Elevator, door control device and elevator door control method

Abstract

To provide an elevator, a door control device, and an elevator door control method that are able to prevent the temperature of a door motor from excessively rising.SOLUTION: A door control device that controls an opening / closing operation 10 of a door 1 is provided. The door control device 10 includes: a door opening / closing control unit 13 that controls torque of a door motor 2; and a closed-end detection switch anomaly determination unit 12 that determines an anomaly in a closed-end detection switch 4, based on a detection signal detected by a closed-end detection switch 4, a signal detected by an encoder 3, and a torque signal of the door motor 2. When the torque of the door motor 2 continues at limit torque for a predetermined time, the closed-end detection switch anomaly determination unit 12 sets the torque of the door motor to standby torque smaller than the limit torque.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an elevator, a door control device, and an elevator door control method. [Background technology]

[0002] Conventionally, in elevators, when the car reaches the landing, the car door and the landing door engage with each other, and the two doors open and close in unison. In addition, the car and the landings are provided with a closed end detection switch that detects the closed end position of the door. If an abnormality occurs in the closed end detection switch while the door is stopped at the closed end position, the torque of the door motor is increased to close the door.

[0003] One example of a technique for controlling the torque of a door motor is described in Patent Document 1. Patent Document 1 describes an elevator control device that generates a speed command upon receiving an elevator start command, and calculates a torque command for a motor that drives the elevator based on the deviation between this speed command and the actual speed. Patent Document 1 also describes that the device is equipped with a means for calculating the mean square of the torque command, a means for determining whether the mean square is larger or smaller than a preset value, and a start frequency change means for changing the frequency of the start command based on the result of the determination. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2000-272845 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the technology described in Patent Document 1, when an abnormality occurs in the closed end detection switch, it takes time to detect the overload of the door motor, and the temperature of the door motor rises excessively. Therefore, in the technology described in Patent Document 1, it is necessary to stop the opening and closing operation of the door in order to cool the door motor whose temperature has risen, which reduces convenience.

[0006] In consideration of the above problems, an object of the present invention is to provide an elevator, a door control device, and an elevator door control method that can prevent the temperature of the door motor from rising excessively. [Means for solving the problem]

[0007] In order to solve the above problems and achieve the present object, the elevator includes a door provided at the car or at a landing where the car stops, a door motor that drives the door to open and close, a closed end detection switch that detects the closed end position of the door, and an encoder that detects the door position. The elevator also includes a door control device that controls the torque of the door motor and controls the opening and closing operation of the door. The door control device has a door opening / closing control unit that controls the torque of the door motor, and a closed end detection switch abnormality determination unit that determines an abnormality of the closed end detection switch based on a detection signal detected by the closed end detection switch, a signal detected by the encoder, and a torque signal of the door motor. When the torque of the door motor continues at the limit torque for a predetermined time, the closed end detection switch abnormality determination unit sets the torque of the door motor to a standby torque that is smaller than the limit torque.

[0008] The door control device is a door control device that controls the opening and closing operation of a door installed in an elevator car or on a landing where the car stops. The door control device has a door opening / closing control unit that controls the torque of a door motor that drives the door to open and close, and a closed end detection switch abnormality determination unit that determines an abnormality in the closed end detection switch based on a detection signal detected by a closed end detection switch that detects the closed end position of the door, a signal detected by an encoder that detects the position of the door, and a torque signal of the door motor. When the torque of the door motor continues at the limit torque for a predetermined time, the closed end detection switch abnormality determination unit sets the torque of the door motor to a standby torque that is smaller than the limit torque.

[0009] In addition, the elevator door control method, which controls the opening and closing operation of doors installed in an elevator car or on a floor where the car stops, includes the processes shown in (1) to (3) below. (1) A process of acquiring a detection signal detected by a closed end detection switch that detects the closed end position of the door and a signal detected by an encoder that detects the door position. (2) A process for controlling the torque of a door motor that drives the door to open and close to a limit torque based on a detection signal detected by the closed end detection switch and a signal detected by an encoder. (3) When the torque of the door motor continues to be the limit torque for a predetermined time, the torque of the door motor is set to a standby torque that is smaller than the limit torque. Effect of the Invention

[0010] According to the elevator, door control device, and elevator door control method configured as described above, it is possible to prevent the temperature of the door motor from rising excessively. [Brief description of the drawings]

[0011] [Figure 1] 1 is a schematic configuration diagram showing a control system of an elevator according to an embodiment. FIG. [Diagram 2] 4 is a time chart showing an abnormality detection operation of the door control device according to the embodiment. [Diagram 3] 5 is a flowchart showing an abnormality detection operation of the door control device according to the embodiment. [Figure 4] FIG. 4A is a flowchart showing a door opening / closing operation of the door control device according to the embodiment, and FIG. 4B is a flowchart showing another example of the door opening / closing operation of the door control device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, an elevator, a door control device, and an elevator door control method according to an embodiment will be described with reference to Fig. 1 to Fig. 4B. Note that the same reference numerals are used to designate common members in each drawing.

