constitutes the outer frame of the power receiving connector 71, and the heads 71e, 71e,. Are arranged between the base member 71d and the heads 71e, 71e,... So as to be biased toward the socket contacts 72c, 72c,. Accordingly, in the state shown in FIG. 4A, the inner ends of the pin contacts 71c, 71c,... Are not in contact with the connection part 71g with the input terminals 71a, 71b.

  As shown in FIG. 4B, when the heads 71e, 71e,... Of the pin contacts 71c, 71c,... Contact the socket contacts 72c, 72c,. The electrical circuit 70 is not electrically connected to the input terminals 71a, 71b,. The stage where the heads 71e, 71e, ... of the pin contacts 71c, 71c, ... contact the socket contacts 72c, 72c, ... means that the partition panels 2, 2, ..., 2 'are manually moved sequentially. In this state, the partition panels 2, 2,..., 2 ′ are in a state before being pressed in the direction of the movement restricting end 5 by the side closing mechanism 4.

  As shown in FIG. 4C, when the partition panels 2, 2,... Are pressed toward the movement restricting end 5 by the side closing mechanism 4, pin contacts are made to the socket contacts 72c, 72c,. The pin contacts 71c, 71c,... Are pressed from the state in which the 71c, 71c,... Are in contact, and the inner ends of the pin contacts 71c, 71c, ... are connected to the connection portions 71g, 71g,. It is a stage where it is immersed to a predetermined position where it comes into contact. At this stage, the socket contacts 72c, 72c, ... and the input terminals 71a, 71b, ... of the adjacent electric circuit 70 are connected via the pin contacts 71c, 71c, ... and the connecting portions 71g, 71g, .... It becomes electrically connected. That is, the electric circuits 70 and 70 in the adjacent partition panels 2 and 2 are connected to form one circuit. The power feeding connector 72 of the side portion closing mechanism 4 can be connected to the power receiving connector 71 of the rearmost partition panel 2 '. Further, the power supply circuit 7 in the present invention refers to the partition panels 2, 2, 2 ′ adjacent to each other by pressing the partition panels 2, 2,..., 2 ′ toward the movement restricting end 5 by the side closing mechanism 4. Are electrically connected to each other and the electric circuit 70 'having the power source 6 of the side closing mechanism 4 and the electric circuit 70 of the rear partition panel 2' are electrically connected. These are the electric circuits 70, 70,..., 70 ′ that are connected and electrically connected to the power supply 6 so that power can be supplied (see FIGS. 2B, 2C, and 3).

  Next, a process of closing the indoor space by the partition panels 2, 2, ..., 2 'will be described. The partition panel device 10 according to the present embodiment first manually moves all the partition panels 2, 2,..., 2 ′ constituting the partition panel device 10 sequentially in the direction of the movement restricting end 5 along the rail 3. Are connected in a row (see FIG. 1). At this time, in the power feeding connector 72 of the side blockage mechanism 4 and the power receiving connector 71 of the rearmost partition panel 2 ′, the connection portions 71g, 71g are connected via the socket contacts 72c, 72c,... And the pin contacts 71c, 71c,. .. Are not electrically connected, and all the partition panels 2, 2,..., 2 ′ constituting the partition panel device 10 are not closed by the closing devices 22, 22 ′. (See FIG. 2 (a)).

  Next, when the rear partition panel 2 ′ is pressed toward the movement restricting end 5 by the side closing mechanism 4 (see FIG. 2B), the power receiving connector 71 of the rear partition panel 2 ′ is obtained. Are pressed by the connecting portion of the power supply connector 72 of the side closing mechanism 4 so that the socket contacts 72c, 72c,... And the pin contacts 71c, 71c,. The electric circuit 70 ′ having 6 and the electric circuit 70A of the rear partition panel 2 ′ are in a state in which energization is possible (see FIG. 4C). At this time, the power receiving connector 71 and the power feeding connector 72 are arranged between the adjacent partition panels 2, 2 'and the partition panels 2, 2 in all the partition panels 2, 2, ..., 2' constituting the partition panel device 10. The sockets 72c, 72c,... Are electrically connected to the connection portions 71g, 71g,... Via the pin contacts 71c, 71c,. All the electric circuits 70A, 70B,... Are in a conductive state (see FIG. 3). The conductive state means that the electric circuits 70A, 70B,... Of the adjacent partition panels 2, 2,.

