JP6947683B2 - Building maintenance system and building maintenance support method - Google Patents

Description

The present invention generally relates to techniques that assist in building maintenance.

Conventionally, maintenance systems have been prepared for computer systems, elevator systems, and the like. For example, in Patent Document 1, a multi-vendor system monitoring and reporting server is connected to a multi-vendor system, and a plurality of different failure reporting interfaces sent from each device constituting the multi-vendor system are input and recognized to recognize the occurrence of a failure. The system administrator device, the primary maintenance person terminal, and each manufacturer / vendor / maintenance company system are automatically notified.

Japanese Unexamined Patent Publication No. 2004-164389

There is a building equipped with a robot system having one or more robot system elements including a robot that provides a service such as a guidance service, and a robot control device that controls one or more such robot system elements. Hereinafter, an abnormality related to a robot system (for example, a robot or a robot control device) will be described as a “system abnormality”.

When a system error occurs, it is necessary for the maintenance provider to provide appropriate maintenance services. Without a robot system maintenance system, a maintenance provider would need to be resident at the site where the robot provides the service (for example, the robot's range of movement) in order to provide prompt maintenance services. Therefore, the burden on the maintenance provider is heavy. Furthermore, if the maintenance provider differs depending on the abnormality classification (for example, the location of the abnormality and the content of the abnormality), it is difficult to determine which maintenance provider should handle even if the maintenance provider is resident. Therefore, it is difficult to provide prompt maintenance service.

In addition, in order to solve such problems, it is conceivable to maintain the robot system using computer technology, but building a robot system maintenance system from scratch, that is, developing a new system is a burden. Is big.

To solve the above problems, utilize the existing equipment monitoring system for building maintenance. The equipment monitoring system consists of an equipment monitoring terminal, which is a device in the building that issues a notification when an abnormality in the equipment to be monitored in the building (for example, an elevator or air conditioning equipment) is detected, and an equipment monitoring terminal. It has an equipment monitoring server, which is a device outside the building that provides information on the issued alarm and an outline of the information on the equipment abnormality as the alarm information to the maintenance provider. A robot control device is communicably connected to the equipment monitoring terminal in such an equipment monitoring system. The robot system in the building is monitored by the equipment monitoring terminal in addition to the equipment to be monitored. The equipment monitoring terminal detects a system abnormality that is an abnormality related to the robot system from communication with the robot control device, and is an outline of information related to the system abnormality and information including a key for acquiring detailed information about the system abnormality. Is sent to the equipment monitoring server in order to provide the relevant maintenance provider as notification information. In the equipment monitoring system, an equipment control device (not shown) is interposed between the equipment monitoring server and the equipment monitoring terminal, and an abnormality notification such as "a notification made by the equipment monitoring terminal" is sent to the equipment control device. The signal may be output to the equipment monitoring server via. Further, "detecting a system abnormality from communication with the robot control device" may be the reception of a signal or the interruption of the reception of a signal of a specific signal level.

According to the present invention, even if a maintenance provider does not reside at the site where the robot is installed, it is possible to provide a quick maintenance service without constructing a maintenance system for the robot system from scratch.

Configuration diagram of the entire system including the building maintenance system. The block diagram of the robot 100R. The block diagram of the robot control device 110. The block diagram of the robot management server 120. The block diagram of the equipment monitoring terminal 210. The block diagram of the equipment monitoring server 220. Abnormal information screen of the robot management server 120. Notification information screen of the equipment monitoring server 220. An example of 111r in the anomaly management table. An example of the alarm management table 211d. The flowchart of the process of the abnormality detection unit 111e of the robot control device 110.

In the following description, the "interface unit" may be one or more interface devices. One or more interfaces may include one or more interface devices for one or more I / O devices and one or more communication interface devices. One or more communication interface devices may be one or more communication interface devices of the same type (for example, one or more NIC (Network Interface Card)) 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 "memory unit" may be one or more memories. The memory unit is typically the main storage device. At least one memory may be a volatile memory or a non-volatile memory. The memory unit is mainly used during processing by the processor unit.

Further, in the following description, the "PDEV unit (Physical Device unit)" may be one or more PDEVs. The PDEV unit is typically 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 "storage unit" includes at least a memory unit among the memory unit and the PDEV unit.

Further, in the following description, the "processor unit" may be 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. Some processors may be hardware circuits (for example, FPGA (Field-Programmable Gate Array) or ASIC (Application Specific Integrated Circuit)) that perform a part or all of the processing.

Further, in the following description, the function may be described by the expression of "kkk unit" (excluding the interface unit, the storage unit, and the processor unit), but the function is such that one or more computer programs are executed by the processor unit. It may be realized by one or more hardware circuits. When the function is realized by executing the program by the processor unit, the specified processing is appropriately performed by using the storage unit and / or the interface unit, so that the function is at least a part of the processor unit. You may. The process described with the function as the subject may be a process performed by a processor unit or a device having the processor unit. The program may be installed from the program source. The program source may be, for example, a program distribution computer or a computer-readable recording medium (eg, a non-temporary recording medium). The description of each function is an example, and a plurality of functions may be combined into one function, or one function may be divided into a plurality of functions.

Further, in the following description, information that can be obtained as an output for an input may be described by an expression such as "xxx table", but the information may be data of any structure and may be an output for an input. It may be a learning model such as a neural network that generates. Therefore, the "xxx table" can be referred to as "xxx information". Further, in the following description, the configuration of each table is an example, and one table may be divided into two or more tables, or all or a part of the two or more tables may be one table. good.

Further, in the following description, a common code among reference codes may be used when the same type of elements are not distinguished, and a reference code may be used when distinguishing the same type of elements.

