WO2018109822A1 - Inspection robot and inspection system of passenger conveyor - Google Patents

Inspection robot and inspection system of passenger conveyor Download PDF

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Publication number
WO2018109822A1
WO2018109822A1 PCT/JP2016/087005 JP2016087005W WO2018109822A1 WO 2018109822 A1 WO2018109822 A1 WO 2018109822A1 JP 2016087005 W JP2016087005 W JP 2016087005W WO 2018109822 A1 WO2018109822 A1 WO 2018109822A1
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WO
WIPO (PCT)
Prior art keywords
passenger conveyor
inspection robot
inspection
acquisition device
information
Prior art date
Application number
PCT/JP2016/087005
Other languages
French (fr)
Japanese (ja)
Inventor
塩崎　秀樹
志賀　諭
匡史 小澤
Original Assignee
三菱電機ビルテクノサービス株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 三菱電機ビルテクノサービス株式会社 filed Critical 三菱電機ビルテクノサービス株式会社
Priority to JP2018556055A priority Critical patent/JP6516074B2/en
Priority to PCT/JP2016/087005 priority patent/WO2018109822A1/en
Publication of WO2018109822A1 publication Critical patent/WO2018109822A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B27/00—Indicating operating conditions of escalators or moving walkways
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B31/00—Accessories for escalators, or moving walkways, e.g. for sterilising or cleaning

Definitions

  • the present invention relates to an inspection robot and an inspection system for passenger conveyors.
  • Patent Document 1 discloses a passenger conveyor. Regular inspections are performed on passenger conveyors.
  • An object of the present invention is to provide a passenger conveyor inspection robot and an inspection system capable of reducing inspection work by an operator at the time of inspection of a passenger conveyor.
  • the inspection robot for a passenger conveyor includes at least one of information on an image of the passenger conveyor, information on sound generated by the passenger conveyor, and information on vibration generated by the passenger conveyor. And a recording device that records information on the state of the passenger conveyor when the acquisition device acquires information on the state of the passenger conveyor.
  • the passenger conveyor inspection system includes the inspection robot and an entry restriction robot that blocks an entrance / exit of the passenger conveyor and restricts a user of the passenger conveyor from entering the entrance / exit of the passenger conveyor from the outside. And provided.
  • the acquisition device acquires at least one of information on the image of the passenger conveyor, information on sound generated by the passenger conveyor, and information on vibration generated by the passenger conveyor as information on the state of the passenger conveyor. .
  • the recording device records information on the state of the passenger conveyor when the acquisition device acquires information on the state of the passenger conveyor. For this reason, the inspection work by an operator can be reduced at the time of inspection of a passenger conveyor.
  • Embodiment 1 is a perspective view of a passenger conveyor to which a passenger conveyor inspection robot according to Embodiment 1 of the present invention is applied. It is a figure for demonstrating the outline
  • FIG. 1 It is a schematic diagram of the passenger conveyor system to which the passenger conveyor inspection robot according to Embodiment 2 of the present invention is applied. It is a perspective view of the principal part of the passenger conveyor to which the inspection robot of the passenger conveyor in Embodiment 3 of this invention is applied. It is a flowchart for demonstrating the outline
  • FIG. 1 is a perspective view of a passenger conveyor to which a passenger conveyor inspection robot according to Embodiment 1 of the present invention is applied.
  • the passenger conveyor in Fig. 1 is an escalator. Passenger conveyors straddle adjacent floors.
  • the lower entrance / exit 1 is provided on the lower floor of the adjacent floors.
  • the upper entrance / exit 2 is provided on the upper floor of the adjacent floors.
  • the lower machine room 3 is provided below the lower entrance 1.
  • the lower landing plate 4 closes the opening of the lower machine chamber 3. A part of the lower landing plate 4 is opened.
  • the lower manhole 5 closes the opening of the lower machine room 3.
  • the upper machine room 6 is provided below the upper entrance 2.
  • the upper landing plate 7 closes the opening of the upper machine chamber 6. A part of the upper landing plate 7 is opened.
  • the upper manhole 8 closes the opening of the upper machine room 6.
  • the plurality of steps 9 are provided between the lower entrance 1 and the upper entrance 2.
  • the plurality of steps 9 are provided endlessly.
  • One side of the pair of skirt guards 10 is adjacent to one side of the plurality of steps 9.
  • the other of the pair of skirt guards 10 is adjacent to the other side of the plurality of steps 9.
  • One of the pair of balustrade panels 11 is fixed to one upper portion of the pair of skirt guards 10.
  • the other of the pair of balustrade panels 11 is fixed to the other upper part of the pair of skirt guards 10.
  • One of the pair of moving handrails 12 is provided endlessly on one side of the pair of balustrade panels 11.
  • the other of the pair of moving handrails 12 is provided endlessly on the other side of the pair of balustrade panels 11.
  • the lower entrance 1 is the entrance.
  • the upper entrance 2 is an exit.
  • the plurality of steps 9 and the pair of moving handrails 12 move in synchronization.
  • the upper entrance 2 is a entrance.
  • the lower entrance / exit 1 is an exit. At this time, the plurality of steps 9 and the pair of moving handrails 12 move in synchronization.
  • the inspection robot 13 is provided so that it can be transported.
  • the inspection robot 13 is formed in accordance with the size of step 9.
  • the inspection robot 13 is formed so that the movement and vibration in the front-rear direction of Step 9 are suppressed when fixed to the upper surface of Step 9.
  • the inspection robot 13 is formed such that when it is fixed to the upper surface of Step 9, the movement and vibration of Step 9 in the left-right direction are suppressed.
  • the inspection robot 13 is formed such that when it is fixed to the upper surface of Step 9, the vertical movement and vibration of Step 9 are suppressed. Thereby, the inspection robot 13 synchronizes with the behavior of step 9. Therefore, the inspection robot 13 can accurately collect the vibration information in step 9.
  • the inspection robot 13 includes a main body 13a, an acquisition device 13b, a recording device 13c, and a control device 13d.
  • the main body 13a is an outline of the inspection robot 13.
  • the acquisition device 13b is held by the main body 13a so as to be movable with respect to the main body 13a.
  • the acquisition device 13b has at least one function of a camera, a microphone, and an accelerometer.
  • the recording device 13c is held by the main body 13a.
  • the recording device 13c has a function of recording information.
  • the control device 13d is provided in the main body 13a.
  • the control device 13d has a function of controlling operations of the acquisition device 13b and the recording device 13c.
  • the worker When checking the passenger conveyor, the worker closes the lower entrance 1 with a safety fence (not shown). The worker closes the upper entrance / exit 2 with a safety fence (not shown). The worker causes the inspection robot 13 to perform the first inspection to the seventh inspection by a preset operation.
  • the acquisition device 13b obtains at least one of the information on the passenger conveyor image, the information on the sound generated by the passenger conveyor, and the information on the vibration generated by the passenger conveyor in the state of the passenger conveyor. Obtain as information.
  • the recording device 13c records information on the state of the passenger conveyor when the acquisition device 13b acquires information on the state of the passenger conveyor.
  • FIGS. 2 to 4 are diagrams for explaining the outline of the inspection by the inspection robot for the passenger conveyor in the first embodiment of the present invention.
  • the worker when the first inspection is performed, the worker places the inspection robot 13 on the upper surface of the lower landing plate 4 or the lower comb plate (not shown) in the vicinity of the comb (not shown). Thereafter, the worker causes the inspection robot 13 to perform an operation corresponding to the first inspection.
  • the acquisition device 13b acquires information necessary for checking a gap or a collision between the step 9 and the comb. Specifically, the acquisition device 13b acquires information on the image of the gap between Step 9 and the comb. The acquisition device 13b acquires sound information in the vicinity of the gap between the step 9 and the comb.
  • the acquisition device 13 b acquires information necessary for checking the damage in step 9, the comb, and the caution sign in step 9. For example, information necessary for the inspection of the damage of the demarcation comb, the demarcation cleat, the riser, and the tread in Step 9 is acquired. Specifically, the acquisition device 13b acquires information on the image of Step 9 and the image of the comb.
  • the acquisition device 13b acquires information necessary for inspection of the gap in the adjacent step 9. Specifically, the acquisition device 13b acquires information on the image of the adjacent step 9. The acquisition device 13b acquires information on the contact sound between the riser and the demarcation comb.
  • the worker when the second inspection is performed, the worker places the inspection robot 13 on the upper surface of the lower landing plate 4 or the lower comb plate in the vicinity of the end of the skirt guard 10. Thereafter, the worker causes the inspection robot 13 to perform an operation corresponding to the second inspection.
  • the acquisition device 13b acquires information necessary for checking the state of the moving handrail 12, the delay of the moving handrail 12, and the slip rate of the moving handrail 12. Specifically, the acquisition device 13b acquires information on the image of the moving handrail 12 when the moving handrail 12 is moving. The acquisition device 13b acquires information on sound in the vicinity of the moving handrail 12 when the moving handrail 12 is moving.
  • the delay check of the moving handrail 12 is an inspection for determining whether or not the moving handrail 12 has a delay of a predetermined length or more between the lower entrance 1 and the upper entrance 2. For example, when the moving handrail 12 has a delay of a predetermined length or more between the lower entrance 1 and the upper entrance 2, it is determined that there is a delay of the moving handrail 12.
  • the inspection of the slip rate of the moving handrail 12 is necessary when it is determined that there is a delay in the moving handrail 12.
  • the slip ratio of the moving handrail 12 is calculated based on a preset calculation formula. After the slip ratio of the moving handrail 12 is checked, the moving handrail 12 is maintained based on the slip ratio.
  • the acquisition device 13b acquires information necessary for the inspection of the operation state of the passenger conveyor and the moving speed in Step 9. Specifically, the acquisition device 13b acquires the image information of Step 9 when Step 9 is moving. The acquisition device 13b acquires sound information when step 9 moves. The acquisition device 13b acquires vibration information of the inspection robot 13 when step 9 is moving.
  • the acquisition device 13b acquires information necessary for inspection of brake operation (not shown). Specifically, the acquisition device 13b acquires information on the image in step 9 during the operation of the brake. The acquisition device 13b acquires sound information during the operation of the brake. The acquisition device 13b acquires information on the vibration of the inspection robot 13 during the operation of the brake.
  • the acquisition device 13 b acquires information necessary for inspection such as a gap or contact between the step 9 and the skirt guard 10. For example, the acquisition device 13b acquires information necessary for checking the gaps L1 and R1 between the step 9 in the second step from the top and the skirt guard 10. For example, the acquisition device 13b acquires information necessary for checking the gaps L2 and R2 between the step 9 in the fourth step from the top and the skirt guard 10. For example, the acquisition device 13b acquires information necessary for inspecting the gaps L3 and R3 between the step 9 and the skirt guard 10 which are the maximum portion from the top to the center.
  • the acquisition device 13b acquires information necessary for inspecting the gaps L4 and R4 between the step 9 and the skirt guard 10 which are the maximum portions from the central portion to the lower portion. For example, the acquisition device 13b acquires information necessary for checking the gaps L5 and R5 between step 9 and the skirt guard 10 in the fifth step from the bottom. For example, the acquisition device 13b acquires information necessary for checking the gaps L6 and R6 between the step 9 in the third step from the bottom and the skirt guard 10. Specifically, the acquisition device 13b acquires information on the image of the gap between the step 9 and the skirt guard 10.
  • the image is used for checking the gap between the step 9 and the skirt guard 10.
  • the image is used for checking whether or not the gap between step 9 and one of the pair of skirt guards 10 is within a preset range.
  • the image is used for checking whether or not the gap between Step 9 and the other of the pair of skirt guards 10 is within a preset range.
  • the image is checked whether the sum of the gap between step 9 and one of the pair of skirt guards 10 and the gap between step 9 and the other of the pair of skirt guards 10 is within a preset range.
  • the image is used for checking whether or not the degree of parallelism between the step 9 and the skirt guard 10 is within a preset range.
  • the image is used for checking whether or not the gap in the adjacent step 9 is within a preset range.
  • the image is used for checking whether the step 9 and the skirt guard 10 are in contact with each other.
  • the image is used for checking whether or not the gap between the skirt guard 10 and the comb is within a preset range.
  • the acquisition device 13b acquires information necessary for the inspection of the skirt guard 10. Specifically, the acquisition device 13b acquires image information of the skirt guard 10.
  • the image is used for checking the skirt guard 10.
  • the image is used for checking whether or not the screw of the skirt guard 10 protrudes from the surface of the skirt guard 10.
  • the acquisition device 13b acquires information necessary for inspection of the illumination of the passenger conveyor and the design.
  • the acquisition device 13b acquires information necessary for ace line deterioration and ball check.
  • the acquisition device 13b acquires information necessary for checking the attached state of the inner deck, the attached state of the skirt guard 10, the tightened state of the screws, and the damage of the moving handrail 12.
  • the acquisition device 13b acquires information necessary for checking the deformation of the outer deck.
  • the acquisition device 13b acquires information necessary for checking the gap between adjacent transparent glass panels.
  • the acquisition device 13b acquires information necessary for inspection of scratches on the transparent glass panel.
  • the acquisition device 13b acquires information necessary for checking peeling of the film for preventing scattering under the transparent glass panel.
  • the acquisition device 13b acquires information necessary for checking the non-transparent panel for contamination and rusting.
  • the acquisition device 13b acquires information necessary for checking the deformation and damage of the ornament.
  • the acquisition device 13b acquires information on the illumination image of the passenger conveyor and the image of the design.
  • the worker when the third inspection is performed, the worker removes the lower manhole 5 from the lower landing plate 4. Thereafter, the worker places the inspection robot 13 on the upper surface of the lower landing plate 4 or the lower comb plate in the vicinity of the lower landing plate 4 or the lower comb plate. Thereafter, the worker causes the inspection robot 13 to perform an operation corresponding to the third inspection.
  • the acquisition device 13b acquires information necessary for inspection of the environment inside the lower machine room 3.
  • the acquisition device 13b acquires information necessary for checking the oil state, the sand state, the dust state, the strange odor, and the abnormal sound inside the lower machine chamber 3.
  • the acquisition device 13b acquires information on an image inside the lower machine room 3.
  • the acquisition device 13 b acquires sound information inside the lower machine room 3.
  • the acquisition device 13b acquires information necessary for checking deterioration or damage of the drive roller (not shown). Specifically, the acquisition device 13b acquires image information indicating the rotation state of the drive roller. The acquisition device 13b acquires information of an image indicating the shakiness of the drive roller shaft. The acquisition device 13b acquires sound information of the drive roller.
