Elevator, door control device, and door control method for elevator

Abstract

The invention provides an elevator, a door control device and a door control method of the elevator, which can prevent the temperature of a door motor from excessively rising. The present invention is provided with a door control device for controlling the opening / closing operation (10) of a door (1). A door control device (10) is provided with: a door opening / closing control unit (13) for controlling the torque of a door motor (2); and a closed-end detection switch abnormality determination unit (12) that determines the abnormality of the closed-end detection switch (4) on the basis of a detection signal detected by the closed-end detection switch (4), a signal detected by the encoder (3), and a torque signal of the door motor (2). Furthermore, when the torque of the door motor (2) continues at the limit torque for a predetermined period of time, the closed-end detection switch abnormality determination unit (12) sets the torque of the door motor to a standby torque that is smaller than the limit torque.

Description

Technical Field

[0001] The invention relates to an elevator, a door control device and an elevator door control method. Background Art

[0002] In the past, when the elevator car stopped at the elevator lobby, the car door and the elevator lobby door were engaged, so that the two doors were linked to open and close the door. In addition, a closed end detection switch for detecting the closed end position of the door was set in the elevator car and the boarding and alighting floor. Moreover, when the door is at the closed end position and an abnormality occurs at the closed end detection switch during the stop, the torque of the door motor is increased to close the door.

[0003] As a technology for controlling the torque of the door motor, there is, for example, the content described in Patent Document 1. Patent Document 1 describes the following elevator control device: a speed command is generated by receiving a start command of the elevator, and a torque command for driving the elevator motor is calculated based on the deviation between the speed command and the actual speed. In addition, Patent Document 1 describes the following content, which includes: a unit for calculating the mean square of the torque command, a unit for judging the size of the mean square and a preset setting value, and a start frequency changing unit for changing the frequency of the start command based on the judgment result.

[0004] Prior Art Literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2000-272845 Summary of the invention

[0007] -Problems to be solved by the invention-

[0008] However, in the technology described in Patent Document 1, it takes time until an abnormality occurs at the closed end detection switch and an overload of the door motor is detected, and the temperature of the door motor rises excessively. Therefore, in the technology described in Patent Document 1, there is a problem that the opening and closing action of the door needs to be stopped in order to cool the door motor after the temperature rises, which reduces the convenience.

[0009] An object of the present invention is to provide an elevator, a door control device, and an elevator door control method that can prevent an excessive increase in the temperature of a door motor in consideration of the above-mentioned problem.

[0010] -Methods for solving the problem-

[0011] In order to solve the above problems and achieve the purpose of the present invention, the elevator is provided with: a door, which is arranged at the car or the boarding and alighting floor where the car stops; a door motor, which drives the door to open and close; a closed end detection switch, which detects the closed end position of the door; and an encoder, which detects the position of the door. In addition, the elevator is provided with: a door control device, which controls the torque of the door motor and controls the opening and closing action of the door.

[0012] The door control device comprises: a door opening and closing control unit for controlling the torque of the door motor; and a closed end detection switch abnormality determination unit for determining the abnormality of the closed end detection switch based on a detection signal detected by the closed end detection switch, a signal detected by an encoder, and a torque signal of the door motor. Furthermore, when the torque of the door motor continues to be at a limited torque for a given time, the closed end detection switch abnormality determination unit sets the torque of the door motor to a standby torque smaller than the limited torque.

[0013] In addition, the door control device is a door control device that controls the opening and closing action of the door installed in the elevator car or the boarding and alighting layer where the car stops. The door control device has: a door opening and closing control unit that controls the torque of the door motor that drives the door to open and close; and a closed end detection switch abnormality judgment unit that judges the abnormality of the closed end detection switch based on the detection signal detected by the closed end detection switch that detects the closed end position of the door, the signal detected by the encoder that detects the position of the door, and the torque signal of the door motor. Moreover, when the torque of the door motor continues at the limit torque for a given time, the closed end detection switch abnormality judgment unit sets the torque of the door motor to a standby torque that is smaller than the limit torque.

