Safety arrangement for an elevator
By monitoring the elevator brake status and activating the VVVF signal through the elevator safety system, the problem of undesirable movement caused by insufficient elevator traction brake is solved, enabling safe stopping and emergency halting of the elevator and improving the safety of elevator operation.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- KONE OYJ
- Filing Date
- 2021-07-12
- Publication Date
- 2026-06-12
Smart Images
Figure CN116601100B_ABST
Abstract
Description
Technical Field
[0001] This invention generally relates to the technical field of elevators. More specifically, this invention relates to safety solutions for elevators. Background Technology
[0002] Elevators have electromechanical traction machine brakes as safety devices to apply braking force to the traction sheaves or rotating shafts of the elevator car's traction machine. Typically, two or even four independent brakes operate in series. According to elevator safety regulations, these brakes should be sized to stop and hold the elevator car stationary in the event of abnormal operation. Such abnormal operation could be elevator car overload, unwanted movement of the elevator car within a landing, or overspeeding of the ascending elevator car.
[0003] The braking force of an electromechanical traction machine brake can be impaired for various reasons. For example, errors during elevator maintenance, such as improper actions during brake adjustment, or the entry of foreign substances, such as oil or grease, onto the brake surfaces. Insufficient braking force can also be caused by errors in elevator quality, resulting in excessive unbalanced torque on the traction sheave of the elevator traction machine. Further causes of misconduct may also exist.
[0004] Insufficient braking force can lead to unintended motion, i.e., unwanted drifting of the elevator car despite the traction brakes engaging. This unintended motion can be dangerous for elevator users during normal elevator operation and for maintenance personnel working in the elevator shaft outside of normal operation.
[0005] Therefore, supplementary safety measures are needed to ensure the safe operation of elevators.
[0006] Patent application EP 2848568 A1 discloses a solution for stopping an elevator car using an elevator drive unit after an attempt has been made to apply a traction brake. Summary of the Invention
[0007] To provide a basic understanding of some aspects of various embodiments of the invention, a simplified overview is given below. This overview is not a comprehensive summary of the invention. It is neither intended to identify key or essential elements of the invention nor to depict the scope of the invention. The following overview merely presents some concepts of the invention in a simplified form as a prelude to a more detailed description of exemplary embodiments of the invention.
[0008] The purpose of this invention is to provide an elevator safety system, method, computer program, and elevator system for safe operation of elevator systems.
[0009] The object of the present invention is achieved by elevator safety systems, methods, computer programs and elevator systems as defined by the respective independent claims.
[0010] According to a first aspect, an elevator safety system for an elevator system is provided, the elevator system including an elevator drive system, the elevator drive system comprising:
[0011] Elevator traction machine, including electric motor;
[0012] An elevator brake assembly, comprising at least one elevator brake;
[0013] The brake controller is configured to set the control state of the elevator brake assembly to either a braking state or an open state.
[0014] A motor driver configured to provide a variable amplitude, variable frequency voltage VVVF signal to the windings of an electric motor in an elevator traction machine;
[0015] Safety features include an input for a safety signal, the safety features being configured to selectively block or enable the supply of a VVVF voltage signal based on the state of the safety signal;
[0016] The elevator safety system includes:
[0017] At least one sensor, configured to generate data indicative of the operation of the elevator brake assembly; and
[0018] The safety controller is configured as follows:
[0019] Obtain data indicating the control status of the elevator brake assembly.
[0020] Data is obtained from at least one sensor, and
[0021] A safety signal is generated to enable the supply of the VVVF voltage signal in response to the following conditions:
[0022] The control state of the elevator brake assembly corresponds to the braking state, and
[0023] Based on data obtained from the at least one sensor, it is detected that the operation of the elevator brake assembly does not correspond to a braking operation.
[0024] For example, at least one sensor can be configured to generate data indicating elevator movement as data indicating operation of the elevator brake assembly, and the safety controller can be configured to detect, in response to detecting that the elevator is not allowed to move, that the operation of the elevator brake assembly does not correspond to a braking operation, i.e., deviates from the braking operation.
[0025] At least one sensor can be configured to generate data indicating the movement or position of each armature of the elevator brake assembly as data indicating the operation of the elevator brake assembly, and the safety controller can be configured to detect, based on the data indicating the position or movement of each armature, that the operation of the elevator brake assembly does not correspond to a braking operation.
[0026] The safety controller can also be configured to cause the motor driver to generate torque to limit or brake the movement of the elevator car in response to the generation of a safety signal.
[0027] In addition, the safety controller can be configured to generate a safety braking control (SBC) signal for engaging the elevator brake assembly.
[0028] At least one sensor may be adapted to generate data indicating motion of at least one of the following: elevator traction machine; elevator steering pulley.
[0029] In addition, the safety controller may include a safety output for safety signals. The safety output of the safety controller may be communicatively connected to an input of the safety function of the motor driver. The safety output may be used to prevent or allow one or more control pulses to be transmitted to at least one of the following: the control electrode of the high-side power switching device of the motor driver; or the low-side power switching device of the motor driver. The power switching device of the motor driver may be one of the following: IGBT transistor, MOSFET transistor, silicon carbide (SiC) transistor, or gallium nitride (GaN) transistor.
[0030] In some examples, the safety controller can be integrated into the motor drive.
[0031] The safety controller can be configured to detect disallowed motion by detecting at least one of the following: the elevator car moving in a landing area with the doors open; the elevator car speed exceeding a predetermined limit; the elevator's deceleration or acceleration deviating from permissible limits; or the safety contact opening in the elevator safety chain during elevator operation.
[0032] In addition, the safety controller can be configured to safely shut down the elevator when the elevator car reaches the end of the shaft.
[0033] According to a second aspect, a method for safe operation of an elevator system is provided, the elevator system including an elevator drive system comprising:
[0034] Elevator traction machine, including electric motor;
[0035] An elevator brake assembly, comprising at least one elevator brake;
[0036] The brake controller is configured to set the control state of the elevator brake assembly to one of a braking state and an open state.
[0037] A motor driver configured to provide a variable amplitude, variable frequency voltage VVVF signal to the windings of an electric motor in an elevator traction machine;
[0038] Safety features include an input for a safety signal, the safety features being configured to selectively block or enable the supply of a VVVF voltage signal based on the state of the safety signal;
[0039] The method, executed by the safety controller of the elevator safety system, includes:
[0040] Obtain data indicating the control status of the elevator brake assembly.