  • the acquisition device 13b acquires information necessary for checking the setting of the step chain switch and the swing range of the step chain switch cam. Specifically, the acquisition device 13b acquires information on the image of the spring of the step chain switch. The acquisition device 13b acquires image information of the step chain switch cam.
  • the worker when the fourth inspection is performed, the worker places the inspection robot 13 on the upper surface of the upper landing plate 7 or the upper comb plate in the vicinity of the comb. Thereafter, the worker causes the inspection robot 13 to perform an operation corresponding to the fourth inspection.
  • the acquisition device 13b acquires information necessary for checking the gap between the step 9 and the comb or checking the collision. Specifically, the acquisition device 13b acquires information on the image of the gap between Step 9 and the comb. The acquisition device 13b acquires sound information in the vicinity of the gap between the step 9 and the comb.
  • the acquisition device 13 b acquires information necessary for checking the damage in step 9, the comb, and the caution sign in step 9. For example, information necessary for the inspection of the damage of the demarcation comb, the demarcation cleat, the riser, and the tread in Step 9 is acquired. Specifically, the acquisition device 13b acquires information on the image of Step 9 and the image of the comb.
  • the worker when the fifth inspection is performed, the worker removes the upper manhole 8 from the upper landing plate 7. Thereafter, the worker places the inspection robot 13 on the upper surface of the upper landing plate 7 or the upper comb plate in the vicinity of the upper landing plate 7 or the upper comb plate. Thereafter, the worker causes the inspection robot 13 to perform an operation corresponding to the fifth inspection.
  • the acquisition device 13b acquires information necessary for inspection of the environment inside the upper machine room 6.
  • the acquisition device 13b acquires information necessary for checking the oil state, the sand state, the dust state, the strange odor, and the abnormal sound inside the upper machine chamber 6.
  • the acquisition device 13b acquires image information inside the upper machine room 6.
  • the acquisition device 13b acquires sound information inside the upper machine room 6.
  • the acquisition device 13b acquires information for checking the amount of oil stored in a fuel dispenser (not shown). Specifically, the acquisition device 13b acquires information on an image of an inspection gauge of the fuel filler.
  • the acquisition device 13b acquires information necessary for checking the oil supply state of the step chain. Specifically, the acquisition device 13b acquires information on the image of the step chain. The acquisition device 13b acquires step chain sound information.
  • the acquisition device 13b acquires information necessary for inspection of the drive unit, the drive chain, and the step chain sprocket. Specifically, the acquisition device 13b acquires image information of the drive unit, the drive chain, and the step chain sprocket. The acquisition device 13b acquires sound information of the drive unit, the drive chain, and the step chain sprocket.
  • the worker when the sixth inspection is performed, the worker places the inspection robot 13 on the upper surface of Step 9. Thereafter, the worker causes the inspection robot 13 to perform an operation corresponding to the sixth inspection.
  • the acquisition device 13b acquires information necessary for checking the operation state of the passenger conveyor.
  • the acquisition device 13b acquires information necessary for checking abnormal sounds and riding comfort.
  • the acquisition device 13b acquires the image information of Step 9 when Step 9 is moving.
  • the acquisition device 13b acquires sound information when step 9 is moving.
  • the acquisition device 13b acquires vibration information of the inspection robot 13 when step 9 is moving.
  • the acquisition device 13b acquires information on the image of the moving handrail 12 when the moving handrail 12 is moving.
  • the acquisition device 13b acquires information on the sound of the moving handrail 12 when the moving handrail 12 is moving.
  • the acquisition device 13b acquires sound information of a drive unit (not shown).
  • the acquisition device 13b acquires information necessary for inspection of brake operation (not shown). Specifically, the acquisition device 13b acquires information on the image in step 9 during the operation of the brake. The acquisition device 13b acquires sound information during the operation of the brake. The acquisition device 13b acquires information on the vibration of the inspection robot 13 during the operation of the brake. The acquisition device 13b acquires information on the stop distance based on the acceleration change time of step 9 by the brake.
  • the acquisition device 13 b acquires information necessary for checking the contact between the step 9 and the skirt guard 10. Specifically, the acquisition device 13b acquires information on the image of the gap between the step 9 and the skirt guard 10.
  • the acquisition device 13 b acquires information necessary for checking the coating detachment or damage of the skirt guard 10. Specifically, the acquisition device 13b acquires image information of the skirt guard 10.
  • the acquisition device 13b acquires information necessary for inspection of the illumination of the passenger conveyor and the design.
  • the acquisition device 13b acquires information necessary for checking ace line deterioration and ball breakage.
  • the acquisition device 13b acquires information necessary for checking the attached state of the inner deck, the attached state of the skirt guard 10, the tightened state of the screws, and the damage of the moving handrail 12.
  • the acquisition device 13b acquires information on the illumination image of the passenger conveyor and the design image.
  • the worker when the seventh inspection is performed, the worker removes at least one step 9. For example, the worker removes a plurality of adjacent steps 9. Thereafter, the worker places the inspection robot 13 on the upper surface of Step 9 immediately below the position where Step 9 is removed. Thereafter, the worker causes the inspection robot 13 to perform an operation corresponding to the seventh inspection.
  • the acquisition device 13b acquires information necessary for checking a step axis (not shown). Specifically, the acquisition device 13b acquires information on the image of the step axis.
  • the acquisition device 13b acquires information necessary for the inspection of the back surface in Step 9. Specifically, the acquisition device 13b acquires information on the back side image of Step 9 above the position where Step 9 was removed.
  • FIG. 5 is a diagram for explaining a method of measuring the gap between the step and the skirt guard by the passenger conveyor inspection robot according to Embodiment 1 of the present invention.
  • the inspection robot 13 is fixed so as not to move along the vertical stripes in step 9. Thereafter, the inspection robot 13 measures the distance D1 to the left end of the riser in Step 9 adjacent to the upper side using a laser distance sensor. Thereafter, the inspection robot 13 measures the distance D2 to the right end of the riser in Step 9 adjacent to the upper side using a laser distance sensor. Thereafter, the inspection robot 13 calculates the position of the laser distance sensor by comparing the fixed length D7 in Step 9 with the distance Dl and the distance D2. Specifically, the inspection robot 13 calculates the distance D3 and the distance D4 in FIG. Thereafter, the inspection robot 13 measures the distance D5 to one of the pair of skirt guards 10 using a laser distance sensor. Thereafter, the inspection robot 13 measures the distance D6 to the other of the pair of skirt guards 10 using a laser distance sensor.
  • the inspection robot 13 measures the gap between the step 9 and the skirt guard 10 at a preset position during operation of the passenger conveyor. For example, the inspection robot 13 sequentially measures the gap L1 to the gap L6 by subtracting the distance D3 from the distance D5. For example, the inspection robot 13 sequentially measures the gap R1 to the gap R6 by subtracting the distance D4 from the distance D6.
  • the acquisition device 13b receives at least one of the image information of the passenger conveyor, the sound information generated by the passenger conveyor, and the vibration information generated by the passenger conveyor. Obtained as status information.
  • the recording device 13c records information on the state of the passenger conveyor when the acquisition device 13b acquires information on the state of the passenger conveyor. For this reason, the inspection work by an operator can be reduced at the time of inspection of a passenger conveyor.
  • the inspection robot 13 may be used for checking the operation of the operation panel of the passenger conveyor. At this time, information such as a change in sound or a change in illumination illuminance based on the operation of the operation panel by the worker may be acquired by the inspection robot 13.
  • the inspection robot 13 may be used for safety equipment countermeasure inspection.
  • the inspection robot 13 can be used to check the mounting state of the intersection fixed protection plate, the intersection movable warning plate, the falling object prevention net, the fall prevention measure, the climbing prevention partition plate, the entry prevention partition plate, the caution label, and the guide fence. May be used.
  • the inspection robot 13 can be used to check for damage to the intersection fixed protection plate, the intersection movable warning plate, the falling object prevention net, the fall prevention measure, the climbing prevention partition plate, the entry prevention partition plate, the caution label, and the guide fence. It may be used.
  • the inspection robot 13 may be used to check the sound state of the caution broadcast.
  • the inspection robot 13 may be used for checking the attachment state of the decorative screw between the lower manhole 5 and the upper manhole 8. In this case, it can be checked whether or not the head of the decorative screw is protruding. As a result, the user can be prevented from tripping over the head of the decorative screw.
  • the inspection robot 13 may be used for checking the silicon application state on the coating surface of the skirt guard 10.
  • the inspection robot 13 may be used for checking the trial run of the passenger conveyor.
  • the inspection robot 13 may be used for inspecting abnormal sounds of each device.
  • the inspection robot 13 may be used for checking the vibration of each device.
  • the inspection robot 13 may be used for checking the contact between adjacent devices.
  • the inspection robot 13 may be used to inspect the appearance of each device.
  • the inspection robot 13 may be used for checking the installation state of each device.
  • the inspection robot 13 may be used for checking the tightening state of the screws on the inner deck.
  • the inspection robot 13 may be used for checking the pasting state of the curing seal.
  • the inspection robot 13 may be used for checking the braking sound of the brake.
  • the inspection robot 13 may be used for checking the brake slip amount.
  • the inspection robot 13 may be used for checking the brakes and the like.
  • the inspection robot 13 may be used for checking the position setting of the ratchet wheel.
  • the inspection robot 13 may be used for checking the gap between the ratchet wheel and the ratchet ball when the tension of the drive chain is a reference value.
  • the inspection robot 13 may be used for checking the attachment state of the microswitch.
  • the inspection robot 13 may be used for checking oil adhesion and dirt on the microswitch.
  • the inspection robot 13 may be used for checking wear powder and rust in the bearing portion of the brake.
  • information on the state of the passenger conveyor is accumulated in association with work content information as a chart of the passenger conveyor each time the passenger conveyor is inspected.
  • the accumulated information is used for various analyzes as big data.
  • the accumulated information is used for optimizing the work plan of the passenger conveyor.
  • the accumulated information is used for predictive maintenance of passenger conveyors.
  • FIG. FIG. 6 is a schematic diagram of a passenger conveyor system to which a passenger conveyor inspection robot according to Embodiment 2 of the present invention is applied.
  • symbol is attached
  • the escalator system includes a first passenger conveyor, a second passenger conveyor, a third passenger conveyor, a fourth passenger conveyor, a fifth passenger conveyor, and a sixth passenger conveyor.
  • the first passenger conveyor spans the first and second floors.
  • the lower part of the first passenger conveyor is provided on one side of the building.
  • the upper part of the first passenger conveyor is provided on the other side of the building.
  • the second passenger conveyor spans the 2nd and 3rd floors.
  • the lower part of the second passenger conveyor is provided on the other side of the building.
  • the upper part of the second passenger conveyor is provided on one side of the building.
  • the third passenger conveyor spans the 3rd and 4th floors.
  • the lower part of the third passenger conveyor is provided on one side of the building.
  • the upper part of the third passenger conveyor is provided on the other side of the building.
  • the fourth passenger conveyor spans the first and second floors.
  • the lower part of the fourth passenger conveyor is provided on the other side of the building.
  • the upper part of the fourth passenger conveyor is provided on one side of the building.
  • the fifth passenger conveyor spans the 2nd and 3rd floors.
  • the lower part of the fifth passenger conveyor is provided on one side of the building.
  • the upper part of the fifth passenger conveyor is provided on the other side of the building.
  • the sixth passenger conveyor spans the 3rd and 4th floors.
  • the lower part of the sixth passenger conveyor is provided on the other side of the building.
  • the upper part of the sixth passenger conveyor is provided on one side of the building.
  • the upper part of the first passenger conveyor and the lower part of the second passenger conveyor are adjacent.
  • the upper part of the second passenger conveyor and the lower part of the third passenger conveyor are adjacent to each other.
  • the upper part of the fourth passenger conveyor and the lower part of the fifth passenger conveyor are adjacent to each other.
  • the upper part of the fifth passenger conveyor and the lower part of the sixth passenger conveyor are adjacent to each other.
  • the first passenger conveyor and the fourth passenger conveyor intersect on the vertical projection plane in the width direction of the escalator system.
  • the second passenger conveyor and the fifth passenger conveyor intersect.
  • the third passenger conveyor and the sixth passenger conveyor intersect.
  • the inspection robot 13 is provided so as to be able to travel autonomously.
  • the inspection robot 13 is provided so as to be able to travel autonomously using a wheel (not shown) of the main body 13a.
  • the inspection robot 13 includes the position where it exists, the position of the first passenger conveyor, the position of the second passenger conveyor, the position of the third passenger conveyor, the position of the fourth passenger conveyor, the position of the fifth passenger conveyor, and the sixth passenger conveyor. It is provided so that it can recognize the position of. For example, the inspection robot 13 recognizes these positions based on a building campus map.
  • the worker causes the inspection robot 13 to perform a moving operation by a preset operation. At this time, the inspection robot 13 moves based on its own position.
  • the inspection robot 13 gets on step 9 of the first passenger conveyor during the ascending operation from the first floor. Thereafter, the inspection robot 13 ascends with step 9 of the first passenger conveyor. Thereafter, the inspection robot 13 descends to the second floor from step 9 of the first passenger conveyor.
  • the inspection robot 13 gets on step 9 of the second passenger conveyor in the ascending operation from the second floor. Thereafter, the inspection robot 13 ascends with step 9 of the second passenger conveyor. Thereafter, the inspection robot 13 descends to the third floor from step 9 of the second passenger conveyor.
  • the inspection robot 13 gets on step 9 of the third passenger conveyor during the ascending operation from the third floor. Thereafter, the inspection robot 13 ascends with step 9 of the third passenger conveyor. Thereafter, the inspection robot 13 descends to the fourth floor from step 9 of the third passenger conveyor.
  • the inspection robot 13 gets on step 9 of the sixth passenger conveyor during the descent operation from the fourth floor. Thereafter, the inspection robot 13 descends with step 9 of the sixth passenger conveyor. Thereafter, the inspection robot 13 descends to the third floor from step 9 of the sixth passenger conveyor.
  • the inspection robot 13 gets on step 9 of the fifth passenger conveyor during the descending operation from the third floor. Thereafter, the inspection robot 13 descends together with step 9 of the fifth passenger conveyor. Thereafter, the inspection robot 13 descends to the second floor from step 9 of the fifth passenger conveyor.
