Passenger conveyor system, moving body for checking passenger conveyor, and abnormality determination program

Abstract

The invention relates to a passenger conveyor system, a moving body for checking a passenger conveyor, and an abnormality determination program. The vibration sensor performs detection while the moving body travels on the steps in the outgoing path, records the exceeded position as an abnormal part on the outgoing path when the vibration wave exceeds a predetermined track reference value, and performs detection while the moving body travels on the steps in the return path, and records the exceeded position as an abnormal part on the outgoing path when the vibration wave exceeds the predetermined track reference value. When the vibration wave exceeds the rail reference value, the exceeded position is recorded as an abnormal part on the return path, and when the abnormal part on the departure path is consistent with the abnormal part on the return path, it is determined that the guide rail is abnormal at the consistent abnormal part.

Description

[0001] Citation of the priority-based application and related applications: This application is based on Japanese Patent Application No. 2023-213930 (filing date: December 19, 2023) and claims the priority of this application. This application incorporates all the contents of this application by reference thereto. Technical Field

[0002] Embodiments of the present invention relate to a passenger conveyor system, a moving body for inspecting a passenger conveyor, and an abnormality determination program. Background Art

[0003] In passenger conveyors such as escalators and moving walks, the step rollers of the steps travel on a pair of left and right guide rails installed on the truss. Therefore, due to aging caused by the operation of the passenger conveyor, sometimes a part of the guide rail bends or is damaged, or the step rollers are also dented or damaged, resulting in an abnormality.

[0004] As a method for inspecting abnormalities in the guide rail and step rollers, there are the following methods: maintenance personnel visually inspect, or detect vibrations through vibration sensors assembled inside the passenger conveyor and analyze whether there are abnormal vibrations.

[0005] However, there are the following problems: when maintenance personnel visually inspect, the work is time-consuming. In addition, although the presence or absence of an abnormality can be detected by a vibration sensor, it is not clear which part of the guide rail has an abnormality, and in addition, it is impossible to determine which step roller of which step among multiple steps has an abnormality. Summary of the Invention

[0006] Therefore, the embodiments of the present invention are made in view of the above problems, and an object thereof is to provide a passenger conveyor system, a moving body for inspecting a passenger conveyor, and an abnormality determination program that can use the moving body to determine the part of the guide rail of the passenger conveyor where an abnormality exists and which step roller of which step has an abnormality.

[0007] An embodiment of the present invention is a passenger conveyor system, including a passenger conveyor and a moving body. It is characterized in that the passenger conveyor has: a truss arranged along the front-rear direction from one boarding and alighting opening to the other; a pair of left and right handrails arranged on the upper part of the truss; a pair of left and right first guide rails fixed to the truss along the front-rear direction; a pair of left and right second guide rails fixed to the truss along the front-rear direction; steps connected in a ring with a plurality of them, and moving along the front-rear direction between the pair of left and right handrails from one boarding and alighting opening to the other; a driving device for moving the steps; and a control device for controlling the driving device. The steps have a pair of left and right first rollers and a pair of left and right second rollers. The pair of left and right first rollers travel on the pair of left and right first guide rails respectively, and the pair of left and right second rollers travel on the pair of left and right second guide rails respectively. The moving body has: a moving body main body that moves while riding on the steps; a vibration sensor arranged on the moving body main body; and a moving body control unit arranged on the moving body main body, which controls the control device via communication. The moving body control unit is configured to record the vibration waves of the forward path detected by the vibration sensor in time series during the period when the moving body main body moves while riding on the steps on the forward path from one boarding and alighting opening to the other. When the vibration waves exceed a pre-determined track reference value, record the exceeding position as an abnormal part on the forward path. During the period when the moving body main body moves while riding on the steps on the return path from the other boarding and alighting opening to one boarding and alighting opening, record the vibration waves of the return path detected by the vibration sensor in time series. When the vibration waves exceed the track reference value, record the exceeding position as an abnormal part on the return path. When the abnormal part on the forward path is the same as the abnormal part on the return path, it is determined that there is an abnormality in the first guide rail or the second guide rail at the same abnormal part.

[0008] In addition, an embodiment of the present invention is a passenger conveyor system, including a passenger conveyor and a moving body. It is characterized in that the passenger conveyor has: a truss arranged along the front-rear direction from one boarding and alighting opening to the other boarding and alighting opening; a pair of left and right handrails arranged on the upper part of the truss; a pair of left and right first guide rails fixed to the truss along the front-rear direction; a pair of left and right second guide rails fixed to the truss along the front-rear direction; steps, a plurality of which are connected in a ring shape and move along the front-rear direction between the pair of left and right handrails from one boarding and alighting opening to the other boarding and alighting opening; a driving device for moving the steps; and a control device for controlling the driving device. The steps have a pair of left and right first rollers and a pair of left and right second rollers. The pair of left and right first rollers travel on the pair of left and right first guide rails respectively, and the pair of left and right second rollers travel on the pair of left and right second guide rails respectively. The moving body has: a moving body main body that moves while riding on the steps; a vibration sensor arranged on the moving body main body; and a moving body control unit arranged on the moving body main body, which controls the control device via communication. The moving body control unit, during the period when the moving body main body riding on the steps moves in a predetermined inspection section, records the vibration waves detected by the vibration sensor in time series. When the vibration waves exceed a roller reference value in each period corresponding to the outer diameter length of the first roller or the second roller, it is determined that the first roller or the second roller is abnormal, and the above determination is performed on all of the plurality of steps one by one.

[0009] According to the embodiment of the present invention, it is possible to use a moving body to determine the abnormal part of the guide rail of the passenger conveyor and which step roller of which step is abnormal. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a side view of an escalator showing an embodiment of the present invention. (a) is a waveform diagram of vibration waves of the going and returning paths when inspecting the guide rail and the first step corresponding to the escalator, (b) is a waveform diagram of vibration waves of the going and returning paths when inspecting the second step, and (c) is a waveform diagram of vibration waves of the going and returning paths when inspecting the nth step.