FIG. 1 shows a configuration diagram of an entire system including a building maintenance system according to an embodiment of the present invention.

The building maintenance system is composed of a robot management system 1 and an equipment monitoring system 2. Hereinafter, the place where the robot 100R provides the service is referred to as a "site". There may be one or more sites 300 in the building. The site 300 may be all or part of the floor.

The robot management system 1 photographs the inside of the site 300, the movable robot 100R that provides a service involving movement and conversation to the site 300, the signage 100S that displays the service screen in conjunction with the robot 100R when the service is provided, and the inside of the site 300. It is provided with an environmental camera 100C that detects a person's stop and the like, and a robot control device 110 that controls the robot 100R, the signage 100S, and the environmental camera 100C. A plurality of robot system elements 100 such as a robot 100R, a signage 100S, and an environmental camera 100C, and a robot control device 110 that controls a plurality of robot system elements 100 constitute a robot system 15. Further, the robot management system 1 manages the robot system 15 outside the site 300 (for example, accesses the robot control device 110 via the Internet N (an example of a communication network), etc., and operates the robot control device 110 or controls the robot. A robot management server 120 (which acquires information from the device 110) is provided. The robot 100R, the signage 100S, the environment camera 100C, and the robot control device 110 are communicably connected via a wireless or wired LAN (Local Area Network) or the like. The robot control device 110 and the robot management server 120 are communicably connected via the Internet N or the like. The robot system 15 exists in the site 300 (an example in the building). An object (system, device, etc.) existing in the site 300 can be called a "local object", and an object existing outside the building including the site 300 can be called a "remote object".

The equipment monitoring system 2 includes an equipment monitoring terminal 210 which is a terminal (computer) that issues a report when an abnormality of the monitored equipment 200 in the site 300 is detected at the site 300. The monitored equipment 200 is, for example, an elevator, an air conditioner, a surveillance camera, an entry / exit management system, and the like. In the present embodiment, in addition to the existing monitoring target equipment 200, the robot system 15 is one of the monitoring targets. Specifically, the equipment monitoring terminal 210 is communicably connected to the robot control device 110 in the robot system 15. Further, the equipment monitoring system 2 provides an equipment monitoring server 220 outside the site 300, which receives a notification from the equipment monitoring terminal 210 and notifies the maintenance provider of the occurrence of an abnormality by displaying a screen, issuing a sound, or emitting a patrol light. Be prepared. The equipment monitoring terminal 210 and the equipment monitoring server 220 are communicably connected via the Internet N or the like.

The maintenance provider terminal 400 is an information processing terminal (for which the maintenance provider confirms the abnormality information screen 401 of FIG. 7 provided by the robot management server 120 and the alarm information screen 402 of FIG. 8 provided by the equipment monitoring server 220. Computer). The "maintenance provider" is a maintenance person inside the site 300, a maintenance person such as a maintenance company or a manufacturer outside the site 300, a control person at a control center that monitors the alarm status with the equipment monitoring server 220, and the like. Provide maintenance services such as defect recovery. In addition, the maintenance provider can confirm the information for identifying the alarm and the site 300 (hereinafter referred to as the site identifier) on the alarm information screen 402 of the equipment monitoring server 220, or from the abnormality information screen 401 of the robot management server 120. You can check detailed information on abnormalities, access the robot control device 110 from the robot management server 120 via the Internet N, etc., and acquire information such as remote operation of the robot control device 110 and logs and settings in the robot control device 110. conduct. In addition, the maintenance provider may maintain not only the robot 100R but also the monitored equipment 200 at the site 300. For example, there are maintenance providers who also perform maintenance of elevators, air conditioning equipment, surveillance cameras, entry / exit management systems, etc., and have a maintenance provider terminal 400 for that purpose. That is, the maintenance provider (maintenance provider terminal 400) may exist for each monitoring target, or may be common to two or more monitoring targets. According to the example of FIG. 1, the maintenance provider terminal 400Ra of the robot 100R, the maintenance provider terminal 400E of the elevator, and the maintenance provider terminal 400A of the air conditioning equipment belong to the maintenance provider as a company that performs building maintenance. The maintenance provider terminal 400Rb of the robot 100R is a terminal belonging to the maintenance provider as a company that maintains the robot management system 1. The statement or drawing has several different terms such as maintenance provider, staff, maintenance staff, controller, worker, field staff, maintenance dispatcher, remote responder, manufacturer, all of which are maintenance providers. It may be an example.

As described above, in the present embodiment, the existing equipment monitoring system 2 related to building maintenance is utilized. The equipment monitoring system 2 is information on the equipment monitoring terminal 210 that issues a notification when an abnormality in the equipment to be monitored 200 is detected, and the notification made by the equipment monitoring terminal 210, and is information on the equipment abnormality. It has an equipment monitoring server 220 that provides the maintenance provider with the outline of the above as notification information. The robot control device 110 is communicably connected to the equipment monitoring terminal 210 in the equipment monitoring system 2. The robot system 15 is monitored by the equipment monitoring terminal 210 in addition to the equipment 200 to be monitored. The equipment monitoring terminal 210 detects a system abnormality that is an abnormality related to the robot system 15 from communication with the robot control device 110, and provides a summary of information on the system abnormality and a key for acquiring detailed information on the system abnormality. The included information is transmitted to the equipment monitoring server 220 in order to provide the relevant maintenance provider as notification information. As a result, even if the maintenance provider does not reside at the site 300 where the robot 100R is installed, it is possible to provide a quick maintenance service without constructing the maintenance system of the robot system 15 from scratch. Further, when a maintenance system for the robot system 15 is newly constructed in addition to the equipment monitoring system 2, the systems coexist, which imposes a heavy management burden. However, in the present embodiment, there is no such coexistence, and the robot system Since the management is performed as if 15 was added as the monitored equipment, the management burden is small. In particular, the equipment monitoring system 2 is a system that supports 24 hours a day, 365 days a year, and if a new system that supports 24 hours a day, 365 days a year is constructed as a maintenance system for the robot system 15, the management burden is considered to be even greater. In embodiments, such problems can be avoided.

