WO2021106113A1 - エレベーターの点検システム、エレベーターの点検装置、および自律移動体 - Google Patents
エレベーターの点検システム、エレベーターの点検装置、および自律移動体 Download PDFInfo
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- WO2021106113A1 WO2021106113A1 PCT/JP2019/046419 JP2019046419W WO2021106113A1 WO 2021106113 A1 WO2021106113 A1 WO 2021106113A1 JP 2019046419 W JP2019046419 W JP 2019046419W WO 2021106113 A1 WO2021106113 A1 WO 2021106113A1
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- Prior art keywords
- sill
- unit
- elevator
- inspection system
- detection unit
- Prior art date
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- 238000007689 inspection Methods 0.000 title claims abstract description 248
- 238000001514 detection method Methods 0.000 claims abstract description 108
- 238000004140 cleaning Methods 0.000 claims description 73
- 238000004891 communication Methods 0.000 claims description 40
- 238000010586 diagram Methods 0.000 description 19
- 230000007246 mechanism Effects 0.000 description 12
- 230000006870 function Effects 0.000 description 11
- 238000012545 processing Methods 0.000 description 11
- 238000012423 maintenance Methods 0.000 description 8
- 230000005856 abnormality Effects 0.000 description 7
- 239000000284 extract Substances 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B5/00—Cleaning by methods involving the use of air flow or gas flow
- B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
- B08B5/023—Cleaning travelling work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/02—Control systems without regulation, i.e. without retroactive action
- B66B1/06—Control systems without regulation, i.e. without retroactive action electric
- B66B1/14—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements
- B66B1/16—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements with means for storing pulses controlling the movements of a single car or cage
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
- B66B13/30—Constructional features of doors or gates
- B66B13/301—Details of door sills
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0087—Devices facilitating maintenance, repair or inspection tasks
Definitions
- the present invention relates to an elevator inspection system, an elevator inspection device, and an autonomous mobile body.
- Patent Document 1 discloses an example of an autonomous mobile body. Autonomous mobiles move and inspect buildings at times such as midnight when the buildings are quiet. The autonomous vehicle checks the condition of the elevator door sill when boarding the elevator car.
- Patent Document 1 does not disclose a method of moving an autonomous moving body when diagnosing the state of a threshold.
- the threshold of the elevator door extends from one end to the other end of the car doorway. For this reason, when an autonomous moving body crosses the entrance / exit of the car to inspect the entire threshold, the passengers who use the elevator during off-peak hours may be hindered from getting on and off.
- An object of the present invention is to provide an elevator inspection system, an elevator inspection device, and an autonomous mobile body that are less likely to prevent users from getting on and off.
- the elevator inspection system is provided on an autonomous moving body that passes over the threshold of the elevator door when getting on and off the elevator car, and the length of the threshold when the autonomous moving body passes over the threshold. It is provided with a threshold detection unit that inspects the state of a part or all of a plurality of parts in a direction and determines the inspected part among the plurality of parts.
- the elevator inspection device is provided on an autonomous moving body that passes over the threshold of the elevator door when getting on and off the elevator car, and the length of the threshold when the autonomous moving body passes over the threshold. It is provided with a threshold detection unit that inspects the state of a part or all of a plurality of parts in a direction and determines the inspected part among the plurality of parts.
- the autonomous mobile body according to the present invention passes over the sill of the elevator door when getting on and off the elevator car, and when passing over the sill, a part or all of a plurality of parts in the longitudinal direction of the sill. It is provided with a threshold detection unit that inspects the state and determines the inspected part among a plurality of parts.
- the elevator inspection system, elevator inspection device, and autonomous mobile body according to the present invention can make it more difficult for users to get on and off.
- FIG. It is a block diagram of the inspection system which concerns on Embodiment 1.
- FIG. It is a block diagram of the inspection system which concerns on Embodiment 1.
- FIG. It is a block diagram of the autonomous mobile body which concerns on Embodiment 1.
- FIG. It is a block diagram of the autonomous mobile body which concerns on Embodiment 1.
- FIG. It is a figure which shows the example of the storage part in the inspection system which concerns on Embodiment 1.
- FIG. It is a flowchart which shows the example of the operation of the inspection system which concerns on Embodiment 1.
- FIG. It is a flowchart which shows the example of the operation of the inspection system which concerns on Embodiment 1.
- FIG. It is a flowchart which shows the example of the operation of the inspection system which concerns on Embodiment 1.
- FIG. It is a flowchart which shows the example of the operation of the inspection system which concerns on Embodiment 1.
- FIG. It is a flowchart which shows the example of the operation of the inspection system which concerns on Embodiment 1.
- FIG. It is a flowchart which shows the example of the operation of the inspection system which concerns on Embodiment 1.
- FIG. It is a hardware block diagram of the main part of the inspection system which concerns on Embodiment 1.
- FIG. It is a block diagram of the autonomous mobile body which concerns on Embodiment 2.
- FIG. It is a flowchart which shows the example of the operation of the inspection system which concerns on Embodiment 2.
- FIG. It is a flowchart which shows the example of the operation of the inspection system which concerns on Embodiment 3.
- Embodiment 1. 1 and 2 are block diagrams of the inspection system according to the first embodiment.
- FIG. 1 is a diagram showing an elevator 2 to which the inspection system 1 is applied.
- the elevator 2 is applied to a building having a plurality of floors.
- a hoistway 3 is provided in the building.
- the hoistway 3 extends vertically over a plurality of floors.
- the machine room 4 is provided above the hoistway 3.
- a landing 5 is provided on each of the plurality of floors.
- the landing 5 has a landing entrance / exit.
- the landing entrance is an opening leading to the hoistway 3.
- a landing door 6 is provided.
- the landing door 6 is a device that opens and closes at the landing entrance / exit.
- the landing door sill 7 is provided at the lower end of the landing entrance / exit.
- the landing door sill 7 has a groove for guiding the opening and closing of the landing door 6.
- the landing door sill 7 is arranged from one end to the other end of the landing entrance / exit.
- the landing door 6 is an example of the door of the elevator 2.
- the landing door sill 7 is an example of the sill of the door of the elevator 2.
- the elevator 2 includes a hoisting machine 8, a main rope 9, a car 10, a counterweight 11, a control cable 12, and a control panel 13.
- the hoisting machine 8 is provided in, for example, the machine room 4.
- the hoisting machine 8 has a sheave and a motor.
- the sheave of the hoisting machine 8 is connected to the rotating shaft of the motor of the hoisting machine 8.
- the motor of the hoisting machine 8 is a device that generates a driving force for rotating the sheave of the hoisting machine 8.
- the main rope 9 is wound around the sheave of the hoisting machine 8.
- the car 10 is suspended in the hoistway 3 by the main rope 9 on one side of the sheave of the hoist 8.
- the counterweight 11 is suspended in the hoistway 3 by the main rope 9 on the other side of the sheave of the hoist 8.
- the car 10 is a device that transports a user or the like between a plurality of floors by traveling in the vertical direction inside the hoistway 3.
- the counterweight 11 is a device that balances the load applied to the sheave of the hoisting machine 8 with the car 10 through the main rope 9.
- the car 10 and the counterweight 11 travel in opposite directions on the hoistway 3 by moving the main rope 9 by the rotation of the sheave of the hoisting machine 8.
- the car 10 includes a car door 14 and a car door sill 15.
