CN111942973B - Elevator control device, robot fault precursor diagnosis system and method thereof - Google Patents

Abstract

The invention relates to an elevator control device, a robot fault omen diagnosis system and a method thereof. The robot failure sign diagnosis system includes: an elevator; an elevator control device that controls the elevator; and a robot that uses the elevator to move between a plurality of floors, the robot having a state detection system for detecting its own state. The elevator control device obtains state data representing the state of the robot from the robot when the robot rides the elevator, and the elevator control device compares the value of the state data with a judgment value , the judgment value is set for the value of the state data and stored in the elevator control device in advance, and the elevator control device, when the value of the state data exceeds the judgment value, judges that the The robot is in a near-failure state.

Description

Elevator control device, robot fault omen diagnosis system and method thereof

technical field

The invention relates to an elevator control device, a robot fault omen diagnosis system and a method thereof.

Background technique

In recent years, with the continuous development of robot technology, the trend of replacing manual work by robots has increased. Not only for industrial robots, but also for robots that provide services, many technical solutions have been proposed.

In buildings equipped with elevators, people who need assistance, such as the elderly, the disabled, and foreign tourists, are more likely to use elevators. Japanese Laid-Open Patent Publication No. 2008-162758 proposes a robot control system for elevator guidance for guiding such customers requiring support to a destination point in a building.

Chinese Invention Patent Application Publication No. CN109164813A proposes a system and control method for an unmanned express robot to get on and off an elevator, in which the robot provides express service by taking an elevator.

Contents of the invention

In the above elevator guidance robot control system, after the elevator guidance robot obtains the information of the destination point from the customer, it guides the customer to the elevator entrance (elevator landing), operates the call button and the destination floor button, and guides the customer to the destination point . However, if the elevator guiding robot breaks down while guiding the customer for some reason, the customer cannot reach the destination point. Furthermore, if the robot for elevator guidance is in an abnormal state, not only will it bring a mental burden to the customer, but it may also cause harm to the customer.

Similarly, if the above-mentioned unmanned delivery robot goes up and down the elevator system, if the delivery robot breaks down during delivery, it cannot be delivered to the destination. Moreover, it may bring harm to the customers of the express delivery and the passengers of the elevator that take the elevator car.

The object of the present invention is to provide a kind of elevator control device, robot fault omen diagnosis system and method thereof, solve at least one of the above-mentioned technical problems, judge whether the robot is in the state of approaching failure when the robot uses the elevator, and prompt to adopt countermeasures to prevent The robot malfunctioned while providing the service, allowing customers to receive the service with confidence.

In order to solve the above-mentioned technical problems, a robot fault omen diagnosis system according to one aspect of the present invention includes: an elevator; an elevator control device, which controls the elevator; and a robot, which uses the elevator to move between multiple floors. To move, the robot is equipped with a state detection unit that detects its own state; the elevator control device obtains state data representing the state of the robot from the robot when the robot rides the elevator, and the elevator control device controls the state of the robot. The value of the state data is compared with a judgment value, the judgment value is set for the value of the state data and stored in the elevator control device in advance, and the elevator control device, when the value of the state data exceeds the In the case of the above judgment value, it is judged that the robot is in a state of imminent failure.

The elevator control device may report that the robot is in a state of imminent failure to an external device when it is determined that the robot is in a state of imminent failure.

Alternatively, the failure sign diagnosis system may include a robot control device that controls the robot, and when it is determined that the robot is in a state of imminent failure, the elevator control device requests the robot control device to stop the robot. Provide services.

It may also be that the failure sign diagnosis system includes a robot control device for controlling the robot, and when it is determined that the robot is in a state of approaching failure, the elevator control device further determines whether the robot is providing services, When it is judged that the robot is providing the service, the elevator control device waits for the robot to finish providing the service, and when it is judged that the robot is not providing the service, the elevator control device requests the The robot control device stops the robot from providing service.

It may also include a plurality of said robots, each of which holds individual identification information for identifying said individual robot, and said elevator control device obtains from said robot when said robot rides said elevator. The individual identification information, and the state data and the individual identification information are correspondingly stored in the elevator control device.

