Safe operation system

Abstract

The invention provides a safe operation system capable of ensuring the safety of an operator entering a hoistway in assembly construction and inhibiting the reduction of the operation efficiency of an operation system arranged in the hoistway. A safety work system according to the present invention controls the movement or work of a work system that is lifted in a hoistway and performs construction work on the basis of the output of a person detection system, the person detection system comprising a person detection sensor that detects a person entering the hoistway from an entrance and exit, and a wireless device that can communicate with the work system. The working system comprises a moving mechanism for moving in the hoistway, a working mechanism for working in the hoistway, wireless equipment capable of communicating with the human detection system, and a control device for controlling the moving mechanism and the working mechanism. The control device restricts the control of the movement mechanism and the work mechanism on the basis of the positional relationship indicated by the position information of the person detected on the basis of the output of the person detection sensor and the position information of the work system detected on the basis of the output of the position sensor.

Description

Technical Field

[0001] The present invention relates to a safe working system that takes into account both ensuring the safety of workers and maintaining the working efficiency of the working system when the working system is used in construction work in a hoistway of an elevator. Background Art

[0002] In the hoistway during elevator assembly construction, heavy objects such as work platforms are lifted from the top of the hoistway. In the past, workers on the work platforms performed construction work such as opening holes in the walls of the hoistway and fixing components (anchor bolts, etc.), but there is a risk of accidents such as workers falling from the work platforms and coming into contact with falling objects or devices. Therefore, in recent years, work systems that allow machines or robots installed on the work platforms to automatically perform part of the construction work in the hoistway have gradually become popular.

[0003] Regarding this kind of operation system, Patent Document 1 describes an elevator assembly device that detects the intersection angle between the wall of the hoistway and the axis of the hole-making tool, adjusts the inclination of the hole-making tool based on the detected angle, and thereby performs hole-making perpendicular to the wall. Then, it is described that the elevator assembly device can form a hole for fixing a bracket perpendicularly to the wall of the hoistway without affecting the measured data of the shape of the wall of the hoistway.

[0004] By using a work system such as Patent Document 1, the work of the operator in the shaft can be reduced to a certain extent, but because there are construction operations that cannot be handled by the work system, there are also situations where the operator must enter the shaft when using the work system. Therefore, when controlling the work system, it is necessary to consider the safety of the operator who may enter the shaft from any of the multiple entrances and exits in the height direction.

[0005] In addition, as a prior art that considers the safety of workers in the hoistway, Patent Document 2 is known. For example, in the abstract of this document, "When maintenance personnel, etc. are in the pit, this situation is automatically detected, and the operation of the car is restricted so that the lower part of the counterweight, etc. does not contact the maintenance personnel, etc. in the pit" is recorded as a subject, and "A person detection sensor (a sensor such as a pyroelectric infrared sensor, a transmission type photoelectric sensor, a reflection type photoelectric sensor, an ultrasonic sensor, etc.) 4 is used to directly detect whether the maintenance personnel 18 is in the pit 16. When the maintenance personnel 18 is in the pit 16, the operation of the car 2 is restricted so that the car 2 does not go to the uppermost floor, so that the counterweight 4 does not enter the pit 16" is recorded as a solution. That is, Patent Document 2 records an elevator operation control system that uses a person detection sensor to control the up and down movement of the car.

[0006] Prior art literature

[0007] Patent Literature

[0008] Patent Document 1: Japanese Patent Application Publication No. 2020-7095

[0009] Patent Document 2: Japanese Patent Application Publication No. 2013-220895 Summary of the invention

[0010] Problems to be solved by the invention

[0011] However, the operation control system of Patent Document 2 is a system that is assumed to be used after the elevator is assembled, and therefore does not mention the safety of the operator in various situations such as wall fragments falling due to the hole opening operation of the operating system during the elevator assembly construction using the operating system, or the operator checking the inside of the shaft at any time from the entrance and exit without a door. When the operator enters the shaft, a method of stopping the entire operating system during the elevator assembly construction to ensure the safety of the operator can also be considered, but in this case, there is a problem that the operating efficiency of the operating system is greatly deteriorated.

[0012] Therefore, an object of the present invention is to provide a safe working system that can ensure the safety of workers entering a shaft during assembly work and suppress a decrease in the working efficiency of a working system installed in the shaft.

[0013] Technical solutions to solve problems

[0014] In order to solve the above-mentioned problems, the safe operation system of the present invention is a safe operation system that controls the movement or operation of an operation system that is lifted and lowered in a shaft and performs construction operations based on the output of a human detection system, wherein the human detection system includes: a human detection sensor that detects a person entering the shaft from an entrance and exit and a wireless device that can communicate with the operation system, and the operation system includes: a moving mechanism for movement in the shaft; an operation mechanism for operations in the shaft; a wireless device that can communicate with the human detection system; and a control device that controls the moving mechanism and the operation mechanism, and the control device limits the control of the moving mechanism and the operation mechanism based on the positional relationship shown by the position information of the person and the position information of the operation system, wherein the position information of the person is detected based on the output of the human detection sensor, and the position information of the operation system is detected based on the output of the position sensor.

[0015] Effects of the Invention

[0016] According to the safe working system of the present invention, it is possible to ensure the safety of workers entering the elevator hoistway during assembly work and suppress the reduction in working efficiency of the working system installed in the hoistway. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a three-dimensional diagram of a shaft in which a safety operation system is installed in Example 1.