An outline of an example of the processing flow performed in the present embodiment is as follows, for example. When the robot control device 110 detects an abnormality in the robot 100R (or another robot system element 100) of the site 300, it is a signal including the site identifier of the site 300 in which the robot 100R exists, and the equipment monitoring terminal 210 sets according to the setting. The robot control device 110 transmits the abnormal signal (signal indicating the system abnormality) which is a receivable signal (the robot control device 110 is the details of the information regarding the system abnormality and is the information associated with the site identifier (an example of the key). Information is transmitted to the robot management server 120 outside the building that manages the robot system 15). When the equipment monitoring terminal 210 receives the abnormality signal from the robot control device 110, the equipment monitoring terminal 210 issues a report to the equipment monitoring server 220 in association with the site identifier obtained from the abnormality signal (corresponding to the abnormality signal). Outputs a summary of information related to system abnormalities as notification information). Upon receiving the notification information, the equipment monitoring server 220 provides the maintenance provider terminal 400R (400Ra or 400Rb) with a notification information screen displaying the notification information including the site identifier (specifically, maintenance provision). Display the alarm information screen on the person terminal 400R). The maintenance provider confirms that a system abnormality has occurred and the site information of the site 300 where the system abnormality has occurred from the notification information screen. The maintenance provider terminal 400R transmits an inquiry using the site identifier in the notification information as a key to the robot management server 120 (that is, the maintenance provider terminal 400R uses the key in the notification information to be used in the robot management server. Access 120). The robot management server 120 receives an inquiry associated with the key and returns detailed information on the system abnormality corresponding to the key. Specifically, for example, the robot management server 120 displays an abnormality information confirmation screen displaying the detailed information on the maintenance provider terminal 400 of the inquiry source. The detailed information is, for example, information obtained from a log recorded by the robot control device 110. The maintenance provider can provide an appropriate maintenance service to the robot system element 100 having a system abnormality occurrence site at the site 300. In this way, the maintenance provider terminal 400R receives the summary information of the system abnormality as the notification information via the equipment monitoring system 2, and the summary information is associated with a key such as a site identifier. , The detailed information of the system abnormality can be acquired from the robot management server 120 by using the key.

The transmission of detailed information from the robot control device 110 to the robot management server 120 may be voluntarily performed by the robot control device 110 when a system abnormality is detected, or an inquiry including a key is received. It may be performed in response to an access from the robot management server 120 (for example, a read request for detailed information).

Further, the robot management server 120 may be a physical server, a virtual server, or a software-defined server. That is, the robot management server 120 may be built on the cloud platform. On the other hand, since the equipment monitoring system 2 is a system that supports 24 hours a day, 365 days a year, a worker is usually stationed in the alarm range of the equipment monitoring server 220 (for example, an area where the alarm sound and the patrol light emission can be confirmed). doing. Therefore, the notification regarding the system abnormality is not sent to the robot management server 120 having an interface capable of receiving the detailed information of the system abnormality, but the equipment having no interface capable of receiving the detailed information of the system abnormality. There is a merit in making the equipment monitoring server 220 via the monitoring terminal 210. Further, the interface of the equipment monitoring terminal 210, which is an existing terminal, is an interface for receiving information indicating an outline of an abnormality (that is, simple information), and does not have an interface capable of receiving detailed information on an abnormality. As described above, the robot control device 110 transmits the summary of the information regarding the system abnormality as the notification information as the information regarding the system abnormality. Even if such information is transmitted as notification information, the notification information includes a key for acquiring detailed information on the system abnormality, so the notification information can be confirmed via the equipment monitoring server 220. The maintenance provider can acquire detailed information on the system error by using the above-mentioned key in the information.

Hereinafter, the present embodiment will be described in detail.

FIG. 2 shows an example of the configuration of the robot 100R.

The robot 100R includes a CPU 104 that performs various processes, a main storage device 101 that stores various information, an input / output device 102 that inputs / outputs various information, and a communication interface 103 that can communicate with the robot control device 110. Be prepared.

The main storage device 101 is a dialogue between a drive control unit 101a that operates a drive mechanism 102f described later to autonomously move the robot 100R and a voice using a microphone 102b and a speaker 102e described later to interact with a customer. The control unit 101b, the input / output unit 101c that executes data input / output processing between the input / output data processing unit 111a (see FIG. 3) described later, and the robot control device 110 that detects an abnormality in each device in the robot 100R. It is provided with a device in which an abnormality has occurred and a robot abnormality detection unit 101d for notifying the type of abnormality.

The input / output device 102 includes a camera 102a, a microphone 102b, a gyro sensor 102c, a range sensor 102d, a speaker 102e, and a drive mechanism 102f.

The robot 100R acquires video from the camera 102a and audio from the microphone 102b and transmits them to the robot control device 110. The robot 100R speaks on the speaker 102e according to an instruction from the robot control device 110, and autonomously moves by the drive mechanism 102f.

The drive control unit 101a includes images taken by the camera 102a and data detected by the range sensor 102d when the robot 100R moves (for example, surrounding shape data measured by light waves and distance data to the measurement target). Use to perform actions such as avoiding obstacles. Further, the drive control unit 101a detects the current position of the robot 100R in the site 300 by using the data of the gyro sensor 102c and the range sensor 102d. The position information indicating the current position detected by the drive control unit 101a is transmitted to the robot control device 110. In the present embodiment, the movable range of the robot 100R is within the predetermined movable range of the site 300.

