JP6456574B1 - Diagnostic device, sensor data collecting device, diagnostic method, diagnostic program, and diagnostic system - Google Patents

Abstract

  A reciprocal data acquisition unit (1061) for acquiring forward sensor data and return sensor data including a plurality of sensor data collected at a plurality of data collection positions while the diagnosis target facility is driven back and forth on the same route; Out of the plurality of sensor data included in each of the forward path sensor data and the backward path sensor data acquired by the acquisition unit (1061), the sensor data having the same data collection position is associated with each other, and the forward path sensor data and the backward path sensor data are associated with each other. And an integration unit (1063) for generating diagnostic data for diagnosing abnormality of the equipment to be diagnosed.

Description

  The present invention relates to a diagnostic apparatus for diagnosing an abnormality in a transport facility that is driven in a reciprocating manner.

2. Description of the Related Art Conventionally, there is known a technique for diagnosing an abnormality in a transport facility using a transport facility such as an escalator, a moving walkway, and an elevator that is driven in a reciprocating manner.
For example, Patent Document 1 discloses an abnormality diagnosis system that diagnoses an abnormality in a passenger conveyor such as an escalator or a moving sidewalk.
This abnormality diagnosis system collects passenger conveyor operating sound, processes the sound data of the passenger conveyor operating sound for multiple laps collected while the step circulates multiple times, and generates diagnostic data. Then, it is determined whether an abnormality has occurred in the passenger conveyor using the generated diagnostic data.

JP 2010-30740 A

  In the conventional technology described above, when collecting sound data for generating diagnostic data, it is necessary to make the steps of the passenger conveyor go around a plurality of times. For this reason, there is a problem that it takes time to collect the sound data.

  The present invention has been made to solve the above-described problems, and generates diagnostic data (hereinafter simply referred to as “diagnosis data”) used when diagnosing an abnormality in a reciprocally driven transport facility. The purpose is to shorten the time for collecting data for the conventional method.

  The diagnostic device according to the present invention acquires round-trip data acquisition including forward sensor data and return path sensor data including a plurality of sensor data collected at a plurality of data collection positions while the diagnosis target facility is driven back and forth on the same route. And the sensor data having the same data collection position among the plurality of sensor data included in each of the sensor data and the forward sensor data and the return sensor data acquired by the round trip data acquisition unit, the forward sensor data and the return path And an integration unit that integrates sensor data and generates diagnostic data for diagnosing abnormality of the equipment to be diagnosed.

  According to this invention, the time for collecting data for generating diagnostic data can be shortened.

It is a figure for demonstrating the outline of the escalator used as the object which the diagnostic apparatus which concerns on Embodiment 1 diagnoses abnormality. It is a figure which shows the structural example of the sensor data collection apparatus carrying the diagnostic apparatus which concerns on Embodiment 1. FIG. 6 is a flowchart for explaining an operation of “data collection processing” by the sensor data collection device according to Embodiment 1; In Embodiment 1, it is a figure which shows an example of the content of the various information currently recorded on the recording part after "data collection process", Comprising: FIG. 4A is the sound data and position data which are recorded on the recording part 4B shows an example of the content of information on the outbound trip time, the outbound trip time, the inbound trip time, and the inbound trip time recorded in the recording unit. . 4 is a flowchart for explaining an operation of “diagnosis processing” by the sensor data collection device according to Embodiment 1; 6A and 6B are diagrams illustrating an example of a hardware configuration of the diagnostic apparatus according to the first embodiment. 10 is a flowchart for explaining an operation of “data collection processing” by the diagnostic apparatus according to the second embodiment. 10 is a flowchart for explaining an operation of “diagnosis processing” by the diagnostic apparatus according to the second embodiment. It is a figure which shows the structural example of the sensor data collection apparatus carrying the diagnostic apparatus which concerns on Embodiment 3. FIG. 12 is a flowchart for explaining an operation of “diagnosis processing” by the diagnostic apparatus according to the third embodiment.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
Embodiment 1 FIG.

The diagnosis apparatus according to Embodiment 1 diagnoses an abnormality in a transport facility that is driven to reciprocate. The reciprocating transport facility is a transport facility having a movable part (for example, a step or a car) that moves on the same path in the forward path and the return path, such as an escalator, a moving sidewalk, or an elevator. A conveyance object in the reciprocating conveyance facility is a passenger or a luggage. Hereinafter, the transport equipment that is driven back and forth is also simply referred to as “transport equipment”. Further, hereinafter, a transport facility that is a target for which the diagnostic apparatus diagnoses an abnormality is also referred to as “diagnosis target facility”.
In the following description, as an example, the diagnosis target facility is an escalator.
In the following description, as an example, the diagnosis device according to Embodiment 1 will be described as being mounted on a sensor data collection device described later.

FIG. 1 is a diagram for explaining an outline of an escalator that is a target for diagnosis of abnormality by the diagnostic apparatus according to the first embodiment. FIG. 1 shows a side view of the escalator.
As shown in FIG. 1, the escalator has an upper landing 1001 and a lower landing 1002. A main frame 1003 is provided between the upper landing 1001 and the lower landing 1002. The main frame 1003 supports a plurality of steps 1004 connected endlessly. The step 1004 is continuously arranged between the upper platform 1001 and the lower platform 1002.
A pair of balustrades 1005 extending along the longitudinal direction of the main frame 1003 are erected on the main frame 1003. An endless handrail 1006 is provided at the periphery of each balustrade 1005.

  A driving device (not shown) and an upper sprocket (not shown) rotated by the driving device are installed at the upper end of the main frame 1003. On the other hand, a lower sprocket (not shown) is installed at the lower end of the main frame 1003. An endless step chain (not shown) is spanned between the upper sprocket and the lower sprocket. The step chain connects a plurality of steps 1004 in an endless manner. The step chain is driven by the upper sprocket and circulates the step 1004.

Also, skirt guards 1007 are arranged on both sides of the step 1004 so as to face the step 1004 with a slight gap from the upper landing 1001 to the lower landing 1002.
In the following description, the upper platform 1001 and the lower platform 1002 are collectively referred to simply as a “platform”.

  A sensor data collection device, which will be described later, is placed on a step 1004 of an escalator as shown in FIG. 1, and reciprocates up and down with the step 1004 to diagnose an abnormality of the escalator. Data (hereinafter referred to as “sensor data”) that is the basis for generating diagnostic data is collected. The diagnostic device according to Embodiment 1 generates diagnostic data based on the sensor data, and diagnoses an escalator abnormality based on the diagnostic data. The diagnosis device diagnoses an abnormal state of a movable part such as a handrail 1006, a step 1004, or a step chain, for example. In addition, the diagnostic device diagnoses an abnormal state such as contact between the skirt guard 1007 and the step 1004 or contamination of foreign matter in a gap between the two.

FIG. 2 is a diagram illustrating a configuration example of the sensor data collection device 10 equipped with the diagnostic device 20 according to the first embodiment.
The sensor data collection device 10 includes a sensor unit 101, a position estimation unit 102, an getting-on / off time setting unit 103, a driving unit 104, a recording unit 105, a signal processing unit 106, a time reversing unit 107, and a diagnosis unit. 108. Among these, the signal processing unit 106, the time reversing unit 107, and the diagnostic unit 108 constitute a main part of the diagnostic device 20.
The position estimation unit 102 includes a self-position estimation unit 1021 and a boarding / alighting estimation unit 1022.
The signal processing unit 106 includes a round-trip data acquisition unit 1061, an FFT unit 1062, and an integration unit 1063.

The sensor unit 101 has at least one sensor, and while the escalator is driven to reciprocate along the same path, a plurality of sensor data as forward sensor data and a plurality of return path sensor data at a plurality of data collection positions. Collect sensor data. Examples of the sensor type include a sound collection sensor such as a microphone (hereinafter referred to as “microphone”) or a vibration sensor. In the following description, it is assumed that the sensor unit 101 includes at least one microphone, and the sensor unit 101 collects sound data indicating sound reception intensity at the microphone as sensor data. The sensor unit 101 causes the recording unit 105 (described later) to record the collected sound data in association with the time when the sound data was collected.
As described above, in Embodiment 1, the sensor included in the sensor unit 101 is a microphone and sound data is collected as sensor data, but this is only an example. For example, a sensor included in the sensor unit 101 may be a vibration sensor, and acceleration data in, for example, triaxial directions may be collected as sensor data.

The position estimation unit 102 estimates the position of the sensor data collection device 10.
The self-position estimation unit 1021 of the position estimation unit 102 estimates the self-position of the sensor data collection device 10 (hereinafter simply referred to as “self-position”) when the escalator is driven back and forth along the same route. The self-position estimating unit 1021 estimates the self-position every predetermined time set in advance. The predetermined time set in advance is appropriately set by the user or the like.
In the first embodiment, the self-position is a position where the center of the sensor data collection device 10 exists, or a front surface provided on the front surface of the sensor data collection device 10 with respect to the traveling direction of the sensor data collection device 10. The position where the center of the panel exists. Note that this is only an example, and it is possible to appropriately set which part in the sensor data collection device 10 is the part for estimating the self-position.

