Elevator system

Abstract

The purpose of the present invention is to detect the absolute position of a car with high accuracy by correcting an error of an absolute positioning system with a configuration improved in installation property and setting property.　This elevator system comprises an absolute positioning system (APS) that detects absolute position information corresponding to the absolute position in a movement path direction of a car, the elevator system further comprising: an object to be detected which is fixedly installed in a hoistway; and an object-to-be-detected detection device attached to the car. In a storage device, a learning value learned in advance as the absolute position corresponding to a reference position of the object to be detected in the movement path direction is stored in advance. A control device: acquires absolute position information and movement speed information of the car at the time when the object-to-be-detected detection device detects the end of the object to be detected while the car is traveling; calculates the absolute position calculation value of the reference position on the basis of the acquired information; and corrects the absolute position information detected by the APS on the basis of a comparison between the learning value stored in the storage device and the calculated absolute position calculation value.

Description

elevator system

[0001] The present disclosure relates to an elevator system equipped with an absolute positioning system that detects the absolute position of an elevator car.

[0002] Patent Document 1 discloses a technique for adjusting a car position detection device, in which a magnetic tape is stretched along the elevator shaft along the elevator path of the car and a magnetic sensor for detecting the magnetic tape is installed in the car. This technique involves providing a just-level sensor that detects when the car has landed at each floor landing. The just-level sensor has a reflector installed at the threshold of each floor landing and a photoelectric sensor installed in the car, and is designed to detect the reflector when the car has accurately landed at each landing. During the adjustment process, the car is moved in the elevator shaft, and the position on the magnetic tape when the just-level sensor is activated is recorded as just level.

[0003] Japanese Patent Publication No. 2015-113180

[0004] Elevators equipped with absolute positioning systems (APS), such as the car position detection device disclosed in Patent Document 1, detect the absolute position of the car by reading information from a tape installed along the entire length of the elevator shaft using a sensor installed in the car, but this system faces the problem of deviations in the car position measurement due to expansion and contraction of the tape caused by building deformation or temperature changes. The technology disclosed in Patent Document 1 discloses a solution to this problem using a just level sensor. However, the technology disclosed in Patent Document 1 requires that a reflector for the just level sensor be installed at the threshold of the landing on each floor, posing problems in the ease of installation and installation of the device.

[0005] The present disclosure has been made to solve the above-mentioned problems, and has an object to provide an elevator system that can detect the absolute position of the car with high accuracy by correcting errors in an absolute position measuring system with a configuration that improves ease of installation and mounting.

[0006] The elevator system disclosed herein is applicable to an elevator system including an absolute positioning system that detects absolute position information corresponding to the absolute position of a car traveling in a hoistway in a travel path direction, and an elevator control device that controls operation of the car based on the detected absolute position information. The elevator system includes a detectable object fixedly installed in the hoistway, a detectable object detection device attached to the car that detects the detectable object, a storage device that pre-stores learned values ​​that are pre-learned as absolute positions corresponding to a reference position of the detectable object in the travel path direction, and the control device. The control device includes an acquisition processing unit that acquires absolute position information and car travel speed information detected by the absolute positioning system when the detectable object detection device detects an end of the detectable object while the car travels in an ascending direction and a descending direction at an arbitrary speed, respectively, a calculation processing unit that calculates an absolute position calculation value of the reference position based on the absolute position information and travel speed information acquired by the acquisition processing unit, and a correction processing unit that corrects the absolute position information detected by the absolute positioning system based on a comparison between the learned value and the absolute position calculation value.

[0007] According to the present disclosure, it is possible to provide an elevator system that can detect the absolute position of the car with high accuracy by correcting errors in an absolute position measuring system with a configuration that improves ease of installation and setup.

[0008] 1 is a schematic configuration diagram of an elevator provided in an elevator system according to a first embodiment. FIG. 1 is a diagram for explaining functional blocks provided in a safety control device. FIG. 2 is a functional block diagram showing functions realized by a processing unit. FIG. 2 is a diagram showing an example of a car position table stored in a storage device. FIG. 3 is a diagram showing an example of an input screen of a learning data input terminal. FIG. 4 is a flowchart for explaining a procedure for updating the car position table through manual input by a maintenance worker in a preliminary learning process. FIG. 4 is a diagram showing an example of a correction plate position table stored in a storage device. FIG. 5 is a diagram for explaining a method for calculating an APS calculated position of a center portion of a correction plate in a correction plate position calculation process. FIG. 6 is a diagram for explaining a method for calculating an APS calculated position of an upper end portion of a correction plate in a correction plate position calculation process. FIG. 7 is a diagram for explaining a method for calculating an APS calculated position of a lower end portion of a correction plate in a correction plate position calculation process. FIG. 8 is a diagram for explaining a method for correcting APS learning data in a correction process. FIG. 9 is a diagram showing a linear correction amount corresponding to a position in a movement path direction. FIG. 10 is a flowchart of a routine executed in an elevator system according to a first embodiment. FIG. 11 is a flowchart of a routine executed in an elevator system according to a first embodiment. 10 is a flowchart of a routine executed in the elevator system of the second embodiment.

[0009] Hereinafter, an embodiment will be described with reference to the drawings. Elements common to the various drawings are designated by the same reference numerals, and redundant explanations will be omitted.

