CN117003070A - Abnormality detection system, abnormality detection device, and building equipment management device - Google Patents
Abnormality detection system, abnormality detection device, and building equipment management device Download PDFInfo
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- CN117003070A CN117003070A CN202210854428.7A CN202210854428A CN117003070A CN 117003070 A CN117003070 A CN 117003070A CN 202210854428 A CN202210854428 A CN 202210854428A CN 117003070 A CN117003070 A CN 117003070A
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- 230000005856 abnormality Effects 0.000 title claims abstract description 163
- 238000001514 detection method Methods 0.000 title claims abstract description 87
- 230000008859 change Effects 0.000 claims description 19
- 230000002159 abnormal effect Effects 0.000 claims description 7
- 230000004913 activation Effects 0.000 claims description 3
- 230000008054 signal transmission Effects 0.000 abstract description 5
- 238000004891 communication Methods 0.000 description 31
- 238000000034 method Methods 0.000 description 20
- 230000008569 process Effects 0.000 description 20
- 230000004044 response Effects 0.000 description 11
- 238000012545 processing Methods 0.000 description 10
- 230000001960 triggered effect Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
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Classifications
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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
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
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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
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3492—Position or motion detectors or driving means for the detector
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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
- B66B5/0018—Devices monitoring the operating condition of the elevator system
Abstract
An abnormality detection system, an abnormality detection device, and a building equipment management device can determine an abnormality of a robot based on the radio wave intensity of a radio wave emitted from a transmitting device mounted on a self-propelled robot. An abnormality detection system (100) is provided with a building equipment management device (10) and an abnormality detection device (20), wherein the building equipment management device (10) is provided with a trigger signal transmission unit (11 b) which transmits a trigger signal according to the operation condition of building equipment, and the abnormality detection device (20) is provided with: a trigger signal receiving unit (21 b) that receives the trigger signal transmitted by the trigger signal transmitting unit (11 b); an acquisition unit (21 c) that acquires radio waves transmitted by a robot (30) moving in a building and received by an antenna device (40); and a determination unit (21 d) that determines an abnormality of the robot (30) based on the trigger signal received by the trigger signal receiving unit (21 b) and the radio wave intensity of the radio wave acquired by the acquisition unit (21 c).
Description
Technical Field
The present application relates to an abnormality detection system, an abnormality detection apparatus, and a building equipment management apparatus.
Background
Patent document 1 discloses an entry and exit management system including: a reading device for a Hands-free tag is provided in a door, and the approaching speed of the Hands-free tag to the door is analyzed based on the change of the radio wave intensity when the radio wave outputted from the Hands-free tag is received. The access management system prompts the user to act according to the approach speed of the user.
Patent document 1: japanese patent application laid-open No. 2017-203658
The entry and exit management system disclosed in patent document 1 has no structure for determining abnormality, and therefore has the following problems: the abnormality of the robot cannot be determined based on the radio wave intensity of the radio wave emitted from the emitting device mounted on the self-propelled robot.
Disclosure of Invention
The present application has been made in view of the above-described problems, and an object of the present application is to provide an abnormality detection system, an abnormality detection device, and a building equipment management device, which can determine an abnormality of a robot based on the radio wave intensity of a radio wave emitted from a transmitting device mounted on the self-propelled robot.
An abnormality detection system according to the present application includes a building equipment management device including a trigger signal transmission unit that transmits a trigger signal in accordance with an operation condition of a building equipment, and an abnormality detection device including: a trigger signal receiving unit that receives the trigger signal transmitted by the trigger signal transmitting unit; an acquisition unit that acquires radio waves transmitted by a robot moving in a building and received by an antenna device; and a determination unit that determines an abnormality of the robot based on the trigger signal received by the trigger signal reception unit and the radio wave intensity of the radio wave acquired by the acquisition unit.
The abnormality detection device of the present application comprises: a trigger signal receiving unit that receives a trigger signal transmitted from a building equipment management device that transmits a trigger signal according to the operation status of the building equipment; an acquisition unit that acquires radio waves transmitted by a robot moving in a building and received by an antenna device; and a determination unit that determines an abnormality of the robot based on the trigger signal received by the trigger signal reception unit and the radio wave intensity of the radio wave acquired by the acquisition unit.
The building equipment management device of the present application comprises: a trigger start unit that starts a trigger signal according to the operation status of the building equipment; an acquisition unit that acquires radio waves transmitted by a robot moving in a building and received by an antenna device; and a determination unit configured to determine an abnormality of the robot based on the trigger signal activated by the trigger activation unit and the radio wave intensity of the radio wave acquired by the acquisition unit.
According to the present application, it is possible to provide an abnormality detection system, an abnormality detection device, and a building equipment management device, which can determine an abnormality of a robot based on the radio wave intensity of a radio wave emitted from a transmitting device mounted on a self-propelled robot.
Drawings
Fig. 1 is a diagram showing a robot moving system in embodiment 1.
Fig. 2 is a block diagram of the abnormality detection system in embodiment 1.
Fig. 3 is a flowchart showing response control for a hall call of the robot in embodiment 1.
Fig. 4 is a flowchart showing transmission control of a trigger signal in embodiment 1.
Fig. 5 is a flowchart showing abnormality detection control in embodiment 1.
Fig. 6 is a diagram showing a data structure of the abnormality determination database in embodiment 1.
Fig. 7 is a block diagram of a building server according to embodiment 2.
Fig. 8 is a flowchart showing abnormality detection control in embodiment 2.