  • the inspection robot 13 gets on the 9th floor of the fourth passenger conveyor during the descending operation from the second floor. Thereafter, the inspection robot 13 descends with step 9 of the fourth passenger conveyor. Thereafter, the inspection robot 13 descends to the first floor from step 9 of the fourth passenger conveyor.
  • the inspection robot 13 gets on and off the passenger conveyor. For this reason, even if an operator does not carry the inspection robot 13, the passenger conveyor can be inspected.
  • the inspection robot 13 may receive information on the distance from the passenger conveyor or building equipment to be inspected to the inspection target passenger conveyor and the traveling direction. In this case, the inspection robot 13 is guided to the passenger conveyor to be inspected based on the information.
  • FIG. FIG. 7 is a perspective view of the main part of a passenger conveyor to which the passenger conveyor inspection robot according to Embodiment 3 of the present invention is applied.
  • symbol is attached
  • the control device 13d transmits and receives information to and from a control device (not shown) of the passenger conveyor.
  • the control device 13d controls the operation of the passenger conveyor.
  • the control device 13d controls the operation and stop of the passenger conveyor.
  • the control device 13d moves Step 9 by a preset distance.
  • the control device 13d determines the presence or absence of a passenger conveyor user.
  • the control device 13d operates a buzzer (not shown) of the passenger conveyor.
  • FIG. 8 is a flowchart for explaining the outline of the operation of the control device for the inspection robot for passenger conveyors in the third embodiment of the present invention.
  • step S1 the control device 13d determines whether or not the current time is a time for starting the inspection of the passenger conveyor. When the current time is not the time for starting the inspection of the passenger conveyor in step S1, the control device 13d stands by until the time for starting the inspection. When the current time is the time when the inspection of the passenger conveyor is started in step S1, the control device 13d performs the operation of step S2.
  • step S2 the control device 13d controls the operation of the passenger conveyor according to the inspection content. Thereafter, the control device 13d performs the operation of step S3.
  • step S3 the control device 13d controls the operation of the acquisition device 13b and the operation of the recording device 13c according to the inspection contents. Thereafter, the control device 13d performs the operation of step S4.
  • step S4 the control device 13d determines whether or not all inspections have been completed on the passenger conveyor. When all the inspections on the passenger conveyor are not completed in step S4, the control device 13d performs the operation in step S2. When all inspections are completed on the passenger conveyor in step S4, the control device 13d performs the operation of step S5.
  • step S5 the control device 13d transmits information indicating that the passenger conveyor inspection has been completed to the passenger conveyor control device 13d. Thereafter, the control device 13d performs the operation of step S1.
  • the control device 13d controls the operation of the passenger conveyor. For this reason, even if an operator does not change the setting of a passenger conveyor, a passenger conveyor can be inspected automatically.
  • FIG. 9 is a hardware configuration diagram of a control device for a passenger conveyor inspection robot according to Embodiment 3 of the present invention.
  • Each function of the control device 13d is realized by a processing circuit.
  • the processing circuit includes at least one processor 14a and at least one memory 14b.
  • the processing circuit comprises at least one dedicated hardware 15.
  • each function of the control device 13d is realized by software, firmware, or a combination of software and firmware. At least one of software and firmware is described as a program. At least one of software and firmware is stored in at least one memory 14b.
  • the at least one processor 14a implements each function of the control device 13d by reading and executing a program stored in the at least one memory 14b.
  • the at least one processor 14a is also referred to as a CPU (Central Processing Unit), a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, and a DSP.
  • the memory 14b is a nonvolatile or volatile semiconductor memory such as a RAM, a ROM, a flash memory, an EPROM, or an EEPROM, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, or a DVD.
  • a nonvolatile or volatile semiconductor memory such as a RAM, a ROM, a flash memory, an EPROM, or an EEPROM, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, or a DVD.
  • the processing circuit comprises at least one dedicated hardware 15
  • the processing circuit is implemented, for example, as a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof.
  • each function of the control device 13d is realized by a processing circuit.
  • each function of the control device 13d is collectively realized by a processing circuit.
  • a part of each function of the control device 13d may be realized by the dedicated hardware 15, and the other part may be realized by software or firmware.
  • the function for controlling the acquisition device 13b and the recording device 13c is realized by a processing circuit as dedicated hardware 15, and at least one processor is used for functions other than the function for controlling the acquisition device 13b and the recording device 13c.
  • 14a may be realized by reading and executing a program stored in at least one memory 14b.
  • the processing circuit realizes each function of the control device 13d by the hardware 15, software, firmware, or a combination thereof.
  • FIG. 10 is a perspective view of a main part of a passenger conveyor to which the passenger conveyor inspection system according to Embodiment 4 of the present invention is applied.
  • symbol is attached
  • the entry restriction robot 16 closes the lower entrance 1 of the passenger conveyor.
  • the other approach control robot 16 blocks the upper entrance / exit 2 of a passenger conveyor.
  • the entry restriction robot 16 is a drone.
  • a drone is an unmanned aerial vehicle that can fly by remote control and / or automatic control.
  • the inspection robot 13 transmits / receives information to / from the entry restriction robot 16.
  • the inspection robot 13 controls the operation of the entry restriction robot 16.
  • the inspection robot 13 displays a three-dimensional safety fence image on the entry restriction robot 16.
  • the inspection robot 13 displays an image of characters such as “During escalator inspection” and “Do not approach” on the entry restriction robot 16. As a result, the user is restricted from entering the passenger conveyor from the outside.
  • the entry restriction robot 16 restricts the user from entering the passenger conveyor. For this reason, even if the worker is not near the passenger conveyor, the passenger conveyor can be automatically inspected. In addition, when the inspection robot 13 rides on the passenger conveyor with the user and inspects the passenger conveyor, the entry restriction robot 16 is unnecessary. In this case, the inspection robot 13 may be provided with a function for displaying to the user that the inspection is in progress.
  • the inspection robot 13 or the inspection system shown in any of Embodiments 1 to 4 may be applied to a moving walkway. In this case, it is possible to reduce the inspection work by the worker when inspecting the moving sidewalk.
  • the passenger conveyor inspection robot and the inspection system according to the present invention can be used for a system that reduces the inspection work by workers during the inspection of the passenger conveyor.

Abstract

An inspection robot of a passenger conveyor is provided which can reduce inspection work by an operator when inspecting a passenger conveyor. This inspection robot of a passenger conveyor is provided with: an acquisition unit which acquires, as information about the state of the passenger conveyor, at least one of image information of the passenger conveyor, information about sound generated by the passenger conveyor, and information about vibration generated by the passenger conveyor; and a recording device which, when the acquisition device has acquired information about the state of the passenger conveyor, records the information about the state of the passenger conveyor.

Description

乗客コンベアの点検ロボットおよび点検システムPassenger conveyor inspection robot and inspection system
　この発明は、乗客コンベアの点検ロボットおよび点検システムに関する。 The present invention relates to an inspection robot and an inspection system for passenger conveyors.
　特許文献１は、乗客コンベアを開示する。乗客コンベアにおいては、定期的な点検が行われる。 Patent Document 1 discloses a passenger conveyor. Regular inspections are performed on passenger conveyors.
日本特開２０１５－２０５７７０号公報Japanese Unexamined Patent Publication No. 2015-205770
　乗客コンベアの点検において、作業員は、機能点検等の多くの点検作業を行う。このため、作業員の負担が大きい。 In the inspection of passenger conveyors, workers perform many inspections such as functional inspections. For this reason, the burden of a worker is large.
　この発明は、上述の課題を解決するためになされた。この発明の目的は、乗客コンベアの点検時において作業員による点検作業を減らすことができる乗客コンベアの点検ロボットおよび点検システムを提供することである。 This invention has been made to solve the above-mentioned problems. An object of the present invention is to provide a passenger conveyor inspection robot and an inspection system capable of reducing inspection work by an operator at the time of inspection of a passenger conveyor.
　この発明に係る乗客コンベアの点検ロボットは、乗客コンベアの画像の情報と前記乗客コンベアが発する音の情報と前記乗客コンベアが発する振動の情報とのうちの少なくとも一つを前記乗客コンベアの状態の情報として取得する取得装置と、前記取得装置が前記乗客コンベアの状態の情報を取得した際に、前記乗客コンベアの状態の情報を記録する記録装置と、を備えた。 The inspection robot for a passenger conveyor according to the present invention includes at least one of information on an image of the passenger conveyor, information on sound generated by the passenger conveyor, and information on vibration generated by the passenger conveyor. And a recording device that records information on the state of the passenger conveyor when the acquisition device acquires information on the state of the passenger conveyor.
　この発明に係る乗客コンベアの点検システムは、前記点検ロボットと、前記乗客コンベアの乗降口を塞ぎ、前記乗客コンベアの利用者が外部から前記乗客コンベアの乗降口に進入することを規制する進入規制ロボットと、を備えた。 The passenger conveyor inspection system according to the present invention includes the inspection robot and an entry restriction robot that blocks an entrance / exit of the passenger conveyor and restricts a user of the passenger conveyor from entering the entrance / exit of the passenger conveyor from the outside. And provided.
　これらの発明によれば、取得装置は、乗客コンベアの画像の情報と乗客コンベアが発する音の情報と乗客コンベアが発する振動の情報とのうちの少なくとも一つを乗客コンベアの状態の情報として取得する。記録装置は、取得装置が乗客コンベアの状態の情報を取得した際に乗客コンベアの状態の情報を記録する。このため、乗客コンベアの点検時において作業員による点検作業を減らすことができる。 According to these inventions, the acquisition device acquires at least one of information on the image of the passenger conveyor, information on sound generated by the passenger conveyor, and information on vibration generated by the passenger conveyor as information on the state of the passenger conveyor. . The recording device records information on the state of the passenger conveyor when the acquisition device acquires information on the state of the passenger conveyor. For this reason, the inspection work by an operator can be reduced at the time of inspection of a passenger conveyor.
この発明の実施の形態１における乗客コンベアの点検ロボットが適用される乗客コンベアの斜視図である。1 is a perspective view of a passenger conveyor to which a passenger conveyor inspection robot according to Embodiment 1 of the present invention is applied. この発明の実施の形態１における乗客コンベアの点検ロボットによる点検の概要を説明するための図である。It is a figure for demonstrating the outline | summary of the inspection by the inspection robot of the passenger conveyor in Embodiment 1 of this invention. この発明の実施の形態１における乗客コンベアの点検ロボットによる点検の概要を説明するための図である。It is a figure for demonstrating the outline | summary of the inspection by the inspection robot of the passenger conveyor in Embodiment 1 of this invention. この発明の実施の形態１における乗客コンベアの点検ロボットによる点検の概要を説明するための図である。It is a figure for demonstrating the outline | summary of the inspection by the inspection robot of the passenger conveyor in Embodiment 1 of this invention. この発明の実施の形態１における乗客コンベアの点検ロボットによるステップとスカートガードとの間隙の測定方法を説明するための図である。It is a figure for demonstrating the measuring method of the clearance gap between the step and the skirt guard by the passenger conveyor inspection robot in Embodiment 1 of this invention. この発明の実施の形態２における乗客コンベアの点検ロボットが適用される乗客コンベアシステムの模式図である。It is a schematic diagram of the passenger conveyor system to which the passenger conveyor inspection robot according to Embodiment 2 of the present invention is applied. この発明の実施の形態３における乗客コンベアの点検ロボットが適用される乗客コンベアの要部の斜視図である。It is a perspective view of the principal part of the passenger conveyor to which the inspection robot of the passenger conveyor in Embodiment 3 of this invention is applied. この発明の実施の形態３における乗客コンベアの点検ロボットの制御装置の動作の概要を説明するためのフローチャートである。It is a flowchart for demonstrating the outline | summary of operation | movement of the control apparatus of the inspection robot of a passenger conveyor in Embodiment 3 of this invention. この発明の実施の形態３における乗客コンベアの点検ロボットの制御装置のハードウェア構成図である。It is a hardware block diagram of the control apparatus of the inspection robot of a passenger conveyor in Embodiment 3 of this invention. この発明の実施の形態４における乗客コンベアの点検システムが適用される乗客コンベアの要部の斜視図である。It is a perspective view of the principal part of the passenger conveyor to which the passenger conveyor inspection system in Embodiment 4 of this invention is applied.
　この発明を実施するための形態について添付の図面に従って説明する。なお、各図中、同一又は相当する部分には同一の符号が付される。当該部分の重複説明は適宜に簡略化ないし省略される。 DETAILED DESCRIPTION Embodiments for carrying out the present invention will be described with reference to the accompanying drawings. In addition, the same code | symbol is attached | subjected to the part which is the same or corresponds in each figure. The overlapping explanation of the part is appropriately simplified or omitted.
実施の形態１．
　図１はこの発明の実施の形態１における乗客コンベアの点検ロボットが適用される乗客コンベアの斜視図である。 Embodiment 1 FIG.
FIG. 1 is a perspective view of a passenger conveyor to which a passenger conveyor inspection robot according to Embodiment 1 of the present invention is applied.
　図１の乗客コンベアは、エスカレーターである。乗客コンベアは、隣接階にまたがる。下部乗降口１は、隣接階のうちの下方階に設けられる。上部乗降口２は、隣接階のうちの上方階に設けられる。 The passenger conveyor in Fig. 1 is an escalator. Passenger conveyors straddle adjacent floors. The lower entrance / exit 1 is provided on the lower floor of the adjacent floors. The upper entrance / exit 2 is provided on the upper floor of the adjacent floors.
　下部機械室３は、下部乗降口１の下方に設けられる。下部ランディングプレート４は、下部機械室３の開口部を塞ぐ。下部ランディングプレート４の一部は、開口する。下部マンホール５は、下部機械室３の開口部を塞ぐ。 The lower machine room 3 is provided below the lower entrance 1. The lower landing plate 4 closes the opening of the lower machine chamber 3. A part of the lower landing plate 4 is opened. The lower manhole 5 closes the opening of the lower machine room 3.
　上部機械室６は、上部乗降口２の下方に設けられる。上部ランディングプレート７は、上部機械室６の開口部を塞ぐ。上部ランディングプレート７の一部は、開口する。上部マンホール８は、上部機械室６の開口部を塞ぐ。 The upper machine room 6 is provided below the upper entrance 2. The upper landing plate 7 closes the opening of the upper machine chamber 6. A part of the upper landing plate 7 is opened. The upper manhole 8 closes the opening of the upper machine room 6.
