Door control device for elevator

Abstract

Provided is an elevator door control device. A function of diagnosing vibration generated in motor control of an elevator door is realized in restrictions and resources of a function of normally controlling a door motor. The control device controls the door motor such that the actual speed calculated from the rotation angle of the door motor follows the speed command value. During a sampling period during a door opening / closing operation of a door, a control device acquires an actual speed during a predetermined sampling period, and calculates an actual speed change amount integrated value obtained by integrating absolute values of change amounts of the actual speed between the sampling periods; a calculation unit that acquires a speed command value in a sampling period, and calculates a speed command value change amount integrated value obtained by integrating absolute values of change amounts of the speed command value between the sampling periods; and when a first difference value obtained by subtracting the speed command value change amount integrated value from the actual speed change amount integrated value is greater than a first threshold value, diagnosing that there is an abnormality in the door.

Description

Technical Field

[0001] The present invention relates to the technology of door control device of elevator. Background Art

[0002] Regarding the motor control that moves the door, in recent years, the motor control function has been highly accurate in order to achieve high-speed and smooth door movement. As a result, the door may vibrate due to occasional mismatches in the adjustment of control gain due to the installation status on site or changes in the mechanical system over time. In this case, the vibration is determined by performing frequency analysis based on detailed waveform data and comparing it with the action data that was the basis for development.

[0003] For example, Patent Document 1 discloses a technique of performing frequency analysis on current as a method of obtaining a rotation angle error of a rotation detection unit of a motor of an elevator.

[0004] Prior art literature

[0005] Patent Document 1: International Publication No. 2016 / 174796 Summary of the invention

[0006] In the technology of Patent Document 1, it is ideal to integrate the data analysis structure into embedded software running on site to perform vibration analysis and judgment. However, due to the limitations of software such as RAM capacity, operation time, and communication volume, it is difficult to directly integrate it into the data analysis structure.

[0007] The present invention is completed to solve the above-mentioned problems, and its purpose is to provide an elevator door control device, which can realize the function of diagnosing the vibration generated in the motor control of the elevator door within the constraints and resources of the function of generally controlling the door motor.

[0008] The door control device of the elevator of the present invention comprises: a door motor, which drives the door of the elevator in the opening and closing direction; and a control device, which controls the door motor, the control device comprising: a rotation detection unit, which detects the rotation angle of the door motor; a door speed calculation unit, which calculates the actual speed in the opening and closing direction of the door based on the rotation angle; a door speed command value calculation unit, which calculates the speed command value in the opening and closing direction of the door; a motor control unit, which controls the door motor in such a way that the actual speed follows the speed command value; and a door diagnosis unit, which diagnoses abnormalities of the door during a predetermined sampling period in the door opening action or the door closing action, the door diagnosis unit being configured to perform the following processing: A calculation process, obtaining the actual speed in a predetermined sampling period during the sampling period from a door speed calculation unit, and calculating the actual speed change cumulative value obtained by accumulating the absolute values ​​of the changes in the actual speed between the sampling periods; a second calculation process, obtaining the speed command value in the sampling period from a door speed command value calculation unit, and calculating the speed command value change cumulative value obtained by accumulating the absolute values ​​of the changes in the speed command value between the sampling periods; and a first determination process, diagnosing that there is a door abnormality when a first difference value obtained by subtracting the speed command value change cumulative value from the actual speed change cumulative value is greater than a first threshold value.

[0009] Effects of the Invention

[0010] According to the technology of the present invention, it is possible to realize a function of diagnosing vibration generated in the motor control of an elevator door within the constraints and resources of a general function of controlling a door motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is a front view of the door control device for an elevator in Embodiment 1.

[0012] Figure 2 This is a functional block diagram of the functions that the control device has.

[0013] Figure 3 The diagram illustrates a door speed pattern during the door opening operation.

[0014] Figure 4 It is a diagram for explaining the abnormality diagnosis process executed by the door diagnosis unit.

[0015] Figure 5 It is a diagram for explaining the abnormality diagnosis process executed by the door diagnosis unit.

[0016] Figure 6 This is a flowchart showing a routine of abnormality diagnosis processing executed in the door control device 1 in the first embodiment.

[0017] Figure 7 It is a diagram showing an example of hardware resources of a control device.

[0018] Figure 8 This is a diagram showing another example of the hardware resources of the control device.

