Elevator position detection device and elevator position detection method

Abstract

Disclosed is an elevator position detection device that can reduce the influence of the installation accuracy of a detected object on the detection accuracy of a door zone. The position detection device is a device that detects a door zone that can open and close a car door (61) and a landing door (71), and includes: a detected object (10) that is provided in a hoistway (1) and that sets a part of the range of the door zone; a position sensor (9) that is provided in a car (2) and that detects a part of the range of the door zone by detecting the detected object; and a movement amount sensor (11) that detects the movement amount of the car, and the position detection device stores position information of a part of the range of the door zone and detects the door zone based on a position detection signal from the position sensor, a movement amount detection signal from the movement amount sensor, and the position information of a part of the range of the door zone.

Description

Technical Field

[0001] This invention relates to an elevator position detection device and method for detecting the openable and closable door zones of the car door and landing door. Background Technology

[0002] At the floor where the car stops, the area within which the car door and landing door can open (door zone) is limited to a specified distance from the leveling reference elevation. When the car is within the door zone, the car door and landing door engage. Therefore, when the door drive unit mounted on the car actuates the car door, the landing door and car door open and close in tandem. If the door zone is detected, the door opening and closing control performed by the door drive unit becomes active. Thus, the car door and landing door automatically open and close only within the door zone.

[0003] As a prior art for detecting gate regions, the technology described in Patent Document 1 is known.

[0004] In this prior art, shielding plates for position detection are configured within the hoistway corresponding to each floor. Door zones are detected based on the signal output from the optical sensor when the sensor light from the optical sensor mounted on the car is blocked by the shielding plate.

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: Japanese Patent Application Publication No. 2022-177618 Summary of the Invention

[0008] The technical problem that the invention aims to solve

[0009] In the aforementioned prior art, the installation accuracy of the shielding plate, which is the object being detected, affects the detection accuracy of the door zone. Therefore, the workload and time of the shielding plate installation and position adjustment operations will increase.

[0010] Therefore, the present invention provides an elevator position detection device and elevator position detection method that can mitigate the influence of the installation accuracy of the object being detected on the detection accuracy of the door zone.

[0011] Technical solutions to solve technical problems

[0012] To address the aforementioned technical problems, the elevator position detection device of this invention is a device for detecting door zones capable of opening and closing car doors and landing doors. The elevator position detection device includes: a detection object disposed within the hoistway, defining a portion of the door zone; a position sensor disposed in the car, detecting the portion of the door zone by detecting the detection object; and a movement sensor detecting the movement of the car. The elevator position detection device stores position information of the portion of the door zone. The elevator position detection device of this invention detects the door zone based on position detection signals from the position sensor, movement detection signals from the movement sensor, and position information of the portion of the door zone.

[0013] To solve the above-mentioned technical problems, the elevator position detection method involved in this invention is a method for detecting door zones that can open and close car doors and landing doors. If a detected object is located in the hoistway to define a portion of the door zone, the door zone is detected based on the amount of car movement and the position information of the portion of the door zone.

[0014] Invention Effects

[0015] According to the present invention, the impact of the installation accuracy of the object being detected on the detection accuracy of the gate area can be mitigated.

[0016] The problems, structures, and effects beyond those described above become clearer through the following description of the implementation methods. Attached Figure Description

[0017] Figure 1 This is a structural diagram showing the overall structure of the elevator as an example.

[0018] Figure 2 This is a functional block diagram illustrating the structure of the safety control device in the embodiment.

[0019] Figure 3 This is a diagram illustrating the relationship between the detected object and the gate region in the embodiment.

[0020] Figure 4 This is a flowchart illustrating the operation of the safety control device in the embodiment. Detailed Implementation

[0021] Hereinafter, embodiments of the present invention will be described using the accompanying drawings, based on the following examples.

[0022] In the accompanying drawings, structures with the same reference numerals represent the same constituent elements or constituent elements with similar functions.

