Elevator

Abstract

An elevator (10) is provided with: an imaging device (43) that is attached to a car (11) and is capable of imaging at least one of an upper region located above the car (11) and a lower region located below the car (11); an illumination device (40) that is attached to the car (11) and that emits light to at least a part of the upper region and the lower region; and an earthquake sensor (47) capable of sensing an earthquake. The elevator car (11) stops when the earthquake sensor (47) senses an earthquake, and after the elevator car (11) stops, the shooting device (43) shoots at least one part of at least one long object, and the hooking of the long object is judged according to the image shot by the shooting device (43).

Description

Technical Field

[0001] The present disclosure relates to elevators. Background Art

[0002] Conventionally, as a measure for earthquakes in elevators, there is known a technique described in Patent Document 1. In this technique, in an automatic diagnosis and recovery operation after an earthquake, the car is operated at a lower speed than usual, and hooking of a long object is detected based on a change in the torque of the traction machine.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2018-184241 Summary of the invention

[0006] Problems to be solved by the invention

[0007] If the above technology is used, it is possible to detect the hooking of a long object after an earthquake, and it is easy to automatically restore the elevator safely. However, in this technology, it is preferred to detect the hooking of a long object indirectly (virtually) rather than directly, so that it can be more directly and accurately determined whether the long object is hooked.

[0008] Therefore, an object of the present disclosure is to provide an elevator that can directly and accurately determine whether a long object is caught after an earthquake.

[0009] Means for solving problems

[0010] In order to solve the above-mentioned problems, the elevator disclosed in the present invention comprises: a car; a lifting mechanism for lifting and lowering the car; a camera installed in the car and capable of photographing at least one of an upper area located above the car and a lower area located below the car; a lighting device installed in the car and irradiating light to at least a portion of the upper area and the lower area; and an earthquake sensor capable of sensing earthquakes, and when the earthquake sensor senses an earthquake, the car stops, and after the car stops, the camera captures at least a portion of at least one long object, and determines whether the at least one long object is hooked based on the image of the at least a portion captured by the camera.

[0011] According to the present disclosure, the hooking of the long object is determined based on the image of at least a portion of at least one long object captured by the camera after the car stops due to earthquake sensing. Therefore, the hooking of the long object can be determined directly and accurately.

[0012] In addition, for the at least one long object, a two-dimensional waveform defined by time and the swing amount of a reference part of the long object in one direction is generated based on the image, and for the at least one long object, the hooking of the long object is determined based on the two-dimensional waveform. In addition, the swing amount of the reference part of the long object when no earthquake occurs is 0 (zero).

[0013] In the two-dimensional waveform, there is a large difference before and after the moment when the long object is hooked, for example, the amplitude of the two-dimensional waveform decreases sharply. According to this structure, the hooking of the long object is determined based on the two-dimensional waveform, so the hooking of the long object can be accurately determined.

[0014] In addition, it is also possible to determine whether the at least one long object is hooked based on a plurality of attenuation peaks that can be confirmed in the two-dimensional waveform, wherein the attenuation peak is a maximum portion of the swing in the two-dimensional waveform and is a maximum portion where there is no maximum portion of the swing amount that is greater than the attenuation peak in a time later than the time when the attenuation peak is generated.

[0015] According to this configuration, it is easy to evaluate a local and sharp attenuation in a two-dimensional waveform easily and objectively, and thus it is easy to accurately determine whether a long object is caught.

[0016] Furthermore, the reference portion may include a portion closest to the center of the image.

[0017] According to this configuration, image analysis can be performed automatically and easily.

[0018] Furthermore, the reference portion may include a portion of the elongated object that swings the most in the image.

[0019] According to this structure, it is easy to determine a sudden attenuation, so that it is possible to accurately determine whether the long object is caught.

[0020] Furthermore, the reference portion may be a portion on which a mark is marked on the elongated object.

[0021] The above-mentioned mark may be, for example, a light-reflecting member fixed to the reference position of the long object, or may be a paint such as a fluorescent paint applied to the reference position of the long object.

[0022] According to this configuration, the displacement of the reference part can be measured and the image processing can be performed particularly easily.

[0023] Furthermore, a storage unit may be provided in which a plurality of reference two-dimensional waveforms are pre-stored, and for the at least one elongated object, it may be determined whether the elongated object is hooked based on one of the plurality of reference two-dimensional waveforms and the two-dimensional waveform.

[0024] Alternatively, multiple reference two-dimensional waveforms (reference two-dimensional waveforms when the long object is not caught) may be prepared in advance for each floor station of each floor according to multiple typical types of earthquakes, such as up and down shaking, left and right shaking, long-period earthquake vibrations, earthquakes of different magnitudes, etc., and stored in advance in the storage unit of the elevator. Furthermore, one reference two-dimensional waveform may be selected from the multiple reference two-dimensional waveforms based on the floor station of the car that actually stopped when the earthquake occurred and the type of earthquake determined based on the information sensed by the earthquake sensor, and the selected reference two-dimensional waveform may be compared with the two-dimensional waveform based on the image, thereby determining whether the long object is caught. Thus, it is easy to accurately determine whether the long object is caught.

[0025] In addition, the photographing device may photograph a plurality of different long objects, generate the two-dimensional waveform according to each of the long objects, and determine whether one or more of the plurality of long objects are hooked based on the plurality of different two-dimensional waveforms generated for the plurality of long objects.

