Elevator monitoring system integrated with robot information

Abstract

The invention discloses an elevator monitoring system integrated with robot information. The elevator monitoring system comprises an elevator monitoring platform and a robot. The robot comprises a data acquisition module, a data processing module and a data uploading module; the data acquisition module is used for acquiring information in an elevator running process; the data processing module analyzes information in the elevator running process and calculates and outputs feature data of the elevator through an abnormal feature extraction algorithm; the data uploading module uploads the characteristic data of the elevator to the elevator monitoring platform; and the elevator monitoring platform generates a fault or hidden danger scene according to the characteristic data of the elevator. According to the invention, full-dimensional information support and accurate data basis can be provided for health assessment and function optimization of elevator equipment.

Description

Technical Field

[0001] The present invention relates to the technical fields of robots and elevators, and particularly relates to an elevator monitoring system incorporating robot information. Background Art

[0002] In the existing technologies that use robot sensors as new information sources for elevators, there are significant defects in sensor information collaboration. Chinese Patent Document 1 (CN112390103A) obtains the information of waiting passengers and items in the waiting area through an elevator robot in the waiting area, and only uses a single vision sensor to collect the information of the waiting area, resulting in limited data dimensions (only two-dimensional vision data). Although Chinese Patent Document 2 (CN118270615A) introduces an audio sensor, the sensor fusion stays at the low-dimensional matching of sound and light signals (such as floor identification), and does not achieve the deep feature fusion of combining multi-physical quantity data of the elevator.

[0003] At the same time, the existing technologies lack the ability of robots to cover the spatial information of the entire elevator scenario. In Document 1, the robot only monitors a single point in the waiting area, and in Document 2, it is limited to the confirmation of the floor position between the robot and the elevator, lacking the synchronous perception of key scenarios such as the dynamics of the elevator door area, the internal state of the car, and the operation behavior of the operation panel.

[0004] In addition, the information value of robots as information sources for elevators in the current technology is not fully exploited. The existing technologies only use robot sensors as auxiliary verification tools and do not integrate the information collected by robots into the elevator monitoring system.

[0005] In the existing technologies of robots analyzing the operating state and fault detection of elevators, there are significant problems of unilateral data dependence. There are communication dependence defects in Document 1, and the fault determination completely depends on the voiceprint and acceleration data actively sent by the elevator, without building an independent sensing channel for the robot, which directly leads to the detection failure when the elevator communication link is abnormal. Chinese Patent Document 3 (CN117623037A) only calls the data of the elevator self-checking system, without establishing a multi-modal perception data acquisition system for the robot body and detecting and analyzing elevator faults.

[0006] At the same time, there are defects in the fault coverage range in the existing solutions. The current technologies can only identify the preset fault codes of the elevator system or the obvious faults with reachable communication links. It is difficult to cover faults such as mechanical structure fatigue cracks and bearing pre-failure, which have no electrical characteristics but can be detected through the feature extraction of robot intelligent sensors. Summary of the Invention

[0007] To solve the above technical problems, the present invention provides an elevator monitoring system incorporating robot information, which includes an elevator monitoring platform and a robot; the robot includes a data acquisition module, a data processing module, and a data upload module;

[0008] The data acquisition module collects information during the operation of the elevator; the data processing module analyzes the information during the operation of the elevator and calculates and outputs the characteristic data of the elevator through an abnormal feature extraction algorithm; the data upload module uploads the characteristic data of the elevator to the elevator monitoring platform; the elevator monitoring platform generates a fault or potential hazard scenario based on the characteristic data of the elevator.

[0009] Preferably, the robot further includes a fault repair module; the elevator monitoring platform generates a repair instruction according to the fault or potential hazard scenario and issues the repair instruction to the robot, and the robot performs maintenance operations on the elevator through the fault repair module.

[0010] Preferably, the data acquisition module includes: a camera that collects the operation information of the door area and the door inside the elevator car and the button information on the operation panel; a vibration sensor that collects the vibration, speed, and acceleration information during the operation of the elevator; a microphone that collects the audio information during the operation of the elevator or when the door opens and closes.

[0011] Preferably, the characteristic data of the elevator is obtained after being processed by a multi-source cross-validation algorithm based on the information collected during the operation of the elevator.

