Door control device and method for controlling the opening and closing of elevator car doors

Abstract

To simultaneously achieve improvement of operation efficiency of an elevator and suppression of door rattling.SOLUTION: A door control device controls opening / closing of a car door opened integrally with a landing door by opening in a state where a second member of the car door is in contact with a first member of the landing door, and opens the car door at a stationary door closing speed after acceleration at specified door closing acceleration. The door control device determines whether rattling has occurred after the door closing / opening start of the car door. The door control device reduces the specified door closing acceleration when the determination of rattling is positive, and maintains or increases the specified door closing acceleration when the determination of rattling is negative.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates generally to controlling the opening and closing of elevator car doors. [Background technology]

[0002] As an example of this type of technology, the technology disclosed in Patent Document 1 is known. Patent Document 1 states that "the abnormality determination means determines whether the door opening / closing operation is abnormal based on the sound measured by the door opening / closing sound detection means and the vibration measured by the door vibration measurement means, that is, by comparing the measurements measured by the door opening / closing sound detection means and the door vibration measurement means during the door opening / closing operation with the above-mentioned predetermined value, it is possible to easily grasp that an abnormality has occurred in the door opening / closing operation. Then, when the abnormality determination means determines that the door opening / closing operation is abnormal, the door opening / closing speed limiting means limits the door opening / closing speed to open and close the door more slowly than usual, thereby suppressing the transmission of door vibrations and the like to equipment installed in the car or the landing." [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2012-240781 A Summary of the Invention [Problem to be solved by the invention]

[0004] Known car doors that are subject to opening and closing control include those that have a second member (e.g., a first engaging element described below) that comes into contact with a first member (e.g., a first engaging roller described below) of the landing door, and that open together with the landing door by opening the door with the second member in contact with the first member. For such car doors, the phenomenon in which the impact generated when the second member (or a fourth member (e.g., a second engaging element described below)) of the car door comes into contact with the first member (or a third member (e.g., a second engaging roller described below)) of the landing door after the car door starts to close is equal to or greater than a certain impact is defined as "rattle."

[0005] Slower opening and closing speeds of car doors are expected to reduce rattling, but the time it takes for the doors to open and close will increase, raising concerns about reduced operational efficiency of the elevator.

[0006] An object of the present invention is to provide a system that improves elevator operational efficiency while suppressing door rattle. [Means for solving the problem]

[0007] In order to solve the above problem, a door control device that accelerates a car door at a predetermined door-closing acceleration and then closes the car door at a steady door-closing speed performs a rattle determination as to whether or not rattle occurs after the car door starts to close. If the rattle determination result is true, the door control device reduces the predetermined door-closing acceleration, and if the rattle determination result is false, the door control device maintains or increases the predetermined door-closing acceleration. Effect of the Invention

[0008] According to the present invention, it is possible to provide both improved elevator operational efficiency and suppression of door rattle. [Brief description of the drawings]

[0009] [Figure 1A] FIG. 2 is a schematic diagram showing a top view of the hall door and the car door. [Figure 1B] FIG. 2 is a schematic diagram showing a top view of the hall door and the car door. [Figure 1C] FIG. 2 is a schematic diagram showing a top view of the hall door and the car door. [Diagram 2] 5 is a flowchart showing a processing procedure performed by the door control device. [Diagram 3] 3 is a flowchart showing details of S203 in FIG. 2. [Figure 4A] 3 is a flowchart showing details of S207 in FIG. 2. [Figure 4B] 3 is a flowchart showing details of S208 in FIG. 2. [Figure 5A] FIG. 11 is an explanatory diagram of an example of rattle determination according to a comparative example. [Figure 5B] FIG. 4 is an explanatory diagram of an example of rattle determination according to the first embodiment. [Figure 6A] FIG. 11 is a diagram showing an example of a time series of a speed feedback value in the third embodiment. [Figure 6B] FIG. 11 is an explanatory diagram of an example of rattle determination according to the third embodiment. [Figure 7] FIG. 2 is a diagram showing a functional configuration of the door control device according to the first embodiment. [Figure 8] FIG. 11 is an explanatory diagram of an example of rattle determination according to the second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] In the following description, an "interface apparatus" may refer to one or more communication interface devices. The one or more communication interface devices may be one or more homogeneous communication interface devices or two or more heterogeneous communication interface devices.

[0011] In the following description, a "memory" refers to one or more memory devices, typically a primary storage device. At least one of the memory devices in the memory may be a volatile memory device or a non-volatile memory device.

[0012] In the following description, a "persistent storage device" may be one or more persistent storage devices, which are an example of one or more persistent storage devices. A persistent storage device may typically be a non-volatile storage device (e.g., an auxiliary storage device), and more specifically, may be, for example, a hard disk drive (HDD), a solid state drive (SSD), a non-volatile memory express (NVME) drive, or a storage class memory (SCM).

[0013] Also, in the following description, "storage device" may be at least one of memory and persistent storage device.

[0014] Furthermore, in the following description, a "processor" may be one or more processor devices. The at least one processor device may typically be a microprocessor device such as a CPU (Central Processing Unit), but may also be other types of processor devices such as a GPU (Graphics Processing Unit). The at least one processor device may be a single-core or multi-core. The at least one processor device may be a processor core. The at least one processor device may also be a broader processor device such as a circuit that is a collection of gate arrays written in a hardware description language that performs part or all of the processing (e.g., an FPGA (Field-Programmable Gate Array), a CPLD (Complex Programmable Logic Device), or an ASIC (Application Specific Integrated Circuit)).

