Elevator door control device

Abstract

To realize a function for diagnosing vibrations occurring in the motor control of an elevator door within the constraints and resources of a function that generally controls a door motor.SOLUTION: A control device controls a door motor so that the actual speed calculated from the rotation angle of the door motor follows a speed command value. During a sampling period in which a door is opened or closed, the control device executes the following processes of: acquiring the actual speed in a predetermined sampling period, and calculating an actual speed change integrated value by integrating the absolute value of the amount of change in the actual speed during the sampling period; acquiring the speed command value in the sampling period, and calculating a speed command value change integrated value by integrating the absolute value of the amount of change in the speed command value during the sampling period; and diagnosing the door having an abnormality if a first difference value obtained by subtracting the speed command value change integrated value from the actual speed change integrated value is greater than a first threshold value.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present disclosure relates to elevator door control technology. [Background technology]

[0002] In recent years, the motor control function for operating the door has become more precise in order to realize high-speed and smooth door operation. However, due to the installation condition at the site or the aging of the mechanical system, vibrations may occur due to reasons such as improper adjustment of the control gain. In such cases, frequency analysis based on detailed waveform data is performed and compared with the data during operation that is the basis for development, to judge the vibrations.

[0003] For example, Patent Document 1 discloses a technique for performing frequency analysis on a current as a method for determining a rotation angle error in a rotation detection unit of an elevator motor. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] International Publication No. 2016 / 174796 Summary of the Invention [Problem to be solved by the invention]

[0005] In the technology of Patent Document 1, ideally the data analysis mechanism would be incorporated into embedded software that runs on-site to enable vibration analysis and judgment. However, due to software constraints such as RAM capacity, calculation time, and communication volume, it is difficult to incorporate the data analysis mechanism as is.

[0006] The present disclosure has been made to solve the above-mentioned problems, and aims to provide an elevator door control device that can realize the function of diagnosing vibrations that occur in elevator door motor control within the constraints and resources that are generally associated with the function of controlling a door motor. [Means for solving the problem]

[0007] The elevator door control device of the present disclosure includes a door motor that drives an elevator door in an opening and closing direction, and a control device that controls the door motor. The control device includes a rotation detection unit that detects a rotation angle of the door motor, a door speed calculation unit that calculates an actual speed in the opening and closing direction of the door from the rotation angle, a door speed command value calculation unit that calculates a speed command value in the opening and closing direction of the door, a motor control unit that controls the door motor so that the actual speed follows the speed command value, and a door diagnosis unit that diagnoses an abnormality in the door during a predetermined sampling period during a door opening or closing operation, and the door diagnosis unit detects an abnormality in the door during the sampling period. The door speed calculator is configured to execute a first calculation process in which an actual speed at a predetermined sampling period during the sampling period is obtained from the door speed calculation unit, and an actual speed change integrated value is calculated by integrating the absolute value of the amount of change in the actual speed during the sampling period; a second calculation process in which a speed command value at the sampling period is obtained from the door speed command value calculation unit, and a speed command value change integrated value is calculated by integrating the absolute value of the amount of change in the speed command value during the sampling period; and a first determination process in which a first difference value obtained by subtracting the speed command value change integrated value from the actual speed change integrated value is greater than a first threshold value. Effect of the Invention

[0008] According to the technology disclosed herein, it is possible to realize a function for diagnosing vibrations that occur in elevator door motor control within the constraints and resources that are generally associated with functions for controlling door motors. [Brief description of the drawings]

[0009] [Figure 1]FIG. 1 is a front view of an elevator door control device in embodiment 1. [Diagram 2] FIG. 2 is a functional block diagram of functions provided in the control device. [Diagram 3] FIG. 4 is a diagram illustrating an example of a door speed pattern during a door opening operation. [Figure 4] 5 is a diagram for explaining an abnormality diagnosis process executed by a door diagnosis unit. FIG. [Diagram 5] 5 is a diagram for explaining an abnormality diagnosis process executed by a door diagnosis unit. FIG. [Figure 6] 5 is a flowchart showing an abnormality diagnosis processing routine executed in the door control device 1 in the first embodiment. [Figure 7] FIG. 2 is a diagram illustrating an example of hardware resources of a control device. [Figure 8] FIG. 11 is a diagram illustrating another example of hardware resources of a control device. [Figure 9] FIG. 11 is a functional block diagram of an elevator door control device in a second embodiment. [Figure 10] 10 is a flowchart showing an abnormality diagnosis processing routine executed in the door control device 1 in the second embodiment. [Figure 11] FIG. 11 is a functional block diagram of an elevator door control device in embodiment 3. [Figure 12] 11 is a flowchart showing an abnormality diagnosis processing routine executed in the door control device 1 in the third embodiment. [Figure 13] 11 is a flowchart showing an abnormality diagnosis processing routine executed in the door control device 1 in the third embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, an embodiment will be described with reference to the drawings. In addition, elements common to the various drawings are given the same reference numerals, and duplicated explanations will be omitted.