[0011] Figure 2 It is an enlarged side view when the moving body rides on the steps and ascends.

[0012] Figure 3 It is a block diagram of the escalator and the moving body.

[0013] Figure 4 It is a first flowchart when performing abnormal determination of step rollers and abnormal determination of guide rails from the first step to the mth step.

[0014] Figure 5 This is the second flowchart for performing abnormal determination of step rollers from the first step to the m-th step and abnormal determination of guide rails.

[0015] Figure 6 This is the flowchart for performing abnormal determination of step rollers from the (m + 1)-th step to the n-th step. Detailed implementation manners

[0016] Refer to Figures 1 to 6 The escalator 10 and the moving body 100, which are passenger conveyors as an embodiment of the present invention, will be described. In this embodiment, a passenger conveyor system is constituted by the escalator 10 and the moving body 100.

[0017] (1) Escalator 10

[0018] Refer to Figure 1 The overall structure of the escalator 10 will be described. Figure 1 The uppermost drawing is an explanatory view of the escalator 10 observed from the left side. However, in order to easily understand the internal structure of the escalator 10, the illustration of the components on the right side of the escalator 10 is omitted. In addition, when explaining the front - rear direction of the escalator 10, observing from the lower layer to the upper layer, the upper layer is the front side and the lower layer is the rear side.

[0019] The truss 12, which is the framework of the escalator 10, spans the upper and lower layers of the building 1 and is supported in the front - rear direction by the support angle irons 2 and 3.

[0020] Inside the machine room 14 on the upper - layer side at the upper - end portion of the truss 12, a driving device 18 for moving the step 30, a pair of left - and - right step sprockets 24, 24, and a pair of left - and - right belt pulleys (not shown) are provided. The driving device 18 has a motor 20, a speed reducer 21, a driving small sprocket 19 mounted on the output shaft of the speed reducer 21, and a disc - type electromagnetic brake 23 for stopping the rotation of the motor 20 and maintaining the stopped state. A ring - shaped driving chain 22 is spanned between the pair of left - and - right step sprockets 24, 24 and the driving small sprocket 19. In addition, a control device 50 for controlling the motor 20, the electromagnetic brake 23, etc. is provided inside the machine room 14 on the upper - layer side.

[0021] Inside the machine room 16 on the lower - layer side at the lower - end portion of the truss 12, a pair of left - and - right driven sprockets 26, 26 are provided. A pair of left - and - right ring - shaped step chains 28, 28 are spanned between the pair of left - and - right step sprockets 24, 24 on the upper - layer side and the pair of left - and - right driven sprockets 26, 26 on the lower - layer side (refer to Figure 2)。Between a pair of left and right step chains 28, 28, a plurality of left and right first rollers 301, 301 of the steps 30 are connected at regular intervals. When the motor 20 rotates, the first rollers 301 of the steps 30 travel on a first guide rail 29 dedicated to the first rollers fixed to the truss 12, and the second rollers 302 of the steps 30 travel on a second guide rail 25 dedicated to the second rollers fixed to the truss 12.

[0022] On the upper left and right sides of the truss 12, a pair of left and right handrails 36, 36 are erected. An armrest rail 39 is provided on the upper part of the handrail 36, and an annular handrail belt 38 moves along the armrest rail 39. The handrail belt 38 rotates together with the step sprocket 24 by a pulley (not shown), and thus the handrail belt 38 moves synchronously with the steps 30.

[0023] On the lower front part of the upper layer side of the pair of left and right handrails 36, an upper layer side front skirt guard 40 is provided, and on the lower front part of the lower layer side, a lower layer side front skirt guard 42 is provided. Entrance and exit parts 46, 48 of the handrail belt 38 protrude from the front skirt guards 40, 42 respectively. On the lower side parts of the pair of left and right handrails 36, skirt guards 44 are provided respectively, and the steps 30 travel between the pair of left and right skirt guards 44, 44.

[0024] On the ceiling surface of the upper landing opening, i.e., the machinery room 14, an upper layer side landing plate 32 is horizontally provided. On the ceiling surface of the lower landing opening, i.e., the machinery room 16, a lower layer side landing plate 34 is horizontally provided. At the front end of the upper layer side landing plate 32, a comb-shaped comb plate 60 is provided, and the steps 30 enter or are pulled out from the comb plate 60. In addition, a comb-shaped comb plate 62 is also provided at the front end of the lower layer side landing plate 34.

[0025] (2) Steps 30

[0026] Next, with reference to Figures 1 to 2 the structure of the steps 30 will be described.

[0027] As Figure 2 shown, the steps 30 are made of non-magnetic aluminum die-casting, and have a pair of left and right step frames 303, 303 formed in a triangular shape, a clamping plate surface 304 provided on the upper surfaces of the pair of left and right step frames 303, 303, a kick plate surface 305 provided on the rear surfaces of the pair of left and right step frames 303, 303, a pair of left and right first rollers 301, 301 provided at the front parts of the pair of left and right step frames 303, 303, and a pair of left and right second rollers 302, 302 provided at the lower parts of the rear lower parts of the pair of left and right step frames 303, 303, i.e., the kick plate surface 305. The pair of left and right first rollers 301 of the plurality of steps 30 are connected by an annular step chain 28.

[0028] AsFigure 1 and Figure 2 As shown in Figure 2 , the first roller 301 of the step 30 travels on the first guide rail 29 dedicated to the first roller fixed to the truss 12, and the second roller 302 of the step 30 travels on the second guide rail 25 dedicated to the second roller fixed to the truss 12. The diameters of the first roller 301 and the second roller 302 are of the same size, which is set as R (for example, 80 mm).

