Safety work system
The safety work system in elevator shafts uses a person detection system to adjust the work system's operation, ensuring worker safety and maintaining efficiency by restricting operations based on detected worker presence.
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- HITACHI BUILDING SYST CO LTD
- Filing Date
- 2023-01-16
- Publication Date
- 2026-07-22
AI Technical Summary
Existing worker safety systems during elevator shaft construction fail to ensure safety while maintaining work efficiency, particularly due to risks from falling objects and worker entry, and existing elevator operation control systems do not address these issues during installation.
A safety work system that integrates a person detection system with a work system in the elevator shaft, using sensors to detect worker entry and adjust the operation of the work system based on positional relationships to ensure safety and efficiency.
Ensures worker safety during elevator shaft construction by restricting work system operations based on detected worker presence, thereby maintaining efficiency without halting the work process.
Smart Images
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Abstract
Description
[Technical Field]
[0001] This invention relates to a safety work system that ensures both worker safety and maintains the work efficiency of the work system when using a work system for construction work in an elevator shaft. [Background technology]
[0002] During elevator installation work, heavy objects such as work platforms are lifted from above into the elevator shaft. Traditionally, construction work such as drilling holes in the walls and fixing components (such as anchors) within the elevator shaft was performed by workers standing on the work platform. However, due to the risk of accidents such as workers falling from the work platform or coming into contact with falling objects or equipment, work systems that automate some of the construction work within the elevator shaft using machines or robots installed on the work platform are becoming increasingly popular.
[0003] Regarding this type of work system, Patent Document 1 describes an elevator installation device that detects the angle at which the wall surface of the elevator shaft and the axis of the drilling tool intersect, and adjusts the inclination of the drilling tool based on the detected angle to perform drilling perpendicular to the wall surface. It also states that this elevator installation device can form holes for fixing brackets perpendicular to the wall surface of the elevator shaft without being affected by measurement data of the shape of the elevator shaft wall surface.
[0004] While the use of a work system like the one described in Patent Document 1 can reduce the amount of work performed by workers inside the elevator shaft to some extent, there are still construction tasks that cannot be handled by the work system, meaning that even when using the work system, there are still situations where workers must enter the elevator shaft. Therefore, when controlling the work system, it is necessary to consider the safety of workers who may enter the elevator shaft from any of the multiple entrances and exits located in the vertical direction.
[0005] Furthermore, Patent Document 2 is known as a prior art that takes into consideration the safety of workers in the elevator shaft. For example, the abstract of this document states that the problem is to "automatically detect when maintenance workers are in the pit, regulate the operation of the elevator car, and prevent the lower part of the counterweight from coming into contact with the maintenance workers in the pit." As a solution, it states that "a human detection sensor (a sensor such as a pyroelectric infrared sensor, a through-type photoelectric sensor, a reflective photoelectric sensor, or an ultrasonic sensor) 4 is used to directly detect whether or not maintenance workers 18 are in the pit 16, and when maintenance workers 18 are in the pit 16, the operation of the elevator car 2 is regulated so that it does not go to the top floor, and the counterweight 4 does not enter the pit 16." In other words, Patent Document 2 describes an elevator operation control system that uses a human detection sensor to control the vertical movement of the elevator car. [Prior art documents] [Patent Documents]
[0006] [Patent Document 1] Japanese Patent Publication No. 2020-7095 [Patent Document 2] Japanese Patent Publication No. 2013-220895 [Overview of the Initiative] [Problems that the invention aims to solve]
[0007] However, the operation control system described in Patent Document 2 is a system intended for use after elevator installation, and therefore does not address ensuring worker safety in various situations during elevator installation work using the work system, such as when wall fragments fall due to drilling work by the work system, or when workers peer into the elevator shaft from doorless entrances. One possible method to ensure worker safety is to completely stop the work system during elevator installation when a worker enters the elevator shaft, but in this case, the work efficiency of the work system is significantly reduced.
[0008] Therefore, the object of the present invention is to provide a safe work system that can ensure the safety of workers entering the elevator shaft during installation work while suppressing a decrease in the work efficiency of the work system installed in the elevator shaft. [Means for solving the problem]
[0009] To solve the above problems, the present invention provides a safety work system that controls the movement or operation of a work system that performs construction work while moving up and down in an elevator shaft, according to the output of a person detection system, wherein the person detection system comprises a person detection sensor that detects a person entering the elevator shaft from an entrance and an exit, and a wireless device that communicates with the work system, wherein the work system comprises a movement mechanism used for movement in the elevator shaft, a work mechanism used for work in the elevator shaft, a wireless device that communicates with the person detection system, and a control device that controls the movement mechanism and the work mechanism, wherein the control device is a safety work system that restricts the control of the movement mechanism and the work mechanism based on the positional relationship between the position information of the person detected based on the output of the person detection sensor and the position information of the work system detected based on the output of the position sensor. [Effects of the Invention]
[0010] According to the safety work system of the present invention, it is possible to ensure the safety of workers entering the elevator shaft during installation work while suppressing a decrease in the work efficiency of the work system installed in the elevator shaft. [Brief explanation of the drawing]
[0011] [Figure 1] Perspective view of the elevator shaft with the safety work system of Example 1 installed. [Figure 2] Side view of the elevator shaft with the safety work system of Example 1 installed. [Figure 3] External perspective view of the work system of Example 1 [Figure 4] Front view of the entrance / exit where the human detection system of Example 1 is installed. [Figure 5] Functional block diagram of the safety work system in Example 1 [Figure 6] An example of a work instruction recorded in the work item recording section of Figure 5. [Figure 7] Control flowchart of the process executed in the work planning unit, as shown in Figure 5. [Figure 8] Control flowchart of the process executed by the operation limiting unit in Figure 5. [Figure 9] Control flowchart of the process executed in the lifting machine control unit, as shown in Figure 5. [Figure 10] Control flowchart of the process executed in the work mechanism control unit shown in Figure 5. [Figure 11] Front view of the entrance / exit where the human detection system of Example 2 is installed. [Figure 12] Image acquired by the human detection sensor in Example 2 [Figure 13] Control flowchart of the process executed by the human detection calculation device in Figure 11 [Figure 14] Front view of the entrance / exit where the human detection system of Example 3 is installed. [Figure 15] Control flowchart of the process executed by the human detection calculation device in Figure 14 [Modes for carrying out the invention]
[0012] The following describes an embodiment of the safety work system according to the present invention, using the drawings. [Examples]
[0013] An example of the safety work system 100 according to the present invention will be described using Figures 1 to 10.