[0023] Figure 1 This is a structural diagram showing the overall structure of a machine room-less elevator as an embodiment of the present invention. Furthermore, in Figure 1 The detailed structure of the rope winding is omitted from the illustration. In this embodiment, the well-known 2:1 rope winding method is used.

[0024] exist Figure 1 In this configuration, the main rope 4 is wound around the sheave and car pulley 41 of the traction machine 3, which is located within the hoistway 1. The car 2 and the counterweight (not shown) are suspended within the hoistway 1 by the main rope 4. When the motor of the traction machine 3 rotates and the sheave is driven to rotate, the main rope 4 is driven by the friction between the sheave and the main rope 4. As a result, the car 2 and the counterweight (not shown) move in opposite directions (up and down) within the hoistway 1.

[0025] The car 2 is movably engaged with the guide rail 5 via a guide device (e.g., guide shoes) not shown. Therefore, the car 2 moves between any floors while being guided by the guide rail 5. Additionally, the counterweight (not shown) moves while being guided by a guide rail (not shown).

[0026] The normal operation of the car 2 is controlled by an elevator control unit (not shown) installed in the hoistway 1 along with the traction machine 3. The traction machine 3 includes an AC motor such as a synchronous motor. This AC motor is driven and controlled by an inverter device provided in the elevator control unit, thereby controlling the speed and position of the car 2.

[0027] The traction machine 3 includes an electromagnetic braking device as a braking system. When the car 2 is decelerated and stops at the stop floor by the elevator control device, the elevator control device switches the electromagnetic braking device from the open state to the braking state. Thus, the stopped state of the car 2 is maintained.

[0028] Safety control device 8 is installed on the upper part of car 2. Safety control device 8 has the following functions: controlling the emergency stop device (not shown) installed on car 2 and the electromagnetic braking device of traction machine 3 to bring car 2 to an emergency stop, or to force car 2 to decelerate near the terminal floor.

[0029] Furthermore, the safety control device 8 has a position detection function to determine whether the car 2 is located in the door zone. The safety control device 8 also has a door-open travel protection function. If the position detection function determines that the car 2 is not located in the door zone, and the car door 6 or the landing door 7 is in an open state, the door-open travel protection function will stop the car 2 from traveling.

[0030] The safety control device 8 determines the open / closed state of the car door 6 based on the signal generated by the car door switch 61 installed on the car door 6. Additionally, the safety control device 8 determines the open / closed state of the car door 7 based on the signal generated by the car door switch 71 installed on the car door 7.

[0031] The safety control device 8 is communicatively connected to the movement sensor 11 and position sensor 9 located on the upper part of the car 2.

[0032] The movement sensor 11 detects the amount of movement of the car 2 in the direction of movement.

[0033] The movement sensor 11 in this embodiment includes a rotation detector and a roller connected to the rotation shaft of the rotation detector. For example, a rotary encoder can be used as the rotation detector. The roller contacts the guide rail 5. Therefore, the roller rotates when the car 2 rises and falls, thus rotating the rotation detector. Based on the rotational position signal output by the rotation detector as it rotates, the movement sensor 11 calculates the movement of the car 2 and outputs a movement detection signal representing the calculated movement of the car 2.

[0034] In addition, in this embodiment, the value of the movement amount when the car 2 rises is positive, and the value of the movement amount when the car 2 falls is negative.

[0035] The safety control device 8 calculates the position of the car 2 in the height direction of the hoistway 1 based on the amount of movement of the car 2 calculated by the movement sensor 11.

[0036] In this embodiment, the position of the car 2 is the position of the car floor surface of the car 2 in the height direction of the hoistway 1. The safety control device 8 calculates the distance between the landing floor surface of the reference floor (hereinafter referred to as the "reference landing floor surface") and the car floor surface to determine the position of the car 2.