- the car door 14 is a device that opens and closes so that a user or the like can move up and down from the landing 5 to the car 10 when the car 10 is stopped on any of a plurality of floors.
- the car door 14 has a mechanism for opening and closing the landing door 6 of the landing 5 on the floor where the car 10 is stopped in conjunction with each other.
- the car door sill 15 is provided below the car door 14.
- the car door sill 15 has a groove for guiding the opening and closing of the car door 14.
- the car door 14 is an example of the door of the elevator 2.
- the car door sill 15 is an example of a sill for the door of the elevator 2.
- the control cable 12 is a cable that transmits a control signal.
- One end of the control cable 12 is connected to the car 10.
- the other end of the control cable 12 is connected to the control panel 13.
- the control panel 13 is provided in, for example, the machine room 4.
- the control panel 13 is a device that controls the operation of the elevator 2.
- the operation of the elevator 2 includes, for example, the operation of the hoisting machine 8 for traveling the car 10, and the operation of opening and closing the car door 14 and the landing door 6.
- the inspection system 1 includes an autonomous mobile body 16.
- the autonomous mobile body 16 is a device that autonomously moves in a building in which an elevator 2 is provided.
- the autonomous mobile body 16 moves according to, for example, a movement path.
- the movement route is, for example, a route from the current location to the destination.
- the autonomous mobile body 16 uses the car 10 to move from the current floor to the target floor.
- the current floor is the floor on which the current autonomous mobile body 16 is located.
- the destination floor is the floor on which the destination of the autonomous mobile body 16 is located.
- the autonomous mobile body 16 gets on and off the car 10 from the landing 5.
- the car 10 transports the autonomous mobile body 16 on board between a plurality of floors of the building.
- the autonomous mobile body 16 may be a small portable device.
- the inspection system 1 may include a plurality of autonomous mobile bodies 16.
- FIG. 2 is a diagram showing an autonomous mobile body 16 that gets into the car 10 of the elevator 2.
- FIG. 2 is a plan view of the car 10 stopped on the current floor of the autonomous mobile body 16 and the landing 5 on the floor.
- the landing door sill 7 extends in the direction in which the landing door 6 opens and closes. That is, the longitudinal direction of the landing door sill 7 is the opening / closing direction of the landing door 6.
- the car door sill 15 extends in the direction in which the car door 14 opens and closes. That is, the longitudinal direction of the car door sill 15 is the opening / closing direction of the car door 14.
- the landing door sill 7 and the car door sill 15 are arranged parallel to each other.
- the autonomous moving body 16 passes over the car door 14 and the landing door 6 when getting on and off the car 10.
- the autonomous mobile body 16 can pass over each of the plurality of portions of the threshold divided in the longitudinal direction.
- Each of the arrows in FIG. 2 shows an example of the movement path of the autonomous moving body 16 passing through any of a plurality of parts of the threshold.
- 3 and 4 are block diagrams of the autonomous mobile body according to the first embodiment.
- FIG. 3 is a diagram showing an example of the autonomous mobile body 16 seen from the side.
- the autonomous moving body 16 includes a moving mechanism 17, a threshold detection unit 18, and a distance detection unit 19.
- the moving mechanism 17 is a mechanism for moving the autonomous moving body 16.
- the moving mechanism 17 has, for example, a plurality of wheels. Each of the plurality of wheels supports the autonomous mobile body 16. Each of the plurality of wheels moves the autonomous moving body 16 by rotating by a motor (not shown) or the like that drives the autonomous moving body 16.
- the moving mechanism 17 may be a mechanism having, for example, an omni wheel so that the autonomous moving body 16 can be moved in all directions.
- the threshold detection unit 18 is provided downward toward the floor surface, for example, at the front end of the autonomous mobile body 16.
- the threshold detection unit 18 is a portion for checking the state of the threshold of the door of the elevator 2.
- the state of the sill includes, for example, the presence or absence of foreign matter in the groove of the sill, the presence or absence of dirt on the sill, and the like.
- the sill detection unit 18 has, for example, a camera that captures the appearance of the sill.
- the sill detection unit 18 may have, for example, a distance sensor that measures the shape of the sill.
- the sill detection unit 18 recognizes the landing door sill 7 and the car door sill 15 by dividing them into a plurality of portions divided in the longitudinal direction.
- the sill detection unit 18 determines the inspected portion of the plurality of sill portions.
- the sill detection unit 18 determines the inspected portion including the information on the floor on which the inspected landing door sill 7 is provided.
- the sill detection unit 18 determines, for example, the portion of the sill that has been inspected based on the information of the current position of the autonomous mobile body 16.
- the sill detection unit 18 may continuously inspect the landing door sill 7 and the car door sill 15 as it passes vertically across the longitudinal direction of the sill.
- the distance detection unit 19 is provided on, for example, the upper surface of the autonomous moving body 16.
- the distance detection unit 19 is a portion that detects the distance between the autonomous moving body 16 and an object around it.
- the distance detection unit 19 is an example of an obstacle detection unit.
- the obstacle obstructs the movement of the autonomous moving body 16 in the moving path of the autonomous moving body 16. Obstacles include, for example, users of elevator 2.
- the distance detection unit 19 has, for example, a scanning distance sensor using infrared rays or the like.
- the distance detection unit 19 scans the direction in the horizontal plane.
- the distance detection unit 19 may have a camera or the like capable of acquiring distance information.
- FIG. 4 is a block diagram showing the functions of the autonomous mobile body 16.
- the autonomous mobile body 16 includes a communication unit 20, a storage unit 21, and a control unit 22.
- the communication unit 20 is a part that communicates with the control panel 13 of the elevator 2.
- the information transmitted by the communication unit 20 includes, for example, a request for getting into the car 10 of the autonomous mobile body 16 and a request for getting off.
- the boarding request is a request signal for stopping the car 10 on the current floor of the autonomous mobile body 16.
- the boarding request is, for example, a landing call for calling the car 10 from the landing 5.
- the disembarkation request is a request signal for stopping the car 10 on the target floor designated by the autonomous moving body 16.
- the disembarkation request is, for example, a car call or a landing call that specifies the destination floor.
- the information transmitted by the communication unit 20 includes a door opening request, a door closing request, and a door opening extension request.
- the door opening request is a request signal for opening the car door 14 of the car 10 currently stopped on the floor and the landing door 6 on the current floor.
- the door closing request is a request signal for closing the car door 14 of the car 10 currently stopped on the floor and the landing door 6 on the current floor.
- the door opening extension request is a request signal for extending the time when the car door 14 and the landing door 6 are currently open on the floor.
- the information received by the communication unit 20 includes information on whether or not there is a call.
- Information on the presence or absence of a call includes, for example, the presence or absence of a car call and the presence or absence of a call from another floor on the current floor.
- the information on whether or not there is a call is an example of information indicating the operating state of the elevator 2.
- the operating state of the elevator 2 includes, for example, a standby state.
- the standby state is, for example, a state in which there is no car call and there is no call from other floors on the current floor.
- the communication unit 20 and the control panel 13 may directly communicate with each other. Alternatively, the communication unit 20 and the control panel 13 may indirectly communicate with each other via other communication devices.
- the storage unit 21 is a part that stores the inspection result of the threshold by the threshold detection unit 18.