[0014] <Safety Work System 100> First, the relationship between the safety work system 100 and the elevator shaft 1 of this embodiment will be outlined using Figures 1 and 2. This safety work system 100 includes a work system 2 that automatically performs given construction work while moving up and down within the elevator shaft 1, and a person detection system 3 that detects the entry and exit of people into and out of the elevator shaft 1. Figure 1 is a perspective view of the elevator shaft 1 with the safety work system 100 of this embodiment installed, and Figure 2 is a side view of Figure 1. Although both figures illustrate the elevator shaft 1 of a five-story building, it goes without saying that the safety work system 100 of the present invention can be installed in the elevator shaft 1 of any N-story building (where N is a natural number).
[0015] As shown in Figure 1, a pair of rails 11 (11a, 11b) are vertically installed on the left and right sides of the elevator shaft 1. A work system 2, which moves up and down guided by the rails 11, is also installed in the elevator shaft 1. Furthermore, multiple entrances 12 are provided on the front side of the elevator shaft 1, according to the floor height of each floor, and a human detection system 3 is installed on the upper front side of each entrance. Note that in Figure 1, which shows the elevator during installation work, there are no doors on each of the entrances 12, so workers can freely enter the elevator shaft 1 by passing through the open entrances 12.
[0016] Figure 2 is a side view primarily used to illustrate the various parameters used in this embodiment. As shown here, H is the height from the bottom of the elevator shaft 1 to the work system 2. H1 to H5 are the heights from the bottom of the elevator shaft 1 to the entrances / exits 12 on each floor. P1 to P5 are information indicating the detection status of workers near the entrances / exits 12 on each floor, where ON indicates that workers have been detected and OFF indicates that no workers have been detected. D1 to D5 are the distances from the work system 2 to the entrances / exits 12 on each floor. The distance D to an entrance / exit 12 on a floor below the work system 2 is generally shown as a negative number, however, the distance D to an entrance / exit 12 with no workers nearby is shown as +∞, even if it is an entrance / exit 12 on a floor below the work system 2. Therefore, in the example in Figure 2, the distance D1 to the 1st floor where the worker is located is a predetermined negative number calculated as H1-H, and the distance D5 to the 5th floor where the worker is located is a predetermined positive number calculated as H5-H, while the distances D2 to D4 (not shown), which correspond to each of the 2nd to 4th floors where there are no workers, are all +∞.
[0017] In the following, we will provide an overview of the work system 2 and the person detection system 3, and then describe in detail the safety work system 100 of this embodiment, which is realized through the cooperation of both systems.
[0018] <Work System 2> Next, in addition to Figures 1 and 2 described above, the main parts of the work system 2 will be explained using the external perspective view in Figure 3. As shown in Figures 1 to 3, the work system 2 includes a pair of lifting machines 21 (21a, 21b), a pair of ropes 22 (22a, 22b), a work platform 23, a work mechanism 24, a tool storage area 25, a material storage area 26, a position sensor 27, a control device 28, and wireless equipment 29. The details of each of these will be explained in order below.
[0019] The lifting machine 21 is installed at the upper end of the elevator shaft 1 and is a winch that winds up the rope 22, and is the main part of the moving mechanism in this embodiment. When the work system 2 is raised or lowered, the rotational control of the lifting machines 21a and 21b is synchronized to control the winding amount of the ropes 22a and 22b to be approximately equal.
[0020] The rope 22 is a wire rope with its upper end wrapped around the lifting machine 21 and its lower end connected to the work platform 23. Therefore, as the left and right lifting machines 21 rotate synchronously in the desired direction, the work platform 23, lifted by the rope 22, moves up and down the elevator shaft 1 while maintaining a horizontal position.
[0021] The work platform 23 is a highly rigid floor made of steel plate or similar material that moves up and down along the rail 11 using guide shoes (not shown). As shown in Figure 3, the work mechanism 24, tool storage area 25, material storage area 26, control device 28, and wireless equipment 29 are arranged on the upper surface of the work platform 23, and a position sensor 27 is arranged on the lower surface.
[0022] The work mechanism 24 is a multi-joint robot that performs construction work within the elevator shaft 1, and can perform desired construction work by attaching an appropriate hand tool to the tip of its arm. For example, if it is desired to drill a hole in the inner wall of the elevator shaft 1, the drill tool 24a is attached to the tip of the arm of the work mechanism 24 to perform the construction work. In the following description, the work mechanism 24 will be described as a multi-joint robot equipped with any M (M is a natural number) joints.
