JP2021095258A - Remote diagnostic operation method and elevator control device - Google Patents

Abstract

To provide a remote diagnostic operation method and an elevator control device capable of efficiently executing the remote diagnostic operation and the robot security operation in the same time zone concurrently.SOLUTION: When the door diagnostic operation which performs door opening/closing operation of an elevator at each floor of a building, and the autonomous movable body security operation in which an autonomous movable body for security moves to each floor by using the elevator to confirm the security of each floor inside the building, are executed under control of an elevator control device, the diagnosis of a car door or a landing door of the elevator is executed at a floor to be guarded and diagnostic results are stored during which the autonomous movable body gets off from the car at the floor to be guarded to confirm the security. Thereafter, the elevator control device waits for the autonomous movable body to get on the car while opening the door at the floor.SELECTED DRAWING: Figure 2

Description

Embodiments of the present invention relate to remote diagnostic operation methods and elevator control devices.

Conventionally, there is a system for remotely diagnosing and operating an elevator installed in a building during a time zone such as at night. The remote diagnostic operation is carried out by the remote monitoring center transmitting a remote diagnostic operation signal to the elevator side via a communication network and activating a diagnostic program provided in the elevator control device. By carrying out such a remote diagnosis operation at predetermined time intervals, maintenance can be performed without the maintenance staff directly visiting the elevator installation site to perform inspection work.

On the other hand, there is also a robot security system in which a security robot autonomously moves inside the building to check security at night time. Use the elevator when the security robot moves to another floor in the building. At that time, there is also known a system in which a security robot autonomously calls an elevator to a landing or a car.

Japanese Unexamined Patent Publication No. 2010-189162 Japanese Unexamined Patent Publication No. 2013-216408

However, since both remote diagnostic driving and robot guard driving are carried out during times when there are no users, such as at night, mutual driving competes, and remote diagnostic driving and robot guard driving are the same. There is a problem that various adjustments are required to efficiently execute in parallel in a time zone.

In view of the above circumstances, it is an object of the present invention to provide a remote diagnosis operation method and an elevator control device capable of efficiently executing remote diagnosis operation and robot guard operation in parallel in the same time zone.

Aspects for achieving the above objectives are door diagnostic operation that opens and closes the elevator doors on each floor of the building, and security of each floor in the building by moving an autonomous moving body for security to each floor using the elevator. When the autonomous mobile body guard operation is executed under the control of the elevator control device, while the autonomous mobile body gets off on the guarded floor and confirms the security, the elevator of the elevator is on the floor. After performing the diagnosis of the car door or the landing door and saving the diagnosis result, the autonomous moving body waits for boarding with the door open on the floor.

Explanatory drawing which shows the structure of the remote diagnostic system to which embodiment of this invention is applied. The functional block diagram which shows the structure of the remote diagnostic system to which the embodiment of this invention is applied. The flowchart which shows the processing procedure of the remote diagnostic system to which an embodiment is applied. The flowchart which shows the processing procedure of the remote diagnostic system to which an embodiment is applied. A flowchart showing a procedure of door diagnosis advance processing among the processing procedures of the remote diagnosis system to which the embodiment is applied. A flowchart showing the procedure of robot security advance processing among the processing procedures of the remote diagnosis system to which the embodiment is applied.

The remote diagnostic system according to the embodiment is a system for remotely monitoring the operating state of each device in the elevator by causing the elevator to automatically execute a diagnostic operation. In the present embodiment, as one item of the diagnostic operation to be automatically executed by the elevator, the door diagnostic operation is performed by opening and closing the door on each floor so that the diagnostic result of the executed door diagnostic operation can be remotely monitored. It is configured.

<Configuration of remote diagnostic system>
The configuration of the remote diagnostic system for the elevator according to the embodiment will be described with reference to FIG. The elevator remote diagnosis system 1 according to the present embodiment is an elevator E installed in the building X, a monitoring center device 10 installed in a remote monitoring center outside the building X, and a means of transportation for moving inside the building X. It has a security robot 20.