It may also be that a plurality of judgment values are stored for one state data in the elevator control device, and the elevator control device compares the value of the state data with the plurality of judgment values, thereby stepwise It can be judged whether the robot is in the state of approaching failure.

Another aspect of the present invention is a robot failure sign diagnosis system, comprising: an elevator; an elevator control device that controls the elevator; and a robot that uses the elevator to move between a plurality of floors, the robot having A state detection unit that detects its own state, the state detection unit includes a time measurement unit that measures its own operating time; the elevator control device obtains a state indicating the robot from the robot when the robot rides the elevator. The status data of the robot and the data of the working time of the robot, the elevator control device calculates the rate of change of the status data for the working time based on the data of the working time and the status data, the elevator The control device compares the rate of change of the state data with a judgment value, the judgment value is set for the rate of change of the state data and stored in the elevator control device in advance, and the elevator control device, in the When the value of the rate of change of the state data exceeds the determination value, it is determined that the robot is in a state close to failure.

The present invention also provides an elevator control device for controlling an elevator. The elevator control device obtains state data representing the state of the robot from the robot when the robot rides the elevator. The value of the state data is compared with a judgment value, the judgment value is set for the value of the state data and stored in the elevator control device in advance, and the elevator control device, when the value of the state data exceeds the In the case of the above judgment value, it is judged that the robot is in a state of imminent failure.

The elevator control device may report that the robot is in a state of imminent failure to an external device when it is determined that the robot is in a state of imminent failure.

The present invention also provides a diagnosis method of a robot failure sign diagnosis system, the robot failure diagnosis system comprising: an elevator; an elevator control device, the elevator control device controls the elevator; and a robot, the robot uses the elevator in multiple Moving between floors, the robot is equipped with a state detection unit that detects its own state, and the diagnosis method of the robot failure sign diagnosis system includes: obtaining a state representing the state of the robot from the robot when the robot rides the elevator The step of data; the step of comparing the value of the state data with a judgment value, the judgment value is set and pre-stored in the elevator control device for the value of the state data; and the value of the state data A step of judging that the robot is in an imminent failure state when the judging value is exceeded.

The invention can judge whether the robot is in the state of approaching failure when the robot uses the elevator, prompts to take countermeasures to prevent the robot from breaking down when providing services, and enables customers to accept services with confidence.

Problems, configurations, and effects other than those described above will be clarified by the description of the following embodiments.

Description of drawings

FIG. 1 is a diagram schematically showing the configuration of a robot failure sign diagnosis system according to an embodiment of the present invention.

Fig. 2 is a control block diagram of a robot fault sign diagnosis system according to an embodiment of the present invention.

Fig. 3 is a flow chart of a method for diagnosing a sign of a robot failure according to an embodiment of the present invention.

Fig. 4 is a diagram showing an example of status data before the robot rides.

Fig. 5 is a diagram showing an example of state data after the robot rides.

FIG. 6 is a diagram showing an example of judgment value data.

＜Symbols in the drawings＞

1 shaft; 2 car; 3 traction machine; 4 counterweight; 5 traction rope; 10 network; 20a wireless communication department; 20b wireless communication department; 200 management center device; 300 elevator control device; Control section; 303 Operation processing section; 304 First storage section; 305 Second storage section; 400 Robot control device; 401 First transceiver section; 402 Control section; 403 Second transceiver section; 500 Robot; Processing section; 503 guidance control section; 504 destination input unit section; 505 destination input processing section; 506 sound output section; 507 guidance driving section; 508 camera; 509 state detection section; 510 storage section; detection part; 513 travel distance detection part; 514 vibration detection part.

Detailed ways

Hereinafter, specific embodiments of the present invention will be described in detail with reference to the drawings and examples.

FIG. 1 is a diagram schematically showing the configuration of a robot failure sign diagnosis system according to an embodiment of the present invention.