[0013] 1. Example of embodiment [Elevator control system configuration] First, the configuration of an elevator and door control device according to an embodiment (hereinafter, referred to as "this example") will be described with reference to FIG. FIG. 1 is a schematic diagram showing the elevator and door control system of this embodiment.

[0014] The elevator of this example has a car that moves up and down in a hoistway formed in a building structure and carries people and luggage. As shown in Fig. 1, the car is provided with a door 1 through which people and luggage enter and exit, and a door motor 2 that drives the door 1 to open and close. The door motor 2 is also provided with an encoder 3 that detects a door motor pulse signal of the door motor 2. The car is also provided with a closed end detection switch 4. When the door 1 moves to the closed end position, it is detected by the closed end detection switch 4. The closed end detection switch 4 then inputs a detection signal to a closed end detection switch signal input unit 11, which will be described later.

[0015] Furthermore, the elevator includes an elevator control device 100 and a door control device 10. The elevator control device 100 and the door control device 10 are connected to each other so as to be able to transmit and receive signals by wire or wirelessly. The elevator control device 100 controls the upward and downward movement of the car and outputs door opening and closing commands to the door control device 10.

[0016] The door control device 10 includes a closed end detection switch signal input unit 11 , a closed end detection switch abnormality determination unit 12 , a door opening / closing control unit 13 , a door position calculation unit 14 , and a torque detection unit 15 .

[0017] The closed end detection switch signal input unit 11 is connected to the closed end detection switch 4. A closed end position detection signal of the door 1 detected by the closed end detection switch 4 is input to the closed end detection switch signal input unit 11. The closed end detection switch signal input unit 11 is also connected to the closed end detection switch abnormality determination unit 12. The closed end detection switch signal input unit 11 outputs the detection signal input from the closed end detection switch 4 to the closed end detection switch abnormality determination unit 12.

[0018] The door position calculation unit 14 is connected to the encoder 3 and acquires a door motor pulse signal detected by the encoder 3. Then, the door position calculation unit 14 calculates the position of the door 1 from the door motor pulse signal. The door position calculation unit 14 is also connected to the closed end detection switch abnormality determination unit 12. Then, the door position calculation unit 14 outputs the calculated position information of the door 1 and the door motor pulse signal detected by the encoder 3 to the closed end detection switch abnormality determination unit 12.

[0019] The torque detection unit 15 is connected to the door motor 2 and detects the torque of the door motor 2. The torque detection unit 15 is also connected to the closed end detection switch abnormality determination unit 12. The torque detection unit 15 outputs the detected torque information of the door motor 2 to the closed end detection switch abnormality determination unit 12.

[0020] The closed end detection switch abnormality determination unit 12 determines whether or not an abnormality has occurred in the closed end detection switch 4 based on the detection signal input from the closed end detection switch 4, the door motor pulse signal detected by the encoder 3, and the torque information input from the torque detection unit 15. The closed end detection switch abnormality determination unit 12 is also connected to the door opening / closing control unit 13 and the elevator control device 100. When an abnormality in the closed end detection switch 4 is detected, the closed end detection switch abnormality determination unit 12 outputs an abnormality detection signal to the elevator control device 100. When an abnormality in the closed end detection switch 4 is detected, the closed end detection switch abnormality determination unit 12 outputs a standby command or a limit torque command to the door opening / closing control unit 13.

[0021] The door opening / closing control unit 13 is connected to the elevator control device 100 and the door motor 2. Upon receiving a door opening / closing command from the elevator control device 100, the door opening / closing control unit 13 controls the door motor 2 to open or close the door 1. In addition, the door opening / closing control unit 13 controls the drive torque of the door motor 2 based on a standby command or a limit torque command input from the closed end detection switch abnormality determination unit 12.

[0022] The door opening / closing control unit 13 is also connected to the closed end detection switch signal input unit 11, the door position calculation unit 14, and the torque detection unit 15. The door opening / closing control unit 13 controls the door motor 2 based on signals from the closed end detection switch signal input unit 11, the door position calculation unit 14, and the torque detection unit 15, and performs the opening and closing operation of the door 1.