[0023] The tool storage area 25 is a storage place for various hand tools that are attached to the end of the arm of the work mechanism 24. By providing the tool storage area 25 on the work platform 23, the work mechanism 24 can perform construction work while changing the hand tools attached to the end of the arm as needed for each task.
[0024] The component storage area 26 is a storage place for components (such as anchors) necessary for the construction work performed by the work mechanism 24. By providing the component storage area 26 on the work platform 23, the work mechanism 24 can carry out construction work while acquiring the necessary components as needed.
[0025] The position sensor 27 is a sensor for detecting the height H from the bottom of the elevator shaft 1 to the work platform 23. This position sensor 27 is, for example, a laser distance meter, and by attaching it to the underside of the work platform 23 with its downward side facing outwards, it can detect the height H of the work platform 23.
[0026] Specifically, the control device 28 is a computer equipped with hardware such as a CPU and other arithmetic units, a semiconductor memory and other storage devices, and a communication device. It is connected to the human detection system 3, the lifting machine 21, the work mechanism 24, and the position sensor 27 via wired or wireless communication. The control device 28 controls the lifting machine 21 and the work mechanism 24 based on information acquired from the human detection system 3 and the position sensor 27, but the details of this control will be described later. In this control device 28, the arithmetic unit executes a predetermined program to realize each of the functions described later, but in the following, descriptions of well-known technologies in this type of computer field will be omitted as appropriate.
[0027] The wireless device 29 is a device used for wireless communication between the control device 28 and the human detection system 3, and specifically, it is a wireless communication device that conforms to wireless communication standards such as WiFi (registered trademark) and Bluetooth (registered trademark).
[0028] <Human Detection System 3> Next, the human detection system 3 will be outlined using Figure 4. As shown in Figures 1 and 2, the human detection system 3 is installed on the upper front of the entrance 12 on each floor. Figure 4 is a front view of the human detection system 3 installed on each floor. As shown here, the human detection system 3 in this embodiment includes a human detection sensor 31, a wireless device 32, and a notification device 33. The details of each will be explained in order below.
[0029] The human detection sensor 31 is a sensor for detecting workers within a predetermined distance, and is, for example, a pyroelectric infrared sensor. When a pyroelectric infrared sensor is used as the human detection sensor 31, when a worker attempting to enter the elevator shaft 1 approaches the entrance / exit 12 and enters the detection range 31a of the human detection sensor 31, the detection value A of the human detection sensor 31, which detects infrared radiation emitted by the worker, gradually increases, so the human detection sensor 31 can detect the worker's approach. On the other hand, when the worker moves away from the entrance / exit 12, the detection value A of the human detection sensor 31 gradually decreases, so the human detection sensor 31 can detect the worker's departure. In the following, the detection value A of the human detection sensor 31 on the nth floor is used. n This shall be referred to as such.
[0030] The wireless device 32 is a device used by the human detection system 3 to communicate wirelessly with the work system 2, and specifically, it is a wireless communication device that conforms to wireless communication standards such as WiFi (registered trademark) or Bluetooth (registered trademark).
[0031] The notification device 33 is a device for notifying workers near the entrance / exit 12 of desired information, and specifically consists of a sound generating device such as a speaker, a display device such as a display or LED, or both.
[0032] <Integration between work system 2 and human detection system 3> In this embodiment of the safety work system 100, which links the work system 2 and the human detection system 3 described above, the detection value from the human detection sensor 31 of the human detection system 3 on a certain floor is wirelessly transmitted to the control device 28 of the work system 2, along with information that identifies the floor on which the human detection system 3 is installed (for example, floor information or ID). The control device 28 then controls the lifting machine 21 and the work mechanism 24 based on the information acquired from the human detection system 3 and the position sensor 27, and wirelessly transmits information that should be notified to the worker to the human detection system 3 in the form of a notification command. The notification device 33, which receives the notification command from the control device 28, notifies the worker of the desired notification information. The detailed structure of the control device 28 that leads this series of processes and the operation flow executed by the control device 28 will be described in detail below.
[0033] <<Functional block diagram of control device 28>> Figure 5 is a functional block diagram of the main parts of the safety work system 100 of this embodiment, showing the various functional units built into the control device 28 and the configuration to which these functional units are connected via wired or wireless communication. As shown here, the control device 28 includes a work item recording unit 28a, a work planning unit 28b, a hoistway information recording unit 28c, a person detection information acquisition unit 28d, a distance information acquisition unit 28e, an operation limiting unit 28f, a lifting machine control unit 28g, and a work mechanism control unit 28h, and is communicatively connected to the person detection system 3 on each floor, the lifting machine 21, the work mechanism 24, and the position sensor 27. Note that 3A is a person detection system installed at the entrance 12 on the 1st floor, 3B is a person detection system installed at the entrance 12 on the 2nd floor, and 3N is a person detection system installed at the entrance 12 on the Nth floor. Each functional unit will be described in order below.
[0034] The work item recording unit 28a is a functional unit that has a work database, illustrated in Figure 6, pre-recorded. This database contains, for each work number, the information necessary to generate commands for the lifting machine 21 and the information necessary to generate commands for the work mechanism 24. Related information for the lifting machine 21 includes, for example, the target height H of the lifting machine 21 when performing the work. ref Or, the movement speed V when moving to that height. ref And so on. In addition, related information for the work mechanism 24 includes, for example, whether or not a tool is used when performing construction work, and the target joint angle J when performing that construction work. ref And so on. Furthermore, if the work mechanism 24 is a multi-joint robot with M joints, the target joint angle J for each work number is set so that each joint can assume the desired posture. fef For example, the target joint angle J1 for the M joint. ref , J2 ref , , , JM ref It is registered.