[0015] In the following description, functions may be described using the expression "yyy unit", but the functions may be realized by one or more computer programs being executed by a processor, or by one or more hardware circuits (e.g., FPGA or ASIC), or by a combination thereof. When a function is realized by a program being executed by a processor, the function may be at least a part of the processor, since the specified processing is performed using a storage device and / or an interface device as appropriate. Processing described with a function as the subject may be processing performed by a processor or a device having the processor. A program may be installed from a program source. The program source may be, for example, a program distribution computer or a computer-readable recording medium (e.g., a non-transitory recording medium). The description of each function is an example, and multiple functions may be combined into one function, or one function may be divided into multiple functions.

[0016] In the following description, data (information) that gives an output for an input may be described using expressions such as "xxx table," but the data (information) may be a table of any structure, or may be a neural network that generates an output for an input, or a learning model such as a genetic algorithm or random forest. Therefore, a "xxx table" may be referred to as "xxx data" ("xxx information"). In the following description, one table may be divided into two or more tables, or all or part of two or more tables may be one table.

[0017] In addition, in the following description, when describing elements of the same type without distinguishing between them, common reference symbols will be used, and when describing elements of the same type with distinction between them, reference symbols will be used.

[0018] Several embodiments will be described below with reference to the drawings. In the following description, when there is no need to distinguish between the landing door and the car door, they will be collectively referred to as "doors." In addition, in the following description of the embodiments, rattling is determined when the door is closed, as described below, and the door closing acceleration is adjusted based on the result of the rattling determination. EXAMPLES

[0019] The opening and closing of the car door and the hall door will be described with reference to Figures 1A to 1C. Note that Figures 1A to 1C each show the left door of the left and right doors.

[0020] FIG. 1A is a schematic diagram showing a top view of a car door and a hall door when the doors start to open.

[0021] The landing door 11 has a first engagement roller 13A and a second engagement roller 13B arranged at different positions along the door opening / closing direction (left-right direction). The first engagement roller 13A is an example of a first member, and the second engagement roller 13B is an example of a third member. Other types of members may be used instead of the engagement piece 12, and other types of members may be used instead of the engagement roller 13.

[0022] A car door 10 (elevator car door) has a first engagement element 12A and a second engagement element 12B arranged at different positions along the door opening and closing direction. The first engagement element 12A is an example of a second member, and the second engagement element 12B is an example of a fourth member.

[0023] 1A, engagement rollers 13A and 13B are present between engagement elements 12A and 12B. When the door starts to open, for example, there is a gap between the first engagement element 12A and the first engagement roller 13A, and there is also a gap between the second engagement element 12B and the second engagement roller 13B.

[0024] When the car door 10 starts to open, the car door 10 moves in the door-opening direction, and therefore the first engagement element 12A comes into contact with the first engagement roller 13A, as shown in Fig. 1B. The first engagement element 12A of the car door 10 pushes the first engagement roller 13A in the door-opening direction, thereby opening the car door 10 together with the landing door 11. In other words, the first engagement element 12A of the car door 10 is a device that contacts the first engagement roller 13A to transmit the power required to open the landing door 11.

[0025] If a high door-closing acceleration is set as the door-closing acceleration when the door is closed in order to improve the operational efficiency of the elevator, as shown in FIG. 1C, the second engaging member 12B of the car door 10 will collide with the second engaging roller 13B of the landing door 11 with force, resulting in rattling. The "rattle" refers to an event in which the engaging roller 13 and the engaging member 12 collide with each other relatively with a certain degree of force. After the car door starts to close, the "rattle" is an event defined as an impact when the second engaging member 12B contacts the second engaging roller 13B being equal to or greater than a certain level of impact, or an event defined as an impact when the first engaging roller 13A contacts the first engaging member 12A being equal to or greater than a certain level of impact. Specifically, in this embodiment, the "rattle" may occur for any of the following reasons. As shown in FIG. 1C, the second engagement element 12B of the car door 10 collides with the second engagement roller 13A of the hall door 11 with force. A force is always applied to the landing door 11 in the door closing direction, and after the car door 10 moves in the door closing direction and the first engagement element 12A separates from the first engagement roller 13A, the first engagement roller 13A catches up with the first engagement element 12A and collides with it with force.

[0026] FIG. 7 is a diagram illustrating a functional configuration of the door control device according to the first embodiment.

[0027] The door control device 700 is a device that controls the opening and closing of the door. The door control device 700 accelerates the car door 10 at a determined door-closing acceleration and then closes the car door at a steady door-closing speed (the car door 10 may be opened in the same manner).

[0028] The door control device 700 includes an interface device, a storage device, and a processor connected thereto. Communication with devices external to the door control device 700 is performed via the interface device. Information received from devices external to the door control device 700 (e.g., an elevator control panel 770) and information calculated in the door control device 700 are stored in a storage area 764 provided by the storage device. The processor executes a program to realize a speed command unit 701, a control calculation unit 702, a position calculation unit 703, a speed calculation unit 704, a pulse calculation unit 705, a determination unit 762, and an adjustment unit 763. Devices external to the door control device 700 include a drive unit 710 and a control panel 770. The drive unit 710 is a device that drives the car door 10 to close (or open) the car door 10, and includes an electric motor 711 and an encoder 712. The control panel 770 transmits, for example, information indicating the floor on which the car has landed to the door control device 700.