  Next, the upper and lower drive motors 27 and 27 ′ are driven by the power supplied from the power source 6 in the last partition panel 2 ′, respectively, and the closing operation by the closing devices 22 and 22 ′ is started. Are closed by the closing devices 22 and 22 ′ (see FIG. 2B). At this time, when the upper and lower closing devices 22 and 22 ′ are in the closed state, the electric circuit 70A is switched by the microswitches 25c and 25c ′ (see FIG. 3), and the upper and lower drive motors 27 and 27 ′ are switched. The drive of the drive motors 27 and 27 ′ is stopped by shutting off the supply of electric power, and the closing operation by the closing devices 22 and 22 ′ is completed. At this time, when the logic device 78 determines that both of the micro switches 25c and 25c ′ are electrically connected, the logic device 78 conducts to the coil portion 75b side and electricity is supplied to the coil portion 75b. The electromagnetic relay 75 causes electricity to flow between the electric circuits 70A and 70B between the adjacent partition panels 2 and 2 ′, and is adjacent to the rearmost partition panel 2 ′ via the power feeding connector 72 and the power receiving connector 71. Power from the power source 6 is supplied to the partition panel 2.

  In this way, by sequentially supplying power to the adjacent partition panels 2, 2,..., As shown in FIG. 2 (b), the partition panels 2, 2,. , The closing operation by the closing devices 22, 22 ′ is sequentially performed from the rear partition panel 2 ′ to the head side, and all the partition panels 2, 2,. It can be closed by the closing devices 22 and 22 ′ (see FIG. 2C). In FIG. 2 (b), the closing operation of the last partition panel 2 ′ and the second partition panel 2 from the last is completed, and the third partition panel 2 from the last is closed. It shows the state.

  Next, the configuration of the monitoring system 1 that monitors the drive units 27A, 27A,... In each partition panel 2, 2,... Will be described with reference to FIGS. 5, the monitoring system 1 includes a control unit 100 connected to the power supply circuit 7 of the partition panels 2, 2,..., A monitor 110 connected to the determination unit 101 in the control unit 100, and a buzzer 111. , And a notification unit 113 such as a lamp 112.

  The control unit 100 includes a current detection unit 102, an inrush current detection unit 103 connected to the current detection unit 102, an elapsed time detection unit 104 connected to the inrush current detection unit 103, a current detection unit 102, and an inrush current detection. A determination unit 101 connected to each of the unit 103 and the elapsed time detection unit 104; and a storage unit 105 connected to the determination unit 101 and the inrush current detection unit 103.

  As shown in FIG. 3, the current detection unit 102 uses, for example, a known circuit that measures a voltage across an electric resistance electrically connected to one of the output terminals 72 a and 72 b in the electric circuit 70 ′. be able to. Further, the current value flowing through the power supply circuit 7 is detected at predetermined intervals. Note that the current detection unit 102 in the present embodiment repeatedly detects the current value of the power supply circuit 7 every 5 milliseconds.

  The inrush current detection unit 103 detects the inrush current α in the drive unit 27A from the output of the current detection unit 102 (current value of the power supply circuit 7). This inrush current α is a phenomenon in which a large current flows through the driving unit 27A in the initial driving stage of the driving unit 27A, and the peak current whose current value detected by the current detecting unit 102 is larger than the steady current threshold V1 of the driving unit 27A. After reaching the threshold value V2, it refers to a period from when it rapidly decreases to a stable steady-state current threshold value V1. The inrush current detection unit 103 according to the present embodiment compares the detected current value with the peak current threshold V2, and detects that the inrush current α has occurred when the detected current value exceeds the peak current threshold V2. . The steady current threshold value V1 and the peak current threshold value V2 are approximate values of the drive units 27A, 27A,.

  The elapsed time detection unit 104 detects an elapsed time since the detection of the inrush current α. Specifically, the elapsed time is the elapsed time H1 starting from the inrush current detection times t2, t2 ′,... Of the inrush currents α, α,... Detected by the inrush current detector 103 (see white arrows in FIG. 6). The elapsed time detector 104 can detect the elapsed time H1. The elapsed time H1 is initialized (reset) after various determinations by the determination unit 101 described later when the inrush current detection unit 103 detects the next inrush current α.