[0010] Embodiment 1. 1-1. Schematic Configuration of Elevator System of Embodiment 1 Fig. 1 is a schematic configuration diagram of an elevator provided in an elevator system according to Embodiment 1. The elevator of elevator system 100 according to Embodiment 1 is installed in a facility consisting of a building or the like having multiple floors. An elevator hoistway 2 is provided in the facility. The hoistway 2 is a vertically long space spanning multiple floors 4.

[0011] The elevator mainly comprises a hoist 3, an elevator control device 6, and a car 8. The car 8 is a device that transports passengers and others inside between multiple floors 4 by traveling up and down the hoistway 2, which is the direction of travel. The car 8 is driven by the hoist 3 installed at the top of the hoistway 2. The elevator control device 6 corresponds to a control panel that controls the operation of the elevator. The elevator operations controlled by the elevator control device 6 include, for example, opening and closing the doors, managing registered calls, and running the car 8 to respond to calls.

[0012] The elevator is equipped with an absolute positioning system 12. The absolute positioning system will also be referred to as "APS" hereinafter. The APS 12 is a system that functions as an absolute position detection device that detects absolute position information corresponding to the position of the car 8 in the hoistway 2 in the direction of the travel path of the car 8. The APS 12 includes an APS tape 14 and an APS sensor 16.

[0013] The APS tape 14 is a long body provided along the travel path direction within the hoistway 2. Typically, absolute position information is continuously set on the APS tape 14 in accordance with the position along the travel path direction within the hoistway 2. The absolute position information is information set by continuously varying the magnetic or optical characteristics from the top to the bottom in the vertical direction of the APS tape 14. The absolute position information read from the APS tape 14 is hereinafter also referred to as "APS data."

[0014] The APS sensor 16 is a sensor for reading APS data from the APS tape 14. The APS sensor 16 is installed on the car 8 in a position facing the APS tape 14. The detection method used by the APS sensor 16 is a magnetic method, an optical method, or any other method that can read the APS data from the APS tape 14. The APS data detected by the APS sensor 16 is serially transmitted to the safety control device 10, which will be described later.

[0015] The elevator further includes one or more correction plates 20 and a correction sensor 22. The correction plate 20 is a rectangular metal plate fixedly installed in the elevator shaft 2. The correction plate 20 is also referred to hereinafter as the "detectable object." There are no limitations on the installation location or number of the correction plates 20. For example, multiple correction plates 20 may be installed in the elevator shaft 2 at intervals of several tens of meters along the direction of the travel path. Note that the installation of the correction plates 20 does not have to be in a location corresponding to floor 4. However, the correction plate 20, which also functions as an evacuation floor plate used in the degenerate operation described later in embodiment 2, is installed at an evacuation floor position corresponding to the evacuation floor.

[0016] The correction sensor 22 is a sensor device that detects the edge of the correction plate 20 and is also called a "detectable object detection device." The correction sensor 22 is installed on the car 8 at a position facing the correction plate 20. Typically, the correction sensor 22 detects entry from the lower end and exit from the upper end of the correction plate 20 when the car 8 is rising. The correction sensor 22 also detects entry from the upper end and exit from the lower end of the correction plate 20 when the car 8 is descending. The detected correction sensor signals are transmitted in parallel to the safety control device 10.

[0017] The safety controller 10 is a controller responsible for safety control of the elevator. Fig. 2 is a diagram for explaining the functional blocks of the safety controller. As shown in Fig. 2, the safety controller 10 includes, as its functions, a processing unit 30, an APS data receiving unit 32, a correction sensor signal input unit 34, a learning data input unit 36, a safety circuit breaker unit 38, and a storage device 40.

[0018] The processing unit 30 includes a processor 302 and a memory 304. The processor 302 executes various processes. The processor 302 is, for example, a microcomputer. Various data is stored in the memory 304. Examples of the memory 304 include a volatile memory and a non-volatile memory. Various programs are stored in the memory 304. The functions of the processing unit 30 are realized by the processor 302 executing the various programs. The functions of the processing unit 30 will be described later.

[0019] The APS data receiving unit 32 is a functional block for receiving APS data serially transmitted from the APS sensor. The received APS data is temporarily stored in the memory of the processing unit 30.

[0020] The corrected sensor signal input unit 34 is a functional block for receiving input of the corrected sensor signal transmitted in parallel from the corrected sensor 22. The received corrected sensor signal is temporarily stored in the memory of the processing unit 30.

[0021] The learning data input unit 36 ​​is a functional block for receiving input of learning data serially transmitted from a learning data input terminal 50 (described later). The received learning data is temporarily stored in the memory of the processing unit 30.

[0022] The safety circuit breaker unit 38 is a functional block for cutting off the power supply to the hoisting machine 3 and stopping the car by cutting off a safety circuit (not shown) when, for example, the absolute position of the car 8 cannot be detected due to an abnormality in the APS 12. Furthermore, when a degenerate operation command is issued from the safety control device 10 to the elevator control device 6, the safety circuit breaker unit 38 also has a function of reconnecting the safety circuit and resuming the power supply to the hoisting machine 3 immediately before issuing the command for degenerate operation. Note that the degenerate operation here refers to an operation in which, when an abnormality occurs in the APS 12, the car 8 is brought to an emergency stop and then moved at a low speed toward the nearest evacuation floor. The specific operation of the degenerate operation will be described in detail later.