[0019] Fig. 9 This is a functional block diagram of the door control device for an elevator in the second embodiment.

[0020] Fig.10 This is a flowchart showing a routine of abnormality diagnosis processing executed in the door control device 1 in the second embodiment.

[0021] Fig.11 This is a functional block diagram of an elevator door control device in the third embodiment.

[0022] Fig.12 This is a flowchart showing a routine of abnormality diagnosis processing executed in the door control device 1 in the third embodiment.

[0023] Fig.13 This is a flowchart showing a routine of abnormality diagnosis processing executed in the door control device 1 in the third embodiment.

[0024] Description of labels:

[0025] 1: Door control device; 2: Door; 3: Door opening and closing mechanism; 4: Door driving mechanism; 6: Suspension component; 7: Hanger roller; 8: Track; 9: Pulley; 10: Belt; 11: Connecting component; 12: Door motor; 13: Pulse encoder; 20: Control device; 21: Rotation detection unit; 22: Door speed calculation unit; 23: Door speed command value calculation unit; 24: Motor control unit; 25: Door diagnosis unit; 26: Storage unit; 27: Door speed storage unit; 30: Server; 31: Collection unit; 32: Door speed storage unit; 33: Comparison diagnosis unit; 202: Processor; 204: Memory; 206: Processing circuit; 208: Dedicated hardware. DETAILED DESCRIPTION

[0026] Hereinafter, the embodiments will be described with reference to the drawings. In addition, the same reference numerals are given to common elements in the drawings, and repeated descriptions are omitted.

[0027] Implementation Method 1

[0028] 1-1. Configuration of the elevator door control device in Embodiment 1

[0029] Figure 1This is a front view of the door control device of the elevator in Embodiment 1. The hoistway of the elevator is formed to pass through each floor of the building. A landing is formed near the hoistway at each floor. A passenger car is arranged in the hoistway. A landing entrance and exit are formed between each landing and the hoistway. A landing door is arranged at the landing entrance and exit. A car entrance and exit is formed on the landing side of the passenger car. A door control device 1 is arranged at the car entrance and exit. The door control device 1 has a door 2, a door opening and closing mechanism 3 for opening and closing the door 2, and a door drive mechanism 4 for driving the door opening and closing mechanism 3.

[0030] The door 2 is configured to open and close the entrance and exit of the car. Typically, the door 2 is arranged in pairs so as to be centrally opened. As another example, the door 2 may also be arranged to be opened on one side. A door opening and closing mechanism 3 is arranged above the door 2. The door opening and closing mechanism 3 includes a suspension component 6, a hanger roller 7, a track 8, two pulleys 9, a belt 10, and a connecting component 11. The suspension component 6 is fixed to the upper part of the door 2. The hanger roller 7 is arranged on the upper part of the suspension component 6. The track 8 is arranged above the door 2. The two pulleys 9 are arranged at intervals in the horizontal direction above the track 8. The belt 10 is arranged so as to be wrapped around the pulley 9.

[0031] One end of one side of the connecting member 11 is fixed to the belt 10 on the upper side of the pulley 9. The other end of one side of the connecting member 11 is fixed to one side of the suspension member 6. One end of the other side of the connecting member 11 is fixed to the belt 10 on the lower side of the pulley 9. The other ends of both sides of the connecting member 11 are fixed to the other side of the suspension member 6. When the belt 10 is reciprocated left and right by the door driving mechanism 4, the door opening and closing mechanism 3 is guided by the hanger roller 7 traveling on the track 8, and the door 2 reciprocates in the opposite direction to open and close the entrance and exit.

[0032] The door drive mechanism 4 includes a door motor 12, a pulse encoder 13, and a control device 20. The door motor 12 has a function of driving the pulley 9 to rotate via a rotating shaft. The pulse encoder 13 has a function of converting the rotation of the door motor 12 into pulses. The control device 20 has a function of controlling the door motor 12 based on the pulses output by the pulse encoder 13. In addition, the control device 20 has a function of diagnosing whether there is any abnormality in the opening action or closing action of the door 2. In addition, in the following description, the opening action or closing action of the door 2 is also simply referred to as the "opening and closing action" of the door 2. The functions of the control device 20 will be described in detail later.