[0018] Figure 2 This is a side view of a shaft provided with a safety operation system according to Example 1.

[0019] Figure 3 This is a perspective view of the appearance of the operating system of Example 1.

[0020] Figure 4 This is a front view of the entrance and exit where the human detection system of Example 1 is installed.

[0021] Figure 5 This is a functional block diagram of the safe operation system of Example 1.

[0022] Figure 6 yes Figure 5 An example of a work instruction recorded in the work item recording section.

[0023] Figure 7 It is used Figure 5 A control flow chart of the processing performed by the job planning department.

[0024] Figure 8 It is used Figure 5 A control flow chart of the processing executed by the action limiting unit.

[0025] Fig. 9 It is used Figure 5 A control flow chart of the processing performed by the crane control unit.

[0026] Fig.10 It is used Figure 5 A control flow chart of the processing performed by the operating mechanism control unit.

[0027] Fig.11 This is a front view of the entrance and exit where the human detection system is installed in Example 2.

[0028] Fig.12 This is an image acquired by the human detection sensor in the second embodiment.

[0029] Fig.13 It is used Fig.11 A control flow chart of the processing performed by the human detection computing device.

[0030] Fig.14 This is a front view of the entrance and exit where the human detection system is installed in Example 3.

[0031] Fig.15 It is used Fig.14 A control flow chart of the processing performed by the human detection computing device. DETAILED DESCRIPTION

[0032] Hereinafter, embodiments of the safe working system of the present invention will be described using the drawings.

[0033] Example 1

[0034] use Figures 1 to 10 , describing Example 1 of the safe operation system 100 of the present invention.

[0035] <Safe Operation System 100>

[0036] First, use Figure 1 and Figure 2 The relationship between the safe operation system 100 of this embodiment and the shaft 1 is summarized. The safe operation system 100 includes an operation system 2 that automatically performs assigned construction operations in the shaft 1 and a human detection system 3 that detects human entry and exit of the shaft 1. Figure 1 is a perspective view of a hoistway 1 in which the safety operation system 100 of this embodiment is installed. Figure 2 yes Figure 1 In addition, in both figures, a 5-story shaft 1 is shown as an example, but the safety operation system 100 of the present invention can be installed in a shaft 1 of any N floors (N is a natural number).

[0037] like Figure 1 As shown, a pair of rails 11 (11a, 11b) are installed vertically on the left and right sides of the hoistway 1. In addition, a work system 2 is installed in the hoistway 1, which is guided by the rails 11 and raised and lowered. Furthermore, a plurality of entrances and exits 12 are provided on the front side of the hoistway 1 in accordance with the floor height of each floor, and a human detection system 3 is installed on the upper front side of each entrance and exit. In addition, a Figure 1 In the hoistway 1 , no doors are provided at the entrances and exits 12 , so the operator can freely enter the hoistway 1 through the open entrances and exits 12 .

[0038] Figure 2 1 is a side view mainly used to explain various parameters used in this embodiment. As shown here, H is the height from the bottom of the hoistway 1 to the working system 2. H 1 To H 5 It is the height from the bottom of the shaft 1 to the entrance 12 of each floor. 1 To P 5 This is information indicating the detection status of workers near the entrances and exits 12 of each floor. ON indicates a state where a worker is detected, and OFF indicates a state where a worker is not detected. 1 To D 5 The distance D from the work system 2 to the entrance 12 of each floor. The distance D to the entrance 12 of the lower floor of the work system 2 is expressed as a negative number in principle, but the distance D to the entrance 12 where there is no worker nearby is expressed as +∞ even if it is the entrance 12 of the lower floor of the work system 2. Thus, Figure 2In the example, the distance D from the first floor where the worker exists is 1 Yes Press H 1 -H is the negative number obtained by the calculation, and the distance D from the 5th floor where the worker exists 5 Yes Press H 5 -H is a predetermined positive number obtained by the operation, and in contrast, the distance D corresponding to each of the 2nd to 4th floors where no operator exists 2 To distance D 4 (Not shown) are all +∞.

[0039] Hereinafter, after an overview of the work system 2 and the human detection system 3 , the safe work system 100 of the present embodiment implemented by the cooperation of the two systems will be described in detail.

[0040] <Operation System 2>

[0041] Then, in the above Figure 1 , Figure 2 In addition, also use Figure 3 The main parts of the operating system 2 are shown in the perspective view of the external appearance. Figures 1 to 3 As shown, the working system 2 includes a pair of cranes 21 (21a, 21b), a pair of cables 22 (22a, 22b), a working platform 23, a working mechanism 24, a tool placement 25, a component placement 26, a position sensor 27, a control device 28, and a wireless device 29. The details of each part will be described in sequence below.

[0042] The crane 21 is a hoisting machine for winding up the cable 22, which is arranged at the upper end of the hoistway 1, and is the main part of the moving mechanism of the present embodiment. In addition, when the working system 2 is raised or lowered, the winding amount of the cables 22a and 22b is controlled to be roughly equal by synchronizing the rotation control of the crane 21a and the crane 21b.

[0043] The rope 22 is a wire rope with the upper end wound around the crane 21 and the lower end connected to the work platform 23. Thus, the left and right cranes 21 rotate synchronously in the required direction, and the work platform 23 lifted by the rope 22 moves up and down in the hoistway 1 while maintaining a horizontal state.

