CN111942973B - Elevator control device, robot fault precursor diagnosis system and method thereof - Google Patents
Elevator control device, robot fault precursor diagnosis system and method thereof Download PDFInfo
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- CN111942973B CN111942973B CN201910409629.4A CN201910409629A CN111942973B CN 111942973 B CN111942973 B CN 111942973B CN 201910409629 A CN201910409629 A CN 201910409629A CN 111942973 B CN111942973 B CN 111942973B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/02—Control systems without regulation, i.e. without retroactive action
- B66B1/06—Control systems without regulation, i.e. without retroactive action electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
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Abstract
The present invention relates to an elevator control device, a robot failure precursor diagnosis system, and a method thereof. The robot failure precursor diagnosis system includes: an elevator; an elevator control device that controls the elevator; and a robot that moves between a plurality of floors using the elevator, the robot including a state detection unit that detects a state of the robot; the elevator control device obtains status data indicating a status of the robot from the robot when the robot takes the elevator, compares a value of the status data with a determination value set for the value of the status data and stored in the elevator control device in advance, and determines that the robot is in a state close to a failure when the value of the status data exceeds the determination value.
Description
Technical Field
The present invention relates to an elevator control device, a robot failure precursor diagnosis system, and a method thereof.
Background
In recent years, with the development of robotics, the trend of replacing manual work by robots has increased, and many technical solutions have been proposed not only for industrial robots but also for robots providing services.
In a building provided with an elevator, there are an increasing number of opportunities for persons requiring support, such as elderly persons, disabled persons, and foreign travelers, to utilize the elevator. Japanese laid-open patent publication No. 2008-162758 proposes an elevator guiding robot control system for guiding such a customer requiring support to a destination point in a building.
Chinese patent application publication No. CN109164813A proposes an elevator getting-on and getting-off system and control method for an unmanned express robot, in which the robot takes the elevator to provide express service.
Disclosure of Invention
In the above-described elevator guiding robot control system, the elevator guiding robot guides a customer to an elevator hall (elevator landing) after obtaining information of a destination point from the customer, and guides the customer to the destination point by operating a call button and a destination floor button. However, if the elevator guiding robot malfunctions while guiding the customer for some reason, the customer cannot reach the destination point. In addition, if the elevator guiding robot is in an abnormal state, not only a mental burden is imposed on the customer, but also the customer may be harmed.
Similarly, above-mentioned unmanned express delivery robot system of getting on or off elevator, if express delivery robot breaks down when the express delivery, then can not express delivery to the destination point. Moreover, the system may bring harm to express customers and passengers of elevators sharing the elevator car.
The object of the present invention is to solve at least one of the above problems by providing an elevator control device, a robot failure precursor diagnosis system, and a method thereof, which determine whether or not a robot is in a state of approaching a failure when the robot uses an elevator, and prompt a countermeasure to prevent the robot from failing when providing a service, thereby enabling a customer to receive the service with ease.
To solve the above-described problems, a robot failure precursor diagnosis system according to an aspect of the present invention includes: an elevator; an elevator control device that controls the elevator; and a robot that moves between a plurality of floors using the elevator, the robot including a state detection unit that detects a state of the robot; the elevator control device obtains status data indicating a status of the robot from the robot when the robot takes the elevator, compares a value of the status data with a determination value set for the value of the status data and stored in the elevator control device in advance, and determines that the robot is in a state close to a failure when the value of the status data exceeds the determination value.
When it is determined that the robot is in a near-fault state, the elevator control device may report the near-fault state of the robot to an external device.
The warning system may further include a robot controller that controls the robot, and the elevator controller may request the robot controller to stop the service provided by the robot when it is determined that the robot is in a state of approaching a fault.
The warning system may further include a robot controller that controls the robot, wherein the elevator controller further determines whether the robot is providing a service when it is determined that the robot is in a state near a fault, the elevator controller waits for the robot to end the service provided when it is determined that the robot is providing the service, and the elevator controller requests the robot controller to stop the service provided by the robot when it is determined that the robot is not providing the service.
The elevator control device may include a plurality of the robots, each of the plurality of the robots may hold individual identification information for identifying an individual of the robot, and the elevator control device may obtain the individual identification information from the robot when the robot takes the elevator, and store the state data in the elevator control device in association with the individual identification information.