[0033] In such an elevator, when the passenger car is arranged adjacent to the landing, a part of the door 2 of the passenger car meshes with a part of the landing door. In this state, the door motor 12 is driven by the control device 20. The pulley 9 rotates by this drive. The belt 10 moves by this rotation. At this time, on the upper side of the pulley 9, the belt 10 moves to one side of the left and right. On the other hand, on the lower side of the pulley 9, the belt 10 moves to the other side of the left and right.

[0034] With this movement, the connecting member 11 moves in opposite directions. With this movement, the suspension member 6 moves in opposite directions. With this movement, the door 2 moves in opposite directions. At this time, the hanger roller 7 travels on the track 8. Therefore, the door 2 smoothly opens and closes the car entrance and exit. With this opening and closing, a pair of landing doors move in opposite directions. Through this movement, the landing doors open and close the landing entrance and exit.

[0035] 1-2. Functions of the control device 20 in Embodiment 1

[0036] Next, use Figure 2 The functions of the control device 20 will be described. Figure 2 This is a functional block diagram of the functions of the control device. Figure 2 As shown, the control device 20 includes a rotation detection unit 21, a door speed calculation unit 22, a door speed command value calculation unit 23, a motor control unit 24, a door diagnosis unit 25, and a storage unit 26 as its functional blocks.

[0037] The rotation detection unit 21 is a functional block for detecting the rotation angle of the door motor 12. Typically, the rotation detection unit 21 calculates the rotation angle by counting pulses output from the pulse encoder 13. The calculated rotation angle is sent to the door speed calculation unit 22 at any time.

[0038] The door speed calculation unit 22 is a functional block for calculating the actual speed in the opening and closing direction of the door 2 based on the rotation angle calculated by the rotation detection unit 21. Typically, the door speed calculation unit 22 calculates the actual speed in a predetermined control cycle during the opening and closing operation of the door 2, and outputs it to the motor control unit 24. In addition, the door speed calculation unit 22 calculates the actual speed in accordance with the sampling period and sampling cycle predetermined in the diagnosis conditions during the opening and closing operation of the door 2, and outputs it to the door diagnosis unit 25.

[0039] The door speed command value calculation unit 23 is a functional block for calculating a speed command value in the opening and closing direction during the opening and closing operation of the door 2 . Figure 3 2 is a diagram illustrating a door speed pattern when the door is opened. In this diagram, the horizontal axis is time and the vertical axis is the speed of the door 2. Figure 3, the pattern shown in W11 is an example of a pattern of speed command values ​​during door opening action. In pattern W11, the time from time t0 to time t1 when the door is fully closed is the acceleration portion. In the acceleration portion, the acceleration of the door 2 is constant. The time from time t1 to time t2 is the maximum speed portion. In the maximum speed portion, the speed of the door 2 is constant at the maximum speed. The time from time t2 to t3 when the door is fully opened is the deceleration portion. In the deceleration portion, the deceleration of the door 2 is constant. The control device 20 stores such a pattern of door speed command values ​​in the storage unit 26. When the door 2 is opened and closed, the door speed command value calculation unit 23 uses the pattern of door speed command values ​​stored in the storage unit 26 to calculate the speed command value in a predetermined control period, and outputs it to the motor control unit 24. In addition, during the diagnosis period of the opening and closing action of the door 2, the door speed command value calculation unit 23 calculates the speed command value according to the sampling period and sampling period predetermined in the diagnosis conditions, and outputs it to the door diagnosis unit 25.

[0040] The motor control unit 24 controls the torque of the door motor 12 so that the actual speed of the door 2 during opening and closing follows the speed command value. The control method of the door motor 12 is not limited. For example, the motor control unit 24 feeds back the deviation between the actual speed and the speed command value to the torque command value. Figure 3 In FIG. 1 , the pattern indicated by W12 is an example of an actual speed pattern of the door 2 when the motor control unit 24 controls the door motor 12 so as to follow the speed command value indicated by W11 .

[0041] The door diagnostic unit 25 is a functional block for diagnosing abnormalities of the door 2 during the opening and closing actions. Typically, the door diagnostic unit 25 diagnoses abnormalities of the door 2 according to predetermined diagnostic conditions. Hereinafter, this process is referred to as "abnormal diagnosis processing." The diagnostic conditions here are conditions that determine the sampling period and sampling cycle for calculating the actual speed and the speed command value. The sampling period can be during the opening action of the door 2 or the closing action. In addition, the sampling period can be the acceleration part or the deceleration part of the door opening command value. The sampling cycle is set to a period in which at least three samples can be taken during the sampling period.