[0023] The storage device 40 is a device that stores a car position table and a correction plate position table, which will be described later. Examples of the storage device 40 include a volatile memory and a non-volatile memory. The storage device 40 may be configured as a part of the processing unit 30. For example, the storage device 40 may be the memory 304.

[0024] 1-2. Functions of the Processing Unit 30 Fig. 3 is a functional block diagram showing the functions realized by the processing unit. As shown in this figure, the processing unit 30 includes functional blocks that perform various processes, such as a pre-learning processing unit 41, an acquisition processing unit 43, a correction plate position calculation processing unit 44, a correction processing unit 45, and a degenerate operation control unit 46. Specific processes performed by these functional blocks are described below.

[0025] 1-2-1. Pre-Learning Processing Unit 41 The pre-learning processing unit 41 is a functional block for learning absolute position information corresponding to the stopping position of the car 8 and the position of the correction plate 20 on each floor 4 and updating the car position table. This processing is hereinafter referred to as the "pre-learning processing." The pre-learning processing may be performed periodically, not just the first time after installation of the elevator. FIG. 4 is a diagram showing an example of a car position table stored in a storage device. As shown in this figure, the car position table is a table storing APS learning data that learns absolute positions corresponding to the positions of the car 8. In the pre-learning processing, the pre-learning processing unit 41 accepts APS learning data corresponding to the stopping position of the car 8 manually input by a maintenance worker and updates the car position table. A learning data input terminal 50 is used for manual input by the maintenance worker. The learning data input terminal 50 is an external input terminal connected to the safety control device 10 and used in the pre-learning processing. FIG. 5 is a diagram showing an example of an input screen of the learning data input terminal. In the example shown in this figure, the input screen includes a current learning value display section 51, an input numerical value display section 52, an offset value input button 53, a current floor display section 54, a floor correction button 55, a decision button 56, a clear button 57, an APS data display section 58, and numeric keypad buttons 59. Note that the APS data display section 58 and the numeric keypad buttons 59 are not essential to the input screen of the learning data input terminal 50.

[0026] FIG. 6 is a flowchart illustrating the procedure for updating the car position table through manual input by a maintenance worker during the pre-learning process. In step S100 of the pre-learning process, the elevator car 8 is first stopped at each floor according to the pre-set floor values. In step S102, the pre-learning processing unit 41 accepts input data manually entered by the maintenance worker. The current floor display unit 54 displays the floor to be input, and the floor can be corrected using the floor correction button 55. The current learned value display unit 51 displays the current APS learning data stored in the car position table. The maintenance worker confirms the absolute position of the car 8, for example, by visual inspection, and operates the offset value input button 53 to input the deviation of the car floor surface from the floor position as an offset value for the registered current APS learning data in millimeters. The input value display unit 52 displays the offset value entered by the maintenance worker. The clear button 57 is pressed to clear the entered offset value. The enter button 56 is pressed to register the entered offset value. The maintenance person may directly input the offset value using the numeric keypad buttons 59. Alternatively, the maintenance person may manually align the car floor surface with the floor position, refer to the detected value of the current APS data displayed on the APS data display unit 58, and input the difference from the learned value as the offset value.

[0027] In step S104, the advance learning processing unit 41 updates the APS learning data in the car position table based on the input data of the offset value entered by the maintenance worker. By executing this process on each floor 4, the APS learning data for each floor 4 in the car position table is updated.

[0028] It should be noted that the top of the floor above the top floor and the bottom of the first floor, which is the lowest floor, may be outside the range of movement of the car 8. In such cases, in the pre-learning process, a predetermined fixed value or a calculated value calculated from the top and bottom floors may be input to the APS learning data corresponding to the top and bottom.

[0029] Furthermore, in the advance learning process, the advance learning processing unit 41 calculates absolute positions corresponding to the center, upper end, and lower end in the up-down direction as reference positions of the correction plate 20 while the car 8 is traveling. Here, the absolute positions corresponding to the center, upper end, and lower end can be calculated by making the elevator travel back and forth and performing calculation processes similar to the acquisition process and correction plate position calculation process described below. The advance learning processing unit 41 updates the APS learning data in the car position table based on the calculated absolute positions.

[0030] 1-2-2. Acquisition Processing Unit 43 The acquisition processing unit 43 is a functional block for acquiring the APS detection position and APS detection speed at the time of edge detection when the correction sensor 22 detects the edge of the correction plate 20 while the car 8 travels at an arbitrary speed in the ascending direction and the descending direction. This processing is hereinafter referred to as the "acquisition processing." The "APS detection position" here refers to absolute position information at the time of edge detection, and more specifically, the APS data calculated by the APS 12. Furthermore, the "APS detection speed" refers to moving speed information of the car 8 on which the APS sensor 16 is installed at the time of edge detection. The APS detection speed can be calculated, for example, from the amount of change over time in the APS data.

[0031] In the acquisition process, the acquisition processing unit 43 acquires, as the APS detection position and the APS detection speed, the lower end entry position B1 and the lower end entry speed Vb1 when the car 8 is traveling in the upward direction and detects the lower end of the correction plate 20, the upper end exit position A2 and the upper end exit speed Va2 when the car 8 is traveling in the upward direction and detects the upper end of the correction plate 20, the lower end exit position B2 and the lower end exit speed Vb2 when the car 8 is traveling in the downward direction and detects the lower end of the correction plate 20, and the upper end entry position A1 and the upper end entry speed Va1 when the car 8 is traveling in the downward direction and detects the upper end of the correction plate 20. In addition, at this time, the APS detection position and the APS detection speed are acquired in association with the data detection time when the APS data is detected.