- the inspection result stored in the storage unit 21 is, for example, data on the shape of the sill measured by the sill detection unit 18, image data of the sill taken by the sill detection unit 18, and the like.
- the inspection result may be, for example, the result of the sill detection unit 18 determining the presence or absence of an abnormality based on the acquired data on the sill state.
- the storage unit 21 may reset the stored inspection result at a preset cycle.
- the reset cycle by the storage unit 21 is, for example, one day. Alternatively, for example, when there are many objects to be inspected, the reset cycle may be several days.
- FIG. 5 is a diagram showing an example of a storage unit in the inspection system according to the first embodiment.
- the storage unit 21 stores the inspection result of the threshold in association with the information of the portion of the threshold that the threshold detection unit 18 has determined to have inspected.
- the storage unit 21 stores the inspection result of the landing door sill 7 in association with the information of the sill portion and the information of the floor on which the landing door sill 7 is provided.
- the landing door sill 7 is divided into eight areas in the longitudinal direction.
- Each of the columns in the table of FIG. 5 corresponds to each of the plurality of longitudinal portions of the sill.
- Each of the rows in the table of FIG. 5 corresponds to each of the thresholds of elevator 2. Any of the rows in the table of FIG. 5 corresponds, for example, to the car door sill 15. Any of the rows in the table of FIG. 5 corresponds to any of the landing door thresholds 7.
- the landing door threshold 7 is specified by, for example, the floor.
- the inspected portion in which the storage unit 21 stores the inspection result is represented by a circle.
- the storage unit 21 may store the presence or absence of the inspection result as a text, a numerical value, a bit, or the like, for example, the uninspected portion is represented by 0 and the inspected portion is represented by 1.
- the number of portions divided in the longitudinal direction of the sill is set in advance based on, for example, the measurement range of the sill detection unit 18.
- the number of threshold portions may be calculated, for example, by the control unit 22.
- the control unit 22 may calculate the number of sill portions based on, for example, the size of the autonomous moving body 16, the measurement range of the sill detection unit 18, the length of the sill, and the like.
- the control unit 22 calculates a movement route to be moved to the autonomous moving body 16 as follows, for example, based on the inspection result stored in the storage unit 21.
- the control unit 22 reads out the inspection result stored in the storage unit 21.
- the control unit 22 extracts a portion of the threshold in which the inspection result is not stored as an uninspected portion.
- the control unit 22 calculates the route passing over the uninspected part as a movement route. For example, when there is an uninspected portion in the landing door sill 7 on the current floor, the control unit 22 calculates a movement route that passes over the uninspected portion and gets into the car 10. For example, when there is an uninspected part in the landing door sill 7 of the other floor of the current floor, the control unit 22 sets the other floor as the target floor and passes over the uninspected part. Calculate the movement route to get off from the car 10.
- the control unit 22 calculates, for example, a movement route passing over a portion randomly selected from the plurality of uninspected parts.
- the control unit 22 may calculate, for example, a movement route that preferentially passes through a portion of a plurality of uninspected parts on the floor close to the current floor.
- the control unit 22 may preferentially set a floor containing many uninspected parts as the target floor.
- the control unit 22 may calculate the movement route by prioritizing a plurality of uninspected parts based on other information.
- Other information includes, for example, distance information detected by the distance detection unit 19, whether or not there is a call to stop on a floor with an uninspected part, the number of users getting on and off the floor, or the time of the last inspection. It may be elapsed time, and so on. Further, when both the car door sill 15 and the landing door sill 7 have uninspected parts, the control unit 22 may calculate a movement route that preferentially passes through the uninspected parts of the landing door sill 7. Good.
- the control unit 22 determines the operating state of the elevator 2 based on the information received from the control panel 13 through the communication unit 20.
- the control unit 22 determines that the operating state of the elevator 2 is the standby state
- the control unit 22 carries out a detailed inspection.
- Detailed inspection is an inspection method that inspects the entire sill on the current floor.
- the control unit 22 determines that the operating state of the elevator 2 is not the standby state
- the control unit 22 carries out a normal inspection. Normal inspection is an inspection method that inspects a part of the sill on the current floor.
- FIGS. 6A to 8 are flowcharts showing an example of the operation of the inspection system according to the first embodiment.
- 6A and 6B show an example of the operation of the inspection system 1 related to the inspection of the door sill.
- step S101 of FIG. 6A the control unit 22 moves the autonomous moving body 16 in front of the landing door 6 on the current floor. After that, the operation of the inspection system 1 proceeds to step S102.
- step S102 the control unit 22 extracts an uninspected portion of the threshold based on the inspection result stored in the storage unit 21.
- the control unit 22 calculates a movement route to be moved to the autonomous moving body 16 based on the extracted information. That is, the control unit 22 calculates a movement route passing through the uninspected portion in order to move the autonomous moving body 16 based on the extracted information. After that, the operation of the inspection system 1 proceeds to step S103.
- step S103 the control unit 22 transmits a boarding request to the control panel 13 through the communication unit 20. After that, the operation of the inspection system 1 proceeds to step S104.
- step S104 when the car 10 is currently stopped on the floor, the control unit 22 determines whether the elevator 2 is in the standby state based on the information received from the control panel 13 through the communication unit 20. When the determination result is No, the operation of the inspection system 1 proceeds to step S200a. If the determination result is Yes, the operation of the inspection system 1 proceeds to step S300a.
- FIGS. 7A and 7B Examples of the operation of the inspection system 1 related to the normal inspection in step S200a are shown in FIGS. 7A and 7B. After the normal inspection in step S200a, the operation of the inspection system 1 proceeds to step S105.
- step S300a An example of the operation of the inspection system 1 related to the detailed inspection in step S300a is shown in FIG. After the detailed inspection in step S300a, the operation of the inspection system 1 proceeds to step S105.
- step S105 the storage unit 21 stores the inspection result by the threshold detection unit 18 in association with the information of the inspected portion in the longitudinal direction of the threshold. After that, the operation of the inspection system 1 proceeds to step S106 of FIG. 6B.
- step S106 of FIG. 6B the control unit 22 transmits a disembarkation request to the control panel 13 through the communication unit 20 so that the control unit 22 can move to the target floor of the calculated movement route. After that, the operation of the inspection system 1 proceeds to step S107.
- step S107 when the car 10 stops on the target floor, the control unit 22 determines whether the operating state of the elevator 2 is in the standby state based on the information received from the control panel 13 through the communication unit 20. .. When the determination result is No, the operation of the inspection system 1 proceeds to step S200b. When the determination result is Yes, the operation of the inspection system 1 proceeds to step S300b.
- FIGS. 7A and 7B Examples of the operation of the inspection system 1 related to the normal inspection in step S200b are shown in FIGS. 7A and 7B. After the normal inspection in step S200b, the operation of the inspection system 1 proceeds to step S108.
- step S300b An example of the operation of the inspection system 1 related to the normal inspection in step S300b is shown in FIG. After the normal inspection in step S300b, the operation of the inspection system 1 proceeds to step S108.
- step S108 the storage unit 21 stores the inspection result by the threshold detection unit 18 in association with the information of the inspected portion in the longitudinal direction of the threshold. After that, the operation of the inspection system 1 proceeds to step S109.
- step S109 the control unit 22 determines whether or not there is an uninspected portion based on the inspection result stored in the storage unit 21.
- the determination result is Yes
- the operation of the inspection system 1 proceeds to step S101 of FIG. 6A.