[0042] Figure 4 and Figure 5 It is a diagram for explaining the abnormality diagnosis process executed by the door diagnosis unit. Figure 4 Enlarged example Figure 3 In the abnormality diagnosis process, the door diagnosis unit 25 obtains the actual speed of the door 2 calculated by the door speed calculation unit 22 according to the sampling period and sampling cycle determined in advance in the diagnosis conditions. Figure 4In the example shown, the door diagnostic unit 25 obtains the actual speed in the sampling periods T0, T1, T2, and T3 during the sampling period. Then, the door diagnostic unit 25 calculates the change in the actual speed between each sampling period, and calculates the actual speed change cumulative value obtained by accumulating the absolute values ​​of each change. This process is hereinafter referred to as the "first calculation process". Figure 4 In the example shown, the difference between the actual speed of sampling period T1 and the actual speed of sampling period T0 is calculated as the change amount (A), the difference between the actual speed of sampling period T2 and the actual speed of sampling period T1 is calculated as the change amount (B), and then the difference between the actual speed of sampling period T3 and the actual speed of sampling period T2 is calculated as the change amount (C). Figure 5 3 shows an actual speed change amount integrated value W32 obtained by integrating the absolute values ​​(A′), (B′), and (C′) of the actual speed change amounts (A), (B), and (C).

[0043] In the abnormality diagnosis process, the door diagnosis unit 25 acquires the speed command value calculated by the door speed command value calculation unit 23 in accordance with the diagnosis condition at the same sampling cycle as in the first calculation process. Figure 4 In the example shown, the door diagnostic unit 25 obtains the speed command value in the sampling periods T0, T1, T2, and T3. Then, the door diagnostic unit 25 calculates the change in the speed command value between each sampling period, and calculates the accumulated value of the speed command value change obtained by accumulating the absolute values ​​of each change. This process is hereinafter referred to as the "second calculation process". Figure 4 In the example shown, the difference between the speed command value of the sampling period T1 and the speed command value of the sampling period T0 is calculated as the change amount (a), the difference between the speed command value of the sampling period T2 and the speed command value of the sampling period T1 is calculated as the change amount (b), and then the difference between the speed command value of the sampling period T3 and the speed command value of the sampling period T2 is calculated as the change amount (c). Figure 5 Graph 2 shows a speed command value change amount integrated value W31 obtained by integrating the absolute values ​​(a′), (b′), and (c′) of the speed command value changes (a), (b), and (c).

[0044] Furthermore, in the abnormality diagnosis process, the door diagnosis unit 25 calculates the difference between the calculated actual speed change cumulative value and the speed command value change cumulative value as a first difference value, and determines whether the door 2 has an abnormality based on whether the first difference value is greater than a first threshold value. This process is hereinafter referred to as "first determination process". Figure 5 The difference between the actual speed change amount integrated value W32 and the speed command value change amount integrated value W31 is illustrated.

[0045] When the adjustment of the control gain of the door motor 12 in the motor control unit 24 deviates due to the installation state of the door 2 on site or due to the long-term degradation of the mechanical system such as the door opening and closing mechanism 3 or the door drive mechanism 4, the opening and closing action of the door 2 generates vibration. The first difference between the actual speed change cumulative value W32 and the speed command value change cumulative value W31 has a tendency to become larger as the vibration during the opening and closing action of the door 2 is larger. Therefore, the first threshold here is set to, for example, the value of the first difference corresponding to the allowable limit of the vibration generated during the opening and closing action of the door 2. According to the setting of such a first threshold, when the difference between the actual speed change cumulative value W32 and the speed command value change cumulative value W31 is greater than the first threshold, it can be diagnosed that there is an abnormality in the opening and closing action of the door 2.

[0046] 1-3. Specific processing performed in the elevator door control device according to Embodiment 1

[0047] Next, specific processing of the abnormality diagnosis processing executed in the elevator door control device 1 according to the first embodiment will be described. Figure 6 This is a flowchart showing a routine of abnormality diagnosis processing executed in the door control device 1 in the first embodiment. Figure 6 The routine shown is executed by control device 20 during a sampling period determined by the diagnosis conditions.