[0035] In the example of FIG. 6, for work number i, the target height Ha and the moving speed Va, which are related information of the crane 21, are registered, but there is no registration of the tool operation and the target joint angle, which are related information of the working mechanism 24. The lack of registration of information indicates that there is no need for command generation. Therefore, for work number i, only a command for the crane 21 is generated, and no command for the working mechanism 24 is generated. On the other hand, for work numbers i+1 and i+2, the related information of the crane 21 is not registered, and only the related information of the working mechanism 24 is registered. Therefore, only a command for the working mechanism 24 is generated, and no command for the crane 21 is generated.
[0036] The work plan unit 28b updates the target height H of the work floor 23 and the moving speed V, which are used when generating a command for the crane 21, in the order of the work numbers registered in the work database of the work item recording unit 28a. ref and updates the tool operation and the target joint angle J, which are used when generating a command for the working mechanism 24. This will be described later using FIG. 7. ref is a functional unit for updating. ref This will be described later using FIG. 7.
[0037] The lift path information recording unit 28c is a functional unit that records the height H from the bottom of the lift path 1 for each floor entrance 12 (n = 1 to N, in the examples of FIGS. 1 and 2, N = 5). n (n = 1 to N, in the examples of FIGS. 1 and 2, N = 5).
[0038] [[ID=2))The person detection information acquisition unit 28d is a functional unit that receives the detection value A of the person detection system 3 at each entrance through the wireless device 29 and determines the person detection state P at each entrance based on the received detection value A. When the received detection value A is greater than or equal to a predetermined reference value A, the person detection information acquisition unit 28d determines that the worker on the corresponding floor is trying to enter the lift path 1 and sets the person detection state P on the corresponding floor to ON. On the other hand, when the received detection value A is less than the predetermined reference value A, the person detection information acquisition unit 28d determines that there is no worker near the entrance 12 on the corresponding floor and sets the person detection state P on the corresponding floor to OFF. n is greater than or equal to a predetermined reference value A th In this case, the person detection information acquisition unit 28d determines that the worker on the corresponding floor is trying to enter the lift path 1 and sets the person detection state P on the corresponding floor n to ON. On the other hand, when the received detection value A n is less than the predetermined reference value A th In this case, the person detection information acquisition unit 28d determines that there is no worker near the entrance 12 on the corresponding floor and sets the person detection state P on the corresponding floor n to OFF.
[0039] The distance information acquisition unit 28e is a functional unit that acquires the height H of the work platform 23 from the bottom of the elevator shaft 1, as measured by the position sensor 27.
[0040] The operation limiting unit 28f obtains the height H of each entrance / exit from the elevator shaft information recording unit 28c. n The human detection status P of each entrance / exit obtained from the human detection information acquisition unit 28d n This is a functional unit that uses the height H of the work platform 23 obtained from the distance information acquisition unit 28e to determine the positional relationship between the worker entering the elevator shaft 1 and the work system 2, and selects the operation restrictions to be imposed on the lifting machine 21 and the work mechanism 24 according to the determination result. In the following, the operation restriction state imposed on the lifting machine 21 (winch) is L W This refers to the operation restriction state imposed on the work mechanism 24 (robot) as L R This is referred to as [the term]. Further details will be described later using Figure 8.
[0041] The lifting machine control unit 28g updates the target height H of the work platform 23, which has been updated by the work planning unit 28b. ref and movement speed V ref The operating restriction state L of the lifting machine 21 set by the operating restriction unit 28f W This is a functional unit that generates commands for controlling the lifting machine 21 based on the above. The details of this will be described later with reference to Figure 9.
[0042] The work mechanism control unit 28h updates the tool movement and target joint angle J of the work mechanism 24, which have been updated by the work planning unit 28b. ref The operating restriction state L of the work mechanism 24 set by the operating restriction unit 28f R This is a functional unit that generates commands for controlling the work mechanism 24 based on the above. The details of this will be described later with reference to Figure 10.
[0043] The detailed processing performed by the work planning unit 28b, the operation limiting unit 28f, the lifting machine control unit 28g, and the work mechanism control unit 28h, which were outlined above, will be explained using Figures 7 to 10.
[0044] <<Operation of the work planning unit 28b>> Figure 7 will be used to explain the operation flow in the work planning unit 28b.
[0045] In step S11, the work planning unit 28b checks whether the work for the current work number is completed. For example, if the work is to move the lifting machine 21, as in work number i in Figure 6, the height H obtained from the distance information acquisition unit 28e is H ref -H off ≦H≦H ref +H off If the following conditions are met, the movement is considered complete. ref This is the target height corresponding to the work number, H off This is the allowable error for the position of the lifting machine. Also, as shown in the work numbers i+1 and i+2 in Figure 6, if the work is construction work of the work mechanism 24, then each of the rotation angles Jm (m=1~M) of each joint obtained from the work mechanism 24 is Jm ref -Jm off ≤Jm ≤Jm ref +Jm off If the conditions are met, the work will be considered complete. ref This is the target joint angle corresponding to the work number, Jm off This represents the tolerance for each joint angle. If the current task is complete, proceed to step S12; otherwise, terminate the flow.
