JP7338815B2 - Worker positioning system - Google Patents

Description

TECHNICAL FIELD The present disclosure relates to worker localization systems.

Patent Literature 1 discloses an example of a mobile positioning system. The position measurement system measures the vertical position of the mobile object based on information from a portable air pressure sensor carried by the mobile object and a reference air pressure sensor installed at a known altitude. In the positioning system, the difference in pressure from the portable pressure sensor and the reference pressure sensor is corrected by an offset value.

Japanese Patent Application Laid-Open No. 2011-117818

However, in the position measurement system of Patent Document 1, the offset value is determined by an RFID tag (RFID: Radio Frequency Identification) or the like when the mobile object is in the vicinity of the reference atmospheric pressure sensor and the mobile object is at the same altitude as the reference atmospheric pressure sensor. Acquired if it is confirmed that there is For this reason, when the position measurement system is applied to the measurement of the position of a mobile worker working in a building equipped with an elevator, the worker needs to stop by the reference air pressure sensor before starting work. . This may reduce the workability of the work.

The present disclosure relates to solving such problems. The present disclosure provides a worker position measurement system that does not easily reduce workability in a building in which an elevator is installed.

A worker position measurement system according to the present disclosure includes a reference atmospheric pressure at the position of the reference atmospheric pressure measurement unit, which is measured by a reference atmospheric pressure measurement unit arranged in a building in which an elevator is installed, and a position of a worker performing work in the building. a measurement unit that measures the position in the height direction of the worker based on the target air pressure measured in the above; and an estimation unit that estimates the position in the height direction of the worker when detecting the event of the elevator. , at the time when the estimating unit is able to estimate the position of the worker in the height direction, the reference pressure measuring unit compensates for an altitude difference between the position of the reference atmospheric pressure measuring unit and the position of the worker estimated by the estimating unit. a compensation unit that converts at least one of the atmospheric pressure and the target atmospheric pressure; and at least one of the reference atmospheric pressure and the target atmospheric pressure in the measuring unit based on the difference between the reference atmospheric pressure and the target atmospheric pressure converted by the compensating unit. and a calculator for calculating an offset value used for correction of the .

With the position measurement system according to the present disclosure, it is difficult for the workability of the building in which the elevator is installed to deteriorate.

1 is a configuration diagram of an elevator according to Embodiment 1; FIG. 1 is a block diagram showing the configuration of a position measurement system according to Embodiment 1; FIG. 2 is a block diagram showing the configuration of a position measurement system according to a modification of Embodiment 1; FIG. 4 is a diagram showing an example of updating offset values in the position measurement system according to Embodiment 1. FIG. 4 is a flow chart showing an example of the operation of the position measurement system according to Embodiment 1; 4 is a flow chart showing an example of the operation of the position measurement system according to Embodiment 1; 2 is a hardware configuration diagram of main parts of the position measurement system according to Embodiment 1. FIG.

Modes for implementing the subject matter of the present disclosure will be described with reference to the accompanying drawings. In each figure, the same or corresponding parts are denoted by the same reference numerals, and overlapping descriptions are appropriately simplified or omitted. It should be noted that the subject of the present disclosure is not limited to the following embodiments, and modifications of any constituent elements of the embodiments, or modifications of any constituent elements of the embodiments, within the scope of the present disclosure. It can be omitted.

Embodiment 1.
FIG. 1 is a configuration diagram of an elevator 1 according to Embodiment 1. As shown in FIG.

Elevator 1 is applied, for example, to a building having a plurality of floors. In a building, a hoistway 2 for an elevator 1 is provided. The hoistway 2 is a vertically elongated space that spans a plurality of floors. At the lower end of the hoistway 2 a pit 3 is provided. The pit 3 is below the floor of the lowest floor. A landing 4 for an elevator 1 is provided on each floor. A landing 4 is a location adjacent to the hoistway 2 . At the landing 4 of each floor, a landing door 5 is provided. The landing door 5 is a door that partitions the hoistway 2 and the landing 4 . The elevator 1 includes a hoisting machine 6 , a main rope 7 , a car 8 , a counterweight 9 and a control panel 10 .

The hoist 6 is arranged, for example, above or below the hoistway 2 . For example, when the machine room of the elevator 1 is provided above the hoistway 2, the hoist 6 may be arranged in the machine room. The hoist 6 includes a motor that generates driving force, and a sheave that rotates by the driving force generated by the motor.

The main rope 7 is wound around the sheave of the hoist 6 . The main rope 7 supports the load of the car 8 on one side of the hoist 6 sheave. The main rope 7 supports the load of the counterweight 9 on the other side of the sheave of the hoist 6 . The main rope 7 is moved by the driving force generated by the motor of the hoisting machine 6 so as to be hoisted onto the sheave of the hoisting machine 6 or unwound from the sheave of the hoisting machine 6 .