The robot fault omen diagnosis system of the present invention includes: an elevator, an elevator control device and a robot. Elevators are installed in buildings with multiple (more than two) floors. The building may be a department store, a hospital, an exhibition hall, etc., or an apartment, an office building (office building), etc. The illustrated elevator is a traction drive type, but it is not limited thereto, and may be a hydraulic drive type, a linear motor drive type, or the like. In addition, although the illustrated elevator has a machine room, it is not limited thereto, and may not have a machine room.

As shown in FIG. 1 , in an elevator, a car 2 and a counterweight 4 are connected to both ends of a hoisting rope 5 , and the hoisting rope 5 is wound on a sheave of a hoisting machine 3 . The traction sheave is rotated by the driving of the motor of the traction machine 3, and the car 2 and the counterweight 4 are raised and lowered in opposite directions in the hoistway 1 by the rotation of the traction sheave. The elevator control device 300 for controlling the elevator is arranged in the machine room (as shown in the figure), or other places specified according to the type of elevator. The elevator control device 300 controls the lift of the car 2 and the counterweight 4 by controlling the hoisting machine 3 . Details of the elevator control device 300 will be described later.

The robot shown in FIG. 1 is an independently mobile type robot (mobile robot) that provides services and uses an elevator when moving between floors in a building. The illustrated robot is a guidance robot, but it is not limited thereto, and any robot may be used as long as it uses an elevator when providing services. It may be a cleaning robot for cleaning, a security robot for security activities, or a delivery robot for delivering letters, parcels, goods, food, etc. Here, an independently mobile robot refers to a robot that moves by itself, and is not limited to the fact that all judgments necessary for the movement of the robot are independently performed by the robot itself.

Here, a guiding robot is used as an example. As shown in FIG. 1 , a guiding robot 500 is installed in a building such as a department store or an office building, and guides a customer P to a destination in the building using an elevator when moving between floors. Here, as shown in the figure, three robots 500a, 500b, and 500c are installed in the building, but not limited thereto, one, two, or more than four may be installed.

Fig. 2 is a control block diagram of a robot fault sign diagnosis system according to an embodiment of the present invention. Since the robot 500a, the robot 500b, and the robot 500c have the same configuration, they will be described as one robot 500 in the following description.

The elevator control device 300 and the robot control device 400 are connected to the network 10 . The robot control device 400 receives and transmits control signals of the robot 500 and controls the robot 500 . The network 10 is the Internet or a local area network or the like. Also connected to the network 10 is a management center device 200 as an external device.

The management center device 200 is installed in the management center, and the management center manages the robot 500 . The management center can be a building management center installed in a building to manage the building and its equipment. The management center can manage elevators and robots at the same time. Here, the management center device 200 can monitor the information required by each control device. The management center may also be a robot management center installed in a service company that dispatches a robot to provide a prescribed service.

The elevator control device 300 is connected to the wireless communication unit 20a. The wireless communication unit 20b is connected to the robot control device 400 . The robot 500 receives a control signal from the robot control device 400 through the wireless communication of the wireless communication unit 20b and is controlled by it.

The elevator control device 300 has: a transceiver part 301, which receives information and sends information; an operation control part 302, which controls the traction machine 3 in order to make the car 2 run up and down, and reports to the management center device 200 through the network 10 when an abnormal state is detected Calculation processing unit 303 is based on external information to calculate and control the information needed for the elevator, based on the state change of the information calculation robot received from the robot; the first storage unit 304 is composed of non-volatile memories such as ROM (read-only memory) , stored in advance for the status data of the robot, the judgment value used for failure sign diagnosis;

The robot control device 400 has: a first transceiver unit 401, which receives information from the elevator control device 300 and the management center device 200 through the network 10, and sends information to these devices through the network 10; , calculate the information required by the elevator control device 300; and the second transceiver unit 403 transmits information to the robot 500 through the wireless communication unit 20a, and receives information from the robot 500 through the wireless communication unit 20a.

The robot 500 includes a guidance control unit 503 as a service control unit for guiding the customer P to a destination based on information received from the robot control device 400 , and a state detection unit 509 for detecting the state of the robot itself.