The elevator E is configured such that a main rope 4 is hung on a hoisting machine 3 installed in the upper part of a hoistway 2, a car 5 is hung at one end thereof, and a balance weight 6 is hung at the other end. Further, in the upper part of the hoistway 2, an elevator control device 8 and a remote diagnosis device 9 which are connected to the hoisting machine 3 by a signal line and connected to the car 5 via a tail code 7 are installed. The car 5 includes a car door 51 installed on the landing side, a door control device 52 installed on the upper part of the car 5 to control the opening / closing operation of the car door 51, and a wireless communication device 53 in the car. Be prepared.

During the normal operation of the elevator E, the security robot 20 charges a battery (not shown) in its own device in a robot charging area A set in advance in the building X. The security robot 20 includes a camera device 21, a speaker device 22, a moving mechanism unit 23, a robot control device 24, and various sensors 25. The camera device 21 photographs the surroundings and generates imaging information (security information). The speaker device 22 outputs output information according to an instruction from the robot control device 24. The moving mechanism unit 23 is composed of an electric motor, wheels, and the like, and moves the security robot 20. The sensor 25 is composed of a group of sensors that detect various data (temperature and humidity data, gas leakage data, position data indicating the position of the own machine, etc.) in the security space to be guarded by the security robot 20, and the camera device 21. The security data is output together with the imaging information by.

FIG. 2 shows the functional blocks of the monitoring center device 10, the remote diagnosis device 9, the elevator control device 8, the door control device 52, and the robot control device 24 that constitute the remote diagnosis system 1.

The monitoring center device 10 has a schedule registration unit 101, a first wireless communication unit 102, and an information output unit 103. The schedule registration unit 101 registers remote diagnosis schedule information for executing the remote diagnosis of the elevator E at predetermined time intervals. By wirelessly communicating with the elevator E, the first wireless communication unit 102 transmits the remote diagnosis schedule information registered in the schedule registration unit 101 to the elevator E, and also transmits the result information of the remote diagnosis executed by the elevator E. Receive. The information output unit 103 outputs the result information of the remote diagnosis received by the first wireless communication unit 102.

The remote diagnostic device 9 has a second wireless communication unit 91 and a schedule storage unit 92. The second wireless communication unit 91 performs wireless communication with the monitoring center device 10. The schedule storage unit 92 stores the remote diagnosis schedule information transmitted from the monitoring center device 10.

The elevator control device 8 includes an operation control unit 81, a diagnosis operation execution unit 82, a third wireless communication unit 83, and a diagnosis result storage unit 84. The operation control unit 81 controls the operation of each device in the elevator E. When the diagnosis operation execution unit 82 determines that the execution start timing of the door diagnosis operation has arrived based on the remote diagnosis schedule information stored in the schedule storage unit 92 of the remote diagnosis device 9, the diagnosis operation execution unit 82 executes the door diagnosis operation. Upon receiving the robot security command wirelessly transmitted from the security company, the building monitoring room, or the like, the third wireless communication unit 83 outputs the robot security command (hereinafter, also referred to as a security instruction) to the robot control device 24. Further, when the door diagnosis operation is started by the diagnosis operation execution unit 82, a door diagnosis operation execution start command is transmitted to the robot control device 24. In addition, each time the door opening / closing operation executed on the floor where the car 5 has landed is completed, a boarding instruction is transmitted to the robot control device 24, and when the door diagnosis operation is completed, the robot control device 24 is notified of the end of the door diagnosis operation. Send. The diagnosis result storage unit 84 stores the information of the diagnosis result by the door diagnosis operation executed by the diagnosis operation execution unit 82, and transmits the information to the monitoring center device 10 via the remote diagnosis device 9.

