Elevator door device

Abstract

An elevator door device is provided that can detect a position that serves as a reference for the absolute position of a door while suppressing the occurrence of a detection time lag, without using a dedicated device for detecting the absolute position of the door. [Solution] The elevator door system includes a motor, a rotation angle sensor, a speed command unit that outputs a rotation speed command value for the motor, a speed control unit that calculates a torque command value so that the motor's rotation speed matches the rotation speed command value, a door position detection unit that detects the door position based on the rotation angle, and a load torque application unit that applies a mechanical load torque to the motor when the door passes a preset reference position between the fully open position and the fully closed position during opening / closing. The door position detection unit identifies a reference rotation angle, which is the rotation angle when the door is in the reference position, based on changes in the torque command value corresponding to the load torque, and detects the absolute position of the door based on the identified reference rotation angle and the rotation angle.

Description

[Technical Field]

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

[0002] It is known that a door control device operates a car door in a fully closed state in the door opening direction at a door speed lower than a reference speed, and determines the position where the door speed becomes zero and the door drive unit detects a torque saturated state as the door open end position, and operates a car door in a fully open state in the door closing direction at a door speed lower than the reference speed, and determines the position where the door speed becomes zero and the door drive unit detects a torque saturated state as the door closed end position (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2017-178552 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the elevator door system disclosed in Patent Document 1, the door cannot be detected as being in the fully open or fully closed position unless the door is further pressed from the fully open or fully closed position and the door drive unit reaches torque saturation. This results in a time lag between the time the door reaches the fully open or fully closed position and the time it is detected. Furthermore, because the door cannot be pressed between the fully closed and fully open positions, the absolute position of the door cannot be detected.

[0005] The present disclosure has been made to solve these problems, and its purpose is to provide an elevator door device that can detect a position that serves as a reference for the absolute door position without using a dedicated sensor, switch, or other device for detecting the absolute door position, and that can suppress the occurrence of a time lag in this detection. [Means for solving the problem]

[0006] An elevator door system according to the present disclosure includes a motor that drives the opening and closing of an elevator door, a rotation angle sensor that detects the rotation angle of the motor, a speed command unit that outputs a rotation speed command value for the motor, a speed control unit that calculates a torque command value so that the rotation speed of the motor coincides with the rotation speed command value output from the speed command unit, a door position detection unit that detects the position of the door based on the rotation angle, and load torque application means that applies a mechanical load torque to the motor when the door, during opening or closing, passes a predetermined reference position between a fully open position and a fully closed position, wherein the door position detection unit identifies a reference rotation angle, which is the rotation angle when the door is at the reference position, based on a change in the torque command value in response to the load torque, and detects the absolute position of the door based on the identified reference rotation angle and the rotation angle. [Effects of the Invention]

[0007] The elevator door device according to the present disclosure has the advantage of being able to detect a position that serves as a reference for the absolute position of the door without using a dedicated sensor, switch, or other device for detecting the absolute position of the door, and of being able to suppress the occurrence of a time lag in this detection. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a diagram showing the overall configuration of an elevator door device according to a first embodiment. [Figure 2] 3A and 3B are diagrams illustrating an example of the speed, torque, and torque change amount of the door motor, as well as the movement amount of the door when the door opens in the elevator door device according to the first embodiment. [Figure 3] 4 is a flowchart showing an example of the operation of the elevator door device according to the first embodiment. [Figure 4] 10A and 10B are diagrams illustrating an example of the speed, torque, and torque change amount of the door motor, as well as the movement amount of the door when the door opens in the first modified example of the elevator door system according to the first embodiment. [Figure 5] FIG. 4 is a flowchart showing an example of operation in a first modified example of the elevator door system according to the first embodiment. [Figure 6] 10 is a diagram showing an example of the speed, torque, and torque change amount of the door motor, as well as the movement amount of the door when the door opens in a second modified example of the elevator door system in accordance with Embodiment 1. FIG. [Figure 7] 10 is a diagram showing an example of the speed, torque, and torque change amount of the door motor, as well as the movement amount of the door when the door opens in a second modified example of the elevator door system in accordance with Embodiment 1. FIG. [Figure 8] FIG. 10 is a flowchart showing an example of operation in a second modified example of the elevator door system according to the first embodiment. [Figure 9] 1 is a diagram showing an example of a configuration for realizing the functions of a control device of an elevator door device according to a first embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Embodiments of an elevator door apparatus according to the present disclosure will be described with reference to the accompanying drawings. In each drawing, identical or corresponding parts are designated by the same reference numerals, and redundant descriptions will be appropriately simplified or omitted. For convenience, the following description may express the positional relationship of each structure based on the illustrated state. Note that the present disclosure is not limited to the following embodiments, and any combination of the embodiments, any modification of any component of each embodiment, or any omission of any component of each embodiment are possible within the scope of the present disclosure.

[0010] Embodiment 1 A first embodiment of the present disclosure will be described with reference to FIGS. 1 to 9. FIG. 1 is a diagram illustrating the overall configuration of an elevator door device. FIG. 2 is a diagram illustrating an example of the speed, torque, and torque change amount of a door motor, as well as the amount of movement of the door when the door opens in an elevator door device. FIG. 3 is a flow diagram illustrating an example of the operation of an elevator door device. FIG. 4 is a diagram illustrating an example of the speed, torque, and torque change amount of a door motor, as well as the amount of movement of the door when the door opens in a first modified example of an elevator door device. FIG. 5 is a flow diagram illustrating an example of the operation of the first modified example of an elevator door device. FIGS. 6 and 7 are diagrams illustrating an example of the speed, torque, and torque change amount of a door motor, as well as the amount of movement of the door when the door opens in a second modified example of an elevator door device. FIG. 8 is a flow diagram illustrating an example of the operation of the second modified example of an elevator door device. FIG. 9 is a diagram illustrating an example of a configuration for implementing the functions of a control device of an elevator door device.