[0048] exist Figure 6 In step S100 of the routine shown, the door speed calculation unit 22 calculates the actual speed of the door 2 at the sampling period determined in the diagnosis condition. In the next step S102, the door diagnosis unit 25 performs a first calculation process to calculate the amount of change in the actual speed between each sampling period, and calculates an actual speed change amount cumulative value obtained by accumulating the absolute values ​​of each change amount.

[0049] In the next step S104, the door speed command value calculation unit 23 executes a second calculation process to calculate the amount of change in the speed command value between each sampling period and calculates a speed command value change amount cumulative value obtained by accumulating the absolute values ​​of each change amount.

[0050] The door diagnosis unit 25 performs the first determination process in steps S108, S110, and S112. Typically, in step S108, the door diagnosis unit 25 calculates a first difference between the actual speed change amount cumulative value and the speed command value change amount cumulative value, and determines whether the first difference is greater than a first threshold value. As a result, if the determination is established, the process proceeds to step S112, and if the determination is not established, the process proceeds to step S110.

[0051] In step S110, door diagnosis unit 25 determines that door 2 does not vibrate beyond the permissible range and diagnoses that door 2 is normal. On the other hand, in step S112, door diagnosis unit 25 determines that door 2 vibrates beyond the permissible range and diagnoses that door 2 is abnormal.

[0052] As can be seen from the above description, the door control device 1 of the elevator according to the first embodiment can quantitatively determine the vibration magnitude of the door 2 when it is opened and closed based on the actual speed and the speed command value, wherein the actual speed and the speed command value are obtained by using the existing function for controlling the door motor 12. Thus, within the constraints and resources of the function of controlling the door motor 12 in general, abnormality diagnosis when the door 2 is opened and closed can be realized.

[0053] 1-4. Modifications

[0054] The door control device 1 of the first embodiment may be modified as follows.

[0055] 4-1. Hardware resources of the control device 20

[0056] Figure 7 2 is a diagram showing an example of hardware resources of the control device 20. The control device 20 includes a processing circuit 206 including a processor 202 and a memory 204 as hardware resources. The processing circuit 206 may include a plurality of processors 202. The processing circuit 206 may include a plurality of memories 204.

[0057] In the present embodiment, the components shown by reference numerals 21 to 26 represent the functions of the control device 20. The functions of the storage unit 26 are implemented by the memory 204. The functions of the components shown by reference numerals 21 to 26 can be implemented by software, firmware, or a combination of software and firmware described as a program. The program is stored in the memory 204. Alternatively, the program can also be recorded in a computer-readable recording medium. The control device 20 implements the functions of the components shown by reference numerals 21 to 26 by executing the program stored in the memory 204 by the processor 202 (computer).

[0058] The processor 202 is also called a CPU (Central Processing Unit), a central processing device, a processing device, an arithmetic device, a microprocessor, a microcomputer or a DSP. As the memory 204, a semiconductor memory, a magnetic disk, a floppy disk, an optical disk, a compact disk (Compact Disk), a mini disk or a DVD can also be used. The semiconductor memory that can be used includes RAM, ROM, flash memory, EPROM and EEPROM.

[0059] Figure 8FIG. 2 is a diagram showing another example of hardware resources of the control device 20. Figure 8 In the illustrated example, the control device 20 includes a processing circuit 206 including a processor 202 , a memory 204 , and dedicated hardware 208 . Figure 8 An example is shown in which a part of the functions of the control device 20 is implemented by the dedicated hardware 208. All the functions of the control device 20 may be implemented by the dedicated hardware 208. As the dedicated hardware 208, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof may be used. In addition, the modification example of the hardware resources of the control device 20 described above may also be applied to the control device 20 of other embodiments described later.

[0060] Implementation Method 2

[0061] 2-1. Features of the elevator door control device in Embodiment 2

[0062] Fig. 9 This is a functional block diagram of the door control device for an elevator in Embodiment 2. In addition, the same reference numerals are given to the same or corresponding parts as those of the door control device 1 in Embodiment 1, and the description thereof will be omitted.

[0063] The control device 20 of the second embodiment has, in addition to the structure of the control device 20 of the first embodiment, a door speed storage unit 27. The door speed storage unit 27 is a functional block that functions as a storage device that stores and saves, as a standard actual speed change cumulative value, an actual speed change cumulative value calculated by performing the first calculation process according to a predetermined diagnostic condition when the elevator is installed after the control gain of the control of the door motor 12 is appropriately adjusted.