FIG. 3 shows an example of the configuration of the robot control device 110.

The robot control device 110 has an abnormality in the CPU 114 that performs various processes, the main storage device 111 that stores various information, the communication interface 112 that can communicate with the robot 100R and the robot management server 120, and the robot system element 100. It is provided with a signal output terminal 113 that outputs a signal to the equipment monitoring terminal 210 when the signal is output. The communication interface 112 and the signal output terminal 113 are examples of the interface unit. The main storage device 111 is an example of a storage unit. The CPU 114 is an example of a processor unit connected to an interface unit and a storage unit.

The main storage device 111 includes an input / output data processing unit 111a that inputs / outputs data communicated with the robot 100R, the signage 100S, and the environment camera 100C, a site identifier that identifies the site 300, and a robot system element 100 in the site 300. The site information storage unit 111b that stores the element identifier to be identified and the robot service contents and settings provided by the site 300, the robot operation instruction unit 111c that instructs the robot 100R to move or talk, and the elements in the robot control device 110. The operation unit 111d that operates the robot system element 100 and the like, the elements in the robot system 15 (for example, the robot 100R, the robot control device 110, the signage 100S and the environmental camera 100C), and the abnormalities and types of network communication of each device are described. It includes an abnormality detection unit 111e to detect, an abnormality management table 111f that describes the response to each abnormality and contact information, and a log storage unit 111g that stores a log that records the type of abnormality that occurred, the device that occurred, and the date and time of occurrence. .. In addition to the records related to the abnormality as described above, the log also stores the position information, voice, image, operation record and operation record of the robot 100R and the robot control device 110 of the robot 100R. The position information of the robot 100R was calculated from the current position estimated by comparing the map of the site 300 recorded in advance with the measurement data of the gyro sensor 102c and the range sensor 102d, and the drive record and output command value of the drive mechanism 102f. The current position, the current position measured by GPS, and the like. By checking the log as detailed information when an abnormality occurs, it is possible to check the situation when an abnormality occurs, analyze the cause, and devise a countermeasure method.

FIG. 4 shows an example of the configuration of the robot management server 120.

The robot management server 120 includes a CPU 123 that performs various processes, a main storage device 121 that stores various information, and a communication interface 122 that can communicate with the robot control device 110 and the maintenance provider terminal 400. The communication interface 122 is an example of an interface unit. The main storage device 121 is an example of a storage unit. The CPU 123 is an example of a processor unit connected to an interface unit and a storage unit.

The main storage device 121 includes an input / output data processing unit 121a that processes input / output data from an externally connected device, a site identifier that identifies one or more sites 300 to be managed, and a robot system element 100 in the site 300. The site information storage unit 121b that stores the element identifier to be identified and the robot service contents and settings provided by the site 300 and the operation unit 111e of the robot control device 110 are accessed via the Internet N or the like to access the robot control device 110 or the robot system. The remote control unit 121c that operates the element 100, the mail transmission unit 121d that sends an email to the instructed contact when the robot control device 110 gives an instruction of the content and contact information, and the robot control. A log storage unit 121e for storing the log acquired from the device 110 is provided. The log information stored by the log storage unit 121e can be confirmed by the maintenance provider on the abnormality information confirmation screen 401. The "log information" is information including one or more logs.

FIG. 5 shows an example of the configuration of the equipment monitoring terminal 210.

The equipment monitoring terminal 210 is derived from a CPU 214 that performs various processes, a main storage device 211 that stores various information, a communication interface 212 that can communicate with the equipment monitoring server 220, the robot control device 110, and the equipment 200 to be monitored. It is provided with a signal input terminal 213 that receives a signal output when an abnormality occurs. The communication interface 212 and the signal input terminal 213 are examples of the interface unit. The main storage device 211 is an example of a storage unit. The CPU 214 is an example of a processor unit connected to the interface unit and the storage unit.

The main storage device 211 includes an input / output data processing unit 211a that processes input / output data with an external device, a site identifier that identifies the site 300, and a device identifier or site that identifies the monitored device and the monitored equipment in the site 300. The site information storage unit 211b that stores the monitored device information and settings in the 300, the alarm processing unit 211c that performs alarm processing to the equipment monitoring server 220 when an error occurs, and the signal and abnormality classification received by the equipment monitoring terminal 210. It is provided with a notification management table 211d that summarizes the correspondence with.

FIG. 6 shows an example of the configuration of the equipment monitoring server 220.

The equipment monitoring server 220 includes a CPU 224 that performs various processes, a main storage device 221 that stores various information, and a display screen, a speaker, a patrol light, and the like for notifying the maintenance provider that the notification has been received. It includes a notification interface 222 and a communication interface 223 capable of communicating with the equipment monitoring terminal 210 and the like. Interfaces 222 and 223 are examples of interface units. The main storage device 221 is an example of a storage unit. The CPU 224 is an example of a processor unit connected to an interface unit and a storage unit.

The main storage device 221 includes an input / output data processing unit 221a that processes input / output data with an external device, a site identifier that identifies one or more sites 300 to be monitored, and monitored devices and monitored devices in the site 300. On the site information storage unit 221b that stores the device identifier that identifies the device and the device information and settings to be monitored in the site 300, and on the notification notification interface 222 and the notification information screen 402 (see FIG. 8) when a notification is received. It is provided with a notification information notification unit 221c for instructing notification.

FIG. 7 shows an example of the abnormality information screen 401 provided by the robot management server 120.