  The storage unit 105 stores a first threshold T1 that is information on a predetermined time. This first threshold value T1 is compared with a predetermined drive completion time T4 from when the drive unit 27A of one partition panel 2 is driven to when the drive unit 27A of the adjacent partition panel 2 starts to be driven. And the margin time T3. The storage unit 105 also stores a steady current threshold value V1 and a peak current threshold value V2, and a first current threshold value P1 that is information on a predetermined current value. The first current threshold value P1 indicates a current value smaller than the steady current threshold value V1 by a predetermined value or more. Further, the drive start time of the drive unit 27A of the adjacent partition panel 2 is determined based on the time t2 'at which the inrush current is detected, which is the timing at which the current can be actually detected.

  As shown in FIG. 6, the determination unit 101 determines the driving state of the drive unit 27A based on the inrush current α and the elapsed time H1. Specifically, the determination unit 101 can detect the inrush current detection time t2 or the next inrush current detection time t2 ′ that is the starting point of the elapsed time H1, based on the elapsed time H1 obtained from the elapsed time detection unit 104, and the elapsed time H1. And the first threshold value T1 read from the storage unit 105, the time from the inrush current detection time t2 that is the start point of the elapsed time H1 to the next inrush current detection time t2 ′ is within the first threshold value T1. (It can be determined whether there is a next inrush current α within the first threshold T1). That is, the determination unit 101 can determine whether or not all the drive units 27A, 27A,.

  Further, the determination unit 101 determines the required time M1 from the inrush current detection time t2 that is the start point of the elapsed time H1 to the next inrush current detection time t2 ′ (after the drive of the drive unit 27A is detected, It is possible to detect the actual required time M1) required until the drive is detected.

  The required time M1 is the operation time m1 from the inrush current detection time t2 to the drive completion time t3 of the drive unit 27A, and the pause time m2 from the drive completion time t3 to the drive start time t1 ′ at which the next drive unit 27A starts to move. And a detection preliminary time m3 from the drive start time t1 ′ to the inrush current detection time t2 ′ in the next drive unit 27A. The pause time m2 is formed by a delay circuit (not shown), and the length can be freely adjusted by changing the setting and configuration of the delay circuit.

  The first threshold T1 is set longer than the required time M1, and in this embodiment, the drive completion time T4 at the first threshold T1 is the length of the required time M1 when the drive unit 27A is driven appropriately. The margin time T3 is set to a length equal to or less than half the length of the drive completion time T4.

  Further, the determination unit 101 uses the elapsed time H1 output from the elapsed time detection unit 104, the current value output from the current detection unit 102, and the first threshold value T1 output from the storage unit 105 to determine the inrush current. In addition to the detection times t2, t2 ′, 2 ″, the current values at the first threshold end times t4 ′, t4 ″ can also be detected.

  Next, monitoring of the partition panel device 10 by the control means 100 will be described with reference to FIGS.

  As shown in FIG. 7, when each partition panel 2, 2,... Is pressed by the side closing mechanism 4 described above to form the power supply circuit 7, the control means 100 monitors the partition panel device 10. To start. When monitoring of the partition panel device 10 by the control means 100 is started, the current detection unit 102 measures the value of the current flowing through the power supply circuit 7 in step S1. Next, the process proceeds to step S2.

  In step S2, it is determined whether or not the inrush current detection unit 103 has detected the inrush current αA in the first drive unit 27A from the output of the current detection unit 102. If the inrush current detector 103 does not detect the inrush current αA in step S2, the process returns to step S1 and the above operation is repeated. If the inrush current detector 103 detects the inrush current αA, the process proceeds to step S3.

  In step S3, the elapsed time detector 104 starts measuring the elapsed time H1 starting from the inrush current detection time t2 of the inrush current αA detected in step S2. Next, the process proceeds to step S4.

  In step S4, the determination unit 101 determines whether or not there is a next inrush current α (an inrush current α of the adjacent drive unit 27A) within the first threshold T1. In step S4, when the determination unit 101 determines that there is no next inrush current α within the first threshold T1 (see the first threshold T1 on the right side of the screen in FIG. 6), the process proceeds to step S7. Step S7 will be described later.

  In step S4, when the determination unit 101 determines that the next inrush current α is within the first threshold T1 (see the first threshold T1 on the left side of the screen in FIG. 6), the process proceeds to step S5. . In step S5, the determination unit 101 determines that the next drive unit 27A has been driven based on the detection of the inrush current α in step S4, and proceeds to step S6.