[0064] In the abnormality diagnosis process, the door diagnosis unit 25 compares the current actual speed variation cumulative value calculated by performing the first calculation process under the same diagnostic conditions as when the standard actual speed variation cumulative value is calculated with the standard actual speed variation cumulative value, thereby diagnosing the abnormality of the door 2. Typically, the door diagnosis unit 25 calculates the difference between the current actual speed variation cumulative value and the standard actual speed variation cumulative value as the second difference value, and determines whether the door 2 has an abnormality based on whether the second difference value is greater than the second determination value. This process is hereinafter referred to as the "second determination process".

[0065] When the mechanical system such as the door opening and closing mechanism 3 or the door driving mechanism 4 deteriorates due to age, the adjustment of the control gain of the control of the door motor 12 in the motor control unit 24 deviates, and the door 2 vibrates during the opening and closing action. The second difference between the actual speed variation cumulative value and the standard actual speed variation cumulative value tends to become larger as the vibration during the opening and closing action of the door 2 increases. Therefore, the second threshold value is set to the value of the second difference corresponding to the limit of the allowable vibration during the opening and closing action of the door 2 corresponding to the allowable limit of the vibration generated during the opening and closing action of the door 2. In this way, according to the second determination process, the change in the vibration magnitude of the door 2 caused by the age-related degradation of the mechanical system can be quantitatively diagnosed.

[0066] 2-2. Specific processing performed in the elevator door control device according to Embodiment 2

[0067] Next, the specific process of the abnormality diagnosis process executed in the door control device 1 for the elevator according to the second embodiment will be described. Fig.10 This is a flowchart showing a routine of abnormality diagnosis processing executed in the door control device 1 in the second embodiment. Fig.10 The routine shown is executed by control device 20 during a sampling period determined by the diagnosis conditions.

[0068] exist Fig.10 In steps S200, S202 and S204 of the routine shown in FIG. Figure 6 The same processing is performed in steps S100, S102 and S104 of the routine shown. When the processing of step S204 is completed, the processing proceeds to step S206.

[0069] In step S206, the door diagnosis unit 25 determines whether it is the installation time of the elevator. As a result, if the determination is affirmative, the process proceeds to step S208, and if the determination is not affirmative, the process proceeds to step S210.

[0070] In step S208, the door diagnosis unit 25 stores the actual speed variation cumulative value calculated in step S202 of this routine as a standard actual speed variation cumulative value in the door speed storage unit 27. When the process of step S208 is completed, the process proceeds to step S210.

[0071] In step S210, the door diagnosis unit 25 calculates the first difference between the actual speed change amount cumulative value and the speed command value change amount cumulative value, and determines whether the first difference is greater than the first threshold value. If the determination is successful, the process proceeds to step S216, and if the determination is not successful, the process proceeds to step S212.

[0072] In step S212, the door diagnosis unit 25 calculates the second difference between the actual speed variation cumulative value and the standard actual speed variation cumulative value, and determines whether the second difference is greater than the second threshold value. If the determination is successful, the process proceeds to step S216, and if the determination is not successful, the process proceeds to step S214.

[0073] In step S214, door diagnosis unit 25 determines that door 2 does not vibrate beyond the permissible range and diagnoses that door 2 is normal. On the other hand, in step S216, door diagnosis unit 25 determines that door 2 vibrates beyond the permissible range and diagnoses that door 2 is abnormal.

[0074] As can be seen from the above description, according to the elevator door control device 1 of Embodiment 2, in addition to the comparison between the actual speed variation cumulative value and the speed command value variation cumulative value, the magnitude of the vibration when the door 2 is opened and closed can be quantitatively determined by comparing the actual speed variation cumulative value with the standard actual speed variation cumulative value. Thus, within the constraints and resources of the function of controlling the door motor 12 in general, it is possible to diagnose abnormalities when the door 2 is opened and closed, especially caused by the aging of the mechanical system, with high accuracy.

[0075] 2-3. Modification

[0076] The door control device 1 according to the second embodiment may be modified as follows.

[0077] 2-3-1. Standard actual speed change cumulative value

[0078] The standard actual speed variation cumulative value stored in the door speed storage unit 27 is not limited to the actual speed variation cumulative value calculated when the elevator is installed. That is, the standard actual speed variation cumulative value can be the actual speed variation cumulative value of the elevator in the standard state after the control gain of the control of the door motor 12 is appropriately adjusted. Such a standard state of the elevator can be exemplified by the adjustment of the control gain achieved through maintenance inspection, etc., in addition to the installation state.