The car 8 is a device for transporting the users of the elevator 1 between a plurality of floors by running in the vertical direction on the hoistway 2 . The counterweight 9 is a device that balances the load applied to both sides of the sheave of the hoisting machine 6 with the car 8 . The car 8 and the counterweight 9 move vertically in opposite directions in the hoistway 2 in conjunction with the movement of the main rope 7 . The car 8 includes a car door 11, a scale 12, a car camera 13, and a car top device 14. - 特許庁The car door 11 is a device that opens and closes the landing door 5 of the floor interlockingly so that a user or the like can get in and out of the car 8 when the car 8 stops on any floor. The scale 12 is a device for measuring the load of a user or the like riding in the car 8 . The car camera 13 is a device that takes an image. The car camera 13 is provided inside the car 8, for example. At this time, the car camera 13 photographs the inside of the car 8 . Alternatively, the car camera 13 may be provided on the upper or lower surface of the outside of the car 8 . At this time, the car camera 13 photographs the upper side or the lower side of the car 8 . The car 8 may be equipped with multiple car cameras 13 . The car top device 14 is arranged on the upper surface of the outside of the car 8 . The on-car device 14 has a manual operation switch. The manual operation switch is a switch for switching between automatic operation and manual operation. Automatic operation is the normal operating mode of the elevator 1 . Manual operation is an operation mode that is performed when maintenance and inspection of the elevator 1 are performed. The manual operation switch is operated by a worker who performs maintenance work such as maintenance and inspection.

A control panel 10 is a device that controls the operation of the elevator 1 . The control panel 10 is arranged, for example, above or below the hoistway 2 . For example, when the machine room of the elevator 1 is provided above the hoistway 2, the control panel 10 may be arranged in the machine room. The operation of the elevator 1 controlled by the control panel 10 includes, for example, running of the car 8 and opening and closing of the car door 11 . A control panel 10 is connected to the hoisting machine 6 and the car 8 so as to output control signals for the elevator 1 and to obtain information on the state of the elevator 1 .

In the elevator 1 a remote monitoring device 15 is applied. The remote monitoring device 15 is a device used for remote monitoring of the state of the elevator 1 . A remote monitoring device 15 is connected to the control panel 10 so as to be able to collect information on the status of the elevator 1 . Information collected by the remote monitoring device 15 is transmitted to the central management device 17 through a communication network 16 such as the Internet or a telephone line. The central management device 17 is a device that collects and manages information on the state of the elevator 1 . The central management device 17 is provided at a base such as an information center, for example.

In a building in which the elevator 1 is installed, maintenance work such as maintenance and inspection of the elevator 1 is performed by a worker. A worker carries a mobile terminal 18 . In this example, the worker stores the portable terminal 18 in the breast pocket of the work clothes that the worker wears. The mobile terminal 18 is, for example, a portable information terminal such as a smart phone. The mobile terminal 18 is connected to the communication network 16 by a wireless communication function. The mobile terminal 18 includes a target atmospheric pressure measurement unit 19 and a positioning unit 20 . The target atmospheric pressure measurement unit 19 is a part that measures the target atmospheric pressure, which is the atmospheric pressure at the position of the mobile terminal 18 . The positioning unit 20 is a part that acquires the position of the mobile terminal 18 on the map. The positioning unit 20 acquires a position on a map by a satellite positioning system such as GPS (Global Positioning System).

In the elevator 1 a positioning system 21 is applied. The position measurement system 21 is a system that measures the position of a worker who works in the building where the elevator 1 is installed. The positioning system 21 is a system including, for example, one or more devices that process information. The device may be, for example, a portable device or a fixed device such as a server device. A part or all of the information processing functions of the positioning system 21 may be installed in one or more devices arranged in the building where the elevator 1 is installed. Alternatively, part or all of the information processing functions of the positioning system 21 are implemented by storage or processing resources on one or more devices located outside the building, or on a cloud service. may be Some or all of the information processing functions of the position measurement system 21 may be installed in devices related to the elevator 1 such as the control panel 10 , the remote monitoring device 15 and the central management device 17 . Some or all of the functions related to information processing of the position measurement system 21 may be installed in a device used for work, such as the mobile terminal 18 carried by the worker. In this example, the main functions related to information processing of the position measurement system 21 are installed in the portable terminal 18 carried by the worker.

The position measurement system 21 includes a reference atmospheric pressure measurement section 22 . The reference atmospheric pressure measuring unit 22 is arranged in the building where the elevator 1 is installed. The reference atmospheric pressure measurement unit 22 is fixedly arranged at any position of the building. In this example, the reference air pressure measurement unit 22 is arranged in the pit 3 of the hoistway 2 . The reference atmospheric pressure measurement unit 22 is a part that measures the reference atmospheric pressure, which is the atmospheric pressure at the position where the reference atmospheric pressure measurement unit 22 is arranged. The reference atmospheric pressure measured by the reference atmospheric pressure measurement unit 22 is transmitted to the mobile terminal 18 through, for example, the control panel 10, the remote monitoring device 15, and the communication network 16. The reference atmospheric pressure measurement unit 22 may be equipped with a thermometer that measures the air temperature at the location where the reference atmospheric pressure measurement unit 22 is provided.

The position measurement system 21 determines the position of the worker in the height direction based on the reference air pressure measured by the reference air pressure measurement unit 22 and the target air pressure measured by the target air pressure measurement unit 19 of the mobile terminal 18 carried by the worker. to measure. Here, in the reference atmospheric pressure measurement unit 22 and the target atmospheric pressure measurement unit 19, a discrepancy may occur between the measured atmospheric pressure and the actual atmospheric pressure due to sensor deterioration or the like. Therefore, an offset may occur in the difference between the reference atmospheric pressure and the target atmospheric pressure. Also, the offset may change over time due to progress of deterioration of the sensor or the like. Therefore, the position measurement system 21 updates the offset as the worker performs work.