The robot control device 24 includes a fourth wireless communication unit 241, a movement control unit 242, a security data storage unit 243, and an output control unit 244. The fourth wireless communication unit 241 performs wireless communication with the elevator control device 8 and the wireless communication device 53 in the car. The movement control unit 242 controls the operation of the movement mechanism unit 23, and when the door diagnosis operation execution start notification is obtained from the elevator control device 8, the security robot 20 is moved into the landed car 5. Further, when the security robot 20 is moved to the landing on the floor where the car 5 has landed and the boarding instruction is obtained, the security robot 20 is moved into the landing car 5. Further, when the door diagnosis operation end notification is obtained, the security robot 20 is moved to the robot charging area P on the floor where the car 5 has landed.

The security data storage unit 243 stores security data collected by the security robot 20 patrolling each floor. Further, the stored security data is wirelessly transmitted to the elevator control device 8 or the building monitoring room via the fourth wireless communication unit 241.

The output control unit 244 outputs an announcement to the effect that security is in progress from the speaker device, and inputs various sensor data (security data) collected by the sensor 25 during security.

<Operation of the embodiment>
<Operation of the elevator remote diagnosis system according to the first embodiment>
Next, the operation of the elevator remote diagnosis system 1 according to the present embodiment will be described with reference to the flowcharts of FIGS. 3 to 5. In the present embodiment, the remote diagnosis schedule information of the elevator E registered in advance in the schedule registration unit 101 of the monitoring center device 10 is transmitted to the remote diagnosis device 9. The transmitted remote diagnosis schedule information of the elevator E is stored in the schedule storage unit 92 of the remote diagnosis device 9. Further, the diagnostic operation execution unit 82 of the elevator control device 8 stores the door diagnostic operation program information for executing the door opening / closing operation from the first floor to the upper floors in order as the program information for executing the door diagnostic operation. ing.

In the elevator E, during normal operation, the operation control unit 81 of the elevator control device 8 controls the equipment in the elevator E such as the hoisting machine 3 so as to respond to the registered landing call or car call. Further, the diagnosis operation execution unit 82 monitors whether or not the execution start timing of the door diagnosis operation has arrived based on the remote diagnosis schedule information stored in the remote diagnosis device 9. Further, during normal operation, the security robot 20 is installed in the robot charging area P on the reference floor (for example, the first floor), and charging processing is performed.

The remote diagnosis operation is regularly executed, for example, on the first floor of the month. On the other hand, robot security operation is often carried out almost every day. Both the remote diagnostic operation and the robot diagnostic operation are carried out at night, for example, between midnight and 5 am, when there are no elevator users. The following processing will be described by taking the case where the remote diagnosis operation and the robot security operation are performed at the same time zone as an example.

The start time of the remote diagnosis operation is set in advance, and when the start time arrives, the remote diagnosis operation command is output to the elevator control device 8. When a robot security command is output from the monitoring room of the building or the security management company at the same time, the elevator control device 8 inputs the robot security command and outputs the robot security command to the security robot 20.

The elevator control device 8 moves the car 5 to the reference floor, gets the security robot 20 into the car 5, moves to the predetermined floor, and lowers the security robot 20. While the security robot 20 gets off and guards the floor, the doors of the landing door and the car door are diagnosed. In the door diagnosis, it is confirmed whether or not the data such as the door opening / closing time, opening / closing speed, and torque are normal.

Next, a specific processing procedure will be described with reference to the flowcharts of FIGS. 3A and 3B.

As shown in FIG. 3A, the elevator control device 8 first determines whether or not the execution timing of the door diagnostic operation has arrived (step S1). If it is the execution timing of the door diagnosis operation, it is next determined whether or not there is a security instruction (step S2). If there is no security instruction, the “door diagnosis advance process” shown in FIG. 4 is executed (step S3). On the other hand, if it is not the execution timing of the door diagnosis operation and there is a security instruction, the "robot security advance process" shown in FIG. 5 is executed (steps S4YES, S5).