[0026] In the case where multiple long objects do not get hooked, multiple long objects sometimes perform similar swinging behaviors for the same earthquake. Therefore, it is sometimes possible to determine that a long object that performs swinging behaviors of different natures and behaves very differently from other long objects is hooked. According to this structure, multiple two-dimensional waveforms that are different from each other are generated for multiple long objects. Therefore, it is sometimes possible to determine that a long object that performs swinging behaviors of different natures is hooked.

[0027] In addition, when the local attenuation rate of the attenuation scale in the portion that can be less than 10% of the two-dimensional waveform is below the first threshold, it can be determined that the long object is not hooked. On the other hand, when the local attenuation rate is greater than the first threshold, it can be determined that the long object is hooked.

[0028] In addition, the portion of the two-dimensional waveform that is less than 10% refers to the time portion that is less than 10% of the overall waveform of the two-dimensional waveform, which is a function of the swing amount relative to time. In addition, the overall waveform is the waveform of the time from the start of shooting to the convergence of the earthquake. According to this structure, it is easy to objectively determine whether the long object is hooked.

[0029] In addition, it is also possible that, when the case where the local attenuation rate of the attenuation scale in the portion that can become less than 10% of the two-dimensional waveform is less than the first threshold value is set as the first case, the case where the local attenuation rate is greater than the second threshold value which is greater than the first threshold value is set as the second case, and further, the case where the local attenuation rate is greater than the first threshold value and less than the second threshold value is set as the third case, in the initial movement of the car after the end of the earthquake, the maximum speed of the car in the first case is greater than the maximum speed of the car in the second case, and further, the maximum speed of the car in the second case is greater than the maximum speed of the car in the third case.

[0030] The initial movement of the car is defined as the movement of the car from the time the car first starts moving to the time the car stops after the car stops due to an earthquake.

[0031] If a long object is caught, the possibility of damage to the elevator being reduced during the automatic diagnosis operation for automatically diagnosing whether the elevator is malfunctioning after an earthquake by moving the car at a low speed during the automatic diagnosis operation is reduced.

[0032] According to this structure, the maximum speed of the initial car movement is controlled in three stages according to the degree of possibility (size) of the long object being caught. Therefore, the possibility of damage caused by the long object being caught during the automatic diagnosis operation for automatically diagnosing whether the elevator has a malfunction after an earthquake can be effectively suppressed.

[0033] In addition, it is also possible to determine a plurality of attenuation peaks that can be confirmed in the two-dimensional waveform, wherein each attenuation peak is a maximum portion of the swing in the two-dimensional waveform, and is a maximum portion of the maximum portion of the swing amount above the attenuation peak at a time later than the time when the attenuation peak was generated, and the local attenuation rate is based on the minimum value of [(the swing amount of the attenuation peak that is later in time among the two adjacent attenuation peaks) / (the swing amount of the attenuation peak that is earlier in time among the two adjacent attenuation peaks)].

[0034] According to this configuration, it is possible to objectively and accurately evaluate the local attenuation of a two-dimensional waveform.

[0035] In addition, the local attenuation rate may also be a maximum value based on [a value obtained by subtracting the swing amount of the smallest attenuation peak from the swing amount of the largest attenuation peak within a specified time period], wherein each attenuation peak is a maximum portion of the swing in the two-dimensional waveform and is a maximum portion where there is no maximum portion of the swing amount above the attenuation peak in a time later than the time when the attenuation peak is generated.

[0036] In this configuration as well, it is possible to objectively and accurately evaluate the local attenuation of the two-dimensional waveform.

[0037] In addition, the photographing device may include an upper photographing device for photographing the upper area and a lower photographing device for photographing the lower area, and after the car stops, only the photographing device among the upper photographing device and the lower photographing device that can photograph an area with a large length in the height direction is used for photographing.

[0038] According to this structure, it is easy to photograph the part of the long object that swings greatly, and it is easy to accurately determine whether the long object is hooked.

[0039] Furthermore, the camera may capture at least a portion of the at least one long object after the movement stops, and determine whether the at least one long object is hooked based on the image of at least a portion of the long object after the movement stops.

[0040] Alternatively, images of at least a portion of at least one long object not caught by the camera device may be stored in advance in the storage unit of the elevator. In this case, after the elevator is stopped at any floor after an earthquake, the camera device may be used to capture at least a portion of at least one long object after the movement stops after the earthquake, and the captured images may be compared with images of the corresponding floor without catching, thereby accurately determining whether at least one long object is caught.

[0041] Effects of the Invention

[0042] According to the elevator disclosed in the present invention, it is possible to directly and accurately determine whether there is any long object caught after an earthquake. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is a schematic structural diagram of an elevator according to one embodiment of the present disclosure.

[0044] Figure 2 This is a block diagram of related parts related to the hook determination control of the long object.

[0045] Figure 3A This is a flowchart showing an example of the process of the hook determination control of the long object performed by the control device.

[0046] Figure 3B This is a flowchart showing an example of the process of the hook determination control of the long object performed by the control device.

[0047] Figure 4 This is a diagram showing an example of a two-dimensional waveform in a wire rope without hooking.

[0048] Figure 5This is a diagram showing an example of a two-dimensional waveform in a hooked wire rope. DETAILED DESCRIPTION

[0049] Hereinafter, the embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In addition, in the case where the following includes multiple embodiments, variations, etc., it is initially assumed that the characteristic parts thereof are appropriately combined to construct a new embodiment. In addition, in the following embodiments, the same symbols are marked on the same structures in the accompanying drawings, and repeated descriptions are omitted. In addition, in the following description, the wire rope 14, the control cable and the compensating rope are long strips. In addition, it is described in detail below that the swing amount of the reference part of the long strip when no earthquake occurs is 0 (zero). In addition, in the following description, the part of less than 10% of the two-dimensional waveform refers to the time part of less than 10% of the overall waveform of the two-dimensional waveform, which is a function of the swing amount relative to time. In addition, the overall waveform is a waveform of the time from the start of shooting to the convergence of the earthquake. In addition, the structural elements described below that are not recorded in the independent claims representing the highest concept are arbitrary structural elements and are not necessary structural elements.