[0041] Data is obtained from the at least one sensor, and
[0042] A safety signal is generated to enable the supply of the VVVF voltage signal in response to the following conditions:
[0043] The control state of the elevator brake assembly corresponds to the braking state, and
[0044] Based on data obtained from the at least one sensor, it is detected that the operation of the elevator brake assembly does not correspond to a braking operation.
[0045] The method may include:
[0046] Data indicating elevator movement is generated by the at least one sensor, serving as data indicating the operation of the elevator brake assembly, and
[0047] In response to the detection of prohibited movement of the elevator, the safety controller detects that the operation of the elevator brake assembly does not correspond to a braking operation.
[0048] In addition, the method may include:
[0049] Data generated by the at least one sensor, indicating the movement or position of each armature of the at least one elevator brake assembly, serves as data indicating the operation of the elevator brake assembly.
[0050] The safety controller detects, based on data indicating the position or movement of each armature, that the operation of the elevator brake assembly does not correspond to the braking operation.
[0051] The safety controller can also respond to the generation of a safety signal by causing the motor driver to generate torque to limit or brake the movement of the elevator car.
[0052] In addition, a safety control SBC signal is generated by the safety controller to engage the elevator brake assembly.
[0053] Data indicating motion of at least one of the following is generated by at least one sensor: elevator traction machine; elevator steering pulley.
[0054] In addition, the safety output of the safety controller can be used to prevent or allow one or more control pulses to be transmitted to at least one of the following: the control pole of the high-side power switch of the motor driver; or the low-side power switch of the motor driver.
[0055] The safety controller can detect prohibited movement by detecting at least one of the following: the elevator car moves in the landing area with the door open; the speed of the elevator car exceeds the predetermined limit; the deceleration or acceleration of the elevator deviates from the permissible limit; or the safety contact in the elevator safety chain opens during elevator operation.
[0056] In addition, the safety controller can cause the elevator to shut down safely when the elevator car reaches the end of the shaft.
[0057] According to a third aspect, a computer program is provided, the computer program including computer-readable program code configured to, when the computer-readable program code is run on one or more computing devices, cause the method according to the second aspect as described above to be performed.
[0058] According to a fourth aspect, an elevator system is provided, the elevator system comprising:
[0059] elevator car,
[0060] Elevator traction machine, including electric motor;
[0061] An elevator brake assembly comprising at least one elevator brake;
[0062] The brake controller is configured to set the control state of the elevator brake assembly to one of a braking state and an open state.
[0063] A motor driver configured to provide a variable amplitude, variable frequency voltage VVVF signal to the windings of an electric motor in an elevator traction machine;
[0064] Safety features include an input for a safety signal, the safety features being configured to selectively block or enable the supply of a VVVF voltage signal based on the state of the safety signal;
[0065] The elevator safety system according to the first aspect described above.
[0066] For example, a motor driver may include a relay or contactor configured to selectively connect or isolate the motor driver from its main power supply.
[0067] Furthermore, the elevator brake assembly can contain at least two elevator brakes.
[0068] The expression “many” in this article refers to any positive integer starting from 1, such as 1, 2, or 3.
[0069] The expression “multiple” in this article refers to any positive integer starting from 2, such as up to 2, 3, or 4.
[0070] Various exemplary and non-limiting embodiments of the invention with respect to structure and operation methods, as well as their additional objects and advantages, will be best understood from the following description of specific exemplary and non-limiting embodiments when read in conjunction with the accompanying drawings.
[0071] The verbs “comprising” and “including” are used herein as limitations on disclosure, neither excluding nor requiring the presence of any uncited features. Unless otherwise expressly stated, the features described in the dependent claims may be freely combined with each other. Furthermore, it should be understood that the use of “a” or “an” throughout this document, i.e., the singular form, does not exclude the plural. Attached Figure Description
[0072] In the accompanying drawings, embodiments of the invention are shown by way of example rather than limitation.
[0073] Figure 1 An elevator system based on an example is illustrated schematically.
[0074] Figure 2 An elevator safety system based on an example is illustrated schematically.
[0075] Figures 3A-3C The implementation methods according to various examples are illustrated schematically.
[0076] Figure 4 The method based on the example is illustrated schematically.
[0077] Figure 5 The device shown is schematically illustrated according to the example. Detailed Implementation
[0078] The specific examples provided in the description below should not be construed as limiting the scope and / or applicability of the appended claims. Unless otherwise expressly stated, the list and groups of examples provided in the description below are not exhaustive.
[0079] Figure 1 An elevator system 1000 according to an example embodiment is schematically illustrated. For example... Figure 1The disclosed elevator system 1000 may include an elevator car 110 arranged to move or be movable within an elevator shaft 120, for example, along guide rails installed in the elevator shaft. Movement of the elevator car 110 may be achieved by a lifting rope or belt 130 associated with a counterweight 140 above a traction sheave 150 or similar. The traction sheave 150 belongs to an elevator drive system 160 and, together with an elevator brake assembly 180, belongs to an elevator traction machine 165 therein, which includes one or more elevator brakes and other entities. Figure 1 In this invention, the elevator brake is a type of elevator traction mechanism brake; however, the invention is also applicable to other types of elevator brakes, such as elevator car brakes or rope brakes. It is well known that elevator traction mechanism brakes are configured to engage against a body in the elevator traction machine 165, elevator car brakes are configured to engage against a guide rail, and rope brakes are configured to engage against or grip the elevator rope 130. Therefore, although the invention is primarily described with respect to an elevator system 1000 including a traction mechanism brake, it is not limited to this elevator brake assembly 180. Conceptually, the elevator traction machine 165 can be considered to include an electric motor 170, a traction sheave 150, and an elevator brake assembly 180. The elevator traction machine 165 can be gearless, or it can be equipped with gears. The electric motor 170 can be controlled by a motor driver 175, for example, by a frequency converter belonging to the elevator drive system 160. Control of the electric motor 170 by the motor driver 175 is performed by supplying a variable amplitude, variable frequency voltage (VVVF) generated by the motor driver 175 to the windings of the electric motor 170, wherein the desired control operation can be achieved by changing the amplitude and frequency of the signal. Therefore, the elevator traction machine 165 is configured to operate the traction sheave 150 for moving the elevator car 110 in a known manner. The traction sheave 150 can be directly or indirectly connected to the shaft of the motor 170 via gears through a mechanical coupling 168. The traction sheave can also be integrated with the electric motor 170 such that the rotor of the electric motor, such as the rotor of a permanent magnet motor, is formed in the same rotating component as the traction sheave 150. The elevator system 1000 may also include a machine room or a machine room-less system, for example, having the motor 170 in the elevator shaft 120.