[0044] The work platform 23 is a high rigidity platform such as a steel plate that moves up and down along the track 11 using guide shoes (not shown). Figure 3 As shown, a working mechanism 24, a tool placement place 25, a component placement place 26, a control device 28, and a wireless device 29 are arranged, and a position sensor 27 is arranged on the bottom surface.

[0045] The working mechanism 24 is a multi-joint robot that performs construction work in the shaft 1. The required construction work can be performed by installing an appropriate manipulator tool at the front end of the arm. For example, when a hole is to be drilled in the inner wall of the shaft 1, a drill tool 24a is installed at the front end of the arm of the working mechanism 24 to perform the construction work. In addition, the following description is based on the use of a multi-joint robot having any M (M is a natural number) joints as the working mechanism 24.

[0046] The tool storage area 25 is a storage place for various robot tools installed at the front end of the arm of the working mechanism 24. By providing the tool storage area 25 on the working platform 23, the working mechanism 24 can perform construction work by changing the robot tools installed at the front end of the arm at any time according to each work.

[0047] The component storage area 26 is a storage place for components (such as anchor bolts) required for the construction work performed by the work mechanism 24. By providing the component storage area 26 on the work platform 23, the work mechanism 24 can obtain the components required for the work at any time to perform the construction work.

[0048] The position sensor 27 is a sensor for detecting the height H from the bottom of the shaft 1 to the work platform 23. The position sensor 27 is, for example, a laser distance meter, and can detect the height H of the work platform 23 by being mounted on the bottom surface of the work platform 23 facing downward.

[0049] Specifically, the control device 28 is a computer having hardware such as a CPU, a storage device such as a semiconductor memory, and a communication device, and is connected to the human detection system 3, the crane 21, the work mechanism 24, and the position sensor 27 so as to be able to communicate by wire or wirelessly. The control device 28 controls the crane 21 and the work mechanism 24 based on the information obtained from the human detection system 3 and the position sensor 27, and the details of this control will be described later. In addition, in the control device 28, the computing device executes a predetermined program, thereby realizing each functional unit described later, and the description of the well-known technology in the field of computers of this type is appropriately omitted below.

[0050] The wireless device 29 is a device for wireless communication between the control device 28 and the human detection system 3 , and specifically, is a wireless communication device conforming to a wireless communication standard such as WiFi (registered trademark) or Bluetooth (registered trademark).

[0051] <Human detection system 3>

[0052] Next, use Figure 4 , an overview of the human detection system 3 is given. Figure 1 , Figure 2 As shown, a human detection system 3 is provided at the upper front part of the entrance and exit 12 of each floor. Figure 43 is a front view of a human detection system 3 installed on each floor. As shown here, the human detection system 3 of this embodiment includes a human detection sensor 31, a wireless device 32, and a notification device 33. The details of each part will be described in sequence below.

[0053] The human detection sensor 31 is a sensor for detecting a worker within a specified distance, such as a pyroelectric infrared sensor. When a pyroelectric infrared sensor is used as the human detection sensor 31, when a worker who is about to enter the shaft 1 approaches the entrance 12 and enters the detection range 31a of the human detection sensor 31, the detection value A of the human detection sensor 31 that detects the infrared rays emitted by the worker gradually increases, so the human detection sensor 31 can detect the approach of the worker. On the other hand, when the worker moves away from the entrance 12, the detection value A of the human detection sensor 31 gradually decreases, so the human detection sensor 31 can detect that the worker has left. In addition, hereinafter, the detection value of the human detection sensor 31 on the nth floor is referred to as A. n .

[0054] The wireless device 32 is a device used when the human detection system 3 and the operation system 2 perform wireless communication, and specifically, is a wireless communication device that complies with wireless communication standards such as WiFi (registered trademark) and Bluetooth (registered trademark).

[0055] The notification device 33 is a device for notifying a worker near the entrance 12 of required information, and specifically, is composed of a sound generating device such as a speaker, a display device such as a display and an LED, or both.

[0056] <Cooperation between work system 2 and human detection system 3>

[0057] In the safe operation system 100 of the present embodiment in which the operation system 2 and the human detection system 3 are coordinated, the detection value of the human detection sensor 31 of the human detection system 3 on a certain floor is wirelessly transmitted to the control device 28 of the operation system 2 together with information (e.g., floor information and ID, etc.) identifying the floor on which the human detection system 3 is installed. Then, the control device 28 controls the crane 21 and the operation mechanism 24 based on the information obtained from the human detection system 3 and the position sensor 27, and wirelessly transmits the information to be notified to the operator to the human detection system 3 in the form of a notification command. The notification device 33 that has received the notification command from the control device 28 notifies the operator of the requested notification information. The detailed structure of the control device 28 that leads the series of processing and the operation flow executed by the control device 28 are described in detail below.

[0058] <<Functional block diagram of control device 28>>

[0059] Figure 5This is a functional block diagram of the main part of the safe operation system 100 of this embodiment, and shows various functional units built into the control device 28, and the structure connected to these functional units via wired communication or wireless communication. As shown here, the control device 28 includes a work item recording unit 28a, a work plan unit 28b, a shaft information recording unit 28c, a human detection information acquisition unit 28d, a distance information acquisition unit 28e, an action restriction unit 28f, a crane control unit 28g, and an operation mechanism control unit 28h, and is connected to the human detection system 3 of each floor, the crane 21, the operation mechanism 24, and the position sensor 27 so as to be communicable. In addition, 3A is a human detection system installed at the entrance 12 of the 1st floor, 3B is a human detection system installed at the entrance 12 of the 2nd floor, and 3N is a human detection system installed at the entrance 12 of the Nth floor. Hereinafter, each functional unit will be described in sequence.