[0014] In addition, an elevator door control method controls the opening and closing action of a door provided in an elevator car or a boarding and alighting floor where the elevator car stops, and the elevator door control method includes the following processes (1) to (3):

[0015] (1) A detection signal detected by a closed end detection switch for detecting the closed end position of the door and a signal detected by an encoder for detecting the position of the door are obtained.

[0016] (2) Based on the detection signal detected by the closed end detection switch and the signal detected by the encoder, the torque of the door motor that drives the door to open and close is controlled to a limit torque.

[0017] (3) When the torque of the door motor continues to be at the limit torque for a given period of time, the torque of the door motor is set to a standby torque that is smaller than the limit torque.

[0018] -Effects of the Invention-

[0019] According to the elevator, the door control device, and the elevator door control method having the above-described structures, it is possible to prevent the temperature of the door motor from increasing excessively. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic configuration diagram showing a control system of an elevator according to an embodiment.

[0021] Figure 2 It is a timing chart showing the abnormality detection operation of the door control device according to the embodiment.

[0022] Figure 3 This is a flowchart showing an abnormality detection operation of the door control device according to the embodiment.

[0023] Figure 4 (A) is a flowchart showing the door opening and closing operation of the door control device according to the embodiment. Figure 4 (B) is a flowchart showing another example of the door opening and closing operation of the door control device.

[0024] -Explanation of symbols-

[0025] 1…door, 2…door motor, 3…encoder, 4…closed-end detection switch, 10…door control device, 11…closed-end detection switch signal input unit, 12…closed-end detection switch abnormality determination unit, 13…door opening and closing control unit, 14…door position calculation unit, 15…torque detection unit, 100…elevator control device. DETAILED DESCRIPTION

[0026] Below, refer to Figure 1 to Figure 4 (B) describes an elevator, a door control device, and an elevator door control method according to an embodiment of the present invention. In addition, in each figure, the same reference numerals are given to common components.

[0027] 1. Implementation Example

[0028] [Structure of elevator control system]

[0029] First, refer to Figure 1 The structures of the elevator and the door control device involved in the implementation example (hereinafter referred to as "this example") are described.

[0030] Figure 1 1 is a schematic diagram showing the structure of the elevator and door control system of this example.

[0031] The elevator in this example has a car that performs a lifting motion in a lifting path formed in a building structure and carries people and goods. Figure 1As shown, a door 1 for people and goods to enter and exit, and a door motor 2 for driving the door 1 to open and close are provided in the car. In addition, an encoder 3 for detecting a door motor pulse signal of the door motor 2 is provided in the door motor 2. Furthermore, a closed end detection switch 4 is provided in the car. When the door 1 moves to the closed end position, the door 1 is detected by the closed end detection switch 4. Moreover, the closed end detection switch 4 inputs the detection signal to the closed end detection switch signal input unit 11 described later.

[0032] Furthermore, the elevator includes an elevator control device 100 and a door control device 10. The elevator control device 100 and the door control device 10 are connected to transmit and receive signals by wire or wirelessly. The elevator control device 100 controls the lifting and lowering movement of the car or outputs a door opening and closing command to the door control device 10.

[0033] The door control device 10 includes a closed end detection switch signal input unit 11 , a closed end detection switch abnormality determination unit 12 , a door opening and closing control unit 13 , a door position calculation unit 14 , and a torque detection unit 15 .

[0034] The closed end detection switch signal input unit 11 is connected to the closed end detection switch 4. And the closed end detection switch signal input unit 11 is input with the closed end position detection signal of the door 1 detected by the closed end detection switch 4. In addition, the closed end detection switch signal input unit 11 is connected to the closed end detection switch abnormality determination unit 12. And the closed end detection switch signal input unit 11 outputs the detection signal input from the closed end detection switch 4 to the closed end detection switch abnormality determination unit 12.