[0050] Figure 1 FIG. 1 is a schematic structural diagram of an elevator 10 according to an embodiment of the present disclosure. Figure 1 As shown in FIG. 1 , the elevator 10 includes a car 11, a traction machine 12, a counterweight 13, a wire rope 14, a car call button 15, a destination floor designation button 16, a floor stop detection sensor 17, an encoder 25, a car lifting mechanism 28, and a control device 18. The control device 18 is constituted by, for example, a control panel. In this embodiment, the control device 18 and the traction machine 12 are arranged in a machine room 30 located above the shaft 19. In the case where the elevator does not have a machine room, the control panel and the traction machine may also be arranged in a pit located below the shaft. The wire rope 14 is wound around the traction machine 12, one end of which is fixed to the upper part of the car 11, for example, and the other end of which is fixed to the counterweight 13 via a deflector pulley not shown. The car call button 15 is arranged at the landing 22 to call the car 11 and designate the moving direction of the car 11. In addition, the destination floor designation button 16 is arranged in the car 11 to designate the destination floor of the car 11.

[0051] The stop detection sensor 17 is arranged in the hoistway 19 to detect the situation that the car 11 stops at the landing 22. The stop detection sensor 17 is composed of the following components, for example: a blade 17a such as an iron plate, which is arranged at a hoistway position corresponding to the stop position of each floor; and a magnetic detector 17b, which detects the blade 17a. The control device 18 receives a signal indicating that the car 11 stops at the landing 22 of any floor from the stop detection sensor 17, controls the car door opening and closing motor 39, and the car door 32 opens, and the landing door 31 and the car door 32 are opened in conjunction, so that people can get on and off the car 11.

[0052] The encoder 25 is constituted by, for example, an absolute encoder, and detects the rotation distance and rotation direction from the origin of the hoisting machine motor 12a of the hoisting machine 12, thereby detecting the existence position of the car 11 and the moving direction of the car 11. The encoder 25 may be constituted by any of mechanical (contact type), optical type, magnetic type, and electromagnetic induction type.

[0053] The elevator 10 further includes a lighting device 40, a camera 43, and an earthquake sensor 47. The lighting device 40 includes an upper lighting device 41 and a lower lighting device 42, and the camera 43 includes an upper camera 45 and a lower camera 46. The upper lighting device 41 is, for example, provided on the ceiling of the car 11 to illuminate the shaft 19 above the car 11, and the lower lighting device 42 is provided on the shaft 19 side at the bottom of the car 11 to illuminate the shaft 19 below the car 11. The shaft 19 includes the car 11, the counterweight 13, the wire rope 14, a rail (not shown) for guiding the car 11 or the counterweight 13, a control cable connecting the car 11 and the control device 18, and a floor stop detection sensor 17 for detecting the position of the car 11. The upper lighting device 41 and the lower lighting device 42 are used to illuminate the shaft 19 during maintenance of these devices, and are also used for photographing the long object described later. The upper lighting device 41 and the lower lighting device 42 are respectively formed using lighting fixtures having an illumination intensity suitable for illuminating the periphery of the car 11, such as fluorescent lamps, incandescent lamps, LEDs, and the like.

[0054] The upper camera 45 is, for example, provided on the upper part of the car 11 in such a manner that the camera protrudes vertically upward from the upper end of the car 11. The upper camera 45 can be appropriately configured as an all-weather camera (a camera capable of taking 360° panoramic photos and 360° dynamic images in all directions, up, down, left, and right). The upper camera 45 can be composed of any camera as long as it is a camera capable of photographing at least a portion of at least one long object located in an area above the car 11. Regardless of the position of the car 11, the upper camera can photograph at least a portion of the wire rope 14 and at least a portion of the control cable.

[0055] The lower camera 46 is provided at the lower part of the car 11, for example, in such a manner that the camera protrudes downward in the vertical direction from the lower end of the car 11. The lower camera 46 can be appropriately configured as an all-weather camera (a camera capable of taking 360° panoramic photos and 360° dynamic images in all directions, up, down, left, and right). The lower camera 46 can be configured by any camera as long as it can capture at least a portion of at least one long object located in an area below the car 11. The lower camera 46 can capture at least a portion of the control cable regardless of the position of the car 11, and can capture at least a portion of the compensating rope connecting the car 11 and the counterweight 13 regardless of the position of the car 11. In addition, when the counterweight 13 is located at a position more than a predetermined length below the car 11, the lower camera 46 can capture at least a portion of the wire rope 14. Here, the predetermined length is a length greater than zero (0).

[0056] The earthquake sensor 47 is, for example, installed in the pit below the machine room 30 or the shaft 19. When the earthquake sensor 47 senses the occurrence of an earthquake, it outputs a signal indicating that the earthquake has been sensed to the control device 18. The earthquake sensor 47 can be composed of a mechanical earthquake sensor that uses magnetism to detect earthquakes and does not require a power supply, or it can be composed of an electronic earthquake sensor that detects initial micromotion (P wave), main vibration (S wave), and long-period earthquake vibration through an electrostatic capacitance sensor. For example, when the earthquake sensor 47 senses an earthquake vibration (P wave or S wave) that is greater than a set acceleration (Gal), it automatically operates to connect the circuit. Then, the control device 18 that receives the signal from the earthquake sensor 47 performs the parking control of the car 11 and the hook determination control of the long object described in detail below.