[0029] The speed command unit 701 receives a door closing command signal (or a door opening command signal) and notifies the determination unit 762 of the reception of the signal. Furthermore, in response to the door closing command signal (or the door opening command signal), the speed command unit 701 calculates a door closing speed (or a door opening speed) based on the position (position of the car door 10) calculated by the position calculation unit 703 and the door closing acceleration (acceleration when the door is closed) (or door opening acceleration (acceleration when the door is opened)) obtained by the adjustment unit 763, and outputs a speed command for the calculated speed.

[0030] In response to the speed command, the control calculation unit 702 determines the rotation speed of the electric motor 711 (for example, the value of the current to be passed through the electric motor 711), and drives the electric motor 711 at the determined rotation speed.

[0031] The pulse calculation unit 705 calculates the number of revolutions of the electric motor 711 based on the output pulses from the encoder 712 .

[0032] The position calculation unit 703 calculates the position of the car door 10 based on the number of rotations calculated by the pulse calculation unit 705 , and notifies the calculated position to the speed command unit 701 and writes it in the memory area 764 .

[0033] The speed calculation unit 704 calculates the speed of the car door 10 based on the number of rotations calculated by the pulse calculation unit 705. A value representing the calculated speed is written to a memory area 764. Hereinafter, the value representing the door speed detected and written to the memory area 764 will be referred to as a "speed feedback value."

[0034] When the determination unit 762 is notified that it has received a door close command signal (or a door open command signal), it resets a collision flag, which will be described later. The determination unit 762 performs a rattle determination as to whether or not rattle has occurred, based on a speed feedback value (detected speed feedback value of N) of N (N is an integer equal to or greater than 2) written in a memory area 764. The speed of N is a speed feedback value detected at N time points in a portion of the period from when the car door 10 starts to close to when it ends. The determination unit 762 calculates a value for determination based on the speed feedback value of N of the car door 10, and determines whether or not the value for determination (an example will be described later) exceeds a threshold value. If the result of the determination is true, then the result of the rattle determination is true, and if the result of the determination is false, then the result of the rattle determination is false. Incidentally, the rattle determination may be performed, for example, based on the output from a sensor provided on the car door 10. However, in this embodiment, the rattle determination is performed based on the detected speed feedback value of N, so that the rattle determination can be performed without such a sensor.

[0035] When the result of the rattle determination is true, the adjustment unit 763 decreases the door closing acceleration set in the memory area 764, and when the result of the rattle determination is false, the adjustment unit 763 maintains or increases the door closing acceleration set in the memory area 764. In this way, it is possible to achieve both improvement in elevator operation efficiency and suppression of door rattle, specifically, it is possible to reduce both the possibility of rattle occurring when the car door 10 is closed and the length of time it takes to close the car door 10. The adjustment unit 763 notifies the speed command unit 701 of the obtained door closing acceleration.

[0036] The present embodiment will now be described in more detail.

[0037] FIG. 2 is a flowchart showing a processing procedure performed by the door control device 700.

[0038] When the determination unit 762 of the door control device 700 detects rattling during the closing of the car door 10, it sets a "collision flag". The "collision flag" is a flag indicating whether or not the door rattles when the door is closed, and is set in the memory area 764 when the door rattles (for example, the value of the collision flag is set to "1"), and is reset when the door does not rattle (for example, the value of the collision flag is set to "0"). A method of determining rattling of the door is described in FIG. 3. This makes it possible to determine whether rattling has occurred during the closing of the car door 10. When the collision flag is set, the adjustment unit 763 determines that rattling has occurred during the closing of the car door 10, and reduces the door closing acceleration by a certain amount to prevent rattling of the door at the time of the next door closing operation. When the collision flag is reset, the adjustment unit 763 determines that rattling has not occurred during the closing of the door, and increases or maintains the door closing acceleration to shorten the time required for the door to close. The flow for deciding whether to decrease, increase or maintain the door closing acceleration is shown in Figure 4. After increasing, decreasing or maintaining the door closing acceleration by a certain amount, the adjustment unit 763 records in the memory area 764 the value of the door closing acceleration corresponding to the landing floor when the door is closed. During the door closing standby state (during the standby state when the door closing is completed), the door control device 700 maintains the door closing standby state until it receives a door open command signal. When the door control device 700 receives a door open command signal, it starts the door opening operation, and after the door opening operation is completed, the door enters the door open standby state. During the door open standby state, when the door control device receives a door close command signal, it starts the door closing operation.

[0039] The door control device 700 increases the acceleration when the door is closed while suppressing rattling when the door is closed, thereby improving the operational efficiency of the elevator while maintaining quietness when the door is closed.

[0040] The operation based on the flowchart in FIG. 2 is as follows.

[0041] S201: The door control device 700 starts a door closing operation. This process is performed when the door control device 700 receives a door closing command signal.

[0042] S202: The determination unit 762 resets the collision flag in the memory area 764.