On the abnormality information screen 401, detailed information (detailed information on the system abnormality) included in the log information stored in the log storage unit 121e of the robot management server 120 is displayed. The detailed information includes a site identifier, a site name, an abnormality occurrence time, an abnormality occurrence site and an abnormality content, and the like. Hereinafter, the combination of the abnormality occurrence site and the abnormality content is referred to as "abnormality classification". The "abnormal classification" may include other types of abnormal attributes in addition to the abnormality occurrence site (for example, "robot A") and the abnormality content (for example, "fall"). If you want to check further detailed information of a specific system abnormality, check the check box and press the detailed display button 41, and further detailed information is displayed. In addition, detailed information on system abnormalities can be searched by using the site identifier, site name, abnormality occurrence time, and the like as keys. Specifically, for example, detailed information on a system abnormality can be searched by using the site identifier, site name, abnormality occurrence time, etc. in the notification information shown on the notification information screen 402 (see FIG. 8) described later as keys. .. The detailed information displayed on the abnormality information screen 401 may be information found from the log information by using the site identifier, the site name, the time when the abnormality occurs, and the like as keys, or may be based on the list of logs included in the log information.

Further, the detailed information displayed on the abnormality information screen 401 may include a maintenance provider and contact information as shown in the figure. In other words, the maintenance provider may be used as a key to search for detailed information on the system abnormality. As a result, the controller of the control center who confirmed the abnormality information screen 401 at the time of issuing the alarm can request the appropriate maintenance provider to respond. Further, when a specific maintenance provider directly confirms the abnormality information screen 401, only the abnormality that the specific maintenance provider needs to deal with can be searched for and dealt with.

Further, in the case of the robot 100R in which the robot 100R as the occurrence site of the system abnormality is movable, the detailed information may include position information indicating the position of the robot 100R. As a result, the destination can be specified in detail for the maintenance worker (worker).

FIG. 8 shows an example of the alarm information screen 402 of the equipment monitoring server 220.

On the notification information screen 402, the notification information provided by the notification information notification unit 221c (the notification information received by the equipment monitoring server 220 from the equipment monitoring terminal 210) is displayed. The notification information includes a site identifier, a site name, an abnormality occurrence time, an abnormality classification, a status (status of the current abnormality response status), and the like. The status is "Notification" at the time of notification, but if you want to change the response status of a specific abnormality, check the check box and press the status change button 42A or 42B to respond or recover. You can change the status to such as, and manage the response status. In addition, the alarm information can be searched by using the site identifier, site name, abnormality occurrence time, etc. as keys.

A signal line is connected between the robot control device 110 and the equipment monitoring terminal 210 and between the monitored equipment 200 and the equipment monitoring terminal 210. When the abnormality detection unit 111e of the robot control device 110 detects a system abnormality, the abnormality detection unit 111e issues an abnormality classification (for example, as in the example of FIG. 10) in which the equipment monitoring terminal 210 can recognize the detected system abnormality. The signal output terminal 113 of the robot control device 110 to the signal input terminal 213 of the equipment monitoring terminal 210 are classified into the classifications set in the management table) and the output signals are separated for each abnormality classification. Signal is output to. The alarm processing unit 211c of the equipment monitoring terminal 210 that receives the signal output at the signal input terminal 213 acquires the site identifier from the site information storage unit 211b, and adds information such as the site identifier and abnormality classification to the equipment monitoring server 220. Information will be issued. The equipment monitoring server 220 that has received the notification information, which is the issued information, displays the notification information on the notification information screen 402 from the notification information notification unit 221c, and also displays the notification sound from the notification interface 222. Or turn on the patrol lamp (that is, notify the maintenance provider of the occurrence of an abnormality). Even if an abnormality occurs in the monitored equipment 200, the contact is output from the monitored equipment 200 to the signal input terminal 213 of the equipment monitoring terminal 210, and the subsequent processing is performed when the signal output is received from the robot control device 110. The process is the same as the process used.

Another communication means such as wireless or wired LAN may be used between the robot control device 110 and the equipment monitoring terminal 210 and between the monitored equipment 200 and the equipment monitoring terminal 210. Further, the site identifier may be acquired from the site information storage unit 111b of the robot control device 110, may be acquired from the abnormality management table 111f, or may be acquired from the global IP address, MAC address, and telephone number of the equipment monitoring terminal 210. Etc. may be used as the site identifier.

In the present embodiment, the information added at the time of issuing the alarm is anomaly classification (abnormality classification determined by the signal type or the receiving contact) in addition to the site identifier, but the equipment monitoring terminal 210 can be identified as needed. To the extent possible, the details of the abnormality, the device identifier of the device that generated the abnormality, and other information may be added to the notification information from the equipment monitoring terminal 210 to the equipment monitoring server 220.

When the equipment monitoring server 220 receives a report, the maintenance provider confirms the report information screen 402 on the maintenance provider terminal 400, and knows the site identifier and the content of the report within the range of the information added to the report. be able to. Basic information such as the site name can be known by using the site identifier as a key in the site information storage unit 111b of the equipment monitoring server 220 or the site information storage unit 121b of the robot management server 120. In the present embodiment, the site identifier is automatically converted into the site name by the notification information notification unit 221c and displayed on the screen. The maintenance provider confirms the details of the system abnormality by displaying the abnormality information screen 401 of the robot management server 120 on the maintenance provider terminal 400. By using the site identifier as a key, a system abnormality of a specific site 300 can be searched and confirmed on the abnormality information screen 401 (in other words, since the key is a site identifier, the site identified from the site identifier). Information on the abnormality can be confirmed regardless of the type of the monitoring target (whether the robot system element 100 or the monitoring target equipment 200) in the monitoring target in 300). The abnormality information on the abnormality information screen 401 is provided by the log storage unit 121e of the robot management server 121e. The information in the log information of the log storage unit 121e may be acquired from the log storage unit 111g of the robot control device 110 via the Internet N or the like each time the screen is displayed, or the robot management server 120 may be obtained when an abnormality occurs or at a fixed time. Log information may be transmitted to the log storage unit 121e on the side. Further, the log storage unit 121e may separately secure a storage area such as a server.