[0029] (3) Moving body 100

[0030] Next, the moving body 100 will be described with reference to Figure 1 and Figure 2 The moving body 100 rides on the step 30 of the escalator 10 and inspects the escalator 10 during the movement from the lower floor to the upper floor. The moving body 100 is a robot capable of autonomous driving, and its purpose is to inspect the escalator 10 without people.

[0031] As Figure 2 shown, the moving body main body 102 of the moving body 100 is a substantially cube, and its size is designed to be able to ride on one step 30. As Figure 2 shown, a moving body control unit 104 composed of a computer is provided inside the moving body main body 102. In addition, as Figure 2 shown, four wheels 106 are provided at the lower part of the moving body main body 102, and these four wheels 106 are rotated by a moving motor 108. The moving body control unit 104 can make the moving body 100 move forward, backward, stop, or rotate to the right or left by controlling the operation, stop, and rotation direction of the moving motor 108. In addition, as Figure 2 shown, a vibration sensor 110 for detecting the vibration of the step 30 and a moving body communication unit 112 are provided on the moving body main body 102. The vibration sensor 110 is controlled by the moving body control unit 104 to detect the vibration of the step 30 on which the moving body 100 rides. The moving body control unit 104 communicates with the communication unit 64 of the control device 50 via the moving body communication unit 112.

[0032] (4) Electrical configuration of the escalator 10 and the moving body 100

[0033] Next, the electrical configurations of the escalator 10 and the moving body 100 will be described with reference to the block diagram of Figure 3 .

[0034] Inside the machine room 14 on the upper side, a communication unit 64 and a drive circuit 66 for controlling the motor 20 and the electromagnetic brake 23 of the drive device 18 are connected to the control device 50. The control device 50 controls the motor 20 and the electromagnetic brake 23 through the drive circuit 66, and controls the operation and stop of the step 30, the operation direction (ascending, descending), and the operation speed.

[0035] The communication unit 64 communicates with the mobile body communication unit 112 of the mobile body 100 and the monitoring device 200 of the external maintenance center. In addition, the communication unit 64 communicates through a short-range wireless function that communicates using Bluetooth (registered trademark), Wifi, or NFC (Near Field Communication), etc., and a normal communication function that communicates using a wireless or wired public commercial line.

[0036] The mobile body control unit 104 is connected to the control device 50 via the mobile body communication unit 112 and the communication unit 64, and can control the operation and stop of the step 30, the operation direction (ascending, descending), and the operation speed.

[0037] (5) Abnormality determination method based on the mobile body 100

[0038] Next, with reference to Figure 1 The abnormality determination method for the first guide rail 29 or the second guide rail 25 of the escalator 10 and the abnormality determination method for the first roller 301 and the second roller 302 of all the steps 30 using the mobile body 100 will be described. To execute this abnormality determination method, an abnormality determination program is stored in the mobile body control unit 104, and the mobile body control unit 104 controls the control device 50 according to this abnormality determination program to execute this abnormality determination method. The mobile body control unit 104 acquires the specification information (floor height, number of steps n, operation speed v) of the escalator 10 from the control device 50 in advance. The number of steps 30 is set to n = 60, for example. In addition, Figure 1 (a) to (c) of are waveform diagrams of vibration waves detected by the vibration sensor 110, the vertical axis is the amplitude, the horizontal axis is the time t, and this horizontal axis t corresponds to the position of the first guide rail 29 or the second guide rail 25 in the side view of the escalator 10 described in the uppermost section of Figure 1 .

[0039] (5-1) The abnormality determination method for the first guide rail 29 or the second guide rail 25 will be described.

[0040] First, move the mobile body 100 to the lower landing plate 34 of the escalator 10.

[0041] Next, stop the running step 30.

[0042] Next, the moving body 100 is moved to the lowermost step 30 at which it has stopped, that is, the step 30 at the same height as the lower boarding and alighting plate 34. This step 30 is not limited to a specific step 30 and can be any step 30. Hereinafter, this step 30 will be referred to as the "first step 30". In addition, the central position in the front-rear direction of the upper surface (clamping plate surface 304) of the lowermost step 30 is referred to as the "starting point P".

[0043] Next, with the moving body 100 on board, the lowermost first step 30 is raised. Hereinafter, the path during the raising will be referred to as the "forward path". At the start of the raising, the vibration sensor 110 starts detecting from the position of the starting point P, and during the movement on the forward path, it detects the vibration wave transmitted from the first step 30 to the vibration sensor 110 (hereinafter referred to as the "vibration wave of the forward path"), and the moving body control unit 104 records this vibration wave of the forward path in time series.

[0044] Next, when the first step 30 reaches the uppermost level, that is, the position at the same height as the upper boarding and alighting plate 32, the raising of the first step 30 is stopped, and the detection of the vibration wave of the forward path is ended. In addition, the central position in the front-rear direction of the upper surface (clamping plate surface 304) of the uppermost step 30 is referred to as the "end point Q".

[0045] Next, with the moving body 100 on board the first step 30, the first step 30 is lowered this time. Hereinafter, the path during the lowering will be referred to as the "return path". At the start of the lowering, the vibration sensor 110 starts detecting from the position of the end point Q, and during the movement on the return path, it detects the vibration wave transmitted from the first step 30 to the vibration sensor 110 (hereinafter referred to as the "vibration wave of the return path"), and the moving body control unit 104 records this vibration wave of the return path in time series.

[0046] Next, when the first step 30 reaches the lowermost level, that is, the position at the same height as the lower boarding and alighting plate 34, the lowering is stopped, and the detection of the vibration wave of the return path is also ended.

[0047] Next, the moving body 100 is moved from the lowermost first step 30 to the lower boarding and alighting plate 34.