[0035] The door position calculation unit 14 is connected to the encoder 3 and obtains the door motor pulse signal detected by the encoder 3. Moreover, the door position calculation unit 14 calculates the position of the door 1 based on the door motor pulse signal. In addition, the door position calculation unit 14 is connected to the closed end detection switch abnormality determination unit 12. Moreover, the door position calculation unit 14 outputs the calculated position information of the door 1 and the door motor pulse signal detected by the encoder 3 to the closed end detection switch abnormality determination unit 12.

[0036] The torque detector 15 is connected to the door motor 2 to detect the torque of the door motor 2. The torque detector 15 is also connected to the closed end detection switch abnormality determination unit 12. The torque detector 15 outputs the detected torque information of the door motor 2 to the closed end detection switch abnormality determination unit 12.

[0037] The closed end detection switch abnormality determination unit 12 determines whether an abnormality has occurred at the closed end detection switch 4 based on the detection signal input from the closed end detection switch 4, the door motor pulse signal detected by the encoder 3, and the torque information input from the torque detection unit 15. In addition, the closed end detection switch abnormality determination unit 12 is connected to the door opening and closing control unit 13 and the elevator control device 100. When an abnormality of the closed end detection switch 4 is detected, the closed end detection switch abnormality determination unit 12 outputs an abnormality detection signal to the elevator control device 100. In addition, when an abnormality of the closed end detection switch 4 is detected, the closed end detection switch abnormality determination unit 12 outputs a standby command or a torque limit command to the door opening and closing control unit 13.

[0038] The door opening and closing control unit 13 is connected to the elevator control device 100 and the door motor 2. When receiving the door opening and closing command from the elevator control device 100, the door opening and closing control unit 13 controls the door motor 2 to perform the opening and closing action of the door 1. In addition, the door opening and closing control unit 13 controls the driving torque of the door motor 2 based on the standby command or the limited torque command input from the closed end detection switch abnormality determination unit 12.

[0039] In addition, the door opening and closing control unit 13 is connected to the closed end detection switch signal input unit 11, the door position calculation unit 14, and the torque detection unit 15. Moreover, the door opening and closing control unit 13 controls the door motor 2 based on the signals from the closed end detection switch signal input unit 11, the door position calculation unit 14, and the torque detection unit 15 to perform the opening and closing action of the door 1.

[0040] Furthermore, in normal times, while the closed end detection switch 4 is in the on state, in order to hold the door 1 at the closed end position, the door opening and closing control unit 13 controls the door motor 2 so that the torque of the door motor 2 becomes the door holding torque.

[0041] 2. Action Examples

[0042] 2-1. Abnormal detection action

[0043] Next, refer to Figure 2 as well as Figure 3 The abnormality detection operation in the elevator and door control device 10 having the above-mentioned configuration will be described.

[0044] Figure 2 is a timing chart showing the abnormality detection operation. Figure 3 is a flowchart showing the abnormality detection operation. Figure 2 The solid line at "Motor Temperature" indicates the temperature of the door motor 2 based on the door opening and closing control using the door control device 10 of this example, and the dotted line indicates the temperature of the door motor 2 based on the control of the conventional technology.

[0045] like Figure 3As shown, the closed end detection switch abnormality determination unit 12 determines whether the detection signal of the closed end detection switch 4 inputted via the closed end detection switch signal input unit 11 is off (step S11). In the process of step S11, when the detection signal of the closed end detection switch 4 is on (no determination of step S11), when the door 1 is closed and no abnormality occurs at the closed end detection switch 4, the closed end detection switch abnormality determination unit 12 makes a determination and the process ends.

[0046] On the other hand, in the process of step S11, when the detection signal of the closed end detection switch 4 is disconnected (the "yes" determination of step S11), the closed end detection switch abnormality determination unit 12 determines whether there is no change in the door motor pulse signal detected by the encoder 3 (step S12). In the process of step S12, when it is determined that there is a change in the door motor pulse signal (the "no" determination of step S12), when no abnormality occurs at the closed end detection switch 4 during the opening and closing operation of the door 1, the closed end detection switch abnormality determination unit 12 makes a determination and the process ends.