Further, in the present embodiment, the maintenance provider individually displays the abnormality information screen 401 on the maintenance provider terminal 400, but a single screen that integrates and displays the information of the robot management server 120 and the equipment monitoring server 220. (That is, the information about the system abnormality and the information about the equipment abnormality may be viewed on the same screen), or the detailed information of the abnormality is automatically detected when the abnormality is reported by using the site identifier as a key. May be displayed.

FIG. 9 shows an example of the abnormality management table 111f.

The abnormality management table 111f has an entry for each system abnormality. Each entry contains the following information, that is, the No. 1 which is the serial number of the system abnormality. 501, the abnormality occurrence part 502 indicating the occurrence part of the system abnormality, the abnormality content 503 indicating the content of the system abnormality, and the abnormality classification recognizable by the equipment monitoring terminal 210 (for example, the alarm management table as in the example of FIG. 10). Anomalous code 504 indicating a unique code for each (classification set in 211d), log recording 505 which is a flag of presence / absence of log recording, notification 506 which is a flag of presence / absence of notification, and a flag of presence / absence of mail transmission. Information such as mail transmission 507, maintenance provider 508 indicating the type of maintenance provider, and contact information 509 indicating the contact information of the maintenance provider is stored.

Although it is described as a unique abnormality code for each abnormality classification that can be recognized by the equipment monitoring terminal 210, another means may be entered if the equipment monitoring terminal 210 can be identified. In the present embodiment, the abnormality code is transmitted as a signal. For example, a plurality of signal lines may be connected and the abnormality code may be associated with which signal line the signal is output to identify the abnormality classification. However, the abnormality code that can be identified by the robot control device 110 is an abnormality code for the abnormality classification to which the system abnormality belongs among the abnormality codes that can be identified by the equipment monitoring terminal 210, and is an equipment abnormality (abnormality of the equipment to be monitored 200). The anomaly code for the anomaly classification to which it belongs does not have to be identifiable. The abnormality detection unit 111e of the robot control device 110 classifies the detected system abnormality into an abnormality classification that can be identified by the equipment monitoring terminal 210, and communicates with the equipment monitoring terminal 210 according to the result of the classification of the system abnormality (for example, the said). Outputs a signal indicating the error code corresponding to the error classification of the system error). As a result, the equipment monitoring terminal 210 can monitor the robot system 15 in the same manner as the monitoring of the equipment 200 to be monitored.

In the case of log recording 505 “○” (Yes), when a system error occurs, detailed information including the error occurrence time, abnormality occurrence site, abnormality content, and other information is stored in the log storage unit 111h of the robot control device 110. Recorded. Log recording 505 is an abnormality that does not require any action by the maintenance provider but should be recorded only (for example, an increase in the CPU load of the robot control device No. 5 in FIG. 9 or an increase in the memory usage rate in No. 6). Only can be set to "○".

In the case of notification 506 “〇”, when a system abnormality occurs, the equipment monitoring server 220 is notified and the maintenance provider is promptly notified. Abnormalities that require prompt response by maintenance personnel such as maintenance providers and manufacturers outside Site 300 (for example, motor failure of robot No. 3 in Fig. 9 and signage failure of No. 7) are reported 506. Set to "○".

In the case of mail transmission 507 “〇”, when a system abnormality occurs, the abnormality detection unit 111e includes the abnormality occurrence time, the abnormality occurrence part, the abnormality content, and other information for the set contact information. The robot management server 120 is instructed to send an e-mail containing detailed information to the e-mail transmission unit 121d. Those that require maintenance but can be handled by staff within the site 300, or those that are within the scope of routine work and do not require contact with maintenance providers outside the site 300 (for example, the battery of the No. 1 robot in FIG. 9). When the remaining amount is low or the No. 2 robot falls), the notification is set to 506 “x” (none) and the mail transmission is set to 507 “〇”. An email transmission unit 121d may be provided in the robot control device 110, and an email may be transmitted from the robot control device 110.

It should be noted that the case where the abnormality detection portion such as the abnormality detection unit 111e has stopped operating may be detected and an alarm may be issued (for example, No. 10 in FIG. 9). In that case, a part other than the abnormality detection unit 111e is provided with a function of detecting the operation stop of the abnormality detection unit and a function of outputting a signal to the equipment monitoring terminal 210. For example, when an abnormality occurs in the abnormality detection unit 111e or the signal output terminal 113, the level of the signal flowing through the predetermined signal line between the robot control device 110 and the equipment monitoring terminal 210 is changed. Is detected by the equipment monitoring terminal 210, which may be an example of the detection of a system abnormality by the equipment monitoring terminal 210.

The items in the abnormality management table 111f may be added or deleted as needed. According to the present embodiment, the maintenance provider of the abnormality management table 111f differs depending on the abnormality classification to which the same robot system element 100 belongs for at least one robot system element 100. In this way, for the same robot system element 100, it is possible to associate two or more different maintenance providers corresponding to two or more different abnormality classifications, so that appropriate maintenance can be expected to be provided.

FIG. 10 shows an example of the alarm management table 211d.

The alert management table 211d has an entry for each abnormality classification. Each entry has a No. 1 indicating a serial number. Information such as 601, an abnormality code 602 indicating an abnormality code associated with the abnormality classification, and an abnormality classification 603 indicating the abnormality classification itself is stored. The abnormality code is not limited to the abnormality code described in the abnormality management table 111f of the previous operation, but also the abnormality code transmitted from the monitored equipment 200 such as an elevator or an air conditioner.