　複数のステップ９は、下部乗降口１と上部乗降口２との間に設けられる。複数のステップ９は、無端状に設けられる。 The plurality of steps 9 are provided between the lower entrance 1 and the upper entrance 2. The plurality of steps 9 are provided endlessly.
　一対のスカートガード１０の一方は、複数のステップ９の一側に隣接する。一対のスカートガード１０の他方は、複数のステップ９の他側に隣接する。一対の欄干パネル１１の一方は、一対のスカートガード１０の一方の上部に固定される。一対の欄干パネル１１の他方は、一対のスカートガード１０の他方の上部に固定される。一対の移動手摺１２の一方は、一対の欄干パネル１１の一方の側において無端状に設けられる。一対の移動手摺１２の他方は、一対の欄干パネル１１の他方の側において無端状に設けられる。 One side of the pair of skirt guards 10 is adjacent to one side of the plurality of steps 9. The other of the pair of skirt guards 10 is adjacent to the other side of the plurality of steps 9. One of the pair of balustrade panels 11 is fixed to one upper portion of the pair of skirt guards 10. The other of the pair of balustrade panels 11 is fixed to the other upper part of the pair of skirt guards 10. One of the pair of moving handrails 12 is provided endlessly on one side of the pair of balustrade panels 11. The other of the pair of moving handrails 12 is provided endlessly on the other side of the pair of balustrade panels 11.
　乗客コンベアの上昇運転時において、下部乗降口１は乗り口となる。上部乗降口２は降り口となる。この際、複数のステップ９と一対の移動手摺１２とは、同期して移動する。乗客コンベアの下降運転時において、上部乗降口２は乗り口となる。下部乗降口１は降り口となる。この際、複数のステップ９と一対の移動手摺１２とは、同期して移動する。 During the ascending operation of the passenger conveyor, the lower entrance 1 is the entrance. The upper entrance 2 is an exit. At this time, the plurality of steps 9 and the pair of moving handrails 12 move in synchronization. During the descending operation of the passenger conveyor, the upper entrance 2 is a entrance. The lower entrance / exit 1 is an exit. At this time, the plurality of steps 9 and the pair of moving handrails 12 move in synchronization.
　点検ロボット１３は、搬送し得るように設けられる。点検ロボット１３は、ステップ９の大きさに合わせて形成される。点検ロボット１３は、ステップ９の上面に固定された際にステップ９の前後方向への移動および振動が抑制されるように形成される。点検ロボット１３は、ステップ９の上面に固定された際にステップ９の左右方向への移動および振動が抑制されるように形成される。点検ロボット１３は、ステップ９の上面に固定された際にステップ９の上下方向への移動および振動が抑制されるように形成される。これにより、点検ロボット１３は、ステップ９の挙動に同期する。このため、点検ロボット１３は、ステップ９の振動の情報を精緻に採取することができる。 The inspection robot 13 is provided so that it can be transported. The inspection robot 13 is formed in accordance with the size of step 9. The inspection robot 13 is formed so that the movement and vibration in the front-rear direction of Step 9 are suppressed when fixed to the upper surface of Step 9. The inspection robot 13 is formed such that when it is fixed to the upper surface of Step 9, the movement and vibration of Step 9 in the left-right direction are suppressed. The inspection robot 13 is formed such that when it is fixed to the upper surface of Step 9, the vertical movement and vibration of Step 9 are suppressed. Thereby, the inspection robot 13 synchronizes with the behavior of step 9. Therefore, the inspection robot 13 can accurately collect the vibration information in step 9.
　点検ロボット１３は、本体１３ａと取得装置１３ｂと記録装置１３ｃと制御装置１３ｄとを備える。 The inspection robot 13 includes a main body 13a, an acquisition device 13b, a recording device 13c, and a control device 13d.
　本体１３ａは、点検ロボット１３の外郭となる。取得装置１３ｂは、本体１３ａに対して移動自在に本体１３ａに保持される。取得装置１３ｂは、カメラとマイクと加速度計とのうちの少なくとも一つの機能を備える。記録装置１３ｃは、本体１３ａに保持される。記録装置１３ｃは、情報を記録する機能を備える。制御装置１３ｄは、本体１３ａに設けられる。制御装置１３ｄは、取得装置１３ｂと記録装置１３ｃとの動作を制御する機能を備える。 The main body 13a is an outline of the inspection robot 13. The acquisition device 13b is held by the main body 13a so as to be movable with respect to the main body 13a. The acquisition device 13b has at least one function of a camera, a microphone, and an accelerometer. The recording device 13c is held by the main body 13a. The recording device 13c has a function of recording information. The control device 13d is provided in the main body 13a. The control device 13d has a function of controlling operations of the acquisition device 13b and the recording device 13c.
　乗客コンベアの点検時において、作業員は、図示されない安全柵で下部乗降口１を塞ぐ。作業員は、図示されない安全柵で上部乗降口２を塞ぐ。作業員は、予め設定された操作により点検ロボット１３に第１点検から第７点検を実施させる。 When checking the passenger conveyor, the worker closes the lower entrance 1 with a safety fence (not shown). The worker closes the upper entrance / exit 2 with a safety fence (not shown). The worker causes the inspection robot 13 to perform the first inspection to the seventh inspection by a preset operation.
　この際、点検ロボット１３において、取得装置１３ｂは、乗客コンベアの画像の情報と乗客コンベアが発する音の情報と前記乗客コンベアが発する振動の情報とのうちの少なくとも一つを前記乗客コンベアの状態の情報として取得する。記録装置１３ｃは、取得装置１３ｂが乗客コンベアの状態の情報を取得した際に乗客コンベアの状態の情報を記録する。 At this time, in the inspection robot 13, the acquisition device 13b obtains at least one of the information on the passenger conveyor image, the information on the sound generated by the passenger conveyor, and the information on the vibration generated by the passenger conveyor in the state of the passenger conveyor. Obtain as information. The recording device 13c records information on the state of the passenger conveyor when the acquisition device 13b acquires information on the state of the passenger conveyor.
　次に、図２から図４を用いて、点検ロボット１３による点検の概要を説明する。
　図２から図４はこの発明の実施の形態１における乗客コンベアの点検ロボットによる点検の概要を説明するための図である。 Next, the outline of inspection by the inspection robot 13 will be described with reference to FIGS.
2 to 4 are diagrams for explaining the outline of the inspection by the inspection robot for the passenger conveyor in the first embodiment of the present invention.
　図示されないが、第１点検が実施される際、作業員は、図示されない櫛の付近において点検ロボット１３を下部ランディングプレート４または図示されない下部コムプレートの上面に配置させる。その後、作業員は、点検ロボット１３に第１点検に対応した動作を実施させる。 Although not shown, when the first inspection is performed, the worker places the inspection robot 13 on the upper surface of the lower landing plate 4 or the lower comb plate (not shown) in the vicinity of the comb (not shown). Thereafter, the worker causes the inspection robot 13 to perform an operation corresponding to the first inspection.
　この際、点検ロボット１３において、取得装置１３ｂは、ステップ９と櫛との間隙または衝突の点検に必要な情報を取得する。具体的には、取得装置１３ｂは、ステップ９と櫛との間隙の画像の情報を取得する。取得装置１３ｂは、ステップ９と櫛との間隙の付近の音の情報を取得する。 At this time, in the inspection robot 13, the acquisition device 13b acquires information necessary for checking a gap or a collision between the step 9 and the comb. Specifically, the acquisition device 13b acquires information on the image of the gap between Step 9 and the comb. The acquisition device 13b acquires sound information in the vicinity of the gap between the step 9 and the comb.
　さらに、点検ロボット１３において、取得装置１３ｂは、ステップ９の破損と櫛の破損とステップ９の注意標識の汚れとの点検に必要な情報を取得する。例えば、ステップ９のデマケーションコムとデマケーションクリートとライザーと踏板との破損の点検に必要な情報を取得する。具体的には、取得装置１３ｂは、ステップ９の画像と櫛の画像との情報を取得する。 Further, in the inspection robot 13, the acquisition device 13 b acquires information necessary for checking the damage in step 9, the comb, and the caution sign in step 9. For example, information necessary for the inspection of the damage of the demarcation comb, the demarcation cleat, the riser, and the tread in Step 9 is acquired. Specifically, the acquisition device 13b acquires information on the image of Step 9 and the image of the comb.
　さらに、点検ロボット１３において、取得装置１３ｂは、隣接したステップ９の隙間の点検に必要な情報を取得する。具体的には、取得装置１３ｂは、隣接したステップ９の画像の情報を取得する。取得装置１３ｂは、ライザーとデマケーションコムとの接触音の情報を取得する。 Furthermore, in the inspection robot 13, the acquisition device 13b acquires information necessary for inspection of the gap in the adjacent step 9. Specifically, the acquisition device 13b acquires information on the image of the adjacent step 9. The acquisition device 13b acquires information on the contact sound between the riser and the demarcation comb.
　図示されないが、第２点検が実施される際、作業員は、スカートガード１０の端部の付近において点検ロボット１３を下部ランディングプレート４または下部コムプレートの上面に配置させる。その後、作業員は、点検ロボット１３に第２点検に対応した動作を実施させる。 Although not shown, when the second inspection is performed, the worker places the inspection robot 13 on the upper surface of the lower landing plate 4 or the lower comb plate in the vicinity of the end of the skirt guard 10. Thereafter, the worker causes the inspection robot 13 to perform an operation corresponding to the second inspection.
　この際、点検ロボット１３において、取得装置１３ｂは、移動手摺１２の状態と移動手摺１２の遅れと移動手摺１２のスリップ率との点検に必要な情報を取得する。具体的には、取得装置１３ｂは、移動手摺１２が移動している際の移動手摺１２の画像の情報を取得する。取得装置１３ｂは、移動手摺１２が移動している際の移動手摺１２の付近の音の情報を取得する。 At this time, in the inspection robot 13, the acquisition device 13b acquires information necessary for checking the state of the moving handrail 12, the delay of the moving handrail 12, and the slip rate of the moving handrail 12. Specifically, the acquisition device 13b acquires information on the image of the moving handrail 12 when the moving handrail 12 is moving. The acquisition device 13b acquires information on sound in the vicinity of the moving handrail 12 when the moving handrail 12 is moving.
　なお、移動手摺１２の遅れの点検は、移動手摺１２が下部乗降口１から上部乗降口２までの間に予め設定された長さ以上の遅れがあるか否かを判定する点検である。例えば、移動手摺１２が下部乗降口１から上部乗降口２までの間に予め設定された長さ以上の遅れがある場合、移動手摺１２の遅れがあると判定される。移動手摺１２のスリップ率の点検は、移動手摺１２の遅れがあると判定された際に必要となる。移動手摺１２のスリップ率は、予め設定された計算式に基づいて算出される。移動手摺１２のスリップ率の点検が行われた後、当該スリップ率に基づいて移動手摺１２に対する手入れが行われる。 The delay check of the moving handrail 12 is an inspection for determining whether or not the moving handrail 12 has a delay of a predetermined length or more between the lower entrance 1 and the upper entrance 2. For example, when the moving handrail 12 has a delay of a predetermined length or more between the lower entrance 1 and the upper entrance 2, it is determined that there is a delay of the moving handrail 12. The inspection of the slip rate of the moving handrail 12 is necessary when it is determined that there is a delay in the moving handrail 12. The slip ratio of the moving handrail 12 is calculated based on a preset calculation formula. After the slip ratio of the moving handrail 12 is checked, the moving handrail 12 is maintained based on the slip ratio.
　さらに、点検ロボット１３において、取得装置１３ｂは、乗客コンベアの運転状態とステップ９の移動速度との点検に必要な情報を取得する。具体的には、取得装置１３ｂは、ステップ９が移動している際のステップ９の画像の情報を取得する。取得装置１３ｂは、ステップ９が移動する際の音の情報を取得する。取得装置１３ｂは、ステップ９が移動している際の点検ロボット１３の振動の情報を取得する。 Furthermore, in the inspection robot 13, the acquisition device 13b acquires information necessary for the inspection of the operation state of the passenger conveyor and the moving speed in Step 9. Specifically, the acquisition device 13b acquires the image information of Step 9 when Step 9 is moving. The acquisition device 13b acquires sound information when step 9 moves. The acquisition device 13b acquires vibration information of the inspection robot 13 when step 9 is moving.
　さらに、点検ロボット１３において、取得装置１３ｂは、図示されないブレーキの動作の点検に必要な情報を取得する。具体的には、取得装置１３ｂは、ブレーキの動作中におけるステップ９の画像の情報を取得する。取得装置１３ｂは、ブレーキの動作中における音の情報を取得する。取得装置１３ｂは、ブレーキの動作中における点検ロボット１３の振動の情報を取得する。 Furthermore, in the inspection robot 13, the acquisition device 13b acquires information necessary for inspection of brake operation (not shown). Specifically, the acquisition device 13b acquires information on the image in step 9 during the operation of the brake. The acquisition device 13b acquires sound information during the operation of the brake. The acquisition device 13b acquires information on the vibration of the inspection robot 13 during the operation of the brake.
　さらに、点検ロボット１３において、取得装置１３ｂは、ステップ９とスカートガード１０との間隙または接触等の点検に必要な情報を取得する。例えば、取得装置１３ｂは、上から２段目のステップ９とスカートガード１０との間隙Ｌ１およびＲ１の点検に必要な情報を取得する。例えば、取得装置１３ｂは、上から４段目のステップ９とスカートガード１０との間隙Ｌ２およびＲ２の点検に必要な情報を取得する。例えば、取得装置１３ｂは、上部から中央部の最大個所となるステップ９とスカートガード１０との間隙Ｌ３およびＲ３の点検に必要な情報を取得する。例えば、取得装置１３ｂは、中央部から下部の最大個所となるステップ９とスカートガード１０との間隙Ｌ４およびＲ４の点検に必要な情報を取得する。例えば、取得装置１３ｂは、下から５段目のステップ９とスカートガード１０との間隙Ｌ５およびＲ５の点検に必要な情報を取得する。例えば、取得装置１３ｂは、下から３段目のステップ９とスカートガード１０との間隙Ｌ６およびＲ６の点検に必要な情報を取得する。具体的には、取得装置１３ｂは、ステップ９とスカートガード１０との間隙の画像の情報を取得する。 Furthermore, in the inspection robot 13, the acquisition device 13 b acquires information necessary for inspection such as a gap or contact between the step 9 and the skirt guard 10. For example, the acquisition device 13b acquires information necessary for checking the gaps L1 and R1 between the step 9 in the second step from the top and the skirt guard 10. For example, the acquisition device 13b acquires information necessary for checking the gaps L2 and R2 between the step 9 in the fourth step from the top and the skirt guard 10. For example, the acquisition device 13b acquires information necessary for inspecting the gaps L3 and R3 between the step 9 and the skirt guard 10 which are the maximum portion from the top to the center. For example, the acquisition device 13b acquires information necessary for inspecting the gaps L4 and R4 between the step 9 and the skirt guard 10 which are the maximum portions from the central portion to the lower portion. For example, the acquisition device 13b acquires information necessary for checking the gaps L5 and R5 between step 9 and the skirt guard 10 in the fifth step from the bottom. For example, the acquisition device 13b acquires information necessary for checking the gaps L6 and R6 between the step 9 in the third step from the bottom and the skirt guard 10. Specifically, the acquisition device 13b acquires information on the image of the gap between the step 9 and the skirt guard 10.