[0011] The elevator door device according to this embodiment opens and closes the elevator car and the entrance and exit of the hall. The elevator car (not shown) is provided with a door device 1 as shown in FIG.

[0012] An opening serving as an entrance and exit is provided at the front of the car. Door panels 6 constituting a pair of left and right car doors are provided at the entrance and exit of the car so as to be able to be opened and closed along an approximately horizontal direction. Door hangers 7 are attached to the upper ends of the door panels 6. Door rollers are attached to the tops of these door hangers 7. A hanger rail 8 is attached above the entrance and exit of the car. This hanger rail 8 is attached approximately horizontally along the opening and closing direction of the door panel. A door roller is engaged on this hanger rail 8 so as to be able to roll.

[0013] In this way, the pair of left and right door panels 6 are suspended by the hanger rail 8 via the door hangers 7 and door rollers. The door rollers are guided by the hanger rail 8 and roll on the hanger rail 8, causing the left and right door panels 6 to open and close the entrance to the car.

[0014] A door motor 3 is disposed above the hanger rail 8 in the elevator car. The door motor 3 is a motor that drives the opening and closing of the elevator door. This door motor 3 is disposed above the hanger rail 8 on one side in the opening and closing direction of the door panel 6. One of a pair of left and right pulleys is fixed to the drive shaft of the door motor 3. The other of the pair of left and right pulleys is attached to the other side above the hanger rail 8 in the opening and closing direction of the door panel 6. Of the pair of left and right pulleys, the one fixed to the drive shaft of the door motor 3 is a drive pulley. The other pulley is a driven pulley.

[0015] An endless loop-shaped drive belt 5 is wound around this pair of pulleys. In this way, a wrapping transmission mechanism is formed in which the rotational drive of the door motor 3 is transmitted to the circular movement of the drive belt 5. In this wrapping transmission mechanism, the loop-shaped upper drive belt 5 and the loop-shaped lower drive belt 5 move in opposite directions to each other as the door motor 3 rotates.

[0016] A belt catch 11 is attached to the upper end of the door hanger 7 of each door panel 6. The belt catch 11 provided on one of the pair of left and right door panels 6 is engaged with either the upper or lower end of the drive belt 5 wound around the pulleys. The belt catch 11 provided on the other of the pair of left and right door panels 6 is engaged with the other of the upper or lower end of the drive belt 5 wound around the pulleys. With this configuration, the rotational drive in both forward and reverse directions of the door motor 3 is converted into circulating movement of the drive belt 5 in both directions, and the pair of left and right door panels 6 move in opposite directions to open and close the entrance and exit of the car.

[0017] A threshold 9 is attached to the lower front of the car, forming the lower edge of the entrance and exit of the car. The threshold 9 forms the lower edge of the entrance and exit of the car. The threshold 9 is attached approximately horizontally along the opening and closing direction of the door panel 6. A guide groove is provided in the threshold 9 along its longitudinal direction. Door guide shoes (not shown) are attached to the lower ends of the pair of left and right door panels. These door guide shoes are slidably engaged in the guide grooves of the threshold 9. A beam 10 is also provided at the upper front of the car. The door motor 3, driven pulley, and hanger rail 8 are attached to the beam 10.

[0018] A landing is provided on a floor where a car stops. An opening serving as an entrance / exit is provided in the wall between this landing and the elevator shaft. The entrance / exit of this landing is provided in a position opposite the entrance / exit of the car stopped on the floor of the landing. A pair of landing doors on the left and right are provided at the entrance / exit of this landing so as to be able to be opened and closed along an approximately horizontal direction.

[0019] A coupling device (not shown) is provided on the shaft-side surface of each door panel 6 and the shaft-side surface of the door panel of the landing door. This coupling device is composed of, for example, a car-side roller and a landing-side plate. The car-side roller is a roller attached to the tip of a rod-shaped member provided on the shaft-side surface of the door panel 6 so as to protrude toward the shaft. The landing-side plate is a pair of plates provided on the shaft-side surface of the door panel of the landing door so as to protrude toward the shaft. The car-side roller and the landing-side plate are positioned so as to face each other when the car stops at a floor.

[0020] When the elevator car stops at a floor, the car-side roller of the coupling device engages with the hall-side plate, mechanically connecting the door panel 6 with the door panel of the hall door. When the door panel 6 is opened or closed by the power of the door motor 3, the door panel and the door panel of the hall door are linked and opened or closed as a unit.

[0021] In the configuration example described here, the door device 1 is a double-swing door, but the type of the door device 1 is not limited to this. The door device 1 may be of any type, such as a single-swing door. Furthermore, the components of the door device 1 are not limited to those described above.

[0022] The door motor 3 is, for example, a permanent magnet synchronous motor that is rotationally driven by three-phase AC. The rotational position θ, rotational speed, rotational torque, etc. of the door motor 3 are controlled by the power supplied to the door motor 3. Note that in the elevator door device according to the present disclosure, the door motor 3 does not have to be a permanent magnet synchronous motor, and may be an induction motor or other type of motor.

[0023] The door motor 3 is equipped with a rotation sensor 4. The rotation sensor 4 detects the rotation position θ of the door motor 3. An encoder or a resolver can be used as the rotation sensor 4. Other types of rotation sensors may also be used as the rotation sensor 4. Information on the rotation position θ detected by the rotation sensor 4 is used for controlling the rotation position and rotation speed of the door motor 3, as a control standard for current, and the like. In the present disclosure, the rotation position θ of the door motor 3 is also referred to as the rotation angle of the door motor 3.

