Elevator device

Abstract

An elevator device is provided with a door (11), a switch (21), a measuring device (22), a measuring device (27), and a determination unit (34). The measuring device (22) irradiates laser light from above along the end surface of the door (11) disposed at the first position. The measuring device (27) irradiates laser light from below along the end surface of the door (11) disposed at the first position. When the switch (21) detects that the door (11) has reached the first position, the determination unit (34) determines whether or not there is a foreign matter sandwiched by the door (11) on the basis of the distance measured by the measuring instrument (22) and the distance measured by the measuring instrument (27).

Description

Technical Field

[0001] The present invention relates to an elevator device. Background Art

[0002] Patent document 1 discloses an elevator device. The elevator device disclosed in patent document 1 has a safety device. The safety device has a light emitter and a light receiver. For example, the light emitter is provided on the sill of the car. The light receiver is provided on the door hanger of the car. The light receiver receives light emitted from the light emitter.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2014-40292 Summary of the invention

[0006] Problems to be solved by the invention

[0007] In the elevator device described in Patent Document 1, when the rope is caught by the door, the light from the light emitter is blocked by the rope. As a result, the light receiver can no longer receive the light from the light emitter, thereby detecting that the rope is caught by the door. However, in the elevator device described in Patent Document 1, the light receiver must be accurately installed according to the position of the light from the light emitter. Therefore, there is a problem that the adjustment of the light emitter and the light receiver takes time.

[0008] The present invention has been made to solve the above-mentioned problems. An object of the present invention is to provide an elevator device that can detect a foreign object caught by a door and can easily perform adjustments for the detection.

[0009] Means for solving problems

[0010] The elevator device of the present invention comprises: a door of a car; a first detection device, which detects that the door moving in a closing direction has reached a first position; a first measuring device, which irradiates a laser from above in a manner along the end face of the door arranged in the first position, and measures the distance to an object irradiated by the laser; a second measuring device, which irradiates a laser from below in a manner along the end face of the door arranged in the first position, and measures the distance to the object irradiated by the laser; and a determination unit, which determines whether there is a foreign object clamped by the door based on the distance measured by the first measuring device and the distance measured by the second measuring device when the first detection device detects that the door has reached the first position.

[0011] The elevator device of the present invention comprises: a door of a car; a first detection device, which detects that the door moving in a closing direction has reached a first position; a first measuring device, which irradiates a laser along the end surface of the door arranged at the first position and measures the distance to the object irradiated by the laser; and a determination unit, which determines whether there is a foreign object clamped by the door based on the distance measured by the first measuring device when the first detection device detects that the door has reached the first position.

[0012] Effects of the Invention

[0013] According to the elevator apparatus of the present invention, a foreign object caught by a door can be detected, and adjustments for the detection can be easily performed. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a diagram showing an example of the elevator apparatus in the first embodiment.

[0015] Figure 2 This is a diagram showing the front portion of the car as viewed from the landing side.

[0016] Figure 3 is from Figure 2 The figure shows the front part of the car as viewed from direction A.

[0017] Figure 4 This is a diagram for explaining the function of the elevator device.

[0018] Figure 5 This is a flowchart showing an example of the operation of the elevator apparatus in the first embodiment.

[0019] Figure 6 It is a diagram showing another example of the elevator apparatus.

[0020] Figure 7 It is a diagram showing another example of the elevator apparatus.

[0021] Figure 8 It is a diagram showing another example of the elevator apparatus.

[0022] Fig. 9 This is a diagram showing an example of hardware resources of a control device.

[0023] Fig.10 This is a diagram showing another example of the hardware resources of the control device. DETAILED DESCRIPTION

[0024] The following is a detailed description with reference to the accompanying drawings. The repeated description is appropriately simplified or omitted. In each figure, the same reference numeral represents the same part or a corresponding part.

[0025] Implementation Method 1

[0026] Figure 1 This is a diagram showing an example of the elevator apparatus in the first embodiment. Figure 1 The elevator device shown has a car 1 and a counterweight 2. The car 1 moves up and down in a hoistway 3. The car 1 and the counterweight 2 are suspended from the hoistway 3 by ropes 4. The counterweight 2 moves up and down in the hoistway 3 in a direction opposite to the direction in which the car 1 moves. Figure 1 An elevator device of a 1:1 winding system is shown as an example.