　当該画像は、ステップ９とスカートガード１０との間隙等の点検に利用される。例えば、当該画像は、ステップ９と一対のスカートガード１０の一方との間隙が予め設定された範囲内であるか否かの点検に利用される。例えば、当該画像は、ステップ９と一対のスカートガード１０の他方との間隙が予め設定された範囲内であるか否かの点検に利用される。例えば、当該画像は、ステップ９と一対のスカートガード１０の一方との間隙とステップ９と一対のスカートガード１０の他方との間隙との合計が予め設定された範囲内であるか否かの点検に利用される。例えば、当該画像は、ステップ９とスカートガード１０との平行度合いが予め設定された範囲内であるか否かの点検に利用される。例えば、当該画像は、隣接するステップ９の間隙が予め設定された範囲内であるか否かの点検に利用される。例えば、当該画像は、ステップ９とスカートガード１０とが接触するか否かの点検に利用される。例えば、当該画像は、スカートガード１０と櫛との間隙が予め設定された範囲内であるか否かの点検に利用される。 The image is used for checking the gap between the step 9 and the skirt guard 10. For example, the image is used for checking whether or not the gap between step 9 and one of the pair of skirt guards 10 is within a preset range. For example, the image is used for checking whether or not the gap between Step 9 and the other of the pair of skirt guards 10 is within a preset range. For example, the image is checked whether the sum of the gap between step 9 and one of the pair of skirt guards 10 and the gap between step 9 and the other of the pair of skirt guards 10 is within a preset range. Used for For example, the image is used for checking whether or not the degree of parallelism between the step 9 and the skirt guard 10 is within a preset range. For example, the image is used for checking whether or not the gap in the adjacent step 9 is within a preset range. For example, the image is used for checking whether the step 9 and the skirt guard 10 are in contact with each other. For example, the image is used for checking whether or not the gap between the skirt guard 10 and the comb is within a preset range.
　さらに、点検ロボット１３において、取得装置１３ｂは、スカートガード１０の点検に必要な情報を取得する。具体的には、取得装置１３ｂは、スカートガード１０の画像の情報を取得する。 Furthermore, in the inspection robot 13, the acquisition device 13b acquires information necessary for the inspection of the skirt guard 10. Specifically, the acquisition device 13b acquires image information of the skirt guard 10.
　当該画像は、スカートガード１０の点検に利用される。例えば、当該画像は、スカートガード１０のネジがスカートガード１０の表面から突き出しているか否かの点検に利用される。 The image is used for checking the skirt guard 10. For example, the image is used for checking whether or not the screw of the skirt guard 10 protrudes from the surface of the skirt guard 10.
　さらに、点検ロボット１３において、取得装置１３ｂは、乗客コンベアの照明と意匠との点検に必要な情報を取得する。例えば、取得装置１３ｂは、エースラインの劣化と球切れの点検に必要な情報を取得する。例えば、取得装置１３ｂは、インナーデッキの取り付け状態とスカートガード１０の取り付け状態とビスの締め付け状態と移動手摺１２の損傷との点検に必要な情報を取得する。例えば、取得装置１３ｂは、アウターデッキの変形の点検に必要な情報を取得する。例えば、取得装置１３ｂは、隣接した透明型ガラスパネルの間隙の点検に必要な情報を取得する。例えば、取得装置１３ｂは、透明型ガラスパネルの傷の点検に必要な情報を取得する。例えば、取得装置１３ｂは、透明型ガラスパネルの下部の飛散防止用フィルムの剥がれの点検に必要な情報を取得する。例えば、取得装置１３ｂは、非透明型パネルの汚損と発錆との点検に必要な情報を取得する。例えば、取得装置１３ｂは、オーナメントの変形と損傷との点検に必要な情報を取得する。具体的には、取得装置１３ｂは、乗客コンベアの照明の画像と意匠との画像との情報を取得する。 Furthermore, in the inspection robot 13, the acquisition device 13b acquires information necessary for inspection of the illumination of the passenger conveyor and the design. For example, the acquisition device 13b acquires information necessary for ace line deterioration and ball check. For example, the acquisition device 13b acquires information necessary for checking the attached state of the inner deck, the attached state of the skirt guard 10, the tightened state of the screws, and the damage of the moving handrail 12. For example, the acquisition device 13b acquires information necessary for checking the deformation of the outer deck. For example, the acquisition device 13b acquires information necessary for checking the gap between adjacent transparent glass panels. For example, the acquisition device 13b acquires information necessary for inspection of scratches on the transparent glass panel. For example, the acquisition device 13b acquires information necessary for checking peeling of the film for preventing scattering under the transparent glass panel. For example, the acquisition device 13b acquires information necessary for checking the non-transparent panel for contamination and rusting. For example, the acquisition device 13b acquires information necessary for checking the deformation and damage of the ornament. Specifically, the acquisition device 13b acquires information on the illumination image of the passenger conveyor and the image of the design.
　図２に示されるように、第３点検が実施される際、作業員は、下部ランディングプレート４から下部マンホール５を取り外す。その後、作業員は、下部ランディングプレート４または下部コムプレートの付近において点検ロボット１３を下部ランディングプレート４または下部コムプレートの上面に配置させる。その後、作業員は、点検ロボット１３に第３点検に対応した動作を実施させる。 As shown in FIG. 2, when the third inspection is performed, the worker removes the lower manhole 5 from the lower landing plate 4. Thereafter, the worker places the inspection robot 13 on the upper surface of the lower landing plate 4 or the lower comb plate in the vicinity of the lower landing plate 4 or the lower comb plate. Thereafter, the worker causes the inspection robot 13 to perform an operation corresponding to the third inspection.
　この際、点検ロボット１３において、取得装置１３ｂは、下部機械室３の内部の環境の点検に必要な情報を取得する。例えば、取得装置１３ｂは、下部機械室３の内部の油の状態と砂の状態と埃の状態と異臭と異常音との点検に必要な情報を取得する。具体的には、取得装置１３ｂは、下部機械室３の内部の画像の情報を取得する。取得装置１３ｂは、下部機械室３の内部の音の情報を取得する。 At this time, in the inspection robot 13, the acquisition device 13b acquires information necessary for inspection of the environment inside the lower machine room 3. For example, the acquisition device 13b acquires information necessary for checking the oil state, the sand state, the dust state, the strange odor, and the abnormal sound inside the lower machine chamber 3. Specifically, the acquisition device 13b acquires information on an image inside the lower machine room 3. The acquisition device 13 b acquires sound information inside the lower machine room 3.
　さらに、点検ロボット１３において、取得装置１３ｂは、図示されない駆動ローラの劣化または損傷の点検に必要な情報を取得する。具体的には、取得装置１３ｂは、駆動ローラの回転状態を示す画像の情報を取得する。取得装置１３ｂは、駆動ローラの軸のがたつきを示す画像の情報を取得する。取得装置１３ｂは、駆動ローラの音の情報を取得する。 Further, in the inspection robot 13, the acquisition device 13b acquires information necessary for checking deterioration or damage of the drive roller (not shown). Specifically, the acquisition device 13b acquires image information indicating the rotation state of the drive roller. The acquisition device 13b acquires information of an image indicating the shakiness of the drive roller shaft. The acquisition device 13b acquires sound information of the drive roller.
　さらに、点検ロボット１３において、取得装置１３ｂは、ステップチェーンスイッチの設定とステップチェーンスイッチカムの揺動範囲との点検に必要な情報を取得する。具体的には、取得装置１３ｂは、ステップチェーンスイッチのスプリングの画像の情報を取得する。取得装置１３ｂは、ステップチェーンスイッチカムの画像の情報を取得する。 Furthermore, in the inspection robot 13, the acquisition device 13b acquires information necessary for checking the setting of the step chain switch and the swing range of the step chain switch cam. Specifically, the acquisition device 13b acquires information on the image of the spring of the step chain switch. The acquisition device 13b acquires image information of the step chain switch cam.
　その後、作業員は、下部ランディングプレート４に下部マンホール５を取り付ける。 After that, the worker attaches the lower manhole 5 to the lower landing plate 4.
　図示されないが、第４点検が実施される際、作業員は、櫛の付近において点検ロボット１３を上部ランディングプレート７または上部コムプレートの上面に配置させる。その後、作業員は、点検ロボット１３に第４点検に対応した動作を実施させる。 Although not shown, when the fourth inspection is performed, the worker places the inspection robot 13 on the upper surface of the upper landing plate 7 or the upper comb plate in the vicinity of the comb. Thereafter, the worker causes the inspection robot 13 to perform an operation corresponding to the fourth inspection.
　この際、点検ロボット１３において、取得装置１３ｂは、ステップ９と櫛との間隙の点検または衝突の点検に必要な情報を取得する。具体的には、取得装置１３ｂは、ステップ９と櫛との間隙の画像の情報を取得する。取得装置１３ｂは、ステップ９と櫛との間隙の付近の音の情報を取得する。 At this time, in the inspection robot 13, the acquisition device 13b acquires information necessary for checking the gap between the step 9 and the comb or checking the collision. Specifically, the acquisition device 13b acquires information on the image of the gap between Step 9 and the comb. The acquisition device 13b acquires sound information in the vicinity of the gap between the step 9 and the comb.
　さらに、点検ロボット１３において、取得装置１３ｂは、ステップ９の破損と櫛の破損とステップ９の注意標識の汚れとの点検に必要な情報を取得する。例えば、ステップ９のデマケーションコムとデマケーションクリートとライザーと踏板との破損の点検に必要な情報を取得する。具体的には、取得装置１３ｂは、ステップ９の画像と櫛の画像との情報を取得する。 Further, in the inspection robot 13, the acquisition device 13 b acquires information necessary for checking the damage in step 9, the comb, and the caution sign in step 9. For example, information necessary for the inspection of the damage of the demarcation comb, the demarcation cleat, the riser, and the tread in Step 9 is acquired. Specifically, the acquisition device 13b acquires information on the image of Step 9 and the image of the comb.
　図示されないが、第５点検が実施される際、作業員は、上部ランディングプレート７から上部マンホール８を取り外す。その後、作業員は、上部ランディングプレート７または上部コムプレートの付近において点検ロボット１３を上部ランディングプレート７または上部コムプレートの上面に配置させる。その後、作業員は、点検ロボット１３に第５点検に対応した動作を実施させる。 Although not shown, when the fifth inspection is performed, the worker removes the upper manhole 8 from the upper landing plate 7. Thereafter, the worker places the inspection robot 13 on the upper surface of the upper landing plate 7 or the upper comb plate in the vicinity of the upper landing plate 7 or the upper comb plate. Thereafter, the worker causes the inspection robot 13 to perform an operation corresponding to the fifth inspection.
　この際、点検ロボット１３において、取得装置１３ｂは、上部機械室６の内部の環境の点検に必要な情報を取得する。例えば、取得装置１３ｂは、上部機械室６の内部の油の状態と砂の状態と埃の状態と異臭と異常音との点検に必要な情報を取得する。具体的には、取得装置１３ｂは、上部機械室６の内部の画像の情報を取得する。取得装置１３ｂは、上部機械室６の内部の音の情報を取得する。 At this time, in the inspection robot 13, the acquisition device 13b acquires information necessary for inspection of the environment inside the upper machine room 6. For example, the acquisition device 13b acquires information necessary for checking the oil state, the sand state, the dust state, the strange odor, and the abnormal sound inside the upper machine chamber 6. Specifically, the acquisition device 13b acquires image information inside the upper machine room 6. The acquisition device 13b acquires sound information inside the upper machine room 6.
　さらに、点検ロボット１３において、取得装置１３ｂは、図示されない給油器に蓄えられた油の量の点検に情報を取得する。具体的には、取得装置１３ｂは、給油器の点検ゲージの画像の情報を取得する。 Furthermore, in the inspection robot 13, the acquisition device 13b acquires information for checking the amount of oil stored in a fuel dispenser (not shown). Specifically, the acquisition device 13b acquires information on an image of an inspection gauge of the fuel filler.
　さらに、点検ロボット１３において、取得装置１３ｂは、ステップチェーンへの給油状態の点検に必要な情報を取得する。具体的には、取得装置１３ｂは、ステップチェーンの画像の情報を取得する。取得装置１３ｂは、ステップチェーンの音の情報を取得する。 Furthermore, in the inspection robot 13, the acquisition device 13b acquires information necessary for checking the oil supply state of the step chain. Specifically, the acquisition device 13b acquires information on the image of the step chain. The acquisition device 13b acquires step chain sound information.
　さらに、点検ロボット１３において、取得装置１３ｂは、ドライブユニットとドライブチェーンとステップチェーンスプロケットとの点検に必要な情報を取得する。具体的には、取得装置１３ｂは、ドライブユニットとドライブチェーンとステップチェーンスプロケットとの画像の情報を取得する。取得装置１３ｂは、ドライブユニットとドライブチェーンとステップチェーンスプロケットとの音の情報を取得する。 Furthermore, in the inspection robot 13, the acquisition device 13b acquires information necessary for inspection of the drive unit, the drive chain, and the step chain sprocket. Specifically, the acquisition device 13b acquires image information of the drive unit, the drive chain, and the step chain sprocket. The acquisition device 13b acquires sound information of the drive unit, the drive chain, and the step chain sprocket.
　その後、作業員は、上部ランディングプレート７に上部マンホール８を取り付ける。 After that, the worker attaches the upper manhole 8 to the upper landing plate 7.