[0046] In step S12, the work planning unit 28b updates the work number to the next number and proceeds to step S13.
[0047] In step S13, the work planning unit 28b checks whether information regarding lifting equipment control exists for the next work number. If information regarding lifting equipment control exists, as shown for work number i in Figure 6, the unit proceeds to step S14; otherwise, it proceeds to step S15.
[0048] In step S14, the work planning unit 28b sets the target height H of the work platform 23 according to the information registered in the work database. ref and movement speed V ref Update the data and proceed to step S15.
[0049] In step S15, the work planning unit 28b checks whether information regarding work mechanism control exists for the work content of the next work number. If information regarding work mechanism control exists, as shown for work numbers i+1 and i+2 in Figure 6, the process proceeds to step S16; otherwise, the flow terminates.
[0050] In step S16, the work planning unit 28b determines the target joint angle Jm for each joint of the work mechanism 24 according to the information registered in the work database. ref The operation status of the hand tool is updated, and the flow is terminated.
[0051] <<Operation of the operation limiting unit 28f>> The operation flow in the operation limiting unit 28f will be explained using Figure 8.
[0052] In step S21, the operation limiting unit 28f receives the person detection status P for each floor from the person detection information acquisition unit 28d. n The data is obtained, and the process proceeds to step S22.
[0053] In step S22, the operation limiting unit 28f obtains the height H of the work platform 23 from the distance information acquisition unit 28e and proceeds to step S23.
[0054] In step S23, the movement limiting unit 28f determines the shortest distance D between the worker attempting to enter the elevator shaft 1 and the work system 2. min After calculating the shortest distance D, the process proceeds to step S24. min The calculation is as follows: First, the operation limiting unit 28f calculates the person detection status P of each floor acquired in step S21. n Accordingly, the distance D between the work system 2 and the workers on each floor. n The (n=1~N) values are calculated. Specifically, the operation limiting unit 28f determines the human detection state P n On floors where it is ON, H n -H is at the distance D n Set to human detection state P n On the floor where is OFF, +∞ is D n Set it to (see Figure 2). Then, the distance D corresponding to each floor.n After calculating all of the D n The minimum value of the shortest distance D min Set to this.
[0055] The shortest distance D was calculated. min If the value is anything other than +∞, there is a possibility that a worker is entering the elevator shaft 1, so the operation limiting unit 28f enters the person detection state P n A notification command is sent to the worker at the human detection system 3 on the floor where the system is ON. When the notification device 33 of the human detection system 3 receives the notification command and issues a warning to the worker, the worker is expected to realize that the work system 2 is in operation and move away from the elevator shaft 1, thus ensuring the worker's safety.
[0056] In step S24, the operation limiting unit 28f is D min Determine if the condition ≤ 0 is satisfied. If the requirement is satisfied, i.e., the worker is on the lower side of the work system 2, proceed to step S25; otherwise, i.e., the worker is on the upper side of the work system 2, proceed to step S26.
[0057] In step S25, the operation restriction unit 28f determines that there is a risk to the worker due to the possibility of the lifted work system 2 falling or the possibility of debris or materials falling during construction work, and sets the operation restriction state L for the lifting machine 21. W And the operating restriction state L of the work mechanism 24 R Set both to the stopped state and terminate the flow.
[0058] On the other hand, in step S26, the operation limiting unit 28f is 0 <D min It is determined whether ≤Da is satisfied. If the requirement is satisfied, that is, the worker is above the work system 2 and the distance to the worker is close, the process proceeds to step S27. If the requirement is not satisfied, that is, the worker is above the work system 2 and the distance to the worker is somewhat far, the process proceeds to step S28.
[0059] In step S27, the operation limiting unit 28f determines that there is a risk of the work system 2 coming into contact with a worker during ascent, and sets the operation limiting state L for the lifting machine 21. W The device is set to a stopped state, and it is determined that there is no danger to workers during construction work, and the operation restriction state L of the work mechanism 24 is set. R Set it to an operational state and end the flow.
[0060] On the other hand, in step S28, the operation limiting unit 28f Da <D min Determine if ≤Db is satisfied. If the requirement is satisfied, i.e., the worker is above the work system 2 and there is a certain distance between the worker and the system, proceed to step S29. If the requirement is not satisfied, i.e., the distance between the worker and the system is considerably far, proceed to step S2a.
[0061] In step S29, the operation limiting unit 28f determines that there is no risk of the work system 2 coming into contact with a worker when the ascent is slow, but there is a risk of the work system 2 coming into contact with a worker when the ascent is fast, and sets the operation limiting state L of the lifting machine 21. W The speed limit state is set, and the operation limit state L of the work mechanism 24 is also set. R Set it to an operational state and end the flow.
[0062] On the other hand, in step S2a, the operation limiting unit 28f determines that there is no danger to the worker caused by the work system 2 because the work system 2 and the worker are at a considerable distance apart, and sets the operation limiting state of the lifting machine 21 to L. W and the operating restriction state L of the work mechanism 24 R Set both to an operational state and terminate the flow.
[0063] <<Operation of the 28g lifting machine control unit>> Figure 9 illustrates the operation flow of the lifting machine control unit 28g.
[0064] In step S31, the lifting machine control unit 28g sets the operating restriction state L of the lifting machine 21 as set by the operating restriction unit 28f. WObtain the data and proceed to step S32.