[0057] The control device 18 receives signals from the car call button 15, the destination floor designation button 16, the floor stop detection sensor 17, the encoder 25, and the earthquake sensor 47, and controls the rotation speed and rotation direction of the traction machine motor 12a, thereby the car 11 is raised and lowered in the hoistway 19. The wire rope 14, the traction machine 12, the deflector pulley, and the counterweight 13 constitute the car lifting mechanism 28.

[0058] Figure 2 1 is a block diagram of the related parts related to the hook determination control of the long object described below. Figure 2 As shown, the control device 18 receives signals (information) from the floor stop detection sensor 17, the encoder 25, the earthquake sensor 47, the upper camera 45, and the lower camera 46. In addition, the control device 18 controls the traction machine motor 12a, the car door opening and closing motor 39, the upper lighting device 41, the lower lighting device 42, the upper camera 45, and the lower camera 46 based on the received signals.

[0059] The control device 18 is appropriately constituted by a computer such as a microcomputer, and includes a control unit 60 and a storage unit 61. The control unit 60, i.e., a processor, includes, for example, a CPU (Central Processing Unit). In addition, the storage unit 61 is constituted by a hard disk drive (HDD), a solid state drive (SSD), etc., and may also include a non-volatile memory such as a ROM (Read Only Memory), a volatile memory such as a RAM (Random Access Memory). In addition, the storage unit 61 may be constituted by only one storage medium, or may be constituted by a plurality of different storage media. The CPU reads and executes a program pre-stored in the storage unit 61, etc. In addition, the non-volatile memory stores a control program, a specified threshold value, etc. in advance. In addition, the volatile memory temporarily stores the read program and processing data. A stopwatch application is stored in the storage unit 61. The stopwatch application starts timing according to the time start signal from the control unit 60, and ends timing according to the time end signal from the control unit 60. The control unit 60 can obtain information that can determine the timing time from the stopwatch application.

[0060] The control unit 60 includes an earthquake determination unit 60a, a car stop floor determination unit 60b, a traction machine motor control unit 60c, a car door opening and closing motor control unit 60d, a camera control unit 60e, a reference position determination unit 60f, a two-dimensional waveform generation unit 60g, an attenuation peak calculation unit 60h, a local attenuation rate calculation unit 60i, and a threshold comparison unit 60j. Figure 3A to Figure 5 , the operation of the control unit 60 will be described in detail.

[0061] Figure 3A and Figure 3B 1 is a flowchart showing an example of the process of the hook determination control of the long object performed by the control device 18. Figure 3A and Figure 3B In the description, the case where the long object is the wire rope 14 is taken as an example, but the long object may be a control cable or a compensating rope. When the normal operation of the car 11 carrying passengers starts by the initial drive of the new elevator 10 or the transition from the maintenance mode to the normal operation mode, in step S1, the earthquake determination unit 60a determines whether an earthquake has occurred based on the information from the earthquake sensor 47. If the determination in step S1 is negative, step S1 is repeated.

[0062] On the other hand, when the determination in step S1 is affirmative, the process proceeds to step S2, and the car stop floor determination unit 60b identifies the position and moving direction of the car 11 based on the information from the encoder 25, and determines the stop floor of the car 11 when the car 11 is not stopped at the landing 22. The determined floor determined by the car stop floor determination unit 60b may be, for example, the nearest floor which is located in front of the moving direction of the car 11 and is the closest to the car 11 in the height direction. Alternatively, the determined floor determined by the car stop floor determination unit 60b may be a floor where the wire rope 14 does not resonate.

[0063] Specifically, the earthquake sensor 47 can detect the direction of acceleration, and therefore, the earthquake period, that is, the vibration period of the building in which the elevator 10 is installed, can be estimated. In addition, the positions of the wire rope 14, the car 11, and the counterweight 13 when the car 11 stops at the floor can be determined for each floor station based on the information from the encoder 25. Therefore, the vibration period of the building can be estimated based on the information from the earthquake sensor 47, and the resonance frequency of the wire rope 14 can be determined based on the information from the encoder 25, and therefore, the floor where the wire rope 14 does not resonate can be estimated.

[0064] In step S3 after step S2, the traction machine motor control unit 60c controls the traction machine motor 12a based on the information from the encoder 25 and the floor stop detection sensor 17, thereby causing the car 11 to stop at the above-mentioned determined floor, and then the car door opening and closing motor control unit 60d controls the car door opening and closing motor 39, thereby opening the car door 32 and the landing door 31. In this way, if there is a person in the car 11, the person is quickly evacuated to the outside of the car 11.

[0065] In step S4 after step S3, the camera control unit 60e determines whether to perform photography by the upper camera 45. Specifically, the camera control unit 60e determines, for example, whether the position where the car 11 stops is located in the lower area below the center of the moving range in the height direction of the car 11. When the car 11 is located in the lower area, the camera control unit 60e determines to perform photography by the upper camera 45, and when the position where the car 11 stops is located in the center of the moving range in the height direction of the car 11 and a position above the center, the camera control unit 60e determines to perform photography by the lower camera 46.

[0066] If the determination in step S4 is positive, the process proceeds to step S5, where the camera control unit 60e drives the upper lighting device 41 and the upper camera 45 to start shooting, and drives the stopwatch application to start timing using the stopwatch application. In addition, the elevator 10 may have any known clock mechanism other than the stopwatch application, and the control device 18 may obtain information from the clock mechanism other than the stopwatch application to obtain the time from the start of shooting to the end of shooting.