[0024] The elevator door device according to the present disclosure includes a control device 2. The control device 2 controls the operation of a door motor 3. As shown in Fig. 1, the control device 2 includes a speed command unit 13, a speed control unit 14, a current control unit 15, a power converter 16, a current sensor 17, a speed calculation unit 18, a door position detection unit 19, and a memory unit 20.

[0025] The rotational position θ of the door motor 3 detected by the rotation sensor 4 is input to the speed calculation unit 18. The speed calculation unit 18 calculates the rotational speed of the door motor 3 by differentiating the rotational position θ of the door motor 3 with respect to time.

[0026] The speed command unit 13 generates an opening / closing speed command for the door panel 6. The speed command value generated by the speed command unit 13 is output to the speed control unit 14. Here, the opening / closing speed command for the door panel 6 can be rephrased as a rotation speed command for the door motor 3. Therefore, the speed command unit 13 outputs the rotation speed command value for the door motor 3.

[0027] The speed control unit 14 receives a difference value between the speed command value of the door motor 3 output from the speed command unit 13 and the actual rotation speed of the door motor 3 calculated by the speed calculation unit 18. The speed control unit 14 calculates a torque command value so that the rotation speed of the door motor 3 coincides with the rotation speed command value output from the speed command unit 13. The torque command value generated by the speed control unit 14 is output to the current control unit 15.

[0028] The speed control unit 14 may generate and output a current command value for the door motor 3 instead of the torque command value for the door motor 3. The torque value of the door motor 3 can be calculated by multiplying the current value of the door motor 3 by a torque constant. In other words, the torque of the door motor 3 is proportional to the current flowing through the door motor 3. Therefore, the current command value can be treated as being substantially the same as the torque command value. In light of this, in the present disclosure, the current command value can also be included in the torque command value.

[0029] The current sensor 17 is a sensor that detects the value of a current flowing through the door motor 3. The current control unit 15 determines a drive voltage for the door motor 3 based on the command value output from the speed control unit 14 and the current value of the door motor 3 detected by the current sensor 17, and calculates a command value for the voltage to be applied to the door motor 3. The voltage command value calculated by the current control unit 15 is output to the power converter 16.

[0030] For example, the current control unit 15 calculates a torque value by multiplying a current value of the door motor 3 detected by the current sensor 17 by a torque constant. Then, based on the difference between the torque command value output from the speed control unit 14 and the torque value calculated by multiplying the detected current value by the torque constant, the current control unit 15 determines the drive voltage of the door motor 3 so that the torque value calculated from the detected current value matches the torque command value.

[0031] Alternatively, the current control unit 15 converts the torque command value output from the speed control unit 14 into a current command value. This conversion can be performed by determining the current value required to generate the torque indicated by the torque command value. That is, the current command value can be calculated by dividing the torque command value by a torque constant. Then, based on the difference between the current command value converted from the torque command value and the current value detected by the current sensor 17, the current control unit 15 determines the drive voltage of the door motor 3 so that the detected current value coincides with the current command value. Note that when the speed control unit 14 outputs a current command value, the current control unit 15 determines the drive voltage of the door motor 3 based on the difference between the current command value output from the speed control unit 14 and the current value detected by the current sensor 17 so that the detected current value coincides with the current command value.

[0032] The power converter 16 is an amplifier that applies a voltage to the door motor 3 in accordance with the voltage command output from the current control unit 15. As the power converter 16, for example, a PWM (Pulse Width Modulation) inverter can be used.

[0033] The rotational position θ of the door motor 3 detected by the rotation sensor 4 is also input to the door position detection unit 19. The door position detection unit 19 detects the movement amount and position of the door panel 6, i.e., the movement amount and position of the door, based on the rotational position θ of the door motor 3. The door position detection unit 19 may further use a command value output from the speed control unit 14 to detect the movement amount and position of the door.

[0034] Here, the door position in this disclosure refers to the position of the door (door panel 6) when the door is in a state between a fully closed state and a fully open state. Specifically, for example, if the door is a double-swing door and the doorway width is 1000 mm, the left and right door panels 6 move 500 mm each from the fully closed state to the fully open state. In this case, if the fully closed position is 0 mm and the fully open position is 500 mm, the door position detected by the door position detection unit 19 will be a value in the range from 0 mm to 500 mm.

[0035] The elevator door system according to this embodiment further includes a load applying unit 12. The load applying unit 12 is a load torque applying means that applies a mechanical load torque to the door motor 3 when the door passes a reference position during opening or closing movement. The reference position is predetermined between a fully open position and a fully closed position.

[0036] The load applying unit 12 physically contacts the components of the door device that are displaced during the opening and closing of the door, thereby providing resistance to the displacement of the components. In other words, the load applying unit 12 applies a force to the components in the direction opposite to the direction of displacement of the components. That is, the load applying unit 12 applies a force to the components in the door closing direction when the door is opened, and applies a force to the components in the door opening direction when the door is closed. The torque that the door motor 3 must generate increases by the amount of resistance provided by the load applying unit 12.

[0037] In this way, the load applying unit 12 applies a mechanical load torque to the door motor 3. Then, the speed control unit 14 changes the torque command value so as to resist the resistance of the load applying unit 12 so that the moving speed of the door panel 6 follows the speed command value from the speed command unit 13.