Description of the reference numerals
10: a building server; 11: a processor; 11a: a control unit; 11b: a trigger signal transmitting unit; 11c: a monitoring unit; 11d: a trigger start section; 12: a storage unit; 13: an interface; 20: an abnormality detection device; 21: a processor; 21a: a control unit; 21b: a trigger signal receiving section; 21c: an acquisition unit; 21d: a determination unit; 21e: a reporting unit; 22: a storage unit; 23: an interface; 30: a robot; 31: a 1 st communication device; 32: a transmitting device; 40: an antenna; 50: a robot server; 51: a 2 nd communication device; 60: an elevator control device; 61: a car; 70: an entry and exit management system; 71: an antenna; 80: a reporting device; 90: an abnormality determination database; 91: operation category information; 92: information on the expected wave intensity; 93: abnormality determination information; 100: an abnormality detection system; 101: a 1 st system; 102: a system 2; 200: a robotic movement system.
Detailed Description
Embodiment 1
The following describes a robot moving system 200 having the abnormality detection system 100 according to embodiment 1 with reference to the drawings. In addition, like reference numerals in the various drawings denote like or corresponding structures and steps. First, an outline of the structure and operation of the robot moving system 200 will be described with reference to fig. 1. Fig. 1 is a diagram showing a robot moving system 200 having the abnormality detection system 100 in embodiment 1.
The outline of the structure will be described. The robot movement system 200 is a system that manages movement of the robot 30, and includes the abnormality detection system 100 and the robot 30. The abnormality detection system 100 includes: 1 st system 101 having a building server 10 as a building equipment management apparatus described later; and a 2 nd system 102 having an abnormality detection device 20 described later. That is, the abnormality detection system 100 has the building server 10 and the abnormality detection device 20.
The 1 st system 101 is a system for controlling building equipment, and includes a building server 10, a robot server 50, an elevator control device 60, an entry and exit management system 70, and a 2 nd communication device 51 as a communication device connected to the robot server 50. The building server 10 is connected to the robot server 50, the elevator control device 60, and the access control system 70 by wired or wireless means, and performs data exchange management between the respective structures.
The 2 nd system 102 is a system for detecting an abnormality of the robot 30, and includes an abnormality detection device 20, a reporting device 80, and an antenna 40 connected to the abnormality detection device 20.
The robot 30 is a self-propelled robot that autonomously travels in a building, and has a 1 st communication device 31 and a transmitting device 32. The 1 st communication device 31 is a communication device for transmitting and receiving data by wireless communication with the 2 nd communication device 51, and exchanging information necessary for movement management of the robot 30 and other information between the 1 st system 101 and the robot 30.
The transmitter 32 is a device that transmits radio waves, which is different from the abnormality detector 20, and in the present embodiment, transmits radio waves including identification information of the robot 30. And more particularly RFID (radio frequency identifier: radio frequency identification) tags. The transmitting device is not limited to an RFID tag, and the anomaly detection device 20 described later may be a BLE (Bluetooth low energy: bluetooth low energy) tag, or the like, as long as it can measure the radio wave intensity. Further, a transmitting/receiving device capable of transmitting/receiving radio waves may be provided as the transmitting device 32.
In the present embodiment, the radio wave transmitted from the transmitter 32 is received by the antenna 71 provided in the entrance/exit management system 70 and the antenna 40 as an antenna device provided inside the car 61 of the elevator controlled by the elevator control device 60.
Next, an outline of the operation will be described. In the robot moving system 200, communication between the robot 30 and the building equipment is performed via the building server 10 and the robot server 50 that manages the robot 30. For example, when the robot 30 calls the car 61 of the elevator for inter-floor movement, the robot 30 transmits a hall call command for calling the car 61 from a hall to the 2 nd communication device 51 from the 1 st communication device 31, and the 2 nd communication device 51 transmits the command to the robot server 50. The robotic server 50 then sends the command to the building server 10. The building server 10 transmits the command to the elevator control apparatus 60. Then, the elevator control device 60 performs call registration in response to a hall call command from the robot 30, and transmits information including the arrival time and the number of the car 61 assigned to the hall call to the building server 10. Then, the building server 10 transmits information including the arrival time and the number of the car 61 assigned to the hall call to the 1 st communication device 31 of the robot 30 via the robot server 50 and the 2 nd communication device 51.
When the building server 10 receives information including the number of the car 61 assigned to the hall call and the arrival time from the elevator control device 60, the building server 10 transmits a trigger signal to the abnormality detection device 20 according to the operation state of the building equipment. That is, a trigger signal is transmitted to the abnormality detection device 20 according to the operation condition that the car 61 moves to the floor where the hall call is made by the robot 30 as the elevator of the building equipment.
In the present embodiment, the trigger signal includes information indicating the type of operation state of the building equipment, information capable of identifying the robot 30 that is operating, information specifying the antenna 40 that is expected to receive the radio wave transmitted by the transmitter 32 by the operation of the robot 30, and information specifying the time at which the antenna 40 is expected to receive the radio wave transmitted by the transmitter 32.
The trigger signal in the case of the building device responding to the landing call of the robot 30 is a signal as follows: specifically, the trigger signal includes information indicating a response to the hall call of the robot 30, identification information of the robot 30 that performed the hall call, information of the car 61 assigned to the hall call, and arrival time of the car 61. The information included in the trigger signal that can identify the robot 30 may be the same as or different from the identification information included in the radio wave transmitted from the transmitter 32 of the robot 30. In this description, the arrival time of the car 61 refers to the time when the car 61 arrives at the floor on which the landing call is made and opens the door.