[0067] In step S5, at least a portion of the wire rope 14 located above the car 11 in the hoistway 19 is photographed by the upper side photographing device 45, and then, in step S6, the earthquake determination unit 60a determines whether the earthquake has ended. When the determination in step S6 is negative, the process moves to step S7, and after continuing to photograph at least a portion of the wire rope 14 located above the car 11, the process is repeated after step S6. On the other hand, when the determination in step S6 is positive, the process moves to step S8.

[0068] On the other hand, when it is determined to be negative in step S4, the process proceeds to step S9, and the camera control unit 60e drives the stopwatch application to start timing by the stopwatch application while driving the lower lighting device 42 and the lower camera 46 to start shooting. In step S9, at least a portion of the wire rope 14 located at a position lower than the car 11 in the hoistway 19 is photographed by the lower camera 46, and then, in step S10, the earthquake determination unit 60a determines whether the earthquake has ended. When it is determined to be negative in step S10, in step S11, after continuing to photograph at least a portion of the wire rope 14 located at a position lower than the car 11, the following steps S10 are repeated. On the other hand, when it is determined to be positive in step S10, the process proceeds to step S8.

[0069] In step S8, the camera control unit 60e terminates the timing of the stopwatch application while terminating the shooting of the camera 43. Next, in step S12, the reference position determination unit 60f determines the reference position of the wire rope 14. For example, the reference position determination unit 60f determines the part of the wire rope 14 that is closest to the center of the image captured by the camera 43 at the start of shooting as the reference position of the wire rope 14. In addition, the lighting device 40 is set to illuminate the reference position. Next, in step S13, the two-dimensional waveform generation unit 60g generates a two-dimensional waveform based on the dynamic image captured by the camera 43.

[0070] Specifically, for example, the two-dimensional waveform generating unit 60g generates a two-dimensional waveform based on the displacement of the reference position of the wire rope 14 in one direction and the elapsed time information from the stopwatch application. Hoistway equipment (e.g., counterweight 13, blade (guide plate) 17a, guide rail, and components fixed to the guide rail (e.g., brackets supporting the guide rail, etc.)) on which long objects are easily hooked are arranged near the front side and the inner side in the depth direction of the car 11. Therefore, when the depth direction of the car 11 is selected as one direction, it is easy to accurately determine whether the long object is hooked and it is more preferred.

[0071] Next, in step S14, the attenuation peak value calculation unit 60h determines a plurality of attenuation peak values ​​81a and 81b (see Figure 4 , Figure 5 ). Figure 4 1 is a diagram showing an example of a two-dimensional waveform in a wire rope 14 without hooking. Figure 5 1 is a diagram showing an example of a two-dimensional waveform in a hooked wire rope 14. Figure 4 As shown in FIG. 1 , the two-dimensional waveform of the unhooked wire rope 14 is generally in the shape of a sine wave, which gradually decays. Figure 5 As shown, the two-dimensional waveform in the hooked wire rope 14 has an amplitude that rapidly decays near the hook, and has a local and large decay portion.

[0072] The attenuation peak value calculation unit 60h determines a plurality of attenuation peak values ​​81a and 81b based on the two-dimensional waveform generated in step S13. Here, the attenuation peak values ​​81a and 81b are the maximum locations of the swing in the two-dimensional waveforms 80a and 80b, and are the maximum locations where there is no maximum location of the swing amount greater than the attenuation peak values ​​81a and 81b at a time later than the time when the attenuation peak values ​​81a and 81b are generated.

[0073] Next, in step S15, the local attenuation rate calculation unit 60i calculates the attenuation rate for all different groups of two adjacent attenuation peaks 81a, 81b based on the determined multiple attenuation peaks 81a, 81b, and determines the local attenuation rate. Here, the local attenuation rate is defined by the minimum value of [(the swing amount of the attenuation peak 81a, 81b that is later in time among the two adjacent attenuation peaks 81a, 81b) / (the swing amount of the attenuation peak 81a, 81b that is earlier in time among the two adjacent attenuation peaks 81a, 81)]. By determining the local attenuation rate, it is possible to accurately and objectively evaluate whether there is a local and large attenuation portion in the two-dimensional waveform, and it is possible to accurately and objectively determine whether the wire rope 14 is hooked. In addition, the local attenuation rate can be calculated only in a local portion of the two-dimensional waveform with a very short time, and therefore, it can become an attenuation scale in a portion of less than 10% of the two-dimensional waveform.

[0074] Next, in step S16, the threshold comparison unit 60j determines whether the local attenuation rate is less than or equal to the first threshold value. If the determination in step S16 is affirmative, it is determined that the wire rope 14 is not hooked, and the process moves to step S17, where the elevator 10 performs normal operation in which the car 11 is raised or lowered in response to the passenger operation of the car call button 15 and the destination floor designation button 16, and then steps S1 and thereafter are repeated.

[0075] On the other hand, when the determination in step S16 is negative, the process proceeds to step S18, and the threshold comparison unit 60j determines whether the local attenuation rate is equal to or greater than the second threshold value greater than the first threshold value. When the determination in step S18 is negative, the process proceeds to step S19, and the hoisting machine motor control unit 60c limits the maximum speed of the car 11 to a speed slower than the maximum speed of the car 11 under normal operation in the initial movement of the car 11 after the earthquake, and then performs an automatic diagnosis operation of the car 11 for determining whether the elevator 10 has a malfunction, and then proceeds to step S20.

