JP2021011371A - Diagnostic device, diagnostic system, and diagnostic method - Google Patents

Abstract

To provide a diagnostic device capable of diagnosing a bearing appropriately by using a millimeter wave sensor.SOLUTION: A portable diagnostic device includes a sensor part including a millimeter wave sensor, which can measure the operation of machines moved in response to the rotation of a shaft supported by a bearing that is provided in an escalator and a control part that performs filtering processing of measurement data acquired by the millimeter wave sensor by using a specific rotation speed relating to the shaft, calculates the rotation speed of the shaft according to the measurement data after the filtering processing, and diagnoses whether or not the bearing has failed according to the calculated rotation speed of the shaft.SELECTED DRAWING: Figure 1

Description

The present invention relates to a diagnostic device, a diagnostic system and a diagnostic method, and is suitable for application to, for example, a diagnostic device, a diagnostic system and a diagnostic method for diagnosing a bearing.

In the escalator, terminal gears for driving a step for passengers and a handrail that moves in the traveling direction in synchronization with the step by a chain are provided in the upper machine room and the lower machine room.

Bearings are provided at both ends of the shaft of the terminal gear, and it is necessary to periodically diagnose the bearings in order to prevent failures due to aging deterioration, external factors (for example, foreign matter contamination), and the like.

Conventionally, as a method of diagnosing a bearing, a method of calculating and diagnosing the duration of an output signal by using an acoustic emission sensor has been disclosed (see Patent Document 1). Further, as a method for diagnosing a bearing, a method is disclosed in which an acceleration sensor is used to calculate the peak rate of vibration obtained by extracting a natural band component corresponding to an abnormality of a diagnostic object (see Patent Document 2). ).

Japanese Patent No. 2839623 Japanese Patent No. 2695366

In the method described in Patent Document 1, the bearing is diagnosed from the measured sound, and in the method described in Patent Document 2, the bearing is diagnosed from the measured vibration. Therefore, the rotation speed of the shaft (hereinafter, shaft rotation) It is required to directly diagnose the bearing, such as diagnosing the bearing using (referred to as speed).

As a means for directly detecting the operation of the bearing of the escalator in operation, a method of observing the time-series change of the shaft rotation speed when an abnormal vibration occurs can be considered. In order to observe with sufficient time resolution for diagnosing the location of failure, it is necessary to measure at least about 10 points during one rotation of the shaft.

In this respect, the measurement of the shaft rotation speed using the rotary encoder can be observed with sufficient time resolution. However, it is necessary to attach a rotary encoder to the moving part of the escalator. In this case, the movable part or the like may be damaged due to the contact of the rotary encoder with the movable part.

Therefore, it is conceivable to utilize a millimeter wave radar (millimeter wave sensor) as a means for detecting the shaft rotation speed that is non-contact and has sufficient time resolution. When the millimeter-wave radar is used in the machine room of the escalator, the data measured by the millimeter-wave sensor (hereinafter referred to as measurement data) also includes information from an object moving at a speed other than the axial rotation speed. Since the shaft rotation speed cannot be specified, the bearing cannot be diagnosed.

The present invention has been made in consideration of the above points, and an object of the present invention is to propose a diagnostic device or the like capable of appropriately diagnosing a bearing by using a millimeter wave sensor.

In order to solve such a problem, in the present invention, a sensor unit which is a portable diagnostic device and includes a millimeter wave sensor capable of measuring the operation of a device which moves with the rotation of a shaft supported by a bearing provided in an escalator. And, using the specific rotation speed related to the axis, the measurement data acquired by the millimeter wave sensor is filtered, and the rotation speed of the axis is calculated from the measurement data after the filtering process. A control unit for diagnosing whether the bearing is out of order based on the rotation speed of the shaft is provided.

According to the above configuration, for example, even when a speed other than the rotation speed of the shaft is measured by the millimeter wave sensor, the measurement data acquired by the millimeter wave sensor can be obtained by using the specific rotation speed related to the shaft. By performing the filtering process, it is possible to remove data having a speed other than the rotation speed of the shaft from the measurement data. Therefore, the rotation speed of the shaft can be appropriately calculated using the millimeter wave sensor, and the bearing can be diagnosed from the calculated rotation speed of the shaft.

According to the present invention, bearings can be appropriately diagnosed using a millimeter wave sensor.

It is the schematic which shows the structure of the escalator which the diagnosis system by 1st Embodiment is the object of diagnosis. It is a figure which shows an example of the structure which concerns on the bearing by 1st Embodiment. It is a figure which shows an example of the structure which concerns on the diagnostic apparatus by 1st Embodiment. It is a figure which shows an example of the process which concerns on the filtering process and the diagnostic process by 1st Embodiment. It is a figure for demonstrating the filtering process by 1st Embodiment. It is a figure for demonstrating the diagnostic process by 1st Embodiment. It is a figure which shows an example of the structure which concerns on the diagnosis system by 2nd Embodiment. It is a figure which shows an example of the structure which concerns on the diagnosis system by 3rd Embodiment. It is a figure which shows an example of the process which concerns on a filtering process and a diagnostic process by a 3rd Embodiment. It is a figure for demonstrating the diagnostic process by a 3rd Embodiment.

Hereinafter, one embodiment of the present invention will be described in detail with reference to the drawings. In this embodiment, a technique suitable for inspecting the bearing of the escalator will be described. In diagnostic devices, diagnostic systems, diagnostic methods, etc. to which this technology is applied, for example, by using a millimeter-wave radar, the time-series changes in the rotational speed of the shaft supported by the bearings of the operating escalator are calculated. , Diagnose the bearing.