Guidance control part 503 has: destination input unit part 504, is used to input destination; Destination input processing part 505, processes the information that is input; P emits a sound when giving guidance, etc.; the guidance driving unit 507 guides the customer P; and the camera 508 detects the surrounding situation and the customer P. The above-mentioned guidance control unit 503 is an example of a service control unit in the case of a guidance robot, and the service control unit may be appropriately configured according to the service provided by the robot.

The state detection unit 509 is equipped with various detection units for numerically representing the state of the robot, specifically, it is equipped with: a timer 511 as a time measurement unit to measure the working time of the robot 500 itself; a temperature detection unit 512 to detect The temperature of 500 self; Traveling distance detecting part 513, detects the distance that robot 500 travels; Vibration detecting part 514, detects the vibration observed when robot 500 travels; And storage part 510, is made of volatile memory such as RAM, is used for The data detected by each of the detection units is temporarily stored. The state detection unit 509 described above is an example of a robot for guidance, and this state detection unit may be properly configured according to the service provided by the robot. Each of the detection units described above is constituted by a corresponding sensor, for example.

The robot 500 includes an arithmetic processing unit 502 that performs calculations on the information signal obtained from the guidance control unit 503 and the information signal obtained from the state detection unit 509 . And the calculation processing part 502 calculates the information signal acquired from the elevator control device 300 and the robot control device 400. These information signals are transmitted and received by the transmission and reception unit 501 of the robot 500, the wireless communication unit 20a, and the wireless communication unit 20b.

Each of the arithmetic processing units and control units described above is constituted by, for example, a CPU. The above-mentioned destination input unit is, for example, a microphone, a menu key, or the like. The above-mentioned sound output unit is, for example, a speaker or the like. The above-mentioned sound output unit may be replaced by a display that outputs characters, graphics, etc., or may be used together with the display.

Fig. 3 is a flow chart of a method for diagnosing a sign of a robot failure according to an embodiment of the present invention. Here, a guidance robot will be described as an example.

The robot 500a starts to guide the customer P (step S301). More specifically, the robot 500a, the robot 500b, and the robot 500c stand by on floors where many people come and go, such as a lobby in a building. The customer P talks to the robot 500a and gives destination information, and the robot 500a detects the customer P and the destination information, and starts guiding the customer P.

The robot 500a rides the elevator (step S302). More specifically, the control unit 402 of the robot control device 400 obtains destination information from the robot 500a through the wireless communication unit 20b, and prompts the elevator control device 300 to dispatch the car 2 to the floor where the robot 500a is located. The robot 500a guides the customer P to the elevator entrance (elevator hall), and rides on the car 2 of the elevator together with the customer P.

The elevator control device 300 acquires the individual identification information of the robot 500a (step S303). More specifically, the operation control unit 302 of the elevator control device 300 receives unique individual identification information possessed by the robot 500a riding the elevator through the wireless communication unit 20a, and recognizes that the robot currently riding the car 2 is 500a.

The elevator control device 300 obtains the state data of the robot 500a (step S304). In more detail, the operation control unit 302 requests the robot 500a to transmit status data. The operation processing part 502 of the robot 500a that has accepted the request from the operation control part 302 sends the state data stored in the storage part 510 of the state detection part 509 to the elevator control device 300 or the various sensors of the state detection part 509 are currently detecting status data. The elevator control device 300 receives the status data of the robot 500a.

The elevator control device 300 updates the status data in the second storage unit corresponding to the individual identification information (step S305). More specifically, the operation control unit 302 that has received the state data of the robot 500a updates the data stored in the second storage unit 305 of the elevator control device 300, and the second storage unit 305 stores the individual identification information of the robot 500a, the robot 500b, and the robot 500c. and state data corresponding to personally identifiable information. At this time, the operation control unit 302 updates only the state data of the robot 500a in the second storage unit 305 based on the individual identification information of the robot 500a received in step S303.