- the determination result is No
- the operation of the inspection system 1 ends.
- FIG. 7A and 7B show an example of the operation of the inspection system 1 according to the normal inspection.
- the normal inspection since the operating state of the elevator 2 is not the standby state, there may be a user in the car 10 or the landing 5.
- step S201 of FIG. 7A the control unit 22 has an obstacle that hinders the movement of the autonomous moving body 16 in the moving path based on the information on the distance between the autonomous moving body 16 and the surrounding object detected by the distance detecting unit 19. Determine if there is.
- the portion of the threshold through which the autonomous mobile body 16 passes in the movement path is an example of the first portion.
- the control unit 22 determines that the autonomous mobile body 16 can move on the movement path. After that, the operation of the inspection system 1 proceeds to step S202.
- the control unit 22 determines that the autonomous moving body 16 cannot move on the moving path. After that, the operation of the inspection system 1 proceeds to step S203.
- step S202 the control unit 22 starts the movement of the autonomous moving body 16 toward the destination of the calculated movement route.
- step S206 of FIG. 7B the operation of the inspection system 1 may return to step S201 when the autonomous moving body 16 becomes immovable on the moving path due to the movement of surrounding objects while moving on the moving path. ..
- step S203 the control unit 22 extracts an uninspected portion of the threshold based on the inspection result stored in the storage unit 21.
- the control unit 22 recalculates the movement route to be moved to the autonomous moving body 16 based on the extracted information.
- the control unit 22 calculates a movement route that does not pass through the first portion.
- the control unit 22 determines that there is another movement route.
- the operation of the inspection system 1 proceeds to step S204.
- the control unit 22 determines that there is no other movement route.
- the operation of the inspection system 1 proceeds to step S205.
- the control unit 22 fails to calculate the movement route, for example, when a large number of users are in the car 10.
- step S204 the control unit 22 starts the movement of the autonomous moving body 16 according to the other calculated movement route. After that, the operation of the inspection system 1 proceeds to step S206 of FIG. 7B.
- step S205 the control unit 22 waits for a preset time. After that, the inspection system 1 ends the operation related to the normal inspection. After that, the operation of the inspection system 1 proceeds to step S102 of FIG. 6A.
- step S206 of FIG. 7B the control unit 22 determines whether the current floor is the same as the target floor. If the determination result is No, the operation of the inspection system 1 proceeds to step S207. If the determination result is Yes, the operation of the inspection system 1 proceeds to step S208.
- step S207 the control unit 22 determines that it is time to request boarding.
- the control unit 22 causes the autonomous mobile body 16 to ride in the car 10 currently stopped on the floor according to the movement route. Board the car 10 currently stopped on the floor according to the movement route. After that, the operation of the inspection system 1 proceeds to step S209.
- step S208 the control unit 22 determines that it is time to request disembarkation.
- the control unit 22 causes the autonomous moving body 16 to get off from the car 10 currently stopped on the floor according to the movement route.
- the autonomous moving body 16 is at the landing 5
- the autonomous moving body 16 stands by at the landing 5 as it is. After that, the operation of the inspection system 1 proceeds to step S209.
- step S209 the autonomous mobile body 16 passes over the threshold.
- the sill detection unit 18 inspects the sill.
- the sill detection unit 18 determines the inspected sill portion. After that, the operation of the inspection system 1 related to the normal inspection ends.
- FIG. 8 shows an example of the operation of the inspection system 1 related to the detailed inspection.
- step S301 the control unit 22 transmits a door opening extension request to the control panel 13 through the communication unit 20. After that, the operation of the inspection system 1 proceeds to step S302.
- step S302 the control unit 22 moves the autonomous moving body 16 to the longitudinal end of the threshold. After that, the operation of the inspection system 1 proceeds to step S303.
- step S303 the control unit 22 moves the autonomous moving body 16 from one end to the other end in the longitudinal direction of the threshold.
- the sill detection unit 18 inspects the sill that has moved along the longitudinal direction. After that, the sill detection unit 18 determines that the entire sill that has moved along the longitudinal direction has been inspected. That is, it is determined that all of the plurality of portions in the longitudinal direction of the threshold have been inspected. After that, the operation of the inspection system 1 proceeds to step S304.
- step S304 the control unit 22 determines whether the current floor is the same as the target floor. If the determination result is No, the operation of the inspection system 1 proceeds to step S305. If the determination result is Yes, the operation of the inspection system 1 proceeds to step S306.
- step S305 the control unit 22 determines that it is time to request boarding.
- the control unit 22 puts the autonomous mobile body 16 on the car 10 currently stopped on the floor. Get in the car 10 that is currently parked on the floor. After that, the operation of the inspection system 1 proceeds to step S307.
- step S306 the control unit 22 determines that it is time to request disembarkation.
- the control unit 22 causes the autonomous moving body 16 to get off from the car 10 currently stopped on the floor. After that, the operation of the inspection system 1 proceeds to step S307.
- step S307 the control unit 22 transmits a door closing request to the control panel 13 through the communication unit 20. After that, the operation of the inspection system 1 related to the detailed inspection ends.
- the inspection system 1 includes a threshold detection unit 18.
- the threshold detection unit 18 is provided on the autonomous mobile body 16.
- the autonomous moving body 16 passes over the threshold of the door of the elevator 2 when getting on and off the car 10 of the elevator 2.
- the sill detection unit 18 checks the state of a part or all of a plurality of portions in the longitudinal direction of the sill as the autonomous moving body 16 passes over the sill.
- the sill detection unit 18 determines the inspected portion of the plurality of sill portions.
- the autonomous mobile body 16 according to the first embodiment includes a threshold detection unit 18.
- the threshold detection unit 18 passes over the threshold of the door of the elevator 2 when the autonomous moving body 16 gets on and off the car 10 of the elevator 2.
- the sill detection unit 18 checks the state of a part or all of a plurality of parts in the longitudinal direction of the sill when passing over the sill.
- the sill detection unit 18 determines the inspected portion of the plurality of sill portions.
- the sill detection unit 18 can inspect the sill in the longitudinal direction by dividing it into a plurality of parts. Therefore, the sill detection unit 18 does not need to inspect the entire sill in the longitudinal direction at once. That is, the autonomous mobile 16 does not have to cross the doorway of the car 10 to inspect the entire threshold.
- the user may use the elevator 2 even during a quiet time such as midnight. Therefore, the user and the autonomous mobile body 16 may ride in the car 10. Even in such a case, getting on and off of the user using the elevator 2 is less likely to be hindered. In addition, since it is less likely that the user's getting on and off is hindered, the degree of freedom in the time for performing the inspection is increased.
- the inspection system 1 includes a storage unit 21.
- the storage unit 21 stores the inspection result of the threshold by the threshold detection unit 18 in association with the information of the threshold portion determined by the threshold detection unit 18.
- the inspection system 1 can save the inspection result of the more detailed threshold. This makes it easier for maintenance personnel, for example, to perform appropriate maintenance work according to the inspection results.
- the inspection system 1 includes a control unit 22.
- the control unit 22 calculates a movement route to be moved to the autonomous moving body 16 based on the inspection result stored in the storage unit 21.
- the inspection system 1 can inspect the threshold by an effective movement route based on the inspection result.
- control unit 22 calculates as a movement route a route passing through a portion where the inspection result of the threshold detection unit 18 is not stored in the storage unit 21.