The abnormality detection device 20 that has received the trigger signal determines the expected radio wave intensity from the information indicating the type of operation state of the building equipment, the information that can identify the operating robot 30, and the time at which the antenna 40 is expected to receive the radio wave transmitted by the transmitter 32, which are included in the trigger signal, and from the time-series change in the radio wave intensity of the radio wave that is expected to be received by the antenna 40. Then, the abnormality detection device 20 obtains the received radio wave from the antenna 40 specified by the information of the antenna 40 specifying the radio wave that can be expected to be transmitted by the reception/transmission device 32 through the operation of the robot 30, based on the specification included in the trigger signal. Then, the expected radio wave intensity is compared with the time-series change in the radio wave intensity of the actually received radio wave, thereby detecting an abnormality.
As described above, the abnormality of the robot 30 can be determined based on the radio wave intensity of the radio wave emitted from the emitting device 32 mounted on the robot 30. Specifically, for example, when the robot 30 is riding by opening the door of the car 61 at a hall where the robot 30 performs a hall call, and it is expected that the radio wave intensity of the radio wave received by the antenna 40 provided in the car 61 increases in time series, it is possible to determine that the robot 30 is not moving in a case where a change in the actually received radio wave intensity is hardly observed.
Next, the configuration of the abnormality detection system 100 will be described in detail with reference to fig. 2. Fig. 2 is a block diagram of the abnormality detection system 100.
In the present embodiment, the abnormality detection system 100 has the 1 st system 101 and the 2 nd system 102 already described. Further, the 1 st system 101 has a building server 10, a robot server 50, an elevator control device 60, an entry and exit management system 70, and a 2 nd communication device 51. Further, the 2 nd system 102 has the abnormality detection device 20, the reporting device 80, and the antenna 40. First, the structure of the 1 st system 101 will be described.
The building server 10 as a building device management apparatus has a processor 11, a storage section 12, and an interface 13.
The processor 11 is a CPU (Central Processing Unit: central processing unit), and is connected to the storage unit 12 and the interface 13 to exchange information. The processor 11 includes a control unit 11a, a trigger signal transmission unit 11b, and a monitor unit 11c.
The control unit 11a has software modules for controlling the entire building server 10, and the trigger signal transmission unit 11b and the monitoring unit 11c.
The trigger signal transmitting unit 11b has a software module that transmits a trigger signal according to the operation status of the building equipment. Specifically, the trigger signal transmitting unit 11b includes a software module for determining whether or not the operation of the building equipment to be triggered is present, a software module for generating a trigger signal, and a software module for transmitting the trigger signal.
The monitoring unit 11c includes a software module for acquiring the operation state of the robot 30 from the robot server 50.
The storage unit 12 is a storage device composed of a nonvolatile memory and a volatile memory. In addition, the storage unit 12 stores information for processing by the processor 11 and information generated by the processing by the processor 11.
The interface 13 has terminals for electric wires connected to the robot server 50, the elevator control device 60, the entry and exit management system 70, and the abnormality detection device 20. The interface 13 may be connected to other structures by wireless communication as a wireless communication device.
The robot server 50 is a server device that manages the robots 30 moving in the building. The robot server 50 is connected to 1 or more 2 nd communication devices 51 provided in the building and the building server 10 by wired or wireless, and when a request for building equipment is transmitted from the robot 30, the request is transmitted to the building server 10. In addition, when there is a request from the building server 10 for the robot 30, the robot server 50 transmits the request to the robot 30. The robot server 50 may adjust the movements of the plurality of robots 30. In the present embodiment, the robot server 50 is a server managed by a manager different from the manager of the building server 10. Further, a plurality of robot servers 50 may be provided.
The 2 nd communication device 51 is a communication device that transmits and receives information to and from the 1 st communication device 31 mounted on the robot 30 by wireless communication. In the present embodiment, the 2 nd communication device 51 is provided with 1 station in the building, and can perform communication at all times regardless of where the robot 30 is located in the building. The 2 nd communication device 51 may be provided in plural numbers in the building as the antenna 40 described later, and may transmit and receive information when the robot 30 passes through the vicinity.
The elevator control device 60 is a control device that operates a drive device, not shown, to move the elevator car 61 in accordance with commands sent from the robot 30 via a landing operation panel, not shown, a car operation panel, the robot server 50, and the building server 10. In the present embodiment, the elevator control device 60 is also a group management device that distributes hall calls from the person or robot 30 to the plurality of cars 61. In the present embodiment, when the robot 30 makes a landing call, the elevator control device 60 transmits the assigned car 61 number and the time when the car 61 arrives at the floor where the landing call is made to the building server 10.
The entry and exit management system 70 is the following system: an antenna 71 having a door provided in a building, and the antenna 71 receives a radio wave transmitted from the transmitter 32 of the robot 30, and opens the door when the identification information included in the radio wave is identification information that allows passage of the door set in advance. In the present embodiment, the entrance/exit management system 70 is a system that stores the entrance/exit of the robot 30 based on the identification information included in the radio wave received by the antenna 71. In the present embodiment, the antenna 71 is the same as the antenna 40 described later. In the present embodiment, the entry and exit management system 70 is the following system: when the antenna 71 receives an electric wave from the transmitter 32 of the robot 30 in a state where a request for passage is transmitted from the robot 30 via the robot server 50 and the building server 10, the door is opened.
Next, the structure of the 2 nd system 102 will be described.
The abnormality detection device 20 has a processor 21, a storage unit 22, and an interface 23.
The processor 21 is a CPU, and is connected to the storage unit 22 and the interface 23 to exchange information. The processor 21 includes a control unit 21a, a trigger signal receiving unit 21b, an acquisition unit 21c, a determination unit 21d, and a reporting unit 21e.
The control unit 21a includes software modules for controlling the trigger signal receiving unit 21b, the acquiring unit 21c, the determining unit 21d, the reporting unit 21e, and the entire abnormality detecting device 20.
The trigger signal receiving unit 21b has a software module that receives the trigger signal transmitted from the building server 10.