[0012] Preferably, the steps for the robot to patrol and repair the elevator are as follows:

[0013] Step S1, the robot collects information during the operation of the elevator;

[0014] Step S2, the robot calculates and outputs the characteristic data of the elevator based on the information collected during the operation of the elevator and uploads it to the elevator monitoring platform;

[0015] Step S3, the elevator autonomously uploads information to the elevator monitoring platform;

[0016] Step S4, the elevator monitoring platform comprehensively judges the operation condition and potential hazards of the elevator based on the characteristic data uploaded by the robot and the data autonomously uploaded by the elevator, and generates a fault or potential hazard scenario;

[0017] Step S5, the elevator monitoring platform generates a repair instruction according to the fault or potential hazard scenario. If the fault can be solved by the robot, the repair instruction is issued to the robot;

[0018] Step S6, the robot performs maintenance operations on the elevator;

[0019] Step S7, the robot observes the effect after the maintenance operation and uploads the effect to the elevator monitoring platform;

[0020] Step S8, the elevator monitoring platform analyzes the effect after the maintenance operation performed by the robot and generates a maintenance work item.

[0021] Compared with the prior art, on the one hand, through the multi-sensor cluster (vision, vibration, acoustics) carried by the robot, the three-dimensional monitoring of the elevator operation status, door area working conditions, and internal components status of the car is realized, and the microscopic operation data that is difficult to cover by the traditional elevator self-checking system is obtained, providing full-dimensional information support for equipment health assessment and function optimization; on the other hand, based on the cross-verification mechanism of multi-sensor data fusion, the noise interference of a single sensor is effectively excluded, ensuring the reliability and integrity of the monitoring data, and providing an accurate data basis for elevator fault prediction and preventive maintenance.

[0022] Through the collaborative detection of three types of sensors, namely robot vision, vibration, and sound, the all-element monitoring of the elevator mechanical system (door machine, car, guide rail), control system (leveling accuracy, door opening and closing logic), and ride quality (vibration comfort) is realized. Independent of the elevator's own fault detection mechanism or communication fault, the robot information is used to detect the faults that are difficult to detect by the elevator detection mechanism.

[0023] In the robot side, the preliminary fault determination by the abnormal feature extraction algorithm reduces the delay of fault determination when all data needs to be uploaded to the cloud for processing and analysis in the traditional mode. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention will be further described in detail below in conjunction with the drawings and specific embodiments:

[0025] Figure 1 Schematic diagram of the elevator monitoring system architecture integrating robot information for Embodiment 1;

[0026] Figure 2 Schematic diagram of the steps when the robot patrols and repairs the elevator for Embodiment 1. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0027] The following specific embodiments are used to illustrate the implementation manners of the present invention. Those skilled in the art can fully understand other advantages and technical effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through different specific implementation manners. The details in this specification can also be applied based on different viewpoints, and various modifications or changes can be made without departing from the overall design concept of the invention. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other. The following exemplary embodiments of the present invention can be implemented in many different forms and should not be construed as being limited only to the specific embodiments described herein. It should be understood that these embodiments are provided to make the disclosure of the present invention complete and thorough, and to fully convey the technical solutions of these exemplary specific embodiments to those skilled in the art.

[0028] Embodiment 1

[0029] As Figure 1 shown, this embodiment provides an elevator monitoring system incorporating robot information, including an elevator monitoring platform and a robot; the robot includes a data acquisition module, a data processing module, and a data upload module;

[0030] The data acquisition module acquires information during the operation of the elevator; the data processing module analyzes the information during the operation of the elevator, and calculates and outputs the characteristic data of the elevator through an abnormal feature extraction algorithm; the data upload module uploads the characteristic data of the elevator to the elevator monitoring platform; the elevator monitoring platform generates a fault or potential hazard scenario based on the characteristic data of the elevator.

[0031] The robot further includes a fault repair module; the elevator monitoring platform generates a repair instruction based on the fault or potential hazard scenario, and issues the repair instruction to the robot, and the robot performs maintenance operations on the elevator through the fault repair module.

[0032] After the robot establishes communication with the elevator to obtain elevator information and registers, the data acquisition module acquires information during the operation of the elevator (such as information inside the car, elevator operating conditions, etc.) through relevant devices such as the robot's intelligent sensors (such as intelligent cameras, vibration sensors, voice recognition sensors). The data processing module analyzes and calculates the characteristic data of the elevator, and uploads the information to the elevator monitoring platform through the data upload module. The fault repair module is responsible for receiving the instructions issued by the elevator monitoring platform, and manipulating the machine components to perform maintenance operations on the elevator. And observe the effect after execution, and upload the effect after execution to the elevator monitoring platform.