For example, when the diagnostic device calculates the shaft rotation speed from the measurement data of the millimeter wave radar, the shaft rotation speed information calculated from the model number information of the escalator to be diagnosed and the shaft rotation speed calculated from a sensor other than the millimeter wave radar. Filter the millimeter-wave radar measurement data by both or both of the information.

Further, for example, the above-mentioned diagnostic apparatus performs filtering processing to obtain data on non-movable parts included in the measurement data, which are unnecessary for calculating the shaft rotation speed, multiple reflection signals from a wall surface, and parts rotating at a speed different from the shaft. To remove.

As a result, the time-series changes in the shaft rotation speed can be calculated with the time resolution required for bearing diagnosis, and bearing failures due to aging deterioration, external factors, etc. can be detected. The failure of the bearing includes a failure of the bearing and the shaft slipping, a failure of parts inside the bearing, and the like.

Further, the diagnostic apparatus may filter the measurement data of the millimeter wave radar by the distance information indicating the distance from the millimeter wave radar to the measurement target calculated from the model number information of the escalator to be diagnosed. By such a filtering process, a bearing failure can be detected more accurately.

In the following description, the "processor unit" is one or more processors. The at least one processor is typically a microprocessor such as a CPU (Central Processing Unit), but may be another type of processor such as a GPU (Graphics Processing Unit). At least one processor may be single-core or multi-core. At least one processor may be a processor in a broad sense such as a hardware circuit (for example, FPGA (Field-Programmable Gate Array), ASIC (Application Specific Integrated Circuit)) that performs a part or all of the processing.

Further, in the following description, the "storage unit" is at least one (typically, at least a memory unit) of the memory unit and at least a part of the PDEV unit.

Further, in the following description, the "memory unit" is one or more memories, and may typically be a main storage device. At least one memory in the memory unit may be a volatile memory or a non-volatile memory.

Further, in the following description, the “PDEV unit” is one or more PDEVs, and may typically be an auxiliary storage device. “PDEV” means a physical storage DEVice, typically a non-volatile storage device such as an HDD (Hard Disk Drive) or SSD (Solid State Drive).

Further, in the following description, the "communication unit" may have one or more interfaces. The one or more interfaces may be one or more communication interface devices of the same type (for example, one or more NICs (Network Interface Cards)) or two or more different types of communication interface devices (for example, NIC and HBA (Host)). Bus Adapter)) may be used.

Further, in the following description, the "output unit" is one or more displays, one or more speakers, and the like. The output unit may be an input / output unit such as a touch panel. The output may be a display by a display, a sound output by a speaker, information transmission to another computer, or printing by a printing device. It may be an output of another aspect.

Further, in the following description, the process may be described with "program" as the subject, but the program is executed by the processor unit to appropriately perform the specified process in the storage unit (for example, memory) and the memory unit. / Or because it is performed while using a communication unit (for example, a communication port), the subject of the process may be a processor. The process described with the program as the subject may be a process performed by a processor unit or a device having the processor unit. Further, the processor unit may include a hardware circuit (FPGA, ASIC, etc.) that performs a part or all of the processing. The program may be installed from the program source into a device such as a calculator. The program source may be, for example, a program distribution server or a computer-readable recording medium (eg, a non-temporary recording medium). Further, in the following description, two or more programs may be realized as one program, or one program may be realized as two or more programs.

(1) First Embodiment In FIG. 1, 100 indicates a diagnostic system according to the first embodiment as a whole.

FIG. 1 is a schematic view showing the structure of the escalator 110 to be diagnosed by the diagnostic system 100.

The escalator 110 is provided with a step 120 on which passengers are placed and a handrail 130 that moves in the traveling direction in synchronization with the step 120. Further, in the escalator 110, an upper terminal gear (not shown) for driving the step 120 and the handrail 130 by a chain (not shown) is provided in an upper machine room (not shown), and a lower terminal gear 140 is provided in the lower machine room 150. Bearings (not shown) are provided at both ends of the shaft of the upper terminal gear, and bearings 160 are provided at both ends of the shaft of the lower terminal gear 140.

FIG. 2 is a diagram showing an example of a configuration related to a bearing 160 provided in the lower machine room 150.

As described above, bearings 160 are provided at both ends of the shaft of the lower terminal gear 140 provided in the lower machine room 150. The bearing 160 is fixed by the housing 210. The housing 210 is installed on the truss beam 230 provided in the lower machine room 150 via the slide rail 220. Further, the housing 210 is connected to the tension rod 240 and has a structure in which tension is applied to the chain of the step 120 (not shown) by the tension spring 250 provided on the tension rod 240.

On the housing 210, a sensor unit 260 capable of measuring the shaft rotation speed of the shaft (the shaft of the lower terminal gear 140) supported by the bearing 160 is installed. The sensor unit 260 is communicably connected to the control unit 280 via a cable 270.

Next, a configuration for diagnosing the bearing 160 will be described.

FIG. 3 is a diagram showing an example of the configuration of the diagnostic device 300 included in the diagnostic system 100.

The diagnostic device 300 includes a sensor unit 260 and a control unit 280. The sensor unit 260 includes an acceleration sensor 311 and a magnetic sensor 312 and a millimeter wave radar 313.

The output signal of the acceleration sensor 311 is processed by the amplifier filter unit 314, then digitized by the ADC (Analog-to-Digital Converter) 315, and the converted signal (hereinafter referred to as acceleration data) is the cable 270. Is output to the control unit 280 via. Further, the output signal of the magnetic sensor 312 is processed by the amplifier filter unit 314, then digitized by the ADC 315, and the converted signal (hereinafter referred to as magnetic data) is sent to the control unit 280 via the cable 270. It is output.