[0011] Embodiment 1 1-1. Configuration of elevator door control device in embodiment 1 FIG. 1 is a front view of an elevator door control device in a first embodiment. An elevator shaft is formed so as to pass through each floor of a building. On each floor, a landing is formed near the shaft. A passenger car is provided in the shaft. A landing entrance is formed between each landing and the shaft. A landing door is provided at the landing entrance. A car entrance is formed on the landing side of the passenger car. A door control device 1 is provided at the car entrance. The door control device 1 has a door 2, a door opening and closing mechanism 3 that opens and closes the door 2, and a door drive mechanism 4 that drives the door opening and closing mechanism 3.

[0012] The door 2 is provided to open and close the cage entrance. Typically, the doors 2 are provided in pairs so as to open from the center. As another example, the door 2 may be provided so as to open from one side. A door opening and closing mechanism 3 is provided above the door 2. The door opening and closing mechanism 3 includes a suspension member 6, a hanger roller 7, a rail 8, two pulleys 9, a belt 10, and a connecting member 11. The suspension member 6 is fixed to the upper part of the door 2. The hanger roller 7 is installed on the upper part of the suspension member 6. The rail 8 is installed above the door 2. The two pulleys 9 are arranged above the rail 8 with a horizontal gap between them. The belt 10 is installed so as to go around the pulley 9.

[0013] One end of one of the connecting members 11 is fixed to the belt 10 above the pulley 9. The other end of one of the connecting members 11 is fixed to one of the hanging members 6. The other end of the connecting member 11 is fixed to the belt 10 below the pulley 9. The other ends of both of the connecting members 11 are fixed to the other of the hanging members 6. When the belt 10 is reciprocated left and right by the door drive mechanism 4, the door 2 is guided by the hanger roller 7 running on the rail 8 and reciprocates in the opposite direction, opening and closing the entrance.

[0014] The door drive mechanism 4 includes a door motor 12, a pulse encoder 13, and a control device 20. The door motor 12 has a function of rotating the pulley 9 via a rotating shaft. The pulse encoder 13 has a function of converting the rotation of the door motor 12 into pulses. The control device 20 has a function of controlling the door motor 12 based on the pulses output by the pulse encoder 13. The control device 20 also has a function of diagnosing the presence or absence of an abnormality in the door opening operation or door closing operation of the door 2. In the following description, the door opening operation or door closing operation of the door 2 will also be simply referred to as the "opening and closing operation" of the door 2. The functions of the control device 20 will be described in detail later.

[0015] In such an elevator, when the passenger car is placed adjacent to a landing, a part of the passenger car door 2 and a part of the landing door mesh with each other. In this state, the door motor 12 is driven by the control device 20. This drive rotates the pulley 9. This rotation causes the belt 10 to move. At this time, above the pulley 9, the belt 10 moves to the left or right. In contrast, below the pulley 9, the belt 10 moves to the other left or right.

[0016] As a result of this movement, the connecting members 11 move in opposite directions. As a result of this movement, the suspension members 6 move in opposite directions. As a result of this movement, the doors 2 move in opposite directions. At this time, the hanger rollers 7 run on the rails 8. As a result, the doors 2 smoothly open and close the car entrance. As a result of this opening and closing, the pair of landing doors move in opposite directions. Due to this movement, the landing doors open and close the landing entrance.