When a signal is input to the signal input terminal 213, the alarm processing unit 211c of the equipment monitoring terminal 210 acquires the site identifier and the alarm management table 211d from the site information storage unit 211b, collates the abnormality code, and converts it into an abnormality classification. do. After that, the alarm processing unit 211c transmits the alarm information including the site identifier and the abnormality classification to the equipment monitoring server 220.

The alarm management table 211d may be in the main storage device 211 of the equipment monitoring server 220, and the alarm processing unit 211c issues an alarm by transmitting the site identifier and the abnormality code, and classifies the abnormality from the abnormality code. The conversion to may be performed by the equipment monitoring server 220.

FIG. 11 is a flowchart of processing of the abnormality detection unit 111e of the robot control device 110.

First, when the abnormality detection unit 111e detects an abnormality signal of an arbitrary device (S101), the site identifier, the device identifier, and the abnormality identifier are acquired from the site information storage unit 111b of the robot control device 110, and the model identifier and the abnormality identifier are obtained. By collating the detection signal, the abnormality classification (abnormality occurrence site and abnormality content) is specified (S102). Next, the abnormality detection unit 111e refers to the abnormality management table 111f using the abnormality classification as a key, and acquires the setting contents of the abnormality management table 111f (S103).

Next, the abnormality detection unit 111e includes the time when the abnormality occurred, the abnormality classification, the abnormality code, and other information when the log record corresponding to the key (abnormality classification) is “〇” (S104: YES). Detailed information is recorded in the log storage unit 111g of the robot control device 110 (S105).

Subsequently, the abnormality detection unit 111e can identify the abnormality code corresponding to the key (abnormality classification) by the equipment monitoring terminal 210 when the alarm 506 corresponding to the key (abnormality classification) is “〇” (S106: YES). The signal is output from the signal output terminal 113 to the signal input terminal 213 of the equipment monitoring terminal 210 (S107). After that, a report is issued from the equipment monitoring terminal 210 to the equipment monitoring server 220 by the above-mentioned method, and the notification information screen 402 of the maintenance provider terminal 400 is displayed, so that the maintenance provider is notified of the occurrence of an abnormality. Maintenance services can be provided by maintenance providers.

Subsequently, when the mail transmission 507 corresponding to the key (abnormality classification) is "○" (S108: YES), the abnormality detection unit 111e sets the time of occurrence of the abnormality, the abnormality classification, and the abnormality for the set contact. , Instructs the mail transmission unit 121d of the robot management server 120 to send an e-mail containing detailed information including other information (S109). As a result, the maintenance provider is notified of the occurrence of an abnormality by e-mail, and the maintenance service can be provided by the maintenance provider.

As described above, according to the present embodiment, even if the maintenance provider is not resident at the site 300, when a system abnormality occurs, not only the maintenance provider inside the site 300 but also the maintenance provider outside the site 300 promptly. Can provide various maintenance services. In addition, based on the settings, to the maintenance provider inside the site 300, the maintenance provider who provides the maintenance service remotely from outside the site 300, and the maintenance provider who dispatches to the site 300 from outside the site 300 to provide the maintenance service. You can notify the occurrence of an abnormality and request the provision of maintenance services. Further, by utilizing the existing equipment monitoring system 2, it is possible to reduce the system development cost and the cost of remodeling the equipment of the control center and the site. Furthermore, equipment monitoring can be performed collectively with other equipment of the site 300. This makes it easier to manage the maintenance status and past maintenance history, and also makes it easier to make a maintenance dispatch plan, such as performing maintenance together with other equipment when dispatched.

In the above embodiment, the equipment monitoring server 220 is notified by the equipment monitoring terminal 210, but the robot control device 110 has the function of the equipment monitoring terminal 210 and the equipment monitoring server 220 is notified. May be performed by the robot control device 110. Further, the robot monitoring server 220 may have the function of the equipment monitoring server 220, and the robot monitoring server 220 may receive an alarm or a notification to the maintenance provider.

Further, a plurality of robots 100R, signage 100S, and environmental camera 100C may be present, and abnormalities of other devices may be detected.

Further, it is possible to individually set the correspondence, the maintenance provider, and the contact information for each of the plurality of devices so that the maintenance provider can be selected. For example, in robot B, which is the same model as robot A, robot A designs and provides a guidance service by company A, and robot B designs and provides a questionnaire collection service, so that maintenance responsibility is taken when an abnormality occurs. When the maintenance providers have different services, the service provider No. 9 in FIG. 3 and No. In the case of a motor failure of robot B, which is the same model as robot A, such as N, the maintenance provider can be selected by changing the abnormality code and the maintenance provider and contact information and registering them. Further, even when the maintenance providers of different types of robots A and B from different manufacturers are different, the maintenance providers can be selected in the same manner.

In addition, in the abnormality management table 111f, the response to the abnormality of each device and the maintenance provider and contact information are set, but the response record to the abnormality that occurred in the past is recorded, and the history is recorded by AI (Artificial Intelligence). The response, maintenance provider, and contact information may be determined based on the analysis.

Further, the communication between the robot control device 110 and the equipment monitoring terminal 210 does not have to be the communication via the signal output terminal.

Further, the target device, which is at least one of the robot control device 110, the robot management server 120, the equipment monitoring terminal 210, and the equipment monitoring server 220, has a correspondence relationship between the abnormality classification and the contact information of the maintenance provider. Refer to the abnormality management table 111f, which is the information indicating (For example, the equipment monitoring server 220 has an abnormality management table 111f, and the equipment monitoring server 220 may distribute contact information such as alarm information based on the abnormality management table 111f. ). As a result, even if the maintenance provider differs depending on the abnormality classification, the summary information can be promptly and appropriately notified to the maintenance provider. In the present embodiment, the target device is the robot control device 110. Since the robot control device 110 detects the system abnormality, it can be expected that the maintenance provider is notified of the information regarding the system abnormality more quickly.