[0065] In step S32, the lifting machine control unit 28g sets the operating restriction state L of the lifting machine 21. W Determine if it is set to a stopped state. If the requirements are met, proceed to step S33; otherwise, proceed to step S34.
[0066] In step S33, the lifting machine control unit 28g turns off the control output to the lifting machine 21, stopping the lifting machine 21. Then, the operation flow ends. As a result, the lifting and lowering of the work system 2 stops.
[0067] In step S34, the lifting machine control unit 28g enters the operation restriction state L. W The system determines whether the speed limit is set. If the requirements are met, the system proceeds to step S35; otherwise, it proceeds to step S36.
[0068] In step S35, the lifting machine control unit 28g sets the target height to the target height H registered in the work item recording unit 28a. ref In addition to updating it, the movement speed is set to the movement speed V registered in the work item recording unit 28a. ref Instead, the speed limit Vs is updated to a slower speed limit, and the process proceeds to step S37. Note that the speed limit Vs can be freely set, and even if it remains constant, the distance D between the work system 2 and the worker can be adjusted. min It may depend on D. min If is positive and large, then the size of Vs is also large, and D min If the value is positive and small, the size of Vs will also be small, and so on, the distance D min It may be variable depending on [something].
[0069] Meanwhile, in step S36, the lifting machine control unit 28g records the target height and movement speed in the work item recording unit 28a. ref , V ref The system is updated, and the process proceeds to step S37.
[0070] In step S37, the lifting machine control unit 28g turns on the control output to the lifting machine 21 and generates a command according to the target height and travel speed updated in step S35 or step S36, and the height H of the work platform 23 is H ref -H off ≦H≦H ref +H off The lifting machine 21 is controlled until the condition is satisfied, and then the operation flow is terminated.
[0071] <<Operation of the work mechanism control unit 28h>> The operation flow in the work mechanism control unit 28h will be explained using Figure 10.
[0072] In step S41, the work mechanism control unit 28h sets the operation restriction state L of the work mechanism 24 as set by the operation restriction unit 28f. R Obtain the data and proceed to step S42.
[0073] In step S42, the work mechanism control unit 28h sets the operation restriction state L of the work mechanism 24. R Determine if it is set to a stopped state. If the requirements are met, proceed to step S43; otherwise, proceed to step S44.
[0074] In step S43, the work mechanism control unit 28h sets the control output to the work mechanism 24 to OFF, thereby stopping the operation of the work mechanism 24. For example, if the drill tool 24a is in use, the drilling and rotation will be stopped.
[0075] In step S44, the work mechanism control unit 28h sets the target angle of each joint of the work mechanism 24 to the work item recording unit 28a. ref The system is updated. Additionally, the ON / OFF status of the work tool is updated according to the information registered in the work item recording unit 28a, and the system proceeds to step S45.
[0076] In step S45, the work mechanism control unit 28h turns on the control output for the work mechanism 24, generates a command according to the target joint angle updated in step S44, and controls each joint of the work mechanism 24 until each joint angle Jm of the work mechanism 24 satisfies Jm ref -Jm off ≦Jm≦Jm ref +Jm off When the operating state of the hand tool attached to the tip of the work mechanism 24 is ON, the hand tool is operated, and when it is OFF, it is stopped, and then the operation flow ends.
[0077] <Effect of this embodiment> Based on the relationship between the position of the worker entering the hoistway 1 during installation work and the position of the work floor 23, the operation restriction state L W of the hoist 21 and the operation restriction state L R of the work mechanism can be set, and the operations of the hoist 21 and the work mechanism 24 can be restricted. Therefore, it is possible to suppress a decrease in the work efficiency of the work system while ensuring the safety of the workers entering the hoistway.
[0078] Although the laser distance meter was used as the position sensor 27 to measure the position of the work floor 23 facing downward of the hoistway 1, the distance to the upper part may be measured facing upward of the hoistway 1, and the position of the work floor 23 may be measured by subtracting the distance from the total length of the hoistway 1. Further, instead of the laser distance meter, an encoder (rotation measuring instrument) may be installed on the rotating shaft of the hoist 21, and the height position of the work floor 23 may be calculated using the measured rotation amount and rotation angle.
[0079] The human detection sensor 31 in the human detection system 3 may use an infrared distance measuring sensor, an ultrasonic sensor, etc. For example, when using a laser distance sensor, when a worker enters the hoistway 1, the distance acquired by the laser distance sensor becomes short. Therefore, in the human detection information acquisition unit 28d, when the detection value B n (n = 1 to N) of the laser distance sensor at each entrance 12 is below the reference value B th set in advance, it is determined that the worker has entered the hoistway 1, and the human detection state Pn Set to ON. Although the determination method is different, the human detection status P is similarly determined by comparing it with the reference value. n This allows for the determination of whether or not a person is present. In addition, the human detection system 3 may be configured with an interlocking device such as a laser curtain. [Examples]
[0080] Next, an embodiment 2 of the safety work system 100 according to the present invention will be described using Figures 11 to 13. Note that common points with embodiment 1 will be omitted from the explanation.
[0081] In Example 1, a pyroelectric infrared sensor or the like was used as the human detection sensor 31 of the human detection system 3. However, in this embodiment, a camera is used as the human detection sensor 31, which necessitates various modifications. The details of this embodiment will be described below.
[0082] Figure 11 shows the human detection system 3 of this embodiment. This human detection system 3 consists of a human detection sensor 31, a wireless device 32, a notification device 33, and a human detection calculation device 34. The detection sensor 31 is a camera that takes images and is installed above the entrance / exit 12 with the shooting direction facing downwards.