The elevator control device 300 compares the value of the status data of the robot 500a with the judgment value (step S306). More specifically, the arithmetic processing unit 303 of the elevator control device 300 compares the status data stored in the second storage unit 305 with the judgment value data stored in the first storage unit 304 of the elevator control device 300, and determines whether the status data of the robot 500a is correct or not. Whether the value exceeds the judgment value. Here, the arithmetic processing unit 303 does not need to constantly compare the status data in the second storage unit 305 with the judgment value data in the first storage unit 304, but only when the status data in the second storage unit 305 is updated in step S305 The comparison can be done below.

When "No" in step S306, the robot 500a continues guidance (step S307). More specifically, in step S306, if the value of the state data in the second storage unit 305 does not exceed the judgment value preset in the first storage unit 304, the operation control unit 302 does not detect that the robot 500a is degraded, and the operation control unit In 302, it is determined that the robot 500a is extremely unlikely to fail when providing guidance services. The operation control unit 302 does not send the failure sign information of the robot to the robot control device 400 and the management center device 200, and the robot 500a continues to perform guidance service.

When YES in step S306, the elevator control device 300 determines that the robot 500a is in a state close to failure (step S308). In more detail, in step S306, if the value of the state data in the second storage unit 305 exceeds the judgment value preset in the first storage unit 304, the operation control unit 302 has detected that the robot 500a has deteriorated, and the operation control unit 302 It is judged that the robot 500a is in a state close to failure.

The elevator control device 300 reports the diagnosis result to the management center device 200 (step S309). More specifically, when the operation control unit 302 determines that the robot 500a is in a state close to failure, it transmits information that the robot 500a is in a state close to failure to the management center device 200 through the network 10 . The management center provided with the management center device 200 can take countermeasures before the robot 500a breaks down and cannot move (work) after receiving the information that the robot 500a is in a state of imminent failure. parts, arrange a robot to replace the robot 500a during repairs, and the like.

The elevator control device 300 judges whether the robot 500a is guiding (step S310). More specifically, the operation control unit 302 determines whether the robot 500a is currently guiding the customer P after sending information that the robot 500a is in a state close to failure to the management center apparatus 200 . Whether guidance is being performed may be determined based on information obtained from the control unit 402 of the robot control device 400, or may be performed based on information directly obtained from the robot 500a. In addition, it can also be carried out based on information obtained from equipment equipped in the elevator such as a camera in the elevator and a load detection device. If the robot 500a is riding in the car 2 with the customer P, it is determined that the robot 500a is guiding. If only If the robot 500a is taking the elevator or the robot 500a is taking the elevator with other passengers, it is determined that the robot 500a is not guiding.

When YES in step S310, the elevator control device 300 waits for the robot 500a to finish the guidance it is currently performing (step S311). More specifically, in step S310, if the operation control unit 302 determines that the robot 500a is guiding, it determines that the guidance performed by the robot 500a cannot be stopped, and does not send a request to the robot control device 400 to stop the robot 500a from performing guidance, and It is to wait until the robot 500a finishes the current guidance.

The robot 500a drives out of the car 2 (step S312). In more detail, the car 2 of the elevator arrives at the floor where the destination of the customer P is located, and the robot 500a drives out of the car 2 and leaves the elevator with the customer P towards the destination.

The robot 500a rides the elevator (step S302). More specifically, the robot 500a guides the customer P to the destination, and after completing the guidance work, takes the elevator car 2 in order to return to the waiting position in the lobby where the customer was originally located.

Steps S303 to S310 are repeated.

When step S310 is "NO", the elevator control device 300 requests the robot control device 400 to stop the robot 500a and guide (step S313). More specifically, in step S310, when the operation control unit 302 determines that the robot 500a is not guiding, the operation control unit 302 sends a signal requesting to stop the robot 500a for guidance to the control unit 402 of the robot control device 400 through the network 10. .

The processing performed by the elevator control device 300 will be further described below. Here, the robot 500a will guide the customer P to the destination as an example.

Fig. 4 is a diagram showing an example of status data before the robot rides. Fig. 5 is a diagram showing an example of state data after the robot rides. FIG. 6 is a diagram showing an example of judgment value data. State data of the robot 500 is stored in the second storage unit 305 of the elevator control device 300 , and judgment value data is stored in the first storage unit 304 of the elevator control device 300 .