The elevator control device may store a plurality of determination values for one of the state data, and the elevator control device may compare the value of the state data with the plurality of determination values to determine whether or not the robot is in a state close to a failure in a stepwise manner.
A robot failure precursor diagnosis system of another aspect of the present invention includes: an elevator; an elevator control device that controls the elevator; and a robot that moves between a plurality of floors using the elevator, the robot including a state detection unit that detects a state of the robot, the state detection unit including a time measurement unit that measures an operating time of the robot; the elevator control device obtains state data indicating a state of the robot and data of an operating time of the robot from the robot when the robot takes the elevator, calculates a change rate of the state data with respect to the operating time based on the data of the operating time and the state data, compares the change rate of the state data with a determination value set for the change rate of the state data and stored in the elevator control device in advance, and determines that the robot is in a state close to a failure when the value of the change rate of the state data exceeds the determination value.
The present invention also provides an elevator control device for controlling an elevator, wherein the elevator control device obtains status data indicating a status of a robot from the robot when the robot takes the elevator, the elevator control device compares a value of the status data with a determination value set for the value of the status data and stored in the elevator control device in advance, and the elevator control device determines that the robot is in a state close to a failure when the value of the status data exceeds the determination value.
When it is determined that the robot is in a near-fault state, the elevator control device may report the near-fault state of the robot to an external device.
The invention also provides a diagnosis method of the robot fault precursor diagnosis system, and the robot fault diagnosis system comprises the following steps: an elevator; an elevator control device that controls the elevator; and a robot that moves between a plurality of floors using the elevator, the robot including a state detection unit that detects a state of the robot, wherein the diagnostic method of the robot malfunction prediction diagnostic system includes: a step of obtaining state data representing a state of the robot from the robot while the robot takes the elevator; a step of comparing the value of the state data with a judgment value, which is set for the value of the state data and stored in the elevator control device in advance; and determining that the robot is in a state of an imminent failure when the value of the state data exceeds the determination value.
The invention can judge whether the robot is in a state of approaching fault when the robot uses the elevator, and prompts to adopt a countermeasure to prevent the robot from generating fault when providing service, so that customers can receive service with confidence.
Problems, structures, and effects other than those described above will be apparent from the following description of embodiments.
Drawings
Fig. 1 is a diagram schematically showing a configuration of a robot failure precursor diagnosis system according to an embodiment of the present invention.
Fig. 2 is a control block diagram of a robot malfunction precursor diagnosis system according to an embodiment of the present invention.
Fig. 3 is a flowchart of a method for diagnosing a fault precursor of a robot according to an embodiment of the present invention.
Fig. 4 is a diagram showing an example of state data before the robot takes an elevator.
Fig. 5 is a diagram showing an example of state data after the robot takes an elevator.
Fig. 6 is a diagram showing an example of the judgment value data.
< notation in the drawing >
1, a shaft; 2, a lift car; 3, a traction machine; 4, the counterweight is carried out; 5 hoisting a rope; 10 a network; 20a wireless communication unit; 20b a wireless communication unit; 200 managing a central device; 300 an elevator control device; 301 a transceiver section; 302 an operation control section; 303 an arithmetic processing unit; 304 a first storage unit; 305 a second storage section; 400 robot control means; 401 a first transceiver section; 402 a control unit; 403 a second transceiver section; 500 robot; 501 a transceiver unit; 502 arithmetic processing unit; 503 a guidance control unit; a destination input unit section 504; 505 a destination input processing unit; 506 an audio output unit; 507 a guide traveling part; 508 a camera; 509 state detection unit; 510 a storage section; 511 a timer; 512 temperature detecting part; 513 a running distance detection unit; 514 vibration detecting section.
Detailed Description
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 a configuration of a robot failure precursor diagnosis system according to an embodiment of the present invention.
The robot failure precursor diagnosis system of the present invention includes: an elevator, an elevator control device and a robot. Elevators are provided in buildings having a plurality of (more than two) floors. The building can be department stores, hospitals, exhibition halls and the like, and can also be apartments, office buildings (office buildings) and the like. The elevator shown in the figure is of a traction drive type, but is not limited thereto, and may be of a hydraulic drive type, a linear motor drive type, or the like. The elevator shown in the figure has a machine room, but is not limited thereto, and may not have a machine room.