　図３に示されるように、第６点検が実施される際、作業員は、点検ロボット１３をステップ９の上面に配置させる。その後、作業員は、点検ロボット１３に第６点検に対応した動作を実施させる。 3, when the sixth inspection is performed, the worker places the inspection robot 13 on the upper surface of Step 9. Thereafter, the worker causes the inspection robot 13 to perform an operation corresponding to the sixth inspection.
　この際、点検ロボット１３において、取得装置１３ｂは、乗客コンベアの運転状態の点検に必要な情報を取得する。例えば、取得装置１３ｂは、異常音と乗心地との点検に必要な情報を取得する。具体的には、取得装置１３ｂは、ステップ９が移動している際のステップ９の画像の情報を取得する。取得装置１３ｂは、ステップ９が移動している際の音の情報を取得する。取得装置１３ｂは、ステップ９が移動している際の点検ロボット１３の振動の情報を取得する。取得装置１３ｂは、移動手摺１２が移動している際の移動手摺１２の画像の情報を取得する。取得装置１３ｂは、移動手摺１２が移動している際の移動手摺１２の音の情報を取得する。取得装置１３ｂは、図示されないドライブユニットの音の情報を取得する。 At this time, in the inspection robot 13, the acquisition device 13b acquires information necessary for checking the operation state of the passenger conveyor. For example, the acquisition device 13b acquires information necessary for checking abnormal sounds and riding comfort. Specifically, the acquisition device 13b acquires the image information of Step 9 when Step 9 is moving. The acquisition device 13b acquires sound information when step 9 is moving. The acquisition device 13b acquires vibration information of the inspection robot 13 when step 9 is moving. The acquisition device 13b acquires information on the image of the moving handrail 12 when the moving handrail 12 is moving. The acquisition device 13b acquires information on the sound of the moving handrail 12 when the moving handrail 12 is moving. The acquisition device 13b acquires sound information of a drive unit (not shown).
　さらに、点検ロボット１３において、取得装置１３ｂは、図示されないブレーキの動作の点検に必要な情報を取得する。具体的には、取得装置１３ｂは、ブレーキの動作中におけるステップ９の画像の情報を取得する。取得装置１３ｂは、ブレーキの動作中における音の情報を取得する。取得装置１３ｂは、ブレーキの動作中における点検ロボット１３の振動の情報を取得する。取得装置１３ｂは、ブレーキによるステップ９の加速度の変化時間に基づいて停止距離の情報を取得する。 Furthermore, in the inspection robot 13, the acquisition device 13b acquires information necessary for inspection of brake operation (not shown). Specifically, the acquisition device 13b acquires information on the image in step 9 during the operation of the brake. The acquisition device 13b acquires sound information during the operation of the brake. The acquisition device 13b acquires information on the vibration of the inspection robot 13 during the operation of the brake. The acquisition device 13b acquires information on the stop distance based on the acceleration change time of step 9 by the brake.
　さらに、点検ロボット１３において、取得装置１３ｂは、ステップ９とスカートガード１０との接触の点検に必要な情報を取得する。具体的には、取得装置１３ｂは、ステップ９とスカートガード１０との間隙の画像の情報を取得する。 Furthermore, in the inspection robot 13, the acquisition device 13 b acquires information necessary for checking the contact between the step 9 and the skirt guard 10. Specifically, the acquisition device 13b acquires information on the image of the gap between the step 9 and the skirt guard 10.
　さらに、点検ロボット１３において、取得装置１３ｂは、スカートガード１０のコーティングの剥離または損傷の点検に必要な情報を取得する。具体的には、取得装置１３ｂは、スカートガード１０の画像の情報を取得する。 Furthermore, in the inspection robot 13, the acquisition device 13 b acquires information necessary for checking the coating detachment or damage of the skirt guard 10. Specifically, the acquisition device 13b acquires image information of the skirt guard 10.
　さらに、点検ロボット１３において、取得装置１３ｂは、乗客コンベアの照明と意匠との点検に必要な情報を取得する。例えば、取得装置１３ｂは、エースラインの劣化と球切れとの点検に必要な情報を取得する。例えば、取得装置１３ｂは、インナーデッキの取り付け状態とスカートガード１０の取り付け状態とビスの締め付け状態と移動手摺１２の損傷との点検に必要な情報を取得する。具体的には、取得装置１３ｂは、乗客コンベアの照明の画像と意匠の画像との情報を取得する。 Furthermore, in the inspection robot 13, the acquisition device 13b acquires information necessary for inspection of the illumination of the passenger conveyor and the design. For example, the acquisition device 13b acquires information necessary for checking ace line deterioration and ball breakage. For example, the acquisition device 13b acquires information necessary for checking the attached state of the inner deck, the attached state of the skirt guard 10, the tightened state of the screws, and the damage of the moving handrail 12. Specifically, the acquisition device 13b acquires information on the illumination image of the passenger conveyor and the design image.
　図４に示されるように、第７点検が実施される際、作業員は、少なくとも一つのステップ９を取り外す。例えば、作業員は、隣接した複数のステップ９を取り外す。その後、作業員は、ステップ９が取り外された位置の直下のステップ９の上面に点検ロボット１３を配置させる。その後、作業員は、点検ロボット１３に第７点検に対応した動作を実施させる。 As shown in FIG. 4, when the seventh inspection is performed, the worker removes at least one step 9. For example, the worker removes a plurality of adjacent steps 9. Thereafter, the worker places the inspection robot 13 on the upper surface of Step 9 immediately below the position where Step 9 is removed. Thereafter, the worker causes the inspection robot 13 to perform an operation corresponding to the seventh inspection.
　この際、点検ロボット１３において、取得装置１３ｂは、図示されないステップ軸の点検に必要な情報を取得する。具体的には、取得装置１３ｂは、ステップ軸の画像の情報を取得する。 At this time, in the inspection robot 13, the acquisition device 13b acquires information necessary for checking a step axis (not shown). Specifically, the acquisition device 13b acquires information on the image of the step axis.
　さらに、点検ロボット１３において、取得装置１３ｂは、ステップ９の裏面の点検に必要な情報を取得する。具体的には、取得装置１３ｂは、ステップ９が取り外された位置よりも上方のステップ９の裏面の画像の情報を取得する。 Furthermore, in the inspection robot 13, the acquisition device 13b acquires information necessary for the inspection of the back surface in Step 9. Specifically, the acquisition device 13b acquires information on the back side image of Step 9 above the position where Step 9 was removed.
　その後、作業員は、取り外されたステップ９を元の位置に取り付ける。 After that, the worker attaches the removed step 9 to the original position.
　次に、図５を用いて、ステップ９とスカートガード１０との間隙の測定方法を説明する。
　図５はこの発明の実施の形態１における乗客コンベアの点検ロボットによるステップとスカートガードとの間隙の測定方法を説明するための図である。 Next, a method for measuring the gap between the step 9 and the skirt guard 10 will be described with reference to FIG.
FIG. 5 is a diagram for explaining a method of measuring the gap between the step and the skirt guard by the passenger conveyor inspection robot according to Embodiment 1 of the present invention.
　図５に示されるように、点検ロボット１３は、ステップ９の縦縞に沿った状態で移動しないように固定される。その後、点検ロボット１３は、レーザー距離センサーを用いて上側に隣接したステップ９のライザーの左側端部までの距離Ｄ１を測定する。その後、点検ロボット１３は、レーザー距離センサーを用いて上側に隣接したステップ９のライザーの右側端部までの距離Ｄ２を測定する。その後、点検ロボット１３は、ステップ９の固定長Ｄ７と距離Ｄｌと距離Ｄ２との比較により、レーザー距離センサーの位置を算出する。具体的には、点検ロボット１３は、図５の距離Ｄ３と距離Ｄ４とを算出する。その後、点検ロボット１３は、レーザー距離センサーを用いて一対のスカートガード１０の一方までの距離Ｄ５を測定する。その後、点検ロボット１３は、レーザー距離センサーを用いて一対のスカートガード１０の他方までの距離Ｄ６を測定する。 As shown in FIG. 5, the inspection robot 13 is fixed so as not to move along the vertical stripes in step 9. Thereafter, the inspection robot 13 measures the distance D1 to the left end of the riser in Step 9 adjacent to the upper side using a laser distance sensor. Thereafter, the inspection robot 13 measures the distance D2 to the right end of the riser in Step 9 adjacent to the upper side using a laser distance sensor. Thereafter, the inspection robot 13 calculates the position of the laser distance sensor by comparing the fixed length D7 in Step 9 with the distance Dl and the distance D2. Specifically, the inspection robot 13 calculates the distance D3 and the distance D4 in FIG. Thereafter, the inspection robot 13 measures the distance D5 to one of the pair of skirt guards 10 using a laser distance sensor. Thereafter, the inspection robot 13 measures the distance D6 to the other of the pair of skirt guards 10 using a laser distance sensor.
　点検ロボット１３は、乗客コンベアの運転中に予め設定された位置においてステップ９とスカートガード１０との間隙を測定する。例えば、点検ロボット１３は、距離Ｄ５から距離Ｄ３を差し引いて間隙Ｌ１から間隙Ｌ６を順次測定する。例えば、点検ロボット１３は、距離Ｄ６から距離Ｄ４を差し引いて間隙Ｒ１から間隙Ｒ６を順次測定する。 The inspection robot 13 measures the gap between the step 9 and the skirt guard 10 at a preset position during operation of the passenger conveyor. For example, the inspection robot 13 sequentially measures the gap L1 to the gap L6 by subtracting the distance D3 from the distance D5. For example, the inspection robot 13 sequentially measures the gap R1 to the gap R6 by subtracting the distance D4 from the distance D6.
　以上で説明した実施の形態１によれば、取得装置１３ｂは、乗客コンベアの画像の情報と乗客コンベアが発する音の情報と乗客コンベアが発する振動の情報とのうちの少なくとも一つを乗客コンベアの状態の情報として取得する。記録装置１３ｃは、取得装置１３ｂが乗客コンベアの状態の情報を取得した際に乗客コンベアの状態の情報を記録する。このため、乗客コンベアの点検時において作業員による点検作業を減らすことができる。 According to the first embodiment described above, the acquisition device 13b receives at least one of the image information of the passenger conveyor, the sound information generated by the passenger conveyor, and the vibration information generated by the passenger conveyor. Obtained as status information. The recording device 13c records information on the state of the passenger conveyor when the acquisition device 13b acquires information on the state of the passenger conveyor. For this reason, the inspection work by an operator can be reduced at the time of inspection of a passenger conveyor.
　なお、乗客コンベアの操作盤の動作の点検に点検ロボット１３を用いてもよい。この際、作業員による操作盤の操作に基づいた音の変化または照明の照度の変化等の情報を点検ロボット１３で取得すればよい。 The inspection robot 13 may be used for checking the operation of the operation panel of the passenger conveyor. At this time, information such as a change in sound or a change in illumination illuminance based on the operation of the operation panel by the worker may be acquired by the inspection robot 13.
　また、安全設備対策点検に点検ロボット１３を用いてもよい。例えば、交差部固定保護板と交差部可動警告板と落下物防止網と転落防止策と登り防止用仕切板と進入防止用仕切板と注意ラベルと誘導柵との取り付け状態の点検に点検ロボット１３を用いてもよい。例えば、交差部固定保護板と交差部可動警告板と落下物防止網と転落防止策と登り防止用仕切板と進入防止用仕切板と注意ラベルと誘導柵との破損の点検に点検ロボット１３を用いてもよい。例えば、注意放送の音声状態の点検に点検ロボット１３を用いてもよい。 Also, the inspection robot 13 may be used for safety equipment countermeasure inspection. For example, the inspection robot 13 can be used to check the mounting state of the intersection fixed protection plate, the intersection movable warning plate, the falling object prevention net, the fall prevention measure, the climbing prevention partition plate, the entry prevention partition plate, the caution label, and the guide fence. May be used. For example, the inspection robot 13 can be used to check for damage to the intersection fixed protection plate, the intersection movable warning plate, the falling object prevention net, the fall prevention measure, the climbing prevention partition plate, the entry prevention partition plate, the caution label, and the guide fence. It may be used. For example, the inspection robot 13 may be used to check the sound state of the caution broadcast.
　また、下部マンホール５と上部マンホール８との化粧ネジの取り付け状態の点検に点検ロボット１３を用いてもよい。この場合、化粧ネジの頭が出ているか否かを点検することができる。その結果、利用者が化粧ネジの頭につまずくことを抑制できる。 Further, the inspection robot 13 may be used for checking the attachment state of the decorative screw between the lower manhole 5 and the upper manhole 8. In this case, it can be checked whether or not the head of the decorative screw is protruding. As a result, the user can be prevented from tripping over the head of the decorative screw.
　また、スカートガード１０のコーティング面におけるシリコンの塗布状態の点検に点検ロボット１３を用いてもよい。 Further, the inspection robot 13 may be used for checking the silicon application state on the coating surface of the skirt guard 10.
　また、乗客コンベアの試運転の点検に点検ロボット１３を用いてもよい。例えば、各機器の異常音の点検に点検ロボット１３を用いてもよい。例えば、各機器の振動の点検に点検ロボット１３を用いてもよい。例えば、隣接した機器の接触の点検に点検ロボット１３を用いてもよい。例えば、各機器の外観の点検に点検ロボット１３を用いてもよい。例えば、各機器の設置状態の点検に点検ロボット１３を用いてもよい。例えば、インナーデッキのビスの締め付け状態の点検に点検ロボット１３を用いてもよい。例えば、養生シールの貼り付け状態の点検に点検ロボット１３を用いてもよい。例えば、ブレーキの制動音の点検に点検ロボット１３を用いてもよい。例えば、ブレーキのスリップ量の点検に点検ロボット１３を用いてもよい。 In addition, the inspection robot 13 may be used for checking the trial run of the passenger conveyor. For example, the inspection robot 13 may be used for inspecting abnormal sounds of each device. For example, the inspection robot 13 may be used for checking the vibration of each device. For example, the inspection robot 13 may be used for checking the contact between adjacent devices. For example, the inspection robot 13 may be used to inspect the appearance of each device. For example, the inspection robot 13 may be used for checking the installation state of each device. For example, the inspection robot 13 may be used for checking the tightening state of the screws on the inner deck. For example, the inspection robot 13 may be used for checking the pasting state of the curing seal. For example, the inspection robot 13 may be used for checking the braking sound of the brake. For example, the inspection robot 13 may be used for checking the brake slip amount.