On the floor where the robot 500a, the robot 500b, and the robot 500c are on standby, the customer P approaches the robot 500a and tells the robot 500a his destination, such as "I want to go to XX". The robot 500a notifies the customer P to start guidance by broadcasting, for example, "Are you going to ××? Got it. I will guide you.", or displays the same content on the display, and guides the customer P to the elevator entrance.

As an example, it is assumed that the robot 500a travels 500m from the standby point to the elevator entrance at this time, and the temperature inside the robot 500a increases by 3°C due to the travel, and it vibrates 2000 times. The arithmetic processing unit 502 of the robot 500 a detects signals output from the temperature detection unit 512 , the traveling distance detection unit 513 , and the vibration detection unit 514 , and stores state data corresponding to the detected signals in the storage unit 510 . Here, three examples of temperature, travel distance, and vibration have been described, but the present invention is not limited thereto, and any state change of the robot 500a may be expressed numerically.

The car 2 of the elevator arrives at the floor where the robot 500a and the customer P are located, and the robot 500a and the customer P take the car 2 together. When the robot 500a gets on the car 2, the operation control unit 302 obtains individual identification information from the robot 500a through the wireless communication unit 20a, and detects that the robot 500a is getting on the car 2.

The operation control unit 302 requests the robot 500a to transmit status data. The arithmetic processing part 502 of the robot 500a that has accepted the transmission request of the state data from the operation control part 302 sends the state data stored in the storage part 510 of the state detection part 509 to the elevator control device 300 or each sensor in the state detection part 509 Status data currently being detected. The elevator control device 300 receives the status data of the robot 500a.

As shown in Figure 4, the state data of each robot when the robot 500a, robot 500b, and robot 500c ride the car 2 last time are stored in the second storage unit 305 of the elevator control device 300, wherein a temperature of 40°C is stored for the robot 500a. , Travel distance 9800m, vibration frequency 200000 times.

The operation control unit 302 stores the obtained state data of the robot 500 a in the second storage unit 305 . That is to say, as shown in FIG. 5 , the temperature of the robot 500a in the state data in the second storage unit 305 is updated from 40°C to 43°C, the travel distance from 9,800m to 10,300m, and the number of vibrations from 200,000 to 202,000.

Here, it is assumed that there is only one elevator and only the car 2 is shown, but even if there are multiple elevators with a plurality of cars, the elevator control device 300 and the robot perform data communication through wireless communication. Therefore, the state data of the second storage unit 305 can be updated without any problem.

The arithmetic processing unit 303 in the elevator control device 300 compares the status data in the second storage unit 305 with the judgment value data in the first storage unit 304 .

As shown in FIG. 6 , the first storage unit 304 stores a temperature of 60° C., a travel distance of 10,000 m, and a vibration frequency of 300,000 times as judgment value data. The arithmetic processing unit 303 detects that the travel distance of 10300 m in the status data stored in the second storage unit 305 exceeds the judgment value of 10000 m.

When the arithmetic processing unit 303 detects that the value of the state data of the robot 500a exceeds the judgment value in the first storage unit 304, the operation control unit 302 notifies the management center device 200 that the robot 500a is in a state of imminent failure.

To sum up, the elevator control device obtains state data representing the state of the robot from the robot when the robot rides the elevator, and compares the value of the state data with the judgment value, which is set for the value of the state data and stored in the elevator control system in advance. In the device, when the value of the status data exceeds the judgment value, the elevator control device judges that the robot is in a state of imminent failure.

And, when it is determined that the robot is in a state of imminent failure, the elevator control device may report that the robot is in a state of imminent failure to the management center device as an external device.

In addition, when it is determined that the robot is in a state close to failure, the elevator control device may also request the robot control device to stop the robot from providing services. In this way, the robot is prevented from malfunctioning when providing services, and harm is avoided to customers. Such processing may also be performed before reporting to an external device.