[0032] 7 is a diagram showing an example of a correction plate position table stored in the storage device. The acquisition processing unit 43 records the acquired data in the correction plate position table. The data detection time is recorded as a timestamp in association with each piece of data. Furthermore, to avoid using old data, the acquisition processing unit 43 invalidates data associated with a timestamp earlier than a predetermined expiration date. The expiration date is, for example, one day. Note that if multiple correction plates 20 are installed in the elevator shaft 2, the above-described acquisition process is performed for each correction plate 20, and the data is recorded in the correction plate position table in association with each plate number.

[0033] If the correction plate 20 is installed near the top floor, the upper end of the correction plate 20 may not be detected when the car 8 travels in the upward direction. Similarly, if the correction plate 20 is installed near the bottom floor, the lower end of the correction plate 20 may not be detected when the car 8 travels in the downward direction. In such cases, an invalid value is recorded in the correction plate position table for the value that was not acquired.

[0034] The acquisition process may be performed during normal operation when elevator users are allowed to board the elevator, or during maintenance operation when user boarding is restricted. When the acquisition process is performed during maintenance operation, the car 8 may be made to travel at a slower speed than during normal operation. This allows for improved detection accuracy and a smaller correction plate 20. The APS detection position and APS detection speed acquired in the acquisition process are used in the correction plate position calculation process, which will be described later.

[0035] 1-2-3. Correction Plate Position Calculation Processor 44 The correction plate position calculation processor 44 is a functional block for calculating the positions of the upper end, lower end, and center as reference positions of the correction plate 20 using the APS detection position and APS detection speed acquired in the acquisition process. This process is hereinafter referred to as the "correction plate position calculation process." Furthermore, the calculated absolute position value of the correction plate 20 calculated by the correction plate position calculation process is hereinafter referred to as the "APS calculated position."

[0036] 8 is a diagram illustrating a method for calculating the APS calculation position of the center of the correction plate in the correction plate position calculation process. As shown in this figure, when the dimension of the correction plate 20 in the movement path direction is L, the APS calculation position CP of the center of the correction plate 20 in the movement path direction is calculated by the following equation (1) using the upper end approach position A1, the upper end approach velocity Va1, the lower end approach position B1, and the lower end approach velocity Vb1. The upper end approach position A1, the upper end approach velocity Va1, the lower end approach position B1, and the lower end approach velocity Vb1 are values ​​recorded in the correction plate position table. The correction plate position calculation processing unit 44 records the calculated APS calculation position CP of the center in the correction plate position table.

[0037] CP=B1+(A1-B1-L)×Vb1 / (Va1+Vb1)+L / 2...(1)

[0038] 9 is a diagram for explaining a method for calculating the APS calculated position of the upper end of the correction plate in the correction plate position calculation process. As shown in this figure, the APS calculated position UP of the upper end in the movement path direction of the correction plate 20 is calculated by the following equation (2) using the upper end approach position A1, the upper end approach velocity Va1, the upper end exit position A2, and the upper end exit velocity Va2. Note that the upper end approach position A1, the upper end approach velocity Va1, the upper end exit position A2, and the upper end exit velocity Va2 use values ​​recorded in the correction plate position table. The correction plate position calculation processing unit 44 records the calculated APS calculated position UP of the upper end in the correction plate position table.

[0039] UP=A2+(A1-A2)×Va2 / (Va1+Va2)...(2)

[0040] 10 is a diagram illustrating a method for calculating the APS calculated position of the lower end of the correction plate in the correction plate position calculation process. As shown in this figure, the APS calculated position LP of the lower end of the correction plate 20 in the movement path direction is calculated by the following equation (3) using the lower end approach position B1, the lower end approach velocity Vb1, the lower end exit position B2, and the lower end exit velocity Vb2. Note that the values ​​recorded in the correction plate position table are used for the lower end approach position B1, the lower end approach velocity Vb1, the lower end exit position B2, and the lower end exit velocity Vb2. The correction plate position calculation processing unit 44 records the calculated APS calculated position LP of the lower end in the correction plate position table.

[0041] LP=B1+(B2-B1)×Vb1 / (Vb1+Vb2)...(3)

[0042] Because the APS data detected by the APS sensor 16 is sent to the safety control device 10 via serial transmission, data delays occur, resulting in deviations that depend on the running speed. According to the above formula (1), (2), or (3), the calculated APS position of the correction plate 20 is calculated taking into account the APS detection speed when the correction sensor 22 detects the end of the correction plate 20, so the effects of data delays due to serial transmission can be eliminated. For this reason, even if the APS detection position and APS detection speed are acquired by running the car 8 at any speed in the acquisition process, the calculated APS position can be calculated with high accuracy.