[0017] 1-2. Functions of the control device 20 in the first embodiment Next, functions of the control device 20 will be described with reference to Fig. 2. Fig. 2 is a functional block diagram of the functions of the control device. As shown in Fig. 2, the control device 20 includes, as its functional blocks, a rotation detection unit 21, a door speed calculation unit 22, a door speed command value calculation unit 23, a motor control unit 24, a door diagnosis unit 25, and a storage unit 26.

[0018] The rotation detection unit 21 is a functional block for detecting the rotation angle of the door motor 12. Typically, the rotation detection unit 21 calculates the rotation angle by counting the pulses output by the pulse encoder 13. The calculated rotation angle is sent to the door speed calculation unit 22 as needed.

[0019] The door speed calculation unit 22 is a functional block for calculating the actual speed of the door 2 in the opening / closing direction from the rotation angle calculated by the rotation detection unit 21. Typically, the door speed calculation unit 22 calculates the actual speed at a predetermined control period during the opening / closing operation of the door 2, and outputs it to the motor control unit 24. In addition, the door speed calculation unit 22 calculates the actual speed during the opening / closing operation of the door 2 in accordance with a sampling period and a sampling period that are predetermined in the diagnosis conditions, and outputs it to the door diagnosis unit 25.

[0020] The door speed command value calculation unit 23 is a functional block for calculating a speed command value in the opening / closing direction during the opening / closing operation of the door 2. FIG. 3 is a diagram illustrating an example of a door speed pattern during the door opening operation. In this diagram, the horizontal axis is time, and the vertical axis is the speed of the door 2. In FIG. 3, a pattern indicated by W11 is an example of a pattern of a speed command value during the door opening operation. In the pattern W11, the period from time t0 to time t1 in the fully closed state is an acceleration section. In the acceleration section, the acceleration of the door 2 is constant. From time t1 to time t2 is a maximum speed section. In the maximum speed section, the speed of the door 2 is constant at the maximum speed. From time t2 to t3 when the door is fully open is a deceleration section. In the deceleration section, the deceleration of the door 2 is constant. The control device 20 stores such a pattern of the door speed command value in the memory unit 26. During the opening and closing operation of the door 2, the door speed command value calculation unit 23 calculates a speed command value at a predetermined control period using a pattern of the door speed command value stored in the storage unit 26, and outputs the speed command value to the motor control unit 24. In addition, during a diagnosis period for the opening and closing operation of the door 2, the door speed command value calculation unit 23 calculates a speed command value according to a sampling period and a sampling period that are predetermined as diagnosis conditions, and outputs the speed command value to the door diagnosis unit 25.

[0021] The motor control unit 24 controls the torque of the door motor 12 so that the actual speed during the opening and closing operation of the door 2 follows the speed command value. There is no limitation on the method of controlling the door motor 12 here. For example, the motor control unit 24 feeds back the deviation between the actual speed and the speed command value to the torque command value. In Fig. 3, the pattern indicated by W12 is an example of a pattern of the actual speed of the door 2 when the motor control unit 24 controls the door motor 12 so that it follows the speed command value indicated by W11.

[0022] The door diagnosis unit 25 is a functional block for diagnosing an abnormality during the opening and closing operation of the door 2. Typically, the door diagnosis unit 25 diagnoses an abnormality in the door 2 according to a predetermined diagnosis condition. This process is hereinafter referred to as an "abnormality diagnosis process." The diagnosis condition here is a condition that determines a sampling period and a sampling cycle for calculating an actual speed and a speed command value. The sampling period may be during the door opening operation of the door 2 or during the door closing operation. The sampling period may be an acceleration part or a deceleration part of the door opening command value. The sampling period is set to a period that allows sampling at least three points during the sampling period.

[0023] 4 and 5 are diagrams for explaining the abnormality diagnosis process executed by the door diagnosis unit. FIG. 4 shows an enlarged example of the pattern of the acceleration section surrounded by A in FIG. 3. In the abnormality diagnosis process, the door diagnosis unit 25 acquires the actual speed of the door 2 calculated by the door speed calculation unit 22 according to a sampling period and a sampling cycle that are predefined in the diagnosis conditions. In the example shown in FIG. 4, the door diagnosis unit 25 acquires the actual speed at sampling cycles T0, T1, T2, and T3 during the sampling period. Then, the door diagnosis unit 25 calculates the amount of change in the actual speed during each sampling cycle, and calculates an actual speed change amount integrated value by integrating the absolute values ​​of the amounts of change. This process is hereinafter referred to as a "first calculation process." In the example shown in Fig. 4, the difference between the actual speed in sampling period T1 and the actual speed in sampling period T0 is calculated as the amount of change (A), the difference between the actual speed in sampling period T2 and the actual speed in sampling period T1 is calculated as the amount of change (B), and the difference between the actual speed in sampling period T3 and the actual speed in sampling period T2 is calculated as the amount of change (C). Fig. 5 also shows an actual speed change integrated value W32 obtained by integrating the absolute values ​​(A'), (B'), and (C') of the changes in the actual speed (A), (B), and (C), respectively.