Although one embodiment of the present invention has been described above, these are examples for explaining the present invention, and the scope of the present invention is not limited to this embodiment. The present invention can also be practiced in various other forms. For example, in the equipment monitoring system 2, an equipment control device (not shown) is interposed between the equipment monitoring server 220 and the equipment monitoring terminal 210, and an abnormality notification such as an alarm issued by the equipment monitoring terminal 210 is sent via the equipment control device. The signal may be output to the equipment monitoring server 220 in.

1: Robot management system, 15: Robot system, 2: Equipment monitoring system, 100R: Robot, 110: Robot control device, 120: Robot management server, 200: Equipment to be monitored, 210: Equipment monitoring terminal, 220: Equipment monitoring server , 300: Site, 400: Maintenance provider terminal

Claims (10)

Information about the equipment monitoring terminal, which is a terminal in the building, and the notification made by the equipment monitoring terminal, which issues a notification when an equipment abnormality that is an abnormality related to the equipment to be monitored in the building is detected. In a building maintenance system equipped with an equipment monitoring system having an equipment monitoring server, which is a device outside the building, which provides an outline of information on an abnormality as alarm information to a maintenance provider.
A robot control device, which is a device in the building that controls one or more robot system elements in the building including one or more robots and is communicably connected to the equipment monitoring terminal, is provided.
The robot system in the building having the one or more robot system elements and the robot control device is targeted for monitoring by the equipment monitoring terminal in addition to the equipment to be monitored.
The robot control device detects a system abnormality that is an abnormality related to the robot system, and the equipment monitoring terminal can recognize the detected system abnormality based on the abnormality management information indicating the relationship between the system abnormality and the abnormality classification. The abnormality classification is classified into various abnormal categories, and a signal is output to the equipment monitoring terminal in a format that allows the equipment monitoring terminal to determine the abnormality classification.
The equipment monitoring terminal detects a system abnormality that is an abnormality related to the robot system from communication with the robot control device, and provides a summary of information on the system abnormality and a key for acquiring detailed information on the system abnormality. The included information is transmitted to the equipment monitoring server in order to provide the relevant maintenance provider among one or more maintenance providers including the maintenance provider as notification information.
A building maintenance system characterized by this. The robot control device transmits detailed information, which is detailed information regarding the system abnormality and information associated with the key, to a robot management server outside the building that manages the robot system.
The robot management server receives an inquiry associated with the key and returns the detailed information of the system abnormality corresponding to the key.
The building maintenance system according to claim 1. The robot control device, the robot management server which is a device outside the building that manages the robot system, the equipment monitoring terminal, and the target device which is at least one of the equipment monitoring server are classified as abnormalities. Refer to the abnormality management information which is the information indicating the correspondence relationship with the contact information of the maintenance provider, and replace or add the summary of the information regarding the system abnormality to the alarm information to which the system abnormality belongs. Send to the contact information of the maintenance provider corresponding to the anomaly classification,
The building maintenance system according to claim 1. The target device is the robot control device.
The building maintenance system according to claim 3, wherein the building maintenance system is characterized in that. The detailed information includes information indicating the position of the robot in the case where the robot as the occurrence site of the system abnormality is a movable robot among the one or more robots.
The building maintenance system according to claim 2, wherein the building maintenance system is characterized in that. The maintenance provider of the abnormality management information differs depending on the abnormality classification to which the same robot system element belongs for at least one of the one or more robot system elements.
The building maintenance system according to claim 3, wherein the building maintenance system is characterized in that. The key includes an identifier of the site where the site where the system abnormality occurs occurs.
The building maintenance system according to claim 1. The robot control device classifies the system abnormality into an abnormality classification that can be identified by the equipment monitoring terminal, and communicates with the equipment monitoring terminal according to the result of the classification of the system abnormality.
The building maintenance system according to claim 1. The robot management server receives the inquiry with which the key is associated from the maintenance provider terminal that has received the notification information as the summary information of the system abnormality from the equipment monitoring terminal from the maintenance provider terminal.
The building maintenance system according to claim 2, wherein the building maintenance system is characterized in that. Information about the equipment monitoring terminal, which is a terminal in the building, and the notification made by the equipment monitoring terminal, which issues a notification when an equipment abnormality that is an abnormality related to the equipment to be monitored in the building is detected. In a building maintenance support method using an equipment monitoring system having an equipment monitoring server, which is a device outside the building, which provides an outline of information related to an abnormality as alarm information to a maintenance provider.
One or more robot system elements in the building including one or more robots, and a robot control device which is a device in the building that controls the one or more robot system elements and is communicably connected to the equipment monitoring terminal. In addition to the equipment to be monitored, the robot system having the above is targeted for monitoring by the equipment monitoring terminal.
The robot control device detects a system abnormality that is an abnormality related to the robot system, and the equipment monitoring terminal can recognize the detected system abnormality based on the abnormality management information indicating the relationship between the system abnormality and the abnormality classification. The abnormality classification is classified into various abnormal categories, and a signal is output to the equipment monitoring terminal in a format that allows the equipment monitoring terminal to determine the abnormality classification.
The equipment monitoring terminal detects a system abnormality, which is an abnormality related to the robot system, from communication with the robot control device.
The equipment monitoring terminal provides information including a key for acquiring detailed information on the system abnormality, which is an outline of information on the system abnormality, as notification information of one or more maintenance providers including the maintenance provider. Send to the equipment monitoring server to provide to our relevant maintenance provider,
A building maintenance support method characterized by this.

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