As shown in fig. 1, in the elevator, a car 2 and a counterweight 4 are connected to both ends of a traction rope 5, and the traction rope 5 is wound around a traction sheave of a traction machine 3. The traction sheave is rotated by driving of a motor of the hoisting 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. An elevator control 300 controlling the elevators is disposed in the machine room (as shown in the figure) or other place prescribed according to the type of elevator. The elevator control device 300 controls the hoisting and lowering 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 independent mobile robot (mobile robot) that provides services and uses an elevator when moving between a plurality of floors in a building. The robot shown in the figure is a guiding robot, but is not limited thereto, and may be any robot that uses an elevator when providing service. The robot may be a cleaning robot for cleaning, a police robot for performing a police action, or a delivery robot for delivering letters, packages, goods, food, and the like. Here, the independent movement type robot is a robot that moves by operating itself, and not limited to the robot, all the determinations necessary for the movement of the robot are performed independently by the robot itself.
Here, a robot for guidance is exemplified. As shown in fig. 1, the 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 by using an elevator when moving between a plurality of floors. Here, as shown in the figure, 3 robots 500a, 500b, and 500c are provided in the building, but the number is not limited thereto, and one, two, or four or more robots may be provided.
Fig. 2 is a control block diagram of a robot malfunction precursor 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, the following description will be given as a single robot 500.
An elevator control device 300 and a robot control device 400 are connected to the network 10. The robot control device 400 receives and transmits a control signal of the robot 500 and controls the robot 500. The network 10 is the internet or a local area network or the like. A management center apparatus 200 as an external apparatus is also connected to the network 10.
The management center apparatus 200 is installed in a management center, and the management center manages the robot 500. The management center may be a building management center provided in a building to manage the building and its equipment, and the management center may manage the elevator and the robot at the same time, where the management center device 200 may monitor information required by each control device. The management center may be a robot management center installed in a service company that dispatches a robot to provide a predetermined service.
The wireless communication unit 20a is connected to the elevator control device 300. The robot controller 400 is connected to a wireless communication unit 20b. The robot 500 receives a control signal from the robot control device 400 through wireless communication of the wireless communication unit 20b and is controlled thereby.
The elevator control device 300 includes: a transceiver 301 for receiving and transmitting information; an operation control unit 302 for controlling the hoisting machine 3 to move the car 2 up and down and reporting the abnormal state to the management center apparatus 200 through the network 10; an arithmetic processing unit 303 for calculating information necessary for controlling the elevator based on external information and calculating a change in the state of the robot based on the information received from the robot; a first storage unit 304 which is configured by a nonvolatile memory such as a ROM (read only memory) and stores a judgment value for diagnosing a sign of failure, which is preset for state data of the robot; and a second storage unit 305 configured by a volatile memory such as a RAM (random access memory) and temporarily storing status data of the robot.
The robot control device 400 includes: a first transceiver 401 that receives information from the elevator control device 300 and the management center device 200 via the network 10 and transmits information to these devices via the network 10; a control unit 402 for calculating information required for controlling the robot 500 and information required for the elevator control device 300; and a second transceiver 403 for transmitting information to the robot 500 through the wireless communication unit 20a and receiving 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 the information received from the robot control device 400; and a state detection unit 509 for detecting the state of the robot itself.
The guidance control unit 503 includes: a destination input unit section 504 for inputting a destination; a destination input processing unit 505 for processing input information; a voice output unit 506 that issues a voice to the customer P to confirm the destination information entered, to guide the customer P, or the like; a guide traveling unit 507 for guiding the customer P; and a camera 508 for detecting the surrounding situation and the customer P. The guidance control unit 503 is an example of a service control unit for guiding the robot, and the service control unit may be configured appropriately according to the service provided by the robot.
The state detection unit 509 includes various detection units for numerically indicating the state of the robot, and specifically includes: a timer 511 serving as a time measurement unit for measuring the operating time of the robot 500 itself; a temperature detection unit 512 for detecting the temperature of the robot 500 itself; a travel distance detection unit 513 that detects the distance traveled by the robot 500; a vibration detection unit 514 that detects vibrations observed while the robot 500 is traveling; and a storage unit 510, which is constituted by a volatile memory such as a RAM, and temporarily stores the data detected by the detection units. The state detection unit 509 is an example of a robot for guidance, and may be configured appropriately according to a service provided by the robot. Each of the detection units is configured by a corresponding sensor, for example.