[0080] The elevator system 1000 may preferably include a plurality of landings 10 or landing floors, and, for example, landing doors and / or openings, between which the elevator car 110 is arranged to be movable during normal elevator operation, for example, for moving people and / or goods between the landings 10.
[0081] Furthermore, the elevator traction machine 165 of the elevator system 1000 and the elevator drive system 160 may include an elevator brake assembly 180, which includes at least one, for example two to four, or even more, elevator brakes configured to prevent movement of the elevator car 110 within the elevator shaft 120 when such operation is desired. The elevator brakes of the brake assembly 180 (e.g., of the type of traction machine brake) may be arranged to engage against the traction sheave 150, or against any other rotating part of the elevator traction machine 165, such as engaging against the rotating shaft of the electric motor 170 during braking. Thus, the traction machine brake has a brake armature that moves to a braking position to reduce the speed of the elevator car or to keep the elevator car stationary within the elevator shaft. When braking is no longer required, the brake armature moves to a release position. The elevator brake assembly 180 may be controlled by a brake controller 185 configured to operate the elevator brake assembly 180. The brake controller 185 can also be connected to and / or integrated with other components of the elevator system 1000, such as the elevator controller 190. The brake controller 185 may include control logic and an actuator (not shown) for operating the elevator brake assembly 180, or at least be connected to such an actuator. The brake controller 185 can be configured to set the control state of the elevator brake assembly 180 to a braking state or an open state, as described in more detail in the following description.
[0082] The elevator controller 190 can also communicate with other entities, such as the elevator call device, the elevator traction machine 165, and the motor drive 175, to generate applicable control signals within the elevator traction machine 165, thereby causing the elevator car 110 to move within the hoistway 120. Furthermore, the elevator controller 190 can also communicate with the brake controller 185 to initiate braking operation when necessary. The term "braking operation" refers to a situation where the brakes are engaged such that, when operated, they provide sufficient braking force to stop and hold the elevator car stationary, according to applicable elevator safety regulations. Additionally, the elevator system 1000 may include other controllers and other components, such as sensors for acquiring measurement data of various events within the elevator system. These sensors... Figure 1The reference numeral 195 is used to denote the elevator car 110. For example, the elevator car 110 may be equipped with multiple sensors 195 for providing measurement data indicating the movement of the elevator car 110. Furthermore, the sensors 195 may also be located in the elevator traction machine 165, or the elevator traction machine 165 may include entities such as motor encoders from which data indicating the movement of the corresponding entities can be obtained, wherein a motor encoder can be considered such a sensor 195. Additionally, one or more sensors 195 may be configured to generate data indicating the operation of the traction machine brake. For example, the sensors 195 may be located in the traction machine brake such that they can provide data indicating the position or movement of the brake armature. In other types of elevator brakes, the sensors 195 may be individually positioned to generate data indicating the operation of the elevator brake assembly 180. Some sensors 195 may be arranged in the elevator shaft 120, and such sensors 195 may, for example, provide data from which the position of the elevator car 110 within the elevator shaft can be deduced. Naturally, the elevator system 1000 may include, in addition to those discussed so far, and / or Figure 1 Other devices and equipment besides those shown. For example, sensor 195 may be arranged in the steering pulley of the elevator car or the steering pulley of the elevator traction machine.
[0083] Furthermore, safety function 177 is implemented in elevator drive system 160, and specifically in motor driver 175. Safety function 177 includes inputs for safety signals that can be received from the elevator safety system. Safety function 177 is configured to at least selectively control, i.e., prevent or allow the supply of a variable amplitude, variable frequency (VVVF) voltage signal to the windings of the elevator traction machine. The decision to supply the VVVF voltage signal can be based on the state of the safety signal input to safety function 177. Safety function 177 can be implemented using hardware solutions, software solutions, or any combination thereof. For example, a hardware solution can be based on a dedicated circuit board or dedicated logic circuitry.
[0084] Generally, the present invention relates to an elevator safety system 200 configured to monitor the operation of an elevator system 1000 and to take measures in response to the detection of a malfunction of the elevator system 1000. The operation of the elevator safety system may, for example, involve the elevator car 110 being held in a landing area, or traveling to a landing, or any other destination, with the elevator brake of the elevator brake assembly 180 engaged, and being instructed to stop there by controlling the elevator traction machine 165, and at some point the elevator brake of the elevator brake assembly 180 being instructed to engage against a corresponding part of the elevator, such as the traction sheave 150 or any other rotating entity of the drive system 160, or any other entity corresponding to the type of elevator brake, and assuming that the elevator brake of the elevator brake assembly 180 is capable of temporarily holding the elevator car 110 stationary. This operation may also involve situations where the elevator safety system commands the elevator car 110 to stop urgently upon detecting a dangerous situation, such as overspeeding or the elevator's deceleration or acceleration being outside permissible limits, or the safety contact in the elevator safety chain being disconnected during elevator operation. In this document, a dangerous situation may occur if the elevator brake of the elevator brake assembly 180 is inoperable or incompletely inoperable. For example, when a brake control signal corresponding to a braking state has been issued, but the actual operation of the elevator brake assembly 180 does not correspond to the braking state. This could lead to, for example, unacceptable movement, such as the elevator car moving within a landing area with the doors open, even if the brake is activated, or the elevator car decelerating too little in an emergency stop. Therefore, the operation of the elevator brake can be monitored, for example, by measuring the movement of the elevator or the movement or position of the brake armature relative to the corresponding brake control signal. In view of this, an elevator safety system can be implemented for an elevator system 1000, which includes an elevator drive system 160 having at least one elevator traction machine 165 for moving the elevator car in its travel path and a plurality of elevator brakes constituting the elevator brake assembly 180. As described, the elevator brake assembly 180 is configured to engage with a body that can restrict the movement of the elevator if the elevator brake assembly 180 is operating normally, for example, when the elevator car 110 is instructed to stop at, for example, floor 10. This body or corresponding part can be, for example, a traction sheave, the shaft of the electric motor 170, or any other suitable body as described above. Figure 2An example of an elevator safety system is schematically illustrated, wherein elevator safety system 200 includes a safety controller 210 and at least one sensor 195 configured to measure the operation of the elevator system, which will be described in more detail below. The safety controller 210 and the at least one sensor 195 are connected to each other via wireless communication technology or via a wired connection (e.g., through a data bus). Furthermore, elevator safety system 200 is communicatively connected to safety function 177 of the elevator drive system via input of safety function 177 to selectively control the supply of VVVF voltage signals based on the state of safety signals generated by safety controller 210.