[0037] Furthermore, in this embodiment, when the car 2 is located above the reference floor (i.e., when the car floor surface is above the reference floor level (the leveling reference elevation at the reference floor), the distance between the car 2 and the reference floor level (the leveling reference elevation at the reference floor) is a positive value. Conversely, when the car 2 is located below the reference floor (i.e., when the car floor surface is below the reference floor level (the leveling reference elevation at the reference floor), the distance between the car 2 and the reference floor level (the leveling reference elevation at the reference floor) is a positive value. When the car 2 is located at the leveling reference elevation at the reference floor (i.e., when the car floor surface is aligned with the reference floor level), the distance between the car 2 and the reference floor level (the leveling reference elevation at the reference floor) is zero.

[0038] The safety control device 8 updates the position of the car 2 by adding the movement amount obtained from the movement sensor 11 to the position of the car 2 calculated at a certain time in the next moment. In this way, the safety control device 8 uses the movement sensor 11 to detect the position of the car 2.

[0039] The motion sensor may also include an image sensor. In this case, the motion sensor detects the amount of movement of the car 2 based on image information of the surface of the guide rail 5 acquired by the image sensor. For example, the motion sensor calculates the displacement of image feature quantities within a specified time, uses the calculated displacement as the amount of movement of the car 2, and outputs a motion detection signal.

[0040] Alternatively, a rotary encoder (speed limiter encoder) connected to the speed limiter pulley can also be used as a motion sensor.

[0041] Position sensor 9 detects the objects 10 that are installed in the hoistway 1 corresponding to each floor. When position sensor 9 detects the object 10, the car 2 is located within the door zone. That is, when position sensor 9 detects the object 10, it outputs a position detection signal indicating that the car 2 is located within the door zone. In this embodiment, the position of car 2 is the position of the floor surface of car 2 in the height direction of hoistway 1.

[0042] The position sensor 9 and the object being detected 10 have structures based on known technologies. For example, the position sensor 9 includes an optical sensor or a magnetic sensor, and the object being detected 10 is composed of a shielding plate.

[0043] In this embodiment, the distance between the upper and lower ends of the object being detected 10 is shorter than the distance between the upper and lower ends of the door area in the height direction of the hoistway 1. Therefore, the range of the car 2's position when the position sensor 9 detects the object being detected 10, i.e., the door area detection range of the position sensor 9, is a part of the door area.

[0044] When position sensor 9 detects the upper end of the object being detected 10, the position of car 2 is below the upper end of the door zone. When position sensor 9 detects the lower end of the object being detected 10, the position of car 2 is above the lower end of the door zone. When the position of car 2 is at the floor level reference elevation where the object being detected 10 is located, i.e., the center of the door zone, position sensor 9 detects the portion between the upper and lower ends of the object being detected 10.

[0045] Therefore, the door zone detection range of position sensor 9 is a part of the door zone, including the center of the door zone, i.e., the leveling reference elevation. Furthermore, the upper end of the door zone detection range of position sensor 9 is located below the upper end of the door zone, and the lower end of the door zone detection range of position sensor 9 is located above the lower end of the door zone.

[0046] As will be described later, the safety control device 8 determines whether the car 2 is located in the door zone based on the position detection signal output by the position sensor 9 and the movement detection signal output by the movement sensor 11, and based on the position information of the car 2 related to the door zone detection range of the position sensor 9.

[0047] The door zone detection range of position sensor 9 is set by the length and installation position of the object 10 being detected in the height direction of the hoistway. Therefore, in this embodiment, during elevator installation, while the car 2 is running, the position information of the car 2 related to the door zone detection range of position sensor 9 is acquired. Safety control device 8 pre-stores the acquired position information for door zone determination.

[0048] Therefore, as long as the detection range of the door zone set by the detected object 10 is a part of the door zone including the center of the door zone, and extends vertically from the center of the door zone, the detected object 10 does not need to be installed at a specific location within the hoistway 1, but can be installed at any location. Thus, the influence of the installation accuracy of the detected object on the detection accuracy of whether the car 2 is located in the door zone can be mitigated.

[0049] Furthermore, the door zone detection results output by the door zone detection unit 8a can be used not only in the door opening and travel protection unit 8c as in this embodiment, but also in the elevator control device 100. In this case, the elevator control device 100 receives a door zone detection signal S( ) including the position information of the car 2 from the door zone detection unit 8a. Figure 1 (represented by a double-dotted line), the leveling control of car 2 is performed based on the received door zone detection signal S.