The robot 500 includes an arithmetic processing unit 502 that calculates an information signal obtained from the guidance control unit 503 and an information signal obtained from the state detection unit 509. The arithmetic processing unit 502 calculates information signals obtained from the elevator control device 300 and the robot control device 400. The transmission and reception of these information signals are performed by the transmission and reception unit 501, the wireless communication unit 20a, and the wireless communication unit 20b of the robot 500.
Each of the arithmetic processing unit and the control unit is constituted by, for example, a CPU. The destination input unit is, for example, a microphone, a menu key, or the like. The sound output unit is, for example, a speaker. The audio output unit may be replaced with a display for outputting characters, graphics, and the like, or may be used together with the display.
Fig. 3 is a flowchart of a robot fault precursor diagnosis method according to an embodiment of the present invention. Here, a description will be given taking a guide robot as an example.
The robot 500a starts guiding the customer P (step S301). More specifically, the robots 500a, 500b, and 500c are on standby at a floor where there are many people entering and exiting a hall in a building. The customer P makes a call to the robot 500a and gives destination information, and the robot 500a detects the customer P and the destination information and starts guidance for the customer P.
The robot 500a takes an elevator (step S302). More specifically, the control unit 402 of the robot control device 400 obtains information of the destination from the robot 500a via the wireless communication unit 20b, and causes 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 an elevator hall (elevator landing) and rides on the car 2 of the elevator together with the customer P.
The elevator control device 300 obtains 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 held by the robot 500a currently riding in the elevator via the wireless communication unit 20a, and recognizes that the robot 500a is currently riding in the car 2.
The elevator control device 300 obtains the state data of the robot 500a (step S304). More specifically, the operation control unit 302 requests the robot 500a to transmit the state data. The arithmetic processing unit 502 of the robot 500a, which has received the request from the operation control unit 302, transmits the state data stored in the storage unit 510 of the state detection unit 509 or the state data currently detected by the various sensors of the state detection unit 509 to the elevator control device 300. The elevator control device 300 receives the state data of the robot 500a.
The elevator control device 300 updates the state 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 robots 500a, 500b, and 500c and the state data corresponding to the individual identification 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 state data of the robot 500a with the determination value (step S306). More specifically, the arithmetic processing unit 303 of the elevator control device 300 compares the state 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 judges whether or not the value of the state data of the robot 500a exceeds the judgment value. Here, the arithmetic processing unit 303 does not need to compare the state data in the second storage unit 305 with the judgment value data in the first storage unit 304 at all times, and may compare only when the state data in the second storage unit 305 is updated in step S305.
If 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 determination value set in advance in the first storage unit 304, the operation control unit 302 does not detect the degradation of the robot 500a, and the operation control unit 302 determines that the possibility of the robot 500a malfunctioning at the time of providing the guidance service is extremely low. The operation control unit 302 does not transmit the robot trouble precursor information to the robot control device 400 and the management center device 200, and the robot 500a continues the guidance service.
If yes in step S306, the elevator control device 300 determines that the robot 500a is in a near-fault state (step S308). More specifically, in step S306, if the value of the state data in the second storage unit 305 exceeds the determination value set in advance in the first storage unit 304, the operation control unit 302 detects the deterioration of the robot 500a, and the operation control unit 302 determines that the robot 500a is in a near-fault state.
The elevator control device 300 reports the diagnosis result to the management center device 200 (step S309). More specifically, when determining that the robot 500a is in a near-fault state, the operation control unit 302 transmits information that the robot 500a is in a near-fault state to the management center apparatus 200 via the network 10. The management center provided with the management center apparatus 200 can take countermeasures, such as preparing parts necessary for repairing the robot 500a, scheduling a robot to replace the robot 500a during repair, and the like, before the robot 500a fails and becomes inoperable (works) after receiving the information that the robot 500a is in a state of approaching failure.
The elevator control device 300 determines whether or not the robot 500a is guiding (step S310). More specifically, the operation control unit 302 transmits information that the robot 500a is in a state of approaching a failure to the management center apparatus 200, and then determines whether or not the robot 500a is currently guiding the customer P. The determination as to whether or not guidance is being performed may be performed based on information obtained from the control unit 402 of the robot controller 400, or may be performed based on information directly obtained from the robot 500a. It is also possible to perform the guidance based on information obtained from equipment provided in the elevator, such as a camera and a load detection device, in the elevator, and determine that the robot 500a is guiding if the robot 500a is riding in the car 2 together with the customer P, and determine that the robot 500a is not guiding if only the robot 500a is riding in the elevator or the robot 500a is riding in the elevator together with other passengers.
