Elevator

Abstract

This invention provides an elevator with improved reliability, comprising a car capable of moving vertically and vertically within a shaft, a first sensor, a second sensor, and a control unit. The first sensor is disposed in the car. The second sensor is disposed in the car and configured such that its detection surface faces a direction different from that of the first sensor. The control unit calculates the car's position based on detection signals from the first and second sensors.

Description

Technical Field

[0001] This invention relates to elevators. Background Technology

[0002] An elevator has a car that moves up and down in a shaft. Furthermore, the elevator detects the position of the car in order to move it up and down.

[0003] As a technique for detecting the position of such a car, there is, for example, the technique described in Patent Document 1. Patent Document 1 describes a speed detection device installed on the car, which detects the speed of the car inside the hoistway where the car moves up and down. Furthermore, Patent Document 1 describes a device including: a detection unit that performs image detection on the surface state of a pair of guide rails laid opposite each other in the hoistway along the car's movement path; and a calculation unit that performs car speed calculation based on the image difference between the guide rail surfaces detected by the detection unit. It also describes correcting the car's travel distance based on signals from the car position detection device installed on the car.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: International Publication No. 2020 / 008696 Summary of the Invention

[0007] The problem that the invention aims to solve

[0008] However, in the technology described in Patent Document 1, the detection surface of the speed detection device (the first sensor) and the detection surface of the car position detection device (the second sensor) face the same direction. Therefore, if the car tilts due to wear caused by years of deterioration of the guide rails or guiding devices, the first and second sensors may not be able to detect simultaneously. As a result, the technology described in Patent Document 1 suffers from inaccurate detection of the car's position, leading to reduced reliability.

[0009] The purpose of this invention is to address the aforementioned problems by providing an elevator that improves reliability.

[0010] Technical solutions for solving the problem

[0011] To address the aforementioned issues and achieve the objective, the elevator includes a car capable of moving vertically within a shaft, a first sensor, a second sensor, and a control unit. The first sensor is disposed in the car. The second sensor is disposed in the car and configured such that its detection surface faces a different direction than that of the first sensor. The control unit calculates the car's position based on the detection signals from the first and second sensors.

[0012] Invention Effects

[0013] Elevators with the above structure can achieve improved reliability. Attached Figure Description

[0014] Figure 1 This is a perspective view of the elevator car in the first embodiment.

[0015] Figure 2 This is a top view of the elevator car in the first embodiment.

[0016] Figure 3 This is a front view of the elevator car according to the first embodiment.

[0017] Figure 4 This is a flowchart illustrating the position detection action of the elevator car in the first embodiment.

[0018] Figure 5 This is a flowchart illustrating the abnormal detection action of the first sensor in the elevator of the first embodiment.

[0019] Figure 6 This is a perspective view of the elevator car in the second embodiment.

[0020] Figure 7 This is a top view of the elevator car in the second embodiment.

[0021] Figure 8 This is a top view of the elevator car in the third embodiment. Detailed Implementation

[0022] The following is for reference Figures 1-8 The elevator described in the embodiment example will be explained. Furthermore, common components are labeled with the same reference numerals in all figures.

[0023] 1. First Embodiment Example

[0024] 1-1. The structure of an elevator

[0025] First, refer to Figures 1 to 3 The elevator structure of the first embodiment (hereinafter referred to as "this example") will be described.

[0026] Figure 1 This is a 3D view of the elevator car in this example. Figure 2 This is a top-down view of the elevator car. Figure 3 This is a front view of the elevator car.

[0027] like Figure 1As shown, the elevator 100 in this example has a car 1 that moves up and down in a shaft formed within a building structure, a pair of guide rails 2, and a hoisting cable 10 (see reference). Figure 2 A pair of guide rails 2 are vertically installed in the hoistway along the vertical direction of the car 1. Additionally, a pair of guide rails 2 are positioned on both sides of the car 1 in the width direction, which is orthogonal to the vertical direction. Furthermore, the pair of guide rails 2 guide the car 1 in a manner that allows it to move vertically.

