Passenger conveyor inspection device and passenger conveyor inspection method

Abstract

To provide a passenger conveyor inspection device that can inspect the fastening state of fixtures under various environments.SOLUTION: In a passenger conveyor comprising a circulating chain and a plurality of steps connectable to the chain, a passenger conveyor inspection device that can inspect the fastening state of fixtures colored in a predetermined color used for fixing each of the plurality of steps to the chain comprises a calculation unit that calculates a threshold value for detecting the fixtures based on an image of a calibration member captured by an imaging device for detecting the fixture provided in the vicinity of the fixture, and a determination unit for determining the fastening state of the fixture based on the threshold value calculated by the calculation unit for the image of the fixture captured by the imaging device.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention generally relates to a technique for inspecting a passenger conveyor.

Background Art

[0002] A passenger conveyor is a device for transporting people within a building and is an essential device in an urban space. In a passenger conveyor, steps on which people ride are fixed to a chain formed in a loop via several fixtures. Then, the chain is engaged with a gear-shaped member called a sprocket, and by rotating the sprocket, the steps of the passenger conveyor are driven.

[0003] In a passenger conveyor having such a drive mechanism, the steps are the parts that come into contact with passengers, and inspections are regularly carried out to maintain a normal state. Regarding the inspection of a passenger conveyor, a device for detecting abnormalities in the steps has been disclosed (see Patent Document 1).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In regular maintenance work, inspections of the state of the steps are carried out. In particular, it is important to confirm whether the steps are properly fixed by the fixtures. Since the fixtures of the steps can be visually recognized at the reversing part of the steps, the boarding and alighting plates are removed during maintenance work, and the fastening state of the fixtures is confirmed at the reversing part. Although there are a large number of steps in one passenger conveyor, the places where the fastening state of the fixtures can be visually confirmed are limited, and in one operation of the passenger conveyor, there are restrictions on the number of people who can be present during the confirmation work. Therefore, confirmation using a camera is effective.

[0006] In this regard, in the technology described in Patent Document 1, in order to detect dirt, breakage, etc. occurring in the steps, a plurality of cameras are provided in the passenger conveyor, and abnormalities such as dirt and breakage of the steps are detected based on the camera images.

[0007] However, the environment where the passenger conveyor is installed is diverse, and the time zones for inspection are also diverse. Since the boarding and alighting plates are removed for inspection, due to changes in the surrounding environment, the amount of light irradiated into the passenger conveyor is not uniform. That is, in the inspection of the passenger conveyor, it is necessary to be able to check the fastening state of the fixtures in various environments, but Patent Document 1 does not disclose a configuration for coping with the environment during inspection. For this reason, depending on the environment during inspection, it may not be possible to correctly determine the fastening state of the fixtures by the camera.

[0008] The present invention has been made in consideration of the above points, and intends to propose a passenger conveyor inspection device or the like that can inspect the fastening state of fixtures in various environments.

Means for Solving the Problems

[0009] In order to solve such problems, in the present invention, in a passenger conveyor including a circulating chain and a plurality of steps that can be connected to the chain, a passenger conveyor inspection device for inspecting the fastening state of a fixture colored in a predetermined color used to fix each of the plurality of steps to the chain, the calibration member provided in the vicinity of the fixture is imaged by an imaging device, a calculation unit that calculates a threshold value for detecting the fixture based on the image of the calibration member, and for the image of the fixture imaged by the imaging device, a determination unit that determines the fastening state of the fixture based on the threshold value calculated by the calculation unit are provided.

[0010] In the above configuration, for example, calibration for detecting the fixture is performed based on an image of a calibration member provided near the fixture. According to the above configuration, even when the environment where the passenger conveyor is installed is different, it is possible to accurately determine the fastening state of the fixture.

Effect of the Invention

[0011] According to the present invention, a highly reliable passenger conveyor inspection system can be realized.

Brief Description of the Drawings

[0012]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Mode for Carrying Out the Invention

[0013] (I) First Embodiment Hereinafter, an embodiment of the present invention will be described in detail. However, the present invention is not limited to the embodiment. In this embodiment, a passenger conveyor inspection system for inspecting a passenger conveyor including a step driven by a loop-shaped drive mechanism and an opening that can be opened and closed during maintenance work near the end of the loop of the loop-shaped step will be described as an example.

[0014] Generally, in a passenger conveyor inspection system having a plurality of cameras in the passenger conveyor, although an abnormality of the step can be constantly detected, since there are cameras in the passenger conveyor, it is necessary to consider the influence of dust and the like that may occur over time on the inspection. In addition, when detecting stains, damages, etc. of a size that can be imaged by the camera, it is necessary to stop the passenger conveyor to perform maintenance work. Since the passenger conveyor is a device for transporting people in a building, the maintenance work is carried out systematically according to the usage situation. Therefore, in the regularly planned maintenance work, it is desirable to keep the step in a normal state. Also, in order not to inconvenience the users, it is necessary to surely perform the confirmation work in a short working time.

[0015] In this regard, this passenger conveyor inspection system includes an imaging device that captures images (still images, moving images, etc.) during maintenance work of the passenger conveyor, and a calibration member for detecting a fixture colored in a predetermined color for fastening the drive mechanism and the step of the passenger conveyor. In this passenger conveyor inspection system, the calibration member is provided at a part of the passenger conveyor near the fixture, and in the imaging device, the fixture in the opening and the calibration member are captured as images within the same field of view.