[0085] According to the example, at least one sensor 195 can be any device or system suitable for providing data indicating the operation of the elevator brake assembly 180. This at least one sensor 195 can be associated with any entity of the elevator system 1000 from which data indicating the operation of the elevator brake assembly 180 can be obtained. The data can directly or indirectly indicate the operation, where the latter may refer to data being processed in a predefined manner. Such an entity can be, for example, the elevator drive system 160 and its components, such as entities in the elevator traction machine 165, but can also be the elevator car 110, the counterweight 140, or even the elevator rope 130. According to an advantageous embodiment, the monitored data is obtained from a motor encoder that converts the angular position or motion of a shaft or wheel axle into an analog or digital output signal obtainable by the safety controller 210. Thus, the motor encoder operates as sensor 195 to provide data indicating elevator motion, which can be used to evaluate the operation of the elevator brake assembly 180. The advantage of using a motor encoder as sensor 195 is that the output data obtainable from the motor encoder is a reliable indication of elevator movement, particularly the movement of the traction sheave 150 of the elevator traction machine 165. Alternatively or additionally, the movement of the elevator can be determined by monitoring the movement of the elevator car 110, counterweight 140, or steering pulley with a suitable sensor 195. Sensor 195 can be arranged on the elevator car 110 or counterweight 140, or even both. For example, sensor 195 can provide absolute or incremental position data, data indicating the velocity of the corresponding entity, or data indicating the acceleration of the corresponding entity. For example, sensor 195 providing data indicating the velocity of the corresponding entity can be, for example, a speedometer, while sensor 195 providing data indicating the acceleration of the corresponding entity can be, for example, an accelerometer. Furthermore, data can be obtained from sensors 195 installed in the elevator shaft 120. Multiple such sensors 195 can be provided in the elevator shaft, for example, installed on the landings, so that the movement of the elevator car 110 can be detected. The detection can be based, for example, on the magnetic, optical, or electromagnetic interaction between a sensor and its counterpart mounted on the outer surface of, for example, the elevator car 110 facing the sensor 195 mounted on a landing. The sensor can be a camera configured to observe the movement of the elevator, particularly the movement of the rotating portion of the elevator traction machine 165. In some other embodiments, the sensor 195 in the elevator shaft 120 can be a radar-based solution for detecting the movement of the elevator, such as the elevator car 110 or the counterweight 140. This radar-based solution can be based on, for example, acoustic or electromagnetic measurement signals. Furthermore, the sensor 195 can be mounted on a steering pulley (… Figure 1On (not shown), possible rotation can be monitored and detected using a suitable sensor 195. If there is no slippage of the elevator rope, the rotation of the steering pulley directly follows any rotation of the traction sheave 150. Furthermore, in at least some embodiments of the invention, any data obtainable from the elevator car 110 encoder, which serves as sensor 195 and / or a door area sensor, can be used as data indicating elevator movement. Additionally, a barometer can be used to measure movement by detecting pressure changes caused by movement. The examples provided above are primarily suited to providing data indicating elevator movement, based on which operational aspects of the elevator brake assembly 180 can be determined. Such a sensor can be, for example, an encoder mounted on the elevator car, rope pulley, or elevator traction machine. Movement can also be measured, for example, by measuring the electromotive force (EMF) induced in the windings of the elevator traction motor. Having a sensor, for example, mounted on the elevator brake assembly 180 to measure the movement or position of the traction machine brake armature, corresponding data for evaluating the operation of the elevator brake assembly 180 can be obtained. Such a sensor can be, for example, a brake switch or a proximity sensor.
[0086] The safety controller 210 of the elevator safety system 200 may be a dedicated device configured to serve only the elevator safety system 200. Alternatively, the operation of the safety controller 210 may be integrated into another entity of the elevator system 1000, such as another controller similar to the elevator controller 190. In some embodiments, its operation may also be alternatively integrated into the motor drive 175. For example, similar safety software may run in the DSP (digital signal processing) unit of the motor drive 175, which is also responsible for controlling the power switching device of the motor drive 175. Furthermore, the operation of the safety controller 210 may be shared among multiple devices as a distributed computing environment, where these devices may reside locally in the space where the elevator system is operating, or remotely, or both. Independent of the implementation of the safety controller 210, the safety system 200, and especially the safety controller 210, may include safety outputs for transmitting safety signals to other entities, such as the inputs of safety function 177.
[0087] For completeness, it is also worth mentioning that by controlling the switching device with the motor driver 175, the power loss of the electric motor 170 can be increased while braking the elevator car. More specifically, this can be achieved by controlling the electric motor 170 to operate in a field-weak mode to increase power loss by controlling the switching device. In this way, the regenerative energy caused by braking of the elevator car with the elevator traction motor can be dissipated as heat in the windings of the elevator traction motor.
[0088] Figure 3A , 3BExamples of implementing the invention are illustrated in 3C. In a non-limiting example, the elevator brake is arranged such that the elevator brake assembly 180 can be used to control the rotation of the electric motor 170, for example by instructing them to engage the shaft of the electric motor 170, but as already mentioned, in Figures 3A-3C The entity referred to as 170 is any other known entity capable of establishing braking operation, such as the traction sheave of a traction machine. The brake of the elevator brake assembly 180 can be controlled by a brake controller 185, which may be, for example, a control circuit dedicated to controlling the operation of the elevator brake assembly 180 based on controls from other entities of the elevator system 1000 (e.g., via motor driver 175). The safety system 200 can also control the elevator brake independently of motor drive control commands. The operation of the electric motor 170 can be controlled by the motor driver 175, which includes a so-called motor bridge circuit 310 for modulating the control signal of the electric motor 170 to generate a desired VVVF voltage signal according to the input of the safety function 177 of the motor driver 175. Furthermore, according to... Figures 3A-3C Examples may include one or more sensors 195 belonging to safety system 200. As mentioned above, sensor 195 can be associated with any entity, and sensor 195 can be, for example, a motor encoder (represented by the character "E" in the figure) or located, for example, in a braking assembly. Data from the motor encoder can be transmitted to motor driver 175, and from there to safety system 200, for example, as described below.