[0047] In the process of step S12, if Figure 2 As shown, when it is determined that there is no change in the door motor pulse signal (the "yes" determination in step S12), the closed end detection switch abnormality determination unit 12 temporarily detects the abnormality of the closed end detection switch 4. Furthermore, the closed end detection switch abnormality determination unit 12 sets the "temporary detection signal" indicating the temporary detection of the abnormality to ON (step S13).

[0048] Next, the closed end detection switch abnormality determination unit 12 outputs a limiting torque instruction to the door opening and closing control unit 13. Moreover, the door opening and closing control unit 13 controls the door motor 2 based on the torque information detected by the torque detection unit 15 so that the torque of the door motor 2 becomes the limiting torque. Here, the limiting torque is set to a value greater than the door holding torque. Therefore, the torque of the door motor 2 rises to the limiting torque.

[0049] Furthermore, the closed end detection switch abnormality determination unit 12 obtains the torque information detected by the torque detection unit 15, and determines whether the torque of the door motor 2 continues in the limited torque state for a given time (seconds) (step S14). In the processing of step S14, for example, when the door 1 moves and the torque of the door motor 2 decreases, and the door motor 2 does not continue in the limited torque state for a given time (no determination in step S14), the closed end detection switch abnormality determination unit 12 transfers to the processing of step S15.

[0050] In the process of step S15, the closed end detection switch abnormality determination unit 12 determines whether the detection signal of the closed end detection switch 4 is on (step S15). In the process of step S15, if the detection signal of the closed end detection switch 4 is on (the determination of yes in step S15), it is determined that the door 1 has moved and is completely closed. In addition, the closed end detection switch abnormality determination unit 12 returns the "temporary detection signal" indicating the temporary detection of abnormality to OFF (step S17), and ends the process.

[0051] Furthermore, in the process of step S15 , when the detection signal of the closed end detection switch 4 is OFF (No determination in step S15 ), the closed end detection switch abnormality determination unit 12 returns to the process of step S14 .

[0052] On the other hand, in the process of step S14, when the door motor 2 continues to be in the torque-limited state for a given time (the judgment of step S14), the closed-end detection switch abnormality judgment unit 12 judges that an abnormality has occurred in the closed-end detection switch 4. Furthermore, the closed-end detection switch abnormality judgment unit 12 sets the "formal detection signal" indicating the formal detection of the abnormality to ON (step S16). Thus, according to the control method using the door control device 10 of this example, it is possible to Figure 2 The conventional technology described above detects the abnormality of the closed end detection switch 4 more early. Furthermore, by detecting the abnormality of the closed end detection switch 4 in advance, the torque of the door motor 2 can be reduced in advance, and the temperature of the door motor 2 can be prevented from increasing excessively.

[0053] Next, the closed-end detection switch abnormality determination unit 12 outputs a standby instruction to the door opening and closing control unit 13. Moreover, the door opening and closing control unit 13 controls (limits) the door motor 2 based on the torque information detected by the torque detection unit 15 so that the torque of the door motor 2 becomes the standby torque (step S18). Here, the standby torque is set to a value that is smaller than the limiting torque and is the same as or larger than the door holding torque. In addition, the standby torque and the door holding torque can also be "0". In addition, the standby torque is set to a torque that will not generate abnormalities at the door motor 2 due to temperature rise.

[0054] Furthermore, the closed end detection switch abnormality determination unit 12 transmits an abnormality detection signal to the control panel of the elevator as the elevator control device 100 (step S19). Thus, the abnormality detection operation of the closed end detection switch 4 by the door control device 10 is completed. When the abnormality detection signal is transmitted to the elevator control device 100, the elevator control device 100 issues an alarm to an external maintenance management center, etc., and urges the maintenance personnel to inspect the door 1.

[0055] Here, if Figure 2As shown, according to the previous control method, the temperature of the door motor 2 rises excessively. Therefore, in order to cool the door motor 2, it is necessary to stop the opening and closing action of the door 1. In contrast, according to the abnormal detection action of this example, before the temperature of the door motor 2 rises excessively, the torque is reduced from the limiting torque to the standby torque. In this way, it is possible to prevent the door motor 2 from being damaged due to the temperature rise.