[0027] The rope 4 is wound around the hoisting machine 5. The hoisting machine 5 drives the car 1. The control device 6 controls the hoisting machine 5. That is, the movement of the car 1 is controlled by the control device 6. In addition, the control device 6 controls the equipment included in the car 1. Figure 1 The example in which the hoisting machine 5 and the control device 6 are installed in the machine room 7 above the hoistway 3 is shown. The hoisting machine 5 and the control device 6 may also be installed in the hoistway 3. The hoisting machine 5 may be installed at the top of the hoistway 3 or in the pit of the hoistway 3.

[0028] Figure 1 The state in which the car 1 stops at a certain landing 8 is shown. Figure 2 This is a diagram showing the front portion of the car 1 as viewed from the landing 8 side. Figure 3 is from Figure 2 The front part of the car 1 is viewed from the direction A shown in FIG. Figure 4 This is a diagram for explaining the function of the elevator device.

[0029] The car 1 has a door 11. The door 11 has a door panel 12, a hanger 13, a roller 14, and a cam 15. The car 1 also has a hanger housing 16, a rail 17, a sill 18, a column 19, a motor 20, a switch 21, and a measuring device 22.

[0030] The door panel 12 opens and closes the entrance and exit formed in the car 1. Hereinafter, the entrance and exit formed in the car 1 will also be referred to as the car entrance and exit. The hanger 13 is provided on the upper part of the door panel 12 in a manner extending upward from the door panel 12. The roller 14 is provided on the hanger 13 in a rotatable manner. The cam 15 is provided on the upper part of the hanger 13 in a manner protruding upward from the hanger 13.

[0031] The hanger housing 16 is provided in a member forming the car chamber. The hanger housing 16 is disposed above the car entrance. The hanger housing 16 is an example of a support device that supports the door 11 and the like. The door 11, the rail 17, the switch 21, and the measuring device 22 are supported by the hanger housing 16.

[0032] The rail 17 is provided on the hanger housing 16. The rail 17 is horizontally arranged above the entrance and exit of the car. The roller 14 is placed on the upper surface of the rail 17. Thus, the door 11 is suspended from the rail 17. The roller 14 rolls on the upper surface of the rail 17, thereby guiding the movement of the door 11. The sill 18 is horizontally arranged below the door 11. The sill 18 guides the movement of the lower end of the door 11.

[0033] Figure 2 and Figure 3 An example is shown in which the car 1 has two doors 11. Figure 2 and Figure 3 In the example shown, the two doors 11 move in the same direction when opening and closing. Figure 2 In the example shown, the door 11 is opened by moving to the left, and is closed by moving to the right. Hereinafter, the direction in which the door 11 is opened is also referred to as the opening direction. The direction in which the door 11 is closed is also referred to as the closing direction.

[0034] exist Figure 2 In the example shown, the right door 11 is also called a high-speed door, and the left door 11 is also called a low-speed door. The end face 11a of the right door 11 is the end face that faces the travel direction when the door 11 moves in the closing direction and is arranged at the beginning of the door panel 12. The end face 11a is opposite to the column 19. The column 19 is one of the components that form the entrance and exit of the car. When the user gets on and off the car 1, he passes between the end face 11a and the column 19.

[0035] The motor 20 generates a driving force for opening and closing the door 11 .

[0036] The switch 21 is provided on the hanger housing 16. The switch 21 is switched on and off by the cam 15. For example, if the distance between the end face 11a and the column 19 is less than the distance L1, the switch 21 is turned on. If the distance between the end face 11a and the column 19 is greater than the distance L1, the switch 21 is turned off. The distance L1 is preset. As an example, the distance L1 is 9 mm. Hereinafter, the position of the door 11 at which the distance between the end face 11a and the column 19 is the distance L1 is also referred to as the first position.