Specifically, the self-position estimating unit 1021 estimates the self-position using, for example, an image sensor such as a camera or a GPS (Global Positioning System). The self-position estimation unit 1021 may estimate the self-position from the radio wave intensity from the access point or beacon using, for example, Wi-Fi (registered trademark) or Bluetooth (registered trademark). Further, the self-position estimation unit 1021 acquires information about how much the sensor data collection device 10 has moved, for example, from the driving unit 104 (described later), and the acquired information and a predetermined movement start It may be used for estimation of the self position from the position information.
The self-position estimation unit 1021 causes the recording unit 105 to record the estimated self-position information as position data in association with the estimated time of the position data. The position data is represented by, for example, GPS coordinates or three-dimensional coordinates with a specific point on the escalator as the origin. The specific point can be an arbitrary point. For example, when one of the parts constituting the escalator is set as the specific point, one point on the left side toward the upper platform 1001 on the boundary line between the lower platform 1002 and the step 1004 may be set as the specific point. it can.

Based on the self-position estimated by the self-position estimation unit 1021, the boarding / alighting estimation unit 1022 has reached the start point of the same route in the forward path when the escalator is driven back and forth along the same route, and the same in the forward route Estimate that the end of the route has been reached. Further, the boarding / alighting estimation unit 1022 determines that the escalator has reached the starting point of the same route on the return path when the escalator is driven back and forth along the same route based on the self-position estimated by the self-position estimation unit 1021, and It is estimated that the end point of the same route has been reached.
Specifically, the boarding / alighting estimation unit 1022 has the self-position estimated by the self-position estimation unit 1021 at a position vertically above the boundary between the landing and the step 1004 (hereinafter simply referred to as “on the boundary”). Determine if it has been reached. For example, when the part for estimating the self position is set at the center of the front panel, the getting-on / off estimation unit 1022 determines that the center of the front panel has reached the boundary between the landing and the step 1004. Then, information to that effect is output to the getting-on / off time setting unit 103 (described later).

The getting-on / off time setting unit 103 is based on the information output from the getting-on / off estimation unit 1022, and when the escalator is driven to reciprocate in a state where the sensor data collection device 10 is placed on the step 1004 The boarding time or the boarding time to the escalator of the sensor data collection device 10 in each of the above is set.
Specifically, the getting-on / off time setting unit 103 sets the outbound trip time, outbound trip time, return trip time, and return trip time to the escalator of the sensor data collection device 10.

For example, after the sensor data collection device 10 gets on the escalator in the ascending operation from the lower landing 1002, reaches the upper landing 1001 and gets off, the escalator switches to the lowering operation, and the sensor data collection device 10 It is assumed that the passenger rides on the escalator during the descent operation from the landing 1001 and returns to the lower landing 1002 to get off.
In this case, the outbound boarding time means that the center of the front panel of the sensor data collection device 10 is a step with the lower platform 1002 in the outbound route where the sensor data collection device 10 gets on the escalator from the lower platform 1002 and moves to the upper platform 1001. The time when it reaches the boundary of 1004.
Further, when the sensor data collection device 10 arrives at the upper platform 1001 and gets off at the above-mentioned outbound trip, the center of the front panel of the sensor data collection device 10 is the step 1004 and the upper platform 1001. The time when it reached the boundary.
In addition, the return trip boarding time means that the center of the front panel of the sensor data collection device 10 and the upper platform 1001 are steps on the return route where the sensor data collection device 10 gets on the escalator from the upper platform 1001 and returns to the lower platform 1002. The time when it reaches the boundary of 1004.
In addition, when returning from the return trip, the center of the front panel of the sensor data collection device 10 is the step 1004 and the lower landing 1002 when the sensor data collection device 10 reaches the lower landing 1002 and gets off. The time when it reached the boundary.
Here, as described above, the outbound trip time, outbound trip time, inbound trip time, and inbound trip time are general times including the date and time, but the outbound trip time, outbound trip time, inbound trip time The time and the return trip time may be elapsed time from the start of recording of position data.

  The getting-on / off time setting unit 103 records the set outbound route time, outbound route time, return route time, and return route time in the recording unit 105.

The drive unit 104 includes, for example, wheels for moving the sensor data collection device 10. The sensor data collection device 10 according to Embodiment 1 has a rechargeable battery, and can be self-propelled wirelessly by supplying power to the drive unit 104 from the rechargeable battery.
Here, the drive unit 104 is assumed to be provided in the sensor data collection device 10. However, the present invention is not limited to this, and the drive unit 104 is configured as a separate device that can be attached to and detached from the sensor data collection device 10. The sensor data collection device 10 may be connected to be communicable wirelessly or by wire.
The drive unit 104 can transmit information about how much the sensor data collection device 10 has moved to the self-position estimation unit 1021.

The recording unit 105 records the sound data collected by the sensor unit 101, the position data estimated by the self-position estimation unit 1021, the boarding time or the boarding time set by the boarding / alighting time setting unit 103, and the like.
In the first embodiment, as shown in FIG. 2, the recording unit 105 is provided in the sensor data collection device 10. However, the present invention is not limited to this, and the recording unit 105 is provided outside the sensor data collection device 10. The sensor data collection device 10 and the diagnosis device 20 may be provided in a place where they can be referred to.

The signal processing unit 106 performs various processes on the various data recorded in the recording unit 105 or the target sound data and the inverted target sound data output from the time reversing unit 107 (described later).
The reciprocal data acquisition unit 1061 of the signal processing unit 106 acquires information on the sound data, position data, forward trip time, forward trip time, return trip time, and return trip time recorded in the recording unit 105. In addition, the round-trip data acquisition unit 1061 obtains sound data and position data necessary for generating diagnostic data used when diagnosing an escalator abnormality based on the data acquired from the recording unit 105 and the information. Extract.
Specifically, the reciprocal data acquisition unit 1061 has a plurality of sound data from the time when the escalator reaches the end point of the same route to the time when the escalator reaches the end point of the same route in the forward route when the escalator is driven to reciprocate along the same route. And extract location data. The reciprocal data acquisition unit 1061 extracts a plurality of sound data and position data from the time when the escalator reaches the end point to the time when the escalator reaches the end point on the return path when the escalator is driven back and forth along the same path.
The round-trip data acquisition unit 1061 can synchronize by matching the time axes of the sound data and the position data respectively recorded in the recording unit 105. For example, when the round-trip data acquisition unit 1061 extracts the sound data and the position data, for example, the position data and the sound data at the moment when the sensor data collection device 10 moves from the upper landing 1001 to the step 1004 correspond to each other. Can be extracted.
In the first embodiment, sound data and position data necessary to generate diagnostic data are also referred to as target sound data and target position data, respectively.
The round trip data acquisition unit 1061 outputs the extracted forward target sound data, backward target sound data, forward target position data, and backward target position data to the time reversing unit 107.

The FFT unit 1062 of the signal processing unit 106 converts the target sound data and the post-inversion target sound data output from the time reversing unit 107 into frequency data by FFT (Fast Fourier Transform), respectively, and an amplitude spectrogram. To get.
In the first embodiment, the amplitude spectrograms of the target sound data and the inverted target sound data acquired by the FFT unit 1062 converting to frequency data are also referred to as frequency sound data and inverted frequency sound data, respectively.
The FFT unit 1062 outputs the frequency sound data and the inverted frequency sound data together with the target position data to the integration unit 1063 of the signal processing unit 106.

The integration unit 1063 integrates the frequency sound data and the inverted frequency sound data acquired by the FFT unit 1062 by associating data whose data collection positions match each other.
The integration unit 1063 integrates the frequency sound data and the inverted frequency sound data using an average value calculation method, a minimum value selection method, or the like.
In the first embodiment, the integrated target sound data generated by the integration unit 1063 integrating the frequency sound data and the inverted frequency sound data is also referred to as integrated sound data.
The integration unit 1063 associates the generated integrated sound data with the target position data, and causes the recording unit 105 to record the data as diagnostic data.

The time reversing unit 107 acquires the target sound data and the target position data from the reciprocal data acquisition unit 1061, and for the acquired target sound data, either the forward target sound data or the return target sound data is converted to the time direction. Is reversed (hereinafter referred to as “time reversal”) to generate post-inversion target sound data.
In the first embodiment, the target sound data generated by the time reversing unit 107 by reversing the time among the forward target sound data or the return target sound data is also referred to as post-reversal target sound data.
For example, when the time reversing unit 107 acquires the target sound data for 10 seconds from the round-trip data acquiring unit 1061, the time reversing unit 107 reverses the target sound data symmetrically with the intermediate point of 5 seconds as the base point, Generate sound data. Time reversal is such reversal processing.
As a specific example, for example, the sampling period of the target sound data for 10 seconds is 48 kHz, and the number of sample data included in the target sound data is 480000 points. When the target sound data is time-reversed, the time reversing unit 107 replaces the first sample data indicating the 0 second point with the 480000th sample data indicating the 10th point. In addition, the time reversing unit 107 exchanges the second sample data and the 479999 sample data, exchanges the third sample data and the 499998 sample data, and performs the same exchange in time series. This is performed for all the sample data arranged in a row. By such replacement of the sample data, the time reversing unit 107 reverses the target sound data symmetrically with the sample data at the intermediate point among the sample data arranged in time series included in the target sound data as a base point.

The time reversing unit 107 sets the target sound data and the target of the target sound data that has not been time-reversed from the target sound data after reversal of either the target sound data of the forward path or the target sound data of the return path. The signal is output to the signal processing unit 106 together with the position data.
It should be noted that the time reversing unit 107 outputs the target sound data that has not been time-reversed among the forward target sound data or the return target sound data to the signal processing unit 106 as it is.