[0038] Next, a specific example of the installation position of the load application unit 12 will be described. A first example of the installation position of the load application unit 12 is the threshold 9. In this case, the installation position of the load application unit 12 on the threshold 9 is adjusted so that the load application unit 12 comes into contact with the lower part of the door panel 6 when the door passes the aforementioned reference position during opening or closing movement.

[0039] A second example of the installation position of the load application unit 12 is the hanger rail 8. In this case, the installation position of the load application unit 12 on the hanger rail 8 is adjusted so that the load application unit 12 comes into contact with the door hanger 7 or a door roller provided on the door hanger 7 when the door passes through the aforementioned reference position during opening or closing movement.

[0040] A third example of the installation position of the load application unit 12 is the girder 10. In this case, the installation position of the load application unit 12 on the girder 10 is adjusted so that the load application unit 12 comes into contact with the belt gripper 11 or the drive belt 5 when the door passes through the aforementioned reference position during opening or closing movement.

[0041] The location of the load applying unit 12 is not limited to the above example. The load applying unit 12 may be installed anywhere in the door device 1 as long as it can apply a load torque to the door motor 3 while the door is opening or closing. However, in consideration of the design of the elevator, it is desirable to install the load applying unit 12 in a location that is not visible to users. This does not apply if the load applying unit 12 also serves as a design element.

[0042] The door position detection unit 19 identifies a reference rotation angle based on a change in the torque command value corresponding to the load torque applied to the load application unit 12. The reference rotation angle is the rotation angle θ of the door motor 3 when the door is in the above-mentioned reference position. The reference rotation angle identified by the door position detection unit 19 is stored in the storage unit 20. Then, the door position detection unit 19 detects the absolute position of the door based on the reference rotation angle identified in this manner and the rotation angle θ of the door motor 3 detected by the rotation sensor 4.

[0043] Next, an example of the operation of detecting the absolute position of the door by the door position detection unit 19 will be described with reference to Fig. 2. Fig. 2 shows an example of the speed, torque, and torque change amount of the door motor 3, as well as the movement amount of the door when the door is opened. In this example, the reference position mentioned above is the position immediately before the door panel 6 is fully opened.

[0044] When the door starts to open, the door motor 3 first accelerates the moving speed of the door panel 6. Then, after continuing to open the door at a constant speed, the door motor 3 decelerates the moving speed of the door panel 6. When the door panel 6 reaches the reference position where the load application unit 12 is installed, a speed change occurs due to the load being applied to the door motor 3, and the speed control unit 14 operates to correct this speed change, causing a change in the torque command.

[0045] Here, the torque command generated by the speed control unit 14 is superimposed with offsets due to the running resistance of the door panel 6 and other mechanical forces. Therefore, by focusing on the amount of change in the torque command, the influence of such offsets superimposed on the torque command can be eliminated. As shown in Figure 2, when the door panel 6 passes the reference position where the load application unit 12 is installed, a sudden change occurs in the torque command.

[0046] The door position detection unit 19 identifies the reference position by detecting this sudden change in the torque command. In this example, the reference position is immediately before the fully open position, but this can be considered to be the fully open position. Therefore, the door position detection unit 19 can detect the fully open position from the change in the torque command.

[0047] The door position detection unit 19 identifies the reference position based on, for example, the magnitude of change in the torque command. That is, the door position detection unit 19 identifies the rotation angle θ when the change in the torque command value becomes equal to or greater than a preset reference change amount as the reference rotation angle. The identified reference rotation angle is then stored in the storage unit 20. In the example described here, the fully closed state is set as the reference, i.e., rotation angle θ=0, and the rotation angle θ (amount of movement) from the fully closed state is stored as the reference rotation angle corresponding to the fully open position.

[0048] Alternatively, for example, the door position detection unit 19 may identify the reference rotation angle corresponding to the reference position by detecting a peak in the amount of change in the torque command. In this case, the door position detection unit 19 determines that the door panel 6 has passed the reference position when the amount of change in the torque command changes from an increase to a decrease or from a decrease to an increase, and identifies the position at that time, i.e., the rotation angle θ (amount of movement) from the fully closed state, as the reference rotation angle (fully open position).

[0049] 2, a change in the torque command also occurs due to acceleration or deceleration of the door motor 3, which is not affected by the load torque applied by the load application unit 12. To prevent an erroneous determination of the reference rotation angle due to such a change in the torque command, the door position detection unit 19 may limit the interval in which it determines the reference position (reference rotation angle) based on the amount of change in the torque command.

[0050] That is, since the doorway width and the reference position of the door device 1 are known, even if the reference rotation angle has not yet been determined, the approximate rotation angle at which the door panel 6 passes through the reference position can be known in advance. Therefore, by having the door position detection unit 19 determine the reference rotation angle based on the torque command change amount only in the section including such a rotation angle, it is possible to prevent the reference rotation angle from being determined erroneously.

[0051] For example, if the reference position is set immediately before the fully open position, the reference rotation angle may be determined only in the section 100 mm before the fully open position. Furthermore, for example, in the section where the reference rotation angle is determined, the door motor 3 may be operated at a constant speed so that acceleration or deceleration does not occur. In this way, it is possible to detect changes in the torque command due to the influence of the load torque applied by the load application unit 12 while suppressing changes in the torque command due to acceleration or deceleration of the door motor 3. This makes it possible to improve the accuracy of determining the reference rotation angle.

[0052] Next, an example of the operation of determining the reference rotation angle by the elevator door system configured as described above will be described with reference to the flowchart in Figure 3. In the example described here, similar to the example in Figure 2, the reference position is assumed to be the fully open position, or more precisely, the position immediately before the fully open position. First, in step S001, the door position detection unit 19 starts measuring the amount of movement from the fully closed position, i.e., the rotation angle θ, based on the detection result from the rotation sensor 4. In the following step S002, the door position detection unit 19 calculates the amount of change in the torque command output from the speed control unit 14. After step S002, the door position detection unit 19 then performs the process of step S003.

