Elevator, door control device, and elevator door control method

Abstract

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

Description

Technical Field

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

Background Art

[0002] Conventionally, in an elevator, when the car lands on the landing, the car door and the landing door engage with each other, and both doors are configured to open and close in联动. Further, a closed-end detection switch for detecting the closed-end position of the door is provided in the car and at the landing and descending floors. And when an abnormality occurs in the closed-end detection switch while stopped at the closed-end position of the door, the torque of the door motor increases to close the door.

[0003] As a technique for controlling the torque of the door motor, for example, there is one as described in Patent Document 1. Patent Document 1 describes an elevator control device that generates a speed command in response to an elevator start command and calculates a torque command for a motor that drives the elevator based on the deviation between this speed command and the actual speed. And Patent Document 1 describes that it includes means for calculating the square mean of the torque command, means for determining the magnitude between the square mean and a preset set value, and start frequency changing means for changing the frequency of the start command according to the determination result.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the technology described in Patent Document 1, an abnormality occurred in the closed-end detection switch, and it took time to detect the overload of the door motor, causing the temperature of the door motor to rise excessively. Therefore, in the technology described in Patent Document 1, it was necessary to stop the opening and closing operation of the door in order to cool down the overheated door motor, which resulted in a decrease in convenience.

[0006] The objective of this invention is to provide an elevator, a door control device, and an elevator door control method that can prevent the temperature of the door motor from rising excessively, taking into consideration the above-mentioned problems. [Means for solving the problem]

[0007] To solve the above problems and achieve this objective, the elevator includes a car or a door installed on the floor where the car stops, a door motor that drives the door to open and close, a closed-end detection switch that detects the closed position of the door, and an encoder that detects the position of the door. The elevator also includes a door control device that controls the torque of the door motor and controls the opening and closing operation of the door. The door control device includes a door opening / closing control unit that controls the torque of the door motor, and a closed end detection switch abnormality determination unit that determines an abnormality of the closed end detection switch based on the detection signal detected by the closed end detection switch, the signal detected by the encoder, and the torque signal of the door motor. The closed end detection switch abnormality determination unit then sets the torque of the door motor to a standby torque that is less than the limited torque if the torque of the door motor remains at the limit torque for a predetermined time.

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

[0009] Furthermore, the elevator door control method includes the following processes (1) to (3) in an elevator door control method that controls the opening and closing operation of the elevator car or the doors installed on the floors where the elevator car stops. (1) Processing to acquire the detection signal detected by the closed-end detection switch that detects the closed-end position of the door and the signal detected by the encoder that detects the position of the door. (2) A process that controls the torque of the door motor that drives the door to open and close to a limiting torque based on the detection signal detected by the closed end detection switch and the signal detected by the encoder. (3) If the torque of the door motor remains at the limit torque for a predetermined time, the process of setting the torque of the door motor to a standby torque that is less than the limit torque. [Effects of the Invention]

[0010] According to the above configuration of elevator, door control device, and elevator door control method, it is possible to prevent the temperature of the door motor from rising excessively. [Brief explanation of the drawing]

[0011] [Figure 1] This is a schematic diagram showing the control system of an elevator according to an embodiment. [Figure 2] This is a time chart showing the abnormality detection operation of the door control device according to an embodiment. [Figure 3] This flowchart shows the abnormality detection operation of a door control device according to an example embodiment. [Figure 4] Figure 4A is a flowchart showing the door opening and closing operation of a door control device according to an embodiment, and Figure 4B is a flowchart showing another example of the door opening and closing operation of a door control device. [Modes for carrying out the invention]

[0012] The following description of an elevator, door control device, and elevator door control method according to an embodiment will be given with reference to Figures 1 to 4B. Note that common components in each figure are denoted by the same reference numerals.

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

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

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

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

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

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

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

[0020] The closed-end detection switch abnormality determination unit 12 determines whether an abnormality has occurred in the closed-end detection switch 4 based on the detection signal input from the closed-end detection switch 4, the door motor pulse signal detected by the encoder 3, and the torque information input from the torque detection unit 15. Further, the closed-end detection switch abnormality determination unit 12 is connected to the door opening / closing control unit 13 and the elevator control device 100. When detecting an abnormality in the closed-end detection switch 4, the closed-end detection switch abnormality determination unit 12 outputs an abnormality detection signal to the elevator control device 100. Also, when detecting an abnormality in the closed-end detection switch 4, the closed-end detection switch abnormality determination unit 12 outputs a standby command or a restricted torque command to the door opening / closing control unit 13.

