Elevator

Abstract

This elevator comprises: a car that moves up and down in a hoistway; a first sensor; a second sensor; and a control unit. The first sensor is installed in the car. The second sensor is installed in the car and is disposed such that a detection surface is oriented in a direction different from a direction in which the detection surface of the first sensor is oriented. The control unit calculates the position of the car on the basis of detection signals from the first sensor and the second sensor.

Description

elevator

[0001] The present invention relates to an elevator.

[0002] An elevator has a car that moves up and down in a hoistway, and the elevator detects the position of the car in order to move the car up and down.

[0003] An example of such technology for detecting the position of a car is described in Patent Document 1. Patent Document 1 describes a speed detection device attached to the car that detects the speed of the car inside the elevator shaft as the car ascends and descends. Patent Document 1 also describes the inclusion of a detection unit that performs image detection of the surface condition of a pair of guide rails laid opposite each other in the elevator shaft along the car's travel path, and a calculation unit that calculates the car's speed from the image difference between the guide rail surfaces detected by the detection unit. It also describes the correction of the car's travel distance based on a signal from a car position detection device attached to the car.

[0004] International Publication No. 2020 / 008696

[0005] However, in the technology described in Patent Document 1, the detection surface of the speed detection device, which is the first sensor, and the detection surface of the car position detection device, which is the second sensor, face the same direction. Therefore, if wear occurs due to aging of the guide rails, guide devices, etc., and the car tilts, there is a risk that both the first sensor and the second sensor will be unable to detect simultaneously. As a result, the technology described in Patent Document 1 has the problem of being unable to accurately detect the car position, resulting in reduced reliability.

[0006] The present invention aims to provide an elevator that takes into consideration the above problems and can improve reliability.

[0007] To solve the above problems and achieve the object, an elevator includes a car that moves up and down in a hoistway, a first sensor, a second sensor, and a control unit. The first sensor is installed in the car. The second sensor is installed in the car and is positioned with its detection surface facing in a direction different from that of the detection surface of the first sensor. The control unit calculates the position of the car based on detection signals from the first sensor and the second sensor.

[0008] According to the elevator having the above configuration, reliability can be improved.

[0009] FIG. 1 is a perspective view showing an elevator car according to a first embodiment; FIG. 2 is a plan view of an elevator car according to the first embodiment, viewed from above; FIG. 3 is a front view of an elevator car according to the first embodiment; FIG. 4 is a flowchart showing the position detection operation of the elevator car in the elevator according to the first embodiment; FIG. 5 is a flowchart showing the abnormality detection operation of the first sensor in the elevator according to the first embodiment; FIG. 6 is a perspective view of an elevator car according to a second embodiment; FIG. 7 is a plan view of an elevator car according to the second embodiment, viewed from above; FIG. 8 is a plan view of an elevator car according to a third embodiment, viewed from above.

[0010] An elevator according to an embodiment will be described below with reference to Figures 1 to 8. Note that common members in each figure are given the same reference numerals.

[0011] 1. First Embodiment 1-1. Elevator Configuration First, the configuration of an elevator according to a first embodiment (hereinafter referred to as "this example") will be described with reference to Figures 1 to 3. Figure 1 is a perspective view showing the elevator car of this example. Figure 2 is a plan view of the car as seen from above, and Figure 3 is a front view of the car.

[0012] As shown in Figure 1, the elevator 100 of this example includes a car 1 that moves up and down in a hoistway formed in an architectural structure, a pair of guide rails 2, and a rope 10 (see Figure 2). The pair of guide rails 2 are erected in the hoistway along the vertical direction in which the car 1 moves up and down. The pair of guide rails 2 are also arranged on both sides of the car 1 in the width direction perpendicular to the vertical direction. The pair of guide rails 2 guide the car 1 so that it can move up and down.