[0033] The elevator monitoring platform is responsible for collecting on-site information, and comprehensively judging the operation status and potential hazards of the elevator based on the characteristics uploaded by the robot combined with the elevator information, and generating a fault or potential hazard scenario. For the fault scenarios that the robot can handle, relevant instructions are issued to the robot. The cloud analyzes the effect of the elevator after the robot's intervention, and reasonably arranges the elevator maintenance operations for the problems found. For the faults that the robot cannot handle, relevant work items are generated for the maintenance personnel to execute.

[0034] Embodiment 2

[0035] As Figure 2 shown, the steps when the robot in this embodiment patrols and repairs the elevator using the robot in Embodiment 1 are as follows:

[0036] Step S1, the robot acquires information during the operation of the elevator;

[0037] Step S2, the robot calculates and outputs the characteristic data of the elevator based on the information acquired during the operation of the elevator, and uploads it to the elevator monitoring platform;

[0038] Step S3, the elevator independently uploads information to the elevator monitoring platform;

[0039] Step S4: The elevator monitoring platform comprehensively judges the operation status and potential hazards of the elevator based on the feature data uploaded by the robot and the data uploaded by the elevator itself, and generates a fault or hazard scenario.

[0040] Step S5: The elevator monitoring platform generates a maintenance instruction according to the fault or hazard scenario. If the fault can be solved by the robot, the maintenance instruction is sent to the robot.

[0041] Step S6: The robot performs maintenance operations on the elevator.

[0042] Step S7: The robot observes the effect after the maintenance operation and uploads the effect to the elevator monitoring platform.

[0043] Step S8: The elevator monitoring platform analyzes the effect after the robot performs the maintenance operation, generates maintenance work items for the problems found, and sends them through the elevator maintenance platform.

[0044] The present invention constructs a full-closed-loop intelligent system for elevator fault monitoring of "data collection, feature extraction, scenario generation, and operation and maintenance response" based on robot information.

[0045] On the robot side, the preliminary fault determination by means of the abnormal feature extraction algorithm reduces the delay of fault determination in the traditional mode when all data needs to be uploaded to the cloud for processing and analysis.

[0046] According to the generated fault or hazard scenario, the cloud can intelligently allocate fault repair tasks based on the nature, severity of the fault, and the distribution of operation and maintenance resources. For some simple faults, they can be directly assigned to the robot for processing, giving full play to the automation and intelligence advantages of the robot to achieve rapid response and repair; for complex or urgent faults, they are assigned to professional emergency repair personnel to ensure that the faults can be solved in a timely and effective manner. This operation and maintenance response mode breaks the problems such as untimely and unreasonable task allocation that may exist in the traditional manual task allocation, and realizes the optimal allocation of operation and maintenance resources. By reasonably scheduling the robot and emergency repair personnel, the processing efficiency of operation and maintenance tasks is improved, the labor cost and time cost are reduced, and at the same time, the repair quality and reliability of the elevator are improved, ensuring the safe and stable operation of the elevator.

[0047] Embodiment 3

[0048] This embodiment details the scenario of the robot patrolling the elevator to determine whether the elevator door is deformed due to impact, resulting in abnormal door opening and closing. The specific steps are as follows:

[0049] S1. The robot collects information during the operation of the elevator, including:

[0050] a. Utilize the intelligent camera of the robot to collect information inside the car, including the door area and the operation status of the doors, etc.;

[0051] b. Collect abnormal noises when the elevator doors open and close through the sound recognition sensor.

[0052] S2. The robot analyzes and calculates the characteristic data of the elevator based on the collected information, and uploads the information to the monitoring platform through the Internet of Things, specifically including:

[0053] a. Images and videos from the intelligent camera to identify the elevator door closing time and whether the elevator door is deformed;

[0054] b. The sound recognition sensor to identify abnormal noises during the elevator start and stop phases and the sound in the door direction during the door opening and closing time.

[0055] S3. The elevator autonomously uploads information to the monitoring platform;

[0056] S4. The elevator monitoring platform comprehensively judges whether the elevator door is abnormally opened and closed due to being impacted and deformed based on the characteristic data uploaded by the robot and the data autonomously uploaded by the elevator;

[0057] a. The sound in the door direction during the door opening and closing time + the elevator door is deformed + the elevator door closing time to infer that the elevator door is impacted and deformed, affecting the normal opening and closing of the elevator door;

[0058] S5. The elevator monitoring platform judges the fault scenario: This fault cannot be solved by the robot and requires human intervention;

[0059] S6. Push the maintenance operation to the maintenance personnel.