[0037] The switch 21 is an example of a detection device for detecting that the door 11 moving in the closing direction has reached the first position. That is, when the door 11 moving in the closing direction reaches the first position, the switch 21 is switched from off to on. The signal from the switch 21 is input to the control device 6. In the control device 6, the on signal from the switch 21 is used as a signal indicating that the door 11 is completely closed.

[0038] The measuring device 22 is a distance sensor that irradiates laser light and measures the distance to an object irradiated with the laser light. Figure 2 and Figure 3The example in which the measuring device 22 is installed in the hanger case 16 via the mounting fixture 23 is shown. The measuring device 22 irradiates a laser beam from above so as to follow the end surface 11a of the door 11 arranged at the first position.

[0039] The measuring device 22 is preferably arranged so that the laser light passes between the end surface 11a of the door 11 arranged at the first position and the column 19 when viewed from the landing 8 side. Figure 2 and Figure 3 In FIG. 1 , the laser beam emitted from the measuring device 22 is indicated by a dotted arrow B. Figure 2 and Figure 3 In the example shown, the laser light irradiated from the measuring device 22 passes vertically downward through a position closer to the landing 8 than the door 11, and irradiates the sill 18 from above. Therefore, if there is no foreign matter between the measuring device 22 and the sill 18, the distance to the sill 18 is measured by the measuring device 22. The laser light irradiated from the measuring device 22 may also pass through a space formed between the end surface 11a of the door 11 disposed at the first position and the pillar 19. The result measured by the measuring device 22 is input to the control device 6.

[0040] The control device 6 includes a door control unit 31, a device control unit 32, a movement control unit 33, and a determination unit 34. The door control unit 31 controls the motor 20. The device control unit 32 controls the devices included in the car 1. For example, the measuring device 22 is controlled by the device control unit 32. The movement control unit 33 controls the hoisting machine 5.

[0041] Next, refer to Figure 5 The operation of the elevator device will be described. Figure 5 This is a flowchart showing an example of the operation of the elevator apparatus in the first embodiment. Figure 5 The operation flow when the stopped car 1 departs from the landing 8 is shown.

[0042] In the control device 6, it is determined whether the closing action of the door 11 is being performed (S101). For example, when the closing button of the operating panel (not shown) of the car 1 is pressed, the door control unit 31 controls the motor 20 to move the door 11 in the closing direction. Therefore, it is determined as "yes" in S101. If it is determined as "yes" in S101, the equipment control unit 32 causes the measuring device 22 to irradiate the laser (S102).

[0043] When the closing action of the door 11 starts in S101, the control device 6 determines whether the door 11 has reached the first position (S103). As described above, when the door 11 moving in the closing direction reaches the first position, the switch 21 is switched from off to on. By inputting an on signal from the switch 21 to the control device 6, it is determined as "yes" in S103.

[0044] If it is determined as "yes" in S103, the distance is measured by the measuring device 22 (S104). The information of the distance measured by the measuring device 22 is input to the control device 6. If it is determined as "yes" in S103, the determination unit 34 determines whether there is a foreign object caught by the door 11 (S105). The determination unit 34 makes the determination in S105 based on the distance measured by the measuring device 22.

[0045] As an example, when the distance measured by the measuring device 22 when the door 11 moving in the closing direction reaches the first position is less than the threshold value Lth1, the determination unit 34 determines that there is a foreign object clamped by the door 11. The threshold value Lth1 is preset. For example, if the distance measured by the measuring device 22 when there is no foreign object is the distance L0 [mm], it is set to Lth1 [mm] = L0-5. The value of the threshold value Lth1 is not limited to the above example. In addition, in order to accurately determine whether there is a foreign object clamped by the door 11, the measurement accuracy of the measuring device 22 is preferably about ±1 mm. It is further preferred that the measurement accuracy of the measuring device 22 is within ±1 mm.

[0046] For example, when the rope connected to the pet is caught by the door 11, the laser from the measuring device 22 is irradiated to the rope. In this case, the measuring device 22 measures the distance of the rope caught by the door 11. If the distance is less than the threshold value Lth1, the determination unit 34 determines that there is a foreign object caught by the door 11 ("Yes" in S105). When the determination unit 34 determines that there is a foreign object caught by the door 11, the door control unit 31 reverses the door 11 (S106). That is, the door control unit 31 moves the door 11 in the opening direction in S106.