[0016] The calibration member includes at least one color marker of the same color as the color of the fixture and a color marker of the complementary color of the color of the fixture. Here, as the complementary color, for example, on the color wheel showing the hue in the HSV color space that expresses color as a combination of three numerical values of hue, saturation, and value, hues that are 180° different can be used. Note that the calibration member may include a luminance marker of a color having the same luminance as the color of the fixture instead of the color marker.

[0017] Next, embodiments of the present invention will be described with reference to the drawings. The following description and drawings are examples for explaining the present invention, and for the sake of clarity of explanation, omissions and simplifications are made as appropriate. The present invention can also be implemented in various other forms. Unless otherwise particularly limited, each component may be singular or plural.

[0018] In the following description, the same reference numerals are given to the same elements in the drawings, and the description will be omitted as appropriate. Also, when describing the same type of elements without distinction, the common part (the part excluding the branch number) of the reference numerals including the branch number is used, and when describing the same type of elements separately, reference numerals including the branch number may be used. For example, when describing the markers without particular distinction, it may be described as "marker 131", and when describing each marker separately, it may be described as "marker 131-1", "marker 131-2", etc.

[0019] Also, the notations such as "first", "second", "third", etc. in this specification and the like are for identifying the components, and do not necessarily limit the number or order. Also, the numbers for identifying the components are used for each context, and the numbers used in one context do not necessarily indicate the same configuration in other contexts. Also, it does not prevent a component identified by a certain number from having the functions of a component identified by another number.

[0020] FIG. 1 is a diagram showing an example of the configuration of a passenger conveyor inspection system 100. The passenger conveyor inspection system 100 is a system that supports inspection of the fastening state of fixtures that fix the steps of passenger conveyors such as escalators and moving walkways. For example, the passenger conveyor inspection system 100 is a system that automatically detects a colored washer inserted together with a step fixing bolt from an image and determines whether the fastening state of the step fixing bolt is good or bad. Hereinafter, an escalator 101, which is an example of a passenger conveyor, will be described as an example with reference to FIGS. 1 to 3.

[0021] The escalator 101 includes a frame 102 installed on a building structure (not shown), a control panel 103, a railing unit 104, steps 105, rails 106, handrails 107, a drive mechanism 108, a transmission chain 109, a driving chain 110, a handrail driving device 111, a drive sprocket 112, and a driven sprocket 113. In FIGS. 1 and 2, a coordinate system may be used in which the short side direction (boarding and alighting direction) of the step 105 is the X-axis, the long side direction (width direction) of the step 105 is the Y-axis, and the height direction (vertical direction) of the step 105 is the Z-axis.

[0022] On the upper floor side 114 of the frame 102, the control panel 103, the drive mechanism 108, and the drive sprocket 112 are arranged. On the lower floor side 115, the driven sprocket 113 is arranged.

[0023] The drive mechanism 108 includes an electric motor and a speed reducer. Electric power is supplied to the electric motor from the control panel 103, and the operation of the electric motor is controlled by the control panel 103. A belt member 116 is wound around the electric motor and the speed reducer, and the rotational force of the electric motor is transmitted to the speed reducer via the belt member 116.

[0024] The transmission chain 109 is wound around the speed reducer and the drive sprocket 112. The driving force of the drive mechanism 108 is transmitted to the drive sprocket 112 via the transmission chain 109, and the drive sprocket 112 rotates.

[0025] A pair of driving chains 110 are wound around the driving sprocket 112 and the driven sprocket 113. When the driving sprocket 112 rotates, the driven sprocket 113 and the driving chain 110 rotate.

[0026] In addition, a handrail driving chain 117 is wound around the driving sprocket 112. The handrail driving chain 117 is wound around a plurality of transmission pulleys 118 and is also wound around the handrail driving device 111.

[0027] In the width direction of the frame body 102, a pair of rails 106 are arranged, and a plurality of steps 105 are movably supported by this pair of rails 106. In addition, the plurality of steps 105 are connected in an endless manner via a pair of driving chains 110 and are guided by the rails 106 to circulate and move between the forward path side and the return path side.

[0028] The railing part 104 is supported on the upper part of the frame body 102 and is arranged on both sides in the width direction of the frame body 102. An endless handrail 107 is attached to the railing part 104. The handrail 107 is movably supported by the railing part 104 and circulates in synchronization with the plurality of steps 105 in the same direction by the handrail driving device 111. Thereby, in the escalator 101, passengers riding on the steps 105 and gripping the handrail 107 can be safely transported.

[0029] In addition, the escalator 101 is provided with a landing plate (not shown in the figure). The landing plate is provided at the opening 119 from the inside of the building toward the steps 105. The landing plate is a substantially rectangular plate, which is a lid for the upper floor side 114 (the machine room located within the floor surface) and also serves as a passage for passengers. However, in FIG. 1, an example in which the landing plate is removed for the operation of removing and attaching the steps 105 is shown.

[0030] At the opening 119, a calibration sheet 130 is provided along the Y-axis direction on the edge 120-1 (the cross-sectional part of the opening 119) of the frame body 102 to which the boarding and alighting plate is attached, on the side of the step 105. The calibration sheet 130 is provided on the opening 119, a structural member close to the opening 119, etc., and is provided, for example, at a location where it can be photographed together with the step 105 and the fixture 220 of the step 105.