- the inspection system 1 can inspect the threshold based on the inspection result by an efficient movement route avoiding duplication.
- the inspection system 1 is provided with an obstacle detection unit.
- the obstacle detection unit detects obstacles around the autonomous mobile body 16.
- the control unit 22 calculates a movement route that passes through the first portion of the plurality of parts of the threshold, the obstacle detection unit may detect an obstacle in the movement route.
- the control unit 22 recalculates the movement path of the autonomous moving body 16 that does not pass through the first portion based on the inspection result stored in the storage unit 21.
- the inspection system 1 can inspect the threshold by the moving route that does not reduce the inspection efficiency even when there is an obstacle on the moving route.
- the inspection system 1 includes a communication unit 20.
- the communication unit 20 receives information on the operating status of the elevator 2.
- the control unit 22 causes the communication unit 20 to output a control signal for opening the door.
- the control unit 22 passes the autonomous moving body 16 from one end to the other end in the longitudinal direction of the threshold.
- the inspection system 1 can determine whether or not there is a user who uses the elevator 2 depending on the operating state of the elevator 2. When the operating state is the standby state, the inspection system 1 can determine that there are no users who are prevented from getting on and off. At this time, the autonomous mobile body 16 can cross the doorway of the car 10 to inspect the entire threshold without hindering the user from getting on and off. Therefore, the sill detection unit 18 can inspect the entire longitudinal direction of the sill on the current floor at once without hindering the user from getting on and off. As a result, the inspection system 1 can efficiently inspect the threshold by reflecting the usage status of the user.
- the threshold detection unit 18, the control unit 22, the storage unit 21, the obstacle detection unit, and the communication unit 20 may be mounted inside the autonomous mobile body 16.
- a part or all of the threshold detection unit 18, the control unit 22, the storage unit 21, the obstacle detection unit, and the communication unit 20 may be external devices mounted on the autonomous mobile body 16 from the outside.
- the external device including at least the threshold detection unit 18 is an example of the inspection device of the elevator 2.
- the autonomous mobile body 16 may be a general-purpose autonomous mobile body 16 that can be used for purposes other than checking the threshold.
- control unit 22 may control a part or all of the threshold detection unit 18, the storage unit 21, the obstacle detection unit, and the communication unit 20.
- the threshold detection unit 18, the storage unit 21, the obstacle detection unit, and the communication unit 20 may include individual control modules in addition to the control unit 22.
- the control unit 22 may control a part or all of the moving mechanism 17.
- the control unit 22 outputs the movement path to the control module.
- the autonomous moving body 16 may be moved.
- the obstacle detection unit may detect obstacles around the autonomous moving body 16 based on an image taken by a camera provided in the building, for example.
- the control unit 22 may receive the detection result by the obstacle detection unit through, for example, the communication unit 20.
- the storage unit 21 may be, for example, a building in which the elevator 2 is provided or a storage device provided in a remote location of the building.
- the storage device is, for example, a server computer.
- the storage unit 21 may be, for example, a storage area on a cloud service.
- the communication unit 20 may transmit the inspection result and the information of the threshold portion where the inspection has been performed to the storage unit 21.
- the communication unit 20 is an example of an output unit.
- the inspection system 1 may include an output unit for outputting information to the storage unit 21 in addition to the communication unit 20.
- the communication unit 20 may also serve as an output unit.
- the inspection system 1 includes a plurality of autonomous mobile bodies 16
- the storage unit 21 may be shared among the plurality of autonomous mobile bodies 16.
- the plurality of autonomous mobile bodies 16 can cooperate and efficiently inspect the threshold.
- data such as inspection results stored in the storage unit 21 may be output through, for example, the communication unit 20.
- the data is transmitted to, for example, a maintenance terminal owned by a maintenance staff, a management terminal operated by an administrator, or a monitoring server provided in a monitoring center.
- the transmitted data is used, for example, by maintenance personnel to check the daily inspection status.
- the data stored in the storage unit 21 may be used for abnormality analysis by an arithmetic unit or the like provided in the autonomous mobile body 16.
- the result of the abnormality analysis represents a normal state
- the result of the abnormality analysis may not be output.
- the result of the abnormality analysis is output through the communication unit 20.
- Abnormality analysis is performed, for example, by comparing with past inspection results.
- the anomaly analysis may be performed, for example, on a management terminal or a monitoring server.
- the threshold detection unit 18 may determine, for example, the portion of the threshold that has been inspected based on the distance information detected by the distance detection unit 19.
- the autonomous moving body 16 may pass over a randomly selected portion of a plurality of portions in the longitudinal direction of the threshold and get on and off the car 10. By passing over the sill a sufficiently large number of times with respect to the number of sill portions, the sill detection unit 18 can inspect the entire sill without crossing the sill in the longitudinal direction.
- the elevator 2 may be provided with a plurality of baskets 10. At this time, the elevator 2 may be provided with a group management device that manages the calls assigned between the plurality of cars 10.
- the communication unit 20 may communicate with the group management device. Further, the elevator 2 does not have to be provided with the machine room 4.
- Equipment such as the hoisting machine 8 and the control panel 13 may be provided, for example, in the upper part or the lower part of the hoistway 3.
- FIG. 9 is a hardware configuration diagram of a main part of the inspection system according to the first embodiment.
- Each function of the inspection system 1 can be realized by a processing circuit.
- the processing circuit includes at least one processor 1b and at least one memory 1c.
- the processing circuit may include at least one dedicated hardware 1a with or as a substitute for the processor 1b and the memory 1c.
- each function of the inspection system 1 is realized by software, firmware, or a combination of software and firmware. At least one of the software and firmware is written as a program. The program is stored in the memory 1c. The processor 1b realizes each function of the inspection system 1 by reading and executing the program stored in the memory 1c.
- the processor 1b is also referred to as a CPU (Central Processing Unit), a processing device, an arithmetic unit, a microprocessor, a microcomputer, and a DSP.
- the memory 1c is composed of, for example, a non-volatile or volatile semiconductor memory such as a RAM, a ROM, a flash memory, an EPROM, or an EEPROM.
- the processing circuit When the processing circuit includes dedicated hardware 1a, the processing circuit is realized by, for example, 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 inspection system 1 can be realized by a processing circuit. Alternatively, each function of the inspection system 1 can be collectively realized by a processing circuit. For each function of the inspection system 1, a part may be realized by the dedicated hardware 1a, and the other part may be realized by software or firmware. In this way, the processing circuit realizes each function of the inspection system 1 by hardware 1a, software, firmware, or a combination thereof.
- Embodiment 2 The differences between the second embodiment and the examples disclosed in the first embodiment will be described in particular detail. As for the features not described in the second embodiment, any of the features disclosed in the first embodiment may be adopted.
- FIG. 10 is a block diagram of the autonomous mobile body according to the second embodiment.
- FIG. 10 is a block diagram showing the functions of the autonomous mobile body 16.
- the autonomous mobile body 16 includes a notification unit 23.
- the notification unit 23 is a part that notifies users around the autonomous mobile body 16.
- the notification unit 23 notifies, for example, the movement route of the autonomous moving body 16 and the target floor.
- the notification unit 23 is, for example, a speaker or a display.
- the notification unit 23 may perform notification by projecting an image onto a wall, floor, or the like.