[0083] An example of an image P captured by the detection sensor 3 (camera) is shown in Figure 12. The figure shows the end E of the entrance / exit 12, with the area above end E being the inside of the elevator shaft 1 and the area below being the floor surface near the entrance / exit 12. The human detection calculation device 34 detects the image area in image P where a worker is present, and detects the overlap between the worker detection area A2 and the no-entry area A1 to detect the worker's entry into the elevator shaft 1.
[0084] Figure 13 shows the operation flow of the human detection calculation device 34.
[0085] First, in step S51, the human detection calculation device 34 acquires the image P of the entrance / exit 12 captured by the detection sensor 31, and then proceeds to step S52.
[0086] In step S52, the human detection arithmetic unit 34 detects the worker detection area A2 in the image P and then proceeds to step S53. Here, for example, background difference is used. A background image P' when there is no worker is recorded in advance, and the captured image P and the background image P' are compared pixel by pixel to extract a set of pixels whose RGB values representing the color of each pixel are different from each other as the worker detection area A2. When the captured image P and the background image P' are the same, it is determined that there is no worker detection area A2.
[0087] In step S53, the human detection arithmetic unit 34 compares the positions of the entry prohibited area A1 and the worker detection area A2 and determines whether the entry prohibited area A1 and the worker detection area A2 overlap. If they overlap, it proceeds to step S54; if not, it proceeds to step S55.
[0088] In step S54, the human detection arithmetic unit 34 determines that a worker has entered the elevator 1 and sets the human detection state P n at the entrance / exit 12 of the corresponding floor to ON and then proceeds to step S56.
[0089] On the other hand, in step S55, the human detection arithmetic unit 34 determines that a worker has not entered the elevator 1 and sets the human detection state P n at the entrance / exit 12 of the corresponding floor to OFF and then proceeds to step S56.
[0090] In step S56, the human detection arithmetic unit 34 transmits the set human detection state P n to the control device 28 via the wireless devices 32 and 29, and the operation flow ends.
[0091] Therefore, in the human detection information acquisition unit 28d of the control device 28 in this embodiment, different from the first embodiment, since the human detection state P n is received, there is no need to set the human detection state P n based on the reference value as in the first embodiment.
[0092] Through the above processing, in the human detection system 3, the human detection state P nThe problem can also be solved with equivalent or greater effectiveness by setting the parameters and sending them to the control device 28. [Examples]
[0093] Next, an embodiment 3 of the safety work system 100 according to the present invention will be described using Figures 14 and 15. Note that common points with the above embodiment will be omitted from the explanation.
[0094] In the safety work system 100 of the above embodiment, a person detection system 3 was installed at each entrance / exit to detect workers entering the elevator shaft 1 from each entrance / exit. Therefore, it was necessary to install the same number of person detection systems 3 as there were entrances / exits 12. In contrast, the safety work system 100 of this embodiment installs one person detection system 3 for every multiple entrances / exits 12, and this single person detection system individually detects workers entering the elevator shaft 1 from each entrance / exit. The details of the safety work system 100 of this embodiment, which can significantly reduce the number of person detection systems 3 to be installed, will be described below.
[0095] The person detection sensor 31 in this embodiment, shown in Figure 14, is a depth camera capable of capturing an image P and acquiring distance information, or a composite sensor using both a camera and a distance sensor. This person detection sensor 31 is mounted facing upwards on the inside of the elevator shaft 1 and below the entrance / exit 12. Therefore, this person detection sensor 31 can individually detect workers entering the elevator shaft 1 from the entrance / exit 12 of the floor on which the system is installed, as well as from entrance / exit 12 of multiple floors above. However, since there are limitations to the practical range of depth cameras and distance sensors, the range that one person detection system 3 can cover is approximately three floors. For example, a person detection system 3 installed on the first floor can detect workers entering the elevator shaft 1 from entrance / exit 12 on the first to third floors, but cannot detect workers entering from entrance / exit 12 on the fourth floor or higher. Therefore, an appropriate number of person detection systems 3 should be placed according to the height of the elevator shaft 1.
[0096] The image P captured by the human detection sensor 31 is basically the same as Figure 12 in Embodiment 2, although there is a reversal in the front-to-back and left-to-right directions. However, since the human detection sensor 31 in this embodiment faces upward, the edge E of the entrance / exit 12 corresponds to the boundary between the ceiling of each floor and the elevator shaft 1. The human detection calculation device 34 detects the image area in image P where a worker is present, and by comparing this detected area with the no-entry area A1 shown in Figure 12, it detects the worker's entry into the elevator shaft 1. Furthermore, using the distance information of the worker detection area A2, it determines which floor's entrance / exit 12 the worker is entering.
[0097] Figure 15 shows the operation flow of the human detection calculation device 34 in this embodiment. Hereafter, the operation flow of the human detection system 3 installed at the entrance / exit 12 on the first floor will be described, while omitting explanations of common points with the operation flow shown in Figure 13, which was described in Embodiment 2, as appropriate.
[0098] In step S53 of this embodiment, the human detection calculation device 34 determines whether the no-entry area A1 and the worker detection area A2 in the image P captured by the human detection sensor 31 overlap. If they overlap, it determines that a worker is present at any of the entrances 12 on the 1st to 3rd floors and proceeds to step S61. On the other hand, if they do not overlap, it determines that no workers are present at any of the entrances 12 on the 1st to 3rd floors and proceeds to step S55.