In the process of step S6 or less, a case where the remote diagnosis operation and the robot guard operation are performed at the same time is shown. That is, when it is the execution timing of the door diagnosis operation and there is a security instruction (step S1YES, S2YES), the security instruction is output to the robot control device 24 and the car 5 is moved to the reference floor (step S6). , S7). In this case, the reference floor refers to the floor where the security robot 20 is parked. The robot control device 24 drives the security robot 20 on the reference floor to move it into the car 5 (step SB1). When the movement of the security robot 20 into the car 5 is completed, the boarding completion notification is transmitted from the fourth wireless communication unit 241 to the elevator control device 8. When the security robot 20 gets into the car 5 (step S8), it moves to the target floor, which is the security target floor, and outputs a disembarkation instruction to the robot control device 24 (step S9). Next, the third wireless communication unit 83 of the elevator control device 8 transmits a door diagnosis operation execution start command to the robot control device 24 (step S10). The robot control device 24 disembarks the security robot 20 and outputs a security start instruction to the security robot 20 (step SB2).

As shown in FIG. 3B, the elevator control device 8 monitors whether or not the door diagnosis is completed (step S11), and when the door diagnosis is completed, the elevator door is opened and the security robot 20 returns. Wait until it arrives (step S12).

On the other hand, if the door diagnosis has not been completed, the security robot 20 monitors whether or not the security robot 20 has completed security and returned to the landing, and if it has returned to the landing, guards until the door diagnosis is completed. The robot 20 is made to stand by at the landing (steps S13 and S14).

When the robot security for the first floor is completed, the robot control device 24 inputs the security result and stores it in the security data storage unit 243 (step SB3). If there is an abnormality in the security result, an emergency signal is output to the outside, for example, a security company or a building monitoring room (steps SB5 and SB6) in order to report the occurrence of a suspicious event. In this case, the robot control device 24 causes the security robot 20 to take an image of the vicinity of the car 5 by the camera device 21 and execute the confirmation work for suspiciousness. The elevator control device 8 may interrupt the remote diagnosis operation and the robot guard operation to move the car 5 to the reference floor. If there is no abnormality, the robot control device 24 puts the security robot 20 on board (step SB7).

When the door diagnosis and security by the security robot 20 are completed and the security robot 20 gets on board (step S15YES), the elevator control device 8 moves the car 5 to the next floor to perform diagnosis and security (step S16, step S16, SB8).

If the door diagnosis is completed but the security robot 20 has not yet boarded, it is monitored whether or not the predetermined time has elapsed (step S17). For example, if one minute or more has passed, or if it is estimated from the security progress status of the security robot 20 that it will take one minute or more from the end of the door diagnosis to the end of the security, the car 5 is next. Move to the floor and start the door diagnosis (step S18). When the door diagnosis is completed, the robot returns to the floor where the robot is and waits (steps S19 and S20).

When the diagnosis and security of all floors are completed (steps S21 and SB9), the robot moves to the reference floor and disembarks the security robot 20 to finish (steps S22 and SB10).

<Door diagnosis advance processing>
Next, when the remote diagnosis operation is started first, the robot security command is issued during the remote diagnosis operation, and the robot security operation is started later (door diagnosis advance processing), based on the flowchart of FIG. I will explain.

When the designated time for the remote diagnosis operation arrives, the elevator control device 8 moves the car 5 to the reference floor and starts the door diagnosis (steps S31 to S33). When the door diagnosis of the reference floor (or the first door diagnosis floor) is completed, the diagnosis result is saved. Next, the car 5 is moved to the next diagnosis floor, the door diagnosis on that floor is executed, and the diagnosis result is saved. In this way, the door diagnosis is performed by sequentially moving the floors.

When the security company or the building monitoring room issues an instruction to start the robot security operation during the door diagnosis, the elevator control device 8 outputs the robot security command to the robot control device 24. Next, the elevator control device 8 determines whether or not to continue the door diagnosis operation (steps S35 and S36).