[0013] 1 to 3, a car 1 for carrying passengers and luggage is formed in a hollow, approximately rectangular parallelepiped shape. The car 1 is provided with an entrance for passengers and luggage to enter and exit. The car 1 has a ceiling 1a, a front portion 1b where the entrance is formed, side portions 1c, and a rear portion 1d.

[0014] The ceiling 1a is disposed above the car 1. A front portion 1b, a side portion 1c, and a back portion 1d are disposed around the periphery of the ceiling 1a. The front portion 1b and the back portion 1d are disposed opposite each other in the front-to-back direction of the car 1, which is perpendicular to the up-down direction and the width direction. The side portions 1c are disposed on both sides of the front portion 1b and the back portion 1d in the width direction. Therefore, the side portions 1c are perpendicular to the front portion 1b and the back portion 1d. Furthermore, the side portions 1c face the guide rail 2.

[0015] The car 1 also includes a door machine 3, a car door 4, a door sill 5, an apron 7, a guide device 8, and a car pulley 9. The car 1 further includes two first sensors 12, a second sensor 13, and a control unit 11.

[0016] The door machine 3 is disposed at the upper end in the vertical direction of the front part 1b of the car 1. The door sill 5 is disposed at the lower end in the vertical direction of the front part 1b of the car 1. A door groove that guides the car door 4 so that it can be opened and closed is formed in the door sill 5. The door machine 3 has a drive unit that opens and closes the car door 4. The car door 4 is supported by the door sill 5 so that it can be opened and closed.

[0017] The car door 4 opens and closes an entrance provided on the front part 1b of the car 1. As shown in Fig. 2, when the car 1 stops at a boarding / alighting floor, the car door 4 faces a building door 6 provided at the entrance of the boarding / alighting floor.

[0018] As shown in Fig. 1, the apron 7 is provided at the lower end in the vertical direction on the front part 1b of the car 1. Also, as shown in Fig. 2, a car pulley 9 is arranged at the lower part in the vertical direction of the car 1. The car pulleys 9 are arranged on both sides in the width direction of the car 1. A rope 10 is wound around this car pulley 9. The rope 10 is wound around a counterweight pulley and a sheave of a hoist, not shown. Then, when the hoist is driven, the car 1 moves up and down in the hoistway.

[0019] 1 to 3, the guide devices 8 are arranged at the upper and lower ends of the car 1 in the vertical direction. The guide devices 8 are also arranged at both ends of the car 1 in the width direction. The guide device 8 arranged at the upper end of the car 1 is provided on the ceiling 1a of the car 1. The guide devices 8 slide on the guide rails 2. As the guide devices 8 slide on the guide rails 2, the car 1 moves up and down along the guide rails 2.

[0020] The two first sensors 12A and 12B, the second sensor 13, and the control unit 11 are installed on the ceiling 1a of the car 1. The two first sensors 12A and 12B are arranged above the guide device 8. That is, the two first sensors 12A and 12B are arranged at both ends of the car 1 in the width direction. The first sensor 12A is arranged at one end of the car 1 in the width direction, and the first sensor 12B is arranged at the other end of the car 1 in the width direction. The detection surfaces of the two first sensors 12A and 12B face the guide rail 2. That is, the detection surfaces of the first sensors 12A and 12B face in the width direction of the car 1. The two first sensors 12A and 12B will be simply referred to as first sensors 12.

[0021] The first sensor 12 is, for example, a movement amount detection sensor that detects the movement amount of the elevator car 1. The first sensor 12 is equipped with an optical system and an imaging element for acquiring images. The first sensor 12 acquires images of the surface of the guide rail 2 at regular intervals. The first sensor 12 also includes an illumination device, a lens, and an imaging element (not shown).

[0022] The light source used in the illumination device may be, for example, an LED or laser diode, as long as it can form an image on the imaging element via a lens. The lens is used to form an image of the reflected illumination light on the imaging element, and detects scratches or deposits on the surface of the guide rail 2. A telecentric lens may be used as the lens. The imaging element may be, for example, a CCD element or a CMOS element, as long as it can convert the formed light into an electrical signal.