[0060] The operation item recording unit 28a records in advance Figure 6 Functional part of the operation database shown as an example. In this database, for each operation number, information required for generating an instruction to the crane 21 and information required for generating an instruction to the operation mechanism 24 are registered. The relevant information of the crane 21 is, for example, the target height H of the crane 21 when performing the operation. ref and the moving speed V when moving to this height ref In addition, the relevant information of the working mechanism 24 is, for example, whether the tool is moved when the construction work is performed and the target joint angle J when the construction work is performed. ref If the working mechanism 24 is a multi-joint robot having M joints, the target joint angles J1 of the M joints are registered so that each joint can adopt a desired posture. ref 、J2 ref 、……、JM ref As the target joint angle J for each job number ref .

[0061] Figure 6 In the example of , for the operation number i, the target height Ha and the moving speed Va are registered as the relevant information of the crane 21, but the tool motion and the target joint angle are not registered as the relevant information of the working mechanism 24. The non-registration of information means that it is not necessary to generate instructions, so for the operation number i, only the instructions for the crane 21 are generated, and the instructions for the working mechanism 24 are not generated. On the other hand, for the operation numbers i+1 and i+2, the relevant information of the crane 21 is not registered, and only the relevant information of the working mechanism 24 is registered, so only the instructions for the working mechanism 24 are generated, and the instructions for the crane 21 are not generated.

[0062] The work planning unit 28b updates the target height H of the work platform 23 used when generating the command to the crane 21 in the order of the work numbers registered in the work database of the work item recording unit 28a. ref and moving speed V ref , and update the tool motion and target joint angle J used when generating the instruction given to the working mechanism 24 ref Functional part. Use Figure 7 The details will be described later.

[0063] The shaft information recording unit 28c records the height H from the bottom of the shaft 1 for each entrance 12 on each floor. n (n=1~N, Figure 1 , Figure 2 In the example of N=5) the functional part.

[0064] The human detection information acquisition unit 28d is a functional unit that receives the detection value A of the human detection system 3 at each entrance via the wireless device 29 and determines the human detection state P at each entrance based on the detection value A. n At the specified reference value A th In the above case, the human detection information acquisition unit 28d determines that the worker on the floor is about to enter the shaft 1, and the human detection status P of the floor is changed to n On the other hand, the received detection value A n Less than the specified reference value A th In the case of the human detection information acquisition unit 28d determining that there is no worker near the entrance 12 of the floor, the human detection status P of the floor is changed. n Set to OFF.

[0065] The distance information acquisition unit 28 e is a functional unit that acquires the height H of the work platform 23 from the bottom of the hoistway 1 , which is measured by the position sensor 27 .

[0066] The operation restriction unit 28f uses the height H of each entrance and exit acquired from the shaft information recording unit 28c. n , the human detection status P of each entrance and exit acquired from the human detection information acquisition unit 28d n , and the height H of the work platform 23 obtained from the distance information acquisition unit 28e, to judge the positional relationship between the operator entering the shaft 1 and the work system 2, and select the functional unit for the action restriction imposed on the crane 21 and the work mechanism 24 according to the judgment result. Hereinafter, the action restriction state imposed on the crane 21 (hoisting machine) is referred to as L W The action restriction state imposed on the working mechanism 24 (robot) is referred to as L R .use Figure 8 The details will be described later.

[0067] The crane control unit 28g calculates the target height H of the work platform 23 based on the target height H updated by the work planning unit 28b. ref and moving speed V ref , and the motion restriction state L of the crane 21 set by the motion restriction unit 28f W , a functional unit for generating instructions for controlling the crane 21. Fig. 9 The details will be described later.

[0068] The working mechanism control unit 28h performs the operation based on the tool motion and the target joint angle J of the working mechanism 24 updated by the working planning unit 28b. ref , and the motion restriction state L of the working mechanism 24 set by the motion restriction unit 28f R , to generate a functional unit for controlling the operating mechanism 24. Fig.10 The details will be described later.

[0069] The detailed processing of the work planning unit 28b, the action limiting unit 28f, the crane control unit 28g, and the work mechanism control unit 28h described above is described using Figures 7 to 10 Provide explanation.

[0070] <<Operation of the work planning unit 28b>>

[0071] use Figure 7 , describing the action flow in the work planning unit 28b.

[0072] In step S11, the job planning unit 28b checks whether the job of the current job number has been completed. Figure 6 As shown in the operation number i, when the operation content is the movement of the crane 21, if the height H obtained from the distance information acquisition unit 28e satisfies H ref -H off ≤H≤H ref +H off It is judged to be in the moving completed state. ref is the target height corresponding to the job number, H off is the permissible error of the crane position. Figure 6 As shown in the operation numbers i+1 and i+2, when the operation content is the construction operation of the operation mechanism 24, if the rotation angles Jm (m=1 to M) of each joint obtained from the operation mechanism 24 respectively satisfy Jm ref -Jm off ≤Jm≤Jm ref +Jm off It is judged to be in the job completion state. refis the target joint angle corresponding to the job number, Jm off is the allowable error of each joint angle. Then, if the current operation is completed, the process moves to step S12, and if it is not completed, the process ends.