And, when it is judged that the robot is in a state of approaching failure, the elevator control device can also judge whether the robot is providing services, and if it is judged that the robot is providing services, wait for it to end the service provided, and when it is judged that the robot is providing services If the service is not being provided, the elevator control requests the robot control to stop the robot from providing service. Such processing may also be performed before reporting to an external device.

Here, the judgment value is preferably not a critical value at which the robot cannot operate, but a value with a margin at which the robot can still perform the service a predetermined number of times, for example, once or twice. Accordingly, the robot in the state of being close to failure does not need to stop providing services immediately, and the management center can arrange for repairing the robot, preparing a substitute robot, etc. during the period when the robot can still provide services.

In addition, it is also possible that the elevator control device can store multiple judgment values for one state data, and the elevator control device compares the value of the state data with the multiple judgment values, thereby judging whether the robot is in a state of approaching failure in stages . As an example, the judgment value may be set in stages. For example, a first judgment value and a second judgment value are set, the first judgment value is a value equivalent to about 50% of the limit value at which the robot cannot move, and the second judgment value is a value equivalent to the limit value at which the robot cannot move. Values around 80%. When the value of the status data of the robot exceeds the first judgment value but not the second judgment value, the operation control unit only notifies the management center device, but does not send a request to the robot control device to stop the robot from providing services. When exceeding the second judgment value, the operation control unit not only notifies the management center device, but also sends a request to stop the robot from providing service to the robot control device. Accordingly, when the robot is in a state close to failure, the management center can take countermeasures against the failure of the robot in advance, and can grasp the urgency of taking the countermeasures based on each stage. Of course, more than three judgment values may also be set.

In addition, it is also possible to adjust the service priority of the robot based on the failure sign diagnosis result. In the case of exceeding the first judgment value but not exceeding the second judgment value, it is also possible not to send a request to the robot control device to stop the robot from providing services, but to send a request to reduce the priority of the robot to provide services to the robot control device. request.

In addition, diagnosis of a failure sign may be performed based on the rate of change of the state data. The robot is equipped with a state detection unit for detecting its own state, and also has a time measuring unit disposed inside (as in the above-mentioned embodiment) or outside the state detection unit to measure its working time. The elevator control device obtains the state data and the working time data of the robot from the robot when the robot takes the elevator, calculates the rate of change of the state data for the working time based on the data of the working time and the state data, and judges the rate of change of the state data The judgment value is set for the rate of change of the state data and stored in the elevator control device in advance. When the value of the rate of change of the state data exceeds the judgment value, the elevator control device judges that the robot is in a state of imminent failure.

In addition, the communication between the robot and the elevator control device can also use wired communication, and equipment such as a robot base station can also be installed in the elevator car. At this point, direct communication is possible between the elevator and the robot, and it is also possible to charge the robot from the elevator.

The present invention is not limited to the above-described embodiments, and includes various modifications. For example, the above-mentioned embodiments have been described in detail in order to make the present invention more intelligible, but are not necessarily limited to include all the configurations described. In addition, it is possible to replace a part of the structure of one embodiment with the structure of another embodiment, and it is also possible to add the structure of another embodiment to the structure of one embodiment. In addition, addition, deletion, and replacement of other configurations can be performed on a part of the configurations of the respective embodiments.

Claims (8)