[0050] Figure 2 This is a functional block diagram illustrating the structure of the safety control device in the embodiment. Additionally, Figure 2 This refers to the door opening and travel protection function, which is one of the various functions of the safety control device.

[0051] The safety control device 8 includes a door zone detection unit 8a, a data storage unit 8b, and a door opening and travel protection unit 8c.

[0052] The safety control device 8 includes a computer system such as a microcomputer, which executes a prescribed program, thereby functioning as the door zone detection unit 8a and the door opening and travel protection unit 8c. The data storage unit 8b is composed of a storage device such as a semiconductor memory.

[0053] The door zone detection unit 8a determines whether the car 2 is located in the door zone based on the position detection signal output by the position sensor 9 and the movement detection signal output by the movement sensor 11, and based on the position information of the car 2 related to the door zone detection range of the position sensor 9, thereby detecting the door zone.

[0054] The data storage unit 8b stores the position information of the car 2 related to the door zone detection range of the position sensor 9. The door zone detection unit 8a reads this position information from the data storage unit 8b to determine whether the car 2 is located in the door zone.

[0055] In this embodiment, as position information of the car 2 related to the door zone detection range of the position sensor 9, the data storage unit 8c sets the upper and lower ends of the door zone detection range set by the detected object 10, and the distances between the center of the door zone, i.e., the floor where the detected object 10 is located, and the leveling reference elevation (described later). Figure 3 The l shown U l D ).

[0056] The door-opening travel protection unit 8c determines, based on the judgment result of the door zone detection unit 8a, the signal generated by the car door switch 61, and the signal generated by the landing door switch 71, whether the car 2 is traveling outside the door zone when the car door 6 or the landing door 7 is open. When it is determined that the car 2 is traveling outside the door zone when the car door 6 or the landing door 7 is open, the door-opening travel protection unit 8c cuts off the power supply to the elevator control device 100, including the inverter device or operation control device that drives the traction machine 3, and the power supply to the multi-functional braking device, including the electromagnetic braking device provided by the traction machine 3, to stop the car 2.

[0057] Figure 3 This is a diagram showing the correspondence between the detected object and the gate region in the embodiment.

[0058] Additionally, assume that car 2 is traveling in an upward direction.

[0059] In the figure, the area where the object to be detected 10 is configured represents the gate detection range of the position sensor 9, which is set by the object to be detected 10.

[0060] In this embodiment, as described above, the distances l between the upper end A and lower end B of the door zone detection range set by the object being detected 10 and the center C of the door zone, i.e., the floor level reference elevation where the object being detected 10 is located, are measured in advance. U l D In addition, the upper end B and lower end A of the gate detection range correspond to the upper end and lower end of the object being detected 10, respectively.

[0061] Let L be the distance between the upper and lower ends of the door zone. Then, the door zone in shaft 1 is set to be within the range of L / 2 of the distance between it and the leveling reference elevation (C) in the vertical direction.

[0062] In addition, the value of L is, for example, around 200 to 300 mm.

[0063] When car 2 reaches the lower end A of the door zone detection range, i.e., the distance between it and the leveling reference elevation (C) is l D When the car is positioned, calculate the car movement d from that position. A .

[0064] As described above, in this embodiment, the value of the movement of the car 2 when it rises is positive, and the value of the movement of the car 2 when it descends is negative. Furthermore, as described above, in this embodiment, when the car 2 is above the floor level reference elevation, the value of the distance between the car 2 and the floor level reference elevation is positive; when the car 2 is below the floor level reference elevation, the value of the distance between the car 2 and the floor level reference elevation is negative. When the car 2 is at the same position as the floor level reference elevation, the value of the distance between the car 2 and the floor level reference elevation is zero.

[0065] Therefore, in Figure 3 In the middle, due to d A >0, l D <0, therefore through l D Add d to the top A The distance between the leveling reference elevation (C) and the position of car 2 is calculated, which is the position d of the car based on the leveling reference elevation (C). When car 2 travels upward and leaves the gate area, d is greater than L / 2 (L>0).