[0053] In step S003, the door position detection unit 19 determines whether the rotation angle θ, whose measurement began in step S001, has entered a range near the fully open position. If the rotation angle θ is not in the range near the fully open position, the door position detection unit 19 returns to step S001 and continues the process. On the other hand, if the rotation angle θ is in the range near the fully open position, the door position detection unit 19 then performs the process of step S004.

[0054] In step S004, the door position detection unit 19 determines whether the amount of change in the torque command calculated in step S002 is equal to or greater than the aforementioned reference amount of change. If the amount of change in the torque command is not equal to or greater than the reference amount of change, the door position detection unit 19 returns to step S001 and continues the process. On the other hand, if the amount of change in the torque command is equal to or greater than the reference amount of change, the door position detection unit 19 then performs the process of step S005.

[0055] In step S005, the door position detection unit 19 determines the amount of movement from the fully closed position, for which measurement was started in step S001, as the fully open position. In other words, the door position detection unit 19 determines the rotation angle θ, for which measurement was started in step S001, as the reference rotation angle corresponding to the fully open position. The determined fully open position, i.e., the reference rotation angle, is then stored in the memory unit 20.

[0056] The elevator door system configured as described above can detect a reference position for the absolute door position without using dedicated sensors, switches, or other devices for detecting the absolute door position. This eliminates the need for sensors, switches, wiring, and I / O boards, simplifying the hardware configuration. Furthermore, since torque saturation, as in Patent Document 1, is not required, the occurrence of a time lag in detection can be reduced. Furthermore, the reference position can be set anywhere between the fully closed and fully open positions, and the reference position for the absolute door position can be detected even at positions between the fully closed and fully open positions.

[0057] Once the reference rotation angle is identified, the speed command unit 13 can generate a speed command using the reference position corresponding to the identified reference rotation angle. This allows the door panel 6 to quickly detect that it has reached the fully open position, and easily switch the control sequence, such as switching the control mode from speed control to torque control to start a pressing operation, and makes it possible to avoid situations such as the door panel 6 being opened too far and causing a mechanical collision.

[0058] Next, several modified examples of the elevator door apparatus according to this embodiment will be described. First, a first modified example of the elevator door apparatus according to this embodiment will be described with reference to Figures 4 and 5. In this first modified example, a plurality of load application units 12 are installed. These plurality of load application units 12 are arranged at predetermined regular intervals. Therefore, the load application units 12, which are load torque application means, apply a periodically varying mechanical load torque to the door motor 3 when the door passes a reference position during opening / closing movement.

[0059] The door position detection unit 19 then determines, as the reference rotation angle, the rotation angle θ at which the fluctuation frequency of the amount of change in the torque command value output from the speed control unit 14 becomes equal to the reference frequency. The reference frequency used here is set in advance according to the installation intervals of the multiple load application units 12. More accurately, the reference frequency is set according to the speed at which the door passes the reference position. Alternatively, the door position detection unit 19 may detect that a frequency component appears in the amount of change in the torque command value output from the speed control unit 14, and determine the rotation angle θ at that time as the reference rotation angle. Here, whether or not a frequency component appears in the amount of change in the torque command value can be determined, for example, by whether or not a periodic change occurs in the amount of change in the torque command value at intervals of less than a certain time.

[0060] 4 shows an example of the speed, torque, torque change amount, and door movement amount of the door motor 3 when the door opens in the first modified example of the elevator door system according to this embodiment. In this example, the reference position is the position immediately before the door panel 6 is fully opened.

[0061] When the door starts to open, the door motor 3 first accelerates the moving speed of the door panel 6. Then, after continuing to open the door at a constant speed, the door motor 3 decelerates the moving speed of the door panel 6. When the door panel 6 reaches a reference position where multiple load application units 12 are installed, a load is applied to the door motor 3, causing a periodic speed change. The speed control unit 14 operates to correct this speed change, causing a periodic change in the torque command. In this first modified example, as shown in FIG. 4, when the door panel 6 passes the reference position where multiple load application units 12 are installed, a steep and periodic change occurs in the amount of change in the torque command.

[0062] The door position detection unit 19 identifies the reference position by detecting the sudden and periodic change in the torque command. In this example, the reference position is immediately before the fully open position, but this can be considered to be the fully open position. Therefore, the door position detection unit 19 can detect the fully open position from the change in the torque command.

[0063] For example, the door position detection unit 19 specifies, as the reference rotation angle, the rotation angle θ when the fluctuation frequency of the change in the torque command value output from the speed control unit 14 becomes equal to the reference frequency. Alternatively, the door position detection unit 19 specifies, as the reference rotation angle, the rotation angle θ when a frequency component appears in the torque command value output from the speed control unit 14. The specified reference rotation angle is then stored in the storage unit 20. In the example described here, the fully closed state is set as the reference, i.e., the rotation angle θ=0, and the rotation angle θ (amount of movement) from the fully closed state is stored as the reference rotation angle corresponding to the fully open position. According to this first modification, it is possible to improve the detection accuracy of the position that serves as the reference for the absolute position of the door without using a dedicated device such as a sensor or switch for detecting the absolute position of the door.

[0064] Next, an example of operation in the first modified example will be described with reference to the flow chart of Fig. 5. In the example described here, similar to the example of Fig. 2, the reference position is the fully open position, or more precisely, the position immediately before the fully open position. First, in step S101, the door position detection unit 19 starts measuring the amount of movement from the fully closed position, i.e., the rotation angle θ, based on the detection result of the rotation sensor 4. In the following step S102, the door position detection unit 19 calculates the amount of change in the torque command output from the speed control unit 14. After step S102, the door position detection unit 19 then performs the process of step S103.