  In step 6, the elapsed time detection unit 104 resets the elapsed time H1 based on the determination by the determination unit 101 that the next drive unit 27A is driven in step S5. Then, it returns to step S3 and repeats the said process. When the process proceeds from step 6 to step S3, the elapsed time detector 104 starts measuring the elapsed time H1 starting from the inrush current detection time t2 'of the inrush current α detected in step S4.

  In step S4, when the determination unit 101 determines that the next inrush current α does not exist within the first threshold T1 and shifts to step S7, the determination unit 101 ends the first threshold T1 (first threshold value). It is determined whether or not the current value of the current detection unit 102 at the end time t4 ′, t4 ″) is smaller than the first current threshold value P1.

  In step S7, when the current value is smaller than the first current threshold value P1 compared to the first current threshold value P1 as in the current value at the first threshold value end time t4 '' of the first threshold value T1 in FIG. In step S8, the determination unit 101 determines that all the drive units 27A, 27A,... Have finished driving, and ends the monitoring of the partition panel device 10 by the control means 100.

  In step S7, when the current value at the first threshold end time t4 ′ of the first threshold value T1 in FIG. 8 is larger than the first current threshold value P1 compared to the first current threshold value P1. The determination unit 101 determines that there is a possibility that the drive unit 27A has a malfunction such as idling, and proceeds to step S9.

  In step S9, the notification means 113 notifies the operator of the error. In this error notification, for example, a warning indicating an error is displayed on the monitor 110, the buzzer 111 is sounded, or the lamp 112 is blinked or turned on according to the output of the determination unit 101.

  In addition, as a modification example for detecting an abnormality of the drive unit 27A, there is the following. For example, as illustrated in FIG. 9, the second current threshold value P2 that is a current value larger than the peak current threshold value V2 of the drive unit 27A is stored in the storage unit 105 in advance, and the determination unit 101 determines that the current value is the second current value. The determination unit 101 can detect that the current threshold value P2 has been exceeded, and the determination unit 101 detects that the current value P2 has exceeded the second current threshold value P2 within the first threshold value T1. It may be determined that there is a possibility of being in a so-called locked state in which a load is applied.

  Further, as another modification example for detecting an abnormality of the drive unit 27A, there is the following one. For example, a circuit or a calculation unit for adding the current values of the drive motors 27 and 27 ′ of the drive unit 27A is provided, the both current values are added, and an abnormality of the drive unit 27A is detected based on the value obtained by adding both the current values. You may do it. As shown in FIG. 10, a third current threshold value P3 that is smaller than the peak current threshold value V2 of the drive unit 27A and larger than the steady current threshold value V1 is stored in the storage unit 105 in advance, and the determination unit Based on detecting that 101 exceeds the third current threshold value P3 and does not reach the peak current threshold value V2 within the first threshold value T1, the determination unit 101, for example, drives the drive motor 27 (drive) on one side in the drive unit 27A. It may be determined that the motor 27 ′) may be abnormal. As a method for determining the possibility of abnormality in one of the drive motors 27 (drive motor 27 ′), the current values of the drive motors 27 and 27 ′ are provided without providing a circuit or calculation unit for adding the above-described current values. When the current value deviates from a predetermined reference value, the drive motor 27 on one side (drive motor 27 ′) may be abnormal.

  Further, as a modified example for detecting an abnormality in the drive units 27A, 27A,... As shown in FIG. 11, in this modification, a rough second threshold value T2 that is different from the first threshold value T1 in advance (more than the length of the required time M2 when each of the drive units 27A, 27A,. A storage unit storing a long second threshold value T2) and an elapsed time detection unit capable of detecting an elapsed time H2 (elapsed time H2 from the first inrush current αA) different from the elapsed time detection unit 104 detecting the elapsed time H1. And are used. Then, the determination unit 101 determines at any time whether or not the inrush current α after the first detected inrush current αA has occurred within the second threshold T2 based on the elapsed time H2, and the determination unit 101 performs the inrush current. When it is determined that α (inrush current αB) does not occur within the second threshold T2 (there is an inrush current αB that exceeds the second threshold T2), the determination unit 101 determines that all the drive units It may be determined that it takes too much time to complete the drive of 27A, 27A,.

  The second threshold value T2 is, for example, a drive completion time T4 required for driving about 20 sheets in the case of the partition panel device 10 assuming use of about several to about 10 partition panels 2, 2,. The required time M2 may be set based on the above. Further, in the present modification, the aspect using the elapsed time detection unit that is separate from the elapsed time detection unit 104 has been described, but an elapsed time detection unit that can detect both the elapsed time H1 and the elapsed time H2 may be used. Good.