[0043] S203: The determination unit 762 performs rattling determination based on the door speed feedback value. If it is determined that rattling has occurred, the process proceeds to S204. If it is not determined that rattling has occurred, S204 is skipped and the process proceeds to S205.

[0044] S204: The determination unit 762 sets a collision flag.

[0045] S205: The determination unit 762 determines whether the door closing operation has been completed. Whether the door closing operation has been completed may be determined based on the position calculated by the position calculation unit 703, for example. If the door closing operation has been completed, the process proceeds to S206. If the door closing operation is still ongoing, the process returns to the determination in S203.

[0046] S206: The adjustment unit 763 determines whether or not the collision flag is set. If the collision flag is set, the process proceeds to S207, and if the collision flag is not set, the process proceeds to S208.

[0047] S207: The adjustment unit 763 reduces the door closing acceleration set in the memory area 764 by a predetermined amount.

[0048] S208: The adjustment unit 763 maintains the door closing acceleration set in the memory area 764 or increases it by a predetermined amount.

[0049] S209: The adjustment unit 763 records in the memory area 764 information indicating the door closing acceleration and the car landing floor determined in S207 or S208.

[0050] S210: The door control device 700 enters a door-close standby state.

[0051] S211: If the door control device 700 receives a door open command signal, the process proceeds to S212, and if the door control device 700 does not receive a door open command signal, the door close standby state is maintained.

[0052] S212: The door control device 700 starts the door opening operation.

[0053] S213: The door control device 700 ends the door opening operation.

[0054] S214: The door control device 700 enters a door-open standby state.

[0055] S215: If the door control device 700 receives a door close command signal, the process returns to S201, and if the door control device 700 does not receive a door close command signal, the door open standby state is maintained.

[0056] In this embodiment, the speed feedback value when the door is closed is acquired at a predetermined time interval Δt. The judgment unit 762 increments the period count by 1 every Δt. The judgment unit 762 continues to increment the value of the period count by 1 every Δt until the period count reaches the value of a predetermined judgment period TC. When the period count reaches TC, the judgment unit 762 resets the period count to 0 and increments the period count by 1 again every Δt (each time a speed feedback value is acquired). Therefore, the period count indicates how many times the speed feedback value has been acquired within TC (a predetermined judgment period). Furthermore, TC (judgment period) is a predetermined integer value of 1 or more, and indicates the required number of times (the number of times the speed feedback value is acquired).

[0057] When rattle occurs within a judgment period, the difference between the maximum speed and the minimum speed among the N (N is an integer of 2 or more) speed feedback values ​​acquired in that judgment period is large. When rattle occurs at the boundary between judgment periods, the maximum speed and the minimum speed related to the rattle will span between judgment periods. Therefore, the difference between the maximum speed and the minimum speed becomes small in each judgment period, and as a result, there is a possibility that rattle will not be judged as rattle even though it has occurred. In this embodiment, in order to reduce such a possibility, there are a first period count and a second period count, which will be described later, as the period count, and each count is incremented by 1 during the judgment period, and at the end of the judgment period, each count is reset to 0, and each count is incremented by 1 again during the judgment period.

[0058] FIG. 3 is a flowchart showing the details of S203 in FIG.

[0059] In the flow chart, TC indicates a judgment period, TC1 indicates a first period count, and TC2 indicates a second period count. The first period count and the second period count have the same judgment period, but the second period count is delayed by half a judgment period compared to the first period count. For example, when TC=6 and the initial value of TC1=0, the initial value of TC2=3 (a value delayed by half a judgment period). Note that, regarding the period count, the "initial value" means the initial value, and the "count start value" means the value set by resetting ("0" in this embodiment). The initial value and the count start value may be determined depending on how the period count is updated (for example, whether it is incremented or decremented) each time the speed feedback value is acquired. S301 is started every Δt.

[0060] S301: The determination unit 762 obtains a speed feedback value from the storage area 764. The "speed feedback value" is a value representing a speed calculated based on a signal received from the encoder 712, as described above.

[0061] S302: The determination unit 762 determines whether or not TC1=TC. If the determination result of S302 is true, the process proceeds to S303, and if the determination result of S302 is false, the process proceeds to S305.

[0062] S303: The determination unit 762 identifies the maximum speed and the minimum speed from the speed feedback values ​​of N acquired during the target period (the current period corresponding to Δt×TC1), and calculates the difference V dif Calculate.

[0063] S304: The determination unit 762 resets TC1 (TC1=0).

[0064] S305: The determination unit 762 determines whether or not TC2=TC If the determination result of S305 is true, the process proceeds to S306, and if the determination result of S305 is false, the process proceeds to S308.

[0065] S306: The determination unit 762 identifies the maximum speed and the minimum speed from the speed feedback value of N acquired during the target period (the current period corresponding to Δt×TC2), and calculates the difference V between the maximum speed and the minimum speed. dif Calculate.

[0066] S307: The determination unit 762 resets TC2 (TC2=0).

[0067] S308: The determination unit 762 increments TC1 and TC2 by one.

[0068] S309: The determination unit 762 determines whether V dif is a predetermined speed threshold V th If the determination result of S309 is true, it is assumed that rattle has occurred, and the answer is S203: Yes. If the determination result of S309 is false, it is assumed that rattle has not occurred, and the answer is S203: No.