When the door diagnosis is completed within a predetermined time, for example, within 1 minute (when it is predicted to be completed), the remote diagnosis is continuously executed. When the door diagnosis on that floor is completed (step S38), the car 5 is moved to the floor where the security robot 20 is located (many reference floors) (step S39). The robot control device 24 moves the security robot 20 into the car 5 (step SB31), disembarks the security robot 20 on the next security floor, and instructs the start of security (step SB32).

On the other hand, if it takes more than 1 minute to complete the door diagnosis (step S36YES), the door diagnosis is stopped and the car 5 is moved to the floor where the security robot 20 is located (steps S37 and S39).

On the floor where the security robot is, the door opens and waits until the security robot gets on board. When the security robot gets on board, the process proceeds to the process of step S9 or less in FIG. 3A (steps S40 and S41).

<Robot security advance processing>
Next, a case where the robot security operation is started first and the remote diagnosis operation is started later (robot security advance processing) will be described with reference to the flowchart of FIG.

When the robot security command is output, the elevator control device 8 moves to the floor (usually the reference floor) where the security robot 20 is located (step S51). Next, the door opens and waits until the security robot 20 gets in, and when the security robot 20 gets in (step S52, SB41), the robot moves to the target floor, the security floor, and outputs a disembarkation instruction to the robot control device 24 (step S53, SB41). SB42). During robot security, the elevator control device 8 monitors whether or not the execution timing of the door diagnosis has arrived. When the execution timing of the door diagnosis operation arrives (step S54YES), it is then checked whether or not the diagnosis of the security robot 20 under diagnosis is completed within 1 minute (step S55).

If it is predicted that the robot security will be completed within 1 minute, the robot security will be continued (step S56). If it is determined that the robot security is not completed within 1 minute, the door diagnosis is started (step S57). In this case, the door diagnosis is started by moving to the designated diagnosis start floor. When the door diagnosis is completed (step S58), the user returns to the floor where the security robot 20 is located, opens the door, and waits for the security robot 20 to arrive at the landing (steps S59NO, S60). When the security robot 20 arrives at the landing (step S59YES), the security robot 20 is boarded and moved to the next floor (step S62). If the robot security is completed after the robot security is continued (step S61YES), the security robot 20 is put on the vehicle and moved to the next floor. Then, on the next floor, robot security and door diagnosis are executed in parallel. Even during that time, if the robot guarding is not completed within a predetermined time (for example, 1 minute), the robot is moved to the next floor and the door diagnosis is preceded.

As described above, according to the present embodiment, the door diagnosis operation and the robot guard operation can be efficiently executed in parallel in the same time zone. In addition, even if the start time may change between the door diagnosis operation and the robot security operation, the time specified by providing two operation modes, "door diagnosis advance processing" and "robot security advance processing". Efficient door diagnostic operation and robot security operation can be performed in the belt.

<Other Embodiments>
<< Other form 1 >>
During security by the security robot 20, it is a dedicated operation that does not respond to the user's call. If a landing call occurs during the dedicated operation of the security robot 20, the landing call will not be answered, and the dedicated operation will be continued by waiting for the door to open until the guard robot 20 being guarded returns to the car. To.
It is possible to avoid the use of the elevator by the user during the security operation, and to efficiently execute the security operation and the door diagnosis operation without interruption.

<< Other form 2 >>
If a car call occurs while the security robot 20 gets off the car 5 and confirms security, it does not respond to the car call and monitors the security company or building while the car is stopped on the floor. You may make a report to the outside such as a room (disaster prevention center). Since the dedicated operation is executed during the security by the security robot 20, normally, the user does not get into the car 5 and the car call does not occur. In this case, there is a possibility that a suspicious person has boarded the car 5, so the security robot 20 is made to perform the confirmation work while notifying the outside to that effect. This enables efficient driving while ensuring safety.