[0031] One or more markers 131 are provided on the calibration sheet 130. More specifically, three circular markers 131 are provided on the rectangular main body (sheet-like member) of the calibration sheet 130. Among the three markers 131, the middle marker 131-1 is colored the same color as the fixture 220. The marker 131-2 at one end and the marker 131-3 at the other end are colored a color different from the color of the fixture 220 (in this embodiment, complementary colors are cited as examples of different colors for explanation). Hereinafter, the marker 131-1 may be referred to as the "same-color marker", and the markers 131-2 and 131-3 may be referred to as the "complementary-color markers". Note that the color of the sheet-like member is white, black, etc.

[0032] It should be added that the shape of the calibration sheet 130 is not limited to a rectangle, and other shapes may be used. Also, the shape of the marker 131 is not limited to a circle, and other shapes may be used. Also, the shapes of the same-color marker and the complementary-color marker may be the same or different. Also, the calibration sheet 130 may be configured to be attached and detached each time of inspection, or may be configured to be attached only once at the beginning. Even in the latter configuration, since the opening 119 is usually closed by the boarding and alighting plate, the calibration sheet 130 is not visible to passengers. Also, although the calibration sheet 130 is shown as being provided on the edge 120-1, it is not limited to this configuration. The calibration sheet 130 may be provided at other locations on the escalator 101 near the fixture 220.

[0033] The passenger conveyor inspection system 100 includes a passenger conveyor inspection device 140. The passenger conveyor inspection device 140 is installed on a fixing jig 141 that is installed so as to face the step 105 (fixture 220) at a certain distance. Note that the passenger conveyor inspection device 140 may always be attached to the fixing jig 141. That is, the passenger conveyor inspection device 140 may be a portable type that is carried by an operator or a person in charge of work each time inspection is performed, or a permanent type that is fixed to the frame 102. Further, instead of the fixing jig 141, a mark may be provided at a position where it can be installed so as to face the step 105 at a certain distance. Also, the installation location of the passenger conveyor inspection device 140 may be any location where the calibration sheet 130 and the fixture 220 can be photographed, and is not limited to the upper part of the machine room, and may also be inside the machine room. Also, the fixing jig 141 may be a stand like a tripod.

[0034] In the present embodiment, an example in which the inspection of the step 105 is performed on the upper floor side 114 will be described. However, when the opening is provided on the lower floor side 115, the inspection of the step 105 may be performed on the lower floor side 115. Next, the structure of the step 105 will be specifically described.

[0035] FIG. 2 is a diagram showing a schematic configuration of the step 105. The step 105 includes a frame 200 serving as a skeleton and a tread plate 201 on which passengers ride. The tread plate 201 is fixed to the upper part of the frame 200. Although not shown, demarcations colored yellow or the like are provided at the front, rear, left, and right ends of the tread plate 201. The demarcations guide passengers to ride near the center of the tread plate 201. Note that for the demarcations, the demarcation at the rear (riser side) of the tread plate 201 may not be provided, or the demarcations at the front and rear of the tread plate 201 may not be provided.

[0036] Also, as shown in FIG. 2, in step 105, one or more step fixing bolts 220-1 are fastened to collars 212 that are rotatably fitted over both ends of a front wheel axle 211 connected to a driving chain 110 through holes (not shown) provided in a frame 200. A red washer 220-2 is inserted between the step fixing bolt 220-1 and the frame 200. In the present embodiment, the step fixing bolt 220-1 and the red washer 220-2 are described as examples of a fixture 220. Subsequently, the red washer 220-2 will be specifically described.

[0037] FIG. 3 is a diagram showing an example of the red washer 220-2. A first aspect 310 shows the red washer 220-2 before the fastening of the step fixing bolt 220-1 is completed. In the first aspect 310, the three tongues provided on the red washer 220-2 are in a state parallel to the A direction and the B direction (for example, horizontal), and the surface is metallic in color. In contrast, a second aspect 320 shows the red washer 220-2 after the fastening of the step fixing bolt 220-1 is completed. An operator bends one of the three tongues provided on the red washer 220-2 in a direction parallel to the C direction (for example, vertical) to display a red color 321 painted on the back surface of the red washer 220-2. Since it is confirmed that the step fixing bolt 220-1 is properly attached by bending the tongue of the red washer 220-2 (displaying the red color 321), the tongue to be bent is preferably the tongue that is most visible to the operator.

[0038] Here, the washer inserted between the step fixing bolt 220-1 and the frame 200 is not limited to the red washer 220-2. For example, the back surface of the washer may be a predetermined color (for example, a color not present in the components of step 105, such as green). Also, for example, the number of tongues (bending portions) of the washer is not limited to three, and may be one, or two or more. Also, the red washer 220-2 may not be provided. In this case, for example, part or all of the step fixing bolt 220-1 is colored with a predetermined color (for example, red, green, etc.).

[0039] In the passenger conveyor inspection system 100, the passenger conveyor inspection device 140 detects the red color 321 of the red washer 220-2 and determines whether the fastening state of the step fixing bolt 220-1 is good or not. Next, the configuration of the passenger conveyor inspection device 140 will be described with reference to FIGS. 4 and 5.

[0040] FIG. 4 is a diagram showing an example of the hardware configuration of the passenger conveyor inspection device 140.