1. A robot fault omen diagnosis system, characterized in that it comprises: elevator; an elevator control device that controls the elevator; a robot that moves between a plurality of floors using the elevator, the robot having a state detection section that detects its own state; and a robot control device that controls the robot, The elevator control device obtains state data representing a state of the robot from the robot when the robot rides the elevator, The elevator control device compares the value of the state data with a judgment value, the judgment value is set for the value of the state data and stored in the elevator control device in advance, The elevator control device determines that the robot is in a state of imminent failure when the value of the state data exceeds the judgment value, The judgment value is not a critical value for the robot to be unable to act, but a value with a margin for the robot to perform a specified number of services, When it is determined that the robot is in a state of imminent failure, the elevator control device also determines whether the robot is providing services, When it is judged that the robot is providing the service, the elevator control device waits for the robot to finish the service provided, When it is determined that the robot is not providing the service, the elevator control device requests the robot control device to stop the robot from providing the service. 2. robot fault omen diagnosis system according to claim 1, is characterized in that, When it is determined that the robot is in a state close to failure, the elevator control device reports to an external device that the robot is in a state close to failure. 3. robot fault omen diagnosis system according to claim 1, is characterized in that, comprising a plurality of said robots, a plurality of the robots respectively hold individual identification information for identifying the robot individual, The elevator control device obtains the individual identification information from the robot when the robot rides the elevator, and stores the status data and the individual identification information in the elevator control device in correspondence with each other. 4. robot fault omen diagnosis system according to claim 1, is characterized in that, A plurality of judgment values are stored for one state data in the elevator control device, The elevator control device compares the value of the status data with a plurality of the judgment values, thereby judging whether the robot is in a state of approaching failure in stages. 5. A robot failure omen diagnosis system, characterized in that it comprises: elevator; an elevator control device that controls the elevator; A robot that moves between a plurality of floors using the elevator, the robot having a state detection unit that detects its own state, the state detection unit including a time measurement unit that measures its own operating time; and a robot control device that controls the robot, The elevator control device obtains state data representing the state of the robot and data of operating hours of the robot from the robot when the robot rides the elevator, The elevator control device calculates a rate of change of the state data for the operating time based on the operating time data and the state data, The elevator control device compares the change rate of the state data with a judgment value, the judgment value is set for the change rate of the state data and stored in the elevator control device in advance, The elevator control device judges that the robot is in a state of imminent failure when the value of the rate of change of the state data exceeds the judgment value, The judgment value is not a critical value for the robot to be unable to act, but a value with a margin for the robot to perform a specified number of services, When it is determined that the robot is in a state of imminent failure, the elevator control device also determines whether the robot is providing services, When it is judged that the robot is providing the service, the elevator control device waits for the robot to finish the service provided, When it is determined that the robot is not providing the service, the elevator control device requests the robot control device to stop the robot from providing the service. 6. An elevator control device for controlling an elevator, characterized in that, The elevator control device obtains state data representing the state of the robot as a numerical value from the robot when the robot rides the elevator, The elevator control device compares the value of the state data with a judgment value, the judgment value is set for the value of the state data and stored in the elevator control device in advance, The elevator control device determines that the robot is in a state of imminent failure when the value of the state data exceeds the judgment value, The judgment value is not a critical value for the robot to be unable to act, but a value with a margin for the robot to perform a specified number of services, When it is determined that the robot is in a state of imminent failure, the elevator control device also determines whether the robot is providing services, When it is judged that the robot is providing the service, the elevator control device waits for the robot to finish the service provided, When it is determined that the robot is not providing the service, the elevator control device requests the robot control device controlling the robot to stop the robot from providing the service. 7. The elevator control device according to claim 6, characterized in that, When it is determined that the robot is in a state close to failure, the elevator control device reports to an external device that the robot is in a state close to failure. 8. A diagnostic method for a robot fault omen diagnosis system, characterized in that, The robot fault diagnosis system includes: elevator; an elevator control device that controls the elevator; a robot that moves between a plurality of floors using the elevator, the robot having a state detection section that detects its own state; and a robot control device that controls the robot, The diagnostic method of the robot fault omen diagnosis system includes: the step of obtaining from the robot state data numerically representing the state of the robot while the robot is riding the elevator; a step of comparing the value of the status data with a judgment value set for the value of the status data and pre-stored in the elevator control device; and a step of judging that the robot is in a state close to failure when the value of the state data exceeds the judging value, The judgment value is not a critical value for the robot to be unable to act, but a value with a margin for the robot to perform a specified number of services, When it is determined that the robot is in a state of imminent failure, it is also determined whether the robot is providing services, When it is judged that the robot is providing the service, waiting for the robot to end the service provided, When it is determined that the robot is not providing the service, requesting the robot control device to stop the robot from providing the service.

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