[0089] According to Figure 3A In this example, safety controller 210 is arranged to implement safe operation of elevator system 1000. Safety controller 210 may be implemented, for example, using one or more microprocessors, logic circuits, and / or relay logic. Safety controller 210 is configured to receive input from safety chain 320, which includes a plurality of safety contacts, the state of which can be obtained from safety relays. As already mentioned, safety system 200 and safety controller 210 may include safety output 330 to provide control to other entities of elevator system 1000, such as providing control to safety function 177 of motor drive 175 by controlling the operation of motor bridge circuit 310.
[0090] Now, in the case where safety chain 320 indicates a fault in a certain entity of elevator system 1000 by disconnecting the safety relay therein, refer to Figure 3AThe implementation of this invention is described in terms of at least some aspects. This is detected by the safety controller 210 of the safety system 200, which causes the removal of voltage from the motor bridge circuit 310 and the brake controller 185, which in turn would normally result in the removal of energy from the electric motor 170 and engagement of the elevator brake assembly 180. However, according to the invention, the safety controller 210 can be configured to determine the control state of the elevator brake assembly 180, for example by deriving the state of the brake controller 185, such as by identifying whether the brake controller 185 indicates that the brake of the elevator brake assembly 180 is engaged, i.e., the control state of the elevator brake assembly 180 corresponds to the braking state. Furthermore, the safety controller 210 can obtain data from at least one sensor 195 to detect whether the operation of the elevator brake assembly 180 does not correspond to, i.e., deviates from, the braking operation. This detection can be, for example, based on detecting that the elevator is performing an unacceptable movement, such as continuing to move even though the control state of the elevator brake assembly 180 indicates that it is engaged. In response to this detection, the safety controller 210 can be configured to activate the safety output 330 by controlling a switch followed by the bypass switch 340, which in turn provides voltage to the safety output, thereby activating the motor bridge circuit 310 of the motor driver 175. As a result, the electric motor 170 can be controlled again, and the electric motor bridge can be instructed to generate a VVVF voltage signal that causes the electric motor 170 to control the movement of the elevator car 110, which can correspond to limiting or braking the movement, and in this way support the elevator brake assembly 180.
[0091] According to the implementation, the energy provided for modulating the VVVF voltage signal with the motor bridge can be obtained from mains power and / or energy regenerated by the rotating electric motor 170, or from any other source referred to as the primary source. The latter is particularly advantageous if the safety system 200 prevents energy from being supplied from the mains current. Generally, the motor drive 175 may include, for example, a relay or contactor configured to selectively connect or isolate the motor drive 175 from its main power supply. The technical effect of this feature is that, when isolated from the main power supply, it prevents the electric motor 170 from generating acceleration torque that could be dangerous to elevator passengers.
[0092] According to Figure 3B In another embodiment, safe operation according to the present invention is achieved by setting two independently controllable safety outputs to the safety controller 210, these two safety outputs in Figure 3B The numbers 330 and 350 are used to represent this. Now, when the safety chain indicates a fault in the elevator system 1000, but safety outputs 330 and 350 are disconnected, this removes the voltage from the motor bridge circuit 310 and from the brake controller 185, having the same characteristics as in... Figure 3AThe same effect is described in the context of the example. In response, the safety controller 210 can again begin determining whether the elevator brake assembly 180 has malfunctioned, for example, whether the movement of the elevator or elevator car 110 continues even though the brake of the elevator brake assembly 180 is indicated to be engaged; that is, the control state of the elevator brake assembly 180 corresponds to the braking state. In response to this detection, the safety controller 210 can control the connection of the safety output 330, i.e., by closing the relay contacts of the safety output 330 in which a voltage is output, which reactivates the motor bridge circuit 310, and the motor 170 can be controlled by applicable modulation to perform motion limiting.
[0093] Can be used with Figure 3A The same modulated energy source described in the example.
[0094] Figure 3C Another example of the implementation of the invention is shown. There, the safety controller 210 or its functions are integrated into the motor drive 175 and / or the brake controller 185. This implementation itself can correspond to, for example... Figure 3B The implementation shown, and in a physical sense, this functionality can be shared between the motor driver 175 and / or the brake controller 185. For example, safety functions can be implemented in the software of a DSP processor configured to generate VVVF control pulses for the power switching device of the motor bridge circuit 310.
[0095] For clarity, it is worth mentioning that the safety output 330 of the safety controller 210, whose communication is connected to the input of the safety function 177 of the motor driver 175 as shown in the example above, can be used to prevent or allow one or more control pulses to be transmitted to at least one of the following: the control pole of the high-side power switch of the motor driver 175; or the low-side power switch of the motor driver 175. According to the IEC 61508 safety standard, this operation is commonly referred to as the Safe Torque Off (STO) safety function. The high-side switch refers to, for example, a power transistor connected to the positive DC link bus of a phase pin of the motor bridge circuit 310, and the low-side switch refers to a transistor connected to the negative DC link bus. Here, the power switch can correspond to the motor bridge circuit 310 as described above. For example, the power switch can be of one of the following types: IGBT transistor, MOSFET transistor, silicon carbide (SiC) transistor, or gallium nitride (GaN) transistor.