[0065] In step S103, the door position detection unit 19 determines whether the rotation angle θ, whose measurement started in step S101, has entered a range near the fully open position. If the rotation angle θ is not in the range near the fully open position, the door position detection unit 19 returns to step S101 and continues the process. On the other hand, if the rotation angle θ is in the range near the fully open position, the door position detection unit 19 then performs the process of step S104.

[0066] In step S104, the door position detection unit 19 determines whether or not a frequency component appears in the change in the torque command calculated in S102. If a frequency component does not appear in the change in the torque command, the door position detection unit 19 returns to step S101 and continues the process. On the other hand, if a frequency component appears in the change in the torque command, the door position detection unit 19 then performs the process of step S105.

[0067] In step S105, the door position detection unit 19 determines the amount of movement from the fully closed position, for which measurement was started in step S101, as the fully open position. In other words, the door position detection unit 19 determines the rotation angle θ, for which measurement was started in step S101, as the reference rotation angle corresponding to the fully open position. The determined fully open position, i.e., the reference rotation angle, is then stored in the storage unit 20.

[0068] Next, a second modified example of the elevator door apparatus according to this embodiment will be described with reference to FIGS. 6 to 8. In this second modified example, a plurality of reference positions are set. In the example described here, four reference positions, namely, first to fourth reference positions, are set as the reference positions. A plurality of load application units 12 are also installed corresponding to the respective reference positions. That is, as the load application units 12, a first load application unit, a second load application unit, a third load application unit, and a fourth load application unit are installed corresponding to the first reference position, the second reference position, the third reference position, and the fourth reference position, respectively. The fourth reference position is the fully open position (more precisely, the position immediately before the fully open position), and the first reference position, the second reference position, and the third reference position are set at approximately equal intervals at positions halfway between the fully closed position and the fully open position.

[0069] In this way, in this second modified example, the load applying unit 12, which is a load torque applying means, applies a mechanical load torque to the door motor 3 when the door passes through each of the plurality of reference positions during opening / closing movement. Then, the door position detection unit 19 identifies a plurality of reference rotation angles based on changes in the torque command value according to the load torque. The identified plurality of reference rotation angles respectively correspond to the plurality of reference positions. The identified plurality of reference rotation angles are stored in the memory unit 20.

[0070] FIG. 6 shows an example of the speed, torque, torque change amount, and door movement amount of the door motor 3 when the door opens in the second modified example of the elevator door device according to this embodiment.

[0071] When the door starts to open, the door motor 3 first accelerates the moving speed of the door panel 6. Then, after continuing to open the door at a constant speed, the door motor 3 decelerates the moving speed of the door panel 6. When the door panel 6 reaches each reference position where the load application unit 12 is installed, a load is applied to the door motor 3, causing a speed change. The speed control unit 14 operates to correct this speed change, causing a change in the torque command. In this second modified example, as shown in FIG. 6, a sudden change occurs in the amount of change in the torque command each time the door panel 6 passes each reference position where the load application unit 12 is installed.

[0072] The door position detection unit 19 detects each of these abrupt changes in the amount of change in the torque command to identify a plurality of reference rotation angles corresponding to the plurality of reference positions. The detection of the change in the amount of change in the torque command may be performed, for example, by determining whether the amount of change is equal to or greater than a reference amount of change, by detecting the peak of the amount of change, or by applying the first modified example and using the fluctuation frequency of the amount of change in the torque command value.

[0073] For example, in large-capacity elevators, the door opening width is wide, which means it takes a long time to open and close the door. On the other hand, in elevators with such wide doorways, when there are few passengers, the doors do not need to be fully opened to ensure sufficient width for passengers to enter and exit. Therefore, by limiting the door opening amount to the minimum amount depending on the number of passengers, it is possible to shorten the time required to open and close the door and improve operating efficiency.

[0074] According to this second modification, the speed command unit 13 can generate and output a rotation speed command value, targeting a reference position corresponding to a reference rotation angle selected from among the plurality of reference rotation angles identified by the door position detection unit 19. This makes it possible to detect the plurality of reference positions with a simple hardware configuration, without requiring sensors, switches, wiring, I / O boards, etc. for detecting the plurality of reference positions. Door opening control can then be performed, targeting a reference position selected from the plurality of reference positions, making it possible to limit the door opening amount according to the number of passengers.

[0075] FIG. 7 shows an example of door operation during door opening when the door opening amount is limited in this second modified example. FIG. 7 shows an example of the door opening to the stored second reference position. The speed command unit 13 generates a speed command for the door motor 3 so that the door moves the distance to the reference rotation angle corresponding to the second reference position identified by the door position detection unit 19, i.e., stored in the memory unit 20. The door opens according to the speed command generated with the second reference position as the target, and when the second reference position is detected, that position is recognized as the fully open position and the door opening operation is completed. This allows the door to operate within a width smaller than the doorway width. In this way, by providing multiple load application units 12, it is possible to detect multiple door positions, which can be used to control the door.

[0076] Next, an example of door operation in which the door opening amount is limited in the second modified example will be described with reference to the flow diagram in FIG. 8. First, to limit the door opening amount, the control device 2 determines the number of passengers in step S201. To determine the number of passengers, for example, an elevator weighing device or a camera installed in either or both of the car and the landing may be used. Next, in step S202, the control device 2 determines the door opening amount according to the number of passengers determined in step S201. Here, it is assumed that the door is determined to open to the second reference position as in the example of FIG. 7. After step S202, the control device 2 then performs the process of step S203.