Although some embodiments of the present invention have been described above, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other embodiments, and various omissions, replacements, and changes can be made without departing from the gist of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are also included in the scope of the invention described in the claims and the equivalent scope thereof.

1 ... remote diagnostic system, 2 ... hoistway, 3 ... hoist, 4 ... main rope, 5 ... car, 6 ... balanced weight, 7 ... tail cord, 8 ... elevator control device, 9 ... remote diagnostic device, 10 ... Monitoring center device, 20 ... security robot (autonomous moving body), 21 ... camera device, 22 ... speaker device, 23 ... mobile mechanism unit, 24 ... robot control device, 25 ... sensor, 51 ... car door, 52 ... door control device , 53 ... In-car wireless communication device, 81 ... Operation control unit, 82 ... Diagnosis operation execution unit, 83 ... Third wireless communication unit, 84 ... Diagnosis result storage unit, 91 ... Second wireless communication unit, 92 ... Schedule storage unit , 101 ... Schedule registration unit, 102 ... First wireless communication unit, 103 ... Information output unit, 241 ... Fourth wireless communication unit, 242 ... Mobile control unit, 243 ... Security data storage unit, 244 ... Output control unit

Claims (7)

Door diagnostic operation that opens and closes the elevator doors on each floor of the building, and autonomous mobile security operation that the autonomous moving body for security moves to each floor using the elevator and confirms the security of each floor in the building. When executing under the control of an elevator controller
While the autonomous mobile is getting off on the guarded floor and checking the security, after performing the diagnosis of the elevator car door or the landing door on the floor and saving the diagnosis result,
A remote diagnosis driving method in which the autonomous moving body waits for boarding with the door open on the floor. If a landing call occurs during the autonomous mobile security operation, the vehicle does not respond to the landing call and waits for the door to open until the guarded autonomous vehicle returns to the car. The remote diagnostic operation method according to claim 1, wherein the remote diagnostic operation method is continued. If a car call occurs while the autonomous mobile is getting off the car and checking security, the car call will not be answered and a suspicious occurrence will be reported to the outside while the car is stopped on the floor. The remote diagnostic operation method according to claim 1 or 2, wherein the autonomous moving body is made to execute the confirmation work. If the time to confirm the security of the first floor by the autonomous mobile exceeds a predetermined time, the car is moved to the next floor, the door diagnosis is performed in advance, and then the floor where the autonomous mobile is located. The remote diagnostic operation method according to any one of claims 1 to 3, which returns to. When the time when the start command for remote diagnosis operation is received is earlier than the time when the start command for autonomous mobile security operation is received
When the running remote diagnosis operation is completed within the specified time, the remote diagnosis operation is continued as it is.
If the running remote diagnostic operation is not completed within a predetermined time, the remote diagnostic operation on the floor is stopped, and the car is moved to the floor where the autonomous mobile is located in response to the command to start the autonomous mobile guard operation. The remote diagnostic operation method according to any one of claims 1 to 4, wherein the remote diagnostic operation and the autonomous mobile security operation are executed in parallel from the floor. When the time when the start command for autonomous mobile security operation is received is earlier than the time when the start command for remote diagnosis operation is received
When the running security operation is completed within a predetermined time, the autonomous mobile security operation is continued as it is, and then the autonomous mobile security operation and the remote diagnosis operation are performed from the next floor in response to the start command of the remote diagnosis operation. In parallel,
When the running guard operation is not completed within a predetermined time, the remote diagnostic operation on the floor is started in response to the remote diagnosis operation start command while continuing the autonomous mobile security operation, or the autonomous mobile Any one of claims 1 to 4, in which the autonomous mobile body is boarded after the security is completed, the car is moved to the reference floor, and the autonomous mobile body security operation and the remote diagnosis operation are executed in parallel from the reference floor. The remote diagnostic operation method described in. An elevator control device that executes the remote diagnostic operation method according to any one of claims 1 to 6.

Images