[0073] In step S12, the operation planning unit 28b updates the operation number to the next number, and the process proceeds to step S13.

[0074] In step S13, the work planning unit 28b checks whether there is information on crane control in the work content of the next work number. Figure 6 If there is information about crane control as shown in the operation number i, the process proceeds to step S14; if there is no information about crane control, the process proceeds to step S15.

[0075] In step S14, the work planning unit 28b updates the target height H of the work platform 23 according to the information registered in the work database. ref and moving speed V ref , transfer to step S15.

[0076] In step S15, the operation planning unit 28b checks whether there is information on the operation mechanism control in the operation content of the next operation number. Figure 6 If there is information about the control of the operating mechanism as shown in the operation numbers i+1 and i+2, the process is transferred to step S16. If there is no information about the control of the operating mechanism, the process is terminated.

[0077] In step S16, the work planning unit 28b updates the target joint angle Jm of each joint of the work mechanism 24 according to the information registered in the work database. ref and the action status of the robot tool, ending the process.

[0078] <<Operation of the operation restriction unit 28f>>

[0079] use Figure 8 , describing the action flow in the action limiting unit 28f.

[0080] In step S21, the action restriction unit 28f acquires the human detection status P of each floor from the human detection information acquisition unit 28d. n , transfer to step S22.

[0081] In step S22, the operation restriction unit 28f acquires the height H of the work platform 23 from the distance information acquisition unit 28e, and the process proceeds to step S23.

[0082] In step S23, the motion limiting unit 28f calculates the shortest distance D between the worker who wants to enter the hoistway 1 and the working system 2. minThen, the process proceeds to step S24. The shortest distance D is calculated as follows: min First, the action restriction unit 28f determines the human detection status P of each floor acquired in step S21. n , calculate the distance D between the operating system 2 and the operators on each floor n (n=1 to N). Specifically, the operation restriction unit 28f determines the human detection state P n It is the ON floor, the distance D n Set H n -H, for human detection state P n The floor is OFF, the distance D n Set +∞(reference Figure 2 ). Then, calculate all the distances D corresponding to each floor n Then, the operation limiting unit 28f sets the shortest distance D min Set the calculated D n The minimum value of .

[0083] In addition, if the shortest distance D is min If the value is other than +∞, there is a possibility that a worker has entered the shaft 1, so the action restriction unit 28f is set to the human detection state P n The human detection system 3 on the floor that is ON sends a notification instruction to the operator. Then, if the notification device 33 of the human detection system 3 that has received the notification instruction warns the operator, the operator notices that the operating system 2 is in operation and considers leaving the shaft 1, so the safety of the operator can be ensured.

[0084] In step S24, the action restriction unit 28f determines whether D min ≤ 0. Then, if the condition is satisfied, that is, if the worker is located at the lower side of the work system 2, the process proceeds to step S25, and if the condition is not satisfied, that is, if the worker is located at the upper side of the work system 2, the process proceeds to step S26.

[0085] In step S25, since there is a possibility that the hoisted work system 2 may fall and that debris or parts generated during the construction work may fall, the action restriction unit 28f determines that the state is dangerous for the operator and sets the action restriction state L of the crane 21 to 1. W and the action limit state L of the working mechanism 24 R All are set to stop state to end the process.

[0086] On the other hand, in step S26, the operation restriction unit 28f determines whether <D minThen, if the condition is satisfied, that is, the operator is located on the upper side of the operation system 2 and the distance to the operator is close, the process proceeds to step S27; if the condition is not satisfied, that is, the operator is located on the upper side of the operation system 2 and the distance to the operator is far to a certain extent, the process proceeds to step S28.

[0087] In step S27, the motion limiting unit 28f determines that there is a risk of the working system 2 coming into contact with the operator during the ascent, and changes the motion limiting state L of the crane 21 to W The stop state is set, and it is determined that the operator is not in danger during the construction work, and the action restriction state L of the working mechanism 24 is set. R Set to actionable state and end the process.

[0088] On the other hand, in step S28, the operation restriction unit 28f determines whether Da <D min Then, if the condition is satisfied, that is, the worker is located above the work system 2 and the distance from the worker is far enough, the process proceeds to step S29, and if the condition is not satisfied, that is, the distance from the worker is quite far, the process proceeds to step S2a.

[0089] In step S29, the action limiting unit 28f determines that there is no risk of contact between the working system 2 and the operator when the speed is low, but there is a risk of contact between the working system 2 and the operator when the speed is high, and sets the action limiting state L of the crane 21 to 1. W The speed limit state is set, and the action limit state L of the working mechanism 24 is set. R Set to actionable state and end the process.

[0090] On the other hand, in step S2a, since the working system 2 is quite far from the operator, the motion limiting unit 28f determines that there is no danger to the operator due to the working system 2, and sets the motion limiting state L of the crane 21 to W and the action limit state L of the working mechanism 24 R All are set to actionable state and the process ends.

[0091] <<Operation of the crane control unit 28g>>

[0092] use Fig. 9 , describing the flow of actions in the crane control unit 28g.

[0093] In step S31, the crane control unit 28g acquires the motion restriction state L of the crane 21 set by the motion restriction unit 28f. W , transfer to step S32.

[0094] In step S32, the crane control unit 28g determines the operation restriction state L of the crane 21. W Then, if the condition is satisfied, the process proceeds to step S33, and if the condition is not satisfied, the process proceeds to step S34.