The diagnosis unit 108 refers to the recording unit 105 and performs an abnormality diagnosis of the escalator using the integrated sound data recorded by the signal processing unit 106. The diagnosis unit 108 may perform abnormality diagnosis using an existing method such as machine learning. The specific method is an existing method and will not be described in detail.
In addition, the diagnosis unit 108 can transmit information on the abnormality diagnosis result to an external device or the like. The external device or the like is, for example, a display device such as a display, a sound output device such as a speaker, or a server.

Next, the operation of the sensor data collection device 10 according to Embodiment 1 will be described.
The sensor data collection device 10 performs “data collection processing” and “diagnosis processing”.
In the “data collection process”, the sensor data collection device 10 acquires sound data, position data, or the like, which is a basis for generating diagnostic data for diagnosing an escalator abnormality, and records the data in the recording unit 105.
In the “diagnosis process”, the sensor data collection device 10 generates diagnostic data for diagnosing an escalator abnormality based on the sound data or position data recorded in the recording unit 105 in the “data collection process”. Also, conduct abnormality diagnosis.
Hereinafter, specific operations of the “data collection process” and the “diagnosis process” will be described.

First, a specific operation of the “data collection process” will be described.
FIG. 3 is a flowchart for explaining the operation of “data collection processing” by the sensor data collection device 10 according to the first embodiment.
In the following description, it is assumed that the escalator is first lifted from the lower part to the upper part and then lowered from the upper part to the lower part, and is driven to reciprocate only once. This is merely an example, and conversely, the escalator may be operated to be lowered from the upper part to the lower part and then to be elevated from the lower part to the upper part. Even when the escalator is operated to rise after the descent operation, the operation is the same as the operation described below.

A user (hereinafter simply referred to as “user”) such as an equipment manager or equipment inspection company installs the sensor data collection device 10 at the lower landing 1002 of the escalator.
Note that the user installs the sensor data collection device 10 at the lower landing 1002 so as to self-run toward the step 1004.
Further, it is assumed that the position on the lower platform 1002 where the sensor data collection device 10 is installed in the lower platform 1002 is determined in advance. Specifically, for example, the user moves away from a boundary line between the lower landing 1002 and the step 1004 by a set distance in a direction perpendicular to the boundary and parallel to the upper surface of the lower landing 1002. The sensor data collection device 10 is installed on the lower platform 1002.
When installed at lower landing 1002, sensor data collection device 10 stands by until an operation instruction is accepted (step ST301).

The sensor unit 101 starts collecting sound data and recording the collected sound data in the recording unit 105. The self-position estimation unit 1021 starts estimation of the self-position of the sensor data collection device 10 and recording of the estimated self-position information in the recording unit 105 (step ST302).
Specifically, for example, the user operates a remote controller (hereinafter referred to as “remote controller”) to instruct the sensor data collection device 10 to start recording sound data, A self-position recording start instruction for starting position recording is transmitted. A control unit (not shown) of the sensor data collection device 10 receives a sound data recording start instruction, and based on the control of the control unit, the sensor unit 101 starts collecting sound data and recording the collected sound data. . In addition, the control unit receives a self-position recording start instruction, and based on the control of the control unit, the self-position estimating unit 1021 starts self-position estimation and recording of the estimated self-position information.

  It is desirable that the start of recording of sound data by the sensor unit 101 is simultaneously with the start of recording of self-position information of the sensor data collection device 10 by the self-position estimation unit 1021. However, the start of recording of sound data by the sensor unit 101 and the start of recording of self-position information by the self-position estimation unit 1021 do not necessarily have to be simultaneous, and the sound data and the self-position are synchronized by some method. It only has to come out. Synchronizing the sound data with the self-position is a point where the sensor data collection device 10 is located, for example, the sound data recorded when the sensor data collection device 10 moves from the lower landing 1002 to the step 1004 can be specified. It is possible to associate the self-position of the sensor data collection device 10 at the time of being present with the sound data recorded at the self-position.

Then, the sensor data collection device 10 starts moving toward the step 1004. Specifically, the sensor data collection device 10 moves toward the step 1004 based on the control of the drive unit 104.
The sensor data collection device 10 has a drive control unit (not shown).
For example, when the user installs the sensor data collection device 10 on the upper platform 1001 and starts the collection of sound data and the estimation of the self position, the user operates the remote controller to step on the sensor data collection device 10. A traveling instruction for moving the vehicle up to 1004 is transmitted. The drive control unit receives the travel instruction and controls the drive unit 104 so that the sensor data collection device 10 moves forward.
The start of sound data collection and self-position estimation by the sensor data collection device 10 may be simultaneous with the start of movement toward the step 1004 by the sensor data collection device 10 or may be before or after each other. However, it is desirable that sound data collection and self-position estimation by the sensor data collection device 10 be started before the sensor data collection device 10 reaches the step 1004.
The drive control unit receives various instructions from the remote controller via the network.
The drive control unit may be included in the drive unit 104.

The boarding / alighting estimation unit 1022 of the position estimation unit 102 determines whether or not the sensor data collection device 10 has reached the boundary between the lower landing 1002 and the step 1004 (step ST303). Specifically, the boarding / alighting estimation unit 1022 determines, for example, whether the center of the front panel of the sensor data collection device 10 has reached the boundary between the lower landing 1002 and the step 1004.
When the boarding / alighting estimation unit 1022 determines that the sensor data collection device 10 has not reached the boundary between the lower platform 1002 and the step 1004 (in the case of “NO” in step ST303), step ST303 is repeated to collect sensor data. The apparatus 10 waits until it reaches the step 1004 from the lower platform 1002. During this time, recording of sound data by the sensor unit 101 and recording of self-position information by the self-position estimation unit 1021 are continued.

  When the boarding / alighting estimation unit 1022 determines that the sensor data collection device 10 has reached the boundary between the lower landing 1002 and the step 1004 (in the case of “YES” in step ST303), the boarding / alighting estimation unit 1022 Information indicating that the collection device 10 has reached the boundary between the lower landing 1002 and the step 1004 is output to the getting-on / off time setting unit 103. At this time, the boarding / alighting estimation unit 1022 combines the time when it is determined that the center of the front panel of the sensor data collection device 10 has reached the boundary between the lower platform 1002 and the step 1004 and the boarding / alighting time setting unit 103. Output to. In the following description, the time when the getting-on / off estimation unit 1022 determines that the center of the front panel of the sensor data collection device 10 has reached the boundary between the landing and the step 1004 is referred to as “arrival determination time”.

  In step ST303, the boarding / alighting time setting unit 103 obtains information indicating that the sensor data collection device 10 has reached the boundary between the lower platform 1002 and the step 1004 from the boarding / alighting estimation unit 1022, and sets the arrival determination time in the forward path. The boarding time is set and recorded in the recording unit 105 (step ST304). In addition, the boarding / alighting time setting unit 103 may set the time when the sensor data collection device 10 has acquired information indicating that the sensor data collection device 10 has reached the boundary between the lower platform 1002 and the step 1004 as the forward boarding time.

When the sensor data collection device 10 moves from the lower landing 1002 to the step 1004, the sensor data collection device 10 stops on the step 1004. Specifically, the sensor data collection device 10 stops on the step 1004 when the drive unit 104 stops under the control of the drive control unit.
For example, when the sensor data collection device 10 moves up to the step 1004, the user operates the remote controller to transmit a stop instruction to stop the sensor data collection device 10. The drive control unit receives a stop instruction and controls the drive unit 104 so that the sensor data collection device 10 stops.
The sensor data collection device 10 is transported to the upper landing 1001 by an escalator.

  Next, the boarding / alighting estimation unit 1022 determines whether or not the sensor data collection device 10 has reached the boundary between the step 1004 and the upper landing 1001 (step ST305). Specifically, the boarding / alighting estimation unit 1022 determines, for example, whether the center of the front panel of the sensor data collection device 10 has reached the boundary between the step 1004 and the upper landing 1001.

  When the boarding / alighting estimation unit 1022 determines that the sensor data collection device 10 has not reached the boundary between the step 1004 and the upper platform 1001 (in the case of “NO” in step ST305), step ST305 is repeated to collect sensor data. The apparatus 10 waits until it reaches the upper platform 1001 from the step 1004. During this time, recording of sound data by the sensor unit 101 and recording of self-position information by the self-position estimation unit 1021 are continued.

  When the boarding / alighting estimation unit 1022 determines that the sensor data collection device 10 has reached the boundary between the step 1004 and the upper platform 1001 (in the case of “YES” in step ST305), the boarding / alighting estimation unit 1022 Information indicating that the collection device 10 has reached the boundary between the step 1004 and the upper platform 1001 is output to the getting-on / off time setting unit 103. At this time, the boarding / alighting estimation unit 1022 sets the boarding / alighting time together with the arrival determination time when it is detected that the center of the front panel of the sensor data collection device 10 has reached the boundary between the step 1004 and the upper platform 1001. Output to the unit 103.

  In step ST305, the boarding / alighting time setting unit 103 obtains information indicating that the sensor data collection device 10 has reached the boundary between the step 1004 and the upper platform 1001 from the boarding / alighting estimation unit 1022. The getting-off time is set and recorded in the recording unit 105 (step ST306). In addition, the boarding / alighting time setting unit 103 may set the time when the sensor data collection device 10 has acquired information indicating that the sensor data collection device 10 has reached the boundary between the step 1004 and the upper platform 1001 as the forward boarding time.