- the notification unit 23 is provided, for example, on the upper part of the autonomous mobile body 16.
- the notification unit 23 may be mounted inside the autonomous mobile body 16.
- the notification unit 23 may be an external device mounted on the autonomous mobile body 16 from the outside.
- the notification unit 23 may be provided in an inspection device that is an external device including the threshold detection unit 18.
- the control unit 22 calculates the movable area of the user when determining the user in the calculated movement route as an obstacle of the autonomous mobile body 16.
- the movable area is an area in which the user can move from the current position of the user and the moved user does not interfere with the movement of the autonomous moving body 16.
- the control unit 22 calculates the movable area based on the distance information detected by the distance detection unit 19.
- the control unit 22 causes the notification unit 23 to notify the user who is determined to be an obstacle to move to the calculated movable area.
- FIG. 11 is a flowchart showing an example of the operation of the inspection system according to the second embodiment.
- the inspection system 1 according to the second embodiment operates in the same manner as the inspection system 1 according to the first embodiment in the inspection operation shown in FIGS. 6A and 6B.
- the inspection system 1 according to the second embodiment operates in the same manner as the inspection system 1 according to the first embodiment in the detailed inspection operation shown in FIG.
- FIG. 11 shows an example of the operation of the inspection system 1 related to the normal inspection.
- the inspection system 1 according to the second embodiment operates in the same manner as the inspection system 1 according to the first embodiment in steps S202 to S209 of the normal inspection operation shown in FIGS. 7A and 7B.
- step S201 when the control unit 22 determines that the autonomous mobile body 16 cannot move on the movement path, the operation of the inspection system 1 according to the second embodiment proceeds to step S210.
- step S210 the control unit 22 calculates the movable area of the user determined as an obstacle. After that, the control unit 22 causes the notification unit 23 to notify the user to move to the calculated movable area. After that, the control unit 22 waits for a preset time. After that, the operation of the inspection system 1 proceeds to step S211.
- step S211 the control unit 22 determines whether there is an obstacle in the movement path that hinders the movement of the autonomous moving body 16 based on the information on the distance between the autonomous moving body 16 and the surrounding object detected by the distance detecting unit 19. Judge again. When there are no obstacles, the control unit 22 determines that the autonomous mobile body 16 can move on the movement path. After that, the operation of the inspection system 1 proceeds to step S202. On the other hand, when there is an obstacle, the control unit 22 determines that the autonomous moving body 16 cannot move on the moving path. After that, the operation of the inspection system 1 proceeds to step S203.
- the inspection system 1 includes an obstacle detection unit and a notification unit 23.
- the obstacle detection unit detects obstacles around the autonomous mobile body 16.
- the notification unit 23 notifies the users around the autonomous mobile body 16.
- the control unit 22 calculates a movable area in which the user can move.
- the control unit 22 causes the notification unit 23 to notify the user to move to the movable area.
- the inspection system 1 enables the autonomous mobile body 16 to move the movement route by encouraging the user to move when the user is an obstacle blocking the movement route. Therefore, even when the user is on board, the threshold can be inspected by an efficient movement route. Further, by encouraging the user to move to the movable area, contact between the user and the autonomous mobile body 16 can be prevented.
- the autonomous mobile body 16 does not have to wait for a preset time after notifying the user.
- the autonomous mobile body 16 may notify the user while moving on the movement route, for example.
- Embodiment 3 The differences between the third embodiment and the examples disclosed in the first embodiment or the second embodiment will be described in particular detail. As for the features not described in the third embodiment, any of the features disclosed in the first embodiment or the second embodiment may be adopted.
- FIG. 12 is a configuration diagram of an autonomous mobile body according to the third embodiment.
- FIG. 12 is a block diagram showing the functions of the autonomous mobile body 16.
- the autonomous mobile body 16 includes a threshold cleaning unit 24.
- the sill cleaning unit 24 is a portion that cleans a part or all of a plurality of portions in the longitudinal direction of the sill when the autonomous moving body 16 passes over the sill.
- the threshold cleaning unit 24 is provided, for example, at the lower part of the autonomous mobile body 16.
- the sill cleaning unit 24 may include, for example, a brush that scrapes out foreign matter from the sill as the autonomous moving body 16 passes over the sill.
- the sill cleaning unit 24 may include, for example, a blowing mechanism that blows off foreign matter on the sill when the autonomous moving body 16 passes over the sill.
- the sill cleaning unit 24 may include other mechanisms for removing foreign matter from the sill.
- the sill cleaning unit 24 may be mounted as a part of the autonomous mobile body 16.
- the threshold cleaning unit 24 may be an external device mounted on the autonomous mobile body 16 from the outside.
- the sill cleaning unit 24 may be provided in an inspection device which is an external device including the sill detection unit 18.
- the sill detection unit 18 determines, among the plurality of parts of the sill, the part where the sill cleaning unit 24 has cleaned the sill. When the sill cleaning unit 24 cleans the landing door sill 7, the sill detection unit 18 determines the cleaned portion including the information on the floor on which the cleaned landing door sill 7 is provided. The sill detection unit 18 determines the portion cleaned by the sill cleaning unit 24, for example, in the same manner as the determination of the inspected portion.
- the storage unit 21 stores the result of cleaning by the threshold cleaning unit 24.
- the result of cleaning is, for example, information indicating that the sill has been cleaned, that is, whether or not the sill has been cleaned.
- the storage unit 21 stores the result of cleaning the sill in association with the information of the sill portion determined to have been cleaned by the sill cleaning unit 24.
- the storage unit 21 stores the result of cleaning the landing door sill 7 in association with the information of the sill portion and the information of the floor on which the landing door sill 7 is provided.
- the storage unit 21 may reset the stored cleaning result at a preset cycle.
- the reset cycle by the storage unit 21 is, for example, one day. Alternatively, for example, when there are many objects to be cleaned, the reset cycle may be several days.
- the control unit 22 calculates a movement route to be moved to the autonomous moving body 16 based on the cleaning result stored in the storage unit 21.
- the control unit 22 calculates the movement route based on the cleaning result in the same manner as the calculation of the movement route based on the inspection result, for example.
- the control unit 22 calculates a movement route to be moved to the autonomous moving body 16 as follows, for example, based on the cleaning result stored in the storage unit 21.
- the control unit 22 reads out the cleaning result stored in the storage unit 21.
- the control unit 22 extracts a portion of the threshold in which the cleaning result is not stored as an uncleaned portion.
- the control unit 22 calculates a route passing over the uncleaned portion as a movement route. For example, when there is an uncleaned portion in the landing door sill 7 on the current floor, the control unit 22 calculates a movement route that passes over the uncleaned portion and gets into the car 10. For example, when there is an uncleaned portion in the landing door sill 7 on the other floor of the current floor, the control unit 22 sets the other floor as the target floor and passes over the uncleaned portion. Calculate the movement route to get off from the basket 10. Even when there are a plurality of uncleaned parts, the control unit 22 calculates the movement route by the same method as when there are a plurality of uninspected parts.
- control unit 22 determines whether or not there is an obstacle in the movement path that hinders the movement of the autonomous moving body 16 based on the information on the distance between the autonomous moving body 16 and the surrounding object detected by the distance detecting unit 19. ..
- the portion of the threshold through which the autonomous mobile body 16 passes in the movement path is an example of the first portion.