[0096] Next, refer to the following: Figure 4 Some aspects of the present invention are described below. Figure 4A method implemented by a device configured to operate as a safety controller 210 of an elevator safety system 200 is illustrated schematically. As can be deduced from the foregoing description, at least one brake of the elevator brake assembly 180 is controlled by a brake controller 185 by setting the control state of the elevator brake assembly 180 to a braking state or an open state, and the operation of the elevator is monitored using at least one sensor 195 associated with a predetermined entity. Now, according to this method, the safety controller 210 is configured to obtain 410 data indicating the control state of the elevator brake assembly 180. The control state of the elevator brake assembly 180 refers to each of at least one elevator brake of the brake assembly being indicated to be engaged, or at least one of at least one elevator brake of the elevator brake assembly 180 being indicated to be disengaged (i.e., released), these control states are referred to herein as the braking state (when engaged) and the open state (when disengaged), respectively. The acquisition of data 410 performed by the safety controller 210 may include generating an inquiry to the elevator brake controller 185, or, if multiple elevator brakes of the elevator brake assembly 180 are controlled by a dedicated brake controller 185, an inquiry may be generated to multiple elevator brake controllers 185 configured to control their respective brakes, and the brake controller 185 may respond to the inquiry by providing an indicator of the current control state of one or more brakes of the elevator brake assembly 180. Alternatively or additionally, the control state of the elevator brake assembly 180 may be obtained by providing the safety controller 210 with access to control signals for the elevator brake assembly 180, for example by measuring the brake coil current of each brake of the elevator brake assembly 180 using a current sensor, where an interruption in the coil current can be interpreted as corresponding to engagement of the respective elevator brake. Thus, the control signals may, for example, directly or indirectly, represent the magnetization state of the electromagnets of the elevator brakes in the elevator brake assembly 180. Naturally, the brakes of the elevator brake assembly 180 can be equipped with suitable brake sensors, such as brake switches, from which the safety controller 210 obtains measurement data directly or indirectly to determine the control state. For clarity, in the case where the traction machine includes multiple independently controlled elevator brakes of the elevator brake assembly 180, the control state of each individual elevator brake is determined according to the invention. By applying any method for obtaining data indicating the control state of the elevator brake assembly 180, the safety controller 210 can perform detection between the braking state and the open state of each brake of the elevator brake assembly 180. For example, if the elevator brake assembly 180 (meaning all elevator brakes in the elevator brake assembly) is controlled to be in a braking state or not in a braking state.Alternatively or additionally, the control state of the elevator brake assembly 180 can be obtained by reading the control state from the brake control logic.
[0097] In addition to acquiring data 410 indicating the control state of the elevator brake assembly 180, the safety controller 210 is configured to acquire data 420 from at least one sensor 195. The data acquired from the at least one sensor 195 causes it to directly or indirectly indicate the operation of the elevator brake assembly 180. This data should indicate, or can be derived from, whether the elevator brake assembly provides braking operation with a predetermined braking force, i.e., braking. The predefined braking force may depend on the elevator and follow the specifications set for the elevator.
[0098] The acquisition 410 of data indicating the control state of the elevator brake assembly 180 and the acquisition 420 of data from at least one sensor 195 can advantageously be arranged to occur simultaneously and / or continuously to achieve reliable detection in step 430 of the method. In step 430, detection based on multiple data points can be performed. First, it is detected whether the control state of the elevator brake assembly 180 corresponds to a braking state. Second, based on data obtained from at least one sensor 195, it is detected whether the operation of the elevator brake assembly 180 does not correspond to a braking operation with sufficient braking force, i.e., a deviation from braking operation. If both conditions occur simultaneously, or within a predetermined time window, it can be determined that the elevator brake assembly 180 has failed to function properly, or as expected, and in response, a safety signal 440 can be generated to enable the supply of a VVVF voltage signal to the electric motor 170, because the elevator's state may pose a risk to the users of the elevator system, for example, at a floor where passengers may enter and exit the elevator car 110, but for some reason, the elevator brake assembly 180 has not kept the elevator stationary. Because the generation of the safety signal 440 enables the supply of a variable amplitude, variable frequency voltage (VVVF) signal to the windings of the electric motor 170 of the elevator traction machine 165, the elevator traction machine 165 generates torque to support the operation or non-operation of the elevator brake assembly 180. This can, for example, allow limiting or braking the movement of the elevator. For completeness, the VVVF voltage signal can be transmitted to the motor bridge circuit 310 of the motor driver 175 in the elevator traction machine 165 to cause the electric motor 170 to generate torque on the traction sheave 150 or any other applicable entity, thereby braking the movement of the elevator. In other words, the safety controller 210 can generate a safety signal to the motor driver 175, for example, having its own controller, to define and generate the desired control of the electric motor 170. To define optimal control of the electric motor 170 to limit the movement of the elevator, the motor driver 175 can receive data from the safety controller 210 indicating the necessary braking torque. For example, this data can define one or more parameters related to the movement of the elevator, i.e., the monitored entity or part of the elevator system. This parameter can, for example, represent the speed of the corresponding entity, or any corresponding parameter based on which the controller can limit the torque required for the braking motion of the motor 170, and cause, for example, the corresponding entity to stop moving, or at least limit the movement within a defined tolerance or limit, for example, with respect to speed and / or acceleration, if this method is chosen. Such an allowable speed could be, for example, 0.3 m / s. To understand the aspects described in relation to the invention, it can be mentioned that, for example, during the loading of the elevator car 110, the drift of the elevator car 110, carrying, for example, a heavy load, downward from a landing can be an example of applying the invention to limit movement by utilizing the braking torque generated by the elevator traction machine to overcome gravity.Furthermore, the generation of torque used to limit the movement of the elevator can also include the generation of torque that causes the elevator car 110 to return to the desired position (e.g., return to floor 10), which can correspond to the releveling operation of the elevator car 110.
[0099] Furthermore, additional safety measures can be associated with the application of the present invention. Specifically, according to some exemplary embodiments, the safety controller 210 of the elevator safety system 200 can be configured to generate an indication to a user of the elevator system (e.g., a passenger in elevator car 110) in response to a generated torque, requesting the user to leave elevator car 110. This may occur on an output device suitable for providing visual or audible or any other applicable indication. The indication can be triggered when it is detected that elevator car 110 is stopped in the door area of a landing. In response to the passenger having left elevator car 110, elevator system 1000 can be set to maintenance mode, and its use is prohibited. This may include, but is not limited to, moving an empty elevator car to a safe position, which may, for example, correspond to the space above the top floor door area, such that there is no access to the entrance of elevator car 110. Furthermore, the safety controller 210 can also be arranged to cause the elevator to shut down safely when elevator car 110 reaches the end of hoistway 120.
[0100] Safety controller 210 can also be configured to control the SBC (Safety Brake Control) function of elevator brake assembly 180. This means that the power supply to the brake coil of elevator brake assembly 180 can be enabled or disabled based on the operating state of elevator safety controller 210. The operating state of the safety controller can be determined based on the state of the elevator safety chain. The safety chain can be configured such that in the event of an abnormal operation, such as detecting unwanted movement of elevator car 110 or detecting the opening of a safety contact based on the method according to the invention, the power supply to the brake coil will be interrupted. According to the invention, safety controller 210 can be configured to generate an SBC signal for engaging elevator brake assembly 180 independently of the state of the safety signal.