[0066] Next, with Figure 3 In a different case, car 2 is moving upwards.

[0067] When car 2 reaches the upper end B of the door zone detection range, i.e., the distance from the leveling reference elevation (C) is l U When the car is positioned, calculate the amount of car movement from that position (hereinafter denoted as d). B (with d) A (The arrows are pointing in opposite directions)

[0068] Because of d B <0, l U >0, therefore through l U Add d to the top B This allows us to calculate the distance between the leveling reference elevation (C) and the position of the car 2, i.e., the position d of the car relative to the leveling reference elevation (C). Figure 3 (The arrows d shown are in opposite directions). When car 2 travels downwards and exits the gate area, d is less than -L / 2 (L>0).

[0069] As described above, the distance between the leveling reference elevation (C) and the position of the car 2, i.e. the car position d based on the leveling reference elevation (C), and the door area L, is used to determine whether the car 2 is located in the door area.

[0070] Figure 4 This is a flowchart illustrating the door zone detection action of the safety control device in the embodiment.

[0071] The safety control device 8 uses the door zone detection unit 8a to periodically perform... Figure 4 The series of processes shown.

[0072] When a detection cycle begins, the safety control device 8 first determines in step S301 whether the result of the determination of whether the car 2 is located in the door zone, which is the output of the door zone detection unit 8a, is "not located," i.e., whether the door zone is not detected. If the safety control device 8 determines that it is not detected ("Yes" in step S301), it then executes step S302. If it determines that it is not not detected ("No" in step S301), i.e., it determines that the door zone has been detected, it then executes step S307.

[0073] In step S302, the safety control device 8 determines whether the position sensor 9 has detected the object 10. When the safety control device 8 determines that it has detected the object ("Yes" in step S302), it proceeds to step S303. When it determines that it has not detected the object ("No" in step S302), the series of processes ends.

[0074] In step S303, the safety control device 8 determines whether the travel direction of the car 2 is upward (UP). If the safety control device 8 determines that it is upward (UP) ("Yes" in step S303), then step S304 is executed. If it determines that it is not upward (UP) ("No" in step S303), that is, if it is downward (DOWN), then step S305 is executed.

[0075] In this embodiment, the safety control device 8 determines the vertical direction of travel based on the sign of the movement value indicated by the movement detection signal from the movement sensor 11. Alternatively, the safety control device 8 can also obtain operating information from the elevator control device 100 and determine the travel direction based on the obtained operating information.

[0076] In step S304, the safety control device 8 calculates the position d of the car 2 based on the movement detection signal from the movement sensor 11. Figure 3 The initial value (d0) is set to the position l at the lower end A of the door zone detection range at the floor where the object being detected 10 is located. D ( Figure 3 (l) D <0). After executing step S304, safety control device 8 then executes step S306.

[0077] In step S305, the safety control device 8 calculates the position d of the car 2 based on the movement detection signal from the movement sensor 11. Figure 3 The initial value (d0) is set to the position l of the upper end B of the door zone detection range at the floor where the object being detected 10 is located. U ( Figure 3 (l)U >0). After executing step S305, safety control device 8 then executes step S306.

[0078] The safety control device 8 reads l from the data storage unit 8b D l U The data storage unit 8b stores l corresponding to the absolute position information of the upper and lower ends of the door zone detection range or the floor level reference elevation for multiple floors. D l U Here, the absolute position information represents the height from the reference floor (floor level). The safety control device 8 continuously calculates the absolute position of the car 2 based on the movement detection signal from the movement sensor 11. The safety control device 8 reads the absolute position information from the data storage unit 8b from the absolute position information of the door zone detection range that coincides with or is closest to the calculated absolute position of the car 2. D l U , set as d0.

[0079] In addition, when the elevator control device 100 calculates the absolute position of the car 2, the safety control device can also obtain the absolute position of the car 2 from the elevator control device 100.