The output signal of the millimeter wave radar 313 is processed by the amplifier filter unit 316, then digitized by the millimeter wave processor unit 317, and the converted signal (hereinafter referred to as millimeter wave data) is passed through the cable 270. Is output to the control unit 280.

The control unit 280 stores the processor unit 321 that performs arithmetic processing, the storage unit 322 that stores (stores) the data processed by the processor unit 321 and the data stored by the storage unit 322 outside the PC (Personal Computer) or the like. It includes a communication unit 323 that transmits data to the device 330, and an output unit 324 that outputs the operating state of the sensor unit 260. Further, the control unit 280 includes a power supply unit 325 that supplies power to the processor unit 321, the storage unit 322, the communication unit 323, and the output unit 324.

The function of the control unit 280 may be realized by, for example, the processor unit 321 reading the program into the storage unit 322 and executing it (software), or may be realized by hardware such as a dedicated circuit. It may be realized by combining software and hardware. Further, a part of the functions of the control unit 280 may be realized by another computer capable of communicating with the control unit 280 (for example, a sensor unit 260, an external device 330, a server device (not shown), and the like).

All or part of the diagnostic processing based on the data from the sensor unit 260 output to the control unit 280 is executed by the processor unit 321 and the result of the diagnostic processing (hereinafter referred to as the diagnostic result) is stored in the storage unit 322. It will be remembered. The stored diagnosis result is transmitted to the external device 330 connected by the communication unit 323. The stored diagnosis result may be output by the output unit 324.

The external device 330 includes a processor unit 331, a storage unit 332, a communication unit 333, and an output unit 334. The function of the external device 330 may be realized by, for example, the processor unit 331 reading the program into the storage unit 332 and executing it (software), or may be realized by hardware such as a dedicated circuit. It may be realized by combining software and hardware. In addition, some of the functions of the external device 330 may be realized by another computer capable of communicating with the external device 330 (for example, a sensor unit 260, a control unit 280, a server device (not shown), and the like).

The external device 330 stores model number information (an example of design information) of the escalator 110 required for the diagnostic process performed by the control unit 280 described later. In addition, the external device 330 presents the received diagnosis result to the worker. For example, the content shown in FIG. 6 is displayed by the output unit 334.

The diagnostic device 300 is transported by an operator to the escalator 110 to be diagnosed, the sensor unit 260 is attached to the housing 210 to which the bearing 160 of the escalator 110 is fixed, and the vibration of the bearing 160 and the vibration when the step 120 is operated. , Magnetic fluctuations due to the operation of the internal components of the bearing 160, and reflections of the millimeter-wave radar from the components around the bearing 160 are measured.

Next, the filtering process and the diagnostic process (diagnosis method) of the millimeter wave data measured by the millimeter wave radar 313 will be described.

FIG. 4 is a diagram showing an example of processing related to filtering processing and diagnostic processing.

In step S401, the control unit 280 acquires model number information from the external device 330. The model number information includes the number of teeth of the upper terminal gear, the number of teeth of the lower terminal gear 140, the outer diameter of the lower terminal gear 140, the dimensions of the chain, the gear ratio between the upper terminal gear and the motor, the number of rotations of the motor at normal times, etc. Is included. Further, the model number information includes design values indicating the positional relationship between the housing 210, the bearing 160, the lower terminal gear 140, and the chain.

In step S402, the control unit 280 calculates the normal shaft rotation speed (model number) from the model number information. For example, the control unit 280 calculates the rotation speed of the upper terminal gear from the normal rotation speed of the motor and the gear ratio of the upper terminal gear and the motor. Then, the control unit 280 calculates the rotation speed (shaft rotation speed (model number)) of the lower terminal gear 140 from the rotation speed of the upper terminal gear, the number of teeth of the upper terminal gear, and the number of teeth of the lower terminal gear 140. To do. The shaft rotation speed (model number) is a normal value and does not include changes in time series.

In step S403, the control unit 280 calculates the distance (distance information) between the chain to be measured by the millimeter wave radar 313 and the sensor unit 260 from the model number information.

In step S411, the control unit 280 acquires the acceleration data measured by the acceleration sensor 311. The sampling frequency of the acceleration sensor 311 is, for example, about 10 kps (kilo sample (s) per second).

In step S412, the control unit 280 detects the time when the vibration indicating the abnormality occurs (the time when the abnormal vibration occurs) from the acquired acceleration data.

In step S413, the control unit 280 detects an impact sound having a fixed cycle generated when the step 120 is moved by the lower terminal gear 140. In other words, the control unit 280 detects the impact sound of the step 120 and the time when the impact sound is generated.

In step S414, the control unit 280 calculates the shaft rotation speed (acceleration). Since the period in which the impact sound is generated depends on the shaft rotation speed, the control unit 280 determines the shaft rotation speed (acceleration) from the period in which the impact sound is generated, the number of teeth of the lower terminal gear 140, and the dimensions of the step 120. Is calculated. Since the step 120 comes into contact with the lower terminal gear 140, the interval for acquiring the shaft rotation speed (acceleration) is generally about several seconds.

In step S421, the control unit 280 acquires the measured magnetic data measured by the magnetic sensor 312. The sampling frequency of the magnetic sensor 312 is, for example, about 100 sps.

In step S422, the control unit 280 calculates the rotation speed of the inner ring inside the bearing 160, the rotation speed of the cage, and the rotation speed of the roller ball from the acquired magnetic data, and the time when these rotation speeds fluctuate irregularly. Is calculated. Since the method of calculating each rotation speed and the time at which each rotation speed fluctuates irregularly in step S422 is an existing technique, the description thereof will be omitted.