[0101] The security chain-related issues discussed above have also been addressed. Figures 3A-3C This has been discussed in the context of [the previous sentence].
[0102] In the description above, it was mentioned that the entity arranged to execute this method is the security controller 210. Figure 5 An example of a device that can be configured to act as a safety controller 210 is shown schematically. For clarity, it is worth mentioning that... Figure 5The block diagram depicts some components of the entities that can be used to implement the functions of the device. The device includes a processor 510 and a memory 520. The memory 520 may store data, such as the data segments described, and may also store computer program code 525 that causes safe operation in the manner described. The device may also include a communication interface, such as a wireless communication interface or a communication interface for wired communication, or both. Therefore, the communication interface may include one or more modems, antennas, and any other hardware and software for implementing the execution of communication, for example, under the control of the processor 510. Furthermore, I / O (input / output) components may be provided together with a portion of the processor 510 and computer program code 525 to provide a user interface for receiving input from a user (e.g., from a technician) and / or, when necessary, providing output to the user of the device. In particular, user I / O components may include user input devices, such as one or more keys or buttons, a keyboard, a touchscreen, or a touchpad. User I / O components may include output devices, such as speakers, displays, or touchscreens. The components of the device may be communicatively connected to each other via a data bus capable of transmitting data and control information between the components.
[0103] A portion of the memory 520 and the computer program code 525 stored therein may also be arranged together with the processor 510 such that the device performs at least a portion of the methods for management and maintenance as described herein. The processor 510 may be configured to read from and write to the memory 520. Although the processor 510 is depicted as a single component, it may be implemented as one or more separate processing components. Similarly, although the memory 520 is depicted as a single component, it may be implemented as one or more separate components, some or all of which may be integrated / removable and / or provide permanent / semi-permanent / dynamic / cached storage.
[0104] Computer program code 525 may include computer-executable instructions that, when loaded into and executed in the processor 510 of the security controller 210, implement functionality corresponding to the steps of the method. For example, computer program code 525 may include a computer program consisting of one or more sequences of one or more instructions. The processor 510 is capable of loading and executing the computer program by reading one or more sequences of one or more instructions contained therein from memory 520. One or more sequences of one or more instructions may be configured, when executed by the processor 510, to cause the device to perform the method as expressly described herein. Therefore, the device may include at least one processor 510 and at least one memory 520 including computer program code 525 for one or more programs, the at least one memory 520 and the computer program code 525 being configured, together with at least one processor 510, to cause the device to perform the method.
[0105] Computer program code 525 may be provided, for example, a computer program product including at least one computer-readable non-transitory medium on which computer program code 525 is stored, which, when executed by processor 510, causes the device to perform the method. The computer-readable non-transitory medium may include a storage device or recording medium, such as a CD-ROM, DVD, Blu-ray disc, or another article of writing tangibly containing a computer program. As another example, the computer program may be provided as a signal configured to reliably transmit the computer program.
[0106] In addition, computer program code 525 may include proprietary applications, such as computer program code for performing the method in the manner described in the specification herein.
[0107] Any of the programming functions mentioned can also be implemented in firmware or hardware that is adapted to or programmed to perform the necessary tasks.
[0108] The entity that executes this method can also be implemented using multiple devices, for example... Figure 5 The devices schematically shown serve as a distributed computing environment. For example, one of these devices can communicate with other devices and, for instance, share data related to the method so that another device can execute at least a portion of the method. As a result, the method executed in the distributed computing environment generates safe operations in the elevator system 1000 in the manner described.
[0109] Furthermore, some aspects of the present invention relate to an elevator system 1000, which includes an elevator car 110, a counterweight 140, and an elevator drive system 160. The elevator drive system includes an elevator traction machine 165 and an elevator brake assembly 180. Further, the elevator system 1000 may include a lifting rope 130 arranged to travel between the elevator car 110 and the counterweight 140 via a traction sheave 150 of the elevator traction machine 165 and an elevator safety system 200, as described in the foregoing description. For completeness, it may be mentioned that the elevator traction machine 165 may include a permanent magnet motor type electric motor 170 and a motor driver 175 for controlling the electric motor 170. Therefore, the elevator system 1000 according to the present invention can correspond to... Figure 1 The system is schematically shown in the figure, in which the elevator safety system 200 is configured.
[0110] The specific examples provided in the description above should not be construed as limiting the applicability and / or interpretation of the appended claims. Unless otherwise expressly stated, the list and groups of examples provided in the description above are not exhaustive.
Claims
1. An elevator safety system (200) for an elevator system (1000) including an elevator drive system (160), the elevator drive system (160) comprising: Elevator traction machine (165), including electric motor (170); An elevator brake assembly (180) includes at least one elevator brake. The brake controller (185) is configured to set the control state of the elevator brake assembly (180) to one of a braking state and an open state; The motor driver (175) is configured to provide a variable amplitude, variable frequency voltage VVVF signal to the windings of the electric motor (170) of the elevator traction machine (165); Safety function (177) includes an input for a safety signal, the safety function (177) being configured to selectively block or enable the supply of a VVVF voltage signal based on the state of the safety signal; The elevator safety system (200) includes: At least one sensor (195) is configured to generate data indicative of the operation of the elevator brake assembly (180); and Safety controller (210) is configured as follows: Obtain data indicating the control status of the elevator brake assembly (180). Data is obtained from at least one sensor (195), and A safety signal is generated to enable the supply of the VVVF voltage signal in response to the following: The control state of the elevator brake assembly (180) corresponds to the braking state, and Based on the data obtained from the at least one sensor (195), it is detected that the operation of the elevator brake assembly (180) does not correspond to a braking operation.
2. The elevator safety system (200) according to claim 1, wherein: The at least one sensor (195) is configured to generate data indicating elevator movement, as data indicating the operation of the elevator brake assembly (180), and The safety controller (210) is configured to detect that the operation of the elevator brake assembly (180) does not correspond to a braking operation in response to the detection of an impermissible movement of the elevator.