[0021] The door opening / closing control unit 13 is connected to the elevator control device 100 and the door motor 2. When receiving a door opening / closing command from the elevator control device 100, the door opening / closing control unit 13 controls the door motor 2 to perform the opening / closing operation of the door 1. Also, the door opening / closing control unit 13 controls the driving torque of the door motor 2 based on the standby command or the restricted torque command input from the closed-end detection switch abnormality determination unit 12.

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

[0023] Also, during normal operation, while the closed-end detection switch 4 is in the on state, the door opening / closing control unit 13 controls the door motor 2 so that the torque of the door motor 2 becomes the door holding torque to keep the door 1 at the closed-end position.

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

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

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

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

[0028] Next, the closed-end detection switch abnormality determination unit 12 outputs a limiting torque command to the door opening / closing control unit 13. The door opening / closing control unit 13 then controls the door motor 2 so that its torque becomes the limiting torque, based on the torque information detected by the torque detection unit 15. Here, the limiting torque is set to a value greater than the door holding torque. As a result, the torque of the door motor 2 increases to the limiting torque.

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

[0030] In step S15, the closed-end detection switch abnormality determination unit 12 determines whether the detection signal of the closed-end detection switch 4 is ON or OFF (step S15). In step S15, if the detection signal of the closed-end detection switch 4 is ON (YES determination in step S15), it is determined that the door 1 has moved and is completely closed. The closed-end detection switch abnormality determination unit 12 then returns the "provisional detection signal" indicating a provisional detection of an abnormality to OFF (step S17) and terminates the process.

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

[0032] In contrast, in step S14, if the door motor 2 remains in a limited torque state for a predetermined time (YES determination in step S14), the closed end detection switch abnormality determination unit 12 determines that an abnormality has occurred in the closed end detection switch 4. The closed end detection switch abnormality determination unit 12 then sets the "true detection signal" indicating true detection of an abnormality to ON (step S16). As a result, the control method using the door control device 10 in this example can detect an abnormality in the closed end detection switch 4 earlier than the conventional technology shown in Figure 2. Furthermore, by detecting an abnormality in the closed end detection switch 4 early, the torque of the door motor 2 can be reduced earlier, preventing the temperature of the door motor 2 from rising excessively.

[0033] Next, the closed-end detection switch abnormality determination unit 12 outputs a standby command to the door opening / closing control unit 13. The door opening / closing control unit 13 then controls (limits) the door motor 2 so that its torque becomes the standby torque based on the torque information detected by the torque detection unit 15 (step S18). Here, the standby torque is set to a value that is smaller than the limiting torque and equal to or greater than the door holding torque. Note that the standby torque and door holding torque may also be "0". Furthermore, the standby torque is set to a torque that does not cause an abnormality in the door motor 2 due to temperature rise.

[0034] Furthermore, the closed-end detection switch abnormality determination unit 12 transmits an abnormality detection signal to the elevator control panel, which is the elevator control device 100 (step S19). This completes the abnormality detection operation of the closed-end detection switch 4 by the door control device 10. When the abnormality detection signal is transmitted to the elevator control device 100, the elevator control device 100 alerts an external maintenance management center or the like to prompt maintenance personnel to inspect the door 1.

[0035] In the conventional control method, as shown in Figure 2, the temperature of the door motor 2 would rise excessively. Therefore, it was necessary to stop the opening and closing operation of the door 1 in order to cool the door motor 2. In contrast, with the abnormality detection operation in this example, the torque is reduced from the limiting torque to the standby torque before the temperature of the door motor 2 rises excessively. This prevents the door motor 2 from being damaged due to overheating.

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

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

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

[0039] In the process of step S32, if it is determined that a door open / close command has been output (YES determination in step S32), the door open / close control unit 13 determines whether the door open / close command is a door open command or not (step S33). In the process of step S33, if it is determined that it is a door open command (YES determination in step S33), the door open / close control unit 13 controls the door motor 2 and performs the door open operation (step S34).

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

[0041] According to the control method of the door control device 10 in this example, there is no need for time to cool the door motor 2, so as shown in Figure 4A, the door 1 can be opened and closed even after an abnormality is detected by the closed end detection switch 4. This prevents passengers from being trapped inside the elevator car until maintenance personnel arrive or until the door motor 2 has finished cooling. As a result, the convenience of the elevator can be improved.

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

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

[0044] Furthermore, because a malfunction has occurred in the closed end detection switch 4, if the opening and closing operation of door 1 shown in Figures 4A and 4B is continued, the open and closed ends of door 1 may deviate from their predetermined positions. For this reason, it is preferable to limit the opening and closing operation of door 1 shown in Figures 4A and 4B to a predetermined number of times.