[0080] In step S306, the safety control device 8 begins detecting the door zone and determining whether the position d of the car 2 is within the door zone. After executing step S306, the safety control device 8 ends the processing corresponding to one detection cycle.

[0081] In step S307, the safety control device 8 calculates the position d of the car 2 (d=d) based on the movement detection signal from the movement sensor 11 since the start of the door zone detection. A ( Figure 3 ()+d0). After executing step S307, safety control device 8 then executes step S308.

[0082] In step S308, the safety control device 8 determines whether the position d of the car 2 calculated in step 307 is greater than L / 2 or less than -L / 2. Figure 3 As shown, L (>0) is the size of the door zone in the height direction of the hoistway 1. As mentioned above, when d > L / 2 or d < -L / 2, d is outside the door zone. Therefore, in step S308, the safety control device 8 determines whether the car 2 is outside the door zone.

[0083] If safety control device 8 determines that d > L / 2 or d < -L / 2 ("Yes" in step S308), that is, if it determines that car 2 is outside the door zone, then proceed to step S309. If safety control device 8 determines that d is neither > L / 2 nor d < -L / 2 ("No" in step S308), that is, if it determines that car 2 is in the door zone, then the processing corresponding to one detection cycle ends.

[0084] In step S309, the safety control device 8 releases the door zone detection. That is, the safety control device 8 ends the determination of whether the position d of the car 2 is within the door zone. After executing step S309, the safety control device 8 ends the processing corresponding to one detection cycle.

[0085] This invention is not limited to the embodiments described above, and includes various modifications. For example, the above embodiments are detailed descriptions provided to facilitate understanding of the invention, and the invention is not necessarily limited to including all the structures described. Furthermore, for a part of the structure of the embodiments, other structures can be added, deleted, or replaced.

[0086] For example, traction machines and elevator control devices can also be installed in the machine room.

[0087] Label Explanation

[0088] 1. Hoistway, 2. Car, 3. Traction machine, 4. Main rope, 5. Guide rail, 6. Car door, 7. Station door, 8. Safety control device, 8a. Door zone detection unit, 8b. Data storage unit, 8c. Door opening and travel protection unit, 9. Position sensor, 10. Detected object, 11. Movement sensor, 41. Car pulley, 61. Car door switch, 71. Station door switch, 100. Elevator control device.

Claims

1. An elevator position detection device, which detects door zones capable of opening and closing car doors and landing doors, characterized in that, include: The object to be detected is located within the shaft to define a portion of the gate area; A position sensor, located in the car, detects the portion of the door zone by detecting the object being detected; and A motion sensor is used to detect the amount of movement of the car. The elevator position detection device stores the position information of the portion of the door zone. The elevator position detection device detects the door zone based on the position detection signal from the position sensor, the movement detection signal from the movement sensor, and the position information.

2. The elevator position detection device as described in claim 1, characterized in that, The location information indicates the position of the upper and lower ends of the portion of the gate area.

3. The elevator position detection device as described in claim 1, characterized in that, If the position sensor detects the object being detected, the elevator position detection device calculates the position of the car based on the movement detection signal and the position information, and detects the door zone based on the calculated position of the car.

4. The elevator position detection device as described in claim 3, characterized in that, If the position sensor detects the object being detected, the elevator position detection device begins to detect the door zone based on the calculated position of the car. If it is determined that the calculated position of the car is outside the door zone, the elevator position detection device will release the detection of the door zone.

5. The elevator position detection device as described in claim 3, characterized in that, The aforementioned portion of the gate area includes the floor level reference elevation. The location information and the position of the car are based on the leveling reference elevation.

6. The elevator position detection device as described in claim 1, characterized in that, The length of the object being detected in the height direction of the well is less than that of the gate area.

7. The elevator position detection device as described in claim 1, characterized in that, The motion sensor is located in the car.

8. An elevator position detection method, wherein the elevator position detection method detects door zones capable of opening and closing car doors and landing doors, characterized in that, If a detected object is located within the shaft to define a portion of the gate area, then... The door area is detected based on the amount of movement of the car and the position information of the portion of the door area.

Images