In step S423, the control unit 280 calculates the shaft rotation speed (magnetism). Here, if no slip occurs between the shaft and the inner ring, the rotation speed of the inner ring coincides with the shaft rotation speed. Therefore, the control unit 280 sets the rotation speed of the inner ring of the bearing 160 as the shaft rotation speed (magnetism). The interval for acquiring the shaft rotation speed (magnetism) is about 0.01 seconds because it is the interval for the magnetic sensor 312 to acquire data.

For the signal acquired by the millimeter wave radar 313, the measurement target (chain in this example) is measured by executing a two-dimensional FFT (Fast Fourier Transform) on the modulated signal (millimeter wave data) of the transmitted signal and the received signal. Calculate the distance to and the speed of the object to be measured. Since the procedure for calculating the distance and speed by the two-dimensional FFT is a well-known technique, the description thereof is omitted here.

In step S431, the control unit 280 filters the millimeter wave data. Since the millimeter wave data includes data of a plurality of objects other than the object to be measured, such as the lower terminal gear 140 and the chain, the control unit 280 removes the data of the object other than the object to be measured by the filtering process. .. The control unit 280 calculates the shaft rotation speed (for diagnosis) from the millimeter wave data after the filtering process. The filtering process will be described later with reference to FIG.

In step S432, the control unit 280 performs a diagnostic process using the shaft rotation speed (for diagnosis). In the diagnostic process, for example, by comparing the change in the shaft rotation speed (for diagnosis) at the time when the abnormal vibration obtained in step S412 occurs, it is diagnosed whether or not the bearing 160 has failed. The diagnostic process will be described later with reference to FIG.

FIG. 5 is a diagram for explaining the filtering process.

First, the control unit 280 acquires millimeter wave data. An example of the acquired millimeter wave data is shown in Graph 510.

Next, the control unit 280 performs a one-dimensional Fourier transform (Fourier transform of distance) on the acquired millimeter wave data. Graph 520 shows an example of millimeter wave data (one-dimensional transform data) after one-dimensional Fourier transform.

Here, the control unit 280 filters data at a distance other than the chain to be measured by the distance (distance 521) calculated from the model number information in step S403. At this time, since the distance 521 changes depending on the location where the sensor unit 260 is installed, the filtering range is the filtering range 522 of the distance including the distance 521 calculated from the model number information (first filtering range, for example, , The width is about 50 cm around the distance 521).

Next, the control unit 280 extracts the data in the first filtering range from the one-dimensional transform data, and performs a two-dimensional Fourier transform (Fourier transform of velocity) on the extracted data. Graph 530 shows an example of millimeter wave data (two-dimensional transform data) after two-dimensional Fourier transform.

Finally, the control unit 280 filters data on speeds other than the speed of the chain to be measured.

The control unit 280 performs the above-mentioned series of processes for each sampling time, averages the filtered data at a predetermined time, and has the highest peak frequency and / or the frequency exceeding the threshold value (corresponding to the frequency). The speed of the chain) is calculated as the speed of the chain. The chain is connected to the lower terminal gear 140. The lower terminal gear 140 is connected to the shaft. That is, no slip occurs between the chain, the lower terminal gear 140, and the shaft. Therefore, the shaft rotation speed (for diagnosis) can be calculated from the chain speed using the model number information.

Here, when a failure occurs in the bearing 160, the shaft rotation speed (for diagnosis) is the shaft rotation speed (model number) calculated from the model number information, the shaft rotation speed (acceleration) calculated from the acceleration sensor 311, and the magnetic sensor. It changes from the shaft rotation speed (magnetic) calculated from 312. Therefore, regarding the speed filtering range 532 (second filtering range), the frequency 531-1 corresponding to the shaft rotation speed (model number), the frequency 531-2 corresponding to the shaft rotation speed (acceleration), and the shaft rotation speed ( It is preferable that the frequency 531-3 corresponding to (magnetic) is included and the value has a width in the front-rear direction.

The interval at which the shaft rotation speed (for diagnosis) is acquired depends on the interval at which the millimeter wave radar 313 acquires millimeter wave data, and can be acquired in 0.01 seconds.

FIG. 6 is a diagram for explaining a diagnostic process.

Graph 610 shows an example (shaft rotation speed change 611) of the shaft rotation speed (for diagnosis) calculated by the control unit 280 over time.

The control unit 280 determines whether or not the shaft rotation speed change 611 has a fluctuation exceeding the threshold value 612 (for example, the upper limit threshold value 612-1 and the lower limit threshold value 612-2). When the control unit 280 determines that there is a fluctuation exceeding the threshold value 612, it determines that an abnormality has occurred in the bearing 160 (diagnoses that the bearing 160 is out of order).

As described above, in the present embodiment, the axial rotation speed is acquired from the millimeter wave data with the time resolution required for bearing diagnosis by the filtering process using the model number information and the data of the sensor other than the millimeter wave radar. This makes it possible to detect bearing failures more accurately. For example, according to the present embodiment, the bearings fixed by the housings provided at both ends of the shaft of the lower terminal gear installed in the lower machine room of the escalator are poorly lubricated due to grease depletion and foreign matter contamination. It is possible to quickly detect abnormalities in the initial stage such as wear and scratches caused by such factors.

In the present embodiment, the diagnosis of the bearing of the lower terminal gear has been described, but the diagnosis may be performed on the upper terminal gear and other bearings (not shown).

Further, although the method in which the acceleration sensor, the magnetic sensor, and the millimeter wave radar are built in the sensor unit has been described, each sensor may be divided into a plurality of sensor parts and built in.