[0045] It should be noted that the present invention is not limited to the embodiments described above and shown in the drawings, and various modifications can be made without departing from the spirit of the invention as described in the claims.

[0046] Furthermore, although the above-described embodiment described the opening and closing operation of doors installed in an elevator car, it is not limited to this and may also be applied to the opening and closing operation of landing doors installed at boarding and alighting floors where elevator cars stop in building structures.

[0047] Furthermore, some or all of the above-mentioned components, functions, and processing units may be implemented in hardware, for example, by designing an integrated circuit. Alternatively, the above-mentioned components and functions may be implemented in software by having the processor interpret and execute programs that realize each function. Information such as programs, tables, and files that realize each function can be stored in memory, hard disks, SSDs (Solid State Drives), or other recording media such as IC cards, SD cards, and DVDs. [Explanation of Symbols]

[0048] 1...Door, 2...Door motor, 3...Encoder, 4...Closed end detection switch, 10...Door control device, 11...Closed end detection switch signal input unit, 12...Closed end detection switch abnormality determination unit, 13...Door opening / closing control unit, 14...Door position calculation unit, 15...Torque detection unit, 100...Elevator control device

Claims

1. A car or a door installed at the boarding / alighting floor where the car stops, A door motor that drives the door to open and close, A closed-end detection switch for detecting the closed-end position of the door, An encoder for detecting the position of the door, The system includes a door control device that controls the torque of the door motor and controls the opening and closing operation of the door, The aforementioned door control device is A door opening / closing control unit that controls the torque of the door motor, The system includes a closed-end detection switch abnormality determination unit that determines an abnormality in the closed-end detection switch based on the detection signal detected by the closed-end detection switch, the signal detected by the encoder, and the torque signal of the door motor. The closed-end detection switch abnormality determination unit provisionally detects an abnormality in the closed-end detection switch based on the detection signal detected by the closed-end detection switch and the signal detected by the encoder. If the door opening / closing control unit provisionally detects an abnormality in the closed end detection switch, it controls the torque of the door motor to a limited torque. The closed-end detection switch abnormality determination unit detects an abnormality in the closed-end detection switch if the torque of the door motor remains at the limit torque for a predetermined time, and sets the torque of the door motor to a standby torque smaller than the limit torque. Elevator.

2. The door opening / closing control unit controls the door to open and close after the closed end detection switch abnormality determination unit detects an abnormality in the closed end detection switch and sets the torque of the door motor to the standby torque. The elevator according to claim 1.

3. When the door opening / closing control unit receives a door closing command after the closed end detection switch abnormality determination unit has detected an abnormality in the closed end detection switch, it controls the door motor based on the signal detected by the encoder and the torque signal of the door motor to perform the door closing operation. The elevator according to claim 2.

4. The standby torque is set to be the same as, or zero than, the door holding torque used to hold the door in the closed position. The elevator according to claim 1.

5. In a door control device that controls the opening and closing operation of an elevator car or a door installed on a floor where the elevator car stops, A door opening / closing control unit that controls the torque of the door motor that drives the door to open and close, The system includes a closed-end detection switch abnormality determination unit that determines an abnormality of the closed-end detection switch based on a detection signal detected by a closed-end detection switch that detects the closed-end position of the door, a signal detected by an encoder that detects the position of the door, and a torque signal from the door motor. The closed-end detection switch abnormality determination unit provisionally detects an abnormality in the closed-end detection switch based on the detection signal detected by the closed-end detection switch and the signal detected by the encoder. If the door opening / closing control unit provisionally detects an abnormality in the closed end detection switch, it controls the torque of the door motor to a limited torque. The closed-end detection switch abnormality determination unit detects an abnormality in the closed-end detection switch if the torque of the door motor remains at the limit torque for a predetermined time, and sets the torque of the door motor to a standby torque smaller than the limit torque. Door control device.

6. In an elevator door control method that controls the opening and closing operation of the elevator car or the doors installed at the floors where the elevator car stops, The process involves acquiring a detection signal detected by a closed-end detection switch that detects the closed-end position of the door and a signal detected by an encoder that detects the position of the door. A process to provisionally detect an abnormality in the closed-end detection switch based on the detection signal detected by the closed-end detection switch and the signal detected by the encoder, If an abnormality is provisionally detected in the closed-end detection switch, the process of controlling the torque of the door motor that drives the door to open and close the door to a limited torque is performed. If the torque of the door motor remains at the limit torque for a predetermined time, the system detects an abnormality in the closed end detection switch and sets the torque of the door motor to a standby torque smaller than the limit torque. An elevator door control method including [specific feature].

Images