[0048] Next, the vibration wave of the forward path and the vibration wave of the return path of the entire stroke are used to check whether there is any abnormality in the step rollers of the first step 30. The reason for performing this check is that if there is an abnormality in the step rollers of the first step 30, the abnormal part of the first guide rail 29 or the second guide rail 25 cannot be accurately identified. The inspection method for the step rollers of the first step 30 will be described in detail later. Then, when there is an abnormality in the step rollers of the first step 30, the step 30 is raised by one level, and the moving body 100 is mounted on the second step 30 to perform the same inspection. When there is also an abnormality in the step rollers of the second step 30, the step rollers of the next-level step 30 are inspected, and the abnormal part of the first guide rail 29 or the second guide rail 25 is determined using the vibration wave of the forward path and the vibration wave of the return path detected in the step 30 of the level where there is no abnormality in the step rollers finally.

[0049] Next, the moving body control unit 104 analyzes Figure 1 the vibration wave of the forward path from the starting point P to the ending point Q shown in (a) of, and obtains the time t1 when the amplitude exceeds the track reference value F in the pulsed vibration wave. This time t1 is the time when the moving body 100 passes through the abnormal part of the first guide rail 29 or the second guide rail 25. Then, based on the time t1 from the starting point P and the running speed v, the distance L1 (= t1 × v) from the starting point P to the abnormal part is calculated. The part at a distance L1 from this starting point P is the abnormal part where the first guide rail 29 or the second guide rail 25 is abnormal. However, it is impossible to determine which of the first guide rail 29 and the second guide rail 25 is abnormal, so they are hereinafter collectively referred to as "guide rails".

[0050] Next, the moving body control unit 104 analyzes Figure 1 the vibration wave of the return path from the ending point Q to the starting point P shown in (a) of, and obtains the time t2 when it exceeds the track reference value F in the pulsed vibration wave. This time t2 is the time when the moving body 100 passes through the abnormal part of the guide rail. Then, based on the time t2 from the ending point Q and the running speed v, the distance L2 (= t2 × v) from the ending point Q to the abnormal part is calculated. The part at a distance L2 from this ending point Q is the abnormal part where the guide rail is abnormal.

[0051] Next, the distance L0 from the starting point P to the ending point Q is pre-stored in the moving body control unit 104. Then, the distance L2 from the ending point Q to the abnormal part in the return path is converted into the distance L2' from the starting point P to the abnormal part (= L0 - L2).

[0052] Next, when the distance L1 from the starting point P in the forward path is equal to the distance L2' from the starting point P in the return path, that is, when L1 = L2', the moving body control unit 104 determines that there is an abnormality at this part. In addition, when there is an abnormal part in only one of the forward path or the return path, it is not an exact abnormal part, but is recorded as a part to be inspected.

[0053] (5-2) The method for determining abnormalities of the first roller 301 and the second roller 302 of the step 30 will be described. Since the abnormality determination method is carried out according to multiple rules, these rules will be described.

[0054] Regarding the first rule, the moving body 100 is successively mounted on n steps 30, that is, from the first step 30 to the nth step 30 for inspection. As a successive inspection method, for example, when the inspection of the third step 30 on which the moving body 100 is mounted is completed, the third step 30 is lowered to the lowest level of the lower layer, and the moving body 100 is retracted to the landing plate 34 of the lower layer. Then, the step 30 is raised one level, and the fourth step 30 is set at the position of the landing plate 34. Then, the moving body 100 is mounted on the fourth step 30, and the fourth step 30 is inspected.

[0055] Regarding the second rule, the step 30 has a pair of left and right first rollers 301, 301 and a pair of left and right second rollers 302, 302. However, since the moving body 100 is mounted on the step 30 to detect vibration, it is impossible to determine which step roller is abnormal. Therefore, only the step 30 where there is a problem with the step roller is determined, and then the maintenance personnel visually check the four step rollers respectively to determine which step roller is abnormal. Thus, since it is impossible to determine which of the four step rollers provided on the step 30 is abnormal, the pair of left and right first rollers 301, 301 and the second rollers 302, 302 are collectively referred to as "step rollers" for short.

[0056] Regarding the third rule, instead of reciprocating the step 30 from the starting point P of the lower layer to the end point Q of the upper layer like the guide rail, the step roller is reciprocated in an inspection section with a distance of at least two laps or more for inspection. For example, when the diameter R of the step roller is 80 mm, the distance of one lap (outer diameter length) is πR = approximately 252 mm, so it is made to travel at least 504 mm. However, in order to reliably detect abnormalities, on the other hand, if the distance becomes longer, the inspection time for one step 30 becomes longer. Therefore, for example, 4 to 5 laps are appropriate. Hereinafter, as shown in (b) and (c) of Figure 1 the start position of the inspection section for inspecting the step roller is set as "measurement start position A", and the end position of the inspection section is set as "measurement end position B".

[0057] Regarding the fourth rule, when an abnormality is determined in the inspection of the guide rail, the step rollers are inspected in the inspection section other than the section determined to be the abnormal part. The reason is that even if vibration is detected, it is not clear whether it is vibration from the guide rail or from the step rollers. By inspecting the step rollers in the inspection section other than the section determined to be the abnormal part, it is possible to detect the vibration from the step rollers while excluding the vibration from the guide rail.

[0058] Regarding the fifth rule, as shown in Figure 1 (b) and (c) thereof, the vibration sensor 110 detects the vibration wave from the measurement start position A to the measurement end position B on the forward path of the step 30, and detects the vibration wave from the measurement end position B to the measurement start position A on the return path of the step 30. The reason for detecting both the forward path and the return path is that there are cases where the step roller generates abnormal vibration only when rotating in a specific direction. For example, sometimes arching occurs only in one direction, and periodic vibration is detected in one of the forward path and the return path.