[0095] In step S33, the crane control unit 28g turns off the control output to the crane 21 to stop the crane 21. Thereafter, the operation flow ends. Thus, the lifting and lowering of the working system 2 stops.

[0096] In step S34, the crane control unit 28g determines whether the operation restriction state L W Then, if the condition is satisfied, the process proceeds to step S35, and if the condition is not satisfied, the process proceeds to step S36.

[0097] In step S35, the crane control unit 28g updates the target height to the target height H registered in the work item recording unit 28a. ref , and the moving speed is updated to a moving speed V not registered in the work item recording unit 28a. ref The control speed Vs is slower than that of the operating system 2, and the process proceeds to step S37. In addition, the speed limit Vs can be freely set, and can be fixed or depend on the distance D between the operating system 2 and the operator. min For example, D min When Vs is positive and large, D min When Vs is positive and small, it is also small, depending on the distance D. min The ground is variable.

[0098] On the other hand, in step S36, the crane control unit 28g updates the target height and the moving speed to the H registered in the work item recording unit 28a. ref 、V ref , transfer to step S37.

[0099] In step S37, the crane control unit 28g turns on the control output to the crane 21, generates a command corresponding to the target height and moving speed updated in step S35 or step S36, and controls the crane 21 until the height H of the work platform 23 satisfies H ref -H off ≤H≤H ref +H off After that, the action flow ends.

[0100] <<Operation of the working mechanism control unit 28h>>

[0101] use Fig.10The operation flow in the working mechanism control unit 28h will be described.

[0102] In step S41, the working mechanism control unit 28h obtains the motion restriction state L of the working mechanism 24 set by the motion restriction unit 28f. R , transfer to step S42.

[0103] In step S42, the working mechanism control unit 28h determines the motion restriction state L of the working mechanism 24. R Then, if the condition is satisfied, the process proceeds to step S43, and if the condition is not satisfied, the process proceeds to step S44.

[0104] In step S43, the working mechanism control unit 28h sets the control output to the working mechanism 24 to OFF, thereby stopping the operation of the working mechanism 24. For example, when the drill tool 24a is being used, the advance and rotation of the drill are stopped.

[0105] In step S44, the working mechanism control unit 28h updates the target angle of each joint of the working mechanism 24 to the J registered in the work item recording unit 28a. ref In addition, the operation state ON / OFF of the working tool is updated based on the content registered in the work item recording unit 28a, and the process proceeds to step S45.

[0106] In step S45, the working mechanism control unit 28h turns on the control output to the working mechanism 24, generates a command corresponding to the target joint angle updated in step S44, and controls each joint of the working mechanism 24 until each joint angle Jm of the working mechanism 24 satisfies Jm ref -Jm off ≤Jm≤Jm ref +Jm off , and when the action state of the manipulator tool installed at the front end of the working mechanism 24 is ON, the manipulator tool is operated, and when it is OFF, it is stopped, and then the action process is ended.

[0107] <Effects of this embodiment>

[0108] Through the above processing, the action restriction state L of the crane 21 can be set based on the relationship between the position of the worker entering the hoistway 1 during the assembly construction and the position of the work platform 23. W and the action limit state L of the operating mechanism R , limiting the actions of the crane 21 and the working mechanism 24. Thus, it is possible to ensure the safety of the workers entering the hoistway and suppress the reduction in the working efficiency of the working system.

[0109] In addition, the laser distance meter as the position sensor 27 is directed toward the lower side of the shaft 1 to measure the position of the work platform 23, but it is also possible to direct the distance to the upper part of the shaft 1, and subtract the distance from the full length of the shaft 1 to measure the position of the work platform 23. Furthermore, instead of providing a laser distance meter, an encoder (rotation measuring meter) may be provided on the rotating shaft of the crane 21, and the height position of the work platform 23 may be calculated using the measured rotation amount and rotation angle.

[0110] The human detection sensor 31 in the human detection system 3 may also use an infrared distance sensor or an ultrasonic sensor. For example, when a laser distance sensor is used, when an operator enters the shaft 1, the distance acquired by the laser distance sensor becomes shorter. Therefore, in the human detection information acquisition unit 28d, the detection value B of the laser distance sensor at each entrance and exit 12 is n (n=1~N) at the preset reference value B th In the following cases, it is determined that the operator has entered the shaft 1, and the human detection state P n Although the judgment method is different, the human detection state P can be judged by comparing with the reference value in the same way. n In addition, the human detection system 3 may be constituted by an interlocking device such as a laser curtain.

[0111] Example 2

[0112] Next, use Figures 11 to 13 , Example 2 of the safe operation system 100 of the present invention is described. In addition, repeated description of the common points with Example 1 is omitted.

[0113] In the first embodiment, a pyroelectric infrared sensor or the like is used as the human detection sensor 31 of the human detection system 3, but in this embodiment, a camera is used as the human detection sensor 31, and there are various changes associated with this. The details of this embodiment are described below.

[0114] exist Fig.11 3 shows a human detection system 3 of the present embodiment. The human detection system 3 is composed of a human detection sensor 31, a wireless device 32, a notification device 33, and a human detection operation device 34. The detection sensor 31 is a camera for capturing images, and is disposed above the entrance 12 with the capturing direction facing downward.

[0115] exist Fig.121 shows an example of an image P captured by the detection sensor 3 (camera). The figure shows the end E of the entrance 12, the upper side of the end E is the inside of the shaft 1, and the lower side is the ground near the entrance 12. In the human detection operation device 34, the image area where the operator exists in the image P is detected, and the operator is detected to enter the shaft 1 by detecting the overlap of the operator detection area A2 and the prohibited entry area A1.