　また、制動機等の点検に点検ロボット１３を用いてもよい。例えば、ラチェットホイールの位置設定の点検に点検ロボット１３を用いてもよい。例えば、駆動チェーンの張力が基準値の場合におけるラチェットホイールとラチェットボールの間隙の点検に点検ロボット１３を用いてもよい。例えば、マイクロスイッチの取り付け状態の点検に点検ロボット１３を用いてもよい。例えば、マイクロスイッチへの油の付着と汚れとの点検に点検ロボット１３を用いてもよい。例えば、制動機の軸受部における摩耗粉と錆との点検に点検ロボット１３を用いてもよい。 In addition, the inspection robot 13 may be used for checking the brakes and the like. For example, the inspection robot 13 may be used for checking the position setting of the ratchet wheel. For example, the inspection robot 13 may be used for checking the gap between the ratchet wheel and the ratchet ball when the tension of the drive chain is a reference value. For example, the inspection robot 13 may be used for checking the attachment state of the microswitch. For example, the inspection robot 13 may be used for checking oil adhesion and dirt on the microswitch. For example, the inspection robot 13 may be used for checking wear powder and rust in the bearing portion of the brake.
　また、乗客コンベアの状態の情報は、乗客コンベアの点検が行われるたびに当該乗客コンベアのカルテとして作業内容の情報と対応付けて蓄積される。蓄積された情報は、ビッグデータとして様々な分析に活用される。例えば、蓄積された情報は、乗客コンベアの作業計画の最適化に活用される。例えば、蓄積された情報は、乗客コンベアの予知保全に活用される。 In addition, information on the state of the passenger conveyor is accumulated in association with work content information as a chart of the passenger conveyor each time the passenger conveyor is inspected. The accumulated information is used for various analyzes as big data. For example, the accumulated information is used for optimizing the work plan of the passenger conveyor. For example, the accumulated information is used for predictive maintenance of passenger conveyors.
実施の形態２．
　図６はこの発明の実施の形態２における乗客コンベアの点検ロボットが適用される乗客コンベアシステムの模式図である。なお、実施の形態１と同一又は相当部分には、同一符号が付される。当該部分の説明は省略される。 Embodiment 2. FIG.
FIG. 6 is a schematic diagram of a passenger conveyor system to which a passenger conveyor inspection robot according to Embodiment 2 of the present invention is applied. In addition, the same code | symbol is attached | subjected to the same part as Embodiment 1, or an equivalent part. The description of this part is omitted.
　図６に示されるように、エスカレーターシステムは、第１乗客コンベアと第２乗客コンベアと第３乗客コンベアと第４乗客コンベアと第５乗客コンベアと第６乗客コンベアとを備える。 As shown in FIG. 6, the escalator system includes a first passenger conveyor, a second passenger conveyor, a third passenger conveyor, a fourth passenger conveyor, a fifth passenger conveyor, and a sixth passenger conveyor.
　第１乗客コンベアは、１階と２階とにまたがる。第１乗客コンベアの下部は、建築物の一側に設けられる。第１乗客コンベアの上部は、建築物の他側に設けられる。 The first passenger conveyor spans the first and second floors. The lower part of the first passenger conveyor is provided on one side of the building. The upper part of the first passenger conveyor is provided on the other side of the building.
　第２乗客コンベアは、２階と３階とにまたがる。第２乗客コンベアの下部は、建築物の他側に設けられる。第２乗客コンベアの上部は、建築物の一側に設けられる。 The second passenger conveyor spans the 2nd and 3rd floors. The lower part of the second passenger conveyor is provided on the other side of the building. The upper part of the second passenger conveyor is provided on one side of the building.
　第３乗客コンベアは、３階と４階とにまたがる。第３乗客コンベアの下部は、建築物の一側に設けられる。第３乗客コンベアの上部は、建築物の他側に設けられる。 The third passenger conveyor spans the 3rd and 4th floors. The lower part of the third passenger conveyor is provided on one side of the building. The upper part of the third passenger conveyor is provided on the other side of the building.
　第４乗客コンベアは、１階と２階とにまたがる。第４乗客コンベアの下部は、建築物の他側に設けられる。第４乗客コンベアの上部は、建築物の一側に設けられる。 The fourth passenger conveyor spans the first and second floors. The lower part of the fourth passenger conveyor is provided on the other side of the building. The upper part of the fourth passenger conveyor is provided on one side of the building.
　第５乗客コンベアは、２階と３階とにまたがる。第５乗客コンベアの下部は、建築物の一側に設けられる。第５乗客コンベアの上部は、建築物の他側に設けられる。 The fifth passenger conveyor spans the 2nd and 3rd floors. The lower part of the fifth passenger conveyor is provided on one side of the building. The upper part of the fifth passenger conveyor is provided on the other side of the building.
　第６乗客コンベアは、３階と４階とにまたがる。第６乗客コンベアの下部は、建築物の他側に設けられる。第６乗客コンベアの上部は、建築物の一側に設けられる。 The sixth passenger conveyor spans the 3rd and 4th floors. The lower part of the sixth passenger conveyor is provided on the other side of the building. The upper part of the sixth passenger conveyor is provided on one side of the building.
　第１乗客コンベアの上部と第２乗客コンベアの下部とは隣接する。第２乗客コンベアの上部と第３乗客コンベアの下部とは隣接する。第４乗客コンベアの上部と第５乗客コンベアの下部とは隣接する。第５乗客コンベアの上部と第６乗客コンベアの下部とは隣接する。 The upper part of the first passenger conveyor and the lower part of the second passenger conveyor are adjacent. The upper part of the second passenger conveyor and the lower part of the third passenger conveyor are adjacent to each other. The upper part of the fourth passenger conveyor and the lower part of the fifth passenger conveyor are adjacent to each other. The upper part of the fifth passenger conveyor and the lower part of the sixth passenger conveyor are adjacent to each other.
　エスカレーターシステムの幅方向への鉛直投影面において、第１乗客コンベアと第４乗客コンベアとは交差する。エスカレーターシステムの幅方向への鉛直投影面において、第２乗客コンベアと第５乗客コンベアとは交差する。エスカレーターシステムの幅方向への鉛直投影面において、第３乗客コンベアと第６乗客コンベアとは交差する。 The first passenger conveyor and the fourth passenger conveyor intersect on the vertical projection plane in the width direction of the escalator system. In the vertical projection plane in the width direction of the escalator system, the second passenger conveyor and the fifth passenger conveyor intersect. On the vertical projection plane in the width direction of the escalator system, the third passenger conveyor and the sixth passenger conveyor intersect.
　実施の形態２において、点検ロボット１３は、自律走行し得るように設けられる。例えば、点検ロボット１３は、本体１３ａの図示されない車輪を用いて自律走行し得るように設けられる。点検ロボット１３は、自らが存在する位置と第１乗客コンベアの位置と第２乗客コンベアの位置と第３乗客コンベアの位置と第４乗客コンベアの位置と第５乗客コンベアの位置と第６乗客コンベアの位置とを認識し得るように設けられる。例えば、点検ロボット１３は、建築物の構内地図に基づいてこれらの位置を認識する。 In the second embodiment, the inspection robot 13 is provided so as to be able to travel autonomously. For example, the inspection robot 13 is provided so as to be able to travel autonomously using a wheel (not shown) of the main body 13a. The inspection robot 13 includes the position where it exists, the position of the first passenger conveyor, the position of the second passenger conveyor, the position of the third passenger conveyor, the position of the fourth passenger conveyor, the position of the fifth passenger conveyor, and the sixth passenger conveyor. It is provided so that it can recognize the position of. For example, the inspection robot 13 recognizes these positions based on a building campus map.
　乗客コンベアの点検時において、作業員は、予め設定された操作により点検ロボット１３に移動動作を実施させる。この際、点検ロボット１３は、自らの位置に基づいて移動する。 During inspection of the passenger conveyor, the worker causes the inspection robot 13 to perform a moving operation by a preset operation. At this time, the inspection robot 13 moves based on its own position.
　例えば、点検ロボット１３は、上昇運転中の第１乗客コンベアのステップ９に１階から乗る。その後、点検ロボット１３は、第１乗客コンベアのステップ９とともに上昇する。その後、点検ロボット１３は、第１乗客コンベアのステップ９から２階に降りる。 For example, the inspection robot 13 gets on step 9 of the first passenger conveyor during the ascending operation from the first floor. Thereafter, the inspection robot 13 ascends with step 9 of the first passenger conveyor. Thereafter, the inspection robot 13 descends to the second floor from step 9 of the first passenger conveyor.
　その後、点検ロボット１３は、上昇運転中の第２乗客コンベアのステップ９に２階から乗る。その後、点検ロボット１３は、第２乗客コンベアのステップ９とともに上昇する。その後、点検ロボット１３は、第２乗客コンベアのステップ９から３階に降りる。 After that, the inspection robot 13 gets on step 9 of the second passenger conveyor in the ascending operation from the second floor. Thereafter, the inspection robot 13 ascends with step 9 of the second passenger conveyor. Thereafter, the inspection robot 13 descends to the third floor from step 9 of the second passenger conveyor.
　その後、点検ロボット１３は、上昇運転中の第３乗客コンベアのステップ９に３階から乗る。その後、点検ロボット１３は、第３乗客コンベアのステップ９とともに上昇する。その後、点検ロボット１３は、第３乗客コンベアのステップ９から４階に降りる。 After that, the inspection robot 13 gets on step 9 of the third passenger conveyor during the ascending operation from the third floor. Thereafter, the inspection robot 13 ascends with step 9 of the third passenger conveyor. Thereafter, the inspection robot 13 descends to the fourth floor from step 9 of the third passenger conveyor.
　例えば、点検ロボット１３は、下降運転中の第６乗客コンベアのステップ９に４階から乗る。その後、点検ロボット１３は、第６乗客コンベアのステップ９とともに下降する。その後、点検ロボット１３は、第６乗客コンベアのステップ９から３階に降りる。 For example, the inspection robot 13 gets on step 9 of the sixth passenger conveyor during the descent operation from the fourth floor. Thereafter, the inspection robot 13 descends with step 9 of the sixth passenger conveyor. Thereafter, the inspection robot 13 descends to the third floor from step 9 of the sixth passenger conveyor.
　その後、点検ロボット１３は、下降運転中の第５乗客コンベアのステップ９に３階から乗る。その後、点検ロボット１３は、第５乗客コンベアのステップ９とともに下降する。その後、点検ロボット１３は、第５乗客コンベアのステップ９から２階に降りる。 After that, the inspection robot 13 gets on step 9 of the fifth passenger conveyor during the descending operation from the third floor. Thereafter, the inspection robot 13 descends together with step 9 of the fifth passenger conveyor. Thereafter, the inspection robot 13 descends to the second floor from step 9 of the fifth passenger conveyor.
　その後、点検ロボット１３は、下降運転中の第４乗客コンベアのステップ９に２階から乗る。その後、点検ロボット１３は、第４乗客コンベアのステップ９とともに下降する。その後、点検ロボット１３は、第４乗客コンベアのステップ９から１階に降りる。 After that, the inspection robot 13 gets on the 9th floor of the fourth passenger conveyor during the descending operation from the second floor. Thereafter, the inspection robot 13 descends with step 9 of the fourth passenger conveyor. Thereafter, the inspection robot 13 descends to the first floor from step 9 of the fourth passenger conveyor.
　以上で説明した実施の形態２によれば、点検ロボット１３は、乗客コンベアに対して乗降する。このため、作業員が点検ロボット１３を運搬しなくても、乗客コンベアの点検を実施することができる。なお、点検ロボット１３は、点検対象の乗客コンベアまたは建築物の設備から点検対象の乗客コンベアまでの距離と進行方向との情報を受信することもある。この場合、点検ロボット１３は、当該情報に基づいて点検対象の乗客コンベアまで誘導される。 According to the second embodiment described above, the inspection robot 13 gets on and off the passenger conveyor. For this reason, even if an operator does not carry the inspection robot 13, the passenger conveyor can be inspected. The inspection robot 13 may receive information on the distance from the passenger conveyor or building equipment to be inspected to the inspection target passenger conveyor and the traveling direction. In this case, the inspection robot 13 is guided to the passenger conveyor to be inspected based on the information.
実施の形態３．
　図７はこの発明の実施の形態３における乗客コンベアの点検ロボットが適用される乗客コンベアの要部の斜視図である。なお、実施の形態２と同一又は相当部分には、同一符号が付される。当該部分の説明は省略される。 Embodiment 3 FIG.
FIG. 7 is a perspective view of the main part of a passenger conveyor to which the passenger conveyor inspection robot according to Embodiment 3 of the present invention is applied. In addition, the same code | symbol is attached | subjected to the same part as Embodiment 2, or an equivalent part. The description of this part is omitted.
　図７においては図示されないが、実施の形態３の点検ロボット１３において、制御装置１３ｄは、乗客コンベアの図示されない制御装置との間で情報を送受信する。制御装置１３ｄは、乗客コンベアの動作を制御する。例えば、制御装置１３ｄは、乗客コンベアの運転と停止とを制御する。例えば、制御装置１３ｄは、ステップ９を予め設定された距離だけ移動させる。例えば、制御装置１３ｄは、乗客コンベアの利用者の有無を判定する。例えば、制御装置１３ｄは、乗客コンベアの図示されないブザーを動作させる。 Although not shown in FIG. 7, in the inspection robot 13 of the third embodiment, the control device 13d transmits and receives information to and from a control device (not shown) of the passenger conveyor. The control device 13d controls the operation of the passenger conveyor. For example, the control device 13d controls the operation and stop of the passenger conveyor. For example, the control device 13d moves Step 9 by a preset distance. For example, the control device 13d determines the presence or absence of a passenger conveyor user. For example, the control device 13d operates a buzzer (not shown) of the passenger conveyor.
　次に、図８を用いて、制御装置１３ｄの動作の概要を説明する。
　図８はこの発明の実施の形態３における乗客コンベアの点検ロボットの制御装置の動作の概要を説明するためのフローチャートである。 Next, an outline of the operation of the control device 13d will be described with reference to FIG.
FIG. 8 is a flowchart for explaining the outline of the operation of the control device for the inspection robot for passenger conveyors in the third embodiment of the present invention.