[0023] In addition, under normal circumstances, while the closed end detection switch 4 is on, the door opening / closing control unit 13 controls the door motor 2 so that the torque of the door motor 2 becomes a door holding torque in order to hold the door 1 at the closed end position.

[0024] 2. Example of operation 2-1. Abnormality detection operation Next, an abnormality detection operation in the elevator and door control device 10 having the above-mentioned configuration will be described with reference to FIGS. Fig. 2 is a time chart showing the abnormality detection operation. Fig. 3 is a flowchart showing the abnormality detection operation. In Fig. 3, the solid line in "Motor Temperature" shows the temperature of the door motor 2 by the door opening / closing control using the door control device 10 of this embodiment, and the dotted line shows the temperature of the door motor 2 by the control of the conventional technology.

[0025] 3, the closed end detection switch abnormality determination unit 12 determines whether or not the detection signal of the closed end detection switch 4 input via the closed end detection switch signal input unit 11 is off (step S11). In the process of step S11, if the detection signal of the closed end detection switch 4 is on (NO determination in step S11), the closed end detection switch abnormality determination unit 12 determines that the door 1 is closed and no abnormality has occurred in the closed end detection switch 4, and the process ends.

[0026] On the other hand, in the process of step S11, if the detection signal of the closed end detection switch 4 is off (YES judgment in step S11), the closed end detection switch abnormality judgment unit 12 judges whether or not there is a change in the door motor pulse signal detected by the encoder 3 (step S12). In the process of step S12, if it is judged that there is a change in the door motor pulse signal (NO judgment in step S12), the closed end detection switch abnormality judgment unit 12 judges that the door 1 is in the middle of opening / closing operation and no abnormality has occurred in the closed end detection switch 4, and the process ends.

[0027] In the process of step S12, when it is determined that there is no change in the door motor pulse signal (YES determination in step S12), the closed end detection switch abnormality determination unit 12 provisionally detects an abnormality in the closed end detection switch 4 as shown in Fig. 2. Then, the closed end detection switch abnormality determination unit 12 sets a "provisional detection signal" indicating the provisional detection of an abnormality to ON (step S13).

[0028] Next, the closed end detection switch abnormality determination unit 12 outputs a limit torque command to the door opening / closing control unit 13. Then, the door opening / closing control unit 13 controls the door motor 2 so that the torque of the door motor 2 becomes the limit torque based on the torque information detected by the torque detection unit 15. Here, the limit torque is set to a value larger than the door holding torque. Therefore, the torque of the door motor 2 increases to the limit torque.

[0029] Then, the closed end detection switch abnormality determination unit 12 acquires the torque information detected by the torque detection unit 15 and determines whether the torque of the door motor 2 continues for a predetermined time (number of seconds) in a limited torque state (step S14). In the process of step S14, for example, if the door 1 moves and the torque of the door motor 2 decreases, and the door motor 2 does not continue for the predetermined time in the limited torque state (NO determination in step S14), the closed end detection switch abnormality determination unit 12 proceeds to the process of step S15.

[0030] In the process of step S15, the closed end detection switch abnormality determination unit 12 determines whether or not the detection signal of the closed end detection switch 4 is ON (step S15). In the process of step S15, if the detection signal of the closed end detection switch 4 is ON (YES determination in step S15), it is determined that the door 1 has moved and is completely closed. Then, the closed end detection switch abnormality determination unit 12 returns the "provisional detection signal" indicating the provisional detection of an abnormality to OFF (step S17), and ends the process.

[0031] Furthermore, in the process of step S15, if the detection signal of the closed end detection switch 4 is off (NO determination in step S15), the closed end detection switch abnormality determination unit 12 returns to the process of step S14.

[0032] On the other hand, in the process of step S14, if the door motor 2 continues in the limited torque state for a predetermined time (YES in step S14), the closed end detection switch abnormality determination unit 12 determines that an abnormality has occurred in the closed end detection switch 4. Then, the closed end detection switch abnormality determination unit 12 sets the "main detection signal" indicating the main detection of an abnormality to ON (step S16). As a result, according to the control method using the door control device 10 of this example, it is possible to detect an abnormality in the closed end detection switch 4 earlier than the conventional technique shown in FIG. 2. Furthermore, by detecting an abnormality in the closed end detection switch 4 earlier, the torque of the door motor 2 can be reduced earlier, and the temperature of the door motor 2 can be prevented from rising excessively.