If yes in step S310, the elevator control device 300 waits for guidance to be given by the robot 500a (step S311). More specifically, in step S310, if it is determined that the robot 500a is performing guidance, the operation control unit 302 determines that the guidance performed by the robot 500a cannot be stopped, and waits until the robot 500a finishes performing guidance without transmitting a request to stop the robot 500a to perform guidance to the robot control device 400.
The robot 500a moves out of the car 2 (step S312). More specifically, the car 2 of the elevator reaches the floor where the destination of the customer P is located, and the robot 500a exits the car 2 together with the customer P and leaves the elevator toward the destination.
The robot 500a takes an elevator (step S302). More specifically, the robot 500a guides the customer P to the destination, and after the guiding operation is completed, the customer P rides on the car 2 of the elevator to return to a standby position such as a hall where the customer P is originally located.
Steps S303 to S310 are repeated.
If no in step S310, the elevator control device 300 requests the robot control device 400 to stop the robot 500a for guidance (step S313). More specifically, in step S310, when operation control unit 302 determines that robot 500a is not guiding, operation control unit 302 transmits a signal requesting to stop robot 500a from guiding to control unit 402 of robot control device 400 via network 10.
The processing performed by the elevator control apparatus 300 will be described further below. Here, the robot 500a will be described as an example of guiding the customer P to the destination.
Fig. 4 is a diagram showing an example of state data before the robot takes an elevator. Fig. 5 is a diagram showing an example of state data after the robot takes an elevator. Fig. 6 is a diagram showing an example of the judgment value data. The state data of the robot 500 is stored in the second storage unit 305 of the elevator control device 300, and the 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 stand by, the customer P approaches the robot 500a and tells the robot 500a its destination, for example, "want to go x". The robot 500a then broadcasts, for example, "is x ×? It is known. I guide you. "or the same contents are displayed on the display, thereby notifying the customer P to start guidance and guiding the customer P to the elevator hall.
As an example, assuming that the robot 500a travels 500m from the standby place to the elevator hall at this time, the temperature in the robot 500a is increased by 3 ℃ due to the travel and vibrated 2000 times. The arithmetic processing unit 502 of the robot 500a detects signals output from the temperature detection unit 512, the travel 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 the temperature, the travel distance, and the vibration are described, but the present invention is not limited to this, and the change in the state of the robot 500a may be represented by numerical values.
When the car 2 of the elevator reaches the floor where the robot 500a and the customer P are located, the robot 500a rides on the car 2 together with the customer P. When the robot 500a rides on the car 2, the operation control unit 302 obtains the individual identification information from the robot 500a via the wireless communication unit 20a, and detects that the robot 500a rides on the car 2.
The operation control unit 302 requests the robot 500a to transmit the state data. The arithmetic processing unit 502 of the robot 500a, which has received the transmission request of the state data from the operation control unit 302, transmits the state data stored in the storage unit 510 of the state detection unit 509 or the state data currently detected by each sensor in the state detection unit 509 to the elevator control device 300. The elevator control device 300 receives the state data of the robot 500a.
As shown in fig. 4, the second storage unit 305 of the elevator control device 300 stores the state data of each robot when the robot 500a, the robot 500b, and the robot 500c took the car 2, and the temperature of the robot 500a, the travel distance of the robot 9800m, and the number of vibrations 200000 are stored.
The operation control unit 302 stores the acquired state data of the robot 500a in the second storage unit 305. That is, as shown in fig. 5, the temperature 40 ℃ of the robot 500a in the state data in the second storage unit 305 is updated to 43 ℃, the travel distance 9800m is updated to 10300m, and the vibration frequency 200000 times is updated to 202000 times.
Although only the car 2 is shown here when 1 elevator is assumed, even when a plurality of elevators are provided and a plurality of cars are provided, since the elevator control device 300 and the robot perform data transmission and reception by wireless communication, the status 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 state 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 the temperature of 60 ℃, the travel distance of 10000m, and the number of vibrations 300000 as determination value data. The arithmetic processing unit 303 detects that the travel distance 10300m in the state data stored in the second storage unit 305 exceeds the determination value 10000m.