The sensor data collection device 10 waits for the driving direction of the escalator to be reversed. When the driving of the escalator is reversed, the sensor data collection device 10 starts moving from the upper landing 1001 toward the step 1004 (step ST307).
When the sensor data collection device 10 reaches the upper platform 1001, the user operates the remote controller to move the sensor data collection device 10 from the step 1004 to the upper platform 1001. When the sensor data collection device 10 moves to the upper landing 1001, the user operates the remote controller to stop the sensor data collection device 10. Since the operation in which the sensor data collection device 10 moves or stops based on an instruction from the user has been described, a duplicate description is omitted.
Further, the user reverses the driving direction of the escalator. Specifically, for example, the user causes the escalator drive device to control the drive of the upper sprocket and reverse the direction in which the step 1004 is circulated.

Thereafter, the user re-installs the sensor data collection device 10 on the upper landing 1001 so as to self-run toward the step 1004.
As a specific operation in which the user re-installs the sensor data collection device 10, for example, the user operates the remote controller or the like so that the sensor data collection device 10 is in the direction of self-running toward the step 1004. Control is performed so that the direction of the sensor data collection device 10 is rotated by 180 degrees. Further, for example, the user may manually rotate the direction of the sensor data collection device 10 by 180 degrees.
It is assumed that the position on the upper platform 1001 when the sensor data collection device 10 is installed on the upper platform 1001 is determined in advance. Specifically, for example, the user moves away from the boundary line between the upper platform 1001 and the step 1004 by a set distance in a direction perpendicular to the boundary line and a direction parallel to the upper surface of the upper platform 1001. The sensor data collection device 10 is installed on the upper platform 1001. The distance set at this time is the same length as the distance set when the user installs the sensor data collection device 10 in step ST301.
Then, the user operates the remote controller to transmit a travel instruction for moving to the step 1004 to the sensor data collection device 10. When the sensor data collection device 10 receives the travel instruction, the sensor data collection device 10 starts moving from the upper landing 1001 toward the step 1004. Since the specific operation | movement which the sensor data collection apparatus 10 moves is the same as the operation | movement demonstrated by step ST301, the overlapping description is abbreviate | omitted.

From step ST305, when the getting-on / off time setting unit 103 determines that the sensor data collection device 10 has reached the boundary between the step 1004 and the upper landing 1001, in step ST307, the sensor data collection device 10 Recording of sound data by the sensor unit 101 and recording of information on the self-position of the sensor data collection device 10 by the self-position estimation unit 1021 are continued until the movement starts from the upper platform 1001 toward the step 1004. It can be left untouched.
In step ST305, when the getting-on / off time setting unit 103 determines that the sensor data collection device 10 has reached the boundary between the step 1004 and the upper platform 1001, recording of sound data and self-location by the sensor unit 101 is performed. Recording of self-position information by the estimation unit 1021 is temporarily stopped, and when the sensor data collection device 10 starts moving from the upper landing 1001 toward the step 1004 in step ST307, the sound data and the self-position information are recorded. Recording may be resumed.
Here, it is assumed that recording of sound data by the sensor unit 101 and recording of self-position information by the self-position estimation unit 1021 are continued in the forward path and the return path of the escalator.

  The boarding / alighting estimation unit 1022 determines whether or not the sensor data collection device 10 has reached the boundary between the upper landing 1001 and the step 1004 (step ST308). Specifically, the boarding / alighting estimation unit 1022 determines, for example, whether the center of the front panel of the sensor data collection device 10 has reached the boundary between the upper landing 1001 and the step 1004.

  When the boarding / alighting estimation unit 1022 determines that the sensor data collection device 10 has not reached the boundary between the upper platform 1001 and the step 1004 (in the case of “NO” in step ST308), step ST308 is repeated to collect sensor data. It waits until the apparatus 10 reaches the step 1004 from the upper platform 1001. During this time, recording of sound data by the sensor unit 101 and recording of self-position information by the self-position estimation unit 1021 are continued.

  When the boarding / alighting estimation unit 1022 determines that the sensor data collection device 10 has reached the boundary between the upper platform 1001 and the step 1004 (in the case of “YES” in step ST308), the self-location estimation unit 1021 Information indicating that the collection device 10 has reached the boundary between the upper platform 1001 and the step 1004 is output to the getting-on / off time setting unit 103. At this time, the boarding / alighting estimation unit 1022 combines the arrival judgment time determined that the center of the front panel of the sensor data collection device 10 has reached the boundary between the upper platform 1001 and the step 1004 together with the boarding / alighting time setting unit. To 103.

  In step ST308, the boarding / alighting time setting unit 103 obtains information indicating that the sensor data collection device 10 has reached the boundary between the upper platform 1001 and the step 1004 from the boarding / alighting estimation unit 1022. The boarding time is set and recorded in the recording unit 105 (step ST309). In addition, the boarding / alighting time setting unit 103 may set the time when the sensor data collection device 10 has acquired information indicating that the sensor data collection device 10 has reached the boundary between the upper platform 1001 and the step 1004 as the forward boarding time.

When the sensor data collection device 10 moves to the step 1004, the sensor data collection device 10 stops on the step 1004. Specifically, for example, the sensor data collection device 10 receives a stop instruction from the user and stops on the step 1004 when the drive unit 104 stops under the control of the drive control unit.
The sensor data collection device 10 is transported to the lower landing 1002 by an escalator.

  Next, the boarding / alighting estimation unit 1022 determines whether the sensor data collection device 10 has reached the boundary between the step 1004 and the lower landing 1002 (step ST310). Specifically, the boarding / alighting estimation unit 1022 determines whether or not the center of the front panel of the sensor data collection device 10 has reached the boundary between the step 1004 and the lower landing 1002.

  When the boarding / alighting estimation unit 1022 determines that the sensor data collection device 10 has not reached the boundary between the step 1004 and the lower platform 1002 (in the case of “NO” in step ST310), step ST310 is repeated to collect sensor data. It waits until the apparatus 10 reaches the lower platform 1002 from the step 1004. During this time, recording of sound data by the sensor unit 101 and recording of self-position information by the self-position estimation unit 1021 are continued.

  When the boarding / alighting estimation unit 1022 determines that the sensor data collection device 10 has reached the boundary between the step 1004 and the upper platform 1002 (in the case of “YES” in step ST310), the boarding / alighting estimation unit 1022 Information indicating that the collection device 10 has reached the boundary between the step 1004 and the lower landing 1002 is output to the getting-on / off time setting unit 103. At this time, the boarding / alighting estimation unit 1022 combines the arrival determination time when it is determined that the center of the front panel of the sensor data collection device 10 has reached the boundary between the step 1004 and the lower landing 1002 and the boarding / alighting time setting unit. To 103.

  In step ST310, the boarding / alighting time setting unit 103 acquires information indicating that the sensor data collection device 10 has reached the boundary between the step 1004 and the lower platform 1002 from the boarding / alighting estimation unit 1022, and sets the arrival determination time to the return path. The getting-off time is set and recorded in the recording unit 105 (step ST311). In addition, the boarding / alighting time setting unit 103 may set the time when the sensor data collection device 10 acquires information indicating that the sensor data collection device 10 has reached the boundary between the step 1004 and the lower platform 1002 as the forward boarding time.

The sensor unit 101 ends the acquisition of sound data and the recording of the acquired sound data in the recording unit 105. Self-position estimating section 1021 ends self-position estimation and recording of the estimated self-position information in recording section 105 (step ST312).
Specifically, for example, the user operates the remote control to instruct the sensor data collection device 10 to stop recording sound data, and to record the self position to stop recording the self position. Send a stop instruction. The control unit of the sensor data collection device 10 receives a sound data recording stop instruction, and the sensor unit 101 ends the acquisition of the sound data and the recording of the acquired sound data based on the control of the control unit. The control unit accepts a self-position recording stop instruction, and the self-position estimation unit 1021 ends the self-position estimation and the recording of the estimated self-position information based on the control of the control unit.

  When the sensor data collection device 10 moves to the lower landing 1002, the sensor data collection device 10 stops on the lower landing 1002. Specifically, for example, the sensor data collection device 10 receives a stop instruction from the user and stops on the lower landing 1002 when the drive unit 104 stops under the control of the drive control unit.

  As described above, the sensor data collection device 10 obtains sound data or position data or the like that generates diagnostic data for diagnosing an escalator abnormality in the “data collection process” and stores it in the recording unit 105. Let me record.

Here, FIG. 4 is a diagram illustrating an example of the contents of various information recorded in the recording unit 105 after “data collection processing” in the first embodiment.
FIG. 4A shows an example of the content of information related to sound data and position data recorded in the recording unit 105, and FIG. 4B shows the outbound trip time, outbound trip time, recorded in the recording unit 105. An example of the contents of the information of the return trip time and the return trip time is shown.

As shown in FIG. 4A, after the “data collection process”, the sound data is recorded in the recording unit 105 in association with the time when the sound data was acquired. In the recording unit 105, position data is recorded in association with the time when the position data was estimated.
When the sound data and the position data are acquired or estimated at the same time, the recording unit 105 may record the sound data and the position data in association with each other.

  Further, as shown in FIG. 4B, after the “data collection process”, the recording unit 105 records information of the outbound trip time, the outbound trip time, the inbound trip time, and the inbound trip time.

Next, a specific operation of the “diagnosis process” will be described. The “diagnosis process” is a process performed by the diagnostic device 20.
The “diagnosis process” is based on the premise that the “data collection process” is performed before the “diagnosis process” is performed. In the following description of the operation, as an example, it is assumed that after the “data collection process”, information having the contents as shown in FIG.