Further, the method of calculating the specific axial rotation speed used for the filtering process of the millimeter wave radar from the model number information, the acceleration data and the magnetic data has been described, but at least one of the model number information, the acceleration data and the magnetic data is used. It may be calculated using.

Further, instead of the acceleration sensor, a sound sensor, an acoustic emission sensor or the like may be used.

Further, although the communication unit has described the method of connecting to an external device by wire, it may be connected by wireless communication.

Further, although the method of acquiring the model number information stored in the external device by the control unit has been described, the model number information may be stored in the control unit in advance.

(2) Second Embodiment In this embodiment, the sensor unit is divided into a portable sensor and a fixed sensor that is always installed on the escalator, as compared with the first embodiment. Mainly different. In this embodiment, the points different from those in the first embodiment will be mainly described.

FIG. 7 is a diagram showing an example of the configuration related to the diagnostic system 700.

The diagnostic system 700 includes a sensor unit 710, a sensor unit 720, a control unit 730, a control unit 740, and an external device 750.

The sensor unit 710 includes an acceleration sensor 711 and a magnetic sensor 712. The output signal of the acceleration sensor 711 is processed by the amplifier filter unit 713, then digitized by the ADC 714, and the converted signal (acceleration data) is output to the control unit 730. The output signal of the magnetic sensor 712 is processed by the amplifier filter unit 713, then digitized by the ADC 714, and the converted signal (magnetic data) is output to the control unit 730.

The sensor unit 720 includes a millimeter-wave radar 721. The output signal of the millimeter wave radar 721 is processed by the amplifier filter unit 722, then digitized by the millimeter wave processor unit 723, and the converted signal (millimeter wave data) is output to the control unit 740.

The control unit 730 is a processor unit 731 that performs arithmetic processing, a storage unit 732 that stores data processed by the processor unit 731, and a communication unit that transmits / receives data stored by the storage unit 732 to an external device 750 such as a PC. It includes a 733 and an output unit 734 that outputs the operating state of the sensor unit 710 and the like. Further, the control unit 730 includes a power supply unit 735 that supplies power to the processor unit 731, the storage unit 732, the communication unit 733, and the output unit 734.

The control unit 740 is a processor unit 741 that performs arithmetic processing, a storage unit 742 that stores data processed by the processor unit 741, and a communication unit that transmits / receives data stored by the storage unit 742 to an external device 750 such as a PC. It includes a 743 and an output unit 744 that outputs an operating state of the sensor unit 720 and the like. Further, the control unit 740 includes a power supply unit 745 that supplies power to the processor unit 741, the storage unit 742, the communication unit 743, and the output unit 744.

The external device 750 performs the filtering process and the diagnostic process performed by the control unit 280 described above. The external device 750 stores the model number information of the escalator 110 required for the diagnostic process. In addition, the external device 750 presents the diagnosis result to the worker.

The external device 750 includes a processor unit 751, a storage unit 752, a communication unit 753, and an output unit 754. The function of the external device 750 may be realized by, for example, the processor unit 751 reading the program into the storage unit 752 and executing it (software), or may be realized by hardware such as a dedicated circuit. It may be realized by combining software and hardware. Further, a part of the functions of the external device 750 may be realized by another computer (for example, a sensor unit 720, a control unit 730, a control unit 740, etc.) capable of communicating with the external device 750.

In the present embodiment, the sensor unit 710 is always installed on the escalator 110 to be diagnosed. The sensor unit 720 is transported by a worker to the escalator 110 to be diagnosed. Since the sensor unit 710 is not removed from the diagnosis target, the burden on the worker is reduced. Further, since the sensor unit 710 is not removed from the diagnosis target, it is possible to remove signal changes that are unnecessary for diagnosis depending on the mounting location, mounting method, and the like.

In the present embodiment, the diagnosis of the bearing of the lower terminal gear has been described, but the diagnosis may be performed on the upper terminal gear and other bearings (not shown).

Further, although the acceleration sensor and the magnetic sensor have been described as the sensors installed on the escalator for a certain period of time, the diagnosis may be performed using one of the acceleration sensor and the magnetic sensor.

Further, the method of calculating the specific axial rotation speed used for the filtering process of the millimeter wave data from the model number information and the acceleration data and the magnetic data other than the millimeter wave data has been described. However, the model number information, the acceleration data and the magnetic data have been described. It may be calculated using at least one of them.

Further, instead of the acceleration sensor, a sound sensor, an acoustic emission sensor or the like may be used.

Further, although the communication unit has described the method of connecting to an external device by wire, it may be connected by wireless communication.

(3) Third Embodiment This embodiment is mainly different from the second embodiment in that the diagnostic process is performed using the actual data at the time of the past inspection.

FIG. 8 is a diagram showing an example of the configuration according to the diagnostic system 800. In the present embodiment, the same reference numerals are used for the same configurations as those related to the diagnostic system 700 described in the second embodiment, and the description thereof will be omitted as appropriate.

The external device 750 is communicably connected to the server device 810 provided in the monitoring center via the communication line 820. The external device 750 transmits the acceleration data and the magnetic data received from the control unit 730 to the server device 810 at arbitrary timings (for example, at regular intervals, in real time, in response to instructions from the worker, etc.). Further, the external device 750 transmits the diagnosis result to the server device 810.

The server device 810 includes a processor unit 811, a storage unit 812, a communication unit 813, and an output unit 814. The function of the server device 810 may be realized, for example, by the processor unit 811 reading the program into the storage unit 812 and executing it (software), or by hardware such as a dedicated circuit. It may be realized by combining software and hardware. Further, a part of the functions of the server device 810 may be realized by another computer (for example, a sensor unit 720, a control unit 730, a control unit 740, an external device 750, etc.) capable of communicating with the server device 810.