When the arithmetic processing unit 303 detects that the value of the state data of the robot 500a exceeds the determination value in the first storage unit 304, the operation control unit 302 notifies the management center apparatus 200 that the robot 500a is in a state of an imminent failure.
As described above, the elevator control device obtains the state data indicating the state of the robot from the robot when the robot takes the elevator, compares the value of the state data with the determination value set for the value of the state data and stored in the elevator control device in advance, and determines that the robot is in a state close to a failure when the value of the state data exceeds the determination value.
When it is determined that the robot is in the near-fault state, the elevator control device may report the near-fault state of the robot to the management center device as the external device.
In addition, the elevator control device may request the robot control device to stop the service provided by the robot when it is determined that the robot is in a state of approaching a fault. Therefore, the robot is prevented from being broken down when providing service, and harm to customers is avoided. Such processing may be performed before reporting to an external device.
In addition, the elevator control device may determine whether or not the robot is providing the service when it is determined that the robot is in a state of approaching a fault, wait for the service provided by the robot to be ended when it is determined that the robot is providing the service, and request the robot control device to stop the service provided by the robot when it is determined that the robot is not providing the service. Such processing may be performed before reporting to an external device.
Here, it is preferable that the determination value is not a critical value at which the robot cannot operate, but a value having a margin at which the robot can perform a predetermined number of times of service, for example, 1 time or two times. Accordingly, the robot in the near-fault state does not need to immediately stop providing the service, and the management center can schedule a matter of repairing the robot and prepare a substitute robot while the robot can provide the service.
Further, the elevator control device may store a plurality of determination values for one state data, and the elevator control device may compare the value of the state data with the plurality of determination values to determine in stages whether or not the robot is in a state close to a failure. As an example, the determination value may be set in stages. For example, a first determination value and a second determination value are set, the first determination value being a value corresponding to about 50% of the value of the limit at which the robot cannot operate, and the second determination value being a value corresponding to about 80% of the value of the limit at which the robot cannot operate. In the case where the value of the state data of the robot exceeds the first judgment value but does not exceed the second judgment value, the operation control section merely notifies the management center apparatus without transmitting a request for stopping the service provision of the robot to the robot control apparatus. When the second determination value is exceeded, the operation control unit not only notifies the management center device, but also transmits a request to stop the service provided by the robot to the robot control device. Accordingly, the management center can take measures against the failure of the robot in advance when the robot is in a state of approaching the failure, and can grasp the degree of urgency of taking measures on a stage-by-stage basis. Of course, three or more determination values may be provided.
In addition, the priority of the service provision of the robot may be adjusted according to the result of the diagnosis of the warning of the failure. When the first determination value is exceeded and the second determination value is not exceeded, a request to stop the service provision of the robot may be transmitted to the robot control device, instead of transmitting a request to stop the service provision of the robot, a request to lower the priority of the service provision of the robot may be transmitted to the robot control device.
Further, the diagnosis of the sign of failure may be performed based on the change rate of the state data. The robot includes a state detection unit for detecting its own state, and a time measurement unit provided inside (as in the above-described embodiment) or outside the state detection unit for measuring its own operating time. The elevator control device obtains state data and data of the working time of the robot from the robot when the robot takes the elevator, calculates the change rate of the state data corresponding to the working time based on the data of the working time and the state data, and 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 is stored in the elevator control device in advance, and the elevator control device judges that the robot is in a state close to a fault when the value of the change rate of the state data exceeds the judgment value.
In addition, the communication between the robot and the elevator control device may be wired communication, or a device such as a robot base station may be provided in the car of the elevator. In this case, the elevator and the robot can communicate directly with each other, and the robot can be charged with electricity from the elevator.
The present invention is not limited to the above-described embodiments, and includes various modifications. For example, the above-described embodiments are described in detail to explain the present invention easily and clearly, but the present invention is not necessarily limited to include all the structures described. Further, a part of the structure of one embodiment can be replaced with the structure of another embodiment, and further, the structure of another embodiment can be added to the structure of one embodiment. Further, addition, deletion, and replacement of another structure can be performed on a part of the structures of the embodiments.