[0059] Regarding the sixth rule, as shown in Figure 1 (b) and (c) thereof, the vibration wave on the forward path of the step 30 from the measurement start position A to the measurement end position B and the vibration wave on the return path of the step 30 from the measurement end position B to the measurement start position A are analyzed, and it is determined whether the roller reference value G is exceeded in the pulsed vibration wave. Then, regarding the vibration wave on the forward path or the return path, when the interval at which the vibration wave exceeding the roller reference value G is generated for each period (=πR / v) corresponding to the outer peripheral length (=πR) of the diameter R of the step roller, it is determined that the step roller is abnormal. For example, for Figure 1 the step roller of the second step 30 in (b) thereof, it is determined that there is no abnormality, and for Figure 1 the step roller of the nth step 30 in (c) thereof, it is determined that there is an abnormality during the movement on the forward path and no abnormality during the movement on the return path. In addition, the abnormality of the step rollers such as the first step 30 is determined before determining the abnormality of the guide rail. However, at this time, the vibration wave on the forward path of the step 30 from the measurement start position A to the measurement end position B and the vibration wave on the return path of the step 30 from the measurement end position B to the measurement start position A are not analyzed, but the vibration waves on the forward path and the return path of the entire stroke are used for analysis. The analysis method is the same as the sixth rule above.

[0060] (6) Abnormality determination method

[0061] Next, referring to Figures 4 to 6The flowchart illustrates a method for detecting abnormalities in the guide rails of the escalator 10 and the step rollers of the n steps 30. As the time period for starting the inspection mode for this abnormality detection, it is carried out outside the business hours of the building where the escalator 10 is installed.

[0062] Figure 4 and Figure 5 Steps S1 to S19 in the flowchart represent the control flow for the inspection of the guide rails. However, in order to accurately perform this inspection of the guide rails, it also includes a control flow for detecting whether there are abnormalities in the step rollers of the steps 30 on which the moving body 100 is riding.

[0063] As Figure 4 shown in the flowchart, in step S1, the inspection mode of the escalator 10 is started, and it proceeds to step S2.

[0064] In step S2, the moving body 100 moves to the landing plate 34 on the lower level of the escalator 10 and proceeds to step S3.

[0065] In step S2, m = 1 is set. Additionally, 1 ≤ m ≤ n.

[0066] In step S3, the moving body control unit 104 causes the m-th step 30 (hereinafter referred to as "the m-th step 30") to rise via the control device 50 and sets it at the same height as the landing plate 34. Additionally, for the first step 30 when m = 1, any step 30 is set at the same height as the landing plate 34. Then, it proceeds to step S5.

[0067] In step S5, the moving body 100 moves from the landing plate 34 to the m-th step 30. This position is the starting point P. Then, it proceeds to step S6.

[0068] In step S6, the first step 30 starts to rise. Then, it proceeds to step S7.

[0069] In step S7, while rising, the detection of the vibration wave of the path is started from the starting point P (recorded as "path vibration wave" in the figure). This detection is continuously performed until the moving body 100 reaches the uppermost step on the upper level, and the vibration wave is recorded in time series. Then, it proceeds to step S8.

[0070] In step S8, when the m-th step 30 reaches the uppermost step on the upper level, the rising is stopped. Then, it proceeds to step S9.

[0071] In step S9, the detection and recording of the vibration wave of the path are ended. This position is the end point Q. Then, it proceeds to step S10.

[0072] In step S10, the m-th step 30 starts to descend. Then, it proceeds to step S11.

[0073] In step S11, while descending, the detection of the vibration wave of the return path (recorded as "return path vibration wave" in the figure) is started from the end point Q. This detection is continuously performed until the m-th step 30 reaches the lowermost step of the lower layer, and the vibration wave is recorded in time series. Then, proceed to step S12.

[0074] In step S12, when the m-th step 30 reaches the lowermost step, the descent is stopped. Then, proceed to step S13.

[0075] In step S13, the detection and recording of the vibration wave of the return path are ended. This end position is the starting point P. Then, proceed to step S14.

[0076] In step S14, the moving body 100 is moved onto the landing plate 34 of the lower layer, and proceed to step S14.

[0077] As Figure 5 shown in the flowchart, in step S15, using the detected vibration waves of the forward path and the return path of the entire journey, it is determined whether there is an abnormality in the step rollers of the m-th step 30 according to the above-mentioned Rule 6. Then, proceed to step S16.

[0078] In step S16, if there is an abnormality in the step rollers of the m-th step 30, proceed to step S17 (in the case of "yes"), and if there is no abnormality, proceed to step S18 (in the case of "no").

[0079] In step S17, since there is an abnormality in the step rollers of the m-th step 30, set m = m + 1 to ascend one level in order to inspect the step 30 of the next level. Then, return to Figure 4 step S4.

[0080] In step S18, since there is no abnormality in the step rollers of the m-th step 30, the moving body control unit 104 uses the detected vibration waves of the forward path and the return path to determine whether there is an abnormality in the guide rail by the inspection method described above. Then, proceed to step S19.

[0081] In step S19, the moving body control unit 104 stores the determination result of the guide rail. Then, proceed to step S20.

[0082] Figure 6 Steps S20 to S40 of the flowchart are the control flow for inspecting the abnormalities of the step rollers of the (m + 1)-th step 30 to the n-th step 30. The reason for starting the inspection from the (m + 1)-th step 30 is that the presence or absence of abnormalities in the step rollers of the steps 30 from the 1st to the m-th level has been determined.

[0083] As Figure 6As shown in the flowchart, in step S20, k is set to m + 1. Additionally, 1 ≤ m < k ≤ n. Then, proceed to step S21.