Updating the offset is performed, for example, when a worker starts work. When starting work, a worker sends a work report to a system that manages work status. The update of the offset is started, for example, triggered by the transmission of such a notice of work. Alternatively, the offset update may be triggered by the arrival of workers at the building. The arrival of the worker at the building is detected by, for example, collating the position acquired by the positioning unit 20 of the portable terminal 18 possessed by the worker and the positional information of the building. The location information of the building may be stored in advance in the mobile terminal 18 through a system for managing work status, for example. Alternatively, updating of the offset may be triggered by a rise of a preset control signal in the elevator 1 or the like.

FIG. 2 is a block diagram showing the configuration of the position measurement system 21 according to Embodiment 1. As shown in FIG.

The position measurement system 21 includes a first storage unit 23, a second storage unit 24, a third storage unit 25, a first storage unit 26, an input unit 27, a measurement unit 28, an offset update unit 29, Prepare.

Each of the first accumulation unit 23, the second accumulation unit 24, and the third accumulation unit 25 is a part that accumulates and stores information. In this example, the information stored in the first storage unit 23, the second storage unit 24, and the third storage unit 25 includes information on the time when the information was acquired. The first storage unit 26 is a part that stores information. Some or all of the first storage unit 23, the second storage unit 24, the third storage unit 25, and the first storage unit 26 may be implemented on the same hardware, or multiple hardware It may be implemented in a distributed manner.

Information acquired in the elevator 1 is accumulated in the first accumulation unit 23 . The information acquired in the elevator 1 includes control signals from the control panel 10 of the elevator 1, measurement signals from sensors and the like provided in the elevator 1, detection signals from switches and the like provided in the elevator 1, and car signals provided in the elevator 1. It includes information such as image signals captured by the camera 13 or the like. The first storage unit 23 is mounted on the remote monitoring device 15, for example.

Information on the reference atmospheric pressure measured by the reference atmospheric pressure measuring section 22 is accumulated in the second accumulation section 24 . The second storage unit 24 is mounted on the remote monitoring device 15, for example.

Information on the target air pressure measured by the target air pressure measurement unit 19 of the portable terminal 18 carried by the worker is stored in the third accumulation unit 25 . The third storage unit is mounted on the mobile terminal 18, for example.

The first storage unit 26 stores basic information about the elevator 1 and the building in which the elevator 1 is installed. Basic information includes, for example, elevator 1 and building specific information that does not change during the work of the worker. The basic information includes, for example, information such as the position in the height direction where the reference atmospheric pressure measurement unit 22 is arranged in the building. The basic information includes, for example, information on the floor surface height of each floor in the building. The basic information includes, for example, information on the height of the car 8 itself of the elevator 1, that is, the height from the floor of the car 8 to the upper surface of the outside. The basic information includes, for example, building location information. The first storage unit 26 is mounted on the remote monitoring device 15, for example.

The input unit 27 is a part that receives input from a worker or the like. The input unit 27 receives, for example, a signal indicating the start or end of work in a building. The input unit 27 receives, for example, a signal for starting or ending update of the offset of the difference between the reference atmospheric pressure and the target atmospheric pressure. The input unit 27 receives, for example, a signal indicating the start or end of measurement of the position of the worker who performs the work. Some or all of these start and end signals may be common signals. The input unit 27 is mounted, for example, on the mobile terminal 18 possessed by the worker. At this time, the input unit 27 receives input through an interface such as a touch panel of the mobile terminal 18 . Alternatively, the input unit 27 may receive a signal from the processing device of the mobile terminal 18 or other device as an input.

The input unit 27 may receive, for example, information on the accuracy required for measuring the worker's position. The required accuracy is specified, for example, by a numerical range that can be tolerated with respect to the worker's positional error. Alternatively, the required accuracy may be specified in multiple stages such as "high", "medium", and "low". At this time, the numerical range corresponding to each stage is set in advance in the position measurement system 21 . The required accuracy is specified, for example, by an operator when updating the offset. Alternatively, the required accuracy may be a preset setting stored in the mobile terminal 18 or the like.

The offset updating unit 29 is a part that updates the offset of the difference between the reference atmospheric pressure and the target atmospheric pressure. The offset updating unit 29 starts updating processing when, for example, the input unit 27 receives a signal for starting offset updating. Alternatively, the offset updating unit 29 may start the updating process after waiting until the information necessary for updating the offset is accumulated after the work is started, for example. The offset updating unit 29 is installed in the mobile terminal 18 carried by the worker. The offset updating unit 29 includes an estimating unit 30 , a compensating unit 31 and a calculating unit 32 .

The estimation unit 30 is a part that estimates the position of the worker in the height direction when an event of the elevator 1 is detected. Events in Elevator 1 are detected based on information acquired in Elevator 1 . In this example, the elevator 1 event is detected by information stored in the first storage unit 23 . Here, the estimation unit 30 also evaluates the estimation accuracy when estimating the position of the worker. In this example, the estimation unit 30 evaluates the estimation accuracy in multiple stages such as "high", "middle", and "low". The estimating unit 30 stores the estimated position of the worker and the estimated accuracy when estimating the position of the worker. It is assumed that the estimating unit 30 could not estimate the worker's position at the time at which an event capable of estimating the worker's position was not detected. The estimating unit 30 estimates the position of the worker in the height direction as follows, for example, according to the type of the detected event.

The estimation unit 30 detects that the car 8 is being manually operated by the manual operation switch of the car upper device 14 as an event. When the car 8 is manually operated by the car top device 14 for maintenance work or the like, it is estimated with high accuracy that the worker is on the upper surface of the outside of the car 8 . Therefore, the estimating unit 30 sets the estimation accuracy to "high" based on the position of the car 8 in the height direction, the height of the car 8 itself, and the height from the worker's feet to the breast pocket of the work clothes. Estimate worker location.