Claims (8)
1. A system for diagnosing a fault precursor of a robot, comprising:
an elevator;
an elevator control device that controls the elevator;
a robot that moves between a plurality of floors using the elevator, the robot including a state detection unit that detects a state of the robot; and
a robot control device that controls the robot,
the elevator control device obtains state data expressing the state of the robot with numerical values from the robot when the robot takes 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 is stored in the elevator control device in advance,
the elevator control device determines that the robot is in a state close to a failure when the value of the state data exceeds the determination value,
the judgment value is not a critical value at which the robot cannot operate but a value with a margin at which the robot can perform a predetermined number of services,
the elevator control device further determines whether the robot is providing a service in a case where it is determined that the robot is in a state of approaching a fault,
when the robot is judged to be providing the service, the elevator control device waits for the robot to finish the service,
when it is determined that the robot is not providing the service, the elevator control device requests the robot control device to stop the provision of the service by the robot.
2. The system according to claim 1, wherein,
when it is determined that the robot is in a state of an impending failure, the elevator control device reports the state of the impending failure to an external device.
3. The system according to claim 1, wherein,
comprises a plurality of the robots which are arranged in parallel,
the plurality of robots respectively hold individual identification information for identifying the individual robot,
the elevator control device obtains the individual identification information from the robot when the robot takes the elevator, and stores the state data in the elevator control device in association with the individual identification information.
4. The system according to claim 1, wherein,
a plurality of determination values are stored in the elevator control device for one of the state data,
the elevator control device compares the value of the state data with a plurality of the judgment values to judge whether the robot is in a state close to a fault or not in a stepwise manner.
5. A system for diagnosing a fault precursor of a robot, comprising:
an elevator;
an elevator control device that controls the elevator;
a robot that moves between a plurality of floors using the elevator, the robot including a state detection unit that detects a state of the robot, the state detection unit including a time measurement unit that measures an operating time of the robot; and
a robot control device that controls the robot,
the elevator control device obtains state data indicating a state of the robot as numerical values and data indicating an operating time of the robot from the robot when the robot takes the elevator,
the elevator control device calculates a change rate of the state data for the operating time based on the data of the operating time 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 is stored in the elevator control device in advance,
the elevator control device determines that the robot is in a state close to a failure when the value of the rate of change of the state data exceeds the determination value,
the judgment value is not a critical value at which the robot cannot operate but a value with a margin at which the robot can perform a predetermined number of services,
in the case where it is determined that the robot is in a state of approaching a failure, the elevator control apparatus further determines whether the robot is providing a service,
when the robot is judged to be providing the service, the elevator control device waits for the robot to finish the service,
when it is determined that the robot is not providing the service, the elevator control device requests the robot control device to stop the provision of the service by the robot.
6. An elevator control device for controlling an elevator, characterized in that,
the elevator control device obtains state data expressing the state of the robot with numerical value from the robot when the robot takes 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 is stored in the elevator control device in advance,
the elevator control device determines that the robot is in a state close to a failure when the value of the state data exceeds the determination value,
the judgment value is not a critical value at which the robot cannot operate but a value with a margin at which the robot can perform a predetermined number of times of service,
the elevator control device further determines whether the robot is providing a service in a case where it is determined that the robot is in a state of approaching a fault,
when the robot is judged to be providing the service, the elevator control device waits for the robot to finish the service,
when it is determined that the robot is not providing the service, the elevator control device requests the robot control device that controls the robot to stop providing the service by the robot.
7. Elevator control device according to claim 6,
when it is determined that the robot is in a state of an impending failure, the elevator control device reports the state of the impending failure to an external device.
8. A method of diagnosing a system for predicting a failure of a robot,
the robot fault diagnosis system includes:
an elevator;
an elevator control device that controls the elevator;
a robot that moves between a plurality of floors using the elevator, the robot including a state detection unit that detects a state of the robot; and
a robot control device that controls the robot,
the diagnosis method of the robot fault precursor diagnosis system comprises the following steps:
a step of obtaining status data indicating a status of the robot as a numerical value from the robot while the robot is riding in the elevator;
a step of comparing the value of the state data with a judgment value, which is set for the value of the state data and stored in the elevator control device in advance; and
a step of determining that the robot is in a state of an imminent failure if the value of the state data exceeds the determination value,
the judgment value is not a critical value at which the robot cannot operate but a value with a margin at which the robot can perform a predetermined number of services,
in the case where it is determined that the robot is in a state of an imminent failure, it is also determined whether the robot is providing a service,
waiting for the robot to end the service provided when it is determined that the robot is providing the service,
and requesting the robot control device to stop the service provided by the robot when the robot is judged not to provide the service.
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