[0047] On the other hand, if the determination unit 34 does not determine that there is a foreign object caught by the door 11 ("No" in S105), the control device 6 determines whether the start condition is satisfied (S107). The start condition is a condition for the car 1 to start moving after the door 11 is opened. The start condition is set in advance. When the start condition is satisfied ("Yes" in S107), the movement control unit 33 controls the traction machine 5 to start the movement of the car 1 (S108).

[0048] According to the example shown in this embodiment, even if a rope connected to a pet is caught by the door 11, the rope can be detected as a foreign object. In addition, in the example shown in this embodiment, a measuring device 22 is used to detect foreign objects. The measuring device 22 irradiates laser light and measures the distance to the object irradiated with the laser light. The measuring device 22 can be installed so as to irradiate laser light along the end surface 11a of the door 11 arranged at the first position, and adjustment for foreign object detection can be easily performed.

[0049] The following describes other functions that can be used by the elevator device. If possible, the elevator device can also combine and use multiple functions shown below.

[0050] exist Figure 5 In the example shown, when a "yes" determination is made in S101, laser light is irradiated from the measuring device 22. As another example, the irradiation of laser light from the measuring device 22 may be performed when a "yes" determination is made in S103.

[0051] exist Figure 2 and Figure 3 In the example shown, the laser beam is irradiated vertically downward from the measuring device 22. As another example, the laser beam may be irradiated vertically upward from the measuring device 22. Figure 6 It is a diagram showing another example of the elevator apparatus. Figure 6 is equivalent to Figure 2 .

[0052] exist Figure 6 In the example shown, the measuring device 22 is installed on the sill 18. For example, the measuring device 22 is installed on the downward surface of the sill 18, and irradiates the laser from the bottom of the sill 18 toward the vertical upper direction. Figure 6 In the example shown, the laser beam is irradiated from the measuring device 22 along the end surface 11a of the door 11 disposed at the first position. In this case, the laser beam irradiated from the measuring device 22 may pass through the through hole 18a formed in the sill 18.

[0053] exist Figure 2 and Figure 3 In the example shown, the two doors 11 move in the same direction when opening and closing. As another example, the car 1 may include a plurality of doors 11 that move in opposite directions when opening and closing. Figure 7 FIG. 2 is a diagram showing another example of an elevator device. Figure 7 In the example shown, the car 1 has two doors 11 of a so-called center-opening type. Figure 7 The door 11 on the right side shown is opened by moving to the right side and closed by moving to the left side. The door 11 on the left side is opened by moving to the left side and closed by moving to the right side. Figure 7 In the example shown, the end surface 11a of the right door 11 faces the end surface 11a of the left door 11. When a user gets on or off the car 1, he or she passes between the end surface 11a of the right door 11 and the end surface 11a of the left door 11.

[0054] exist Figure 7In the example shown, the door 11 also has a door stop 24. In addition, a limiting member 25 for limiting the movement of the door 11 in the closing direction is provided in the hanger housing 16. That is, the movement of the door 11 in the closing direction is limited to a position where the door stop 24 contacts the limiting member 25. The limiting member 25 is functionally configured to be located in the middle of the right door 11 and the left door 11. Figure 7 In the example shown, the measuring device 22 is provided on the limiting member 25. The measuring device 22 irradiates the laser beam vertically downward.

[0055] exist Figure 7 In the example shown, the measuring device 22 may also be Figure 6 As in the example shown, it is arranged on the sill 18.

[0056] As other examples, Figure 4 As shown, the elevator device may also include a detection device 26. The detection device 26 detects that the door 11 moving in the closing direction has reached the second position. The second position is a position of the door 11 at which the distance between the end surface 11a and the column 19 is a distance L2. The distance L2 is preset. As an example, the distance L2 is 5 mm. That is, the door 11 moving in the closing direction reaches the second position after reaching the first position. In addition, the car 1 may also have a door 11 in a central opening manner.

[0057] When the car 1 has a detection device 26, the detection device 26 detects that the door 11 moving in the closing direction has reached the second position. According to this example, it is possible to determine whether there is a foreign object caught by the door 11 before the start condition is established, that is, before the car 1 starts to move.