FIG. 5 is a flowchart for explaining the operation of “diagnosis processing” by the sensor data collection device 10 according to the first embodiment.
The round-trip data acquisition unit 1061 acquires information on sound data, position data, forward trip time, forward trip time, return trip time, and return trip time from the recording unit 105 (step ST501).

The round-trip data acquisition unit 1061 extracts target sound data and target position data from the sound data and position data acquired in step ST501 (step ST502).
The round trip data acquisition unit 1061 extracts the target sound data and the target position data based on the information of the outbound trip time, the outbound trip time, the inbound trip time, and the inbound trip time acquired in step ST501.

  Specifically, the round-trip data acquisition unit 1061 obtains sound data and position data acquired or estimated from the outbound trip time to the outbound trip time among the sound data and location data acquired in step ST501, respectively. And extracted as target sound data and target position data. Out of the target sound data and the target position data, the target sound data and the target position data from the outbound trip time to the outbound trip time extracted by the round trip data acquisition unit 1061 are respectively the outbound route target sound data and the outbound route target data. Also referred to as position data.

  The round-trip data acquisition unit 1061 obtains, from the sound data and position data acquired in step ST501, the sound data and position data acquired or estimated between the return trip time and the return trip time, respectively. Extracted as data and target position data. Out of the target sound data and the target position data, the target sound data and the target position data from the return trip boarding time to the return trip stop time extracted by the round trip data acquisition unit 1061 are respectively the return trip target sound data and the return trip target. Also referred to as position data.

  The round trip data acquisition unit 1061 extracts the sound data and the position data to be extracted in association with the sound data and the position data, and the outbound trip time, the outbound trip time, the inbound trip time, or the inbound trip What is necessary is just to specify by associating time.

Here, since the information of the contents as shown in FIG. 4 is recorded in the recording unit 105, the round-trip data acquisition unit 1061 first performs the sound data as shown in FIG. 4A in step ST501. And the position data and the information of the outbound trip time, the outbound trip time, the inbound trip time, and the inbound trip time as shown in FIG. 4B are acquired from the recording unit 105. Then, in step ST502, the round-trip data acquisition unit 1061 uses, as a forward path target sound data and a forward path target position data, 2018/3/1 9: 00: 00: 00 to 2018/2018 from the acquired sound data and position data, respectively. The sound data and position data between 3/1 9:00:10 are extracted.
Further, the round trip data acquisition unit 1061 uses the sound data and position between 2018/3/1 9:03:00 to 2018/3/1 9:03:10 as return path target sound data and return path target position data. Extract data.

  The round-trip data acquisition unit 1061 outputs the extracted target sound data and target position data to the time reversing unit 107.

The time reversing unit 107 acquires the target sound data and the target position data from the reciprocal data acquisition unit 1061, and time-reverses either the forward target sound data or the return target sound data, Data is generated (step ST503).
In the first embodiment, as an example, the time reversing unit 107 performs time reversal of the return path target sound data. Note that this is only an example, and the time reversing unit 107 may time-reverse the forward target sound data, and the time reversing unit 107 time-reverses the target sound data of either the forward path or the return path. It only has to be like this.

Here, since the inbound object sound data is data for 10 seconds, the time reversing unit 107 associates the inbound object sound data with 2018/3/1 9:03:05, which is the 5 second point. Using the return path target sound data as a base point, the return path target sound data is reversed symmetrically.
As a result, for example, the return path target sound data associated with 2018/3/1 9:03:10 before inversion is associated with 2018/3/1 9:03:00 after inversion. Become.

The time reversing unit 107 is a signal processing unit together with the target sound data and the target position data that have not been time-reversed in the target sound data that has been time-reversed among the target sound data in the forward path or the target sound data in the return path It outputs to 106.
As described above, in Embodiment 1, the data generated by inverting the target sound data by the time reversing unit 107 is also referred to as post-inversion target sound data.
In the first embodiment, the inverted target sound data generated by inverting the forward path target sound data among the inverted target sound data is also referred to as the inverted forward path target sound data, and the inverted generated by inverting the backward path target sound data. The rear target sound data is also referred to as post-inversion return target sound data.

Here, the time reversing unit 107 outputs the post-inversion return path target sound data and the forward path target sound data to the signal processing unit 106.
Note that the time reversing unit 107 may cause the recording unit 105 to record the post-inversion return path target sound data and the outbound path target sound data. In that case, the FFT unit 1062 of the signal processing unit 106 performs an operation described later based on the post-inversion return target sound data and the forward pass target sound data recorded in the recording unit 105.

  The FFT unit 1062 converts the target sound data and the post-inversion target sound data output from the time reversing unit 107 in step ST503 into frequency data by FFT, and acquires an amplitude spectrogram (step ST504). The FFT unit 1062 uses the acquired amplitude spectrograms of the target sound data and the inverted target sound data as frequency sound data and inverted frequency sound data, respectively.

In the first embodiment, out of the frequency sound data, the forward frequency sound data is also referred to as the forward frequency sound data, and the return frequency sound data is referred to as the return frequency sound data. In the first embodiment, of the inverted frequency sound data, the frequency sound data after inversion of the forward path is also referred to as post-inversion frequency sound data, and the frequency sound data after inversion of the reverse path is also referred to as post-inversion backward frequency sound data.
Here, the FFT unit 1062 acquires the forward frequency sound data and the reverse return frequency sound data.
Note that FFT can be performed even on sound data that has been time-reversed.

  An amplitude spectrogram is obtained by applying a window function to sound data every N points (powers of 2) and then performing FFT on the sound data, and arranging the results in time series. Time, frequency, amplitude, or power 3 Data consisting of dimensions. The user can freely set N as long as N is a power of 2 and less than the score of the sound data.

The FFT unit 1062 outputs the forward frequency sound data and the reverse reverse frequency sound data together with the target position data to the integrating unit 1063.
The FFT unit 1062 may cause the recording unit 105 to record the forward frequency sound data and the reverse frequency sound data after inversion. In that case, the integration unit 1063 of the signal processing unit 106 performs the operation described later based on the forward frequency sound data recorded in the recording unit 105 and the reverse frequency sound data after inversion.

The integration unit 1063 of the signal processing unit 106 integrates the frequency sound data and the inverted frequency sound data acquired by the FFT unit 1062 in step ST504 to generate integrated sound data (step ST505). Here, the integration unit 1063 generates the integrated sound data by integrating the forward frequency sound data and the post-inversion inbound frequency sound data.
Specifically, the integration unit 1063 integrates the forward frequency sound data and the reverse frequency sound data after inversion using an average value calculation method, a minimum value selection method, or the like.
For example, when the average value calculation method is adopted, the integration unit 1063 adds the amplitude value for each time element and frequency element of the forward frequency sound data and the reverse frequency sound data after inversion, and then divides by two. Thus, the forward frequency sound data and the reverse frequency sound data after inversion are integrated by obtaining the average value regarding the amplitude value of the forward frequency sound data and the reverse frequency sound data after the reverse.
For example, when the minimum value selection method is adopted, the integration unit 1063 extracts a small amplitude value for each time element and frequency element of the forward path frequency sound data and the reverse path frequency sound data after inversion, and the forward frequency sound data and the reverse path after the inversion By creating data composed only of the minimum value of the frequency sound data, the forward frequency sound data and the reverse frequency sound data after inversion are integrated.
Note that the above-described example is merely an example, and the signal processing unit 106 can be any other method as long as it integrates the amplitude spectrogram of the forward frequency sound data and the amplitude spectrogram of the reverse frequency sound data after inversion and can reduce disturbance. The method may be used to integrate the forward frequency sound data and the reverse frequency sound data after inversion.

In the first embodiment, the integration unit 1063 integrates the forward frequency sound data and the inverted reverse frequency sound data along the same time direction as described above. As a result, the integration unit 1063 integrates the forward frequency sound data and the reverse return frequency data by associating data whose data collection positions match each other.
The integration unit 1063 records the generated integrated sound data in the recording unit 105 as diagnostic data in association with the target position data.

Diagnosis section 108 refers to recording section 105, and performs an escalator abnormality diagnosis using integrated sound data recorded by signal processing section 106 (step ST506). The diagnosis unit 108 may perform abnormality diagnosis using an existing method such as machine learning.
When obtaining an abnormality occurrence location of the escalator, the diagnosis unit 108 corresponds to the target position data associated with the target sound data that has not been inverted and corresponds to the generation time of the integrated sound data diagnosed as abnormal. Find where on the location data. For example, here, since the time reversing unit 107 reverses the return path target sound data in Step ST503, the diagnosis unit 108 corresponds to the generation time of the integrated sound data for the integrated sound data diagnosed as abnormal. The corresponding position on the outbound path target position data is obtained as an abnormality occurrence location. Note that the integrated sound data and the target position data associated with the target sound data that has not been inverted can be associated with each other according to the associated time.
The diagnosis unit 108 can also transmit information related to the abnormality diagnosis result to an external device or the like.

  As described above, in the “diagnosis process”, the sensor data collection device 10 generates diagnostic data for diagnosing an escalator abnormality, and performs an escalator abnormality diagnosis based on the generated diagnostic data.