[0043] Furthermore, as described above, if the correction plate 20 is installed near the top floor, the upper end of the correction plate 20 may not be detected by the correction sensor 22. In such a case, the APS calculation position UP at the upper end and the APS calculation position CP at the central end cannot be calculated, but at least the APS calculation position LP at the lower end can be calculated, and the calculated APS calculation position LP can be used to perform the correction process described below. Similarly, even if the lower end of the correction plate 20 is not detected by the correction sensor 22, at least the APS calculation position UP at the upper end can be calculated, and the calculated APS calculation position UP can be used to perform the correction process described below. In this way, the correction plate position calculation processing unit 44 only needs to be configured to calculate at least one of the central APS calculation position CP, the APS calculation position UP at the upper end, and the APS calculation position LP at the lower end, depending on the installation position of the correction plate 20.

[0044] 1-2-4. Correction Processing Unit 45 The correction processing unit 45 is a functional block for executing a correction process that corrects the APS learning data as a learning value pre-learned in the pre-learning process. FIG. 11 is a diagram for explaining a method for correcting the APS learning data in the correction process. In the correction process, a difference value of the APS calculation position relative to the APS learning data is calculated for each of the upper end, lower end, and center of the correction plate 20. Then, for example, the minimum value of the calculated difference values ​​is identified as the correction reference amount. FIG. 11 illustrates an example in which the difference value at the center of the correction plate 20 is identified as the correction reference amount.

[0045] The correction processing unit 45 calculates a linear correction amount by linearly changing the correction reference amount in response to the position in the movement path direction, starting from the top, which is a fixed point of the APS tape 14. Figure 12 is a diagram showing the linear correction amount in response to the position in the movement path direction. As shown in this figure, the linear correction amount changes linearly in response to the position in the movement path direction, so that it becomes the correction reference amount at the center of the correction plate 20 and becomes zero at the top of the APS tape 14. The correction processing unit 45 records the calculated linear correction amount in the car position table.

[0046] The correction processing unit 45 specifies and adds the corresponding linear correction amount to the APS data read by the APS 12 in accordance with the relationship between the APS learning data and the linear correction amount recorded in the car position table, thereby calculating the current absolute position of the car 8.

[0047] According to the correction process described above, even if the APS tape 14 expands or contracts due to deformation of the building or a change in temperature, accurate absolute position information can be associated with the car position of the car 8. This makes it possible to always detect the absolute position of the car 8 with high accuracy in the car position calculation process.

[0048] The degenerate operation control unit 46 is a functional block for performing degenerate operation. When the absolute position of the car 8 cannot be detected due to an abnormality in the APS 12 or the like, the degenerate operation control unit 46 cuts off the power supply to the hoisting machine 3 by interrupting the safety circuit using the safety circuit breaker unit 38, and temporarily stops the car. Then, just before issuing a command to the elevator control device 6 to perform degenerate operation, the degenerate operation control unit 46 reconnects the safety circuit using the safety circuit breaker unit 38 and resumes the power supply to the hoisting machine 3. When the degenerate operation control unit 46 issues a command to the elevator control device 6 to perform degenerate operation, the elevator control device 6 moves the car 8 at a low speed toward the nearest evacuation floor.

[0049] 1-3. Specific Processing Examples of the Elevator System of Embodiment 1 Next, specific processing examples of the acquisition processing, correction plate position calculation processing, and correction processing executed in the elevator system will be described with reference to flowcharts. Figures 13 and 14 are flowcharts of routines executed in the elevator system. The routines shown in Figures 13 and 14 are executed by the processing unit 30 of the safety control device 10, for example, when a certain time has elapsed since the previous update of the correction reference amount.

[0050] In step S110, it is determined based on the correction sensor signal of the correction sensor 22 whether the correction sensor 22 installed on the car 8 has entered the correction plate 20. If the determination is negative, step S110 is executed again, and if the determination is positive, the process proceeds to step S112.

[0051] In step S112, the entry position and entry speed at the time of entry are recorded in the correction plate position table. Typically, in the case of entry when the car 8 is ascending, the lower end entry position B1 and the lower end entry speed Vb1 are recorded in the correction plate position table. Alternatively, in the case of entry when the car 8 is descending, the upper end entry position A1 and the upper end entry speed Va1 are recorded in the correction plate position table. When the processing of step S112 is completed, the processing proceeds to step S114.

[0052] In step S114, it is determined whether the entry position and entry speed for entry in the direction opposite to the entry position and entry speed recorded in step S112 of this routine are recorded in the correction plate position table. If the determination is negative, it is determined that the APS calculated position CP of the center of correction plate 20 cannot be calculated, and the process proceeds to step S118. On the other hand, if the determination is positive, it is determined that the APS calculated position CP can be calculated, and the process proceeds to step S116.

[0053] In step S116, the APS-calculated position CP and the correction reference amount (A) corresponding to the APS-calculated position CP are calculated. In step S118, it is determined whether an exit position and exit speed at the time of exit in the opposite direction to the entry direction corresponding to the entry position and entry speed recorded in the immediately preceding step S112 are recorded in the correction plate position table. If the determination is negative, the process proceeds to step S124; if the determination is positive, the process proceeds to step S120.

[0054] In step S120, if an intrusion during ascent of the car 8 is recognized in step S110 of this routine, the APS calculated position LP of the lower end of the correction plate 20 is calculated. Alternatively, if an intrusion during descent of the car 8 is recognized in step S110 of this routine, the APS calculated position UP of the upper end of the correction plate 20 is calculated. In addition, a correction reference amount (B) corresponding to the calculated APS calculated position LP or APS calculated position UP is calculated. When the processing of step S120 is completed, the processing proceeds to step S122.