Here, the position of the car 8 in the height direction is obtained based on the control signal of the control panel 10 accumulated in the first accumulation unit 23, the basic information stored in the first storage unit 26, and the like. The height of the car 8 itself is acquired based on the basic information stored in the first storage unit 26 and the like. The height of the worker's chest pocket is a parameter or the like preset in the estimation unit 30 . The parameter may be set to a different value for each worker, or may be set to a constant average value.

Also, the estimation unit 30 detects that the worker is riding inside the car 8 as an event from the image of the car camera 13 . When the worker is riding inside the car 8, the position of the worker in the height direction is estimated with high accuracy. Therefore, the estimating unit 30 estimates the worker's position with "high" estimation accuracy based on the position of the car 8 in the height direction and the height from the worker's feet to the breast pocket of the work clothes. .

The estimating unit 30 also detects, as an event, that the opening/closing time of the car door 11 of the car 8 is shorter than the preset time. If the opening and closing time of the car door 11 is short, it is presumed that the worker has not gotten on and off from inside the car 8 . At this time, it is presumed that the worker is riding inside the car 8 . Therefore, the estimating unit 30 estimates the worker's position with "medium" estimation accuracy based on the position of the car 8 in the height direction and the height from the worker's feet to the breast pocket of the work clothes. .

The estimation unit 30 also detects, as an event, that the landing door 5 is opened on the floor where the car 8 is not stopped. When the landing door 5 can be opened on that floor, it is presumed that the worker performed the work step of opening the landing door 5 on that floor. At this time, the worker is presumed to be at the landing 4 . Therefore, the estimating unit 30 estimates the worker's position with an estimation accuracy of "medium" based on the height of the floor surface of the floor and the height from the worker's feet to the breast pocket of the work clothes. do.

The estimating unit 30 also detects, as an event, that a preset time has not elapsed since the landing door 5 on the lowest floor was opened when the car 8 was not stopped on the lowest floor. It is presumed that the worker moves from the lowest floor landing 4 to the pit 3 after the landing door 5 is opened while the car 8 is not stopped at the lowest floor. After that, it is presumed that the worker continues the work process in the pit 3 until a certain amount of time has passed. Therefore, the estimating unit 30 estimates the position of the worker based on the height of the floor surface of the pit 3, the height from the worker's feet to the breast pocket of the work clothes, etc., with the estimation accuracy being "medium". .

Here, the height of the floor surface of the floor of the building and the height of the floor surface of the pit 3 are acquired based on the basic information stored in the first storage unit 26 and the like.

The estimating unit 30 also detects, as an event, a change in the load measured by the scale 12 of the car 8 after the landing door 5 is opened on the floor above the stop position of the car 8 . When the load of the scale 12 changes after the landing door 5 is opened on the floor, it is estimated with high accuracy that the worker has boarded the upper surface outside the car 8 . Therefore, the estimating unit 30 sets the estimation accuracy to "high" based on the position of the car 8 in the height direction, the height of the car 8 itself, and the height from the worker's feet to the breast pocket of the work clothes. Estimate worker location.

The compensation unit 31 is a part that performs a process of compensating for the altitude difference between the position of the reference atmospheric pressure measurement unit 22 and the estimated position of the worker at the time when the estimation unit 30 can estimate the worker's position. In this example, the compensator 31 converts the measured value of the reference atmospheric pressure at the time into the atmospheric pressure at the location of the worker based on the difference in altitude from the estimated location of the worker. The compensation unit 31 converts the reference atmospheric pressure at time t so as to satisfy, for example, the following formula (1). Here, height H _est (t) [m] represents the estimated height position of the worker at time t. The temperature T _ref (t) [°C] represents the air temperature at the position where the reference atmospheric pressure measurement unit 22 is arranged at time t. The atmospheric pressure P _ref (t) [hPa] represents the measured value of the reference atmospheric pressure measured by the reference atmospheric pressure measurement unit 22 at time t. The atmospheric pressure P _c (t) [hPa] represents the reference atmospheric pressure after conversion by the compensator 31 . It represents the measured value of the reference atmospheric pressure measured by the reference atmospheric pressure measurement unit 22 at time t.

Note that the compensation unit 31 may perform a process of converting the measured value of the target atmospheric pressure into the atmospheric pressure at the position of the reference atmospheric pressure measurement unit 22 as compensation for the altitude difference. Alternatively, the compensating unit 31 performs a process of converting each measured value of the reference atmospheric pressure and the target atmospheric pressure into the atmospheric pressure at an intermediate position between the position of the reference atmospheric pressure measuring unit 22 and the estimated worker's position as compensation for the altitude difference. you can go

The calculator 32 is a part that calculates an offset value used for measuring the position of the worker in the height direction. The calculator 32 calculates the difference δ(t) [hPa] between the reference atmospheric pressure and the target atmospheric pressure at time t using the value of the atmospheric pressure that has been compensated for the altitude difference by the compensation section 31, for example, as shown in the following equation (2): Calculate to Here, the atmospheric pressure P _w (t) [hPa] represents the measured value of the target atmospheric pressure measured by the target atmospheric pressure measurement unit 19 at time t.

The calculation unit 32 averages the calculated air pressure differences δ(t) for a plurality of times when the estimation unit 30 has successfully estimated the worker's position. The calculator 32 calculates the offset value δ _avg [hPa] by, for example, averaging as follows.