[0060] Embodiment 4

[0061] This embodiment is a refinement of the robot's inspection of the elevator scenario to judge whether the elevator brake or guide rail problem causes poor riding quality. The specific steps are as follows:

[0062] S1. The robot collects information during the elevator operation, including:

[0063] a. Collect the vibration, speed, acceleration, etc. of the elevator during operation through the vibration sensor;

[0064] b. Collect abnormal noises during the elevator operation through the sound recognition sensor.

[0065] S2. The robot analyzes and calculates the characteristic data of the elevator based on the collected information, and uploads the information to the monitoring platform through the Internet of Things, specifically including:

[0066] a. The vibration sensor to identify the vibration peak values of the car on the three axes and calculate the riding quality and comfort of the elevator;

[0067] b. A sound recognition sensor that recognizes the friction or abnormal noise of the guide rail during the operation of the elevator.

[0068] S3. The elevator independently uploads information to the monitoring platform;

[0069] S4. The elevator monitoring platform comprehensively judges whether the elevator door is impacted and deformed, resulting in abnormal opening and closing of the elevator, based on the characteristic data uploaded by the robot and the data independently uploaded by the elevator;

[0070] a. Poor elevator riding quality + friction or abnormal noise of the guide rail during elevator operation, inferring that there is a problem with the elevator brake or a certain section of the guide rail.

[0071] S5. The elevator monitoring platform judges the fault scenario: This fault cannot be solved by the robot and requires human intervention;

[0072] S6. Push the maintenance operation to the maintenance personnel.

[0073] Embodiment 5

[0074] This embodiment details the scenario of the robot patrolling the elevator to determine whether there is a jam in the elevator door closing button. The specific steps are as follows:

[0075] S1. The robot collects information during the operation of the elevator, including:

[0076] a. Using the intelligent camera of the robot to collect information inside the car, including the door area, the operation of the door, the situation of the buttons on the control panel, etc.

[0077] S2. The robot analyzes and calculates the characteristic data of the elevator based on the collected information and uploads the information to the monitoring platform through the Internet of Things. Specifically, it includes:

[0078] a. The images and videos of the intelligent camera to identify the elevator door closing time.

[0079] S3. The elevator independently uploads information to the monitoring platform;

[0080] S4. The elevator monitoring platform comprehensively judges whether there is a jam in the elevator door closing button based on the characteristic data uploaded by the robot and the data independently uploaded by the elevator;

[0081] a. The elevator door closing time is too short + there is a jam in the door closing button, inferring that there is a jam in the elevator door closing button.

[0082] S5. The elevator monitoring platform judges the fault scenario: This fault can be solved by the robot, and a maintenance instruction is sent to the robot;

[0083] S6. The robot executes the repair instruction, repeatedly tries to press the door closing button through the robotic arm to eliminate the jamming problem, and uploads the executed effect to the elevator monitoring platform;

[0084] S7. The monitoring platform reviews the effect after the robot repairs and decides whether manual intervention is required.

[0085] Embodiment 6

[0086] This embodiment is a refinement of the scenario where the robot patrols the elevator to determine whether there are foreign objects in the sill that affect the normal opening and closing of the elevator door. The specific steps are as follows:

[0087] S1. The robot collects information during the elevator operation, including:

[0088] a. Using the intelligent camera of the robot, collect the information inside the car, including the door area and the operation of the door, etc.

[0089] S2. The robot analyzes and calculates the characteristic data of the elevator based on the collected information, and uploads the information to the monitoring platform through the Internet of Things. Specifically, it includes:

[0090] a. The images and videos of the intelligent camera to identify whether there are foreign objects in the sill and whether the elevator repeatedly opens and closes the door.

[0091] S3. The elevator autonomously uploads information to the monitoring platform;

[0092] S4. The elevator monitoring platform comprehensively judges whether there are foreign objects in the sill that affect the normal opening and closing of the elevator door based on the characteristic data uploaded by the robot and the data autonomously uploaded by the elevator;

[0093] a. The elevator repeatedly opens and closes the door + there are foreign objects or dust in the sill, infer that there are foreign objects in the sill and affect the normal opening and closing of the elevator door;

[0094] S5. The elevator monitoring platform judges the fault scenario: This fault can be solved by the robot, and issues a repair instruction to the robot;

[0095] S6. The robot executes the repair instruction, removes the foreign objects or dust in the sill through the dust suction device or the robotic arm, and uploads the executed effect to the elevator monitoring platform;

[0096] S7. The monitoring platform reviews the effect after the robot repairs and decides whether manual intervention is required.