As described above, the diagnosis device 20 according to the first embodiment diagnoses an abnormality of the escalator by integrating the sound data acquired while the step 1004 makes one reciprocation in the escalator with time reversal. Diagnostic data was generated. Therefore, it is possible to generate escalator diagnosis data based on data for the step 1004 reciprocating once in the escalator. As a result, there is no need to reciprocate the step 1004 a plurality of times, and the data collection time for generating diagnostic data can be shortened.
Further, the diagnostic device 20 can generate diagnostic data without affecting the microphone sound receiving intensity of abnormal sounds generated at the same location of the escalator, and can reduce diagnostic disturbances that occur suddenly. Data can be generated. Specifically, for example, when an abnormal sound is generated in both the forward path and the return path at the same location of the escalator while the diagnostic device 20 is placed on the escalator and the step 1004 makes one round trip, the diagnosis is performed. The apparatus 20 can prevent attenuation of abnormal sounds by integrating the sound data acquired while the step 1004 makes one reciprocation by time reversal and integrating them. On the other hand, when a disturbance sound is generated at a position on the forward path and the disturbance sound is not generated at the same position on the return path, the diagnostic device 20 reverses the sound data acquired while the step 1004 makes one round trip. The disturbance noise can be reduced by integrating and averaging.

In the above description, the time reversing unit 107 time-inverts the target sound data of either the forward path or the return path (step ST503 in FIG. 5), and then the FFT unit 1062 performs the target sound data and the target after reversal. The sound data is converted into frequency data (step ST504 in FIG. 5). However, the present invention is not limited to this, and the order of the operation in step ST503 and the operation in step ST504 may be reversed.
That is, the FFT unit 1062 may convert the target sound data into frequency data, and then the time reversing unit 107 may time-invert the frequency data.
In this case, for example, the time reversing unit 107 performs the reversal of the frequency data with respect to the time axis of the amplitude spectrogram. For example, if there are 1000 time elements in the frequency data, the first frequency amplitude sequence on the time axis and the 1000th frequency amplitude sequence on the time axis are interchanged, and the second frequency amplitude sequence and time on the time axis. The time reversing unit 107 inverts the frequency data for the frequency data belonging to all the time elements, such as replacing the 999th frequency amplitude sequence on the axis.

In the above description, in the “data collection process”, the sound data itself collected by the sensor unit 101 is recorded in the recording unit 105.
However, the present invention is not limited to this, and in the “data collection process”, sound data collected by the sensor unit 101 may be converted into frequency data and then recorded in the recording unit 105.
Specifically, the FFT unit 1062 acquires sound data from the sensor unit 101, performs FFT on the sound data and converts the sound data into frequency data, and records the sound data in the recording unit 105 in association with the collection date and time of the sound data. Like that.
In this case, step ST504 in FIG. 5 can be omitted in the subsequent “diagnosis process”.
In the above description, the diagnostic device 20 includes the FFT unit 1062. However, the diagnostic device 20 may not include the FFT unit 1062. In that case, the diagnostic device 20 does not perform FFT, and the integration unit 1063 integrates the target sound data and the post-inversion target sound data output from the time reversing unit 107.

In the above description, the sensor data collection device 10 includes the drive unit 104 and is self-propelled.
However, the present invention is not limited to this, and the sensor data collection device 10 may not include the drive unit 104.
In that case, when the user reciprocates the sensor data collection device 10 on the step 1004 in the “data collection process”, the user manually installs the sensor data collection device 10 on the step 1004 or collects the sensor data. The apparatus 10 is manually removed from the step 1004.
Further, in this case, the user also installs the outbound trip time, the outbound trip time, the inbound trip time, and the inbound trip time on the step 1004 of the sensor data collection device 10, for example, the sound data and the self-location information. After the recording is started, the recording unit 105 is manually recorded as the time when the operation of the escalator is started or the time when the operation of the escalator is ended.

6A and 6B are diagrams illustrating an example of a hardware configuration of the sensor data collection device 10 according to the first embodiment.
In the first embodiment, the functions of the position estimation unit 102, the getting-on / off time setting unit 103, the signal processing unit 106, the time reversing unit 107, and the diagnosis unit 108 are realized by the processing circuit 601. That is, the sensor data collection device 10 includes a processing circuit 601 for acquiring sound data, position data, etc., and generating diagnostic data for performing abnormality diagnosis of equipment such as an escalator and controlling abnormality diagnosis processing. Prepare.
The processing circuit 601 may be dedicated hardware as shown in FIG. 6A or may be a CPU (Central Processing Unit) 607 that executes a program stored in the memory 608 as shown in FIG. 6B.

  When the processing circuit 601 is dedicated hardware, the processing circuit 601 includes, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), and an FPGA (Field-Programmable). Gate Array) or a combination thereof.

  When the processing circuit 601 is the CPU 607, the functions of the position estimation unit 102, the getting-on / off time setting unit 103, the signal processing unit 106, the time reversing unit 107, and the diagnosis unit 108 are software, firmware, or software and firmware. It is realized by the combination. That is, the position estimation unit 102, the getting-on / off time setting unit 103, the signal processing unit 106, the time reversing unit 107, and the diagnosis unit 108 execute programs stored in an HDD (Hard Disk Drive) 602, a memory 608, and the like. It is implemented by a processing circuit such as a CPU 607 to execute or a system LSI (Large-Scale Integration). The programs stored in the HDD 602, the memory 608, and the like are stored in the computer according to the procedures and methods of the position estimation unit 102, the getting-on / off time setting unit 103, the signal processing unit 106, the time reversing unit 107, and the diagnosis unit 108. It can be said that this is what is executed. Here, the memory 608 is, for example, a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), an EEPROM (Electrically Erasable Memory), or the like. Or a volatile semiconductor memory, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, or a DVD (Digital Versatile Disc).

Part of the functions of the position estimation unit 102, the getting-on / off time setting unit 103, the signal processing unit 106, the time reversing unit 107, and the diagnosis unit 108 are realized by dedicated hardware, and part of the functions are software. Alternatively, it may be realized by firmware. For example, the position estimation unit 102 realizes its function by a processing circuit 601 as dedicated hardware, and the boarding / alighting time setting unit 103, the signal processing unit 106, the time reversing unit 107, and the diagnosis unit 108 are processed. The function can be realized by the circuit reading and executing the program stored in the memory 608.
The driving unit 104 includes a driving device 605 such as a motor or a roller.
The sensor unit 101 includes a sensor 606 such as a microphone or a vibration sensor.
The recording unit 105 uses the memory 608. This is only an example, and the recording unit 105 may be configured by an HDD 602, an SSD (Solid State Drive), a DVD, or the like.
The sensor data collection device 10 includes an input interface device 603 and an output interface device 604 that communicate with an external device such as a remote controller or a display device.

  As described above, the diagnosis device 20 mounted on the sensor data collection device 10 according to the first embodiment is collected at a plurality of data collection positions while the diagnosis target facility (escalator) is driven back and forth along the same route. A round trip data acquisition unit 1061 that acquires forward path sensor data (forward path target sound data) and a return path sensor data (return path target sound data) including a plurality of sensor data (sound data), and a forward path sensor acquired by the round trip data acquisition unit 1061 Out of the multiple sensor data included in each of the data and the return path sensor data, the sensor data having the same data collection position is associated with each other, and the forward path sensor data and the return path sensor data are integrated to detect abnormality of the diagnosis target equipment. And an integration unit 1063 that generates diagnostic data for diagnosing the above. Therefore, it is possible to shorten the data collection time for generating diagnostic data used when diagnosing an abnormality in a transport facility that is driven back and forth on the same route. In addition, diagnostic data in which disturbances that occur suddenly are reduced can be generated without affecting the microphone sound receiving intensity of abnormal sounds generated at specific locations in the transport facility.

Embodiment 2. FIG.
In the first embodiment, the self-position estimation unit 1021 estimates the self-position of the sensor data collection device 10 and always records the position data in the recording unit 105.
In the second embodiment, an embodiment in which self-position recording is not always performed will be described.

The configuration of the sensor data collection device 10 according to the second embodiment is the same as the configuration described in the first embodiment with reference to FIG.
However, in the second embodiment, in the “data collection process”, the self-position estimation unit 1021 of the sensor data collection device 10 does not always record the position data. In the second embodiment, in the “diagnosis process”, the sensor data collection device 10 generates a diagnosis data for diagnosing an escalator abnormality in a forward path when the escalator is driven back and forth along the same path. Position data other than the start point and end point and the start point and end point in the return path when the same route is driven back and forth are not used.
The hardware configuration of the sensor data collection device 10 according to the second embodiment is the same as the configuration described in the first embodiment with reference to FIGS. 6A and 6B, and thus redundant description is omitted.

Next, the operation of the sensor data collection device 10 according to Embodiment 2 will be described.
Also in the second embodiment, the sensor data collection device 10 performs “data collection processing” and “diagnosis processing”.
Hereinafter, specific operations of the “data collection process” and the “diagnosis process” will be described.

First, a specific operation of the “data collection process” will be described.
In the second embodiment, as in the first embodiment, as an example, the escalator is first operated from the lower part to the upper part, and then the lower part is operated from the upper part to the lower part.
FIG. 7 is a flowchart for explaining the operation of “data collection processing” by the sensor data collection device 10 according to the second embodiment.
In FIG. 7, the specific operations of step ST701, step ST703 to step ST711 are the same as the specific operations of step ST301, step ST303 to step ST311 of FIG. 3 described in the first embodiment, respectively. Detailed description of steps ST702 and ST712 in FIG.