The calculation unit 32 averages the pressure difference for a plurality of times included in the calculation period set by the calculation unit 32, for example. The calculation period is, for example, a period of a preset length including the current time. The calculation period may be a period before the current time. The length of the calculation period is, for example, a preset parameter. More specifically, for example, when the length of the calculation period is 10 minutes, the calculation unit 32 calculates a plurality of times at which the estimation unit 30 has successfully estimated the worker's position from 10 minutes ago to the present. , average the calculated pressure difference δ(t).

Alternatively, the calculation unit 32 may average the atmospheric pressure difference for a number of time points corresponding to the cumulative time set in the calculation unit 32, for example. The length of the accumulated time is, for example, a preset parameter. More specifically, for example, when the length of the accumulated time is 10 minutes, the calculation unit 32 calculates the latest The pressure difference δ(t) calculated for a plurality of times is averaged.

Here, the time range used by the calculator 32 for the averaging process may be adjusted based on the required accuracy. For example, when the required accuracy is input as "high", the calculator 32 may set the length of the calculation period or the integration time longer than when the required accuracy is input as "medium". Since the number of time points used for the averaging process increases, variations in offset values due to noise or the like can be suppressed. Note that the required accuracy may directly specify the calculation period or the length of the integration time.

Further, the calculation unit 32 may select events to be used for the averaging process according to the required accuracy. For example, when the required accuracy is input as "high", the calculation unit 32 performs the averaging process using only the information on the time when the worker's position was estimated by the event with the estimation accuracy being "high". . Further, when the required accuracy is input as "medium", the calculation unit 32 calculates the time at which the worker's position is estimated by an event where the estimated accuracy is "medium" or higher, i.e., "high" or "medium". The information is used to process the average.

The measuring part 28 is a part that measures the position of the worker in the height direction. The measurement unit 28 measures the position of the worker based on the information on the reference atmospheric pressure and the target atmospheric pressure accumulated in the second accumulation unit 24 and the third accumulation unit 25, the offset of the difference between the reference atmospheric pressure and the target atmospheric pressure, and the like. . The measurement unit 28 starts measurement processing, for example, when the input unit 27 receives a position measurement start signal. The measurement unit 28 is mounted, for example, on the mobile terminal 18 carried by the worker. Using the offset value δ _avg updated by the offset update unit 29, the measurement unit 28 calculates the worker's height position H(τ) [hPa] at time τ as shown in the following equation (3), for example. to measure. Here, the time τ is the time during which the worker is working regardless of whether an event of the elevator 1 occurs or not.

Before the update of the offset value δ _avg by the offset updating unit 29 is completed, or when the offset value δ _avg is not updated, the measuring unit 28 uses the offset value preset in the measuring unit 28. may be used to measure the position of the worker. Alternatively, the measuring unit 28 may measure the worker's position using the most recently updated offset value in the same building.

FIG. 3 is a block diagram showing the configuration of position measurement system 21 according to a modification of Embodiment 1. As shown in FIG.

The position measurement system 21 includes a first storage unit 23, a second storage unit 24, a third storage unit 25, a first storage unit 26, a second storage unit 33, an input unit 27, and a measurement unit 28. , and an offset updating unit 29 . The positioning system 21 is connected through a communication network 16 to a positioning system 21a applied to an elevator installed in a nearby building. A nearby building is, for example, a building set in advance in the basic information stored in the first storage unit 26 or the like.

The second storage unit 33 is a part that stores information. Part or all of the first storage unit 23, the second storage unit 24, the third storage unit 25, and the first storage unit 26 and the second storage unit 33 may be implemented on the same hardware. However, it may be distributed and implemented on multiple pieces of hardware.

Information about work performed in the elevator 1 is stored in the second storage unit 33 . The information about work includes information such as a work plan, for example. The information about the work may also include information on the characteristics of the work itself, such as the procedure of the work process. In addition, the information about the work may include information such as the history of the work process in the work performed in the past. The second storage unit 33 is installed in, for example, the central management device 17 or a system for managing work situations.

In this example, the estimating unit 30 detects an event in the elevator 1 using information about work stored in the second storage unit 33 . For example, the estimating unit 30 treats as an event that the content of the work process has been performed according to a preset procedure after the landing door 5 on the lowest floor is opened while the car 8 is not stopped on the lowest floor. To detect. After that, it is presumed that the worker continues the work process in the pit 3 until a certain amount of time has passed. Therefore, the estimating unit 30 estimates the position of the worker based on the height of the floor surface of the pit 3, the height from the worker's feet to the breast pocket of the work clothes, etc., with the estimation accuracy being "medium". .

In addition, the measurement unit 28 acquires the offset value calculated by the position measurement system 21a of the nearby building through the communication network 16 or the like. The measurement unit 28 uses the offset value acquired through the communication network 16 before the update of the offset value δ _avg by the offset update unit 29 is completed, or when the offset value δ _avg is not updated. Take position measurements.

Next, an example of updating the offset value will be described with reference to FIG.
FIG. 4 is a diagram showing an example of update of offset values in the position measurement system 21 according to the first embodiment.

After arriving at the building where the elevator 1 is installed, the worker starts work in the building, such as maintenance work for the elevator 1 . At this time, accumulation of the acquired information is started in the first accumulation unit 23, the second accumulation unit 24, and the third accumulation unit 25. FIG. After that, the offset update unit 29 starts update processing. At this time, the worker does not need to drop by the vicinity of the reference atmospheric pressure measurement unit 22 .