[0041] The passenger conveyor inspection device 140 is a smartphone, a tablet terminal, a notebook personal computer, etc. that has an imaging function, an information processing function, and a display function. The passenger conveyor inspection device 140 includes a control device 410, an arithmetic device 420, a memory 430, a storage device 440, a display 450, and a sensor 460.

[0042] The control device 410 and the arithmetic device 420 are composed of a processor such as a CPU (Central Processing Unit). The memory 430 is a main storage device that stores programs, data, etc. The storage device 440 is an HDD (Hard Disk Drive), a flash memory (Flash Memory), etc. Programs, data, etc. stored in the storage device 440 are read into the memory 430 as needed. The display 450 is a display device equipped with a touch panel. The sensor 460 includes a camera 461 (image sensor), a sound sensor (vibration sensor), a GPS (Global Positioning System) sensor, an inclination sensor, a gyro sensor, a LiDAR (Light Detection And Ranging), a magnetic sensor, an acceleration sensor, etc. Note that the camera 461 includes one or more cameras such as a wide-angle camera, a telephoto camera, a reflex camera, and a TOF (Time Of Flight) camera. Also, a magnifier or the like may be attached to the camera 461.

[0043] In the passenger conveyor inspection device 140, the display 450 is not only a device for performing various displays but also an input device for receiving various inputs from an operator. During inspection, the operator performs an inspection by inputting to the display 450, and detection result data indicating the detection results of step 105 and the fixture 220 is calculated, and inspection result data based on the detection result data is displayed on the display 450. Note that the detection result data is stored in the storage device 440. The implementation of the inspection will be described later with reference to FIGS. 6 and 7. The detection result data will be described later with reference to FIG. 8. Also, the inspection result data will be described later with reference to FIG. 9.

[0044] FIG. 5 is a diagram showing an example of the functional configuration of the passenger conveyor inspection device 140.

[0045] The passenger conveyor inspection device 140 includes an input unit 501, an installation unit 502, a calculation unit 503, a photographing unit 504, a determination unit 505, and an output unit 506 as functions of the passenger conveyor inspection device 140.

[0046] The input unit 501 inputs data (sensor values) acquired by the sensor 460. For example, the input unit 501 inputs an image captured by the camera 461. The installation unit 502 determines whether the calibration sheet 130 and the passenger conveyor inspection device 140 are correctly installed based on the sensor values input by the input unit 501. The calculation unit 503 calculates a calibration value for detecting the red color 321 of the red washer 220-2 based on the image captured by the camera 461 input by the input unit 501. The photographing unit 504 instructs the camera 461 to start and end photographing. The determination unit 505 determines the fastening state of the fixture 220 from the image captured by the camera 461 based on the instruction from the photographing unit 504 and based on the calibration value calculated by the calculation unit 503. The output unit 506 outputs the result determined by the determination unit 505.

[0047] The functions of the passenger conveyor inspection device 140 may be realized, for example, by the control device 410 and the arithmetic device 420 reading out and executing a program stored in the storage device 440 in the memory 430 (software), or may be realized by hardware such as a dedicated circuit, or may be realized by a combination of software and hardware. Note that one function of the passenger conveyor inspection device 140 may be divided into a plurality of functions, or a plurality of functions may be combined into one function. Also, a part of the functions of the passenger conveyor inspection device 140 may be provided as another function, or may be included in other functions. Further, a part of the functions of the passenger conveyor inspection device 140 may be realized by another computer capable of communicating with the passenger conveyor inspection device 140.

[0048] FIG. 6 is a diagram showing an example of a process (inspection process) related to the inspection in step 105.

[0049] In S601, the passenger conveyor inspection device 140 displays an installation instruction for installing the passenger conveyor inspection device 140 and the calibration sheet 130 at a predetermined position on the display 450. For example, when an operator presses a start button on an inspection application (not shown) of the passenger conveyor inspection device 140, the installation instruction is displayed on the display 450.

[0050] In S602, an operator installs the passenger conveyor inspection device 140 and the calibration sheet 130. For example, since step 105 reverses near the opening 119, the passenger conveyor inspection device 140 is installed at a position where it can photograph the fixture 220 through the opening 119 at the timing of reversal. Also, the passenger conveyor inspection device 140 is installed through the opening 119 so that the calibration sheet 130 and the fixture 220 are within the same field of view. After the passenger conveyor inspection device 140 and the calibration sheet 130 are installed by the operator so as to fit within a predetermined screen area (field of view) according to the installation instruction, the passenger conveyor inspection device 140 takes a photograph (captures an image of the calibration sheet 130) in response to an operation from the operator.

[0051] In S603, the passenger conveyor inspection device 140 detects the complementary color markers of the calibration sheet 130.

[0052] Here, as described above, the complementary color can be defined, for example, by the HSV color space. In the HSV color space, when the hue is represented by a value from 0° to 360°, a color that is 180 degrees different from the hue of the color of the fixture 220 is defined as the complementary color. For example, when the hue of the color of the fixture 220 is 0°, the color with a hue of 180° is the complementary color, and when the hue of the color of the fixture 220 is 30°, the color with a hue of 210° is the complementary color. Also, when the hue is 350°, the color with a hue of 170° is the complementary color.