The acquisition unit 21c includes a software module for determining the time at which the reception of the radio wave is expected and the antenna 40, and a software module for acquiring the radio wave received by the antenna 40 from the determined antenna 40 within the determined time.
The determination unit 21d includes a software module for determining an abnormality of the robot 30 based on the trigger signal received by the trigger signal receiving unit 21b and the radio wave intensity of the radio wave acquired by the acquisition unit 21 c.
The reporting unit 21e has a software module that transmits a command for reporting by the reporting device 80 described later when the determining unit 21d determines that there is an abnormality.
The storage unit 22 is a storage device composed of a nonvolatile memory and a volatile memory. The storage unit 22 stores an abnormality determination database 90 described later. In addition, the storage unit 22 stores information for processing by the processor 21 and information generated by the processing by the processor 21.
The interface 23 has terminals for electrical wires connected to the antenna 40 and the reporting device 80. The interface 23 may be connected to other structures by wireless communication as a wireless communication device.
The antenna 40 is an antenna device installed in a building, and in the present embodiment, a plurality of antennas 40 are installed in the building. In this description, the antenna provided in the car 61 among the antennas 40 is also simply referred to as the antenna 40.
The antenna 40 receives radio waves transmitted from the transmitter 32. Specifically, the radio wave is, for example, a Long-wave LF (Long Frequency) radio wave, and the antenna 40 is an LF antenna.
The reporting device 80 reports in accordance with a command sent from the reporting unit 21 e. Specifically, in the present embodiment, the speaker device is provided. The reporting device 80 may be any device as long as it can report, and may be a monitor, a lamp, or the like.
Next, the operation of the present embodiment will be described with reference to fig. 3 to 5. Fig. 3 is a flowchart showing response control of the control unit 11a of the building server 10 to the landing call of the robot 30.
In step S11, the control unit 11a waits for the robot 30 to make a hall call via the robot server 50. The control unit 11a repeats step S11 until a hall call is present, and when a hall call is present, the process proceeds to step S12. The control unit 11a also stores information (specifically, an identification number) capable of identifying the robot 30 that has performed the hall call in the storage unit 12. In this case, when the hall call of the robot 30 is illegal, the control unit 11a may repeat step S11 without advancing the process to step S12.
In step S12, the control unit 11a transmits a landing call of the robot 30 to the elevator control device 60. Specifically, information of the floor on which the robot 30 has performed the landing call is transmitted to the elevator control device 60. Then, the control unit 11a advances the process to step S13. When the robot 30 requests the dedicated operation, the dedicated operation may be transmitted to the elevator control device 60. In addition, when the weight of the robot 30 and the like are used for allocation to the elevator control device 60, these pieces of information may be transmitted.
In step S13, the control unit 11a receives the number and arrival time of the car 61 assigned to the hall call, which are transmitted from the elevator control device 60, and stores the number and arrival time in the storage unit 12, and advances the process to step S14.
In step S14, the control unit 11a transmits the arrival time and the number of the car 61 assigned to the hall call to the robot 30 via the robot server 50. Then, the control unit 11a returns the process to step S11.
Next, the operation of the trigger signal transmitting unit 11b will be described with reference to fig. 4. Fig. 4 is a flowchart showing the transmission control of the trigger signal by the trigger signal transmitting unit 11 b.
In step S21, the trigger signal transmitting unit 11b waits for the operation of the building equipment to be triggered. When the operation of the building equipment is triggered, the trigger signal transmitting unit 11b advances the process to step S22.
In the present embodiment, one of the operations of the triggered building equipment is the response of the elevator control device 60 to the landing call of the robot 30. For example, the trigger signal transmitting unit 11b performs processing in step S13 with or without the control unit 11a as a flag, and when the processing in step S13 is provided, the processing proceeds to step S22.
In the following description, the response of the elevator control device 60 to the landing call of the robot 30 will be described as the operation of the building equipment, but the operation of the building equipment to be triggered may be other operation.
In step S22, the trigger signal transmitting unit 11b generates a trigger signal, and the process advances to step S23. The trigger signal includes information indicating the type of operation state of the building equipment, information capable of identifying the robot 30 that is operating, information specifying the antenna 40 that is expected to receive the radio wave transmitted by the transmitter 32 by the operation of the robot 30, and information specifying the time at which the antenna 40 is expected to receive the radio wave transmitted by the transmitter 32.
Specifically, the trigger signal transmitting unit 11b determines information indicating the type of operation status of the building equipment based on the operation of the building equipment processed as the flag in step S21. In this description, the information indicating the type of operation state of the building equipment is information indicating a response to the hall call of the robot 30. The trigger signal transmitting unit 11b determines information capable of identifying the robot 30 that is operating, based on the identification information of the robot 30 that has performed the hall call, which is stored in the storage unit 12 by the control unit 11a in step S11. Then, the trigger signal transmitting unit 11b determines the following information based on the arrival time and the number of the car 61 assigned to the hall call stored in the storage unit 12 by the control unit 11a in step S14: information specifying the antenna 40 that is expected to receive the radio wave transmitted by the transmitter 32 by the operation of the robot 30, and information specifying the time at which the antenna 40 is expected to receive the radio wave transmitted by the transmitter 32. Then, the signal containing these pieces of information is temporarily stored as a trigger signal in the storage section 12.
In step S23, the trigger signal transmitting unit 11b transmits the trigger signal generated in step S22 to the abnormality detecting device 20, and returns the process to step S21.
Next, the operation of the abnormality detection device 20 will be described with reference to fig. 5. Fig. 5 is a flowchart showing abnormality detection control by the abnormality detection device 20.
In step S31, the trigger signal receiving section 21b waits for a trigger signal. When the trigger signal is transmitted from the building server 10 via the interface 23, the trigger signal receiving unit 21b receives the trigger signal, and stores information included in the trigger signal in the storage unit 22, so that the process advances to step S32.