[0055] In step S122, the correction reference amount is updated to the correction reference amount (A) calculated in step S116 or the correction reference amount (B) calculated in step S120, whichever has the smaller absolute value. When the processing of step S122 is completed, the processing proceeds to step S124.

[0056] In step S124, it is determined based on the correction sensor signal of the correction sensor 22 whether the correction sensor 22 installed on the car 8 has escaped from the correction plate 20. If the determination is negative, step S124 is executed again, and if the determination is positive, the process proceeds to step S126.

[0057] In step S126, if the escape occurred when the car 8 was ascending, the upper end escape position A2 and the upper end escape velocity Va2 are recorded in the correction plate position table. Alternatively, if the escape occurred when the car 8 was descending, the lower end escape position B2 and the lower end escape velocity Vb2 are recorded in the correction plate position table. When the processing of step S126 is completed, the processing proceeds to step S128.

[0058] In step S128, it is determined whether the exit direction in step S126 is opposite to the entry direction in step S110. If the determination is negative, the process of this routine is terminated, but if the determination is positive, the process proceeds to step S130.

[0059] In step S130, if an intrusion during ascent of the car 8 is recognized in step S110 of this routine, the APS calculated position UP of the upper end of the correction plate 20 is calculated. Alternatively, if an intrusion during descent of the car 8 is recognized in step S110 of this routine, the APS calculated position LP of the lower end of the correction plate 20 is calculated. In addition, a correction reference amount (C) corresponding to the calculated APS calculated position LP or APS calculated position UP is calculated. When the processing of step S130 is completed, the processing proceeds to step S132.

[0060] In step S132, the correction reference amount is updated to the smallest absolute value among the correction reference amount (A) calculated in step S116, the correction reference amount (B) calculated in step S120, and the correction reference amount (C) calculated in step S130. When the processing of step S132 is completed, the processing proceeds to step S134.

[0061] In step S134, a linear correction amount is calculated based on the correction reference amount. The linear correction amount is added to the detected APS data, thereby correcting the absolute position of the car 8.

[0062] The elevator system of the first embodiment may employ the following modified aspects. These modified aspects may also be applied to elevator systems of other embodiments described later.

[0063] 1-4-1. Safety controller 10 Fig. 15 is a diagram showing a modified example of the hardware resources in the processing unit 30 of the safety controller 10. In the example shown in Fig. 15, the safety controller 10 includes a processing circuit 308 including, for example, a processor 302, a memory 304, and dedicated hardware 306. Fig. 15 shows an example in which some of the functions of the safety controller 10 are realized by the dedicated hardware 306. All of the functions of the safety controller 10 may be realized by the dedicated hardware 306. As the dedicated hardware 306, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof may be used.

[0064] The safety control device 10 and the elevator control device 6 may be configured as a single control device.

[0065] 1-4-2 Correction Processing Unit 45 The correction starting point when calculating the linear correction amount in the correction process is not limited to the top of the APS tape 14. In other words, if an APS tape with its bottom as a fixed point is used, the bottom of the APS tape 14 may be used as the correction starting point.

[0066] When multiple correction plates 20 are installed, the linear correction amount may be calculated in the correction process using the respective correction reference amounts of the multiple correction plates 20. FIG. 16 is a diagram showing an example in which a linear correction amount corresponding to a position in the movement path direction is calculated using multiple correction reference amounts. In the example shown in this figure, when correction plates 20A and 20B are installed in the elevator shaft 2, the linear correction amount between the top of the APS tape 14 and the center of the correction plate 20A becomes the correction reference amount of the correction plate 20A at the center of the correction plate 20A and changes linearly corresponding to the position in the movement path direction so as to be zero at the top of the APS tape 14. Furthermore, the linear correction amount between the center of the correction plate 20A and the center of the correction plate 20B becomes the correction reference amount of the correction plate 20A at the center of the correction plate 20A and changes linearly corresponding to the position in the movement path direction so as to be zero at the top of the APS tape 14. Such a correction process increases the possibility that the APS learning data can be appropriately corrected when the degree of expansion and contraction of the APS tape 14 varies depending on the position in the movement path direction.

[0067] In particular, the APS tape 14 tends to expand and contract more as the temperature fluctuations become larger. For this reason, for example, in a hoistway that has a see-through area where the outside can be seen from inside the hoistway, the temperature fluctuations in the see-through area are greater than in other areas, and the degree of expansion and contraction of the APS tape 14 in the see-through area may be greater than the degree of expansion and contraction in other areas. Therefore, in such a special hoistway, it is preferable to install correction plates 20 in the temperature fluctuation area where the temperature fluctuations are greater than in other areas, and in the other areas.

[0068] 1-4-3. Acquisition processing unit 43 The APS detected speed is not limited to being calculated from the amount of change over time in the APS data. That is, since the APS sensor 16 is installed at the top of the car 8, the APS detected speed can also be calculated using the encoder of the hoisting machine 3.

[0069] Embodiment 2 In Embodiment 2, differences from the example disclosed in Embodiment 1 will be described in particular detail. For features not described in Embodiment 2, any of the features of the example disclosed in Embodiment 1 may be adopted.