[0053] In practice, a 30° margin is provided as the hue before and after the complementary color. When the hue is 0°, the range of 150° to 210° in hue is defined as the complementary color range. This is to consider that under actual imaging conditions, the color of the calibration sheet 130 may appear to change from the actual color due to lighting conditions and the like. In the detection of the marker 131, the detection of the complementary color marker is performed first. However, if the detection range is limited to the exact complementary color of the color of the fixture 220, there is a possibility of failure in detecting the complementary color marker. The detection of the complementary color marker is mainly for the purpose of obtaining information on what color the same-color marker can be imaged as under the actual environment, so it doesn't matter how the color of the calibration sheet 130 actually looks to the passenger conveyor inspection device 140 (camera 461). However, if the imaging is such that it is too different from the actual color, there is a possibility of false determination in subsequent inspections. Therefore, a certain range is provided to define the complementary color range to confirm that the imaging is being performed under appropriate environmental conditions.

[0054] For example, in S603, the passenger conveyor inspection device 140 detects, as complementary color markers (markers 131-2 and 131-3), two circular clusters of a specific color on the calibration sheet 130 based on the color information of a predetermined specific color (for example, the complementary color range for detecting the complementary color of the red 321 of the red washer 220-2) in a predetermined screen area within the captured image.

[0055] In S604, the passenger conveyor inspection device 140 determines whether two complementary color markers have been detected. If the passenger conveyor inspection device 140 determines that two complementary color markers have been detected, the process proceeds to S605. If the passenger conveyor inspection device 140 determines that two complementary color markers have not been detected, since the installation state of the passenger conveyor inspection device 140 and / or the calibration sheet 130 is inappropriate, the process returns to S601 to reinstall according to the installation instructions.

[0056] In S605, the passenger conveyor inspection device 140 measures the distance (pixel coordinate distance) between the complementary color markers in the image.

[0057] In S606, the passenger conveyor inspection device 140 calculates a distance conversion coefficient. Since the actual distance between the complementary color markers on the calibration sheet 130 is known, the passenger conveyor inspection device 140 calculates a coefficient (distance conversion coefficient) for converting the pixel coordinate distance in the image to the actual distance by comparing the actual distance with the pixel coordinate distance.

[0058] In S607, the passenger conveyor inspection device 140 calculates the inclination of the passenger conveyor inspection device 140 (camera 461) based on the sensor value of the inclination sensor provided in the passenger conveyor inspection device 140 and the distortion of the shape of the imaged complementary color markers.

[0059] In S608, the passenger conveyor inspection device 140 determines whether the installation of the passenger conveyor inspection device 140 is appropriate based on the distance conversion coefficient calculated in S606 and the inclination calculated in S607. When the passenger conveyor inspection device 140 determines that the installation of the passenger conveyor inspection device 140 is appropriate (when it is determined that the distance conversion coefficient is within the threshold range and the inclination is within the threshold range), the process proceeds to S609. When the passenger conveyor inspection device 140 determines that the installation of the passenger conveyor inspection device 140 is not appropriate, the process returns to S601.

[0060] In S609, the passenger conveyor inspection device 140 measures (acquires) the color information of the same color markers on the calibration sheet 130. The passenger conveyor inspection device 140 identifies the same color markers between the complementary color markers and acquires the numerical values of the colors in the HSV space corresponding to the colors of the same color markers in the inspection environment.

[0061] In S610, the passenger conveyor inspection device 140 calculates a calibration value for correcting the color at the time of imaging based on the color information acquired in S609. The passenger conveyor inspection device 140 sets the range before and after including the color information (numerical value) acquired in S609 as the calibration value (threshold value). Note that in S616 described later, the passenger conveyor inspection device 140 detects the color of that range and determines the fastening state of the fixture 220 (presence or absence of the fixture 220, and that the fixture 220 is properly attached) based on the detected area.

[0062] In S611, since shooting for inspection becomes possible, the passenger conveyor inspection device 140 displays an imaging OK instruction on the display 450.

[0063] In S612, the passenger conveyor inspection device 140 starts shooting a video by the camera 461 in response to an instruction to start video shooting from the operator.

[0064] In S613, the operator operates the escalator 101 and drives (operates) the escalator 101.

[0065] In S614, the passenger conveyor inspection device 140 ends shooting the video by the camera 461 in response to an instruction to end video shooting from the operator.

[0066] Note that if the passenger conveyor inspection device 140 detects vibration (blur) equal to or greater than a predetermined value during video shooting, it may output an alert prompting the operator to restart the fixing jig 141 or the like. The output of the alert may be performed during video shooting, or may be performed after video shooting based on the vibration data stored in the storage device 440.

[0067] In S615, the passenger conveyor inspection device 140 detects the number of steps 105 based on the captured video. For example, the passenger conveyor inspection device 140 detects step 105 based on the break of the demarcation. Note that the method for detecting step 105 is not limited to the above content. For example, the passenger conveyor inspection device 140 may detect step 105 by pattern matching, may detect step 105 by a deep neural network, or may detect step 105 by other methods.

[0068] In S616, the passenger conveyor inspection device 140 detects the fixture 220 based on the calibration value acquired in S610. For example, when the second step 105 appears after the first step 105 appears, the passenger conveyor inspection device 140 detects a color that satisfies the calibration value (threshold value) from the image in which the area between steps 105 is imaged, determines whether the number of pixels (area) for each cluster of the detected color is equal to or greater than a predetermined value, and detects the number of clusters with an area equal to or greater than the predetermined value as the number of fixtures 220 attached to the second step 105.