The server device 810 receives the acceleration data and magnetic data of the sensor unit 710 transmitted from the external device 750, associates the sensor unit 710 with identifiable information, and stores the sensor unit 710 in the storage unit 812 as sensor data. The server device 810 reads the sensor data required for the diagnostic process from the storage unit 812 and transmits the sensor data to the external device 750 in response to the request from the external device 750.

The server device 810 receives the diagnosis result transmitted from the external device 750, associates the sensor unit 720 with the identifiable information, and stores the diagnosis result data in the storage unit 812. The server device 810 reads the diagnosis result data required for the diagnosis process from the storage unit 812 and transmits it to the external device 750 in response to the request from the external device 750.

Next, the filtering process and the diagnostic process of the millimeter wave data measured by the millimeter wave radar 721 will be described.

FIG. 9 is a diagram showing an example of the filtering process performed by the diagnostic system 800 and the process related to the diagnostic process. Since the processing of steps S901 to S931 is basically the same as the processing of steps S401 to S431, the description thereof will be omitted as appropriate. However, steps S901 to S931 are executed by the external device 750 instead of the control unit 280. Further, in step S901, the external device 750 acquires model number information from the storage unit 752.

In step S932, the external device 750 performs a diagnosis result acquisition process. For example, the external device 750 acquires the diagnostic result acquired at the time of the previous inspection (for example, periodic inspection) from the server device 810. The diagnosis results include abnormal vibration, the rotation speed of the inner ring inside the bearing 160, the rotation speed of the cage, the rotation speed of the roller balls, the shaft rotation speed (for diagnosis), and the like.

In step S933, the external device 750 performs a diagnostic process using the shaft rotation speed (for diagnosis). In the diagnostic process, the external device 750 shows the operation of the internal parts of the bearing 160, the change in the shaft rotation speed (for diagnosis), and the frequency of occurrence of abnormal vibration during the inspection at the time when the abnormal vibration obtained in this inspection occurs. The bearing 160 is diagnosed by comparing the rotation speed of the inner ring inside the bearing 160, the rotation speed of the cage, the rotation speed of the roller ball, etc. when a change or abnormal vibration occurs with the diagnosis result obtained at the time of the previous inspection. To do. An example of the diagnostic process will be described later with reference to FIG.

FIG. 10 is a diagram for explaining a diagnostic process.

Graph 1010 shown in FIG. 10 shows an example of a temporal change in the number of shaft rotation speeds (for diagnosis) determined to be abnormal in the bearing 160.

The external device 750 determined that the number of times the shaft rotation speed (for diagnosis) fluctuated irregularly (for example, the number of times an abnormality occurred) exceeded a predetermined threshold value 1011 in each measurement (for example, several minutes). In this case, it is diagnosed that the bearing 160 has failed.

The diagnostic method is not limited to the above-mentioned contents. For example, the external device 750 may diagnose that the failure of the bearing 160 has occurred when the number of occurrences of the abnormality is suddenly increased.

Further, for example, unlike FIG. 6, when no abnormality is detected in each measurement and it is determined that the speed is similarly fluctuating in the normal range, a failure of the bearing 160 occurs even in the normal range. May be diagnosed.

According to the present embodiment, since the bearing is diagnosed based on the change over time, the accuracy of the diagnosis can be further improved.

In this embodiment, data between inspections may be used in addition to the diagnosis results at the time of the previous inspection. By using the data between inspections, more accurate diagnosis becomes possible.

Further, in the present embodiment, the acceleration sensor and the magnetic sensor have been described as the sensors installed on the escalator for a certain period of time, but the acceleration sensor and the magnetic sensor may be used for diagnosis.

Further, the method of calculating the specific axial rotation speed used for the filtering process of the millimeter wave data from the model number information and the acceleration data and the magnetic data other than the millimeter wave data has been described. However, the model number information, the acceleration data and the magnetic data have been described. It may be calculated using at least one of them.

Further, instead of the acceleration sensor, a sound sensor, an acoustic emission sensor or the like may be used.

Further, the method of using the diagnosis result at the time of the previous inspection and / or the data between the inspections stored in the storage unit has been described, but the method is not limited to this method. For example, a method that uses data between inspections obtained from a sensor unit that is always installed on an escalator may be used, or both may be used.

In addition, when the method of using the data between inspections is not used, the acceleration sensor or the magnetic sensor is built in the same sensor unit as the millimeter wave radar as described using the first embodiment, and for a certain period of time. It may be a method that is not installed.

Further, although the method of acquiring the diagnosis result at the time of the previous inspection stored in the storage unit via the communication line has been described, it may be stored in an external device for work in advance.

(4) Other Embodiments In the above-described embodiment, the case where the present invention is applied to a diagnostic apparatus has been described, but the present invention is not limited to this, and various other systems and devices. , Methods, programs can be widely applied.

Further, in the above description, information such as programs, tables, and files that realize each function is recorded in a memory, a hard disk, a storage device such as an SSD (Solid State Drive), or an IC card, an SD card, a DVD, or the like. Can be placed on the medium.

The above-described embodiment has, for example, the following characteristic configurations.

A portable diagnostic device (eg, diagnostic device 300) that moves with the rotation of a shaft supported by a bearing (eg, bearing 160) provided on the escalator (eg, escalator 110) (eg, a chain, etc.). A sensor unit (for example, sensor unit 260) including a millimeter wave sensor (for example, millimeter wave radar 313) capable of measuring the operation of the step 120 and the handrail 130) and a specific rotation speed (for example, shaft rotation) related to the axis. Using the speed (model number), shaft rotation speed (acceleration), and shaft rotation speed (magnetic)), the measurement data acquired by the millimeter-wave sensor is filtered, and the measurement data after the filtering processing is used to filter the shaft. A control unit (for example, control unit 280) is provided, which calculates the rotation speed of the bearing and diagnoses whether the bearing is out of order from the calculated rotation speed of the shaft.