[0024] In the abnormality diagnosis process, the door diagnosis unit 25 acquires the speed command value calculated by the door speed command value calculation unit 23 in the same sampling period as the first calculation process according to the diagnosis conditions. In the example shown in FIG. 4, the door diagnosis unit 25 acquires the speed command value in the sampling periods T0, T1, T2, and T3. Then, the door diagnosis unit 25 calculates the amount of change in the speed command value during each sampling period, and calculates an integrated value of the amount of change in the speed command value by integrating the absolute values ​​of the amount of change. This process is hereinafter referred to as the "second calculation process." In the example shown in FIG. 4, the difference between the speed command value in the sampling period T1 and the speed command value in the sampling period T0 is calculated as the amount of change (a), the difference between the speed command value in the sampling period T2 and the speed command value in the sampling period T1 is calculated as the amount of change (b), and the difference between the speed command value in the sampling period T3 and the speed command value in the sampling period T2 is calculated as the amount of change (c). FIG. 5 also shows a speed command value change amount integrated value W31 obtained by integrating the absolute values ​​(a'), (b'), and (c') of the speed command value change amounts (a), (b), and (c), respectively.

[0025] Furthermore, in the abnormality diagnosis process, the door diagnosis unit 25 calculates the difference between the calculated actual speed change amount integrated value and the speed command value change amount integrated value as a first difference value, and judges whether or not there is an abnormality in the door 2 depending on whether or not the first difference value is greater than a first threshold value. This process is hereinafter referred to as "first judgment process." Fig. 5 illustrates an example of the difference value between the actual speed change amount integrated value W32 and the speed command value change amount integrated value W31.

[0026] When a deviation occurs in the adjustment of the control gain of the control of the door motor 12 in the motor control unit 24 due to the installation state of the door 2 at the site or due to aging deterioration of the mechanical system of the door opening / closing mechanism 3 or the door drive mechanism 4, vibration occurs in the opening and closing operation of the door 2. The first difference value between the actual speed change amount integrated value W32 and the speed command value change amount integrated value W31 tends to be larger as the vibration during the opening and closing operation of the door 2 becomes larger. Therefore, the first threshold value here is set to, for example, the value of the first difference value corresponding to the allowable limit of the vibration generated during the opening and closing operation of the door 2. By setting the first threshold value in this way, it becomes possible to diagnose that there is an abnormality during the opening and closing operation of the door 2 when the difference value between the actual speed change amount integrated value W32 and the speed command value change amount integrated value W31 is larger than the first threshold value.

[0027] 1-3. Specific processing executed in the elevator door control device in the first embodiment Next, a specific process of the abnormality diagnosis process executed in the elevator door control device 1 in the embodiment 1 will be described. Fig. 6 is a flowchart showing a routine of the abnormality diagnosis process executed in the door control device 1 in the embodiment 1. The routine shown in Fig. 6 is executed in the control device 20 during a sampling period determined by a diagnosis condition.

[0028] 6, the door speed calculation unit 22 calculates the actual speed of the door 2 at a sampling period defined in the diagnosis conditions. In the next step S102, the door diagnosis unit 25 executes a first calculation process to calculate the amount of change in the actual speed between each sampling period, and calculates an actual speed change amount integrated value by integrating the absolute values ​​of each amount of change.

[0029] In the next step S104, the door speed command value calculation unit 23 executes a second calculation process, calculates the amount of change in the speed command value between each sampling period, and calculates an accumulated value of the amount of change in the speed command value by accumulating the absolute values ​​of each amount of change.