[0028] like Figures 1 to 3 As shown, the car 1, which carries people or goods, is formed in a hollow, generally rectangular shape. The car 1 has an entrance / exit for people and goods to enter and exit. The car 1 has a roof 1a, a front section 1b with the entrance / exit, a side section 1c, and a rear section 1d.

[0029] A canopy 1a is disposed on the upper part of the car 1. A front section 1b, a side section 1c, and a rear section 1d are disposed around the canopy 1a. The front section 1b and the rear section 1d are disposed opposite each other in the longitudinal direction of the car 1, which is orthogonal to the vertical and width directions. The side section 1c is disposed on both sides of the front section 1b and the rear section 1d in the width direction. Therefore, the side section 1c is orthogonal to the front section 1b and the rear section 1d. Furthermore, the side section 1c is opposite to the guide rail 2.

[0030] In addition, the car 1 has a door operator 3, a car door 4, a door sill 5, a guard plate 7, a guide device 8, and car pulleys 9. Furthermore, the car 1 is equipped with two first sensors 12, a second sensor 13, and a control unit 11.

[0031] The door operator 3 is located at the upper end of the front face 1b of the car 1 in the vertical direction. The sill 5 is located at the lower end of the front face 1b of the car 1 in the vertical direction. A door groove is formed in the sill 5 to guide the car door 4 in an opening and closing manner. The door operator 3 has a drive unit for opening and closing the car door 4. The car door 4 is supported by the sill 5 in an opening and closing manner.

[0032] The car door 4 covers the entrance / exit located on the front part 1b of the car 1 in a manner that allows it to be opened and closed. For example... Figure 2 As shown, when the car 1 stops at the landing floor, the car door 4 is opposite to the building side door 6 located at the entrance / exit of the landing floor.

[0033] like Figure 1 As shown, the guard plate 7 is provided at the lower end of the front face 1b of the car 1 in the vertical direction. Additionally, as... Figure 2 As shown, a car pulley 9 is arranged at the lower part of the car 1 in the vertical direction. The car pulley 9 is arranged on both sides of the car 1 in the width direction. A hoisting cable 10 is wound around the car pulley 9. The hoisting cable 10 is wound around a counterweight pulley (not shown) and a traction sheave of the traction machine. And, driven by the traction machine, the car 1 moves up and down within the hoistway.

[0034] like Figures 1 to 3 As shown, the guide device 8 is disposed at the upper and lower ends of the car 1 in the vertical direction. Additionally, the guide device 8 is disposed at both ends of the car 1 in the width direction. Furthermore, the guide device 8 disposed at the upper end of the car 1 is provided on the roof 1a of the car 1. The guide device 8 slides on the guide rail 2. By sliding the guide device 8 on the guide rail 2, the car 1 moves up and down along the guide rail 2.

[0035] Two first sensors 12A and 12B, a second sensor 13, and a control unit 11 are disposed on the roof 1a of the car 1. The two first sensors 12A and 12B are positioned on the upper part of the guide device 8. That is, the two first sensors 12A and 12B are positioned at both ends of the car 1 in the width direction. First sensor 12A is positioned at one end of the car 1 in the width direction, and first sensor 12B is positioned at the other end of the car 1 in the width direction. Furthermore, the detection surfaces of the two first sensors 12A and 12B face the guide rail 2. That is, the direction in which the detection surfaces of the first sensors 12A and 12B face is towards the width direction of the car 1. The two first sensors 12A and 12B are referred to simply as first sensor 12.

[0036] The first sensor 12 is, for example, a movement detection sensor that detects the amount of movement of the car 1. The first sensor 12 has an optical system and an imaging element for acquiring images. The first sensor 12 acquires images of the surface of the guide rail 2 at regular intervals. Additionally, the first sensor 12 has an illumination device, a lens, and an imaging element (not shown).