[0076] On the other hand, when the judgment is affirmative in step S18, the process proceeds to step S21, and after limiting the maximum speed of the car 11 to a speed slower than the maximum speed of the car 11 in the automatic diagnosis operation of the car 11 in step S19 in the initial movement of the car 11 after the earthquake ends, the automatic diagnosis operation of the car 11 is performed to determine whether the elevator 10 has a malfunction, and then the process proceeds to step S20. In addition, the initial movement of the car 11 in steps S19 and S21 refers to the movement of the car 11 from the initial movement of the car 11 to the stop after the earthquake converges. In step S20, the control device 18 determines whether the elevator 10 has a malfunction based on the above-mentioned automatic diagnosis operation. When the judgment is negative in step S20, the process proceeds to step S17. On the other hand, when the judgment is affirmative in step S20, the process proceeds to step S22, and after the car 11 is stopped, the control ends.

[0077] In summary, the elevator 10 includes: a car 11; a car lifting mechanism 28 for lifting and lowering the car 11; a camera 43 installed on the car 11, capable of photographing at least one of an upper area located above the car 11 and a lower area located below the car 11; a lighting device 40 installed on the car 11, irradiating light to at least a part of the upper area and the lower area; and a seismic sensor 47 capable of sensing an earthquake. In addition, when the seismic sensor 47 senses an earthquake, the car 11 stops, and after the car 11 stops, the camera 43 photographs at least a part of at least one long object (for example, a wire rope 14, a control cable, a compensating rope, etc.), and determines whether the long object is hooked based on the image of at least a part of the at least one long object (the wire rope 14 in the above embodiment) photographed by the camera 43.

[0078] According to the present disclosure, the hooking of the long object is determined based on the image of at least a portion of at least one long object captured by the camera 43 after the car 11 stops due to earthquake sensing. Therefore, the hooking of the long object can be determined directly and accurately.

[0079] In addition, for at least one long object, two-dimensional waveforms 80a, 80b defined by time and the amount of swing in one direction of a reference portion of the long object may be generated based on an image, and for at least one long object, it may be determined whether the long object is hooked based on the two-dimensional waveforms 80a, 80b.

[0080] When a long object is caught, a large difference occurs in the two-dimensional waveform 80b before and after the time when the long object is caught. Figure 5 As shown, the amplitude of the two-dimensional waveform 80b decreases locally and sharply. According to this configuration, whether the long object is hooked or not is determined based on the two-dimensional waveforms 80a and 80b, so that the hooking or not of the long object can be determined accurately.

[0081] In addition, it is also possible to determine whether a long object is hooked based on multiple attenuation peaks 81a, 81b that can be confirmed in the two-dimensional waveforms 80a, 80b, where the attenuation peaks 81a, 81b are the maximum parts of the swing in the two-dimensional waveforms 80a, 80, and are the maximum parts where there is no maximum swing amount exceeding the attenuation peaks 81a, 81b in a time later than the time when the attenuation peaks 81a, 81b are generated.

[0082] According to this configuration, local and sharp attenuation in a two-dimensional waveform can be easily and objectively evaluated, so that it is possible to accurately determine whether the long object is caught.

[0083] In addition, the reference part may include the part of at least one long object that is closest to the center of the image. According to this structure, image analysis can be automatically and easily performed. In addition, the reference part may also include the part of the long object that swings the most in the image. In this case, it is easy to determine the sharp attenuation and the hooking of the long object can be accurately determined.

[0084] Alternatively, the reference position may be a position marked on the long object. Here, when the floor where the car stops after an earthquake is uncertain, multiple marks may be marked on the long object at intervals. In addition, the above-mentioned mark may be, for example, a light-reflecting component fixed to the reference position of the long object, or a coating such as fluorescent coating applied to the reference position of the long object. According to this structure, the displacement of the reference position can be measured and image processed particularly easily.

[0085] Furthermore, when the local attenuation rate of the attenuation scale in the portion that can be less than 10% of the two-dimensional waveforms 80a and 80b is set as the first case, the local attenuation rate is set as the second case, and the local attenuation rate is set as the third case. In the initial movement of the car 11 after the earthquake, the maximum speed of the car 11 in the first case is greater than the maximum speed of the car 11 in the second case, and the maximum speed of the car 11 in the second case is greater than the maximum speed of the car 11 in the third case. The initial movement of the car 11 is the movement of the car 11 from the initial start of the movement of the car 11 to the stop of the car 11 after the car 11 stops due to the earthquake.

[0086] If a long object is caught, if the car 11 is moved at a low speed in an automatic diagnosis operation for automatically diagnosing whether the elevator 10 has a malfunction after an earthquake, the possibility of damage to the elevator 10 is reduced during the automatic diagnosis operation.

[0087] According to this structure, the maximum speed is controlled in three stages in the initial movement of the car 11 according to the degree of possibility (size) of the long object being caught. Therefore, the possibility of damage caused by the long object being caught during the automatic diagnosis operation for automatically diagnosing whether the elevator 10 has a malfunction after an earthquake can be effectively suppressed.

[0088] In addition, the local attenuation rate may be a value based on the minimum value of [(the swing amount of the attenuation peak 81a, 81b that is later in time among the two adjacent attenuation peaks 81a, 81b) / (the swing amount of the attenuation peak 81a, 81b that is earlier in time among the two adjacent attenuation peaks 81a, 81b)]. Here, the value based on the minimum value includes, for example, the minimum value itself, a constant multiple of the minimum value, and the like.