According to the above configuration, for example, even when a speed other than the rotation speed of the shaft is measured by the millimeter wave sensor, the measurement data acquired by the millimeter wave sensor can be obtained by using the specific rotation speed related to the shaft. By performing the filtering process, it is possible to remove data having a speed other than the rotation speed of the shaft from the measurement data. Therefore, the rotation speed of the shaft can be appropriately calculated using the millimeter wave sensor, and the bearing can be diagnosed from the calculated rotation speed of the shaft.

Information that can calculate the rotation speed of the shaft under normal conditions (for example, the number of teeth of the upper terminal gear, the number of teeth of the lower terminal gear 140, the gear ratio between the upper terminal gear and the motor, the rotation speed of the motor at normal times) A storage unit (for example, a storage unit 322) that stores design information (for example, model number information) including the design information is provided, and the control unit calculates the normal rotation speed of the shaft as the specific rotation speed from the design information. (For example, step S402).

According to the above configuration, for example, the measurement data acquired by the millimeter wave sensor can be filtered by using the rotation speed of the shaft at the normal time calculated from the design information.

The sensor unit includes a magnetic sensor (for example, magnetic sensor 312) capable of measuring the rotation speed of the inner ring of the bearing, and the control unit determines the rotation speed of the inner ring of the bearing from the measurement data of the magnetic sensor. Calculated as a specific rotation speed (step S422).

According to the above configuration, for example, the measurement data acquired by the millimeter wave sensor can be filtered by using the rotation speed of the inner ring of the bearing calculated from the magnetic data.

The sensor unit includes an acceleration sensor (for example, an acceleration sensor 311) capable of measuring the vibration of a device (for example, a step 120) that moves with the rotation of the shaft, and the control unit is based on the measurement data of the acceleration sensor. The cycle of the impact sound of the device is specified, and the rotation speed of the shaft is calculated from the specified cycle and the number of gears that rotate integrally with the shaft to obtain the specific rotation speed (for example, step S414). ). In addition, the device to be measured by the millimeter wave sensor and the device to be measured by the acceleration sensor may be the same device or different devices.

According to the above configuration, for example, the measurement data acquired by the millimeter wave sensor can be filtered by using the rotation speed of the shaft calculated from the acceleration data.

The control unit performs a Fourier transform (for example, two-dimensional Fourier transform) of the velocity on the measurement data acquired by the millimeter-wave sensor, and in the measurement data after the Fourier transform of the velocity, the said specific rotation speed. A range including information (eg, speed filtering range 532) is set as the filtering range.

According to the above configuration, for example, when a bearing abnormality occurs, a specific rotation speed changes, but even if there is such a change, the filtering process can be appropriately performed by setting the filtering range. it can.

The control unit performs filtering processing of measurement data acquired by the millimeter wave sensor using the distance between the device and the millimeter wave sensor, and the filtering processing using a specific rotation speed related to the axis. After that, the measurement data is filtered, the rotation speed of the shaft is calculated from the measurement data after the filtering (step S431), and it is diagnosed from the calculated rotation speed of the shaft whether the bearing is out of order. (Step S432).

According to the above configuration, for example, by filtering the distance between the device to be measured and the millimeter wave sensor, data that is more than the threshold value can be removed from the distance, so that the rotation speed of the axis can be adjusted more appropriately. You will be able to calculate.

The control unit performs a Fourier transform of a distance (for example, a one-dimensional Fourier transform) on the measurement data acquired by the millimeter wave sensor, and in the measurement data after the Fourier transform of the distance, the device and the millimeter wave A range including information on the distance to the sensor (for example, a distance filtering range 522) is set as a filtering range.

According to the above configuration, for example, when a diagnostic device is installed on an escalator by a worker, the distance changes depending on the installation location, but even if there is such a change, the filtering process can be performed by setting the filtering range. Can be done properly.

The sensor unit is installed on a housing (for example, housing 210) to which the bearing is fixed.

According to the above configuration, for example, the rotation speed of the inner ring of the bearing can be appropriately measured.

The diagnostic system (eg, diagnostic system 700) is a portable sensor unit (eg, sensor unit 720) including a millimeter-wave sensor capable of measuring the movement of a device that moves with the rotation of a shaft supported by a bearing provided in the escalator. ) And a predetermined sensor (for example, an acceleration sensor, a magnetic sensor, a sound sensor, an acoustic emission sensor, etc.) capable of measuring the rotation speed of the axis, and a fixed sensor unit (for example, an acoustic emission sensor) installed on the escalator. , Sensor unit 710) and the rotational speed of the shaft measured by the predetermined sensor (eg, shaft rotation speed (acceleration), shaft rotation speed (magnetic)) and / or a specific rotation speed of the shaft ( For example, using the shaft rotation speed (model number), shaft rotation speed (acceleration), and shaft rotation speed (magnetic)), the measurement data acquired by the millimeter wave sensor is filtered, and the measurement after the filtering process is performed. It is provided with a control unit (for example, an external device 750) that calculates the rotation speed of the shaft from the data and diagnoses whether the bearing has failed from the calculated rotation speed of the shaft.

According to the above configuration, since the second sensor unit is installed on the escalator, for example, the measurement environment changes every time the inspection is performed, and the reliability of the bearing diagnosis cannot be maintained. The situation can be avoided. Further, for example, it is possible to save the trouble of installing the second sensor unit every time the inspection is performed.