The estimating unit 30 of the offset updating unit 29 calculates the height of the worker based on the information on the position of the car 8 when detecting an event in which the worker is riding inside the car 8 based on the car camera 13. Estimate the position of the direction. The compensating unit 31 converts the reference atmospheric pressure P _ref measured by the reference atmospheric pressure measuring unit 22 into the worker's position estimated by the estimating unit 30 to obtain the atmospheric pressure P _c . The calculation unit 32 calculates the offset value δ _avg based on the difference δ at each time between the target air pressure _Pw measured by the target air pressure measurement unit 19 and the air pressure Pc after compensating for the altitude difference.

The calculated offset value δ _avg is used for measuring the worker's position in the measuring unit 28 .

Next, an example of the operation of the position measurement system 21 will be described with reference to FIGS. 5 and 6. FIG.
5 and 6 are flowcharts showing an example of the operation of the position measurement system 21 according to the first embodiment.

FIG. 5 shows an example of processing for information accumulation.

In step S11, the position measurement system 21 detects the start of work by the worker. The start of work is detected by, for example, transmission of a work notice by a worker. Alternatively, the start of work may be detected by the arrival of workers at the building, the rise of a preset control signal, or the like. After that, the position measurement system 21 proceeds to the process of step S12.

In step S12, the positioning system 21 accumulates the acquired information. At this time, the first accumulation unit 23 accumulates information acquired in the elevator 1 . The second storage unit 24 also stores information on the reference atmospheric pressure measured by the reference atmospheric pressure measurement unit 22 . Further, the third accumulation unit 25 accumulates information on the target atmospheric pressure measured by the target atmospheric pressure measurement unit 19 . After that, the position measurement system 21 proceeds to the process of step S13.

In step S13, the position measurement system 21 detects the completion of work by the worker. The end of the work is detected, for example, by sending a work completion report by the worker. Alternatively, the end of work may be detected by the departure of workers from the building, the falling edge of a preset control signal, or the like. After that, the position measurement system 21 proceeds to the process of step S14.

In step S14, the first storage unit 23, the second storage unit 24, and the third storage unit 25 of the position measurement system 21 stop storing the acquired information. After that, the positioning system 21 terminates the process of accumulating information.

In FIG. 6, an example of processing for updating the offset is shown.
Note that the processing of FIG. 6 may be performed after the information accumulation processing of FIG. 5, or may be performed in parallel with the processing. The process of FIG. 6 may be performed multiple times during the worker's work. The process of FIG. 6 may continue and be performed sequentially during the work of the operator.
In this example, the process of FIG. 6 begins when it is detected that a worker has started working.

In step S21, the input unit 27 receives an input of required accuracy. After that, the position measurement system 21 proceeds to the process of step S22.

In step S<b>22 , the estimation unit 30 reads the information acquired in the elevator 1 accumulated in the first accumulation unit 23 . Here, when part of the information accumulated in the first accumulation unit 23 has already been read, the estimation unit 30 additionally reads information that has not yet been read out of the information accumulated in the first accumulation unit 23. . When the position measurement system 21 includes the second storage unit 33 , the estimation unit 30 also reads information about work stored in the second storage unit 33 . After that, the position measurement system 21 proceeds to the process of step S23.

In step S23, the estimation unit 30 detects an event of the elevator 1 based on the read information. The estimation unit 30 estimates the position of the worker at the time when the event of the elevator 1 is detected. After that, the position measurement system 21 proceeds to the process of step S24.

In step S24, the offset updating unit 29 determines whether or not the information necessary for updating the offset corresponding to the input required accuracy has been accumulated. The information necessary for updating the offset is, for example, information acquired during the length of the calculation period, or information on the number of time points corresponding to the length of the integration time. If the determination result is Yes, the position measurement system 21 proceeds to the process of step S25. On the other hand, if the determination result is No, the position measurement system 21 proceeds to the process of step S22.

In step S<b>25 , the compensator 31 reads the reference atmospheric pressure information accumulated in the second accumulation section 24 and the target atmospheric pressure information accumulated in the third accumulation section 25 . Note that the compensating unit 31 may omit reading the information of the time when the estimating unit 30 could not estimate the position of the worker. After that, the position measurement system 21 proceeds to the process of step S26.

In step S<b>26 , the compensating unit 31 performs a process of compensating for the difference in altitude between the position of the worker estimated by the estimating unit 30 and the position of the reference atmospheric pressure measuring unit 22 for the read atmospheric pressure information. After that, the position measurement system 21 proceeds to the process of step S27.

In step S<b>27 , the calculation unit 32 calculates the difference δ in air pressure at each time when the event used for the averaging process is detected based on the information on the air pressure for which the compensation unit 31 has compensated for the difference in altitude. The calculating unit 32 updates the offset value δ _avg used for measurement by the measuring unit 28 by averaging the atmospheric pressure difference δ calculated at each time. After that, the positioning system 21 ends the process for updating the offset.