[0023] The first sensor 12 calculates the amount of movement of the car 1 from the difference in image information of the surface of the guide rail 2 captured by the detection surface. That is, the first sensor 12 extracts feature points from the acquired image information and saves the data of the extracted feature points in chronological order. The first sensor 12 then compares the saved data with the newly acquired data. The first sensor 12 calculates the amount of movement of the car 1 from the amount of movement of the feature points that appear after the comparison. For example, the first sensor 12 detects a scratch in the image captured at time t as a feature point. Next, the first sensor 12 extracts the same scratch as a feature point from the image captured at time t + Δt, compares the images, and calculates the amount of movement of the car 1.

[0024] The first sensor 12 outputs the calculated movement amount information of the car 1 to the control unit 11. Note that the first sensor 12 may only perform the image capturing process of the surface of the guide rail 2, and the calculation process of the movement amount may be performed by the control unit 11.

[0025] The second sensor 13 is arranged on the ceiling 1a of the car 1 on the front side in the front-to-rear direction of the car 1, i.e., on the front part 1b side of the car 1. The second sensor 13 is installed in, for example, the door machine 3 provided in the car 1.

[0026] The detection surface of the second sensor 13 faces in the front-to-rear direction of the car 1, which is different from the detection surfaces of the first sensors 12A and 12B. The detection surface of the second sensor 13 is arranged facing the entrance / exit on the boarding / descending floor side of the elevator shaft.

[0027] The second sensor 13 is, for example, a car absolute position detection sensor that detects the absolute position of the car 1. As shown in Fig. 2, the second sensor 13 detects detectable objects 14 installed at predetermined intervals in the vertical direction in the elevator shaft. The second sensor 13 then outputs the detected detection information to the control unit 11. The detectable objects 14 are arranged, for example, at the top end in the vertical direction of an entrance / exit on the boarding / descending floor side in the elevator shaft.

[0028] The detectable object 14 may be placed, for example, at each floor where the car 1 stops, or at the top floor and the bottom floor where the car 1 stops. The position where the detectable object 14 is provided is not limited to the wall surface of the floor where the car 1 stops, but may be any position within the elevator shaft.

[0029] The control unit 11 has a memory and a calculation unit. The memory of the control unit 11 stores the movement amount information of the car 1 calculated by the first sensor 12. The calculation unit also calculates the position of the car 1 by adding or subtracting the movement amount information stored in the memory. Furthermore, the calculation unit calculates the movement speed and movement distance of the car 1 from the movement amount information of the car 1 stored in the memory.

[0030] As described above, the position information of the car 1 is calculated by adding and subtracting (accumulating) the travel distance calculated by the calculation unit of the control unit 11. That is, the control unit 11 calculates the position of the car 1 based on how far it has traveled from a certain reference position, for example, the lowest floor. Therefore, the farther the car 1 is from the reference position, the more errors accumulate during calculation, and the larger the output error in the travel distance becomes. Therefore, the control unit 11 corrects the travel distance and position information of the car 1 based on the detection information from the second sensor 13.

[0031] Specifically, this is done as follows: Information about the position of the detectable object 14 in the elevator shaft is stored in advance in the memory of the control unit 11. Then, when the second sensor 13 detects the detectable object 14, the control unit 11 uses the position of the detectable object 14 as the current position information of the car 1, and corrects the amount of movement and position information of the car 1. This makes it possible to accurately detect the position of the car 1 in the elevator shaft.

[0032] Furthermore, threshold values ​​for determining whether the two first sensors 12A and 12B are abnormal are stored in the memory of the control unit 11. Then, when the movement amount information output from the two first sensors 12A and 12B exceeds the threshold value, the calculation unit of the control unit 11 determines that an abnormality has occurred in the two first sensors 12A and 12B.