In step ST702, the sensor unit 101 starts acquisition of sound data and recording of the acquired sound data in the recording unit 105.
In the second embodiment, in step ST702, the self-position estimation unit 1021 estimates the self-position of the sensor data collection device 10, but does not record the estimated self-position information in the recording unit 105.
In step ST712, the sensor unit 101 ends the acquisition of sound data and the recording of the acquired sound data in the recording unit 105.
In addition, the self-position estimation unit 1021 ends the self-position estimation.

Next, a specific operation of the “diagnosis process” will be described.
Also in the second embodiment, as in the first embodiment, the “diagnosis process” is based on the assumption that the “data collection process” is performed before the “diagnosis process” is performed.

FIG. 8 is a flowchart for explaining the operation of “diagnosis processing” by the sensor data collection device 10a according to the second embodiment.
In FIG. 8, the specific operation of step ST804 is the same as the specific operation of step ST504 of FIG. 5 described in the first embodiment, and therefore, redundant description is omitted and steps ST801 to ST801 of FIG. Specific operations of Step ST803 and Step ST805 to Step ST806 will be described below.

The round-trip data acquisition unit 1061 acquires information on the sound data, the outbound trip time, the outbound trip time, the inbound trip time, and the inbound trip time from the recording unit 105 (step ST801).
In Embodiment 2, since the position data is not recorded in the recording unit 105, the round-trip data acquisition unit 1061 does not acquire position data. The specific operation of step ST801 is the same as the specific operation of step ST501 of FIG. 5 except that the round-trip data acquisition unit 1061 does not acquire position data.

The round-trip data acquisition unit 1061 extracts target sound data from the sound data acquired in step ST801 (step ST802).
In the second embodiment, the round-trip data acquisition unit 1061 does not extract target position data. The specific operation of step ST802 is the same as the specific operation of step ST502 of FIG. 5 except that the round-trip data acquisition unit 1061 does not extract target position data.
The round trip data acquisition unit 1061 outputs the extracted target sound data to the time reversing unit 107.

The time reversing unit 107 acquires the target sound data from the round-trip data acquiring unit 1061, and generates time-reversed target sound data by reversing the time of either the forward target sound data or the return target sound data. (Step ST803).
The specific operation in step ST803 is the same as the specific operation in step ST503 in FIG.
The time reversing unit 107 is a signal processing unit together with the target sound data that has not been time-reversed after the time-reversed target sound data of the forward target sound data or the return target sound data. It outputs to 106.
Here, it is assumed that the time reversing unit 107 inverts the return path target sound data, and the time reversing unit 107 outputs the inverted return path target sound data and the forward path target sound data to the signal processing unit 106.

The integration unit 1063 of the signal processing unit 106 integrates the frequency sound data and the inverted frequency sound data acquired by the FFT unit 1062 in step ST804 to generate integrated sound data (step ST805). Here, the signal processing unit 106 integrates the forward frequency sound data and the reverse inversion frequency sound data to generate integrated sound data.
The specific operation in step ST805 is the same as the specific operation in step ST505 in FIG.
The integration unit 1063 causes the recording unit 105 to record the generated integrated sound data as diagnostic data.

Diagnosis section 108 refers to recording section 105 and performs an escalator abnormality diagnosis using integrated sound data recorded in recording section 105 by signal processing section 106 (step ST806).
In the second embodiment, the diagnosis unit 108 does not perform abnormality diagnosis using the target position data. When diagnosing a location where an escalator abnormality has occurred, the diagnosis unit 108 makes a diagnosis using the integrated sound data using the elapsed time from the forward boarding time or the backward boarding time and the moving speed of the escalator step 1004. It is assumed that the moving speed of the escalator step 1004 is known in advance.
The specific operation in step ST806 is the same as the specific operation in step ST506 in FIG. 5 except that the diagnosis unit 108 does not perform abnormality diagnosis using the target position data.

Also in the second embodiment, as in the first embodiment, the time reversing unit 107 performs time reversal of the target sound data of either the forward path or the return path (step ST803 in FIG. 8), and the FFT unit 1062 The order of the operation of converting the target sound data and the inverted target sound data into frequency data (step ST804 in FIG. 8) may be reversed.
Further, the diagnostic device 20 may not include the FFT unit 1062.

  Also in the second embodiment, as in the first embodiment, in the “data collection process”, the sound data acquired by the sensor unit 101 is converted into frequency data and then recorded in the recording unit 105. Good.

  Also in the second embodiment, as in the first embodiment, the sensor data collection device 10 does not include the drive unit 104 and may not self-run.

As described above, the diagnosis device 20 mounted on the sensor data collection device 10 according to the second embodiment has a plurality of data while the diagnosis target equipment (escalator) is driven back and forth along the same route as in the first embodiment. A reciprocal data acquisition unit 1061 and a reciprocal data acquisition unit that acquire forward sensor data (outbound target sound data) including a plurality of sensor data (sound data) collected at the collection position and return path sensor data (return target sound data) Among the plurality of sensor data included in each of the forward path sensor data and the backward path sensor data acquired by 1061, sensor data having the same data collection position is associated with each other, and the forward path sensor data and the backward path sensor data are integrated. And an integration unit 1063 that generates diagnostic data for diagnosing abnormality of the equipment to be diagnosed. That. Therefore, it is possible to shorten the data collection time for generating diagnostic data used when diagnosing an abnormality in equipment that can be driven to reciprocate and can convey an object continuously for a certain distance.
In addition, since the diagnostic device 20 according to the second embodiment does not always record the self-position, it shortens the data collection time for generating the diagnostic data, and suddenly based on less data. It is possible to generate diagnostic data in which disturbances generated in the above are reduced.

Embodiment 3 FIG.
In the first embodiment, the time reversing unit 107 performs time reversal on either the forward target sound data or the return target sound data.
In the third embodiment, a description will be given of an embodiment in which the operation for reversing the time of the target sound data is not performed.

FIG. 9 is a diagram illustrating a configuration example of the sensor data collection device 10a on which the diagnosis device 20a according to the third embodiment is mounted.
In FIG. 9, the same components as those of the sensor data collection device 10 according to Embodiment 1 described in Embodiment 1 with reference to FIG.
As shown in FIG. 9, the sensor data collection device 10a according to the third embodiment is different from the sensor data collection device 10 according to the first embodiment in that the time reversing unit 107 is not provided.
The hardware configuration of the sensor data collection device 10a according to Embodiment 3 is the same as the configuration described with reference to FIGS. 6A and 6B in Embodiment 1 except for the configuration of the time reversing unit 107. The description which was made is abbreviate | omitted.

Next, the operation of the sensor data collection device 10a according to Embodiment 3 will be described.
Also in the third embodiment, the sensor data collection device 10a performs “data collection processing” and “diagnosis processing”.
However, in the third embodiment, in the “diagnosis process”, the sensor data collection device 10a uses the time of the target sound data when generating the diagnosis data for the escalator abnormality diagnosis in the “data collection process”. Do not invert.
Since the specific operation of the “data collection process” in the third embodiment is the same as the specific operation of the “data collection process” described in the first embodiment, a duplicate description is omitted.

Hereinafter, a specific operation of the “diagnosis process” will be described.
In the third embodiment, as in the first embodiment, the “diagnosis process” is based on the premise that the “data collection process” is performed before the “diagnosis process” is performed.

FIG. 10 is a flowchart for explaining the operation of “diagnosis processing” by the sensor data collection device 10a according to the third embodiment.
In FIG. 10, the specific operations of Step ST1001 to Step ST1002 and Step ST1005 are the same as the specific operations of Step ST501 to Step ST502 and Step ST506 of FIG. The specific operation of step ST1003 and step ST1004 in FIG.

In step ST1003, the FFT section 1062 acquires the target sound data from the round-trip data acquisition section 1061, performs FFT on the acquired target sound data, and acquires the forward frequency sound data and the return frequency sound data (step ST1003). Then, the FFT unit 1062 outputs the acquired forward frequency sound data and return frequency sound data to the integration unit 1063 together with the target position data.
Here, the diagnostic device 20a includes the FFT unit 1062, but the diagnostic device 20a may not include the FFT unit 1062. In that case, the diagnostic device 20a does not perform FFT, and the integration unit 1063 integrates the forward path target sound data and the return path target sound data output from the round trip data acquisition unit 1061.

Based on the target position data, integration section 1063 integrates the forward frequency sound data and the return frequency sound data acquired by FFT section 1062 in step ST1003, and generates integrated sound data (step ST1004).
Specifically, the integration unit 1063 performs matching between the forward path target position data and the return path target position data, and detects a pair of the forward path target position data and the return path target position data at a matching position. Then, the integration unit 1063 identifies the times associated with the forward path target position data and the return path target position data of the matching positions. The integration unit 1063 specifies the forward frequency sound data and the return frequency sound data associated with the specified time, and integrates the specified forward frequency sound data and the return frequency sound data.
For example, when the sensor data collection device 10a is located on the boundary between the lower landing 1002 and the step 1004 on the outbound path target position data, the integration unit 1063 indicates the same position as the position on the outbound path target position data. The return path target position data is specified. The integration unit 1063 then outputs the forward frequency sound data corresponding to the forward target position data that the sensor data collection device 10a is located on the boundary between the lower landing 1002 and the step 1004, and the return frequency corresponding to the specified return target position data. Integrate with sound data.
The integration method of the forward frequency sound data and the return frequency sound data may be the same method as the integration method described in the first embodiment.
In the third embodiment, as described above, the integration unit 1063 uses the forward frequency sound data and the return frequency sound data based on the forward target position data and the return target position data, as described above. Among the plurality of sensor data included in each of the sound data, the frequency sound data having the same data collection position are identified and integrated.