[0056] 2-2. Opening and closing action

[0057] Next, refer to Figure 4 (A) and Figure 4 (B) will be used to explain the opening and closing operation of the door 1 after the abnormality of the closed end detection switch 4 is detected.

[0058] Figure 4 (A) is a flow chart showing the door opening and closing operation.

[0059] like Figure 4 As shown in (A), the closed-end detection switch abnormality determination unit 12 or the door opening and closing control unit 13 determines whether a "formal detection signal" indicating a formal detection of an abnormality is detected (step S31). In the process of step S31, if it is determined that the "formal detection signal" is not detected (no determination of step S31), the door 1 is opened and closed by a normal door opening and closing action. On the other hand, in the process of step S31, if it is determined that the "formal detection signal" is detected (yes determination of step S31), the process is transferred to the process of step S32.

[0060] In the process of step S32, the door opening and closing control unit 13 determines whether a door opening and closing command is output from the elevator control device 100 (step S32). In the process of step S32, if it is determined that the door opening and closing command is not output (no determination of step S32), the process is transferred to the process of step S35 described later.

[0061] In the process of step S32, when it is determined that the door opening and closing command is output (the determination of step S32 is yes), the door opening and closing control unit 13 determines whether the door opening and closing command is a door opening command (step S33). In the process of step S33, when it is determined that it is a door opening command (the determination of step S33 is yes), the door opening and closing control unit 13 controls the door motor 2 to open the door 1 (step S34).

[0062] In the process of step S33, when it is determined that it is not a door opening instruction but a door closing instruction (no judgment of step S33), the process is transferred to step S35. In the process of step S35, the door opening and closing control unit 13 sets the torque of the door motor 2 to the standby torque. Here, when the standby torque is a value greater than "0" and is a torque capable of moving the door 1, the closing action of the door 1 can be performed. Thus, the opening and closing action of the door 1 after the abnormality detection of the closing end detection switch 4 is completed.

[0063] According to the control method of the door control device 10 of this embodiment, since time for cooling the door motor 2 is not required, Figure 4 As shown in (A), even after the abnormality of the closed end detection switch 4 is detected, the door 1 can be opened and closed. This can prevent passengers from being trapped in the car until the maintenance personnel arrive and the door motor 2 is cooled. As a result, the convenience of the elevator can be improved.

[0064] Figure 4 (B) is a flowchart showing another example of the door opening and closing operation.

[0065] Figure 4 The process shown in (B) is shown Figure 4 FIG. 1 is a diagram of the process of step S35 shown in (A), that is, the closing operation process of door 1.

[0066] like Figure 4 As shown in (B), when the door closing command is output from the elevator control device 100, the door opening and closing control unit 13 controls the door motor 2 and performs the closing action of the door 1 (step S45). Next, the door opening and closing control unit 13 detects the closed end position of the door 1 based on the door motor pulse signal detected by the encoder 3 and the torque signal of the door motor 2 detected by the torque detection unit 15 (step S46). For example, when the door opening and closing control unit 13 determines that the torque of the door motor 2 has reached the limit torque and there is no change in the door motor pulse signal, it determines that the door 1 has moved to the closed end position.

[0067] Then, the door opening and closing control unit 13 sets the torque of the door motor 2 to the standby torque and puts the door 1 and the door motor 2 on standby (step S47). Thus, the closing operation of the door 1 after the abnormality of the closed end detection switch 4 is detected is completed.

[0068] In addition, since an abnormality occurs at the closed end detection switch 4, when the Figure 4 (A) and Figure 4 When the door 1 of (B) is opened and closed, the opening position and closing position of the door 1 may deviate from the given position. Figure 4 (A) and Figure 4 The opening and closing operation of the door 1 shown in (B) is preferably limited to a given number of times.