[0033] In this example, the first sensor 12 is a movement amount detection sensor and the second sensor 13 is a car absolute position detection sensor, but this is not limited to this. For example, the first sensor 12 may be a car absolute position detection sensor and the second sensor 13 may be a movement amount detection sensor, or the first sensor 12 and the second sensor 13 may be sensors that relatively detect the movement amount of the car 1. Furthermore, although the second sensor 13 is a correction sensor that corrects the detection value of the first sensor 12, this is not limited to this, and the first sensor 12 may be a correction sensor that corrects the detection value of the second sensor 13.

[0034] As described above, the detection surface of the first sensor 12 and the detection surface of the second sensor 13 face in different directions. When wear occurs due to aging of the guide rail 2 or the guide device 8, the car 1 may tilt, causing the distance between the detection surface of the first sensor 12 and the guide rail 2 to increase. In this case, the first sensor 12 becomes unable to perform detection, but the position of the car 1 can be detected by the second sensor 13, which faces in a different direction from the detection surface of the first sensor 12. Thus, according to the elevator 100 of this example, even when wear occurs due to aging of the guide rail 2 or the guide device 8, the first sensor 12 and the second sensor 13 can be prevented from simultaneously becoming unable to perform detection. As a result, the reliability of the elevator 100 can be improved.

[0035] 1-2. Car Position Detection Operation Next, the position detection operation of the car 1 in the elevator 100 having the above-described configuration will be described with reference to Fig. 4. Fig. 4 is a flowchart showing the position detection operation of the car 1. In the following description, the first car position is the position of the car 1 calculated using the detection signal from the first sensor 12A, and the second car position is the position of the car 1 calculated using the detection signal from the first sensor 12B.

[0036] 4, the control unit 11 determines whether the detection signal from the second sensor 13 has changed from OFF to ON (step S101). In the process of step S101, the control unit 11 determines whether the second sensor 13 has detected the object to be detected 14. In the process of step S101, if the control unit 11 determines that the detection signal from the second sensor 13 has changed to ON (YES determination in step S101), the process proceeds to step S102.

[0037] In the process of step S102, the control unit 11 changes the values ​​of the first car position and the second car position stored in the memory to pre-registered values. Here, the pre-registered values ​​are the position information of the detection target 14 installed in the elevator shaft. The first car position and the second car position become the positions of the elevator car 1.

[0038] Furthermore, in the processing of step S101, if the control unit 11 determines that the detection signal from the second sensor 13 has not changed to ON (NO judgment in step S101), the process proceeds to step S103. In the processing of step S103, the control unit 11 adds or subtracts the amount of movement received from the first sensor 12A to the first car position stored in memory. Next, the control unit 11 adds or subtracts the amount of movement received from the first sensor 12B to the second car position stored in memory. Then, these first car position and second car position become the position of the car 1. As a result, the position detection operation of the car 1 is completed.

[0039] 1-3. Abnormality Detection Operation of First Sensor Next, the abnormality detection operation of the first sensors 12A and 12B will be described with reference to Fig. 5. Fig. 5 is a flowchart showing the abnormality detection operation of the first sensors 12A and 12B. In the following description, the first car position is the position of the car 1 calculated using the detection signal from the first sensor 12A, and the second car position is the position of the car 1 calculated using the detection signal from the first sensor 12B.

[0040] 5, the control unit 11 determines whether the difference between the first car position calculated from the detection signal from the first sensor 12A and the second car position calculated from the detection signal from the first sensor 12B is equal to or greater than a threshold value (step S201). In the processing of step S201, if the control unit 11 determines that the difference is less than the threshold value (NO in step S201), it determines that no abnormality has occurred in the first sensors 12A and 12B.