As described above, the position measurement system 21 according to Embodiment 1 includes the measuring section 28, the estimating section 30, the compensating section 31, and the calculating section 32. The measurement unit 28 measures the position of the worker in the height direction based on the reference pressure at the position of the reference pressure measurement unit 22 and the target pressure measured at the position of the worker. The reference atmospheric pressure measuring unit 22 is arranged in the building where the elevator 1 is installed. The reference atmospheric pressure is measured by the reference atmospheric pressure measurement unit 22 . The estimation unit 30 estimates the position of the worker in the height direction when an event of the elevator 1 is detected. The compensating unit 31 compensates for the difference in altitude between the position of the reference atmospheric pressure measuring unit 22 and the position of the worker estimated by the estimating unit 30 at the time when the estimating unit 30 can estimate the position of the worker in the height direction. Convert at least one of the reference atmospheric pressure and the target atmospheric pressure. Based on the difference between the reference atmospheric pressure and the target atmospheric pressure converted by the compensating section 31, the calculating section 32 calculates an offset value used for correcting at least one of the reference atmospheric pressure and the target atmospheric pressure in the measuring section .

With such a configuration, the pressure measurement value is converted so as to compensate for the altitude difference based on the position of the worker estimated by the detected event of the elevator 1, and the pressure difference after the altitude difference compensation process is performed. value is used to update the offset value. Therefore, the worker does not need to drop by the reference atmospheric pressure measuring unit 22 before starting the work, so that the workability of the building in which the elevator 1 is installed is less likely to deteriorate. In addition, since there is no need to change the work procedure for updating the offset value, it is possible to prevent mistakes caused by changing the work procedure and omission of the update procedure. Also, the reference atmospheric pressure measurement unit 22 may be arranged at a position that is not easily accessible. Also, depending on the arrangement of the reference atmospheric pressure measurement unit 22, there is a possibility that the heights of the mobile terminal 18 and the reference atmospheric pressure measurement unit 22 cannot easily be aligned. Even in these cases, the worker's position can be measured with better accuracy by updating the offset value without impairing the work efficiency of the worker.

In addition, when detecting a signal change of the elevator 1 that can be associated with a work process as an event of the elevator 1, the estimating unit 30 refers to the position estimation information corresponding to the signal change to determine the height of the worker. Estimate the vertical position. Here, the position estimation information is information preset corresponding to each signal change. A signal change includes a change in the value of a signal representing the state of the elevator 1 or the like, or a change in the presence or absence of a signal. A signal change that can be associated with a work process is, for example, a signal change that can be associated with a position where a work process is performed and its occurrence. For example, signal changes that can be associated with the work process include signal changes that indicate that the car 8 of the elevator 1 is being manually operated. At this time, the position estimation information is the position of the car 8 and the like. Further, the signal change that can be associated with the work process includes, for example, a signal change indicating that the open/close time of the car door 11 of the car 8 of the elevator 1 is shorter than the preset time. At this time, the position estimation information is the position of the car 8 and the like. Further, the signal change that can be associated with the work process includes, for example, a signal change indicating that the landing door 5 has opened on a floor on which the car 8 of the elevator 1 is not stopped among the plurality of floors. At this time, the position estimation information is the position of the floor and the like.

That is, when the estimating unit 30 detects that the car 8 of the elevator 1 is being manually operated as an event of the elevator 1, the estimating unit 30 estimates the position of the worker in the height direction based on the position of the car 8. .
Further, when the estimating unit 30 detects, as an event of the elevator 1, that the opening/closing time of the car door 11 of the car 8 of the elevator 1 is shorter than the preset time, the estimating unit 30 Estimate the height position of
Further, when the estimation unit 30 detects that the landing door 5 is opened on a floor on which the car 8 of the elevator 1 is not stopped among the plurality of floors as an event of the elevator 1, Based on this, the position of the worker in the height direction is estimated.

Further, as an event of the elevator 1, the estimating unit 30 detects that the worker is in the range photographed by the car camera 13 based on the image of the car camera 13 provided in the car 8. Estimate the position of the worker in the height direction based on the range. The range captured by the car camera 13 is, for example, the inside of the car 8 . At this time, the estimating unit 30 estimates the position of the worker inside the car 8 in the height direction based on the position of the car 8 provided with the car camera 13 . Alternatively, the range captured by the car camera 13 is, for example, the upper part of the outside of the car 8 . At this time, the estimation unit 30 estimates the position in the height direction of the worker on the upper surface of the outside of the car 8 based on the position of the car 8 provided with the car camera 13 . Alternatively, the range captured by the car camera 13 is, for example, outside and below the car 8 . At this time, the estimating unit 30 estimates the position of the worker in the pit 3 below the outside of the car 8 in the height direction based on the position of the car 8 provided with the car camera 13 .

With such a configuration, the position of the worker is estimated based on the information acquired in the elevator 1 during maintenance work or the like. For this reason, the worker does not need to move to a specific height position only to update the offset value, so work efficiency is less likely to be impaired. In addition, since the operator does not need to stay at a specific height just to update the offset value, work efficiency is less likely to be impaired.

The calculation unit 32 also calculates an offset value based on the average value of the difference between the reference atmospheric pressure and the target atmospheric pressure converted by the compensating unit 31 over a plurality of time points.

With such a configuration, variations in offset values due to noise or the like can be suppressed. Here, since the worker need not be at the same elevation at multiple points in time, an offset value can be obtained to provide a more accurate measurement of the worker's position without compromising the efficiency of the operation. .

In addition, the calculation unit 32 adjusts the range of a plurality of time points for calculating the average value according to the accuracy required for measurement of the worker's position in the height direction by the measurement unit 28 .
Further, the calculation unit 32 selects an event to be used for calculating the average value according to the required accuracy for the measurement of the worker's position in the height direction by the measurement unit 28 .

With such a configuration, the process of updating the offset value according to the required accuracy is performed. For example, when the requested precision is medium, the offset value can be updated in a shorter time than when a higher requested precision is required.