  Further, in this modification, it is determined at any time whether or not the inrush current α is generated within the second threshold T2 for each inrush current α generated by the determination unit 101, but from the first inrush current αA. A determination unit that can detect a current value at the second threshold end time without using an elapsed time detection unit that can detect the elapsed time H2 is used, and the current value at the second threshold end time is equal to the first current. When it is determined that the time is larger than the threshold value P1, it may be determined that the required time M2 exceeds the second threshold value T2 and is abnormal.

  As described above, the monitoring system 1 of the partition panel device 10 is controlled so that the drive units 27A, 27A,... Of the partition panels 2, 2 ′,. Current detection unit 102 for detecting current, inrush current detection unit 103 for detecting inrush current α in drive unit 27A from the output of current detection unit 102, and elapsed time detection unit for detecting elapsed time H1 from detection of inrush current α. 104, and a determination unit 101 that determines the drive state of the drive units 27A, 27A,... Based on the inrush current α and the elapsed time H1, so that the inrush current detection unit 103 detects the inrush current α. If the inrush current α cannot be detected again within a predetermined first threshold value T1, the monitoring system 1 drives the drive units 27A, 27A,... Of all the partition panels 2, 2 ′,. It can be determined that it has been completed.

  That is, the determination unit 101 includes information on the current value output from the current detection unit 102, information on the inrush current α output from the inrush current detection unit 103, and the elapsed time H1 output from the elapsed time detection unit 104. Based on the information, it is possible to detect the actual required time M1 from when the drive of the drive unit 27A is detected until the drive of the next drive unit 27A is detected. Then, the determination unit 101 determines whether or not there is a next inrush current α within the first threshold T1 by comparing the required time M1 and the first threshold T1 output from the storage unit 105. Based on this, it can be determined whether or not all the drive units 27A, 27A,.

  For this reason, all the partition panels 2, 2 can be obtained without grasping the number of the partition panels 2, 2 ′,... And the number of the partition panels 2, 2 ′,. It is possible to simply monitor the drive completion of the drive units 27A, 27A,. In other words, the drive states of the drive units 27A, 27A,... Can be provided without providing individual communication control units or the like on the partition panels 2, 2 ', ... and controlling them using the addresses of the drive units 27A, 27A,. , And at the same time, there is no need to monitor the drive units 27A, 27A,... In the plurality of partition panels 2, 2 ′,. Can have a simple structure.

  The determination unit 101 has a margin time T3 (predetermined time) longer than a time T4 from when the drive unit 27A of one partition panel 2 is driven until the drive unit 27A of the adjacent partition panel 2 is started to drive. The predetermined first threshold value T1 is compared with the elapsed time H1 output from the elapsed time detection unit 104 to determine the driving state of the drive unit 27A, and the next inrush current is within the predetermined first threshold value. If α cannot be detected, it can be determined that driving of the drive units 27A, 27A,... of all the partition panels 2, 2 ′,.

  Further, the first threshold value T1 is set to be shorter than the drive completion time T4 set to be substantially the same as the length of the required time M1 when the drive unit 27A is driven appropriately and the length of the drive completion time T4. Therefore, the next inrush current α can be detected even if a slight error occurs in the operation time m1 from the inrush current detection time t2 in the drive unit 27A to the drive completion time t3 of the drive unit 27A. . Since the margin time T3 is set shorter than the length of the drive completion time T4, the time until the drive state of the drive unit 27A is determined can be shortened.

  Further, the determination unit 101 includes the current value output from the current detection unit 102 within the first threshold T1, the first current threshold P1, the second current threshold P2, and the third current threshold stored in the storage unit 105 in advance. Since P3 can be compared, the determination unit 101 determines the relationship between the current value in the first threshold T1 and the first current threshold P1, the second current threshold P2, and the third current threshold P3. An abnormality of the drive unit 27A can be determined. Note that the current threshold is not limited to including all of the first current threshold P1, the second current threshold P2, and the third current threshold P3, but may be one or more. Further, the current threshold is not limited to the first current threshold P1, the second current threshold P2, and the third current threshold P3, and may be different current thresholds.

  In addition, since the notification unit 113 that notifies an error according to the result of the determination unit 101 is provided, when the malfunction of the drive unit 27A is detected, an error can be notified by the notification unit 113. Etc. can be grasped by the operator.