[0084] In step S21, based on the determination result of the stored guide rail, determine the measurement start position A and the measurement end position B of the inspection interval for measuring the step rollers in the interval other than the abnormal part of the guide rail. If there is no abnormality in the guide rail, determine the measurement start position A and the measurement end position B of the pre-determined inspection interval. Then, proceed to step S22.

[0085] In step S22, set the k-th step 30 at the same height as the lower landing plate 34. Then, proceed to step S23.

[0086] In step S23, move the moving body 100 onto the k-th step 30, and proceed to step S24.

[0087] In step S24, start raising the k-th step, and proceed to step S25.

[0088] In step S25, when the k-th step 30 reaches the measurement start position A, proceed to step S26.

[0089] In step S26, start detecting the vibration wave of the forward path for the step rollers and recording the time series, and proceed to step S27.

[0090] In step S27, when the k-th step 30 reaches the measurement end position B, proceed to step S28.

[0091] In step S28, stop the k-th step 30, and proceed to step S29.

[0092] In step S29, end the detection and recording of the vibration wave of the forward path, and proceed to step S30.

[0093] In step S30, start lowering the k-th step 30, and proceed to step S31.

[0094] In step S31, start detecting the vibration wave of the return path and recording the time series, and proceed to step S32.

[0095] In step S32, when the k-th step 30 reaches the measurement start position A, proceed to step S33.

[0096] In step S33, end the detection and recording of the vibration wave of the return path, and proceed to step S34.

[0097] In step S34, when the k-th step 30 reaches the lowest step of the lower layer, stop it. Then, proceed to step S35.

[0098] In step S35, the moving body 100 is moved onto the lower landing plate 34 and proceeds to step S36.

[0099] In step S36, when k = n, it proceeds to step S39 (the "yes" case), and when k < n, it proceeds to step S37 (the "no" case). That is, when all the inspections of the steps 30 with n levels (= 60 levels) are completed, the inspection of the step rollers is ended, and when not all the inspections of the steps 30 are completed, it proceeds to step S37.

[0100] In step S37, since not all the inspections of the steps 30 from the (m + 1)-th to the n-th levels are completed, the k-th step 30 at the same height as the lower landing plate 34 is raised by one level, and the (k + 1)-th step 30 is set at the same level as the lower landing plate 34, and it proceeds to step S38.

[0101] In step S38, k is set to k + 1. Thus, the step rollers of the next step 30 can be inspected. Then, it returns to step S22.

[0102] In step S39, since the vibration waves of the outgoing path and the incoming path of the step rollers of all the steps 30 from the (m + 1)-th to the n-th levels are inspected and recorded, the steps 30 with abnormal step rollers are determined based on the sixth rule described above. Then, it proceeds to step S40.

[0103] In step S40, the moving body control unit 104 sends the inspection results of the guide rail and the inspection results of the step rollers of all the steps 30 at the n-th level to the control device 50, and the control device 50 sends them to the monitoring device 200.

[0104] (7) Effects

[0105] According to the present embodiment, without maintenance personnel going directly to the site, the moving body 100 can automatically inspect the guide rail and the step rollers of each step 30.

[0106] In addition, the moving body 100 riding on the first step 30 reciprocates from the lower starting point P to the upper end point Q to detect vibration waves, and it can determine whether there is an abnormality in the guide rail and in which part there is an abnormality when there is an abnormality.

[0107] In addition, it is possible to ride on each of the n steps 30 to check which step 30 has abnormal step rollers.

[0108] In addition, before inspecting the guide rail, in order to inspect the guide rail, the step rollers of the step 30 on which the moving body 100 rides are inspected, and the inspection is carried out by boarding the step on which the step rollers are normal while avoiding the steps with abnormal step rollers. Therefore, the abnormality of the guide rail can be reliably determined.

[0109] (8) Modification example

[0110] Next, a modification example of the above-described embodiment will be described.

[0111] In the above-described embodiment, when moving from the lower layer to the upper layer is set as the forward path, and when moving from the upper layer to the lower layer is set as the return path. However, conversely, the moving body 100 can be provided at the uppermost level of the upper layer, and the inspection can be carried out with the path from the upper layer to the lower layer as the forward path and the path from the lower layer to the upper layer as the return path.

[0112] In addition, in the above-described embodiment, when inspecting the step rollers of the step 30, the moving body 100 is retracted to the landing plate 34 on the lower layer, the step 30 is raised by one level, and the step rollers of the next step 30 are inspected after boarding. However, instead of this, when the moving body 100 has the function of climbing the step 30, the inspection of the step rollers can be carried out by climbing the steps 30 step by step from the inspected step without returning to the lower layer.

[0113] In addition, in the above-described embodiment, the inspection of the guide rail and the inspection of the step rollers are carried out continuously in one body. However, instead of this, the inspection of the guide rail and the inspection of the step rollers can be carried out separately and independently.

[0114] In addition, in the above-described embodiment, the escalator 10 is described as a passenger conveyor, but instead of this, it can also be applied to a moving walkway.

[0115] One embodiment of the present invention has been described above, but this embodiment is presented as an example and is not intended to limit the scope of the invention. These new embodiments can be implemented in various other ways, and various omissions, substitutions, and changes can be made without departing from the gist of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are included in the invention described in the claims and the scope equivalent thereto.