[0030] The door diagnosis unit 25 executes a first determination process in steps S108, S110, and S112. Typically, in step S108, the door diagnosis unit 25 calculates a first difference value between an actual speed change amount integrated value and a speed command value change amount integrated value, and determines whether the first difference value is greater than a first threshold value. If the result of the determination is positive, the process proceeds to step S112, and if the result is negative, the process proceeds to step S110.

[0031] In step S110, the door diagnosis unit 25 determines that vibrations exceeding the allowable range are not occurring in the door 2 and diagnoses that the door 2 is normal. On the other hand, in step S112, the door diagnosis unit 25 determines that vibrations exceeding the allowable range are occurring in the door 2 and diagnoses that an abnormality is occurring in the door 2.

[0032] As is clear from the above description, the elevator door control device 1 of the first embodiment can quantitatively determine the magnitude of vibration when the door 2 is opened or closed based on the actual speed and speed command value acquired by utilizing the existing function for controlling the door motor 12. This makes it possible to realize abnormality diagnosis when the door 2 is opened or closed within the constraints and resources generally associated with the function for controlling the door motor 12.

[0033] 1-4.Modifications The door control device 1 of the first embodiment may employ the following modified aspects.

[0034] 4-1. Hardware resources of the control device 20

[0035] 7 is a diagram showing an example of hardware resources of the control device 20. The control device 20 includes, as hardware resources, a processing circuit 206 including a processor 202 and a memory 204. The processing circuit 206 may include multiple processors 202. The processing circuit 206 may include multiple memories 204.

[0036] In this embodiment, each unit denoted by reference numerals 21 to 26 indicates a function possessed by the control device 20. The function of the storage unit 26 is realized by the memory 204. The function of each unit denoted by reference numerals 21 to 26 can be realized by software written as a program, firmware, or a combination of software and firmware. The program is stored in the memory 204. Alternatively, the program may be recorded in a computer-readable recording medium. The control device 20 realizes the function of each unit denoted by reference numerals 21 to 26 by executing the program stored in the memory 204 by the processor 202 (computer).

[0037] The processor 202 is also called a CPU (Central Processing Unit), central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, or DSP. The memory 204 may be a semiconductor memory, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, or a DVD. Possible semiconductor memories include RAM, ROM, flash memory, EPROM, and EEPROM.

[0038] FIG. 8 is a diagram showing another example of the hardware resources of the control device 20. In the example shown in FIG. 8, the control device 20 includes a processor 202, a memory 204, and a processing circuit 206 including dedicated hardware 208. FIG. 8 shows an example in which a part of the functions of the control device 20 is realized by the dedicated hardware 208. All of the functions of the control device 20 may be realized by the dedicated hardware 208. As the dedicated hardware 208, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination of these can be adopted. Note that the above-mentioned modified examples of the hardware resources of the control device 20 can also be applied to the control device 20 of other embodiments described later.

[0039] Embodiment 2 2-1. Features of the elevator door control device in the second embodiment Fig. 9 is a functional block diagram of an elevator door control device in accordance with embodiment 2. Note that the same or corresponding parts as those in the door control device 1 in embodiment 1 are given the same reference numerals and the description thereof will be omitted.

[0040] The control device 20 of the second embodiment further includes a door speed storage unit 27 in addition to the configuration of the control device 20 of the first embodiment. The door speed storage unit 27 is a functional block that functions as a storage device that stores and holds, as a standard actual speed change amount integrated value, an actual speed change amount integrated value calculated by executing a first calculation process according to a predetermined diagnostic condition at the time of installation of the elevator in which the control gain of the control of the door motor 12 is appropriately adjusted.

[0041] In the abnormality diagnosis process, the door diagnosis unit 25 diagnoses an abnormality in the door 2 by comparing the current actual speed change amount integrated value calculated by executing the first calculation process under the same diagnostic conditions as those when the standard actual speed change amount integrated value was calculated with the standard actual speed change amount integrated value. Typically, the door diagnosis unit 25 calculates the difference between the current actual speed change amount integrated value and the standard actual speed change amount integrated value as a second difference value, and determines whether or not there is an abnormality in the door 2 depending on whether or not the second difference value is larger than a second determination value. This process will be referred to as the "second determination process" below.