[0058] Figure 8 FIG. 2 is a diagram showing another example of an elevator device. Figure 8 In the example shown, the car 1 further includes a measuring device 27. The measuring device 22 is Figure 2 and Figure 3 In the example shown, laser light is irradiated in the same manner and the distance to the object irradiated by the laser light is measured. Figure 8 In the example shown, the measuring device 22 is installed on the hanger case 16 via the mounting fixture 23. The measuring device 22 irradiates the laser beam vertically downward from above so as to follow the end surface 11a of the door 11 arranged at the first position.

[0059] The measuring device 27 is a distance sensor that irradiates laser light and measures the distance to the object irradiated with the laser light, similarly to the measuring device 22. Figure 8 In the illustrated example, the measuring device 27 is installed on the sill 18. The measuring device 27 irradiates the laser beam from below so as to follow the end surface 11a of the door 11 disposed at the first position.

[0060] The measuring device 27 is preferably arranged similarly to the measuring device 22 so that the laser light passes between the end surface 11a of the door 11 arranged at the first position and the column 19 when viewed from the landing 8 side. Figure 8 In FIG. 1 , the laser beam irradiated from the measuring device 27 is indicated by a dotted arrow C.

[0061] Figure 8 The example in which the laser beam is irradiated vertically upward from the measuring device 27 and passes through the through hole 18a formed in the sill 18 is shown. The laser beam irradiated from the measuring device 27 may pass vertically upward on the landing 8 side of the door 11. The laser beam irradiated from the measuring device 27 may pass through the space formed between the end surface 11a of the door 11 arranged at the first position and the pillar 19. The result measured by the measuring device 27 is input to the control device 6.

[0062] exist Figure 8 In the example shown, when the stopped car 1 departs from the landing 8, Figure 5 In S102, the device control unit 32 causes both the measuring device 22 and the measuring device 27 to emit laser light. In S104, the measuring device 22 measures the distance, and the measuring device 27 measures the distance.

[0063] If it is determined as YES in S103 , the determination unit 34 determines whether there is a foreign object caught by the door 11 ( S105 ). The determination unit 34 makes the determination in S105 based on the distance measured by the measuring device 22 and the distance measured by the measuring device 27 .

[0064] As an example, the determination unit 34 calculates the sum of the distance measured by the measuring device 22 and the distance measured by the measuring device 27 when the door 11 moving in the closing direction reaches the first position. When the calculated sum is greater than the threshold value Lth2 and less than the threshold value Lth3, the determination unit 34 determines that there is a foreign object caught by the door 11.

[0065] For example, when the distance between the measuring device 22 and the measuring device 27 is α [mm], the threshold value Lth2 and the threshold value Lth3 are set as follows.

[0066] Threshold Lth2 = α - β

[0067] Threshold Lth3 = α - γ

[0068] Here, β is the maximum value [mm] of the object detected as a foreign object. γ is the minimum value [mm] of the object detected as a foreign object. The threshold value Lth3 is a value larger than the threshold value Lth2.

[0069] As an example, consider the case where the distance α from the measuring device 22 to the measuring device 27 is 2000 mm. When an object of 5 mm to 10 mm is detected as a foreign matter, since β=10 mm, the threshold value Lth2=2000-10=1990 mm. Similarly, since γ=5 mm, the threshold value Lth3=2000-5=1995 mm. When the sum Lsum of the distance measured by the measuring device 22 and the distance measured by the measuring device 27 satisfies the following formula, the determination unit 34 determines that there is a foreign matter caught by the door 11. If the sum Lsum does not satisfy the following formula, the determination unit 34 determines that there is no foreign matter caught by the door 11.

[0070] 1990mm<Lsum<1995mm

[0071] In this example, the size of the object detected as a foreign body can be preset. When an object such as a rope or cord connected to a pet is detected as a foreign body, it is preferably set to a value obtained by subtracting the threshold value Lth2 from the threshold value Lth3 to be less than 10 mm.