[0097] Embodiment 7

[0098] This embodiment is a refinement of the scenario where the robot patrols the elevator to determine whether there are items in the door area or human obstruction that cause the elevator to not close for a long time. The specific steps are as follows:

[0099] S1. The robot collects information during the operation of the elevator, including:

[0100] a. Using the intelligent camera of the robot to collect information inside the car, including the door area and the operation of the doors, etc.

[0101] S2. The robot analyzes and calculates the characteristic data of the elevator based on the collected information, and uploads the information to the monitoring platform through the Internet of Things. Specifically, it includes:

[0102] a. Images and videos of the intelligent camera, elevator door closing time, manual door blocking, items placed in the door area, repeated door opening and closing, etc.

[0103] S3. The elevator independently uploads information to the monitoring platform;

[0104] S4. The elevator monitoring platform comprehensively judges whether there is a behavior of preventing the door from closing based on the characteristic data uploaded by the robot and the data independently uploaded by the elevator;

[0105] a. The elevator fails to close the door for a long time, manual door blocking, items placed in the door area, the elevator repeatedly opens and closes the door, and there is a situation where preventing the door from closing causes the elevator to be unusable.

[0106] S5. The elevator monitoring platform judges the fault scenario: This fault can be solved by the robot, and a repair instruction is sent to the robot;

[0107] S6. The robot executes the repair instruction, pushes the items out of the door area, and prompts civilized elevator riding. And uploads the effect after execution to the elevator monitoring platform;

[0108] S7. The monitoring platform reviews the effect after the robot's repair and decides whether manual intervention is needed.

[0109] The above has described the present invention in detail through specific implementation manners and embodiments, but these do not constitute limitations to the present invention. Without departing from the principle of the present invention, those skilled in the art can also make many deformations and improvements, which should also be regarded as the protection scope of the present invention.

Claims

1. An elevator monitoring system incorporating robot information, characterized in that, It includes an elevator monitoring platform and a robot; the robot includes a data acquisition module, a data processing module, and a data upload module; The data acquisition module collects information during the operation of the elevator; the data processing module analyzes the information during the operation of the elevator, and calculates and outputs the characteristic data of the elevator through an abnormal feature extraction algorithm; the data upload module uploads the characteristic data of the elevator to the elevator monitoring platform; the elevator monitoring platform generates a fault or potential hazard scenario based on the characteristic data of the elevator.

2. The elevator monitoring system integrating robot information according to claim 1, wherein The robot further includes a fault repair module; the elevator monitoring platform generates a repair instruction according to the fault or potential hazard scenario, and issues the repair instruction to the robot, and the robot performs maintenance operations on the elevator through the fault repair module.

3. The elevator monitoring system incorporating robot information according to claim 2, wherein The data acquisition module includes: a camera, which collects the operation information of the door area and the door in the elevator car, and collects the button information on the control panel; a vibration sensor, which collects the vibration, speed, and acceleration information during the operation of the elevator; a microphone, which collects the audio information during the operation of the elevator or when the door opens and closes.

4. The elevator monitoring system incorporating robot information according to claim 3, characterized in that, The characteristic data of the elevator is obtained after being processed by a multi-source cross-validation algorithm based on the information collected during the operation of the elevator.

5. The elevator monitoring system incorporating robot information according to claim 4, characterized in that, The steps when the robot patrols and repairs the elevator are as follows: Step S1, the robot collects information during the operation of the elevator; Step S2, the robot calculates and outputs the characteristic data of the elevator according to the information collected during the operation of the elevator, and uploads it to the elevator monitoring platform; Step S3, the elevator independently uploads information to the elevator monitoring platform; Step S4, the elevator monitoring platform comprehensively judges the operation condition and potential hazards of the elevator based on the characteristic data uploaded by the robot and the data independently uploaded by the elevator, and generates a fault or potential hazard scenario; Step S5, the elevator monitoring platform generates a repair instruction according to the fault or potential hazard scenario, and if the fault can be solved by the robot, the repair instruction is issued to the robot; Step S6, the robot performs maintenance operations on the elevator; Step S7, the robot observes the effect after performing the maintenance operation, and uploads the effect to the elevator monitoring platform; Step S8, the elevator monitoring platform analyzes the effect after the robot performs the maintenance operation, and generates a maintenance work item.

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