[0069] As described above, the judgment unit 762 calculates a judgment value based on the speed feedback value of N of the car door 10, and the rattle judgment includes whether or not the judgment value exceeds a threshold value. In this embodiment, the judgment value is the difference V between the maximum speed and the minimum speed. dif and the threshold is the velocity threshold V th In this way, rattle determination based on the speed feedback value is possible.

[0070] In addition, by shifting the initial values ​​of TC1 and TC2 based on the number of period counts (specifically, by shifting them by 1 / (number of period counts)), and incrementing each of TC1 and TC2 until they reach TC, it is possible to obtain a speed feedback value of N in each judgment period of TC1 and TC2.

[0071] In addition, the possibility of missed detection of the occurrence of rattle can be reduced by making a judgment using TC1 and TC2 whose initial value is shifted from TC1 by half the TC (half the judgment period). An example of reducing the possibility of missed detection of the occurrence of rattle will be described with reference to Figures 5A and 5B.

[0072] According to the comparative example (comparison example of Example 1) shown in FIG. 5A, the period count is one, TC1. There is a judgment period (continuous target period) for TC1. The judgment period is Δt×TC1 (where TC1=TC). When rattling occurs at the boundary of the judgment period, the peak of the speed feedback value during door closing (maximum speed V pmax ) to peak (minimum speed V pmin ) spans different time periods. Therefore, V dif V 1_1 V in the next target period dif V 1_2 Also, the speed threshold V th As a result, rattle will not be detected even though it has occurred.

[0073] Therefore, as shown in Fig. 5B, in this embodiment, TC2 is prepared whose initial value is shifted from TC1 by half a judgment period (TC x 1 / 2) 17, a judgment period (continuous target period) exists for TC2, and the start of the judgment period for TC2 is shifted by half a judgment period from the start of the judgment period for TC1. For example, when TC is "10", TC1 in the initial state is "0" and TC2 in the initial state is "5". When the loop of the flow shown in Fig. 2 goes around once, TC1 "0" and TC2 "5" are smaller than TC "10", so they are incremented by 1, and as a result, TC1 becomes "1" and TC2 becomes "6".

[0074] According to FIG. 5B, the peak-to-peak of the speed feedback value that could not be covered in the determination period for TC1 is covered in the determination period for TC2. That is, in the determination period corresponding to TC2, dif As, V pmax and V pmin is the difference between the speed threshold V th Bigger V 2_1 is calculated.

[0075] When rattling is determined as described above, a collision flag is set, and the adjustment unit 763 adjusts the door closing acceleration set in the memory area 764. The flow of adjustment of the door closing acceleration is as shown in Figures 4A and 4B.

[0076] FIG. 4A is a flowchart showing details of S207 in FIG.

[0077] S401: The adjustment unit 763 reduces the door closing acceleration set in the memory area 764 by a predetermined adjustment value.

[0078] S402: The adjustment unit 763 resets the acceleration determination flag in the memory area 764 (for example, the value of the acceleration determination flag is set to "0"). The "acceleration determination flag" is a flag that indicates whether or not to maintain the door closing acceleration set in the memory area 764. By resetting the acceleration determination flag, it becomes possible to decrease or increase the door closing acceleration set in the memory area 764. In addition, by resetting the acceleration determination flag when the door closing acceleration is decreasing (S401), it becomes possible to decrease or increase the door closing acceleration the next time the door is closed.

[0079] FIG. 4B is a flowchart showing the details of S208 in FIG.

[0080] S451: The adjustment unit 763 judges whether the door closing acceleration set in the memory area 764 is the same as the adjusted door closing acceleration in the door closing before the previous time. That is, the adjustment unit 763 records information indicating the adjusted door closing acceleration in each of the past K door closings in the memory area 764. K=1 means the previous time, and K=2 means the time before the previous time. K is an integer of 2 or more. If the judgment result of S451 is true, the process proceeds to S452, and if the judgment result of S451 is false, the process proceeds to S453.

[0081] S452: The adjustment unit 763 sets the acceleration determination flag in the memory area 764 (for example, sets the value of the acceleration determination flag to "1"). That is, the door closing acceleration set in the memory area 764 is maintained.

[0082] S453: The adjustment unit 763 judges whether or not the acceleration determination flag is set in the memory area 764. If the judgment result of S453 is true, the process of S207 in Fig. 2 is terminated, that is, the door closing acceleration set in the memory area 764 is maintained. If the judgment result of S453 is false, the process proceeds to S454.

[0083] S454: The adjustment unit 763 increases the door closing acceleration set in the memory area 764 by a predetermined adjustment value. Note that the increase amount of the door closing acceleration (the adjustment value to be added) may be the same as the decrease amount of the door closing acceleration (the adjustment value to be subtracted).