[0116] exist Fig.13 2 shows the operation flow in the human detection operation device 34.

[0117] First, in step S51 , the human detection arithmetic device 34 acquires the image P of the entrance 12 captured by the human detection sensor 31 , and the process proceeds to step S52 .

[0118] In step S52, the human detection operation device 34 detects the worker detection area A2 in the image P, and transfers to step S53. Here, for example, background difference is used. A background image P' is recorded in advance when there is no worker, and the captured image P and the background image P' are compared pixel by pixel, and a set of pixels whose RGB values ​​representing the colors of each pixel are different from each other is extracted as the worker detection area A2. If the captured image P is the same as the background image P', it is determined that there is no worker detection area A2.

[0119] In step S53, the human detection operation device 34 compares the positions of the prohibited entry area A1 and the worker detection area A2 to determine whether the prohibited entry area A1 and the worker detection area A2 overlap. If so, the process proceeds to step S54, and if not, the process proceeds to step S55.

[0120] In step S54, the human detection operation device 34 determines that the worker has entered the shaft 1 and changes the human detection status P at the entrance 12 of the floor. n Set to ON and move to step S56.

[0121] On the other hand, in step S55, the human detection operation device 34 determines that the worker has not entered the shaft 1, and changes the human detection state P at the entrance 12 of the floor to n Set to OFF and move to step S56.

[0122] In step S56, the human detection operation device 34 sets the human detection state P n The information is sent to the control device 28 via the wireless devices 32 and 29, and the operation flow ends.

[0123] Therefore, in the human detection information acquisition unit 28d of the control device 28 of this embodiment, unlike the embodiment 1, the human detection status P is received. nTherefore, it is not necessary to set the human detection state P based on the reference value as shown in the first embodiment. n .

[0124] Through the above processing, the human detection state P is set by the human detection system 3. n And the method of sending it to the control device 28 can also solve the problem with equal or better effects.

[0125] Example 3

[0126] Next, use Fig.14 and Fig.15 , Example 3 of the safe operation system 100 of the present invention is described. In addition, repeated descriptions of the common points with the above-mentioned embodiments are omitted.

[0127] In the safety operation system 100 of the above-mentioned embodiment, the operator entering the shaft 1 from each entrance and exit is detected by installing the human detection system 3 at each entrance and exit. Therefore, it is necessary to install the same number of human detection systems 3 as the entrances and exits 12. In contrast, in the safety operation system 100 of the present embodiment, one human detection system 3 is installed for each plurality of entrances and exits 12, and the one human detection system is used to individually detect the operator entering the shaft 1 from each entrance and exit. The following describes the details of the safety operation system 100 of the present embodiment, which can significantly reduce the number of installations of the human detection system 3.

[0128] Fig.14 The human detection sensor 31 of the present embodiment shown is a depth camera that can capture an image P and can also obtain distance information, or a composite sensor that uses a camera and a distance sensor at the same time. The human detection sensor 31 is installed upward at the lower part of the entrance and exit 12 on the inner side of the shaft 1. Thus, the human detection sensor 31 can individually detect the operator entering the shaft 1 from the entrance and exit 12 of the floor where the system is installed and the entrance and exit 12 of multiple floors above. In addition, there are limitations on the practical range of the depth camera and the distance sensor, so the range that a human detection system 3 can be responsible for is about 3 floors. For example, the human detection system 3 set up on the 1st floor can detect the operator entering the shaft 1 from the entrance and exit 12 of the 1st to 3rd floors, but cannot detect the operator entering from the entrance and exit 12 of the 4th floor or more, so it is sufficient to configure an appropriate number of human detection systems 3 according to the height of the shaft 1.

[0129] The image P captured by the human detection sensor 31 is reversed in the front-to-back direction and the left-to-right direction, but is basically the same as that of the second embodiment. Fig.12 However, since the human detection sensor 31 of this embodiment faces upward, the end E of the entrance 12 corresponds to the boundary between the ceiling of each floor and the shaft 1. The human detection computing device 34 detects the image area where the worker is present in the image P, and compares the detected area with the Fig.12The entry of the worker into the shaft 1 is detected by comparing with the prohibited entry area A1 shown, and further, the entrance 12 of which floor the worker has entered is determined using the distance information of the worker detection area A2.

[0130] exist Fig.15 The operation flow chart of the human detection operation device 34 of this embodiment is shown in FIG. Fig.13 The common points of the operation flow of the human detection system 3 installed at the entrance and exit 12 on the first floor are described.

[0131] In step S53 of the present embodiment, the human detection computing device 34 determines whether the prohibited entry area A1 of the image P captured by the human detection sensor 31 overlaps with the worker detection area A2. If they overlap, it is determined that there is a worker at any entrance 12 on the 1st to 3rd floors, and the process moves to step S61. On the other hand, if they overlap, it is determined that there is no worker at any entrance 12 on the 1st to 3rd floors, and the process moves to step S55.

[0132] In step S55 of this embodiment, the human detection operation device 34 calculates the human detection status of the 1st to 3rd floors, i.e., P 1 , P 2 , P 3 All are set to OFF and the process proceeds to step S56.