[0089] According to this structure, the local attenuation of the two-dimensional waveforms 80a and 80b can be objectively and accurately evaluated. In addition, the local attenuation rate can also be based on the maximum value of [the value obtained by subtracting the swing amount of the minimum attenuation peak from the swing amount of the maximum attenuation peak] within a specified time period, so that the local attenuation of the two-dimensional waveforms 80a and 60b can be objectively and accurately evaluated. In addition, the value based on the maximum value includes, for example, the maximum value itself, a constant multiple of the maximum value, etc. In addition, the above-mentioned specified time is a time that is less than 10% of the entire time of the two-dimensional waveform.

[0090] In addition, the imaging device 43 may include an upper imaging device 45 for imaging the upper area and a lower imaging device 46 for imaging the lower area. After the car 11 stops, imaging is performed only by the imaging device among the upper imaging device 45 and the lower imaging device 46 that can image an area with a large length in the height direction.

[0091] According to this structure, it is easy to photograph the part of the long object that swings greatly, and it is easy to accurately determine whether the long object is hooked. In addition, as long as the photographing device can photograph at least one of the upper area and the lower area, the photographing device can be composed of only the upper side photographing device 45, or only the lower side photographing device 46. Here, in the case where the lower side photographing device 46 is provided on the lower side of the car 11 to ensure the safety of the maintenance workers working in the pit, when only the lower side photographing device 46 is used for photographing, the lower side photographing device 46 used for the safety of the maintenance workers can be used for the hooking judgment of the long object, and the hooking judgment of the long object can be performed without making new equipment investment. However, in this case, the floor of the car 11 that stops after the earthquake is preferably a floor above the center of the moving range of the car 11 in the height direction.

[0092] In addition, the present disclosure is not limited to the above-described embodiment and its modified examples, and various improvements and changes can be made within the scope of the matters described in the claims of the present application and their equivalents.

[0093] For example, in the above embodiment, the possibility of the long object being caught is evaluated in three stages using the local attenuation rate, but the possibility of the long object being caught may be evaluated in two stages using the local attenuation rate. For example, when the local attenuation rate of the attenuation scale in the portion that can be less than 10% of the two-dimensional waveforms 80a and 80b is less than the first threshold, it may be determined that there is no corresponding long object being caught, and on the other hand, when the local attenuation rate is greater than the first threshold, it may be determined that there is a corresponding long object being caught.

[0094] In addition, the local attenuation rate is defined as the ratio of the attenuation scale in the portion that can be less than 10% of the two-dimensional waveform 80a, 80b. However, if the local attenuation rate is set to the ratio of the attenuation scale in the portion that can be less than 5% of the two-dimensional waveform 80a, 80b, it is easy to more accurately determine whether the long object is hooked.

[0095] In addition, the local decay rate is used to determine whether the long object is caught, but the local decay rate may not be used for determination. For example, the elevator may also have a storage unit that pre-stores a plurality of reference two-dimensional waveforms. Moreover, for at least one long object, the long object may be caught based on one of the plurality of reference two-dimensional waveforms and the corresponding two-dimensional waveform.

[0096] Specifically, multiple reference two-dimensional waveforms (reference two-dimensional waveforms when the long object is not caught) different from typical types of earthquakes such as up and down shaking, left and right shaking, long-period earthquake vibrations, earthquakes of different magnitudes, etc. may be prepared in advance for each floor station of each floor, and stored in advance in the storage unit of the elevator. In addition, one reference two-dimensional waveform may be selected from the multiple reference two-dimensional waveforms based on the floor station of the car that actually stopped when the earthquake occurred and the type of earthquake determined based on the information sensed by the earthquake sensor, and the selected reference two-dimensional waveform may be compared with the two-dimensional waveform based on the shooting, thereby determining whether the long object is caught. Here, for example, the comparison is performed by comparing the time until the attenuation rate of the two-dimensional waveform reaches a specified value (for example, 10%), the average value of the amplitude of the two-dimensional waveform, etc. In this way, it is also easy to accurately determine whether the long object is caught.

[0097] Alternatively, the camera may capture multiple different long objects, generate a two-dimensional waveform for each long object, and determine whether one or more of the multiple long objects are hooked based on the multiple different two-dimensional waveforms generated for the multiple long objects.

[0098] In the case where multiple long objects do not get hooked, in response to the same earthquake, multiple long objects sometimes perform similar swinging behaviors. Therefore, it is sometimes possible to determine that a long object that behaves very differently from other long objects and performs swinging behaviors of different natures is hooked. For example, in the time period when the amplitude is reduced to the maximum, when only one long object is different from the other long objects, it is determined that the one long object is hooked on the shaft equipment. According to this structure, multiple two-dimensional waveforms that are different from each other are generated for multiple long objects. Therefore, it is sometimes possible to determine that a long object that performs swinging behaviors of different natures is hooked.

[0099] In addition, a curve smoothly connecting attenuation peaks is defined as a convergence curve 90 (see Figure 4 ), the hanging of the long object can also be determined based on the convergence curve 90. For example, when there is a portion where the slope per unit time of the convergence curve 90 is larger than the threshold value, the hanging of the long object can also be determined.

[0100] Furthermore, the camera may capture at least a portion of at least one long object after the movement stops, and determine whether the at least one long object is hooked based on the image of at least a portion of the long object after the movement stops.

[0101] It is also possible to store images of at least a portion of at least one long object obtained by the above-mentioned camera in the state where the car is parked at each floor and is not caught in the storage unit of the elevator in advance. In this case, after the car is parked at any floor after the earthquake, the above-mentioned camera captures at least a portion of at least one long object after the movement stops after the earthquake, and compares the captured image with the image of the corresponding floor where no snagging occurs, thereby accurately and particularly easily determining whether at least one long object is caught. In addition, even in this case, the two images can be compared at the portion marked on the long object, in which case it is possible to instantly and accurately determine whether the long object is caught.