[0077] In step S203, the control device 2 starts opening the door. In the following step S204, the control device 2 determines whether or not the door position detection unit 19 has detected that the door has reached the second reference position. If it has not detected that the door has reached the second reference position, the process returns to step S203 and the control device 2 continues the door opening operation. On the other hand, if it has detected that the door has reached the second reference position, the control device 2 then performs the process of step S205. In step S205, the control device 2 determines that the limited door opening amount has been reached and completes the door opening.

[0078] In the elevator door system according to this embodiment, a door position learning operation may be performed when the elevator is not in normal operation. The door position learning operation is an operation in which the door is opened and closed, and the door position detection unit 19 determines a reference rotation angle corresponding to the reference position based on a change in the torque command value according to the load torque applied by the load application unit 12. The determined reference rotation angle during the door position learning operation may be stored in the memory unit 20.

[0079] In the door position learning operation, the speed command unit 13 may generate a speed command for learning with less acceleration / deceleration. This makes it easier to detect a change in the torque command value by the load application unit 12 and to detect the reference rotation angle corresponding to the reference position.

[0080] The control device 2 may perform the door position learning operation when the elevator is installed. The control device 2 may also perform the door position learning operation when the elevator is powered on. If the elevator's power is cut off, the control device 2 will no longer be able to determine the door position, so it is recommended that the door position learning operation be performed when the power is turned on from the power-off state. Furthermore, after the door position learning operation is performed, the door position detection unit 19 may detect the absolute position of the door only before and after the identified reference rotation angle.

[0081] The control device 2 may compare the reference rotation angle determined and stored during the door position learning operation with the reference rotation angle determined by the door position detection unit 19 during normal operation to determine whether or not there is an abnormality in the door device 1. In this case, for example, the control device 2 further includes an abnormality determination unit (not shown). The abnormality determination unit then compares the reference rotation angle determined by the door position detection unit 19 during normal operation with the reference rotation angle determined during the door position learning operation and stored in the memory unit 20 to detect an abnormality in the door device 1.

[0082] For example, if the difference between the reference rotation angle determined by the door position detection unit 19 during normal operation and the reference rotation angle determined during door position learning operation and stored in the memory unit 20 is within a preset tolerance range, the abnormality determination unit determines that the door device 1 is normal. On the other hand, if the difference between the reference rotation angle determined by the door position detection unit 19 during normal operation and the reference rotation angle determined during door position learning operation and stored in the memory unit 20 is outside the above-mentioned tolerance range, the abnormality determination unit detects an abnormality in the door device 1.

[0083] Furthermore, when the abnormality determination unit determines that the door device 1 is normal, the reference rotation angle stored in the memory unit 20 may be overwritten and updated with the latest reference rotation angle identified by the door position detection unit 19 during normal operation. By doing so, it is possible to reflect changes in the reference rotation angle due to, for example, aging, etc., and improve the accuracy of detecting the absolute position of the door.

[0084] 9 is a diagram showing an example of a configuration for realizing the functions of the control device 2 in this embodiment. The functions of the control device 2 are realized, for example, by a processing circuit. The processing circuit may include a processor 101 and a memory 102. The processing circuit may be dedicated hardware 103. A part of the processing circuit may be formed as dedicated hardware 103, and the processing circuit may further include a processor 101 and a memory 102. In the example shown in the figure, a part of the processing circuit is formed as dedicated hardware 103. Furthermore, in the example shown in the figure, the processing circuit further includes a processor 101 and a memory 102.

[0085] The processing circuit, part of which is at least one dedicated hardware 103, may be, for example, a single circuit, a multiple circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof. If the processing circuit comprises at least one processor 101 and at least one memory 102, the functionality of the control device 2 may be realized by software, firmware, or a combination of software and firmware.

[0086] The software and firmware are written as programs and stored in memory 102. Processor 101 realizes the functions of each unit by reading and executing the programs stored in memory 102. Processor 101 is also called a CPU (Central Processing Unit), central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, or DSP. Memory 102 may include, for example, non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, and EEPROM, or a magnetic disk, flexible disk, optical disk, compact disk, minidisk, DVD, etc.

[0087] In this way, the processing circuit of the control device 2 can realize each function of the control device 2 by hardware, software, firmware, or a combination of these. When the processing circuit of the control device 2 includes at least the processor 101 and the memory 102, the processor 101 executes a program stored in the memory 102 in the control device 2, and the hardware and software of the control device 2 work together to realize the functions of each part of the control device 2. Note that the elevator door device is not limited to a configuration in which the operation is controlled by a single control device 2. The operation of the elevator door device may be controlled by cooperation between multiple devices.