　ステップＳ１では、制御装置１３ｄは、現時刻が乗客コンベアの点検を開始する時刻か否かを判定する。ステップＳ１で現時刻が乗客コンベアの点検を開始する時刻でない場合、制御装置１３ｄは、点検を開始する時刻まで待機する。ステップＳ１で現時刻が乗客コンベアの点検を開始する時刻である場合、制御装置１３ｄは、ステップＳ２の動作を行う。 In step S1, the control device 13d determines whether or not the current time is a time for starting the inspection of the passenger conveyor. When the current time is not the time for starting the inspection of the passenger conveyor in step S1, the control device 13d stands by until the time for starting the inspection. When the current time is the time when the inspection of the passenger conveyor is started in step S1, the control device 13d performs the operation of step S2.
　ステップＳ２では、制御装置１３ｄは、点検内容に応じて乗客コンベアの動作を制御する。その後、制御装置１３ｄは、ステップＳ３の動作を行う。ステップＳ３では、制御装置１３ｄは、点検内容に応じて取得装置１３ｂの動作と記録装置１３ｃの動作とを制御する。その後、制御装置１３ｄは、ステップＳ４の動作を行う。 In step S2, the control device 13d controls the operation of the passenger conveyor according to the inspection content. Thereafter, the control device 13d performs the operation of step S3. In step S3, the control device 13d controls the operation of the acquisition device 13b and the operation of the recording device 13c according to the inspection contents. Thereafter, the control device 13d performs the operation of step S4.
　ステップＳ４では、制御装置１３ｄは、乗客コンベアにおいて全ての点検が終了したか否かを判定する。ステップＳ４で乗客コンベアにおいて全ての点検が終了していない場合、制御装置１３ｄは、ステップＳ２の動作を行う。ステップＳ４で乗客コンベアにおいて全ての点検が終了している場合、制御装置１３ｄは、ステップＳ５の動作を行う。 In step S4, the control device 13d determines whether or not all inspections have been completed on the passenger conveyor. When all the inspections on the passenger conveyor are not completed in step S4, the control device 13d performs the operation in step S2. When all inspections are completed on the passenger conveyor in step S4, the control device 13d performs the operation of step S5.
　ステップＳ５では、制御装置１３ｄは、乗客コンベアの制御装置１３ｄに対して乗客コンベアの点検が終了したことを示す情報を送信する。その後、制御装置１３ｄは、ステップＳ１の動作を行う。 In step S5, the control device 13d transmits information indicating that the passenger conveyor inspection has been completed to the passenger conveyor control device 13d. Thereafter, the control device 13d performs the operation of step S1.
　以上で説明した実施の形態３によれば、制御装置１３ｄは、乗客コンベアの動作を制御する。このため、作業員が乗客コンベアの設定を変更しなくても、乗客コンベアの点検を自動で実施することができる。 According to the third embodiment described above, the control device 13d controls the operation of the passenger conveyor. For this reason, even if an operator does not change the setting of a passenger conveyor, a passenger conveyor can be inspected automatically.
　次に、図９を用いて、制御装置１３ｄの例を説明する。
　図９はこの発明の実施の形態３における乗客コンベアの点検ロボットの制御装置のハードウェア構成図である。 Next, an example of the control device 13d will be described with reference to FIG.
FIG. 9 is a hardware configuration diagram of a control device for a passenger conveyor inspection robot according to Embodiment 3 of the present invention.
　制御装置１３ｄの各機能は、処理回路により実現される。例えば、処理回路は、少なくとも１つのプロセッサ１４ａと少なくとも１つのメモリ１４ｂとを備える。例えば、処理回路は、少なくとも１つの専用のハードウェア１５を備える。 Each function of the control device 13d is realized by a processing circuit. For example, the processing circuit includes at least one processor 14a and at least one memory 14b. For example, the processing circuit comprises at least one dedicated hardware 15.
　処理回路が少なくとも１つのプロセッサ１４ａと少なくとも１つのメモリ１４ｂとを備える場合、制御装置１３ｄの各機能は、ソフトウェア、ファームウェア、またはソフトウェアとファームウェアとの組み合わせにより実現される。ソフトウェアおよびファームウェアの少なくとも一方は、プログラムとして記述される。ソフトウェアおよびファームウェアの少なくとも一方は、少なくとも１つのメモリ１４ｂに格納される。少なくとも１つのプロセッサ１４ａは、少なくとも１つのメモリ１４ｂに記憶されたプログラムを読み出して実行することにより、制御装置１３ｄの各機能を実現する。少なくとも１つのプロセッサ１４ａは、ＣＰＵ（Ｃｅｎｔｒａｌ　Ｐｒｏｃｅｓｓｉｎｇ　Ｕｎｉｔ）、中央処理装置、処理装置、演算装置、マイクロプロセッサ、マイクロコンピュータ、ＤＳＰともいう。例えば、メモリ１４ｂは、ＲＡＭ、ＲＯＭ、フラッシュメモリ、ＥＰＲＯＭ、ＥＥＰＲＯＭ等の、不揮発性または揮発性の半導体メモリ、磁気ディスク、フレキシブルディスク、光ディスク、コンパクトディスク、ミニディスク、ＤＶＤ等である。 When the processing circuit includes at least one processor 14a and at least one memory 14b, each function of the control device 13d is realized by software, firmware, or a combination of software and firmware. At least one of software and firmware is described as a program. At least one of software and firmware is stored in at least one memory 14b. The at least one processor 14a implements each function of the control device 13d by reading and executing a program stored in the at least one memory 14b. The at least one processor 14a is also referred to as a CPU (Central Processing Unit), a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, and a DSP. For example, the memory 14b is a nonvolatile or volatile semiconductor memory such as a RAM, a ROM, a flash memory, an EPROM, or an EEPROM, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, or a DVD.
　処理回路が少なくとも１つの専用のハードウェア１５を備える場合、処理回路は、例えば、単一回路、複合回路、プログラム化したプロセッサ、並列プログラム化したプロセッサ、ＡＳＩＣ、ＦＰＧＡ、またはこれらの組み合わせで実現される。例えば、制御装置１３ｄの各機能は、それぞれ処理回路で実現される。例えば、制御装置１３ｄの各機能は、まとめて処理回路で実現される。 If the processing circuit comprises at least one dedicated hardware 15, the processing circuit is implemented, for example, as a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof. The For example, each function of the control device 13d is realized by a processing circuit. For example, each function of the control device 13d is collectively realized by a processing circuit.
　制御装置１３ｄの各機能について、一部を専用のハードウェア１５で実現し、他部をソフトウェアまたはファームウェアで実現してもよい。例えば、取得装置１３ｂと記録装置１３ｃとを制御する機能については専用のハードウェア１５としての処理回路で実現し、取得装置１３ｂと記録装置１３ｃとを制御する機能以外の機能については少なくとも１つのプロセッサ１４ａが少なくとも１つのメモリ１４ｂに格納されたプログラムを読み出して実行することにより実現してもよい。 A part of each function of the control device 13d may be realized by the dedicated hardware 15, and the other part may be realized by software or firmware. For example, the function for controlling the acquisition device 13b and the recording device 13c is realized by a processing circuit as dedicated hardware 15, and at least one processor is used for functions other than the function for controlling the acquisition device 13b and the recording device 13c. 14a may be realized by reading and executing a program stored in at least one memory 14b.
　このように、処理回路は、ハードウェア１５、ソフトウェア、ファームウェア、またはこれらの組み合わせにより制御装置１３ｄの各機能を実現する。 Thus, the processing circuit realizes each function of the control device 13d by the hardware 15, software, firmware, or a combination thereof.
実施の形態４．
　図１０はこの発明の実施の形態４における乗客コンベアの点検システムが適用される乗客コンベアの要部の斜視図である。なお、実施の形態３と同一又は相当部分には、同一符号が付される。当該部分の説明は省略される。 Embodiment 4 FIG.
FIG. 10 is a perspective view of a main part of a passenger conveyor to which the passenger conveyor inspection system according to Embodiment 4 of the present invention is applied. In addition, the same code | symbol is attached | subjected to the same part as Embodiment 3, or an equivalent part. The description of this part is omitted.
　図１０の点検システムにおいて、進入規制ロボット１６は、乗客コンベアの下部乗降口１を塞ぐ。図示されないが、他の進入規制ロボット１６は、乗客コンベアの上部乗降口２を塞ぐ。 In the inspection system shown in FIG. 10, the entry restriction robot 16 closes the lower entrance 1 of the passenger conveyor. Although not shown in figure, the other approach control robot 16 blocks the upper entrance / exit 2 of a passenger conveyor.
　例えば、進入規制ロボット１６は、ドローンである。ドローンとは、遠隔操作および自動制御の少なくとも一方により飛行し得る無人航空機のことである。 For example, the entry restriction robot 16 is a drone. A drone is an unmanned aerial vehicle that can fly by remote control and / or automatic control.
　点検ロボット１３は、進入規制ロボット１６との間で情報を送受信する。点検ロボット１３は、進入規制ロボット１６の動作を制御する。例えば、点検ロボット１３は、立体的な安全柵の映像を進入規制ロボット１６に表示させる。例えば、点検ロボット１３は、「エスカレーター点検中」、「近づかないで下さい。」等の文字の映像を進入規制ロボット１６に表示させる。その結果、利用者は、外部から乗客コンベアに進入することを規制される。 The inspection robot 13 transmits / receives information to / from the entry restriction robot 16. The inspection robot 13 controls the operation of the entry restriction robot 16. For example, the inspection robot 13 displays a three-dimensional safety fence image on the entry restriction robot 16. For example, the inspection robot 13 displays an image of characters such as “During escalator inspection” and “Do not approach” on the entry restriction robot 16. As a result, the user is restricted from entering the passenger conveyor from the outside.
　以上で説明した実施の形態４によれば、進入規制ロボット１６は、利用者が乗客コンベアに進入することを規制する。このため、作業員が乗客コンベアの付近にいなくても、乗客コンベアの点検を自動で実施することができる。なお、点検ロボット１３が利用者と乗客コンベアに同乗して乗客コンベアの点検を行う場合、進入規制ロボット１６は、不要である。この場合、点検中である旨を利用者に向けて表示する機能を点検ロボット１３に設ければよい。 According to the fourth embodiment described above, the entry restriction robot 16 restricts the user from entering the passenger conveyor. For this reason, even if the worker is not near the passenger conveyor, the passenger conveyor can be automatically inspected. In addition, when the inspection robot 13 rides on the passenger conveyor with the user and inspects the passenger conveyor, the entry restriction robot 16 is unnecessary. In this case, the inspection robot 13 may be provided with a function for displaying to the user that the inspection is in progress.
　なお、実施の形態１から実施の形態４のいずれかに示される点検ロボット１３または点検システムを動く歩道に適用してもよい。この場合、動く歩道の点検時において作業員による点検作業を減らすことができる。 Note that the inspection robot 13 or the inspection system shown in any of Embodiments 1 to 4 may be applied to a moving walkway. In this case, it is possible to reduce the inspection work by the worker when inspecting the moving sidewalk.
　以上のように、この発明に係る乗客コンベアの点検ロボットおよび点検システムは、乗客コンベアの点検時において作業員による点検作業を減らすシステムに利用できる。 As described above, the passenger conveyor inspection robot and the inspection system according to the present invention can be used for a system that reduces the inspection work by workers during the inspection of the passenger conveyor.
　１　下部乗降口、　２　上部乗降口、　３　下部機械室、　４　下部ランディングプレート、　５　下部マンホール、　６　上部機械室、　７　上部ランディングプレート、　８　上部マンホール、　９　ステップ、　１０　スカートガード、　１１　欄干パネル、　１２　移動手摺、　１３　点検ロボット、　１３ａ　本体、　１３ｂ　取得装置、　１３ｃ　記録装置、　１３ｄ　制御装置、　１４ａ　プロセッサ、　１４ｂ　メモリ、　１５　ハードウェア、　１６　進入規制ロボット 1 lower entrance, 2 upper entrance, 3 lower machine room, 4 lower landing plate, 5 lower manhole, 6 upper machine room, 7 upper landing plate, 8 upper manhole, 9 steps, 10 skirt guard, 11 balustrade panel, 12 Moving handrail, 13 inspection robot, 13a main body, 13b acquisition device, 13c recording device, 13d control device, 14a processor, 14b memory, 15 hardware, 16 entry restriction robot

Claims (4)

  1. 　乗客コンベアの画像の情報と前記乗客コンベアが発する音の情報と前記乗客コンベアが発する振動の情報とのうちの少なくとも一つを前記乗客コンベアの状態の情報として取得する取得装置と、
    　前記取得装置が前記乗客コンベアの状態の情報を取得した際に、前記乗客コンベアの状態の情報を記録する記録装置と、
    を備えた乗客コンベアの点検ロボット。     An acquisition device that acquires at least one of information on an image of a passenger conveyor, information on sound generated by the passenger conveyor, and information on vibration generated by the passenger conveyor as information on the state of the passenger conveyor,
    When the acquisition device acquires information on the state of the passenger conveyor, a recording device that records information on the state of the passenger conveyor;
    Passenger conveyor inspection robot equipped with.
  2. 　前記取得装置と前記記録装置とを保持した状態で自律走行し、前記乗客コンベアに対して乗降する本体、
    を備えた請求項１に記載の乗客コンベアの点検ロボット。     A main body that autonomously travels while holding the acquisition device and the recording device, and gets on and off the passenger conveyor,
    The passenger conveyor inspection robot according to claim 1, further comprising:
  3. 　前記乗客コンベアの動作を制御する制御装置、
    を備えた請求項１または請求項２に記載の乗客コンベアの点検ロボット。     A control device for controlling the operation of the passenger conveyor;
    The inspection robot for a passenger conveyor according to claim 1 or 2, further comprising:
  4. 　請求項１から請求項３のいずれか一項に記載の点検ロボットと、
    　前記乗客コンベアの乗降口を塞ぎ、前記乗客コンベアの利用者が外部から前記乗客コンベアに進入することを規制する進入規制ロボットと、
    を備えた乗客コンベアの点検システム。     The inspection robot according to any one of claims 1 to 3,
    An entrance restriction robot that closes the entrance / exit of the passenger conveyor and restricts a user of the passenger conveyor from entering the passenger conveyor from the outside,
    Passenger conveyor inspection system equipped with.
PCT/JP2016/087005 2016-12-13 2016-12-13 Inspection robot and inspection system of passenger conveyor WO2018109822A1 (en)

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