[0084] According to the flow shown in FIG. dif is the speed threshold V th This can prevent the door closing acceleration from being alternately increased and decreased when the threshold voltage is alternately exceeded and not exceeded. EXAMPLES

[0085] In this embodiment, the number X of cycle counts is greater than 2, as illustrated in Fig. 8. The following mainly describes the differences from the first embodiment. In Fig. 8, the determination cycles (a) to (d) are as follows: TC1 = TC2 = TC3 = TC4 = TC. (a): Δt×TC1 (b): Δt × TC2 (c): Δt × TC3 (d): Δt × TC4

[0086] According to the example shown in FIG. 8, the number of period counts is X=4. In this case, there are the above judgment periods (a) to (d). The judgment periods corresponding to TC2 to TC4 are shifted from the judgment period corresponding to TC1 by 1 / 4 (1 / X), and similarly, the initial values ​​of TC2 to TC4 are shifted from the initial value of TC1 by 1 / 4 of TC. For example, when TC=12 and the initial value of TC1 is "0", the initial value of TC2 is "3", the initial value of TC3 is "6", and the initial value of TC4 is "9". TC1 to TC4 are each subject to increment by 1 depending on whether or not they have reached TC.

[0087] In this way, the greater the number of cycle counts, the more judgment cycles that cover rattle detection, and therefore, it is possible to reduce the missed rattle detection when the door is closed.

[0088] The first and second embodiments can be summarized as follows. That is, a part of the period from the start of closing the door to the end of closing the door is a period (for example, a period of Δt×TC) corresponding to any one of X number of cycle counts (X is a natural number) each having a different initial value. Each time the speed feedback value is detected, the determination unit 762 determines whether or not any one of the X number of cycle counts has reached TC, and when the result of the determination indicates that there is a true cycle count, it performs V for the part of the period (the period corresponding to the cycle count). dif Calculate the period count, reset the period count to the count start value, increment each of the X period counts by 1, and V dif V th If X is an integer equal to or greater than 1, the start of each of the x cycles corresponding to each of the x cycle counts is shifted by 1 / x of the cycle. EXAMPLES

[0089] 6A and 6B, in this embodiment, the rattle determination effective region of S203 is expanded from the steady running region during the door closing operation to a region composed of an acceleration region and a steady running region. That is, in the first embodiment, the speed feedback value of N in S203 is a value acquired after the acceleration of the car door 10 has ended and steady running has started, but in the third embodiment, the speed feedback value of N in S203 includes a speed feedback value acquired during the acceleration of the car door 10. The following mainly describes the differences from the first embodiment.

[0090] When the difference between the peak-to-peak values of the speed feedback values obtained during the door closing period including the period of accelerating door closing (while the cage door 10 is accelerating) is used for rattling determination, it is impossible to determine whether the maximum speed or the minimum speed within the period of Δt×TC is due to rattling or due to the accelerating speed. FIG. 6A shows an example of the time series of the speed feedback values. According to FIG. 6A, when the engagement roller 13 contacts (collides with) the engaging element 12 when the door is closing and is not determined as rattling, the speed feedback values used for rattling determination should be V3 and V5. However, since the maximum and minimum values of the speed feedback values within the determination period are V1 and V6, the difference between V1 and V6 is V dif is calculated as. When the door closing acceleration of the door is large, the difference between V1 and V6 becomes large. Therefore, although no rattling occurs in the speed feedback values V3 and V5, there is a possibility that they may be determined as rattling. Thus, depending on the door closing acceleration, the initial speed feedback value within the determination period becomes smaller than the minimum value of the speed feedback value at the time of rattling occurrence, and the peak-to-peak value of the speed feedback value becomes larger than the difference of the speed feedback value due to actual rattling.

[0091] Therefore, in this embodiment, the possibility of misjudging that rattling has occurred regardless of the occurrence of rattling during door closing acceleration is reduced. Hereinafter, it will be described with reference to FIG. 6B. Note that TC1 is taken as an example of the cycle count. Let TC = 6. Also, the number N of the speed feedback values is an integer of 3 or more.

[0092] When TC1 = TC, the determination unit 762 calculates the difference V D1 between the first speed feedback value acquired within the target (period of Δt×TC) and the last (6th) speed feedback value acquired within the target period, and calculates the quotient of V D1 and (TC - 1). The quotient may be determined by any method such as rounding or truncation. The quotient is the calculated acceleration A C within the target period. Hereinafter, n is an arbitrary integer within the target period (any integer among 1 < n < TC). The determination unit 762 determines A CThe value obtained by adding V1 to the product of and (n-1) is calculated as the n-th speed feedback value. The determination unit 762 calculates the difference V between the calculated n-th speed feedback value and the n-th acquired speed feedback value. D2 is greater than a predetermined threshold. If the result of the determination is true, the determination unit 762 determines that rattling has occurred and sets a collision flag. If the result of the determination is false, the collision flag remains reset.

[0093] This makes it possible to detect rattling of the door even during acceleration of the door closing operation. EXAMPLES

[0094] In the memory area 764, N speed feedback values ​​(hereinafter, feedback value sets) acquired at N points in time in a period of Δt×TC are recorded for each cycle count. The number of feedback value sets is the same as the number of cycle counts, X. In this embodiment, consumption of the recording capacity of the memory area 764 is reduced. Below, differences from embodiments 1 and 2 will be mainly described.

[0095] In this embodiment, the number of cycle counts X=1. Therefore, the number of feedback value sets recorded in the memory area 764 is also 1. This makes it possible to reduce consumption of the recording capacity of the memory area 764. EXAMPLES

[0096] In this embodiment, different door specifications can be accommodated for each floor. The following mainly describes the differences from the first embodiment.