  In the above-described embodiment, the notification unit 113 is exemplified by the monitor 110, the buzzer 111, the lamp 112, and the like. However, the notification unit 113 is not limited to this. For example, information notifying the operator's terminal of the abnormality is transmitted. Also good.

  Further, the response when the determination unit 101 determines the abnormality of the drive unit 27A is not limited to the notification unit 113. For example, when the determination unit 101 determines the abnormality of the drive unit 27A, the control unit 100 Control such as stopping the supply of power to the supply circuit 7 may be performed.

  Although the embodiments of the present invention have been described with reference to the drawings, the specific configuration is not limited to these embodiments, and modifications and additions within the scope of the present invention are included in the present invention. It is.

  For example, in the said Example, although demonstrated as an aspect with which the power supply 6 which supplies electric power to the partition panel 2,2, ..., 2 'was provided in the side part closing mechanism 4 with which the last partition panel 2' contact | abuts. However, the present invention is not limited to this, and the position and configuration of the power source 6 may be freely configured. For example, a power source may be provided on the movement regulating end 5 side. The power source 6 is disposed at a height position facing the power receiving connector 71 provided above the side portion 2a ′ of the front partition panel 2, and the partition panel 2 is connected to the partition panel 2 via the power receiving connector 71 from the power source 6. Electric power is supplied. Moreover, the partition panel 2 itself which comprises the edge part of the partition panel apparatus 10 may have electric power supply means, such as a power supply and a charger.

  Further, in the above-described embodiment, by providing a metal frame or resin sealing member that fits unevenly across the opposing side portions 2a and 2a 'of the adjacent partition panels 2 and 2, sound insulation and You may make it improve shielding.

  The monitoring system 1 in the embodiment is applied to the partition panel device 10 having a plurality of partition panels 2, 2,..., And the drive units 27A, 27A,. However, the present invention is not limited to this, and each motor provided in a plurality of movable bodies sequentially operates with electric power obtained from one power supply source. It is sufficient that the mobile device is controlled as described above, and in particular, the motor may be one that changes the movable body from the first state to the second state (for example, the closing operation of the closing devices 22, 22 ′). For example, the monitoring system may be applied to a transfer device or the like in which a plurality of mobile transfer cranes or transfer robots sequentially transfer articles from a first position to a second position. The present invention may be applied to a moving shelf device that sequentially moves from a position to a second position to form a predetermined arrangement pattern.

  Moreover, in the said Example, although the drive part 27A comprised by the two drive motors 27 and 27 'was demonstrated as an electric motor, it is good also considering the one drive motor 27 as an electric motor.

1 Monitoring system 2 Partition panel (moving body)
4 Side block mechanism 7 Power supply circuit 10 Partition panel device (mobile device)
22 Closure devices 27, 27 Drive motor (electric motor)
27A Drive unit 70 Electric circuit 100 Control unit 101 Determination unit 102 Current detection unit 103 Inrush current detection unit 104 Elapsed time detection unit 105 Storage unit 113 Notification unit H1 Elapsed time M1 Required time P1 First current threshold P2 Second current threshold P3 Second 3 Current threshold T1 First threshold T2 Second threshold T3 Margin time (predetermined time)
T4 Drive completion time V1 Steady current threshold V2 Peak current threshold t2, t2 'Inrush current detection time α, αA, αB Inrush current

Claims (4)

Each of the plurality of moving bodies has a motor, and is a monitoring system for a moving body device that is controlled so that the motors of the respective moving bodies are sequentially driven,
A current detector for detecting the current of the motor;
An inrush current detector for detecting an inrush current in the motor from the output of the current detector;
An elapsed time detector for detecting an elapsed time from the detection of the inrush current;
A monitoring system for a mobile device, comprising: a determination unit that determines a driving state of the electric motor based on detection of the inrush current and the elapsed time.   The determination unit determines a predetermined first time longer than a time from when the electric motor of the one moving body is driven to when the electric motor of the adjacent moving body starts to drive by the elapsed time. The monitoring system for a mobile device according to claim 1, wherein the state of driving of the electric motor is determined in comparison with time.   The said determination part determines the drive state of the said motor by comparing the said electric current with a predetermined electric current threshold value when elapsed time exceeds 1st time. Mobile device monitoring system.   The monitoring system for a mobile device according to any one of claims 1 to 3, further comprising notification means for notifying an error according to a result of the determination unit.

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