A millimeter-wave sensor (eg, millimeter-wave radar) capable of measuring the operation of equipment (eg, chain, step 120, handrail 130) that moves with the rotation of a shaft supported by a bearing (eg, bearing 160) provided on the escalator. 721) is a diagnostic method for diagnosing a failure of the bearing, in which a control unit (for example, an external device 750) uses a specific rotational speed related to the shaft and measures acquired by the millimeter wave sensor. The first step of filtering the data and calculating the rotation speed of the shaft from the measurement data after the filtering process, and the control unit (for example, the external device 750) were calculated in the first step. Information indicating the rotation speed of the shaft (for example, the number of times the shaft rotation speed (for diagnosis) fluctuates irregularly, the shaft rotation speed (for diagnosis) for a predetermined period) is stored in a storage unit (for example, storage unit 812). The second step of the operation and the control unit (for example, the external device 750) refer to the information indicating the rotation speed of the shaft stored in the storage unit, and the bearing fails based on the change over time. It includes a third step of diagnosing what is happening.

According to the above configuration, for example, a bearing failure is diagnosed from a change over time, so that the bearing failure can be detected more accurately.

Further, the above-described configuration may be appropriately changed, rearranged, combined, or omitted as long as it does not exceed the gist of the present invention.

In the above configuration, the items included in the list in the form of "at least one of A, B, and C" are (A), (B), (C), (A and B), (A and C). ), (B and C) or (A, B, and C) can be understood. Similarly, the items listed in the form of "at least one of A, B, or C" are (A), (B), (C), (A and B), (A and C), It can mean (B and C) or (A, B, and C).

100 ... Diagnostic system, 110 ... Escalator, 120 ... Step, 130 ... Handrail, 140 ... Lower terminal gear, 150 ... Lower machine room, 160 ... Bearing.

Claims (10)

It is a portable diagnostic device
A sensor unit equipped with a millimeter-wave sensor capable of measuring the operation of equipment that moves with the rotation of a shaft supported by bearings provided on the escalator.
Using the specific rotation speed of the axis, the measurement data acquired by the millimeter wave sensor is filtered, the rotation speed of the axis is calculated from the measurement data after the filtering process, and the calculated axis is calculated. A control unit that diagnoses whether the bearing is out of order based on the rotation speed of
A diagnostic device equipped with. A storage unit for storing design information including information capable of calculating the rotation speed of the shaft in a normal state is provided.
The control unit calculates the normal rotation speed of the shaft as the specific rotation speed from the design information.
The diagnostic device according to claim 1. The sensor unit includes a magnetic sensor capable of measuring the rotational speed of the inner ring of the bearing.
The control unit calculates the rotation speed of the inner ring of the bearing as the specific rotation speed from the measurement data of the magnetic sensor.
The diagnostic device according to claim 1 or 2. The sensor unit includes an acceleration sensor capable of measuring the vibration of a device that moves with the rotation of the shaft.
The control unit specifies the cycle of the impact sound of the device from the measurement data of the acceleration sensor, and calculates the rotation speed of the shaft from the specified cycle and the number of gears that rotate integrally with the shaft. With the specific rotation speed,
The diagnostic device according to any one of claims 1 to 3. The control unit performs a Fourier transform of the speed on the measurement data acquired by the millimeter wave sensor, and in the measurement data after the Fourier transform of the speed, a range including the information of the specific rotation speed is set as a filtering range. Set,
The diagnostic device according to claim 1. The control unit performs a filtering process of measurement data acquired by the millimeter wave sensor using the distance between the device and the millimeter wave sensor, and uses the specific rotation speed related to the axis to perform the filtering process. After that, the measurement data is filtered, the rotation speed of the shaft is calculated from the measurement data after the filtering processing, and it is diagnosed from the calculated rotation speed of the shaft whether the bearing is out of order.
The diagnostic device according to claim 1. The control unit performs a Fourier transform of the distance on the measurement data acquired by the millimeter wave sensor, and the measurement data after the Fourier transform of the distance includes a range including information on the distance between the device and the millimeter wave sensor. Is set as the filtering range,
The diagnostic device according to claim 6. The sensor unit is installed on a housing to which the bearing is fixed.
The diagnostic device according to claim 3. A portable sensor unit equipped with a millimeter-wave sensor that can measure the movement of equipment that moves with the rotation of a shaft supported by bearings provided on the escalator.
A fixed sensor unit equipped with a predetermined sensor capable of measuring the rotation speed of the shaft and installed on the escalator, and a fixed sensor unit.
Using the rotation speed of the axis measured by the predetermined sensor and / or the specific rotation speed of the axis, the measurement data acquired by the millimeter wave sensor is filtered, and after the filtering process is performed. A control unit that calculates the rotation speed of the shaft from the measurement data of the above and diagnoses whether the bearing is out of order from the calculated rotation speed of the shaft.
Diagnostic system with. It is a diagnostic method for diagnosing a failure of the bearing by using a millimeter-wave sensor capable of measuring the operation of a device that moves with the rotation of a shaft supported by a bearing provided on the escalator.
The control unit performs a filtering process of the measurement data acquired by the millimeter wave sensor using a specific rotation speed related to the axis, and calculates the rotation speed of the axis from the measurement data after the filtering process. Step 1 and
A second step in which the control unit stores information indicating the rotation speed of the shaft calculated in the first step in the storage unit, and
A third step in which the control unit refers to the information indicating the rotation speed of the shaft stored in the storage unit and diagnoses whether the bearing has failed based on the change over time.
Diagnostic method with.

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