[0041] On the other hand, if the control unit 11 determines in step S201 that the difference is equal to or greater than the threshold value (YES in step S201), it determines that an abnormality has occurred in the first sensors 12A and 12B (step S202), thereby completing the abnormality detection operation for the first sensors 12A and 12B.

[0042] In the above-described operation, if an abnormality is detected in the first sensors 12A and 12B, the control unit 11 notifies, for example, passengers or an external control center, of the abnormality in the elevator 100. Furthermore, the control unit 11 controls the up and down movement of the car 1 based on the detection signal from the second sensor 13. As described above, the detection surface of the second sensor 13 faces in a different direction from the detection surfaces of the first sensors 12A and 12B. Therefore, even if an abnormality occurs in the first sensors 12A and 12B, the second sensor 13 does not become unable to detect, and the car 1 can be controlled based on the detection information from the second sensor 13.

[0043] For example, the control unit 11 moves the car 1 up and down to a position where the second sensor 13 detects the object 14, and then stops the car 1. Then, the control unit 11 opens the car door 4. This makes it possible to move the car 1 to a safe position even if an abnormality occurs in the first sensors 12A and 12B, thereby preventing passengers from being trapped inside the car 1. As a result, a highly safe elevator 100 can be provided.

[0044] 2. Second Embodiment Next, an elevator according to a second embodiment will be described with reference to Figures 6 and 7. Figure 6 is a perspective view showing an elevator car according to the second embodiment, and Figure 7 is a plan view of the elevator car according to the second embodiment as seen from above.

[0045] The elevator 100B according to the second embodiment differs from the elevator 100 according to the first embodiment in the location of the second sensor. Therefore, parts common to the elevator 100 according to the first embodiment are designated by the same reference numerals, and redundant explanations will be omitted.

[0046] 6 and 7, the elevator 100B includes a car 1. The car 1 is provided with two first sensors 12 and a second sensor 13. The configuration of the first sensor 12 is similar to that of the first sensor 12 according to the first embodiment described above, and therefore a description thereof will be omitted.

[0047] The second sensor 13 is disposed at the lower end in the up-down direction of the car 1. The second sensor 13 is installed, for example, on the door sill 5 or the apron 7. The direction in which the detection surface of the second sensor 13 faces is different from the direction in which the detection surface of the first sensor 12 faces, and faces in the front-to-rear direction of the car 1.

[0048] Furthermore, the object 14 to be detected by the second sensor 13 is disposed, for example, at the lower end in the vertical direction of the entrance / exit on the boarding / descending floor side of the elevator shaft.

[0049] The other configurations are the same as those of the elevator 100 according to the first embodiment described above, and therefore a description thereof will be omitted. The elevator 100B according to the second embodiment can also achieve the same functions and effects as those of the elevator 100 according to the first embodiment described above.

[0050] According to the elevator 100B of the second embodiment, the second sensor 13 can prevent the height dimension of the car 1 from increasing. Furthermore, since the second sensor 13 is not installed in the door machine 3, the weight of the door machine 3 can be prevented from increasing.

[0051] In addition, the two first sensors 12 may also be installed at the lower end of the elevator car 1 in the vertical direction, similar to the second sensor 13 of the elevator 100B according to the second embodiment.

[0052] 3. Third Embodiment Next, an elevator according to a third embodiment will be described with reference to Fig. 8. Fig. 8 is a plan view of an elevator car according to the third embodiment as viewed from above.

[0053] The elevator 100C according to the third embodiment differs from the elevator 100 according to the first embodiment in the location of the second sensor. Therefore, parts common to the elevator 100 according to the first embodiment are designated by the same reference numerals, and redundant explanations will be omitted.

[0054] As shown in Fig. 8, the elevator 100C includes a car 1. The car 1 is provided with two first sensors 12 and a second sensor 13. The configuration of the first sensor 12 is similar to that of the first sensor 12 according to the first embodiment described above, and therefore a description thereof will be omitted.