In step S32, the acquisition unit 21c acquires the radio wave transmitted from the transmitter 32 of the robot 30 from the antenna 40, and the process proceeds to step S33. Specifically, the acquisition unit 21c determines the antenna 40 and the time based on the information of the antenna 40 that determines that the reception of the radio wave transmitted by the transmitter 32 by the operation of the robot 30 is expected and the information of the time that the antenna 40 is expected to receive the radio wave transmitted by the transmitter 32, which are included in the trigger signal stored in the storage unit 22 in step S21 by the trigger signal reception unit 21 b.
In this description, as this information, information of arrival time of the car 61 and the elevator assigned to the hall call is included in the trigger signal. The acquisition unit 21c identifies the antenna 40 provided in the car 61 of the hall call from the database stored in advance in the storage unit 22, based on the hall call assigned to the hall call. Then, information of the arrival time of the car 61 (i.e., a predetermined time from the time when the car 61 arrives at the landing and opens the door) and the radio wave intensity of the radio wave received by the antenna 40 are acquired from the antenna 40 via the interface 23, and stored in the storage unit 22.
At this time, the acquisition unit 21c refers to the information specifying the operating robot 30 included in the trigger signal, and stores the information of the radio wave intensity of the radio wave emitted from the operating robot 30 in the storage unit 22. Specifically, the information of the radio wave intensity of the radio wave including the same identification information is stored in the storage unit 22 with reference to the identification information included in the trigger signal. In the present application, the acquisition of the radio wave includes acquiring information on the radio wave intensity of the radio wave received by the antenna 40 as in the present embodiment. The radio wave intensity may be, for example, RSSI (Received Signal Strength Indicator: received signal strength indicator) or the like.
In step S33, the determination unit 21d determines an abnormality of the robot 30 based on the trigger signal received by the trigger signal receiving unit 21b and the radio wave intensity of the radio wave acquired by the acquisition unit 21 c. Then, the determination unit 21d advances the process to step S34 when it is determined that there is an abnormality, and advances the process to step S31 when it is determined that there is no abnormality.
Specifically, the determination unit 21d refers to the information indicating the type of operation state of the building equipment included in the trigger signal, and determines the expected radio wave intensity corresponding to the trigger signal from the abnormality determination database 90 shown in fig. 6.
The abnormality determination database 90 is a database storing operation type information 91 indicating the type of operation condition of the building equipment, expected radio wave intensity information 92 indicating the expected radio wave intensity corresponding to the trigger signal, and abnormality determination information 93 indicating the result of abnormality determination in association with each other.
The determination unit 21d compares the information indicating the type of operation condition of the building equipment included in the trigger signal with the operation type information 91 from the abnormality determination database 90, and determines expected radio wave intensity information 92 corresponding to the matched operation type information 91. Then, the determination unit 21d compares the expected radio wave intensity information 92 with the radio wave intensity information of the actual radio wave stored in the storage unit 22 by the acquisition unit 21c in step S32. The determination unit 21d determines an abnormality of the robot 30 based on abnormality determination information 93 corresponding to expected radio wave intensity information 92 corresponding to the radio wave intensity of the actual radio wave. In the present embodiment, the determination unit 21d determines whether or not there is an abnormality, and also determines the type of abnormality.
In this explanation, the information indicating the type of operation state of the building equipment indicates a response to the hall call of the robot 30, and thus "hall call response" in fig. 6 is the same operation type information 91. Referring to fig. 6, the expected radio wave intensity information 92 corresponding to the operation type information 91 and the abnormality determination information 93 corresponding to the expected radio wave intensity information 92 are shown as follows: when the time-series change in the radio wave intensity is "greater than-3 and 3 or less", it is determined that the robot 30 is abnormal and stopped. Further, the following is indicated: when the time-series change in the radio wave intensity is "greater than 3 and 10 or less", it is determined that "the robot 30 is abnormal, and movement is impaired"; when the time-series change in the radio wave intensity is greater than 10 and 30 or less, it is determined that the robot 30 is normal; when the time-series change in the radio wave intensity is "-3 or less or greater than 30, it is determined that the robot 30 is abnormal and out of control.
The determination unit 21d calculates a difference obtained by subtracting the minimum value from the maximum value of the radio wave intensity information stored in the storage unit 22 by the acquisition unit 21c, and compares the difference with the information stored as the threshold value of the expected radio wave intensity information 92 as a time-series change of the radio wave intensity, thereby determining an abnormality of the robot 30. Then, when the robot 30 has an abnormality, the determination unit 21d stores the abnormality type in the storage unit 22, and the process proceeds to step S34.
In the present embodiment, the expected radio wave intensity is information indicating a threshold value of a time-series change in radio wave intensity in a predetermined time. The expected radio wave intensity is not limited to this, and may be a maximum value, a minimum value, or the like of the radio wave intensity, or may be the number of peak values of time-series changes of the radio wave intensity, or the like. The expected radio wave intensity may be a radio wave intensity at which normal determination is performed, and the determination unit 21d may perform abnormality determination based on a difference between the expected radio wave intensity and the expected radio wave intensity.
In step S34, the reporting unit 21e outputs a command for reporting by the reporting device 80, and returns the process to step S31. Specifically, the reporting unit 21e transmits a command including the abnormality type information stored in the storage unit 22 by the determining unit 21d in step S33 to the reporting device 80. The reporting device 80 that received the command outputs a different message from the speaker according to the abnormality type information included in the command.
As described above, according to the present embodiment, it is possible to determine abnormality of the robot 30 based on the radio wave intensity of the radio wave emitted from the emitting device 32 mounted on the robot 30.