[0079] Implementation 3

[0080] 3-1. Features of the elevator door control device according to Embodiment 3

[0081] Fig.11 3 is a functional block diagram of the door control device of the elevator in Embodiment 3. Fig.11 In the present invention, the same reference numerals are used for the same or corresponding parts as those of the door control device of Embodiment 1 or Embodiment 2, and the description thereof is omitted.

[0082] The door control device 1 of the third embodiment includes a server 30. The server 30 is configured to be able to communicate with the control devices 20 of the door control devices 1 of other elevators at a plurality of sites via a network. The server 30 includes a collection unit 31, a door speed storage unit 32, and a comparison diagnosis unit 33 as functional blocks. The collection unit 31 collects door information obtained by matching the diagnosis conditions with the current actual speed change amount accumulated value from the control devices 20 of the door control devices 1 at each site, and stores it in the door speed storage unit 32 for each site.

[0083] The comparative diagnosis unit 33 determines the site where the door 2 has an abnormality based on whether the third difference value obtained by subtracting the current actual speed change cumulative value under the same diagnostic condition of other sites from the current actual speed change cumulative value of each site, that is, the actual speed change cumulative value of other sites is greater than the third threshold value. This process is hereinafter referred to as the "third determination process". The third threshold value here is a value predetermined as a threshold for determining the abnormality of the door 2 by comparing with the actual speed change cumulative value of other sites. In the case where there is a site diagnosed with an abnormality of the door 2 in the third determination process, the comparative diagnosis unit 33 sends the diagnosis result to the door control device 1 of the target site. When the door diagnosis unit 25 of the door control device 1 of each site receives the diagnosis result of the abnormality of the door 2 from the server 30, it diagnoses that the door 2 is abnormal.

[0084] The installation state of the elevator affects whether or not there is vibration during the opening and closing of the door 2. Therefore, when compared with the actual speed change amount cumulative value calculated at other sites with the same diagnostic conditions, the influence of the installation state at each site can be compared. In this way, according to the third determination process, the change in the vibration magnitude of the door 2 caused by the installation state can be quantitatively diagnosed.

[0085] 3-2. Specific processing performed in the elevator door control device according to Embodiment 3

[0086] Next, specific processing of the abnormality diagnosis processing executed in the elevator door control device 1 according to the third embodiment will be described. Fig.12 and Fig.13 : is a flowchart showing a routine of abnormality diagnosis processing executed in the door control device 1 in the third embodiment. Fig.12 shows the routine executed in the server 30, Fig.13 The following is a routine executed by the control device 20 at each site during the diagnosis period determined by the diagnosis conditions.

[0087] First, according to Fig.12 The routine shown will be used to explain the processing performed in the server 30. Fig.12In step S300 of the routine shown, the collecting unit 31 obtains the door information obtained by matching the diagnostic conditions with the current actual speed change calculation value sent from each site. The obtained door information is stored in the door speed storage unit for each site. When the processing of step S300 is completed, the processing proceeds to step S302.

[0088] In step S302, the comparison diagnosis unit 33 performs a third determination process to determine whether there is a site where the third difference value obtained by subtracting the current actual speed change amount cumulative value of other sites under the same diagnostic conditions from the current actual speed change amount cumulative value of each site is greater than the third threshold value. Here, the third difference value is calculated for all combinations of the current actual speed change amount cumulative value of each site and the current actual speed change amount cumulative value under the same diagnostic conditions of other sites, and is compared with the third threshold value. As a result, if the determination is established, the process proceeds to step S304, and if the determination is not established, this routine ends.

[0089] In step S304, the comparison diagnosis unit 33 transmits the abnormality diagnosis result of the door 2 to the target site where the determination in step S302 is confirmed.

[0090] Next, according to Fig.13 The routine shown will now be described in detail with respect to the processing executed in the control device 20. Fig.13 In steps S310, S312 and S314 of the routine shown in FIG. Figure 6 The same processing is performed as in steps S100, S102, and S104 of the routine shown. When the processing of step S314 is completed, the processing proceeds to step S316.