[0069] In S617, the passenger conveyor inspection device 140 generates inspection result data based on the detection result data including the results detected in S615 and S616, displays it on the display 450, and ends the inspection process.

[0070] Note that the inspection process is not limited to the above content. For example, the passenger conveyor inspection device 140 may detect steps 105 and the fixture 220 during video shooting. In this case, if the fixture 220 is not properly detected, the inspection process may be aborted as an error. By responding to the error output in real time, the operator does not have to shoot the remaining steps 105 from the step 105 where the error occurred, and the time required for inspection can be shortened.

[0071] FIG. 7 is a diagram showing an example of an image (image 700) captured by the camera 461.

[0072] The image 700 includes an edge image 701 corresponding to the edge 120-1 of the frame body 102, a calibration sheet image 710 corresponding to the calibration sheet 130, and a fixture image 720 corresponding to the fixture 220. The calibration sheet image 710 includes a marker image 711-1 corresponding to the marker 131-1, a marker image 711-2 corresponding to the marker 131-2, and a marker image 711-3 corresponding to the marker 131-3.

[0073] For example, when it is determined whether the fixture 220 on the left side of the image 700 is properly fastened using the image 700, the red pixels of the fixture image 720-1 are detected based on the calibration value, and if the number (area) of the detected pixels is equal to or greater than a predetermined value, it is determined that it is properly fastened. Similarly, for the fixture 220 on the right side of the image 700, if the red area of the fixture image 720-2 is equal to or greater than a predetermined value, it is determined that it is properly fastened. And when it is determined that all the fixtures 220 (both left and right) in step 105 are properly fastened, it is determined that step 105 is properly installed.

[0074] FIG. 8 is a diagram showing an example of the detection result data generated in S615 and S616. The detection result data is stored in the storage device 440 as a CSV (Comma Separated Value) file 800 with the device number of the escalator 101 to be inspected specified by the operator and the date and time of the inspection added to the file name.

[0075] The CSV file 800 contains data of a frame number 801 continuously assigned to frames (one frame of the still images constituting the video) starting from the start time of the inspection, a step detection flag 802 in each frame, and a fixture detection count 803, separated by commas.

[0076] Since the fixture 220 is located during consecutive steps 105, when the captured image mainly captures step 105, the step detection flag 802 becomes "1", and otherwise the step detection flag 802 becomes "0". Since the frame with the step detection flag 802 being "0" is the frame for which the fixture 220 should be detected, the fixture 220 is detected at this part, and the number of detected fixtures 220 is recorded in the fixture detection count 803. FIG. 8 shows an example where two fixtures 220 are detected for one step.

[0077] FIG. 9 is a diagram showing an example of the inspection result data (inspection result screen 900) generated based on the detection result data. The inspection result screen 900 is displayed on, for example, the display 450.

[0078] The inspection result screen 900 is provided with display areas for the inspection result 901, the inspection device number 902, the inspection date 903, the number of detected step sheets 904, and the number of detected fixtures 905. The inspection result 901 is a display area in which "OK" or "NG" is indicated based on the number of steps 105 detected in the inspection process and the number of fixtures 220 detected in the inspection process. Regarding the criteria for passing or failing the inspection result 901, numerical values preset for each device number of the passenger conveyor inspection device 140 can be used.

[0079] The inspection device number 902 is a display area for displaying the device number of the escalator 101 to be inspected. The inspection date 903 is a display area for displaying the date on which the inspection was carried out. The number of detected step sheets 904 is a display area for displaying the total number of steps 105 detected in the inspection process. The number of detected fixtures 905 is a display area for displaying the total number of fixtures 220 detected in the inspection process.

[0080] According to the inspection result screen 900, the operator can easily grasp the inspection results. As described above, the passenger conveyor inspection device 140 determines whether the total number of steps 105 to be inspected is "60" and whether the total number of fixtures 220 is "120". However, an error may be issued when the number of fixtures 220 is detected as "0" or "1" in each step 105. That is, the fastening states of all the fixtures 220 may be inspected collectively after the end of the imaging, but the fastening states of each fixture 220 may be inspected during the imaging, and an error may be issued when an abnormality is detected (in real time).

[0081] According to the present embodiment, even when the amount of light irradiated on the passenger conveyor changes due to environmental changes, calibration according to the environment is performed using the calibration member, so that the fastening state of the fixture can be determined from the image, and the fastening state of the fixture can be confirmed under various environments.

[0082] (II) Second Embodiment This embodiment is different from the first embodiment in that the calibration sheet is not provided with a complementary color marker. In this embodiment, for the same configuration as in the first embodiment, the same reference numerals are used and the description thereof is omitted.

[0083] FIG. 10 is a diagram showing an example (image 1000) of an image captured by the camera 461.

[0084] In this embodiment, the calibration sheet 1010 includes one or more circular markers 1011. The marker 1011 has the same color as the fixture 220 (same-color marker). Thus, when there is only a single marker 1011 on the calibration sheet 1010, if the fixture image 720 exists within the screen 1000 when the marker 1011 is detected, there is a possibility of misdetecting the fixture image 720 as the marker image 1021 corresponding to the marker 1011. Therefore, a marker detection area 1030 for detecting the marker image 1021 within the screen 1000 is manually defined, and the installation position of the calibration sheet 1010 is adjusted so that the fixture image 720 does not enter the marker detection area 1030.