In the present embodiment, since the abnormality determination is performed when the trigger signal is transmitted to the abnormality detection device 20, the load on the device can be reduced as compared with the case where the abnormality determination is always performed. Further, by the trigger signal, the expected radio wave intensity, which is a determination index of whether or not the acquired radio wave intensity is normal, becomes clear, and abnormality can be accurately determined. The radio wave intensity at which time should be obtained becomes clear.
The present embodiment is particularly useful in that it can determine an abnormality other than runaway, as compared with an abnormality determination device that always acquires the radio wave intensity and determines the presence or absence of an abnormality. In the abnormality determination device that always acquires the radio wave intensity and determines whether or not there is an abnormality, the abnormality determination device can also determine an abnormality by detecting an abrupt change in the radio wave intensity for a movement at a speed that is not performed by the normal robot 30. However, since the normal robot 30 may stop or move at a slower speed than usual, even if the robot 30 whose radio wave intensity received by the antenna 40 is not changed or the robot 30 whose radio wave intensity is slowly changed is detected, it cannot be immediately determined as an abnormality. According to the present embodiment, since the expected radio wave intensity is determined by the trigger signal, it is possible to determine abnormality when a time-series change, which is a change in radio wave intensity that is determined to be normal in advance, cannot be detected.
According to the present embodiment, since the trigger signal includes information identifying the robot 30, even in an environment where a plurality of robots 30 travel, it is possible to determine an abnormality of a specific robot 30.
According to the present embodiment, since the trigger signal includes information specifying the antenna 40 that is expected to receive the radio wave transmitted by the transmitter 32 by the operation of the robot 30, it is possible to determine abnormality of the robot 30 using the antennas 40 provided at a plurality of places.
In the present embodiment, since the antenna 71 of the access management system 70 is the same as the antenna 40, the antenna 71 of the access management system 70 can be used.
Further, since the report is performed by outputting a command to the reporting device 80, the abnormality of the robot 30 can be notified to the equipment manager and handled early.
Since the antenna 40 is provided in the car 61 in the present embodiment, it is possible to determine an abnormality in the elevator riding operation of the robot 30 on the car 61.
Embodiment 2
The abnormality detection system 100 according to embodiment 1 includes a building server 10 that transmits a trigger signal and an abnormality detection device 20 that receives the trigger signal, and the abnormality detection device 20 determines abnormality based on the trigger signal received from the building server 10. The building server 10 of the present embodiment includes a trigger start unit 11d, and starts a trigger signal and detects an abnormality in the server. Hereinafter, differences from embodiment 1 will be mainly described.
The structure of the embodiment will be described with reference to fig. 7. Fig. 7 is a block diagram of the building server 10 in the present embodiment. In this embodiment, as in embodiment 1, a building server 10 as a building equipment management device includes a processor 11, a storage unit 12, and an interface 13.
In the present embodiment, the processor 11 includes an acquisition unit 21c, a determination unit 21d, a report unit 21e, and a trigger start unit 11d provided in the abnormality detection device 20 in embodiment 1, in addition to the control unit 11a and the monitor unit 11 c.
The trigger starting unit 11d has a software module for starting a trigger signal according to the operation status of the building equipment. Specifically, the trigger starting unit 11d includes a software module for determining whether or not there is an operation of the building equipment to be triggered, a software module for generating a trigger signal, and a software module for causing the acquisition unit 21c to start acquiring radio waves.
The storage unit 12 stores information stored in the storage unit 12 and the storage unit 22 according to embodiment 1.
The interface 13 has terminals for electric wires connected to the antenna 40 and the reporting device 80, in addition to the terminals provided in the interface 13 of embodiment 1.
Next, the operation of embodiment 2 will be described with reference to fig. 8. Fig. 8 is a flowchart showing control of abnormality detection by the building server 10 in the present embodiment.
In step S21a, the trigger starting unit 11d waits for the operation of the building equipment to be triggered, as in step S21 of the trigger signal transmitting unit 11b of embodiment 1. When there is an operation of the building equipment to be triggered, the trigger starting unit 11d advances the process to step S4.
In step S4, the trigger start unit 11d starts the trigger signal. Specifically, as in step S22 of the trigger signal transmitting unit 11b of embodiment 1, the trigger starting unit 11d generates a trigger signal and stores the trigger signal in the storage unit 12. Then, the trigger starting unit 11d advances the process to step S32a, which is the process of the acquiring unit 21 c.
In step S32a, the acquisition unit 21c acquires radio waves from the antenna 40 corresponding to the activated trigger signal, as in step S32 of embodiment 1, and advances the process to step S33a.
In step S33a and step S34a, the determination unit 21d and the reporting unit 21e perform the same processing as in step S33 and step S34 of embodiment 1. However, in embodiment 1, when the process is advanced to step S31, the process advances to step S21a.
As described above, according to the present embodiment, the same effects as those of embodiment 1 can be obtained. Further, according to the present embodiment, it is possible to determine and report an abnormality when the abnormality detection device 20 is not provided other than the building server 10.
The embodiment has been described above, but the present invention is not limited to this embodiment. In the following, a modification is shown.
In embodiment 1, the control unit 11a that controls the entire building server 10 and the trigger signal transmission unit 11b that generates and transmits the trigger signal are described as different configurations, but may be the same configuration. For example, the information transmitted by the control unit 11a to the robot server 50 in step S14 may be transmitted to the abnormality detection device 20 as a trigger signal. In this case, the control unit 11a is a trigger signal transmitting unit 11b. This has an advantage that a new program does not have to be added to the building server 10, as compared with the case where the building server 10 also serves as the abnormality detection device 20 as in embodiment 2.