Next, an example of the hardware configuration of the position measurement system 21 will be described using FIG.
FIG. 7 is a hardware configuration diagram of main parts of the position measurement system 21 according to the first embodiment.

Each function of the positioning system 21 may be implemented by processing circuitry. The processing circuitry comprises at least one processor 100a and at least one memory 100b. The processing circuitry may comprise at least one piece of dedicated hardware 200 in conjunction with or in place of processor 100a and memory 100b.

When the processing circuitry includes the processor 100a and memory 100b, each function of the position measurement system 21 is realized by software, firmware, or a combination of software and firmware. At least one of software and firmware is written as a program. The program is stored in memory 100b. The processor 100a implements each function of the position measurement system 21 by reading and executing the programs stored in the memory 100b.

The processor 100a is also called a CPU (Central Processing Unit), a processing device, an arithmetic device, a microprocessor, a microcomputer, or a DSP. The memory 100b is composed of, for example, nonvolatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, and EEPROM.

Where the processing circuitry comprises dedicated hardware 200, the processing circuitry may be implemented, for example, in single circuits, multiple circuits, programmed processors, parallel programmed processors, ASICs, FPGAs, or combinations thereof.

Each function of the position measurement system 21 can be realized by a processing circuit. Alternatively, each function of the position measurement system 21 can be collectively realized by a processing circuit. A part of each function of the position measurement system 21 may be realized by dedicated hardware 200 and the other part may be realized by software or firmware. Thus, the processing circuitry implements each function of the positioning system 21 in dedicated hardware 200, software, firmware, or a combination thereof.

A position measurement system according to the present disclosure can be applied to measure the position of a worker who works in a building provided with an elevator.

1 elevator, 2 hoistway, 3 pit, 4 landing, 5 landing door, 6 hoisting machine, 7 main rope, 8 car, 9 counterweight, 10 control panel, 11 car door, 12 scale, 13 car camera, 14 car upper device, 15 remote monitoring device, 16 communication network, 17 central management device, 18 mobile terminal, 19 target atmospheric pressure measurement unit, 20 positioning unit, 21, 21a position measurement system, 22 reference atmospheric pressure measurement unit, 23 first storage unit, 24 second storage unit 25 third storage unit 26 first storage unit 27 input unit 28 measurement unit 29 offset update unit 30 estimation unit 31 compensation unit 32 calculation unit 33 second storage unit 100a Processor, 100b Memory, 200 Dedicated Hardware

Claims (10)

Based on the reference atmospheric pressure at the position of the reference atmospheric pressure measuring unit measured by the reference atmospheric pressure measuring unit located in the building where the elevator is installed, and the target atmospheric pressure measured at the position of the worker performing the work in the building. a measuring unit for measuring the position in the height direction of the
an estimating unit that estimates a position of the worker in a height direction when detecting an event of the elevator;
At the time when the estimating unit can estimate the position of the worker in the height direction, the reference atmospheric pressure is calculated so as to compensate for the altitude difference between the position of the reference atmospheric pressure measuring unit and the position of the worker estimated by the estimating unit. and a compensation unit that converts at least one of the target atmospheric pressure;
a calculation unit that calculates an offset value used for correcting at least one of the reference atmospheric pressure and the target atmospheric pressure in the measurement unit based on the difference between the reference atmospheric pressure and the target atmospheric pressure converted by the compensating unit;
A worker positioning system comprising: The estimating unit refers to preset position estimation information corresponding to the signal change when detecting, as the event, a signal change of an elevator that can be associated with the work process of the work. 2. The worker positioning system of claim 1, wherein the worker position is estimated in a lateral direction. The estimating unit measures the height of the worker based on the position of the car, which is the position estimation information, when detecting that the elevator car is being manually operated as the event based on the signal change. 3. The worker localization system of claim 2, which estimates a directional position. When the estimating unit detects, based on the signal change, that the open/close time of the car door of the elevator is shorter than the preset time as the event, the position of the car, which is the position estimation information, is detected. The worker position measurement system according to claim 2 or 3, wherein the position of the worker in the height direction is estimated based on the position of the worker. The estimating unit is the position estimation information when detecting, as the event, that a landing door has opened on a floor on which the elevator car is not stopped, based on the signal change. The worker position measurement system according to any one of claims 2 to 4, wherein the position of the worker in the height direction is estimated based on the position of the floor. 6. The estimation unit according to any one of claims 2 to 5, wherein, when estimating the position of the worker in the height direction, the estimation accuracy preset corresponding to the position estimation information is evaluated. A personnel positioning system as described. The estimating unit detects, as the event, that the worker is in the range photographed by the car camera based on the image of the car camera provided in the elevator car, based on the range photographed by the car camera The worker's position measurement system according to any one of claims 1 to 6, wherein the position of the worker in the height direction is estimated by using the position measurement system. 8. The calculating unit according to any one of claims 1 to 7, wherein the calculating unit calculates the offset value based on an average value over a plurality of time points of the difference between the reference atmospheric pressure and the target atmospheric pressure converted by the compensating unit. A personnel positioning system as described. The worker according to claim 8, wherein the calculation unit adjusts the range of the plurality of time points for calculating the average value according to the accuracy required for measuring the position of the worker in the height direction by the measurement unit. position measurement system. 10. The worker according to claim 8 or 9, wherein the calculation unit selects an event to be used for calculating the average value according to the accuracy required for measurement of the position of the worker in the height direction by the measurement unit. position measurement system.

Images