Claims

1. A passenger conveyor system, comprising a passenger conveyor and a moving body, characterized in that: The above passenger conveyor has: The truss is arranged along the front-to-rear direction from the boarding and alighting entrance on one side to the boarding and alighting entrance on the other side; A pair of left and right rails are provided on the upper part of the truss; A pair of left and right first guide rails are fixed to the truss along the front-rear direction; A pair of left and right second guide rails fixed to the truss along the front-rear direction; A plurality of steps are connected in a ring shape and move along the front-rear direction from the above-mentioned entrance on one side to the above-mentioned entrance on the other side between the pair of left and right railings; A driving device for moving the steps; and A control device controls the above-mentioned driving device, The step has a pair of left and right first rollers and a pair of left and right second rollers. The left and right pairs of the first rollers respectively travel on the left and right pairs of the first guide rails. The left and right pairs of the second rollers respectively travel on the left and right pairs of the second guide rails. The above-mentioned moving body has: The main body of the moving body moves by riding on the steps; A vibration sensor is disposed on the moving body; and A mobile body control unit is provided in the mobile body and controls the control device via communication. The above-mentioned moving body control unit is: While the moving body is moving on the steps on the way from the one boarding and alighting entrance to the other boarding and alighting entrance, the vibration wave of the way detected by the vibration sensor is recorded in time series, and when the vibration wave exceeds a predetermined track reference value, the position where the vibration wave exceeds is recorded as an abnormal part on the way. While the moving body is moving on the steps on the way back from the other boarding and alighting entrance to the one boarding and alighting entrance, the vibration wave of the way back detected by the vibration sensor is recorded in time series, and when the vibration wave exceeds the track reference value, the position where the vibration wave exceeds the track reference value is recorded as an abnormal position on the way back. When the abnormal portion on the outward path matches the abnormal portion on the return path, it is determined that an abnormality exists in the first rail or the second rail at the matching abnormal portion.

2. The passenger conveyor system according to claim 1, wherein: The above-mentioned moving body control unit is: The position of the stairs at the entrance on one side is set as a starting point P, The position of the stairs at the other entrance is defined as the end point Q. In the vibration wave on the outward path from the starting point P to the end point Q, the time t1 when the amplitude exceeds the track reference value is obtained. Based on the time t1 and the running speed v of the step, the distance L1 from the starting point P to the abnormal part on the outgoing path is calculated. In the vibration wave on the return path from the end point Q to the start point P, the time t2 when the amplitude exceeds the orbit reference value is calculated. Based on the time t2 and the running speed v, the distance L2 from the end point Q to the abnormal part on the return path is calculated. The distance L2 is subtracted from the distance L0 from the starting point P to the end point Q to obtain the distance L2' from the starting point P to the abnormal part on the return path. When the distance L1 and the distance L2' coincide with each other, it is determined that an abnormality exists in the portion.

3. The passenger conveyor system according to claim 2, wherein: The above-mentioned moving body control unit is: While the moving body riding on the steps moves in a predetermined inspection interval, the vibration wave detected by the vibration sensor is recorded in a time series, and when the vibration wave exceeds a roller reference value at each cycle corresponding to the outer diameter length of the first roller or the second roller, it is determined that the first roller or the second roller has an abnormality, The above determination is performed on all of the above steps that exist in plurality one by one.

4. The passenger conveyor system according to claim 3, wherein: The above-mentioned moving body control unit is: Regarding the step on which the moving body is riding when the determination of the first guide rail or the second guide rail is made, The first roller or the second roller is judged by using the vibration wave of the inspection section in the vibration wave of the outward path from the starting point P to the end point Q, or the vibration wave of the inspection section in the vibration wave of the return path from the end point Q to the starting point P, which is used when judging the first guide rail or the second guide rail. When there is no abnormality in the first roller or the second roller, the first guide rail or the second guide rail is determined.

5. A passenger conveyor system, comprising a passenger conveyor and a moving body, characterized in that: The above passenger conveyor has: The truss is arranged along the front-to-rear direction from the boarding and alighting entrance on one side to the boarding and alighting entrance on the other side; A pair of left and right rails are provided on the upper part of the truss; A pair of left and right first guide rails are fixed to the truss along the front-rear direction; A pair of left and right second guide rails fixed to the truss along the front-rear direction; A plurality of steps are connected in a ring shape and move along the front-rear direction from the above-mentioned entrance on one side to the above-mentioned entrance on the other side between the pair of left and right railings; A driving device for moving the steps; and A control device controls the above-mentioned driving device, The step has a pair of left and right first rollers and a pair of left and right second rollers. The left and right pairs of the first rollers respectively travel on the left and right pairs of the first guide rails. The left and right pairs of the second rollers respectively travel on the left and right pairs of the second guide rails. The above-mentioned moving body has: The main body of the moving body moves by riding on the steps; A vibration sensor is disposed on the moving body; and A mobile body control unit is provided in the mobile body and controls the control device via communication. The above-mentioned moving body control unit is: While the moving body riding on the steps moves in a predetermined inspection interval, the vibration wave detected by the vibration sensor is recorded in a time series, and when the vibration wave exceeds a roller reference value at each cycle corresponding to the outer diameter length of the first roller or the second roller, it is determined that the first roller or the second roller has an abnormality, The above determination is performed on all of the above steps that exist in plurality one by one.

6. A mobile body for inspecting a passenger conveyor, characterized in that: The above passenger conveyor has: The truss is arranged along the front-to-rear direction from the boarding and alighting entrance on one side to the boarding and alighting entrance on the other side; A pair of left and right rails are provided on the upper part of the truss; A pair of left and right first guide rails are fixed to the truss along the front-rear direction; A pair of left and right second guide rails fixed to the truss along the front-rear direction; A plurality of steps are connected in a ring shape and move along the front-rear direction from the above-mentioned entrance on one side to the above-mentioned entrance on the other side between the pair of left and right railings; A driving device for moving the steps; and A control device controls the above-mentioned driving device, The step has a pair of left and right first rollers and a pair of left and right second rollers. The left and right pairs of the first rollers respectively travel on the left and right pairs of the first guide rails. The left and right pairs of the second rollers respectively travel on the left and right pairs of the second guide rails. The above-mentioned moving body has: The main body of the moving body moves by riding on the steps; A vibration sensor is disposed on the moving body; and A mobile body control unit is provided in the mobile body and controls the control device via communication. The above-mentioned moving body control unit is: While the moving body is moving on the steps on the way from the one boarding and alighting entrance to the other boarding and alighting entrance, the vibration wave of the way detected by the vibration sensor is recorded in time series, and when the vibration wave exceeds a predetermined track reference value, the position where the vibration wave exceeds is recorded as an abnormal part on the way. While the moving body is moving on the steps on the way back from the other boarding and alighting entrance to the one boarding and alighting entrance, the vibration wave of the way back detected by the vibration sensor is recorded in time series, and when the vibration wave exceeds the track reference value, the position where the vibration wave exceeds the track reference value is recorded as an abnormal position on the way back. When the abnormal portion on the outward path matches the abnormal portion on the return path, it is determined that an abnormality exists in the first rail or the second rail at the matching abnormal portion.