[0042] When deterioration of the mechanical system such as the door opening / closing mechanism 3 or the door drive mechanism 4 occurs over time, a deviation occurs in the adjustment of the control gain of the control of the door motor 12 in the motor control unit 24, causing vibration of the door 2 during opening and closing operations. The second difference value between the actual speed change integrated value and the standard actual speed change integrated value tends to be larger as the vibration during opening and closing operations of the door 2 increases. Therefore, the second threshold value is set to the value of the second difference value corresponding to the limit of vibration permitted during opening and closing operations of the door 2, which corresponds to the allowable limit of vibration generated during opening and closing operations of the door 2. In this way, according to the second judgment process, it is possible to quantitatively diagnose the change in the magnitude of vibration of the door 2 due to deterioration of the mechanical system over time.

[0043] 2-2. Specific processing executed in the elevator door control device in the second embodiment Next, a specific process of the abnormality diagnosis process executed in the elevator door control device 1 in the embodiment 2 will be described. Fig. 10 is a flowchart showing a routine of the abnormality diagnosis process executed in the door control device 1 in the embodiment 2. The routine shown in Fig. 10 is executed in the control device 20 during a sampling period determined by the diagnosis conditions.

[0044] In steps S200, S202, and S204 of the routine shown in Fig. 10, the same processes as those in steps S100, S102, and S104 of the routine shown in Fig. 6 are executed. When the process of step S204 is completed, the process proceeds to step S206.

[0045] In step S206, the door diagnosis unit 25 determines whether the elevator is being installed. If the determination is affirmative, the process proceeds to step S208, and if the determination is negative, the process proceeds to step S210.

[0046] In step S208, the door diagnosis unit 25 stores the actual speed change amount integrated value calculated in step S202 of this routine as a standard actual speed change amount integrated value in the door speed storage unit 27. When the process of step S208 is completed, the process proceeds to step S210.

[0047] In step S210, the door diagnosis unit 25 calculates a first difference between the actual speed change amount integrated value and the speed command value change amount integrated value, and judges whether the first difference is greater than a first threshold value or not. If the judgment is affirmative, the process proceeds to step S216, and if the judgment is negative, the process proceeds to step S212.

[0048] In step S212, the door diagnosis unit 25 calculates a second difference between the actual speed change amount integrated value and the standard actual speed change amount integrated value, and judges whether the second difference is greater than a second threshold value or not. If the judgment is affirmative, the process proceeds to step S216, and if the judgment is negative, the process proceeds to step S214.

[0049] In step S214, the door diagnosis unit 25 determines that vibrations exceeding the allowable range are not occurring in the door 2 and diagnoses that the door 2 is normal. On the other hand, in step S216, the door diagnosis unit 25 determines that vibrations exceeding the allowable range are occurring in the door 2 and diagnoses that an abnormality is occurring in the door 2.

[0050] As is clear from the above description, the elevator door control device 1 of the second embodiment can quantitatively determine the magnitude of vibration when the door 2 is opened and closed based on a comparison between the actual speed change accumulated value and the standard actual speed change accumulated value, in addition to a comparison between the actual speed change accumulated value and the speed command value change accumulated value. This makes it possible to accurately diagnose abnormalities when the door 2 is opened and closed, particularly those caused by aging deterioration of the mechanical system, within the constraints and resources generally associated with the function of controlling the door motor 12.

[0051] 2-3.Modifications The door control device 1 of the second embodiment may employ the following modified aspects.

[0052] 2-3-1. Standard actual speed change amount cumulative value The standard actual speed change integrated value stored in the door speed storage unit 27 is not limited to the actual speed change integrated value calculated when the elevator is installed. In other words, the standard actual speed change integrated value may be the actual speed change integrated value in the standard state of the elevator in which the control gain of the control of the door motor 12 is appropriately adjusted. Examples of such a standard state of the elevator include the state at the time of installation, and the state after the control gain is adjusted by maintenance and inspection.

[0053] Embodiment 3 3-1. Features of the elevator door control device in the third embodiment Fig. 11 is a functional block diagram of an elevator door control device in embodiment 3. In Fig. 11, the same or corresponding parts as those in the door control device in embodiment 1 or embodiment 2 are denoted by the same reference numerals and description thereof will be omitted.