[0037] The light source used for the illumination device only needs to be able to be imaged onto the imaging element via a lens; for example, LEDs and laser diodes can be used. The lens is used to image the reflected illumination light onto the imaging element to detect scratches and deposits on the surface of the guide rail 2. Furthermore, a telecentric lens can be used, for example. And the imaging element only needs to be able to convert the imaged light into an electrical signal; for example, a CCD element or a CMOS element can be used.

[0038] The first sensor 12 calculates the movement of the car 1 based on the difference between the image information of the guide rail 2 captured by the detection surface. That is, the first sensor 12 extracts feature points from the acquired image information and saves the extracted feature point data in a time sequence. Furthermore, the first sensor 12 compares the saved data with newly acquired data. The first sensor 12 calculates the movement of the car 1 based on the movement of the feature points that appear after the comparison. For example, the first sensor 12 detects defects in the image captured at time t as feature points. Then, the first sensor 12 extracts the same defects as feature points from the image captured at time t+Δt, compares the images, and calculates the movement of the car 1.

[0039] The first sensor 12 outputs the calculated movement information of the car 1 to the control unit 11. Alternatively, the first sensor 12 may only perform image processing on the surface of the guide rail 2, while the movement calculation is performed by the control unit 11.

[0040] The second sensor 13 is disposed on the front side of the car 1 in the front-rear direction, i.e., the front part 1b side of the car 1, on the roof 1a of the car 1. The second sensor 13 is disposed, for example, on the door operator 3 disposed in the car 1.

[0041] Furthermore, the detection surface of the second sensor 13 faces a different direction than the detection surfaces of the first sensors 12A and 12B, towards the front and rear of the car 1. In addition, the detection surface of the second sensor 13 is configured to face the entrance / exit on the landing side of the hoistway.

[0042] The second sensor 13 is, for example, a car absolute position detection sensor that detects the absolute position of the car 1. Figure 2 As shown, the second sensor 13 detects the objects 14 that are arranged at predetermined intervals in the vertical direction within the shaft. Furthermore, the second sensor 13 outputs the detected information to the control unit 11. The objects 14 are, for example, located at the upper end of the entrance / exit on the landing / landing side of the shaft in the vertical direction.

[0043] The object to be detected 14 can be configured, for example, at each floor where the car 1 stops, or it can be configured at the top and bottom floors where the car 1 stops. In addition, the location of the object to be detected 14 is not limited to the wall of the floor where the car stops, as long as it is inside the hoistway.

[0044] The control unit 11 includes a memory and an arithmetic unit. The memory of the control unit 11 stores the movement information of the car 1 calculated by the first sensor 12. The arithmetic unit calculates the position of the car 1 by performing addition and subtraction operations on the movement information stored in the memory. Furthermore, the arithmetic unit calculates the moving speed and moving distance of the car 1 based on the movement information of the car 1 stored in the memory.

[0045] As described above, the position information of the car 1 is calculated by adding or subtracting (accumulating) the travel distance calculated by the calculation unit of the control unit 11. That is, the control unit 11 calculates the position of the car 1 based on a certain reference position, such as how far it has moved from the bottom floor. Therefore, the further the car 1 is from the reference position, the more the error during calculation accumulates, and the greater the output error of the travel distance. Therefore, the control unit 11 corrects the travel distance and position information of the car 1 based on the detection information from the second sensor 13.

[0046] Specifically, it is performed as follows. Information about the location of the detected object 14 within the hoistway is pre-stored in the memory of the control unit 11. Furthermore, when the second sensor 13 detects the detected object 14, the control unit 11 uses the location of the detected object 14 as the current position information of the car 1, and corrects the movement and position information of the car 1. Thus, the position of the car 1 within the hoistway can be accurately detected.

[0047] Furthermore, the memory of the control unit 11 stores threshold values ​​for detecting anomalies in the two first sensors 12A and 12B. The arithmetic unit of the control unit 11 determines that an anomaly has occurred in the two first sensors 12A and 12B when the movement information output from the two first sensors 12A and 12B exceeds the threshold values.