- the control unit 22 determines that the autonomous mobile body 16 cannot move on the movement path.
- the control unit 22 extracts the uncleaned portion of the threshold based on the cleaning result stored in the storage unit 21.
- the control unit 22 recalculates the movement route to be moved to the autonomous moving body 16 based on the extracted information.
- the control unit 22 calculates a movement route that does not pass through the first portion.
- FIGS. 13 and 14 are flowcharts showing an example of the operation of the inspection system according to the third embodiment.
- the inspection system 1 according to the third embodiment operates in the same manner as the inspection system 1 according to the first embodiment in the inspection operation shown in FIGS. 6A and 6B.
- FIG. 13 shows an example of the operation of the inspection system 1 related to the normal inspection.
- the inspection system 1 according to the third embodiment operates in the same manner as the inspection system 1 according to the first embodiment in steps S201 to S208 of the normal inspection operation shown in FIGS. 7A and 7B.
- step S209 when the autonomous mobile body 16 passes over the threshold, the inspection system 1 according to the third embodiment carries out the operation of step S212.
- step S212 when the autonomous moving body 16 passes over the sill, the sill cleaning unit 24 cleans the sill.
- the sill detection unit 18 determines a portion of the sill that has been cleaned. After that, the operation of the inspection system 1 related to the normal inspection ends.
- the storage unit 21 stores the result of cleaning by the sill cleaning unit 24 in association with the information of the cleaned portion in the longitudinal direction of the sill.
- FIG. 14 shows an example of the operation of the inspection system 1 related to the detailed inspection.
- the inspection system 1 according to the third embodiment operates in the same manner as the inspection system 1 according to the first embodiment in step S301 and steps S303 to S307 of the detailed inspection operation shown in FIG. After the autonomous moving body 16 has moved to the longitudinal end of the threshold in step S302, the operation of the inspection system 1 according to the third embodiment proceeds to step S308.
- step S308 the control unit 22 moves the autonomous moving body 16 from one end to the other end in the longitudinal direction of the threshold. At this time, the sill cleaning unit 24 cleans the sill that has moved along the longitudinal direction. After that, the operation of the inspection system 1 proceeds to step S309.
- step S309 the control unit 22 inverts the autonomous mobile body 16 at the end of the threshold.
- the control unit 22 reverses the autonomous moving body 16 by, for example, turning it by 180 °. After that, the operation of the inspection system 1 proceeds to step S303.
- the inspection system 1 includes a sill cleaning unit 24.
- the sill cleaning unit 24 is provided on the autonomous mobile body 16.
- the sill cleaning unit 24 cleans a part or all of a plurality of portions in the longitudinal direction of the sill as the autonomous moving body 16 passes over the sill.
- the sill detection unit 18 determines a portion cleaned by the sill cleaning unit 24 among the plurality of parts.
- the sill is cleaned by the autonomous mobile body 16. Maintenance of the elevator 2 is performed more efficiently.
- the inspection system 1 includes a sill cleaning unit 24.
- the sill cleaning unit 24 is provided on the autonomous mobile body 16.
- the sill cleaning unit 24 cleans a part or all of a plurality of portions in the longitudinal direction of the sill as the autonomous moving body 16 passes over the sill.
- the sill detection unit 18 determines a portion cleaned by the sill cleaning unit 24 among the plurality of parts.
- the storage unit 21 stores the cleaning result indicating that the sill cleaning unit 24 has cleaned the sill in association with the information of the portion determined by the sill detection unit 18.
- the inspection system 1 can save the result of cleaning the sill in more detail. This facilitates, for example, maintenance personnel to perform appropriate maintenance work according to the result of cleaning.
- the inspection system 1 includes a control unit 22.
- the control unit 22 calculates a movement route to be moved to the autonomous moving body 16 based on the cleaning result stored in the storage unit 21.
- the inspection system 1 can clean the sill by an effective movement route based on the cleaning result.
- control unit 22 calculates a route through which the cleaning result is not stored in the storage unit 21 as a movement route.
- the inspection system 1 can clean the sill by an efficient movement route avoiding duplication based on the cleaning result.
- the inspection system 1 is provided with an obstacle detection unit.
- the obstacle detection unit detects obstacles around the autonomous mobile body 16.
- the control unit 22 calculates a movement route that passes through the first portion of the plurality of parts of the threshold, the obstacle detection unit may detect an obstacle in the movement route.
- the control unit 22 recalculates the movement path of the autonomous moving body 16 that does not pass through the first portion based on the cleaning result stored in the storage unit 21.
- the inspection system 1 can clean the sill by the moving route that does not reduce the cleaning efficiency even when there is an obstacle on the moving route.
- the inspection system 1 includes a communication unit 20.
- the communication unit 20 receives information on the operating status of the elevator 2.
- the control unit 22 causes the communication unit 20 to output a control signal for opening the door.
- the control unit 22 passes the autonomous moving body 16 from one end to the other end in the longitudinal direction of the threshold.
- the inspection system 1 can determine whether or not there is a user who uses the elevator 2 depending on the operating state of the elevator 2. When the operating state is the standby state, the inspection system 1 can determine that there are no users who are prevented from getting on and off. At this time, the autonomous mobile body 16 can cross the doorway of the car 10 to clean the entire threshold without hindering the user from getting on and off. Therefore, the sill detection unit 18 can clean the entire longitudinal sill of the current floor at once without hindering the user from getting on and off. As a result, the inspection system 1 can efficiently clean the sill by reflecting the usage status of the user.
- the order of cleaning and inspection of the sill may come first.
- the autonomous moving body 16 may be inverted to clean the sill after the sill is inspected.
- the sill inspection unit and the sill cleaning unit 24 are lined up in front and behind, for example, the sill inspection and cleaning may be performed at the same time.
- the sill inspection unit 24 is arranged at the front part of the autonomous moving body 16 and the sill inspection unit is arranged at the rear part of the autonomous moving body 16
- the sill inspection unit is the sill immediately after the sill cleaning unit 24 cleans. May be inspected.
- the inspection system 1 omits the inspection by the threshold detection unit 18 and cleans by the threshold cleaning unit 24. You may only do.
- the storage unit 21 may be, for example, a building in which the elevator 2 is provided or a storage device provided in a remote location of the building.
- the storage device is, for example, a server computer.
- the storage unit 21 may be, for example, a storage area on a cloud service.
- the communication unit 20 may transmit the cleaning result and the information of the sill portion where the cleaning has been performed to the storage unit 21.
- the communication unit 20 is an example of an output unit.
- the inspection system, inspection device, and autonomous mobile body according to the present invention can be applied to the inspection of the elevator threshold.