7. A mobile body for inspecting a passenger conveyor, characterized in that: The above passenger conveyor has: The truss is arranged along the front-to-rear direction from the boarding and alighting entrance on one side to the boarding and alighting entrance on the other side; A pair of left and right rails are provided on the upper part of the truss; A pair of left and right first guide rails are fixed to the truss along the front-rear direction; A pair of left and right second guide rails fixed to the truss along the front-rear direction; A staircase moves along the front-rear direction between the pair of left and right railings from the boarding and alighting entrance on one side to the boarding and alighting entrance on the other side; A driving device for moving the steps; and A control device controls the above-mentioned driving device, The step has a pair of left and right first rollers and a pair of left and right second rollers. The left and right pairs of the first rollers respectively travel on the left and right pairs of the first guide rails. The left and right pairs of the second rollers respectively travel on the left and right pairs of the second guide rails. The above-mentioned moving body has: The main body of the moving body moves by riding on the steps; A vibration sensor is disposed on the moving body; and A mobile body control unit is provided in the mobile body and controls the control device via communication. The above-mentioned moving body control unit is: While the moving body riding on the steps moves in a predetermined inspection interval, the vibration wave detected by the vibration sensor is recorded in a time series, and when the vibration wave exceeds a roller reference value at each cycle corresponding to the outer diameter length of the first roller or the second roller, it is determined that the first roller or the second roller has an abnormality, The above determination is performed on all of the above steps that exist in plurality one by one.

8. An abnormality determination program for causing a moving body to inspect a passenger conveyor, wherein: The above passenger conveyor has: The truss is arranged along the front-to-rear direction from the boarding and alighting entrance on one side to the boarding and alighting entrance on the other side; A pair of left and right rails are provided on the upper part of the truss; A pair of left and right first guide rails are fixed to the truss along the front-rear direction; A pair of left and right second guide rails fixed to the truss along the front-rear direction; A plurality of steps are connected in a ring shape and move along the front-rear direction from the above-mentioned entrance on one side to the above-mentioned entrance on the other side between the pair of left and right railings; A driving device for moving the steps; and A control device controls the above-mentioned driving device, The step has a pair of left and right first rollers and a pair of left and right second rollers. The left and right pairs of the first rollers respectively travel on the left and right pairs of the first guide rails. The left and right pairs of the second rollers respectively travel on the left and right pairs of the second guide rails. The above-mentioned moving body has: The main body of the moving body moves by riding on the steps; A vibration sensor is disposed on the moving body; and The mobile body control unit is provided in the mobile body and is composed of a computer that controls the control device via communication. The abnormality determination program is used to enable the mobile body control unit to implement: While the moving body is moving on the steps on the way from the one boarding and alighting entrance to the other boarding and alighting entrance, the vibration wave of the way detected by the vibration sensor is recorded in time series, and when the vibration wave exceeds a predetermined track reference value, the position where the vibration wave exceeds is recorded as an abnormal part on the way. While the moving body is moving on the steps on the way back from the other boarding and alighting entrance to the one boarding and alighting entrance, the vibration wave of the way back detected by the vibration sensor is recorded in time series, and when the vibration wave exceeds the track reference value, the position where the vibration wave exceeds the track reference value is recorded as an abnormal position on the way back. When the abnormal portion on the outward path matches the abnormal portion on the return path, it is determined that an abnormality exists in the first rail or the second rail at the matching abnormal portion.

9. An abnormality determination program for causing a moving body to inspect a passenger conveyor, wherein: The above passenger conveyor has: The truss is arranged along the front-to-rear direction from the boarding and alighting entrance on one side to the boarding and alighting entrance on the other side; A pair of left and right rails are provided on the upper part of the truss; A pair of left and right first guide rails are fixed to the truss along the front-rear direction; A pair of left and right second guide rails fixed to the truss along the front-rear direction; A plurality of steps are connected in a ring shape and move along the front-rear direction from the above-mentioned entrance on one side to the above-mentioned entrance on the other side between the pair of left and right railings; A driving device for moving the steps; and A control device controls the above-mentioned driving device, The step has a pair of left and right first rollers and a pair of left and right second rollers. The left and right pairs of the first rollers respectively travel on the left and right pairs of the first guide rails. The left and right pairs of the second rollers respectively travel on the left and right pairs of the second guide rails. The above-mentioned moving body has: The main body of the moving body moves by riding on the steps; A vibration sensor is disposed on the moving body; and The mobile body control unit is provided in the mobile body and is composed of a computer that controls the control device via communication. The abnormality determination program is used to enable the mobile body control unit to implement: While the moving body riding on the steps moves in a predetermined inspection interval, the vibration wave detected by the vibration sensor is recorded in a time series, and when the vibration wave exceeds a roller reference value at each cycle corresponding to the outer diameter length of the first roller or the second roller, it is determined that the first roller or the second roller has an abnormality, The above determination is performed on all of the above steps that exist in plurality one by one.

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