[0097] A memory area 764 stores information representing the door-closing acceleration for each floor. Furthermore, each time the car lands on any floor, information representing the landing floor is output from the control panel 770 and recorded in the memory area 764. Each time a door-closing operation is started, a determination unit 762 identifies the floor on which the car is stopped from the memory area 764, and identifies the door-closing acceleration corresponding to that floor from the memory area 764, and an adjustment unit 763 adjusts the identified door-closing acceleration.

[0098] This makes it possible to judge rattling and adjust the door closing acceleration according to the door usage, even if different door specifications are adopted for each floor, such as the weight of the landing door.

[0099] Although several embodiments of the present invention have been described above, these are merely examples for the purpose of explaining the present invention, and the scope of the present invention is not limited to these embodiments. The present invention can be embodied in various other forms. For example, any two or more of the above-described embodiments can be combined. [Explanation of symbols]

[0100] 10: car door, 11: landing door, 12: engaging element, 13: engaging roller, 700: door control device, 762: determining unit, 763: adjusting unit

Claims

1. A door control device that controls opening and closing of a car door that opens together with a landing door by opening the door in a state in which the first member of the landing door, which has at least a first member among first and third members that are located at different positions along the door opening and closing direction, is in contact with the second member of the car door, which has at least a second member among second and fourth members that are located at different positions along the door opening and closing direction, and that closes the car door of an elevator at a steady door closing speed after accelerating at a predetermined door closing acceleration, a determination unit that performs rattling determination as to whether or not rattling has occurred, the rattling being an event defined as an impact when the second member of the car door comes into relative contact with the first member of the landing door after the car door starts to close, or an impact when the fourth member of the car door comes into relative contact with the third member of the landing door after the car door starts to close, being equal to or greater than a certain impact; an adjustment unit that reduces the determined door closing acceleration when the result of the rattle determination is true, and maintains or increases the determined door closing acceleration when the result of the rattle determination is false; Equipped with the determination unit calculates a determination value based on N speeds of the car door detected at N time points (N is an integer equal to or greater than 2) in a portion of a period from a start of closing of the car door to an end of closing of the car door, and determines whether or not the determination value exceeds a threshold value; The result of the determination being true means that the result of the rattle determination is true; The result of the determination being false means that the result of the rattle determination is false. Door control device.

2. The value for determination is a difference between a maximum speed and a minimum speed among the N speeds. The door control device according to claim 1 .

3. N is an integer of 3 or more, the determination value is a difference between the speed detected at the nth time point and the calculated speed at the nth time point, The n-th time point is any one of one or more time points excluding the first time point and the N-th time point from the N time point, The calculated speed at the nth time point is a speed obtained by adding the speed detected at the first time point to the product of (n-1) and the quotient obtained by dividing the difference between the speed detected at the first time point and the speed detected at the Nth time point by (N-1). The door control device according to claim 1 .

4. the partial period corresponds to any one of X number of period counts (X being a natural number) each having a different initial value, The determination unit, each time the speed of the car door is detected, determining whether any of the X period counts has reached a predetermined value; If the result of the determination indicates that there is a true period count, a value for the determination is calculated for the partial period that corresponds to the period count, and the period count is reset to a count start value; updating each of the X period counts; determining whether the determination value exceeds the threshold value; The door control device according to claim 1 .

5. X=1; The door control device according to claim 4.

6. X=x (x is an integer of 2 or more), The start of x periods corresponding to x period counts are offset by 1 / x of a period. The door control device according to claim 4.

7. A door control device which controls opening and closing of a car door which opens together with a landing door by opening the door in a state in which a first member of a landing door having at least a first member among a first member and a third member which are located at different positions along a door opening and closing direction is in contact with a second member of a car door which has at least a second member among a second member and a fourth member which are located at different positions along the door opening and closing direction, and which closes the car door of an elevator at a steady door closing speed after accelerating at a predetermined door closing acceleration, a determination unit that performs rattling determination as to whether or not rattling has occurred, the rattling being an event defined as an impact when the second member of the car door comes into relative contact with the first member of the landing door after the car door starts to close, or an impact when the fourth member of the car door comes into relative contact with the third member of the landing door after the car door starts to close, being equal to or greater than a certain impact; an adjustment unit that reduces the determined door closing acceleration when the result of the rattle determination is true, and maintains or increases the determined door closing acceleration when the result of the rattle determination is false; Equipped with When the result of the rattle determination is false, the adjustment unit When the determined door closing acceleration is the same as the door closing acceleration at the time when the car door was closed two times before, the determined door closing acceleration is maintained. Door control device.

8. When the result of the rattle determination is false, the adjustment unit When the determined door closing acceleration is the same as the door closing acceleration at the time of closing the car door two times before last, an acceleration determination flag is set to maintain the determined door closing acceleration, Even if the determined door closing acceleration is different from the door closing acceleration at the time of closing the car door two times before, if the acceleration determination flag is set, the determined door closing acceleration is maintained, When the determined door closing acceleration is different from the door closing acceleration at the time of closing the car door two times before last and the acceleration determination flag is not set, the determined door closing acceleration is increased; When the adjustment unit reduces the determined door closing acceleration, the adjustment unit resets the acceleration determination flag. The door control device according to claim 7.