[0054] The door control device 1 of the third embodiment includes a server 30. The server 30 is configured to be able to communicate with the control devices 20 of the door control devices 1 of other elevators at a plurality of sites via a network. The server 30 includes, as functional blocks, a collection unit 31, a door speed storage unit 32, and a comparison diagnosis unit 33. The collection unit 31 collects door information in which diagnosis conditions are associated with current actual speed change amount integrated values ​​from the control devices 20 of the door control devices 1 at each site, and stores the door information in the door speed storage unit 32 for each site.

[0055] The comparative diagnosis unit 33 judges whether a site has an abnormality in the door 2 based on whether a third difference value obtained by subtracting the other site actual speed change amount integrated value, which is the current actual speed change amount integrated value under the same diagnosis conditions at the other site, from the current actual speed change amount integrated value at each site is greater than a third threshold value. This process is hereinafter referred to as a "third judgment process." The third threshold value here is a value that is predetermined as a threshold value for judging an abnormality in the door 2 by comparing with the actual speed change amount integrated value at the other site. When there is a site where an abnormality in the door 2 is diagnosed in the third judgment process, the comparative diagnosis unit 33 transmits the diagnosis result to the door control device 1 of the target site. When the door diagnosis unit 25 of the door control device 1 of each site receives the diagnosis result of an abnormality in the door 2 from the server 30, it diagnoses an abnormality in the door 2.

[0056] The installation condition of the elevator affects the presence or absence of vibration during the opening and closing operation of the door 2. Therefore, by comparing the actual speed change amount integrated value calculated at other sites under the same diagnostic conditions, it is possible to compare the influence of the installation condition at each site. In this way, the third judgment process makes it possible to quantitatively diagnose the change in the magnitude of vibration of the door 2 due to the installation condition.

[0057] 3-2. Specific processing executed in the elevator door control device in the third embodiment Next, a specific process of the abnormality diagnosis process executed in the elevator door control device 1 in embodiment 3 will be described. Figures 12 and 13 are flowcharts showing a routine of the abnormality diagnosis process executed in the door control device 1 in embodiment 3. Note that Figure 12 shows the routine executed in the server 30, and Figure 13 shows the routine executed in the control device 20 at each site during a diagnosis period defined by the diagnosis conditions.

[0058] First, the process executed by the server 30 according to the routine shown in Fig. 12 will be described. In step S300 of the routine shown in Fig. 12, the collection unit 31 acquires door information in which diagnostic conditions are associated with the current actual speed change amount calculation value transmitted from each site. The acquired door information is stored in the door speed storage unit for each site. When the process of step S300 is completed, the process proceeds to step S302.

[0059] In step S302, the comparative diagnosis unit 33 executes a third judgment process to judge whether there is a site where a third difference value, obtained by subtracting the current actual speed change amount integrated value at each site from the current other site actual speed change amount integrated value under the same diagnostic conditions at other sites, is greater than a third threshold value. Here, the third difference value is calculated for all combinations of the current actual speed change amount integrated value at each site and the current actual speed change amount integrated value under the same diagnostic conditions at other sites, and compared with the third threshold value. As a result, if the judgment is positive, the process proceeds to step S304, and if the judgment is negative, this routine is terminated.

[0060] In step S304, the comparative diagnosis unit 33 transmits the diagnosis result of the abnormality of the door 2 to the target site where the judgment in step S302 was confirmed.

[0061] Next, a description will be given of the processing executed in the control device 20 according to the routine shown in Fig. 13. In steps S310, S312, and S314 of the routine shown in Fig. 13, processing similar to steps S100, S102, and S104 of the routine shown in Fig. 6 is executed. When the processing of step S314 is completed, the processing proceeds to step S316.

[0062] In step S316, the door diagnosis unit 25 transmits door information in which the diagnosis conditions are associated with the current actual speed change amount integrated value to the server 30. When the process of step S316 is completed, the process proceeds to step S318.

[0063] In step S318, the door diagnosis unit 25 calculates a first difference between the actual speed change amount integrated value and the speed command value change amount integrated value, and judges whether the first difference is greater than a first threshold value or not. If the judgment is affirmative, the process proceeds to step S324, and if the judgment is negative, the process proceeds to step S320.

[0064] In step S320, the door diagnosis unit 25 judges whether or not a diagnosis result of an abnormality in the door 2 has been received from the server 30. As a result, if the judgment is positive, the process proceeds to step S324, and if the judgment is negative, the process proceeds to step S322.