[0085] In this way, after specifying the marker detection area 1030, the marker image 1021 of the calibration sheet image 1020 is detected, and a calibration value for detecting the fixture 220 is calculated based on the color of the marker image 1021, making it possible to detect the color of the fixture 220 even in various environments.

[0086] (III) Other Embodiments In the above embodiments, the calibration value for detecting the fixture 220 is calculated based on the colors of the markers 131, 1011 of the calibration sheets 130, 1010. However, a threshold value for detecting the fixture 220 may be directly set based on the colors of the markers 131, 1011. In that case, since the fixture 220 is located inside the housing of the escalator 101 rather than the calibration sheets 130, 1010, the amount of light received by the fixture 220 decreases. Therefore, since the luminance may decrease, the calibration value (threshold value) of the fixture 220 may be set considering this.

[0087] Also, in the second embodiment, although the color of the fixture 220 was detected, if the luminance of the fixture 220 is sufficiently larger than others within the screen 1000 when imaged with a grayscale image, or if the area where the fixture 220 may exist can be set within the screen 1000 and the luminance of the fixture 220 within that area is sufficiently larger than others, the fixture 220 may be detected based on the luminance information. In that case, the calibration sheet 1010 may be provided with a marker (luminance marker) having the same luminance as the fixture 220.

[0088] Also, in the second embodiment, an example in which the calibration sheet 1010 is provided with a same-color marker having the same color as the fixture 220 has been described. However, instead of the same-color marker, a complementary-color marker composed of the complementary color of the color of the fixture 220 may be provided. When the passenger conveyor inspection device 140 can detect the color of the complementary-color marker, in the HSV space, it acquires the color of the opposite hue as the color of the fixture 220 and calculates the calibration value.

[0089] Also, in the second embodiment, an example in which the calibration sheet 1010 is provided with a same-color marker having the same color as the fixture 220 has been described. However, the calibration sheet 1010 itself may be a same-color marker (the calibration sheet 1010 has the same color as the fixture 220).

[0090] Also, in step 105 and the detection of the fixture 220, there are various pass / fail criteria. As shown in the above embodiments, not only making a determination as a numerical value based on the detection result data, but also visually confirming separately with the detection result data as reference information may be performed. In that case, the video taken during the inspection process and the image at the time of detection may be stored in the storage device 440 and displayed on the display 450 at the time of confirmation.

[0091] (IV) Supplementary Note The above embodiments include, for example, the following contents.

[0092] In the above-described embodiments, the case where the present invention is applied to a passenger conveyor inspection system has been described. However, the present invention is not limited thereto, and can be widely applied to various other systems, devices, methods, and programs.

[0093] Also, in the above-described embodiments, part or all of the program may be installed from the program source into a device such as a computer that realizes the passenger conveyor inspection device 140. The program source may be, for example, a program distribution server connected via a network or a computer-readable recording medium (for example, a non-transitory recording medium). Further, in the above description, two or more programs may be realized as one program, or one program may be realized as two or more programs.

[0094] Also, in the above-described embodiments, for the sake of convenience of explanation, information related to the passenger conveyor inspection system has been described using CSV. However, the data structure is not limited to CSV. Information related to the passenger conveyor inspection system may be expressed by a data structure other than CSV, such as XML (Extensible Markup Language), YAML (YAML Ain't a Markup Language), a hash table, a tree structure, etc.

[0095] Also, in the above-described embodiments, the screens illustrated and described are examples, and any design may be used as long as the information presented is the same.

[0096] Also, in the above-described embodiments, the output of information is not limited to display on a display. The output of information may be audio output by a speaker, output to a file, printing on a paper medium or the like by a printing device, projection on a screen or the like by a projector, or other modes.

[0097] In addition, in the above description, information such as programs, tables, and files that implement each function can be stored in a memory, a storage device such as a hard disk or an SSD (Solid State Drive), or a recording medium such as an IC card, an SD card, or a DVD.

[0098] The above-described embodiments include, for example, the following characteristic configurations.

[0099] (1) In a passenger conveyor (for example, escalator 101) including a circulating chain (for example, driving chain 110) that circulates and a plurality of steps (for example, step 105) that can be connected to the chain, a passenger conveyor inspection device (for example, passenger conveyor inspection device 140) that inspects the fastening state of a fixture (for example, fixture 220, step fixing bolt 220-1, and red washer 220-2) colored with a predetermined color (for example, it may be red, green, or another color) used to fix each of the plurality of steps to the chain is provided with a calibration member (for example, calibration sheet 130, calibration sheet 1010) for detecting the fixture provided in the vicinity of the fixture, and an image (for example, calibration sheet image 710, calibration sheet image 1020) of the calibration member captured by an imaging device (for example, camera 461). Based on this, a calculation unit (for example, calculation unit 503, arithmetic unit 420, circuit) that calculates a threshold value (for example, calibration value) for detecting the fixture, and for an image (for example, fixture image 720) of the fixture captured by the imaging device, a determination unit (for example, determination unit 505, arithmetic unit 420, circuit) that determines the fastening state of the fixture based on the threshold value calculated by the calculation unit.

[0100] In the above configuration, for example, calibration for detecting the fixture is performed based on an image of a calibration member provided near the fixture. According to the above configuration, even when the environment where the passenger conveyor is installed is different, it is possible to accurately determine the fastening state of the fixture.