[0070] 2-1. Features of the Elevator System of Embodiment 2 The elevator system of Embodiment 2 is characterized by the installation location of the correction plate 20 and the degenerate operation using the correction plate 20. Specifically, the correction plate 20, which also functions as an evacuation floor plate, is installed at the evacuation floor position detected by the correction sensor 22 when the car 8 stops at the evacuation floor.

[0071] The degenerate operation control unit 46 is a functional block for performing degenerate operation. The degenerate operation here includes an emergency stop of the car 8 and slow operation to the nearest evacuation floor. Specifically, the degenerate operation is performed when an abnormality occurs in the APS 12, or when an error occurs in the acquisition process or the correction process.

[0072] Here, if an abnormality occurs in the APS 12, the absolute position of the car 8 cannot be measured, which may hinder the movement of the car 8 to the evacuation floor. In the elevator system of the second embodiment, the movement of the car 8 to the evacuation floor is detected by the correction sensor 22 detecting the correction plate 20 installed at the evacuation floor position. According to this operation, even if an abnormality occurs in the APS 12, degenerate operation that moves the car 8 to the evacuation floor becomes possible.

[0073] 2-2. Specific Processing Executed in Degenerate Operation in Embodiment 2 Next, a specific example of processing for degenerate operation executed in the elevator system will be described with reference to a flowchart. Fig. 17 is a flowchart of a routine executed in the elevator system of Embodiment 2. The routine shown in Fig. 17 is executed in the processing unit 30 of the safety control device 10.

[0074] In step S200, it is determined whether an abnormality has been detected in the APS 12. Examples of an abnormality in the APS 12 include a loss of communication from the APS 12, the occurrence of a communication error, or the transmission of a signal that is different from normal from the APS 12. If the determination is negative, the process proceeds to step S202; if the determination is positive, the process proceeds to step S204.

[0075] In step S202, it is determined whether or not an error has occurred. Specifically, it is determined here that an error has occurred if the correction sensor 22 detects the correction plate 20 but the car 8 is not in the vicinity of the correction plate 20. It is also determined that an error has occurred if the correction sensor 22 has not detected the correction plate 20 but the car 8 is in the vicinity of the correction plate 20. It is also determined that an error has occurred if the correction reference amount calculated in the correction process is greater than a predetermined abnormality determination threshold. As a result, if the determination is not established, the process returns to the start of this routine, and if the determination is established, the process proceeds to step S204.

[0076] In step S204, the safety circuit breaker 38 cuts off a safety circuit (not shown), thereby stopping the hoisting machine 3. This brings the car 8 to an emergency stop. When the processing of step S204 is completed, the processing proceeds to step S206.

[0077] In step S206, the safety circuit is reconnected by the safety circuit breaker unit 38, and an operation command to operate the elevator at a low speed in the direction of the nearest evacuation floor is sent from the safety control device 30 to the elevator control device 6. As a result, the car 8 moves at a low speed in the direction of the nearest evacuation floor. When the processing of step 206 is completed, the processing proceeds to step S208.

[0078] In step S208, it is determined whether the correction sensor 22 has detected the correction plate 20 installed at the evacuation floor position. If the determination is negative, the process proceeds to step S210, and if the determination is positive, the process proceeds to step S214.

[0079] In step S210, it is determined whether the car 8 has traveled a certain distance or more, or whether a predetermined grace period has elapsed. The certain distance here is set to the distance that the car 8 can reach from the emergency stop position to the nearest evacuation floor. Note that the APS 12 can be used to count the travel distance of the car 8 here, and if an abnormality in the APS 12 is detected, the encoder of the hoisting machine 3 is used. As a result, if the determination is positive, the process proceeds to step S212, and if the determination is negative, the process returns to step S208 again. In other words, the determination in step S208 is repeatedly executed until the determination in step S220 is positive.

[0080] In step S212, the safety circuit is interrupted by the safety circuit interruption unit 38, thereby stopping the hoisting machine 3. This stops the car 8. When the processing of step S212 is completed, the processing proceeds to step S216.

[0081] In step S214, after the car 8 has stopped, the doors are opened and closed to allow passengers to disembark at the evacuation floor. When the processing in step S214 is completed, the processing proceeds to step S216. In step S216, the elevator service is stopped, and this routine is ended.

[0082] It should be noted that the speed command value may be acquired from the elevator control device 6 instead of from the encoder of the hoisting machine 3. In either case, under normal circumstances, the speed acquired from the APS 12 is compared with the encoder value or the speed command value to confirm the correctness of the encoder value or the speed command value.