[0133] On the other hand, in step S61, the human detection operation device 34 obtains the height information H of the entrances and exits 12 of the first to third floors from the shaft information recording unit 28c of the control device 28. 1 , H 2 , H 3 , and the height information H of the entrance 12 on the 4th floor, which is one floor above 4 , transfer to step S62.

[0134] In step S62, the human detection computing device 34 first calculates the distance D' between the worker and the human detection sensor 31 based on the depth information of the worker detection area A2. Here, the average value of the depth information of each pixel forming the worker detection area A2 is regarded as the distance D' between the worker and the human detection sensor 31. Then, when 0 ≤ D' is satisfied, <H 2 -H 1 In the case of H, it is determined that the worker is at the entrance 12 of the first floor. 2 -H 1 ≤D' <H 3 -H 1 In the case of H 3 -H 1 ≤D' <H4 -H 1 In the case of, it is determined that the operator is at the entrance and exit 12 of the 3rd floor. In this way, when it is determined that there is an entrance and exit 12 for the operator, the process moves to step S54.

[0135] In step S54, the human detection operation device 34 determines the human detection state P of the entrance / exit 12 where the worker is present. n Set to ON, and set the human detection status P of other entrances and exits 12 n Set to OFF and transfer to step S68. For example, if it is determined that there is an operator at the entrance 12 of the first floor, P 1 Set to ON, and 2 and P 3 Set to OFF.

[0136] Through the above processing, by using one person detection system 3 to detect the operator entering the well 1 at the entrances and exits 12 of multiple floors, the problem can also be solved with an equal or higher effect. This time, the condition of using one person detection system 3 to deal with the entrances and exits 12 of three floors is described, but it is not limited to this. In addition, the person detection system 3 of this embodiment does not need to be set at the entrance and exit 12, for example, it can also be set at the bottom of the well 1.

[0137] Description of Reference Numerals

[0138] 100 Safe Operation System

[0139] 1 Hoistway

[0140] 11 Track

[0141] 12 Entrance and Exit

[0142] 2 Operating System

[0143] 21 Crane

[0144] 22 Rope

[0145] 23. Work Platform

[0146] 24 Operating Organization

[0147] 24a drill tool

[0148] 25 Tool storage area

[0149] 26 Parts placement

[0150] 27 Position sensor

[0151] 28 Control Devices

[0152] 28a Operation Project Record Department

[0153] 28b Operation Planning Department

[0154] 28c Hoistway information recording department

[0155] 28d Human Detection Information Acquisition Department

[0156] 28e distance information acquisition unit

[0157] 28f Action limiter

[0158] 28g Crane control unit

[0159] 28h Operational Mechanism Control Department

[0160] 29 Wireless Devices

[0161] 3-person detection system

[0162] 31 People detection sensor

[0163] 32 Wireless Devices

[0164] 33 Notification device

[0165] 34 Human Detection Computing Device

[0166] P The image captured

[0167] P' Background Image

[0168] E End of the entrance and exit

[0169] A1 No-entry area

[0170] A2 Operator detection area.

Claims

1. A safe operation system, which controls the movement or operation of an operation system that is lifted and lowered in a hoistway and performs construction operations based on the output of a human detection system, characterized in that: The human detection system comprises: A human detection sensor that detects a person entering the hoistway from the entrance; and a wireless device capable of communicating with the operating system, The operating system comprises: a moving mechanism for movement within the hoistway; an operating mechanism for operating in the hoistway; a wireless device capable of communicating with the human detection system; and a control device for controlling the moving mechanism and the operating mechanism, The control device limits the control of the moving mechanism and the operating mechanism based on the positional relationship shown by the position information of the person and the position information of the operating system, wherein the position information of the person is detected based on the output of the person detection sensor, and the position information of the operating system is detected based on the output of the position sensor.

2. The safe operation system according to claim 1, characterized in that: The control device, Selecting any one of action stop, movement speed restriction and action permission as the control of the movement mechanism, Either action stop or action enable is selected as the control of the operating mechanism.

3. The safe operation system according to claim 2, characterized in that: The control device, When the position of the working system is higher than the position of the person, the action stop is selected as the control of the moving mechanism and the working mechanism, When the position of the working system is lower than the position of the person, limiting the moving speed or allowing the movement is selected as the control of the moving mechanism according to the distance between the working system and the person.

4. The safe operation system according to claim 1, characterized in that: The position sensor is a laser distance meter provided in the working system or a rotation meter installed in the moving mechanism.

5. The safe operation system according to claim 1, characterized in that: The human detection system is installed at the entrance and exit.

6. The safe operation system according to claim 1, characterized in that: The human detection system includes a notification device for warning the person according to an instruction from the control device.

7. The safe operation system according to claim 6, characterized in that: The notification device is a sound emitting device or a display device.

8. The safe operation system according to claim 1, characterized in that: The human detection sensor is any one of a human body sensing sensor, a laser distance sensor, an infrared distance sensor, an ultrasonic sensor, and an interlock switch.

9. The safe operation system according to claim 1, characterized in that: The human detection sensor is a camera that captures an image.

10. The safe operation system according to claim 9, characterized in that: The human detection system detects an area where humans exist by comparing an unmanned background image with the captured image. When the area overlaps with a prohibited entry area, the captured human is detected as a human entering the shaft.

11. The safe operation system according to claim 10, characterized in that: The camera is a depth camera capable of acquiring images and distance information together or a camera used together with a distance sensor for acquiring distance information. The position information of the person is determined based on the distance information associated with the area where the person exists.

Images