[0033] Next, the closed end detection switch abnormality determination unit 12 outputs a standby command to the door opening / closing control unit 13. Then, based on the torque information detected by the torque detection unit 15, the door opening / closing control unit 13 controls (limits) the door motor 2 so that the torque of the door motor 2 becomes the standby torque (step S18). Here, the standby torque is set to a value smaller than the limit torque and equal to or larger than the door holding torque. Note that the standby torque and the door holding torque may be "0". Also, the standby torque is set to a torque at which no abnormality occurs in the door motor 2 due to a temperature rise.

[0034] Furthermore, the closed end detection switch abnormality determination unit 12 transmits an abnormality detection signal to the elevator control panel, which is the elevator control device 100 (step S19). This ends the operation of detecting an abnormality in the closed end detection switch 4 by the door control device 10. When the abnormality detection signal is transmitted to the elevator control device 100, the elevator control device 100 issues an alert to an external maintenance management center or the like, and prompts a maintenance worker to inspect the door 1.

[0035] According to the conventional control method, the temperature of the door motor 2 rises excessively as shown in Fig. 2. Therefore, it is necessary to stop the opening and closing operation of the door 1 in order to cool the door motor 2. In contrast, according to the abnormality detection operation of this example, the torque is reduced from the limit torque to the standby torque before the temperature of the door motor 2 rises excessively. This makes it possible to prevent the door motor 2 from being damaged due to the temperature rise.

[0036] 2-2. Opening and closing operation Next, the opening and closing operation of the door 1 after the closed end detection switch 4 detects an abnormality will be described with reference to FIGS. 4A and 4B. FIG. 4A is a flowchart showing the door opening and closing operation.

[0037] 4A, the closed end detection switch abnormality determination unit 12 or the door opening / closing control unit 13 determines whether or not a "main detection signal" indicating a main detection of an abnormality is detected (step S31). If it is determined in the process of step S31 that the "main detection signal" is not detected (NO determination in step S31), the door 1 is opened and closed by a normal door opening and closing operation. On the other hand, if it is determined in the process of step S31 that the "main detection signal" is detected (YES determination in step S31), the process proceeds to step S32.

[0038] In the process of step S32, the door opening / closing control unit 13 determines whether or not a door opening / closing command has been output from the elevator control device 100 (step S32). If it is determined in the process of step S32 that a door opening / closing command has not been output (NO determination in step S32), the process proceeds to step S35, which will be described later.

[0039] In the process of step S32, if it is determined that a door opening / closing command has been output (YES in step S32), the door opening / closing control unit 13 determines whether the door opening / closing command is a door open command (step S33). In the process of step S33, if it is determined that the door open command is output (YES in step S33), the door opening / closing control unit 13 controls the door motor 2 to perform an opening operation of the door 1 (step S34).

[0040] In the process of step S33, if it is determined that the command is not a door open command, i.e., a door close command (NO in step S33), the process proceeds to step S35. In the process of step S35, the door opening / closing control unit 13 sets the torque of the door motor 2 to a standby torque. Here, if the standby torque is equal to or greater than "0" and is a torque that can move the door 1, the closing operation of the door 1 can be performed. This completes the opening / closing operation of the door 1 after the detection of an abnormality in the closed end detection switch 4.

[0041] According to the control method using the door control device 10 of this embodiment, no time is required for cooling the door motor 2, so that the door 1 can be opened and closed even after the closed end detection switch 4 detects an abnormality, as shown in Fig. 4A. This makes it possible to prevent passengers from being trapped in the car until the arrival of a maintenance worker or until the door motor 2 has completely cooled down. As a result, the convenience of the elevator can be improved.

[0042] FIG. 4B is a flowchart showing another example of the door opening and closing operation. The process shown in FIG. 4B shows the process of step S35 shown in FIG. 4B, when a door close command is output from the elevator control device 100, the door opening / closing control unit 13 controls the door motor 2 to close the door 1 (step S45). Next, the door opening / closing control unit 13 detects the closed end position of the door 1 based on the door motor pulse signal detected by the encoder 3 and the torque signal of the door motor 2 detected by the torque detection unit 15 (step S46). For example, when the door opening / closing control unit 13 determines that the torque of the door motor 2 has reached the limit torque and there is no change in the door motor pulse signal, it determines that the door 1 has moved to the closed end position.

[0043] Then, the door opening / closing control unit 13 sets the torque of the door motor 2 to a standby torque and puts the door 1 and the door motor 2 into standby (step S47). This completes the closing operation of the door 1 after the detection of an abnormality in the closed end detection switch 4.