[0072] Fig. 9 2 is a diagram showing an example of hardware resources of the control device 6. The control device 6 includes a processing circuit 40 including a processor 41 and a memory 42 as hardware resources. The processing circuit 40 may include a plurality of processors 41. The processing circuit 40 may include a plurality of memories 42.

[0073] In this embodiment, the parts shown by reference numerals 31 to 34 represent the functions of the control device 6. The functions of the parts shown by reference numerals 31 to 34 can be realized by software, firmware, or a combination of software and firmware described as a program. The program is stored in the memory 42. The control device 6 realizes the functions of the parts shown by reference numerals 31 to 34 by executing the program stored in the memory 42 by the processor 41 (computer). As the memory 42, a semiconductor memory or the like can be used.

[0074] Fig.10 FIG. 6 is a diagram showing another example of hardware resources of the control device 6. Fig.10 In the example shown, the control device 6 has a processing circuit 40 including a processor 41 , a memory 42 and dedicated hardware 43 . Fig.10 The example in which a part of the functions of the control device 6 is implemented by the dedicated hardware 43 is shown. All the functions of the control device 6 may be implemented by the dedicated hardware 43. As the dedicated hardware 43, a single circuit, a complex circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof can be used.

[0075] Industrial Applicability

[0076] The elevator apparatus of the present invention is not dependent on the opening and closing method of the door, and can be applied to various elevator apparatuses.

[0077] Description of symbols

[0078] 1: car; 2: counterweight; 3: hoistway; 4: rope; 5: traction machine; 6: control device; 7: machine room; 8: landing station; 11: door; 11a: end face; 12: door panel; 13: hanger; 14: roller; 15: cam; 16: hanger housing; 17: track; 18: sill; 18a: through hole; 19: column; 20: motor; 21: switch; 22: measuring device; 23: mounting part; 24: door stop; 25: limiting component; 26: detection device; 27: measuring device; 31: door control unit; 32: equipment control unit; 33: movement control unit; 34: determination unit; 40: processing circuit; 41: processor; 42: memory; 43: dedicated hardware.

Claims

1. An elevator device, wherein: The elevator device has: The doors of the car; a first detection device for detecting that the door moving in the closing direction reaches a first position; a first measuring device for irradiating a laser beam from above along the end surface of the door disposed at the first position, and measuring a distance to an object irradiated with the laser beam; a second measuring device for irradiating a laser beam from below along the end surface of the door disposed at the first position, and measuring a distance to an object irradiated with the laser beam; as well as A determination unit determines whether or not there is a foreign object caught by the door based on the distance measured by the first measuring device and the distance measured by the second measuring device when the first detection device detects that the door has reached the first position.

2. The elevator device according to claim 1, wherein: The determination unit determines that there is a foreign object caught by the door when a sum of the distance measured by the first measuring device and the distance measured by the second measuring device is larger than a first threshold value and smaller than a second threshold value.

3. The elevator device according to claim 2, wherein: The second threshold is greater than the first threshold, A value obtained by subtracting the first threshold value from the second threshold value is 10 mm or less.

4. An elevator device, wherein: The elevator device has: The doors of the car; a first detection device for detecting that the door moving in the closing direction reaches a first position; a first measuring device for irradiating a laser beam along the end surface of the door disposed at the first position and measuring a distance to an object irradiated with the laser beam; as well as A determination unit determines whether or not there is a foreign object caught by the door based on the distance measured by the first measuring device when the first detection device detects that the door has reached the first position.

5. The elevator device according to claim 4, wherein: The determination unit determines that there is a foreign object caught by the door when the distance measured by the first measuring device is smaller than a third threshold value.

6. The elevator device according to any one of claims 1 to 5, wherein: The car further includes a second detection device for detecting that the door moving in the closing direction reaches a second position. The door moving in the closing direction reaches the second position after reaching the first position, The condition for starting the movement of the car after the door is opened includes detection by the second detection device that the door has reached the second position.

7. The elevator device according to any one of claims 1 to 5, comprising: a track that guides movement of the door; a support device that supports the track; and a limiting component, which is arranged on the supporting device and is used to limit the movement of the door in the closing direction, The first measuring device is provided on the limiting member.

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