[0069] In addition, the present invention is not limited to the embodiments described above and shown in the drawings, and various modifications can be made without departing from the gist of the invention described in the claims.

[0070] Furthermore, in the above-mentioned embodiment, the opening and closing operation of the door provided in the car is described, but the present invention is not limited thereto and may also be applied to the opening and closing operation of the hall door provided in the boarding and alighting floor where the car stops in the building structure.

[0071] In addition, the above-mentioned structural elements, functions, processing units, etc. may also be partially or completely implemented by hardware, for example, by designing integrated circuits. In addition, the above-mentioned structural elements, functions, etc. may also be implemented by software by interpreting and executing a program for a processor to implement each function. Information such as programs, tables, and files that implement each function can be placed in a recording device such as a memory, a hard disk, or an SSD (Solid State Drive), or a recording medium such as an IC card, an SD card, or a DVD.

Claims

1. An elevator having: A door is provided at the car or at the boarding and alighting floor where the car stops; A door motor for driving the door to open and close; A closed end detection switch for detecting the closed end position of the door; an encoder to detect the position of the door; and A door control device controls the torque of the door motor and controls the opening and closing action of the door. The door control device comprises: a door opening and closing control unit that controls the torque of the door motor; and a closed end detection switch abnormality determination unit that determines an abnormality of the closed end detection switch based on a detection signal detected by the closed end detection switch, a signal detected by the encoder, and a torque signal of the door motor; When the torque of the door motor continues to be at the limit torque for a predetermined time, the closed end detection switch abnormality determination unit sets the torque of the door motor to a standby torque smaller than the limit torque.

2. The elevator according to claim 1, wherein: The closed end detection switch abnormality determination unit temporarily detects an abnormality of the closed end detection switch based on a detection signal detected by the closed end detection switch and a signal detected by the encoder. When the closed end detection switch abnormality determination unit temporarily detects an abnormality of the closed end detection switch, the door opening and closing control unit controls the torque of the door motor to a limit torque, When the torque of the door motor continues to be at the limit torque for a given time, the closed end detection switch abnormality determination unit formally detects abnormality of the closed end detection switch and sets the torque of the door motor to the standby torque.

3. The elevator according to claim 2, wherein: After the closed end detection switch abnormality determination unit formally detects an abnormality of the closed end detection switch and sets the torque of the door motor to the standby torque, the door opening and closing control unit controls the door to be openable and closable.

4. The elevator according to claim 3, wherein: When the door opening and closing control unit receives a door closing command after the closed end detection switch abnormality determination unit formally detects the abnormality of the closed end detection switch, it controls the door motor based on the signal detected by the encoder and the torque signal of the door motor to perform the door closing action.

5. The elevator according to claim 1, wherein: The standby torque is set to be the same as the door holding torque for holding the door at the closed end position, or to be 0.

6. A door control device for controlling the opening and closing of a door provided on a car of an elevator or a boarding and alighting floor where the car stops, the door control device comprising: a door opening and closing control unit that controls the torque of a door motor that drives the door to open and close; and The closed end detection switch abnormality determination unit determines the abnormality of the closed end detection switch based on a detection signal detected by the closed end detection switch for detecting the closed end position of the door, a signal detected by an encoder for detecting the position of the door, and a torque signal of the door motor. When the torque of the door motor continues to be at the limit torque for a predetermined time, the closed end detection switch abnormality determination unit sets the torque of the door motor to a standby torque smaller than the limit torque.

7. An elevator door control method for controlling the opening and closing actions of a door provided on an elevator car or a boarding and alighting floor where the elevator car stops, the elevator door control method comprising the following processing: Obtaining a detection signal detected by a closed-end detection switch for detecting the closed-end position of the door and a signal detected by an encoder for detecting the position of the door; Based on the detection signal detected by the closed end detection switch and the signal detected by the encoder, the torque of the door motor that drives the door to open and close is controlled to a limit torque; and When the torque of the door motor continues to be at the limit torque for a given time, the torque of the door motor is set to a standby torque smaller than the limit torque.

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