[0055] The second sensor 13 is disposed at the upper end or lower end in the vertical direction of the car 1. The second sensor 13 is disposed on the rear side in the front-to-rear direction of the car 1, i.e., on the rear portion 1d side of the car 1.

[0056] The detection surface of second sensor 13 faces in the front-to-rear direction of car 1, which is different from the detection surfaces of first sensors 12A and 12B. Second sensor 13 is arranged with its detection surface facing the inner wall surface on the rear side facing the entrance / exit of the elevator shaft. Detectable object 14 detected by second sensor 13 is arranged on the inner wall surface on the rear side facing the entrance / exit of the elevator shaft.

[0057] The other configurations are the same as those of the elevator 100 according to the first embodiment described above, and therefore a description thereof will be omitted. The elevator 100C according to the third embodiment can also achieve the same functions and effects as those of the elevator 100 according to the first embodiment described above.

[0058] The present invention is not limited to the embodiments described above and shown in the drawings, and various modifications can be made within the scope of the invention as set forth in the claims.

[0059] In the above-described embodiment, the first sensor 12 and the second sensor 13 are installed in a new elevator, but the present invention is not limited to this. For example, when an existing elevator is renovated, the first sensor 12 and the second sensor 13 may be newly installed in the car 1. Then, a detection object 14 to be detected by the second sensor 13 is installed in the elevator shaft.

[0060] Furthermore, the configuration of the elevator 100 is not limited to the 2:1 roping elevator shown in Figures 1 to 3, but can be applied to various other elevators such as 1:1 roping elevators and hydraulic elevators. It can also be applied to elevators with machine rooms and machine room-less elevators.

[0061] In this specification, the words "parallel" and "orthogonal" are used, but these do not mean only "parallel" and "orthogonal" in the strict sense, but also include "parallel" and "orthogonal" and may also mean a "substantially parallel" or "substantially orthogonal" state within a range in which the functions can be exerted.

[0062] DESCRIPTION OF SYMBOLS 1...car, 1a...ceiling, 1b...front portion, 1c...side portion, 1d...back portion, 2...guide rail, 3...door machine, 4...car door, 5...door sill, 6...building side door, 7...apron, 8...guide device, 9...car pulley, 10...rope, 11...control unit, 12, 12A, 12B...first sensor, 13...second sensor, 14...detectable object, 100, 100B, 100C...elevator

Claims

1. An elevator comprising: a car that moves up and down in an elevator shaft; a first sensor installed in the car; a second sensor installed in the car and positioned with its detection surface facing in a direction different from that of the detection surface of the first sensor; and a control unit that calculates the position of the car based on detection signals from the first sensor and the second sensor.

2. An elevator as described in claim 1, wherein the first sensor is a movement amount detection sensor that detects the amount of movement of the car, and the second sensor is a car absolute position detection sensor that detects the absolute position of the car by detecting a detection object installed in the elevator shaft.

3. An elevator as described in claim 2, wherein the control unit calculates the position of the elevator car based on the detection signal from the first sensor, and corrects the position of the elevator car based on the detection signal from the second sensor.

4. The elevator described in claim 3, wherein a plurality of the first sensors are arranged, and the control unit determines an abnormality in the first sensors from the difference in position information calculated from signals detected by the plurality of first sensors.

5. The elevator according to claim 4, further comprising a pair of guide rails that guide the elevator car so that it can move up and down, and the first sensor is arranged with its detection surface facing the guide rails.

6. An elevator as described in claim 1, wherein the second sensor is arranged on the front side of the elevator car facing an entrance / exit at the boarding / exit floor, and the detection surface of the second sensor is arranged facing the entrance / exit at the boarding / exit floor.

7. The elevator according to claim 6, wherein the elevator car is provided with a door machine that drives the car door so that it can be opened, and the second sensor is disposed in the door machine.

8. The elevator according to claim 6, wherein the second sensor is disposed at the lower end of the car in the vertical direction.