9. A door control device which controls opening and closing of a car door which opens together with a landing door by opening the door in a state in which the first member of the landing door, the first member being a first member among a first member and a third member which are located at different positions along a door opening and closing direction, is in contact with the second member of a car door, the second member being a second member among a second member and a fourth member which are located at different positions along the door opening and closing direction, and which closes the car door of an elevator at a steady door closing speed after accelerating at a predetermined door closing acceleration, a determination unit that performs rattling determination as to whether or not rattling has occurred, the rattling being an event defined as an impact when the second member of the car door comes into relative contact with the first member of the landing door after the car door starts to close, or an impact when the fourth member of the car door comes into relative contact with the third member of the landing door after the car door starts to close, being equal to or greater than a certain impact; an adjustment unit that reduces the determined door closing acceleration when the result of the rattle determination is true, and maintains or increases the determined door closing acceleration when the result of the rattle determination is false; Equipped with The determined door closing acceleration exists for each of a plurality of floors, The determination unit identifies a floor at which the elevator car has landed, which is represented by information output from a control panel of the elevator, and identifies a predetermined door closing acceleration corresponding to the identified floor from a plurality of predetermined door closing accelerations corresponding to the plurality of floors. Door control device.

10. A door control method performed by a door control device which controls opening and closing of a car door which opens together with a landing door by opening the door in a state in which the first member of the landing door, the first member being a first member of a third member which are at different positions along the door opening and closing direction, is in contact with the second member of a car door which has at least a second member of a second member and a fourth member which are at different positions along the door opening and closing direction, and which closes the car door of an elevator at a steady door closing speed after accelerating at a predetermined door closing acceleration, a determination step of performing a rattle determination as to whether or not rattle has occurred, the rattle being defined as an impact when the second member of the car door comes into relative contact with the first member of the landing door after the car door starts to close, or an impact when the fourth member of the car door comes into relative contact with the third member of the landing door after the car door starts to close, being equal to or greater than a certain impact; an adjustment step of decreasing the determined door closing acceleration when the result of the rattle determination is true, and maintaining or increasing the determined door closing acceleration when the result of the rattle determination is false; having in the determination step, a value for determination is calculated based on N speeds of the car door detected at N time points (N is an integer equal to or greater than 2) in a portion of a period from a start of closing of the car door to an end of closing of the car door, and it is determined whether or not the value for determination exceeds a threshold value; The result of the determination being true means that the result of the rattle determination is true; The result of the determination being false means that the result of the rattle determination is false. Door control method.

11. A door control method performed by a door control device which controls opening and closing of the car door which opens together with the landing door by opening the door in a state in which the first member of the landing door, the first member being a first member of a third member which are at least a first member located at different positions along the door opening and closing direction, is in contact with the second member of the car door, the second member being a second member being a fourth member which are at least a second member located at different positions along the door opening and closing direction, and which closes the car door of an elevator at a steady door closing speed after accelerating it at a predetermined door closing acceleration, a determination step of performing a rattle determination as to whether or not rattle has occurred, the rattle being defined as an impact when the second member of the car door comes into relative contact with the first member of the landing door after the car door starts to close, or an impact when the fourth member of the car door comes into relative contact with the third member of the landing door after the car door starts to close, being equal to or greater than a certain impact; an adjustment step of decreasing the determined door closing acceleration when the result of the rattle determination is true, and maintaining or increasing the determined door closing acceleration when the result of the rattle determination is false; having If the result of the rattle determination is false, the adjustment step When the determined door closing acceleration is the same as the door closing acceleration at the time when the car door was closed two times before, the determined door closing acceleration is maintained. Door control method.

12. A door control method performed by a door control device which controls opening and closing of the car door which opens together with the landing door by opening the door in a state in which the first member of the landing door, the first member being a first member of a third member and the second member being a fourth member and the second member being at least a second member of the fourth member and the second member being at different positions along the door opening and closing direction, is brought into contact with the first member of the landing door, the first member being a first member of a landing door and the second member being a fourth member and the second member being at different positions along the door opening and closing direction, and which closes the car door of an elevator at a steady door closing speed after accelerating the car door at a predetermined door closing acceleration, a determination step of performing a rattle determination as to whether or not rattle has occurred, the rattle being defined as an impact when the second member of the car door comes into relative contact with the first member of the landing door after the car door starts to close, or an impact when the fourth member of the car door comes into relative contact with the third member of the landing door after the car door starts to close, being equal to or greater than a certain impact; an adjustment step of decreasing the determined door closing acceleration when the result of the rattle determination is true, and maintaining or increasing the determined door closing acceleration when the result of the rattle determination is false; having The determined door closing acceleration exists for each of a plurality of floors, In the determination step, a floor at which the elevator car has landed is identified, the floor being represented by information output from a control panel of the elevator, and a predetermined door closing acceleration corresponding to the identified floor is identified from a plurality of predetermined door closing accelerations corresponding to the plurality of floors. Door control method.

13. A cage having a cage door with at least a second member among a second member and a fourth member that are located at different positions along a door opening / closing direction; a door control device according to any one of claims 1 to 9, which has at least a first member among a first member and a third member that are located at different positions along the door opening / closing direction, and which opens the car door together with the landing door by opening the car door in a state in which the second member is in contact with the first member of a landing door to which a force is applied in a door closing direction, and closes the car door at a steady door closing speed after accelerating the car door at a predetermined door closing acceleration; Equipped with elevator.

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