[0048] Furthermore, this example illustrates an scenario where the first sensor 12 is used as a movement measurement sensor and the second sensor 13 is used as a car absolute position measurement sensor, but this is not a limitation. For example, the first sensor 12 could be used as a car absolute position measurement sensor and the second sensor 13 as a movement measurement sensor, or both the first sensor 12 and the second sensor 13 could be used as sensors to relatively detect the movement of the car 1. Moreover, the second sensor 13 is a correction sensor that corrects the detection value of the first sensor 12, but this is not a limitation; the first sensor 12 could also be used as a correction sensor to correct the detection value of the second sensor 13.

[0049] Furthermore, as described above, the detection surface of the first sensor 12 faces in a different direction than the detection surface of the second sensor 13. In cases where wear occurs due to the deterioration of the guide rail 2 and the guide device 8 over time, the car 1 may tilt, causing the detection surface of the first sensor 12 to separate from the guide rail 2. In this situation, although detection cannot be performed by the first sensor 12, the position of the car 1 can be detected by the second sensor 13, which faces a direction different from the detection surface of the first sensor 12. Thus, according to the elevator 100 of this example, even in cases of wear due to the deterioration of the guide rail 2 and the guide device 8 over time, it is possible to prevent the first sensor 12 and the second sensor 13 from failing to perform simultaneous detection. As a result, the reliability of the elevator 100 can be improved.

[0050] 1-2. Car position detection action

[0051] Next, refer to Figure 4 The position detection operation of the car 1 in the elevator 100 with the above structure will be explained.

[0052] Figure 4This is a flowchart illustrating the position detection operation of car 1. In the following description, the first car position is the position of car 1 calculated using the detection signal from the first sensor 12A, and the second car position is the position of car 1 calculated using the detection signal from the first sensor 12B.

[0053] like Figure 4 As shown, the control unit 11 determines whether the detection signal from the second sensor 13 changes from OFF to ON (step S101). In the process of step S101, the control unit 11 determines whether the second sensor 13 detects the object 14. In the process of step S101, if the control unit 11 determines that the detection signal from the second sensor 13 has changed to ON (yes determination in step S101), the process proceeds to step S102.

[0054] In step S102, the control unit 11 changes the values ​​of the first car position and the second car position stored in the memory to pre-registered values. Here, the pre-registered values ​​refer to the position information of the detected object 14 installed in the hoistway. These first car position and second car position become the position of car 1.

[0055] Furthermore, in step S101, if the control unit 11 determines that the detection signal from the second sensor 13 has not changed to ON (the "No" determination in step S101), it proceeds to step S103. In step S103, the control unit 11 adds or subtracts the movement amount received from the first sensor 12A to the first car position stored in the memory. Then, the control unit 11 adds or subtracts the movement amount received from the first sensor 12B to the second car position stored in the memory. These first and second car positions then constitute the position of car 1. As a result, the position detection operation of car 1 is completed.

[0056] 1-3. Abnormal detection action of the first sensor

[0057] Next, refer to Figure 5 The abnormal detection actions of the first sensors 12A and 12B are explained.

[0058] Figure 5 This is a flowchart illustrating the abnormal detection actions of the first sensors 12A and 12B. In the following description, the first car position is the position of car 1 calculated using the detection signal from the first sensor 12A, and the second car position is the position of car 1 calculated using the detection signal from the first sensor 12B.

[0059] like Figure 5As shown, the control unit 11 determines whether the difference between the first car position calculated using the detection signal from the first sensor 12A and the second car position calculated using the detection signal from the first sensor 12B is greater than or equal to a threshold (step S201). In the processing of step S201, if the control unit 11 determines that the difference is less than the threshold (the "No" judgment in step S201), it determines that the first sensors 12A and 12B have not malfunctioned.