[0044] 4A and 4B, if the opening and closing operations of the door 1 are continued, the open end position and the closed end position of the door 1 may deviate from the predetermined positions because an abnormality has occurred in the closed end detection switch 4. Therefore, it is preferable to limit the opening and closing operations of the door 1 shown in Fig. 4A and 4B to a predetermined number of times.

[0045] The present invention is not limited to the embodiment described above and shown in the drawings, and various modifications can be made without departing from the spirit of the invention described in the claims.

[0046] In addition, in the above-mentioned embodiment, the opening and closing operation of the door installed in the elevator car has been described, but the present invention is not limited to this and may be applied to the opening and closing operation of a landing door installed at a boarding / alighting floor where the elevator car stops in a building structure.

[0047] In addition, the above-mentioned components, functions, processing units, etc. may be realized in part or in whole in hardware, for example, by designing an integrated circuit. In addition, the above-mentioned components, functions, etc. may be realized in software by a processor interpreting and executing a program that realizes each function. Information such as the program, table, file, etc. that realizes each function can be stored in a recording device such as a memory, a hard disk, or an SSD (Solid State Drive), or in a recording medium such as an IC card, an SD card, or a DVD. [Explanation of symbols]

[0048] REFERENCE SIGNS LIST 1...door, 2...door motor, 3...encoder, 4...closed end detection switch, 10...door control device, 11...closed end detection switch signal input unit, 12...closed end detection switch abnormality determination unit, 13...door opening / closing control unit, 14...door position calculation unit, 15...torque detection unit, 100...elevator control device

Claims

1. A door provided in the elevator or on a floor where the elevator stops; a door motor for driving the door to open and close; a closed end detection switch for detecting a closed end position of the door; an encoder for detecting the position of the door; a door control device that controls a torque of the door motor and controls an opening and closing operation of the door, The door control device includes: a door opening / closing control unit for controlling a torque of the door motor; a closed end detection switch abnormality determination unit that determines an abnormality of the closed end detection switch based on a detection signal detected by the closed end detection switch, a signal detected by the encoder, and a torque signal of the door motor, The closed end detection switch abnormality determination unit sets the torque of the door motor to a standby torque smaller than the limit torque when the torque of the door motor continues to be the limit torque for a predetermined time. Elevator.

2. the closed end detection switch abnormality determination unit provisionally detects an abnormality in the closed end detection switch based on a detection signal detected by the closed end detection switch and a signal detected by the encoder, the door opening / closing control unit controls the torque of the door motor to a limit torque when the closing end detection switch abnormality determination unit provisionally detects an abnormality in the closing end detection switch, The closed end detection switch abnormality determination unit detects an abnormality in the closed end detection switch when the torque of the door motor continues at the limit torque for a predetermined time, and sets the torque of the door motor to the standby torque.

2. The elevator according to claim 1.

3. The door opening / closing control unit controls the door so as to be openable and closable after the closing end detection switch abnormality determination unit detects an abnormality in the closing end detection switch and sets the torque of the door motor to the standby torque.

3. The elevator according to claim 2.

4. When the door opening / closing control unit receives a door close command after the closing end detection switch abnormality determination unit detects an abnormality in the closing end detection switch, the door opening / closing control unit controls the door motor based on the signal detected by the encoder and the torque signal of the door motor to perform a closing operation of the door.

4. The elevator according to claim 3.

5. The standby torque is set to be equal to the door holding torque that holds the door in the closed end position, or to be set to 0.

2. The elevator according to claim 1.

6. A door control device that controls the opening and closing operation of a door installed in an elevator car or on a landing where the car stops, a door opening / closing control unit that controls a torque of a door motor that drives the door to open and close; a closed end detection switch abnormality determination unit that determines an abnormality of the closed end detection switch based on a detection signal detected by a closed end detection switch that detects the closed end position of the door, a signal detected by an encoder that detects the position of the door, and a torque signal of the door motor, The closed end detection switch abnormality determination unit sets the torque of the door motor to a standby torque smaller than the limit torque when the torque of the door motor continues to be the limit torque for a predetermined time. Door control device.

7. An elevator door control method for controlling the opening and closing of doors installed in an elevator car or at a landing where the car stops, comprising: A process of acquiring a detection signal detected by a closed end detection switch that detects a closed end position of the door and a signal detected by an encoder that detects a position of the door; a process of controlling the torque of a door motor for driving the door to open and close to a limited torque based on a detection signal detected by the closed end detection switch and a signal detected by the encoder; When the torque of the door motor continues to be the limit torque for a predetermined time, the torque of the door motor is set to a standby torque that is smaller than the limit torque; The elevator door control method includes:

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