[0101] (2) The calibration member includes a same-color marker (for example, marker 131-1, marker 1011) that is the same color as the predetermined color, and the calculation unit detects the color of the same-color marker from the image of the calibration member and calculates a threshold value for detecting the color of the fixture based on the detected color.

[0102] In the above configuration, for example, the color of the same-color marker is detected in the environment where the passenger conveyor is installed, and a threshold value for correcting the color at the time of imaging is set. Therefore, regardless of the amount of light irradiated on the passenger conveyor, it is possible to accurately determine the fastening state of the fixture.

[0103] (3) The calibration member further includes a different-color marker (for example, a different-color marker, a complementary-color marker, marker 131-2, marker 131-3) that is a color different from the predetermined color, and the calculation unit detects the different-color marker from the image captured by the imaging device and identifies the image of the calibration member based on the different-color marker.

[0104] In the above configuration, since the same-color marker and the different-color marker are provided on the same calibration member, the same-color marker can be detected by identifying the calibration member based on the different-color marker. For example, when parts, devices, etc. of the same color as the different-color marker are not used in the passenger conveyor, the different-color marker can be easily detected and the calibration member can be surely identified. Therefore, when detecting the color of the same-color marker, it is possible to avoid the situation of erroneously detecting the color of the fixture.

[0105] (4) The calibration member is configured to include a complementary color marker that is a complementary color of the predetermined color (for example, a complementary color marker provided in place of marker 1011, marker 131-2, marker 131-3). The calculation unit detects the color of the complementary color marker from an image of the calibration member and calculates a threshold value for detecting the color of the fixture based on the detected color.

[0106] In the above configuration, for example, since the color of the fixture is estimated from the color of the complementary color marker and the threshold value is calculated, it is possible to avoid a situation where the color of the fixture is erroneously detected and an incorrect threshold value is set.

[0107] (5) The calibration member is configured to include a luminance marker of a color having the same luminance as the predetermined color (for example, a luminance marker). The calculation unit detects the luminance of the luminance marker from an image of the calibration member and calculates a threshold value for detecting the luminance of the fixture based on the detected luminance.

[0108] In the above configuration, for example, the luminance of the luminance marker is detected in an environment where the passenger conveyor is installed, and a threshold value for correcting the luminance at the time of imaging is set. Therefore, it is possible to determine the fastening state of the fixture in the environment.

[0109] Also, regarding the above-described configuration, within a range not exceeding the gist of the present invention, it may be appropriately changed, recombined, combined, or omitted.

[0110] It should be understood that the items included in the list in the form of "at least one of A, B, and C" can mean (A), (B), (C), (A and B), (A and C), (B and C), or (A, B, and C). Similarly, the items listed in the form of "at least one of A, B, or C" can mean (A), (B), (C), (A and B), (A and C), (B and C), or (A, B, and C).

Explanation of Reference Numerals

[0111] 130... calibration sheet, 140... passenger conveyor inspection device, 220... fixture, 503... calculation unit, 505... determination unit.

Claims

1. In a passenger conveyor including a chain that moves in a cycle and a plurality of steps that can be connected to the chain, a passenger conveyor inspection device that inspects the fastening state of a fixture colored in a predetermined color used to fix each of the plurality of steps to the chain, a calculation unit that calculates a threshold value for detecting the fixture based on an image of the calibration member, which is imaged by an imaging device, of the calibration member provided near the fixture; a determination unit that determines the fastening state of the fixture based on the threshold value calculated by the calculation unit for an image of the fixture imaged by the imaging device; comprising: the calibration member is configured to include a same-color marker that is the same color as the predetermined color; the calculation unit detects the color of the same-color marker from the image of the calibration member and calculates a threshold value for detecting the color of the fixture based on the detected color; a passenger conveyor inspection device.

2. the calibration member is further configured to include a different-color marker that is a color different from the predetermined color; the calculation unit detects the different-color marker from the image imaged by the imaging device and identifies the image of the calibration member based on the different-color marker; the passenger conveyor inspection device according to Claim 1.

3. the calibration member is configured to include a complementary-color marker that is a complementary color of the predetermined color; the calculation unit detects the color of the complementary-color marker from the image of the calibration member and calculates a threshold value for detecting the color of the fixture based on the detected color; the passenger conveyor inspection device according to Claim 1.

4. the calibration member is configured to include a luminance marker of a color having the same luminance as the predetermined color; the calculation unit detects the luminance of the luminance marker from the image of the calibration member and calculates a threshold value for detecting the luminance of the fixture based on the detected luminance; the passenger conveyor inspection device according to Claim 1.

5. In a passenger conveyor including a chain that moves in a cycle and a plurality of steps that can be connected to the chain, a passenger conveyor inspection method for inspecting the fastening state of a fixture colored in a predetermined color used to fix each of the plurality of steps to the chain, The calculation unit calculates a threshold value for detecting the fixture based on an image of the calibration member, which is imaged by the imaging device, of the calibration member provided near the fixture. The determination unit determines the fastening state of the fixture for an image of the fixture imaged by the imaging device based on the threshold value calculated by the calculation unit. including The calibration member includes a same-color marker that is the same color as the predetermined color. The calculation unit detects the color of the same-color marker from the image of the calibration member and calculates a threshold value for detecting the color of the fixture based on the detected color. Passenger conveyor inspection method.

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