3. The elevator safety system (200) according to claim 1, wherein: The at least one sensor (195) is configured to generate data indicating the movement or position of each armature of the elevator brake assembly (180), as data indicating the operation of the elevator brake assembly (180), and The safety controller (210) is configured to detect that the operation of the elevator brake assembly (180) does not correspond to a braking operation based on data indicating the position or movement of each armature.
4. The security system (200) according to any one of the preceding claims, wherein, The safety controller (210) is configured to cause the motor driver (175) to generate torque for limiting or braking the movement of the elevator car (110) in response to the generation of the safety signal.
5. The security system (200) according to any one of claims 1 to 3, wherein, The safety controller (210) is configured to generate a safety braking control SBC signal for engaging the elevator brake assembly (180).
6. The security system (200) according to any one of claims 1 to 3, wherein, The at least one sensor (195) is adapted to generate data indicating the motion of at least one of the following: elevator traction machine (165); The elevator's steering pulley.
7. The security system (200) according to any one of claims 1 to 3, wherein, The safety controller (210) includes a safety output (330) for safety signals.
8. The security system (200) according to claim 7, wherein, The safety output (330) of the safety controller (210) is communicatively connected to the input of the safety function (177) of the motor driver (175). The safety output (330) is adapted to prevent or enable one or more control pulses from being transmitted to at least one of the following: the control pole of the high-side power switch of the motor driver (175); or the low-side power switch of the motor driver (175).
9. The security system (200) according to claim 8, wherein, The power switching device of the motor driver is one of the following: IGBT transistor, MOSFET transistor, silicon carbide (SiC) transistor, or gallium nitride (GaN) transistor.
10. The security system (200) according to any one of claims 1 to 3, wherein, The safety controller (210) is integrated into the motor driver (175).
11. The security system (200) according to any one of claims 2-3, wherein, The safety controller (210) is configured to detect that movement is not permitted by detecting at least one of the following: the elevator car (110) moves in the landing area with the door open; the speed of the elevator car (110) exceeds a predetermined limit; the deceleration or acceleration of the elevator deviates from the permissible limit; or the safety contact in the elevator safety chain is opened during elevator operation.
12. The security system (200) according to any one of claims 1 to 3, wherein, The safety controller (210) is configured to cause the elevator to shut down safely when the elevator car (110) reaches the end of the hoistway (120).
13. A method for safe operation of an elevator system (1000), the elevator system (1000) including an elevator drive system (160), the elevator drive system comprising: Elevator traction machine (165), including electric motor (170); An elevator brake assembly (180) includes at least one elevator brake. The brake controller (185) is configured to set the control state of the elevator brake assembly (180) to one of a braking state and an open state; The motor driver (175) is configured to provide a variable amplitude, variable frequency voltage VVVF signal to the windings of the electric motor (170) of the elevator traction machine (165); Safety function (177) includes an input for a safety signal, the safety function (177) being configured to selectively block or enable the supply of a VVVF voltage signal based on the state of the safety signal; The method, performed by the safety controller (210) of the elevator safety system (200), includes: Obtain data indicating the control status of the elevator brake assembly (180). Data is obtained from the at least one sensor (195), and A safety signal is generated to enable the supply of the VVVF voltage signal in response to the following: The control state of the elevator brake assembly (180) corresponds to the braking state, and Based on the data obtained from the at least one sensor (195), it is detected that the operation of the elevator brake assembly (180) does not correspond to a braking operation.
14. The method according to claim 13, wherein: Data indicating elevator movement is generated by the at least one sensor (195), serving as data indicating the operation of the elevator brake assembly (180), and In response to the detection of prohibited movement of the elevator, the safety controller (210) detects that the operation of the elevator brake assembly (180) does not correspond to the braking operation.
15. The method according to claim 13, wherein: Data generated by the at least one sensor (195) indicating the movement or position of each armature of the at least one elevator brake assembly (180) serves as data indicating the operation of the elevator brake assembly (180), and The safety controller (210) detects that the operation of the elevator brake assembly (180) does not correspond to a braking operation based on data indicating the position or movement of each armature.
16. The method according to any one of claims 13-15, wherein, In response to the generation of the safety signal, the safety controller (210) causes the motor driver (175) to generate torque for limiting or braking the movement of the elevator car (110).
17. The method according to any one of claims 13-15, wherein, The safety controller (210) generates a safety brake control SBC signal to engage the elevator brake assembly (180).
18. The method according to any one of claims 13-15, wherein, Data indicating the motion of at least one of the following is generated by at least one sensor (195): elevator traction machine (165); elevator steering pulley.
19. The method according to any one of claims 13-15, wherein, The safety output (330) of the safety controller (210) is used to prevent or enable one or more control pulses from being transmitted to at least one of the following: the control pole of the high-side power switch of the motor driver (175); or the low-side power switch of the motor driver (175).
20. The method according to any one of claims 14-15, wherein the safety controller (210) detects that motion is not permitted by detecting at least one of the following: the elevator car (110) moves in the landing area with the door open; the speed of the elevator car (110) exceeds a predetermined limit; the deceleration or acceleration of the elevator deviates from the permissible limit; and the safety contact in the elevator safety chain is opened during elevator operation.
21. The method according to any one of claims 13-15, wherein, When the elevator car (110) reaches the end of the shaft (120), the safety controller (210) triggers the safe shutdown of the elevator.
22. A computer program including computer-readable program code configured to cause the execution of the method according to any one of claims 13 to 21 when the computer-readable program code is run on one or more computing devices.
23. An elevator system (1000), comprising: Elevator car (110), Elevator traction machine (165), including electric motor (170); An elevator brake assembly (180) comprising at least one elevator brake; The brake controller (185) is configured to set the control state of the elevator brake assembly (180) to one of a braking state and an open state; The motor driver (175) is configured to provide a variable amplitude, variable frequency voltage VVVF signal to the windings of the electric motor (170) of the elevator traction machine (165); Safety function (177) includes an input for a safety signal, the safety function (177) being configured to selectively block or enable the supply of a VVVF voltage signal based on the state of the safety signal; The elevator safety system (200) according to any one of claims 1 to 12.
24. The elevator system (1000) according to claim 23, wherein, The motor driver (175) includes a relay or contactor configured to selectively connect or isolate the motor driver from its main power supply.
25. The elevator system (1000) according to any one of claims 23 or 24, wherein, The elevator brake assembly (180) includes at least two elevator brakes.