[0065] In step S322, the door diagnosis unit 25 determines that vibrations exceeding the allowable range are not occurring in the door 2 and diagnoses that the door 2 is normal. On the other hand, in step S324, the door diagnosis unit 25 determines that vibrations exceeding the allowable range are occurring in the door 2 and diagnoses that an abnormality is occurring in the door 2.

[0066] As is clear from the above description, the elevator door control device 1 of the third embodiment can quantitatively determine the magnitude of vibration when the door 2 is opened and closed based on a comparison between the actual speed change integrated value and the speed command value change integrated value, as well as a comparison with the actual speed change integrated value under the same diagnostic conditions at other sites. This makes it possible to diagnose abnormalities when the door 2 is opened and closed due to the installation state.

[0067] 3-3.Modifications The door control device 1 of the third embodiment may employ the following modified aspects.

[0068] The functions of the server 30 may be located in the control device 20.

[0069] The third determination process executed in the door control device 1 of the third embodiment may be executed in combination with the second determination process executed in the door control device 1 of the second embodiment. [Explanation of symbols]

[0070] 1 door control device, 2 door, 3 door opening / closing mechanism, 4 door drive mechanism, 6 suspension member, 7 hanger roller, 8 rail, 9 pulley, 10 belt, 11 connecting member, 12 door motor, 13 pulse encoder, 20 control device, 21 rotation detection unit, 22 door speed calculation unit, 23 door speed command value calculation unit, 24 motor control unit, 25 door diagnosis unit, 26 memory unit, 27 door speed memory unit, 30 server, 31 collection unit, 32 door speed memory unit, 33 comparison diagnosis unit, 202 processor, 204 memory, 206 processing circuit, 208 dedicated hardware

Claims

1. A door motor that drives the elevator doors in the opening and closing directions; A control device for controlling the door motor, The control device includes: A rotation detection unit that detects a rotation angle of the door motor; a door speed calculation unit that calculates an actual speed of the door in an opening / closing direction from the rotation angle; a door speed command value calculation unit that calculates a speed command value in an opening / closing direction of the door; a motor control unit that controls the door motor so that the actual speed follows the speed command value; a door diagnosis unit that diagnoses an abnormality of the door during a predetermined sampling period during an opening or closing operation of the door, The door diagnosis unit is a first calculation process of acquiring the actual speed at a predetermined sampling period during the sampling period from the door speed calculation unit, and calculating an actual speed change integrated value obtained by integrating an absolute value of an amount of change in the actual speed during the sampling period; a second calculation process for calculating an integrated value of a change in the speed command value by acquiring the speed command value in the sampling period from the door speed command value calculation unit and integrating an absolute value of a change in the speed command value during the sampling period; a first determination process for diagnosing that an abnormality exists in the door when a first difference value obtained by subtracting the integrated value of the amount of change in the actual speed from the integrated value of the amount of change in the speed command value is greater than a first threshold value; The elevator door control device is configured to execute the above.

2. a storage device that stores the actual speed change amount integrated value under the same conditions as diagnostic conditions including the sampling period and the sampling cycle in a standard state of the elevator as a standard actual speed change amount integrated value, During the operation of the door, the door diagnosis unit The elevator door control device of claim 1, configured to execute a second judgment process to diagnose that there is an abnormality in the door when a second difference value obtained by subtracting the standard actual speed change amount accumulated value from the actual speed change amount accumulated value is greater than a second threshold value.

3. a collection unit that collects, in other elevators installed at one or more sites different from the elevator, the actual speed change integrated value calculated under the same conditions as the diagnostic conditions including the sampling period and the sampling cycle as the other site actual speed change integrated value; a comparison diagnosis unit that executes a third process of diagnosing that there is an abnormality in the door when a difference value between the integrated value of the actual speed change amount and the integrated value of the actual speed change amount at the other site is greater than a third threshold value; The elevator door control device according to claim 1 or 2, further comprising:

4. A server capable of communicating with the control device via a network, The server, The collection unit; The comparative diagnosis unit, The elevator door control device according to claim 3 , wherein the comparison and diagnosis unit is configured to send a diagnosis result to the control device when the third process diagnoses that there is an abnormality in the door.

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