[0099] In step S55 of this embodiment, the human detection calculation device 34 sets all of the human detection states P1, P2, and P3 on the 1st to 3rd floors to OFF and proceeds to step S56.
[0100] Meanwhile, in step S61, the human detection calculation device 34 obtains height information H1, H2, and H3 for the entrances 12 on the 1st to 3rd floors, as well as height information H4 for the entrance 12 on the 4th floor, which is the floor above, from the elevator shaft information recording unit 28c of the control device 28, and then proceeds to step S62.
[0101] In step S62, the personnel detection arithmetic unit 34 first calculates the distance D' between the worker and the personnel detection sensor 31 based on the depth information of the worker detection area A2. Here, the average value of the depth information of each pixel forming the worker detection area A2 is treated as the distance D' between the worker and the personnel detection sensor 31. When 0≦D'<H2 - H1 is satisfied, it is determined that the worker is at the entrance / exit 12 on the first floor. Similarly, when H2 - H1≦D'<H3 - H1 is satisfied, it is determined that the worker is at the entrance / exit 12 on the second floor, and when H3 - H1≦D'<H4 - H1 is satisfied, it is determined that the worker is at the entrance / exit 12 on the third floor. In this way, when the entrance / exit 12 where the worker exists is specified, the process proceeds to step S54.
[0102] In step S54, the personnel detection arithmetic unit 34 sets the personnel detection state P of the entrance / exit 12 where the worker is identified n to ON, and sets the personnel detection state P of the other entrances / exits 12 n to OFF, and the process proceeds to step S68. For example, when it is determined that there is a worker at the entrance / exit 12 on the first floor, P1 is set to ON and P2 and P3 are set to OFF.
[0103] By the above processing, even by detecting the entry of workers into the hoistway 1 at the entrances / exits 12 on multiple floors with one personnel detection system 3, the problems can be solved with an equivalent or better effect. This time, the case of explaining the entrances / exits 12 on the third floor with one personnel detection system 3 has been described, but it is not necessarily limited to this. Also, the personnel detection system 3 of the present embodiment does not necessarily need to be installed at the entrance / exit 12, and for example, it may be installed at the bottom of the hoistway 1.
Explanation of Signs
[0104] 100 Safety work system 1 Hoistway 11 Rail 12 Entrance / exit 2 Work system 21 Hoisting machine 22 Rope 23 Work floor 24 Work mechanism 24a Drill tool 25 Tool storage 26. Parts storage area 27 Position Sensor 28 Control device 28a Work Item Record Section 28b Work Planning Department 28c Elevator Information Recording Unit 28d Human Detection Information Acquisition Unit 28e Distance information acquisition section 28f Operation Limiting Unit 28g Lifting machine control unit 28h Working Mechanism Control Unit 29 Wireless equipment 3-person detection system 31 people detection sensors 32 Wireless equipment 33 Notification device 34-person detection and calculation device P: Images taken P' Background image E (End of entrance / exit) A1 No Entry Area A2 Worker detection area
Claims
1. A safety work system that controls the movement or operation of a work system performing construction work while moving up and down within an elevator shaft, according to the output of a human detection system, The aforementioned human detection system is A human detection sensor that detects people entering the elevator shaft from the entrance, The system includes a wireless device that communicates with the aforementioned work system, The aforementioned work system is A moving mechanism used for movement within the aforementioned elevator shaft, A work mechanism used for work within the aforementioned elevator shaft, A wireless device that communicates with the aforementioned human detection system, The system comprises a control device that controls the moving mechanism and the working mechanism, The control device is The location information of the person detected based on the output of the person detection sensor, The position information of the work system detected based on the output of the position sensor, A safety work system characterized by restricting the control of the moving mechanism and the work mechanism based on their relative positions.
2. The control device is As control of the aforementioned moving mechanism, one of the following can be selected: stop operation, limit movement speed, or enable operation. The safety work system according to claim 1, characterized in that, as control of the work mechanism, either stop operation or enable operation is selected.
3. The control device is If the position of the work system is higher than the position of the person, the control of the moving mechanism and the work mechanism is to be stopped. The safety work system according to claim 2, characterized in that, if the position of the work system is lower than the position of the person, the control of the moving mechanism is selected to limit the movement speed or enable operation, depending on the distance between the work system and the person.
4. The aforementioned position sensor is The safety work system according to claim 1, characterized in that it is a laser distance meter installed in the work system, or a tachometer attached to the moving mechanism.
5. The safety work system according to claim 1, characterized in that the person detection system is installed at the entrance / exit.
6. The safety work system according to claim 1, characterized in that the person detection system includes a notification device that warns the person in response to a command from the control device.
7. The safety work system according to claim 6, characterized in that the notification device is a voice generator or a display device.
8. The safety work system according to claim 1, characterized in that the person detection sensor is one of a human presence sensor, a laser distance sensor, an infrared distance sensor, an ultrasonic sensor, or an interlock switch.
9. The safety work system according to claim 1, characterized in that the person detection sensor is a camera that takes images.
10. The safety work system according to claim 9, characterized in that the person detection system detects an area where a person is present by comparing a background image without a person with a captured image, and if that area overlaps with a no-entry area, it detects the captured person as a person entering the elevator shaft.
11. The aforementioned camera is a depth camera that acquires distance information along with an image, or a camera used in combination with a distance sensor that acquires distance information. The safety work system according to claim 10, characterized in that the location information of the person is determined based on distance information associated with the area in which the person is located.