[0083] 2 Hoistway, 3 Hoisting machine, 4 Floor, 6 Elevator control device, 8 Cage, 10 Safety control device, 12 Absolute positioning system (APS), 14 APS tape, 16 APS sensor, 20, 20A, 20B Correction plate, 22 Correction sensor, 30 Processing unit, 32 APS data receiving unit, 34 Correction sensor signal input unit, 36 Learning data input unit, 38 Safety circuit breaker unit, 40 Storage device, 41 Advance learning processing unit, 43 Acquisition processing unit, 44 Correction plate position calculation processing unit, 45 Correction processing unit, 46 Degenerate operation control unit, 50 Learning data input terminal, 51 Current learning value display unit, 52 Input numerical value display unit, 53 Offset value input button, 54 Current floor display unit, 55 Floor correction button, 56 Confirm button, 57 Clear button, 58 APS data display unit, 59 Numeric keypad button, 100 Elevator system, 302 Processor, 304 Memory, 306 Dedicated hardware, 308 Processing circuit

Claims

1. An elevator system comprising: an absolute position measuring system that detects absolute position information corresponding to an absolute position of a moving path direction of a car traveling in a hoistway; and an elevator control device that controls operation of the car based on the detected absolute position information, a detection object fixedly installed in the elevator shaft; a detection device for a detectable object attached to the car and detecting the detectable object; a storage device that stores in advance a learned value that has been learned in advance as an absolute position corresponding to a reference position of the object in the moving path direction; a control device; The control device an acquisition processing unit that acquires absolute position information detected by the absolute position positioning system when the car travels at an arbitrary speed in an ascending direction and a descending direction and the detectable object detection device detects an end of the detectable object and information about the car's moving speed when the end is detected; a calculation processing unit that calculates an absolute position calculation value of the reference position based on the absolute position information and the moving speed information acquired by the acquisition processing unit; a correction processing unit that corrects the absolute position information detected by the absolute position measurement system based on a comparison between the learned value and the absolute position calculated value; An elevator system comprising:

2. The absolute positioning system a long body for which the absolute position information is continuously set corresponding to a position in the elevator shaft in the direction of the movement path; a sensor device attached to the car and configured to acquire the absolute position information of the elongated body corresponding to the position of the car.

10. The elevator system of claim 1.

3. The correction processing unit a difference value of the absolute position calculation value with respect to the learned value is set as a correction reference amount corresponding to the reference position; calculating linear correction amounts by linearly varying the correction reference amounts in accordance with positions from the correction start point of the elongated body in the movement path direction; The absolute position information is corrected using the linear correction amount.

3. The elevator system according to claim 2, wherein the elevator system is configured as follows:

4. The correction starting point is the top of the elongated body.

4. The elevator system of claim 3.

5. the reference position is a center of the detection object in the direction of the movement path, The acquisition processing unit a lower end approach position and a lower end approach speed corresponding to the absolute position information and the movement speed information when the car travels in the ascending direction and detects the lower end of the object to be detected; and an upper end approach position and an upper end approach speed corresponding to the absolute position information and the travel speed information when the car travels in the downward direction and detects the upper end of the object to be detected, The calculation processing unit The absolute position calculation value is calculated based on the lower end approach position, the lower end approach speed, the upper end approach position, and the upper end approach speed.

5. The elevator system according to claim 1, wherein the elevator system is configured as follows:

6. the reference position is a lower end of the detection object in the direction of the movement path, The acquisition processing unit a lower end approach position and a lower end approach speed corresponding to the absolute position information and the movement speed information when the car travels in the ascending direction and detects the lower end of the object to be detected; a bottom end escape position and a bottom end escape speed corresponding to the absolute position information and the travel speed information when the car travels in the downward direction and detects the bottom end of the object to be detected, The calculation processing unit The absolute position calculation value is calculated based on the lower end approach position, the lower end approach speed, the lower end exit position, and the lower end exit speed.

5. The elevator system according to claim 1, wherein the elevator system is configured as follows:

7. the reference position is an upper end of the detection object in the direction of the movement path, The acquisition processing unit an upper end escape position and an upper end escape speed corresponding to the absolute position information and the movement speed information when the car travels in the ascending direction and detects the upper end of the object to be detected; and an upper end approach position and an upper end approach speed corresponding to the absolute position information and the travel speed information when the car travels in the downward direction and detects the upper end of the object to be detected, The calculation processing unit The absolute position calculation value is calculated based on the upper end exit position, the upper end exit velocity, the upper end entry position, and the upper end entry velocity.

5. The elevator system according to claim 1, wherein the elevator system is configured as follows:

8. A plurality of the detection targets are provided, The plurality of detection objects are configured to be fixedly installed at intervals in the elevator shaft along the direction of the movement path.

3. The elevator system according to claim 1 or 2.

9. The correction processing unit a difference value of the absolute position calculation value with respect to the learned value for each of the plurality of detection objects is set as a correction reference amount corresponding to the reference position; At a position between the respective reference positions, a linear correction amount is calculated by linearly varying the correction reference amount in accordance with the position in the movement path direction; The absolute position information is corrected using the linear correction amount.

9. The elevator system according to claim 8, wherein the elevator system is configured as follows:

10. At least one of the plurality of detection objects is fixedly installed in a temperature fluctuation region in the elevator shaft where temperature fluctuation is larger than in other regions.

9. The elevator system of claim 8.

11. The device further includes an external input terminal for inputting the learning value to be stored in the storage device.

5. An elevator system according to any one of claims 1 to 4.

12. The detection object is fixed and installed at a position corresponding to the floor of the evacuation floor, The control device a degenerate operation control unit that, when an abnormality occurs in the absolute position measurement system, moves the car at a low speed to a position where the object detection device detects the object; 5. An elevator system according to any one of claims 1 to 4.

13. The acquisition processing unit acquires the absolute position information and the car movement speed information during a period in which the car is traveling by maintenance operation at a speed slower than the movement speed during normal operation.

5. The elevator system according to claim 1, wherein the elevator system is configured as follows:

Images