- 1 inspection system 2 elevator, 3 hoistway, 4 machine room, 5 landing, 6 landing door, 7 landing door sill, 8 hoisting machine, 9 main rope, 10 basket, 11 balance weight, 12 control cable, 13 control panel , 14 car door, 15 car door threshold, 16 autonomous moving body, 17 moving mechanism, 18 threshold detection unit, 19 distance detection unit, 20 communication unit, 21 storage unit, 22 control unit, 23 notification unit, 24 threshold cleaning unit, 1a hardware, 1b processor, 1c memory
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Abstract
Description
図1および図2は、実施の形態1に係る点検システムの構成図である。
図2は、自律移動体16の現在階床に停止しているかご10および当該階床の乗場5の平面図である。
自律移動体16は、移動機構17と、敷居検出部18と、距離検出部19と、を備える。
自律移動体16は、通信部20と、記憶部21と、制御部22と、を備える。
図5は、実施の形態1に係る点検システムにおける記憶部の例を示す図である。
図6Aから図8は、実施の形態1に係る点検システムの動作の例を示すフローチャートである。
なお、通常点検において、エレベーター2の運行状態は待機状態ではないため、かご10または乗場5に利用者がいる場合がある。
また、実施の形態1に係る自律移動体16は、敷居検出部18を備える。敷居検出部18は、自律移動体16がエレベーター2のかご10に乗降するときに、エレベーター2のドアの敷居の上を通過する。敷居検出部18は、敷居の上を通過するときに敷居の長手方向の複数の部分の一部または全部の状態を点検する。敷居検出部18は、敷居の複数の部分のうち点検された部分を判定する。
図9は、実施の形態1に係る点検システムの主要部のハードウェア構成図である。
実施の形態2において、実施の形態1で開示される例と相違する点について特に詳しく説明する。実施の形態2で説明しない特徴については、実施の形態1で開示される例のいずれの特徴が採用されてもよい。
図10は、自律移動体16の機能を示すブロック図である。
図11は、実施の形態2に係る点検システムの動作の例を示すフローチャートである。
実施の形態3において、実施の形態1または実施の形態2で開示される例と相違する点について特に詳しく説明する。実施の形態3で説明しない特徴については、実施の形態1または実施の形態2で開示される例のいずれの特徴が採用されてもよい。
図12は、自律移動体16の機能を示すブロック図である。
図13および図14は、実施の形態3に係る点検システムの動作の例を示すフローチャートである。
Claims (17)
- エレベーターのかごに乗降するときにエレベーターのドアの敷居の上を通過する自律移動体に設けられ、前記自律移動体が前記敷居の上を通過するときに前記敷居の長手方向の複数の部分の一部または全部の状態を点検し、前記複数の部分のうち点検された部分を判定する敷居検出部
を備えるエレベーターの点検システム。 - 前記敷居検出部による前記敷居の点検結果を、前記敷居検出部が判定した部分の情報に関連付けて記憶する記憶部
を備える請求項1に記載のエレベーターの点検システム。 - 前記敷居検出部による前記敷居の点検結果を前記敷居検出部が判定した部分の情報に関連付けて記憶する記憶部に、前記点検結果および前記部分の情報を出力する出力部
を備える請求項1に記載のエレベーターの点検システム。 - 前記記憶部が記憶する前記点検結果に基づいて、前記自律移動体に移動させる移動経路を算出する制御部
を備える請求項2または請求項3に記載のエレベーターの点検システム。 - 前記制御部は、前記移動経路として、前記記憶部に前記敷居検出部の点検結果が記憶されていない部分を通過する経路を算出する
請求項4に記載のエレベーターの点検システム。 - 前記自律移動体の周囲の障害物を検出する障害物検出部
を備え、
前記制御部は、前記複数の部分のうちの第1部分を通過する移動経路を算出する場合において当該移動経路に前記障害物検出部が障害物を検出するときに、前記記憶部が記憶する前記点検結果に基づいて前記第1部分を通過しない前記自律移動体の移動経路を再び算出する
請求項4または請求項5に記載のエレベーターの点検システム。 - 前記自律移動体の周囲の障害物を検出する障害物検出部と、
前記自律移動体の周囲の利用者に報知を行う報知部と、
を備え、
前記制御部は、算出した移動経路において前記障害物検出部が前記利用者を障害物として検出するときに、当該利用者が移動可能な移動可能領域を算出し、当該利用者に前記移動可能領域への移動を促す報知を前記報知部にさせる
請求項4または請求項5に記載のエレベーターの点検システム。 - エレベーターの運行状態の情報を受信する通信部
を備え、
前記制御部は、前記運行状態が待機状態であることを表す情報を受信するときに、前記ドアを開放させる制御信号を前記通信部に出力させ、前記自律移動体を前記敷居の長手方向の一端から他端まで通過させる
請求項4から請求項7のいずれか一項に記載のエレベーターの点検システム。 - 前記自律移動体に設けられ、前記自律移動体が前記敷居の上を通過するときに前記敷居の長手方向の複数の部分の一部または全部を掃除する敷居掃除部
を備え、
前記敷居検出部は、前記複数の部分のうち前記敷居掃除部が掃除した部分を判定する
請求項1から請求項8のいずれか一項に記載のエレベーターの点検システム。 - 前記自律移動体に設けられ、前記自律移動体が前記敷居の上を通過するときに前記敷居の長手方向の複数の部分の一部または全部を掃除する敷居掃除部
を備え、
前記敷居検出部は、前記複数の部分のうち前記敷居掃除部が掃除した部分を判定し、
前記記憶部は、前記敷居掃除部が前記敷居を掃除したことを表す掃除の結果を、前記敷居掃除部が掃除した部分の情報に関連付けて記憶する
請求項2に記載のエレベーターの点検システム。 - 前記自律移動体に設けられ、前記自律移動体が前記敷居の上を通過するときに前記敷居の長手方向の複数の部分の一部または全部を掃除する敷居掃除部
を備え、
前記敷居検出部は、前記複数の部分のうち前記敷居掃除部が掃除した部分を判定し、
前記出力部は、前記敷居掃除部が前記敷居を掃除したことを表す掃除の結果を記憶する前記記憶部に、前記掃除の結果および前記敷居掃除部が掃除した部分の情報を出力する
請求項3に記載のエレベーターの点検システム。 - 前記記憶部が記憶する掃除の結果に基づいて、前記自律移動体に移動させる移動経路を算出する制御部
を備える請求項10または請求項11に記載のエレベーターの点検システム。 - 前記制御部は、前記移動経路として、前記記憶部に掃除の結果が記憶されていない部分を通過する経路を算出する
請求項12に記載のエレベーターの点検システム。 - 前記自律移動体の周囲の障害物を検出する障害物検出部
を備え、
前記制御部は、前記複数の部分のうちの第1部分を通過する移動経路を算出する場合において当該移動経路に前記障害物検出部が障害物を検出するときに、前記記憶部が記憶する掃除の結果に基づいて前記第1部分を通過しない前記自律移動体の移動経路を再び算出する
請求項12または請求項13に記載のエレベーターの点検システム。 - エレベーターの運行状態を表す情報を受信する通信部
を備え、
前記制御部は、前記運行状態が待機状態であることを表す情報を受信するときに、前記ドアを開放させる制御信号を前記通信部に出力させ、前記自律移動体を前記敷居の長手方向の一端から他端まで通過させる
請求項12から請求項14のいずれか一項に記載のエレベーターの点検システム。 - エレベーターのかごに乗降するときにエレベーターのドアの敷居の上を通過する自律移動体に設けられ、前記自律移動体が前記敷居の上を通過するときに前記敷居の長手方向の複数の部分の一部または全部の状態を点検し、前記複数の部分のうち点検された部分を判定する敷居検出部
を備えるエレベーターの点検装置。 - エレベーターのかごに乗降するときにエレベーターのドアの敷居の上を通過し、前記敷居の上を通過するときに前記敷居の長手方向の複数の部分の一部または全部の状態を点検し、前記複数の部分のうち点検された部分を判定する敷居検出部
を備える自律移動体。
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