[0088] In the present disclosure, the embodiments, configuration examples, modifications, etc. may be combined in any manner without departing from the spirit of the present disclosure. Examples of various aspects of the present disclosure are summarized below as appendices. (Appendix 1) a motor that drives the opening and closing of the elevator doors; a rotation angle sensor that detects a rotation angle of the motor; a speed command unit that outputs a rotation speed command value of the motor; a speed control unit that calculates a torque command value so that the rotation speed of the motor coincides with the rotation speed command value output from the speed command unit; a door position detection unit that detects the position of the door based on the rotation angle, The door further includes a load torque applying means for applying a mechanical load torque to the motor when the door passes through a preset reference position between a fully open position and a fully closed position during opening / closing movement, The door position detection unit determining a reference rotation angle, which is the rotation angle when the door is in the reference position, based on a change in the torque command value corresponding to the load torque; An elevator door device that detects the absolute position of the door based on the specified reference rotation angle and the rotation angle. (Appendix 2) 2. The elevator door device according to claim 1, wherein the door position detection unit specifies, as the reference rotation angle, the rotation angle at which a change in the torque command value becomes equal to or greater than a predetermined reference change amount. (Appendix 3) the load torque applying means applies a periodically varying mechanical load torque to the motor when the door passes through the reference position during opening / closing movement, 2. The elevator door device according to claim 1, wherein the door position detection unit specifies, as the reference rotation angle, the rotation angle at which a fluctuation frequency of the change in the torque command value becomes equal to a predetermined reference frequency. (Appendix 4) A plurality of the reference positions are set, the load torque applying means applies the mechanical load torque to the motor when the door passes through each of the plurality of reference positions during opening / closing movement; 4. The elevator door device according to claim 1, wherein the door position detection unit identifies the plurality of reference rotation angles based on a change in the torque command value according to the load torque. (Appendix 5) 5. The elevator door apparatus according to claim 4, wherein the speed command unit outputs the rotational speed command value by targeting the reference position corresponding to the reference rotation angle selected from the plurality of reference rotation angles identified by the door position detection unit. (Appendix 6) 6. The elevator door device according to claim 1, wherein, when the elevator is not performing normal operation, the door is opened and closed, and the door position detection unit performs a door position learning operation to identify the reference rotation angle corresponding to the reference position based on a change in the torque command value according to the load torque. (Appendix 7) 7. The elevator door device according to claim 6, wherein the door position learning operation is performed when the elevator is installed. (Appendix 8) 8. The elevator door device according to claim 6, wherein the door position learning operation is performed when the elevator is powered on. (Appendix 9) 9. The elevator door apparatus according to claim 6, further comprising an abnormality determination unit that determines whether or not there is an abnormality in the door apparatus by comparing the reference rotation angle determined by the door position detection unit during the normal operation with the reference rotation angle determined by the door position detection unit during the door position learning operation. (Appendix 10) a storage unit that stores the reference rotation angle identified by the door position detection unit, 10. The elevator door device according to claim 9, wherein, when the abnormality determination unit determines that the door device is normal, the reference rotation angle stored in the memory unit is updated with the reference rotation angle identified by the door position detection unit during the normal operation. [Explanation of symbols]

[0089] 1 Door device 2. Control device 3 Door Motor 4 Rotation Sensor 5 Drive belt 6 Door Panels 7 Door Hanger 8 clothes rail 9. Threshold 10 digits 11 Belt Grab 12 Load application section 13 Speed ​​command section 14 Speed ​​control section 15 Current control section 16 Power Converter 17 Current Sensor 18 Speed ​​calculation section 19 Door position detection unit 20 Memory section 101 processors 102 memory 103 Dedicated Hardware

Claims

1. a motor that drives the opening and closing of the elevator doors; a rotation angle sensor that detects a rotation angle of the motor; a speed command unit that outputs a rotation speed command value of the motor; a speed control unit that calculates a torque command value so that the rotation speed of the motor coincides with the rotation speed command value output from the speed command unit; a door position detection unit that detects the position of the door based on the rotation angle; a load torque applying means for applying a mechanical load torque to the motor when the door passes through a preset reference position between a fully open position and a fully closed position during opening / closing movement, The door position detection unit determining a reference rotation angle, which is the rotation angle when the door is in the reference position, based on a change in the torque command value corresponding to the load torque; An elevator door device that detects the absolute position of the door based on the specified reference rotation angle and the rotation angle.

2. 2. The elevator door apparatus according to claim 1, wherein the door position detector specifies, as the reference rotation angle, the rotation angle at which the change in the torque command value becomes equal to or greater than a predetermined reference change amount.

3. the load torque applying means applies a periodically varying mechanical load torque to the motor when the door passes through the reference position during opening / closing movement, 2. The elevator door apparatus according to claim 1, wherein the door position detector specifies, as the reference rotation angle, the rotation angle at which a fluctuation frequency of the amount of change in the torque command value becomes equal to a preset reference frequency.

4. A plurality of the reference positions are set, the load torque applying means applies the mechanical load torque to the motor when the door passes through each of the plurality of reference positions during opening / closing movement; 4. The elevator door apparatus according to claim 1, wherein the door position detector identifies a plurality of the reference rotation angles based on a change in the torque command value according to the load torque.

5. 5. The elevator door apparatus according to claim 4, wherein the speed command unit outputs the rotational speed command value by targeting the reference position corresponding to the reference rotation angle selected from the plurality of reference rotation angles identified by the door position detection unit.

6. 4. The elevator door apparatus according to claim 1, wherein, when the elevator is not in normal operation, the door is opened and closed to perform a door position learning operation in which the door position detection unit identifies the reference rotation angle corresponding to the reference position based on a change in the torque command value according to the load torque.

7. 7. The elevator door apparatus according to claim 6, wherein the door position learning operation is performed when the elevator is installed.

8. 7. The elevator door apparatus according to claim 6, wherein the door position learning operation is performed when the elevator is powered on.

9. 7. The elevator door apparatus according to claim 6, further comprising an abnormality determination unit that determines whether or not there is an abnormality in the door apparatus by comparing the reference rotation angle determined by the door position detection unit during the normal operation with the reference rotation angle determined by the door position detection unit during the door position learning operation.

10. a storage unit that stores the reference rotation angle identified by the door position detection unit, 10. The elevator door apparatus according to claim 9, wherein when the abnormality determination unit determines that the door apparatus is normal, the reference rotation angle stored in the memory unit is updated with the reference rotation angle identified by the door position detection unit during the normal operation.

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