[0091] In step S316, the door diagnosis unit 25 transmits door information obtained by associating the diagnosis condition with the current actual speed change amount integrated value to the server 30. When the process of step S316 is completed, the process proceeds to step S318.

[0092] In step S318, the door diagnosis unit 25 calculates the first difference between the actual speed change amount cumulative value and the speed command value change amount cumulative value, and determines whether the first difference is greater than the first threshold value. If the determination is successful, the process proceeds to step S324, and if the determination is not successful, the process proceeds to step S320.

[0093] In step S320, the door diagnosis unit 25 determines whether or not the abnormality diagnosis result of the door 2 has been received from the server 30. If the determination is positive, the process proceeds to step S324, and if the determination is negative, the process proceeds to step S322.

[0094] In step S322, door diagnosis unit 25 determines that door 2 does not vibrate beyond the permissible range and diagnoses that door 2 is normal. On the other hand, in step S324, door diagnosis unit 25 determines that door 2 vibrates beyond the permissible range and diagnoses that door 2 is abnormal.

[0095] As can be seen from the above description, according to the elevator door control device 1 of the third embodiment, in addition to the comparison between the actual speed variation cumulative value and the speed command value variation cumulative value, it is also possible to quantitatively determine the vibration magnitude when the door 2 is opened and closed by comparing the actual speed variation cumulative value with the actual speed variation cumulative value under the same diagnostic conditions at other sites. Thus, it is possible to diagnose abnormalities when the door 2 is opened and closed in the installed state.

[0096] 3-3. Modification

[0097] The door control device 1 according to the third embodiment may be modified as follows.

[0098] The functions of the server 30 may also be arranged in the control device 20 .

[0099] The third determination process executed in the door control device 1 according to the third embodiment may be executed in combination with the second determination process executed in the door control device 1 according to the second embodiment.

Claims

1. An elevator door control device, in, The door control device of the elevator has: a door motor that drives the door of the elevator in an opening and closing direction; and a control device, which controls the door motor, The control device comprises: a rotation detection unit for detecting a rotation angle of the door motor; a door speed calculation unit for calculating an actual speed of the door in the opening and closing direction according to the rotation angle; a door speed command value calculation unit that calculates a speed command value in the opening and closing direction of the door; a motor control unit that controls the door motor in such a manner that the actual speed follows the speed command value; and a door diagnosis unit for diagnosing abnormality of the door during a predetermined sampling period in the door opening action or the door closing action, The door diagnosis unit is configured to perform the following processing: A first calculation process is to obtain the actual speed in a predetermined sampling period in the sampling period from the door speed calculation unit, and calculate an actual speed change amount cumulative value obtained by accumulating absolute values ​​of changes in the actual speed between the sampling periods; a second calculation process of obtaining the speed command value in the sampling period from the door speed command value calculation unit and calculating a speed command value change amount cumulative value obtained by accumulating absolute values ​​of changes in the speed command value between the sampling periods; as well as The first determination process diagnoses that the door has an abnormality when a first difference value obtained by subtracting the speed command value change amount integrated value from the actual speed change amount integrated value is greater than a first threshold value.

2. The door control device of an elevator according to claim 1, in, The door control device of the elevator includes a storage device, which stores the actual speed change amount cumulative value under the same diagnostic conditions including the sampling period and the sampling cycle in the standard state of the elevator as a standard actual speed change amount cumulative value, The door diagnosis unit is configured to perform a second determination process during operation of the door to diagnose that the door is abnormal when a second difference obtained by subtracting the standard actual speed variation cumulative value from the actual speed variation cumulative value is greater than a second threshold value.

3. The door control device of an elevator according to claim 1 or 2, in, The door control device of the elevator also has: a collecting unit that collects the actual speed change amount integrated values ​​calculated under the same diagnostic conditions including the sampling period and the sampling cycle in other elevators installed at one or more sites different from the elevator as other site actual speed change amount integrated values; as well as The comparison diagnosis unit executes a third process of diagnosing that an abnormality exists in the door when a difference between the actual speed change amount integrated value and the other site actual speed change amount integrated value is larger than a third threshold value.

4. The door control device of an elevator according to claim 3, in, The door control device of the elevator includes a server capable of communicating with the control device via a network. The server includes the collection unit and the comparison and diagnosis unit. The comparison diagnosis unit is configured to transmit a diagnosis result to the control device when the presence of an abnormality in the door is diagnosed by the third process.

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