In the embodiment, the communication between the building server 10 and the robot 30 is performed via the robot server 50, but it is needless to say that the building server 10 and the robot 30 may be directly communicated.
In the embodiment, the radio wave transmitted by the transmitter 32 includes the identification information of the robot 30, but the radio wave may not include the identification information of the robot 30. This is because there is no need to identify the robot 30 in the case where there are fewer robots 30 that autonomously walk in the building.
In the embodiment, the abnormality detection device 20 and the entry and exit management system 70 are configured differently, but may have both functions in the same device. It is needless to say that the elevator control device 60 and other devices such as the building server 10 may have functions of a plurality of devices in the same device, or may be located on the cloud.
In the embodiment, the determination unit 21d refers to the information indicating the type of operation condition of the building equipment included in the trigger signal, and determines the expected radio wave intensity corresponding to the trigger signal from the abnormality determination database 90. The type information of the robot 30 may be added to the trigger signal, and the expected radio wave intensity may be determined by referring to the type of the robot 30 together with the operation state type. Conversely, the trigger signal may not include information indicating the type of operation condition of the building equipment, and the abnormality detection device 20 may evaluate the radio wave intensity of the radio wave acquired by the acquisition unit 21c at a predetermined time from when the trigger signal is received by the trigger signal reception unit 21b, and determine that the robot 30 is abnormal. In the present application, such determination is also referred to as determination based on the trigger signal received by the trigger signal receiving unit 21b and the radio wave intensity of the radio wave acquired by the acquiring unit 21 c.
The operation state of the robot 30 may be added to the trigger signal. Specifically, the operation state of the robot 30 acquired by the monitoring unit 11c may be added to the trigger signal. The operation state of the robot 30 is, for example, a mode in which the movement speed is different from the normal state, such as during high-speed traveling, during cleaning operation, and during energy-saving operation, and a known failure such as tire burst. The determination unit 21d may determine abnormality based on a trigger signal added to the operation state of the robot 30.
In the embodiment, the description has been made using the response of the hall call of the robot 30 as an example of the operation condition of the building equipment as the transmission or start condition of the trigger signal, but the present invention is not limited to this. For example, the timing at which the robot 30 gets off the car 61 may be set as the timing at which the trigger signal is transmitted or started. Specifically, the arrival of the car 61 on which the robot 30 is installed at the destination floor may be set as the operation state of the building equipment that is the condition for transmitting or starting the trigger signal. For example, a door having the 2 nd communication device 51 may be installed in a building, and a case where the 2 nd communication device 51 transmits to the building server 10 that the robot 30 passes through the door as a building equipment may be set as a trigger.
Although the antenna 40 is provided inside the car 61 in the embodiment, the antenna 40 may be provided outside the car 61 or may be provided in plural. For example, the antenna 40 may be further provided at the landing, and if either or both of the antennas 40 provided inside and outside the car 61 are abnormal, the determination of the abnormality may be made based on the radio wave intensity of the radio wave received by the antenna.
In the embodiment, the trigger signal transmitting unit 11b and the trigger starting unit 11d transmit or start in response to the hall call of the robot 30, but may transmit when the car 61 is opened.
Hereinafter, the modes of the present application will be collectively referred to as an additional note.
(additionally, 1)
An abnormality detection system, wherein,
the abnormality detection system has a building equipment management device and an abnormality detection device,
the building equipment management device is provided with a trigger signal transmitting part which transmits a trigger signal according to the operation condition of the building equipment,
the abnormality detection device includes:
a trigger signal receiving unit that receives the trigger signal transmitted by the trigger signal transmitting unit;
an acquisition unit that acquires radio waves transmitted by a robot moving in a building and received by an antenna device; and
And a determination unit configured to determine an abnormality of the robot based on the trigger signal received by the trigger signal receiving unit and the radio wave intensity of the radio wave acquired by the acquisition unit.
(additionally remembered 2)
The abnormality detection system according to supplementary note 1, wherein,
the determination unit compares the expected radio wave intensity corresponding to the trigger signal with the radio wave intensity acquired by the acquisition unit, thereby determining an abnormality of the robot.
(additionally, the recording 3)
The abnormality detection system according to supplementary note 2, wherein,
the expected radio wave intensity is information on a time-series variation of the radio wave intensity determined in advance,
the determination unit compares the expected radio wave intensity with the time-series change in the radio wave intensity acquired by the acquisition unit, and thereby determines an abnormality of the robot.
(additionally remembered 4)
The abnormality detection system according to supplementary note 3, wherein,
the expected radio wave intensity is information indicating a threshold value of a time-series change in the radio wave intensity,
the determination unit determines that the robot is abnormal when the magnitude of the time-series change in the radio wave intensity acquired by the acquisition unit is greater than the threshold value or less than the threshold value.
(additionally noted 5)
The abnormality detection system according to any one of supplementary notes 1 to 4, wherein,
the determination unit determines the type of abnormality of the robot based on the trigger signal and the radio wave intensity of the radio wave acquired by the acquisition unit.
(additionally described 6)
The abnormality detection system according to any one of supplementary notes 1 to 5, wherein,
the electric wave transmitted by the robot contains the identification information of the robot.
(additionally noted 7)
The abnormality detection system according to any one of supplementary notes 1 to 6, wherein,
the trigger signal is a signal indicating that the car of the elevator apparatus is open.
(additionally noted 8)
The abnormality detection system according to supplementary note 7, wherein,
the antenna device is arranged in the car.
(additionally, the mark 9)
The abnormality detection system according to any one of supplementary notes 1 to 8, wherein,
the abnormality detection device further includes a reporting unit that causes the reporting device to report when the determination unit determines that there is an abnormality.