[0060] In contrast, during the processing in step S201, if the control unit 11 determines that the difference is above the threshold (the "yes" judgment in step S201), it determines that the first sensors 12A and 12B have malfunctioned (step S202). Thus, the malfunction detection operation of the first sensors 12A and 12B is completed.

[0061] Furthermore, in the aforementioned operations, if an anomaly is detected in the first sensors 12A and 12B, the control unit 11 reports the elevator 100 malfunction to passengers or an external management center, for example. Additionally, the control unit 11 controls the vertical movement of the car 1 based on the detection signal from the second sensor 13. Here, as described above, the detection surface of the second sensor 13 faces a different direction than the detection surfaces of the first sensors 12A and 12B. Therefore, even if the first sensors 12A and 12B malfunction, the second sensor 13 will still be able to detect the malfunction, thus enabling control of the car 1 based on the detection information from the second sensor 13.

[0062] For example, the control unit 11 moves the car 1 up and down to the position where the second sensor 13 detects the detected object 14, and then stops the car 1. Furthermore, the control unit 11 opens the car door 4. Thus, even if the first sensors 12A and 12B malfunction, the car 1 can be moved to a safe position, preventing passengers from being trapped inside the car 1. As a result, a highly safe elevator 100 can be provided.

[0063] 2. Second Implementation Example

[0064] Next, refer to Figure 6 and Figure 7 The elevator of the second embodiment will be described.

[0065] Figure 6 This is a perspective view of the elevator car according to the second embodiment. Figure 7 This is a top view of the elevator car in the second embodiment.

[0066] The elevator 100B of this second embodiment differs from the elevator 100 of the first embodiment in that the location of the second sensor is provided. Therefore, the same reference numerals are used to mark the parts that are common to the elevator 100 of the first embodiment, and repeated descriptions are omitted.

[0067] like Figure 6 and Figure 7 As shown, elevator 100B has a car 1. Two first sensors 12 and a second sensor 13 are installed in the car 1. The structure of the first sensor 12 is the same as that of the first sensor 12 in the first embodiment described above, so its description is omitted.

[0068] The second sensor 13 is disposed at the lower end of the car 1 in the vertical direction. The second sensor 13 is disposed, for example, on the door sill 5 or the guard plate 7. Furthermore, the detection surface of the second sensor 13 faces a different direction than the detection surface of the first sensor 12, and faces in the front-rear direction of the car 1.

[0069] Additionally, the second sensor 13 detects the object 14, for example, the lower end of the entrance / exit on the landing / passage side of the shaft in the vertical direction.

[0070] The other structures are the same as those of the elevator 100 in the first embodiment described above, so their description is omitted. The elevator 100B in this second embodiment also achieves the same function and effect as the elevator 100 in the first embodiment described above.

[0071] According to the elevator 100B of this second embodiment, the increase in the height dimension of the car 1 due to the second sensor 13 can be prevented. Furthermore, since the second sensor 13 is not installed on the door operator 3, the increase in the weight of the door operator 3 can be prevented.

[0072] Alternatively, the two first sensors 12 can also be disposed at the lower end of the car 1 in the vertical direction, similar to the second sensor 13 of the elevator 100B in the second embodiment.

[0073] 3. Third Implementation Example

[0074] Next, refer to Figure 8 The elevator of the third embodiment will be described.

[0075] Figure 8 This is a top view of the elevator car in the third embodiment.

[0076] The elevator 100C of this third embodiment differs from the elevator 100 of the first embodiment in that the location of the second sensor is provided. Therefore, the same reference numerals are used to mark the parts common to the elevator 100 of the first embodiment, and repeated descriptions are omitted.

[0077] like Figure 8As shown, elevator 100C has a car 1. Two first sensors 12 and a second sensor 13 are installed in the car 1. The structure of the first sensor 12 is the same as that of the first sensor 12 in the first embodiment described above, so its description is omitted.