  As described above, the sensor data collection device 10a according to the third embodiment does not include the time reversing unit 107 and does not perform the process of reversing the target sound data and the target position data in the time direction. The load can be reduced.

  As described above, the diagnostic device 20a mounted on the sensor data collection device 10a according to the third embodiment is collected at a plurality of data collection positions while the diagnosis target facility (escalator) is driven back and forth along the same route. A round trip data acquisition unit 1061 that acquires forward path sensor data (forward path target sound data) and a return path sensor data (return path target sound data) including a plurality of sensor data (sound data), and a forward path sensor acquired by the round trip data acquisition unit 1061 Out of the multiple sensor data included in each of the data and the return path sensor data, the sensor data having the same data collection position is associated with each other, and the forward path sensor data and the return path sensor data are integrated to detect abnormality of the diagnosis target equipment. And an integration unit 1063 for generating diagnostic data for diagnosing The forward movement position data and the return path position data indicating a plurality of positions on the same path, which are generated while the target equipment is driven back and forth on the same path and the sensor data is collected, are acquired. Based on the positions indicated by the forward path position data and the return path position data acquired by the round trip data acquisition unit 1061, sensors having the same data collection position among the plurality of sensor data included in each of the forward path sensor data and the return path sensor data. It is comprised so that data may be specified. As a result, the data collection time required to generate diagnostic data used when diagnosing an abnormality in equipment that can reciprocate and convey objects continuously for a certain distance is reduced, and the processing load for reversal processing Can be reduced.

Further, in the first and third embodiments, the sensor unit 101 starts to acquire sound data from the forward trip time or the return trip time, and stops acquiring sound data at the forward trip time or the return trip time. The self-position estimation unit 1021 starts estimating the position data from the outbound trip time or the return trip time, and stops the estimation of the position data at the outbound trip time or the inbound trip time. If only the sound data and the position data from the outbound trip time to the outbound trip time and the sound data and position data from the inbound trip time to the inbound trip time are recorded in the unit 105, the sensor data collection devices 10, 10a The estimation unit 1022, the getting-on / off time setting unit 103, and the round-trip data acquisition unit 1061 may be omitted.
Further, in the second embodiment, the sensor unit 101 starts to acquire sound data from the outbound trip time or the return trip time, and stops acquiring sound data at the outbound trip time or the return trip time. If the recording unit 105 records only sound data from the outbound trip time to the outbound trip time and from the inbound trip time to the inbound trip time, the sensor data collection device 10 includes the inbound / exit estimation unit 1022, It is good also as a structure which is not provided with the boarding / alighting time setting part 103 and the round-trip data acquisition part 1061.

In the first to third embodiments, the diagnosis devices 20 and 20a are mounted on the sensor data collection devices 10 and 10a. However, the present invention is not limited to this.
The diagnosis devices 20 and 20a may be provided outside the sensor data collection devices 10 and 10a, and may be connected to the sensor data collection devices 10 and 10a via a network.
That is, a diagnostic system is constituted by the diagnostic devices 20 and 20a and the sensor data collection devices 10 and 10a.
In this case, the diagnostic apparatuses 20 and 20a acquire the sound data or position data recorded by the sensor data collection apparatuses 10 and 10a via the network, and based on the acquired sound data or position data, the diagnosis target equipment Diagnose abnormalities.

  In addition, within the scope of the present invention, the present invention can be modified with any component in each embodiment, or can be omitted in each embodiment.

  The diagnostic apparatus according to the present invention generates diagnostic data with reduced disturbance noise by reducing the data collection time for generating diagnostic data for diagnostic data used when diagnosing equipment abnormality Therefore, the present invention can be applied to a diagnostic apparatus for a transport facility that is driven to reciprocate.

10, 10a Sensor data collection device, 20, 20a diagnostic device, 101 sensor unit, 102 position estimation unit, 103 getting on / off time setting unit, 104 drive unit, 105 recording unit, 106 signal processing unit, 107 time reversing unit, 108 diagnosis , 601 processing circuit, 602 HDD, 603 input interface device, 604 output interface device, 605 drive device, 606 sensor, 607 CPU, 608 memory, 1021 self-position estimation unit, 1022 getting on / off vehicle estimation unit, 1061 round-trip data acquisition unit, 1062 FFT unit, 1063 integration unit.

Claims (13)

A round-trip data acquisition unit that acquires forward sensor data and return path sensor data including a plurality of sensor data collected at a plurality of data collection positions while the diagnosis target facility is driven back and forth on the same route;
Of the plurality of sensor data included in each of the forward sensor data and the return sensor data acquired by the round-trip data acquisition unit, sensor data having mutually matching data collection positions are associated with each other, and the forward sensor data And an integration part that integrates the return path sensor data and generates diagnostic data for diagnosing an abnormality of the diagnosis target equipment. A time reversing unit for reversing either the forward sensor data or the return sensor data acquired by the round-trip data acquiring unit in the time direction to generate post-inversion sensor data;
The integration unit is configured such that the inverted sensor data generated by the time reversal unit and the sensor data that is not time-reversed by the time reversal unit among the forward sensor data or the backward sensor data are the same as each other. The diagnostic apparatus according to claim 1, wherein the diagnostic data is generated by integrating along a time direction. The round-trip data acquisition unit
A plurality of sensor data from the time when the diagnosis target equipment reaches the end point of the same route to the time when the diagnosis target equipment reaches the end point of the same route in the forward path when the diagnosis target equipment is driven back and forth along the same route, A plurality of sensor data from the time when reaching the end point of the same path to the time when reaching the end point of the same path in the return path when the same path is reciprocally driven are respectively the forward path sensor data and the return path sensor data. The diagnostic device according to claim 1, wherein the diagnostic device is acquired as: The round trip data acquisition unit is further configured to generate forward position data and return path positions indicating a plurality of positions on the same path, which are generated while the diagnosis target equipment is driven back and forth along the same path and sensor data is collected. To get data,
The integration unit, based on the position indicated by the forward path position data and the return path position data acquired by the round trip data acquisition unit, among the plurality of sensor data included in each of the forward path sensor data and the return path sensor data The diagnostic apparatus according to claim 1, wherein sensor data having mutually matching data collection positions are specified. The integration unit
Of each of the plurality of sensor data included in each of the forward path sensor data and the return path sensor data acquired by the round trip data acquisition unit, for each of the sensor data having the same data collection position, an addition average or a minimum value The diagnosis device according to claim 1, wherein the outbound sensor data and the inbound sensor data are integrated by selecting. A diagnostic device according to claim 1;
Have one or more sensors, multiple while the diagnosis target equipment is reciprocally driving the same path, in a plurality of data acquisition positions as a plurality of sensor data and the return sensor data as the forward sensor data A sensor unit for collecting sensor data of
E Bei and the diagnosis target equipment estimates its own position as it is reciprocated the same path, the self-position estimating unit according to the position data,
The round trip data acquisition unit acquires the forward path sensor data and the return path sensor data collected by the sensor section.
A sensor data collection device characterized by the above .   The sensor data collection device according to claim 6, further comprising a self-running drive unit. The sensor data collection device according to claim 6, wherein at least one of the one or more sensors is a sound collection sensor. The sensor data collection device according to claim 6, wherein at least one of the one or more sensors is a vibration sensor. Based on the self-position estimated by the self-position estimation unit, the diagnosis target equipment has reached the start point of the same path in the forward path when the same path is driven back and forth, and the end point of the same path in the forward path And that the facility to be diagnosed has reached the start point of the same route in the return path that is driven back and forth along the same route, and that the end point of the same route has been reached in the return route. The sensor data collection device according to claim 6, further comprising a boarding / alighting estimation unit. A round-trip data acquisition unit acquires forward sensor data and return path sensor data including a plurality of sensor data collected at a plurality of data collection positions while the diagnosis target facility is driven back and forth on the same path;
The integration unit associates the sensor data having the same data collection position among the plurality of sensor data included in each of the forward sensor data and the return sensor data acquired by the round trip data acquisition unit, Integrating the forward path sensor data and the return path sensor data, and generating diagnostic data for diagnosing an abnormality of the diagnosis target equipment. Computer
A round-trip data acquisition unit for acquiring forward sensor data and return sensor data including a plurality of sensor data collected at a plurality of data collection positions while the diagnosis target facility is driven to reciprocate on the same route;
Of the plurality of sensor data included in each of the forward sensor data and the return sensor data acquired by the round-trip data acquisition unit, sensor data having mutually matching data collection positions are associated with each other, and the forward sensor data And the return path sensor data, and a diagnostic program for functioning as an integration unit for generating diagnostic data for diagnosing abnormality of the diagnosis target equipment. While there are one or more sensors and the facility to be diagnosed is driven back and forth on the same route, a plurality of sensor data as forward sensor data and a plurality of sensor data as return route sensor data are obtained at a plurality of data collection positions. A sensor unit to collect;
A sensor data collection device having a self-position estimating unit that estimates a self-position when the diagnosis target equipment is driven to reciprocate along the same path, and sets the target position data;
A round trip data acquisition unit for acquiring the forward path sensor data and the return path sensor data collected by the sensor unit;
Of the plurality of sensor data included in each of the forward sensor data and the return sensor data acquired by the round-trip data acquisition unit, sensor data having mutually matching data collection positions are associated with each other, and the forward sensor data And a diagnostic device having an integration unit that generates diagnostic data for diagnosing abnormality of the facility to be diagnosed.

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