(additionally noted 10)
An abnormality detection device, wherein the abnormality detection device has:
a trigger signal receiving unit that receives a trigger signal transmitted from a building equipment management device that transmits the trigger signal according to the operation status of the building equipment;
An acquisition unit that acquires radio waves transmitted by a robot moving in a building and received by an antenna device; and
and a determination unit configured to determine an abnormality of the robot based on the trigger signal received by the trigger signal receiving unit and the radio wave intensity of the radio wave acquired by the acquisition unit.
(additionally noted 11)
A building equipment management apparatus, wherein the building equipment management apparatus has:
a trigger start unit that starts a trigger signal according to the operation status of the building equipment;
an acquisition unit that acquires radio waves transmitted by a robot moving in a building and received by an antenna device; and
and a determination unit configured to determine an abnormality of the robot based on the trigger signal activated by the trigger activation unit and the radio wave intensity of the radio wave acquired by the acquisition unit.
Claims (11)
1. An abnormality detection system, wherein,
the abnormality detection system has a building equipment management device and an abnormality detection device,
the building equipment management device is provided with a trigger signal transmitting part which transmits a trigger signal according to the operation condition of the building equipment,
the abnormality detection device includes:
a trigger signal receiving unit that receives the trigger signal transmitted by the trigger signal transmitting unit;
An acquisition unit that acquires radio waves transmitted by a robot moving in a building and received by an antenna device; and
and a determination unit configured to determine an abnormality of the robot based on the trigger signal received by the trigger signal receiving unit and the radio wave intensity of the radio wave acquired by the acquisition unit.
2. The abnormality detection system according to claim 1, wherein,
the determination unit compares the expected radio wave intensity corresponding to the trigger signal with the radio wave intensity acquired by the acquisition unit, thereby determining an abnormality of the robot.
3. The abnormality detection system according to claim 2, wherein,
the expected radio wave intensity is information on a time-series variation of the radio wave intensity determined in advance,
the determination unit compares the expected radio wave intensity with the time-series change in the radio wave intensity acquired by the acquisition unit, and thereby determines an abnormality of the robot.
4. The abnormality detection system according to claim 3, wherein,
the expected radio wave intensity is information indicating a threshold value of a time-series change in the radio wave intensity,
the determination unit determines that the robot is abnormal when the magnitude of the time-series change in the radio wave intensity acquired by the acquisition unit is greater than the threshold value or less than the threshold value.
5. The abnormality detection system according to any one of claims 1 to 4, wherein,
the determination unit determines the type of abnormality of the robot based on the trigger signal and the radio wave intensity of the radio wave acquired by the acquisition unit.
6. The abnormality detection system according to any one of claims 1 to 4, wherein,
the electric wave transmitted by the robot contains the identification information of the robot.
7. The abnormality detection system according to any one of claims 1 to 4, wherein,
the trigger signal is a signal indicating that the car of the elevator apparatus is open.
8. The abnormality detection system according to claim 7, wherein,
the antenna device is arranged in the car.
9. The abnormality detection system according to any one of claims 1 to 4, wherein,
the abnormality detection device further includes a reporting unit that causes the reporting device to report when the determination unit determines that there is an abnormality.
10. An abnormality detection device, wherein the abnormality detection device has:
a trigger signal receiving unit that receives a trigger signal transmitted from a building equipment management device that transmits the trigger signal according to the operation status of the building equipment;
An acquisition unit that acquires radio waves transmitted by a robot moving in a building and received by an antenna device; and
and a determination unit configured to determine an abnormality of the robot based on the trigger signal received by the trigger signal receiving unit and the radio wave intensity of the radio wave acquired by the acquisition unit.
11. A building equipment management apparatus, wherein the building equipment management apparatus has:
a trigger start unit that starts a trigger signal according to the operation status of the building equipment;
an acquisition unit that acquires radio waves transmitted by a robot moving in a building and received by an antenna device; and
and a determination unit configured to determine an abnormality of the robot based on the trigger signal activated by the trigger activation unit and the radio wave intensity of the radio wave acquired by the acquisition unit.
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| Application Number | Priority Date | Filing Date | Title |
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| JP2022074029A JP7215624B1 (en) | 2022-04-28 | 2022-04-28 | Anomaly detection system, anomaly detection device, building facility management device |
| JP2022-074029 | 2022-04-28 |
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| CN202210854428.7A Pending CN117003070A (en) | 2022-04-28 | 2022-07-15 | Abnormality detection system, abnormality detection device, and building equipment management device |
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| JPS59153213A (en) * | 1983-02-21 | 1984-09-01 | Mitsubishi Electric Corp | Automatic carrier device of unmanned car |
| JP2012196731A (en) * | 2011-03-22 | 2012-10-18 | Toyota Motor Corp | System and method for controlling movement of robot |
| JP6610923B2 (en) * | 2015-07-02 | 2019-11-27 | 清水建設株式会社 | Elevator system, elevator control method and program |
| JP6579268B2 (en) * | 2016-05-26 | 2019-09-25 | 三菱電機株式会社 | Entrance / exit management system |
| JP6350767B1 (en) * | 2016-10-04 | 2018-07-04 | 三菱電機株式会社 | Elevator control device and autonomous mobile body control device |
| JPWO2021117123A1 (en) * | 2019-12-10 | 2021-06-17 | ||
| US20230040980A1 (en) * | 2020-03-06 | 2023-02-09 | Mitsubishi Electric Corporation | Equipment server, device server, communication system, and storage medium storing message |
| JP2021180431A (en) * | 2020-05-14 | 2021-11-18 | パナソニックＩｐマネジメント株式会社 | Information processor, information processing method, and program |
| JP6930637B1 (en) * | 2020-06-18 | 2021-09-01 | 三菱電機株式会社 | Elevator controller and elevator system |
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