[0078] The second sensor 13 is disposed at the upper or lower end of the car 1 in the vertical direction. The second sensor 13 is disposed on the rear side of the car 1 in the front-rear direction, that is, on the rear part 1d side of the car 1.

[0079] Furthermore, the detection surface of the second sensor 13 faces the front-to-back direction of the car 1, which is different from the detection surfaces of the first sensors 12A and 12B. Additionally, the detection surface of the second sensor 13 is positioned facing the inner wall surface of the shaft on the rear side opposite to the entrance / exit. The object 14 detected by the second sensor 13 is positioned on the inner wall surface of the shaft on the rear side opposite to the entrance / exit.

[0080] The other structures are the same as those of the elevator 100 in the first embodiment described above, so their description is omitted. In this third embodiment of the elevator 100C, the same functions and effects as those of the elevator 100 in the first embodiment can also be obtained.

[0081] Furthermore, the present invention is not limited to the embodiments described above and shown in the accompanying drawings, and various modifications can be made within the scope of the spirit of the invention as described in the claims.

[0082] Furthermore, while the above-described embodiment illustrates the installation of a first sensor 12 and a second sensor 13 in a new elevator, the implementation is not limited to this. For example, during the renovation of an existing elevator, the first sensor 12 and the second sensor 13 may be newly installed in the car 1. Additionally, a detection object 14 is installed in the hoistway for detection by the second sensor 13.

[0083] Furthermore, the structure of elevator 100 is not limited to... Figures 1 to 3 The 2:1 rope-wound elevator shown can be used with various other types of elevators, including 1:1 rope-wound elevators and hydraulic elevators. It can also be used with elevators that have a machine room or those that do not.

[0084] Furthermore, the terms “parallel” and “orthogonal” are used in this specification, but they do not only mean strictly “parallel” and “orthogonal”, but can also be “approximately parallel” or “approximately orthogonal” that include “parallel” and “orthogonal” and are within the range where they can perform their functions.

[0085] Explanation of reference numerals in the attached figures

[0086] 1···Car, 1a···Ceiling, 1b···Front, 1c···Side, 1d···Rear, 2···Guide rail, 3···Door operator, 4···Car door, 5···Sill, 6···Building side door, 7···Guard plate, 8···Guide device, 9···Car pulley, 10···Hanging cable, 11···Control unit, 12, 12A, 12B···First sensor, 13···Second sensor, 14···Detected object, 100, 100B, 100C···Elevator.

Claims

1. An elevator, characterized in that, include: A car capable of moving up and down within a shaft; The first sensor is installed in the car; The second sensor disposed in the car is configured such that its detection surface faces a different direction than the detection surface of the first sensor. and The control unit calculates the position of the car based on the detection signals from the first sensor and the second sensor.

2. The elevator according to claim 1, characterized in that: The first sensor is a movement detection sensor that detects the amount of movement of the car. The second sensor is a car absolute position detection sensor that detects the absolute position of the car by detecting the object being detected and installed in the hoistway.

3. The elevator according to claim 2, characterized in that: The control unit calculates the position of the car based on the detection signal from the first sensor, and corrects the position of the car based on the detection signal from the second sensor.

4. The elevator according to claim 3, characterized in that: The first sensor is configured with multiple sensors. The control unit determines the abnormality of the first sensor based on the difference in position information calculated using signals detected by multiple first sensors.

5. The elevator according to claim 4, characterized in that: It has a pair of guide rails to guide the car so that it can move up and down. The first sensor is configured such that its detection surface faces the guide rail.

6. The elevator according to claim 1, characterized in that: The second sensor is disposed on the front side of the car, opposite to the entrance / exit located on the landing level. The detection surface of the second sensor is configured to face the entrance / exit of the landing level.

7. The elevator according to claim 6, characterized in that: The car is equipped with a door operator that drives the car door to open it. The second sensor is configured on the door operator.

8. The elevator according to claim 6, characterized in that: The second sensor is disposed at the lower end of the car in the vertical direction.

Images