[0102] Description of symbols

[0103] 10: elevator; 11: car; 12: traction machine; 12a: traction machine motor; 13: counterweight; 14: wire rope; 15: car call button; 16: destination floor designation button; 17: stop detection sensor; 17a: blade; 17b: detector; 18: control device; 19: hoistway; 22: landing; 25: encoder; 28: car lifting mechanism; 30: machine room; 31: landing door; 32: car door; 39: car door opening and closing motor; 40: lighting device; 41: upper lighting device; 42: lower lighting device; 43: camera; 45 : Upper side camera; 46: Lower side camera; 47: Earthquake sensor; 60: Control unit; 60a: Earthquake determination unit; 60b: Car stop floor determination unit; 60c: Traction machine motor control unit; 60d: Car door opening and closing motor control unit; 60e: Camera control unit; 60f: Reference position determination unit; 60g: Two-dimensional waveform generation unit; 60h: Attenuation peak calculation unit; 60i: Local attenuation rate calculation unit; 60j: Threshold comparison unit; 61: Storage unit; 80a, 80b: Two-dimensional waveform; 81a, 81b: Attenuation peak; 90: Convergence curve.

Claims

1. An elevator, wherein: The elevator has: Car; A lifting mechanism, used to lift the car; a camera mounted on the car and capable of capturing at least one of an upper region located above the car and a lower region located below the car; a lighting device installed in the car and irradiating light to at least a part of the upper area and the lower area; as well as an earthquake sensor capable of sensing an earthquake, When the earthquake sensor senses an earthquake, the car stops, and after the car stops, the camera captures at least a portion of at least one long object. The hooking of the at least one long object is determined based on the image of the at least part captured by the camera.

2. The elevator according to claim 1, wherein: For the at least one long object, a two-dimensional waveform defined by time and a swing amount in one direction of a reference portion of the long object is generated based on the image, For the at least one long object, whether the long object is hooked is determined based on the two-dimensional waveform.

3. The elevator according to claim 2, wherein: The at least one long object is determined to be hooked based on a plurality of attenuation peaks that can be confirmed in the two-dimensional waveform. The attenuation peak is a maximum portion of the fluctuation in the two-dimensional waveform, and is a maximum portion where there is no maximum portion of the fluctuation amount exceeding the attenuation peak at a time later than the time when the attenuation peak occurs.

4. The elevator according to claim 2 or 3, wherein: The reference portion includes a portion of the at least one elongated object that is closest to the center of the image.

5. The elevator according to claim 2 or 3, wherein: The reference portion includes a portion of the elongated object that swings the most in the image.

6. The elevator according to claim 2 or 3, wherein: The reference portion is a portion marked with a mark on the long object.

7. The elevator according to claim 2 or 3, wherein: The elevator has a storage unit that pre-stores a plurality of reference two-dimensional waveforms. For the at least one long object, it is determined whether the long object is hooked based on one of the plurality of reference two-dimensional waveforms and the two-dimensional waveform.

8. The elevator according to claim 2 or 3, wherein: The photographing device photographs a plurality of different long objects, generates the two-dimensional waveform according to each of the long objects, and determines whether at least one of the plurality of long objects is hooked based on the plurality of different two-dimensional waveforms generated for the plurality of long objects.

9. The elevator according to claim 2, wherein: When the local attenuation rate of the attenuation scale in the portion that can be less than 10% of the two-dimensional waveform is below the first threshold, it is determined that the long object is not hooked. On the other hand, when the local attenuation rate is greater than the first threshold, it is determined that the long object is hooked.

10. The elevator according to claim 2, wherein: When the case where the local attenuation rate of the attenuation scale in the portion that can become less than 10% of the two-dimensional waveform is less than the first threshold is set as the first case, the case where the local attenuation rate is greater than the second threshold which is greater than the first threshold is set as the second case, and further the case where the local attenuation rate is greater than the first threshold and less than the second threshold is set as the third case, in the initial movement of the car after the earthquake, the maximum speed of the car in the first case is greater than the maximum speed of the car in the second case, and further the maximum speed of the car in the second case is greater than the maximum speed of the car in the third case.

11. The elevator according to claim 9 or 10, wherein: determining a plurality of attenuation peaks identifiable in the two-dimensional waveform, Each attenuation peak is a maximum portion of the swing in the two-dimensional waveform, and is a maximum portion where there is no maximum portion of the swing amount exceeding the attenuation peak at a time later than the time when the attenuation peak occurs. The local attenuation rate is a value based on the minimum value of [(the swing amount of the attenuation peak value that is later in time between the two adjacent attenuation peaks) / (the swing amount of the attenuation peak value that is earlier in time between the two adjacent attenuation peaks)].

12. The elevator according to claim 9 or 10, wherein: The local attenuation rate is based on the maximum value of [the value obtained by subtracting the swing amount of the smallest attenuation peak from the swing amount of the largest attenuation peak within a specified time period], and each attenuation peak is a maximum part of the swing in the two-dimensional waveform, and is a maximum part where there is no maximum part of the swing amount above the attenuation peak in a time later than the time when the attenuation peak is generated.

13. The elevator according to claim 1 or 2, wherein: The photographing device includes an upper photographing device for photographing the upper area and a lower photographing device for photographing the lower area. After the car stops, only the upper imaging device and the lower imaging device that can image a region with a large length in the height direction perform imaging.

14. The elevator according to claim 1, wherein: The photographing device photographs at least a portion of the at least one long object after the movement stops. For the at least one long object, whether the long object is hooked is determined based on an image of at least a portion of the long object whose movement has stopped.

Images