JP7192084B1 - Elevator control device and elevator control method - Google Patents

Abstract

An object of the present invention is to reduce a passenger's sense of blockage. Kind Code: A1 An elevator control device according to an embodiment is a control device for opening and closing a pair of doors of a car of an elevator apparatus by means of a door motor. The elevator control device has an inter-door distance measuring section, an abnormality detecting section, and a reversing command section. The inter-door distance measuring unit measures the distance between the doors. The abnormality detection unit detects an abnormality during door opening control. When the abnormality detection section detects an abnormality, the reversing command section causes the door motor to rotate in the direction opposite to the direction of rotation of the door motor before the abnormality detection section detects the abnormality after the elapse of time corresponding to the distance between the doors. rotate. [Selection drawing] Fig. 4

Description

An embodiment of the present invention relates to an elevator control device and an elevator control method.

To repeat door-opening control and door-closing control after waiting a predetermined time when a door of a car of an elevator device does not open due to being caught by an interlock or being caught by a foreign object, etc. , control is performed to get out of a state where an interlock is caught, a foreign object is caught, or the like.

The longer the door is closed until the door is controlled to open normally, the more the passenger feels a sense of blockage. There are several reports on techniques for improving the detection accuracy of foreign objects and techniques for reducing the frequency of elevator stoppages. However, there is no report on technology for reducing the passenger's sense of blockage.

JP 2011-102164 A JP 2011-131996 A

The present invention has been made in view of the circumstances described above, and an object of the present invention is to reduce the passenger's feeling of being stuck.

An elevator control device according to an embodiment for solving the above problem is a control device that opens and closes a pair of doors of a car of an elevator apparatus by a door motor. The elevator control device has an inter-door distance measuring section, an abnormality detecting section, and a reversing command section. The inter-door distance measuring unit measures the distance between the doors. The abnormality detection unit detects an abnormality during door opening control. When the abnormality detection section detects an abnormality, the reversing command section rotates the door motor in the direction opposite to the direction of rotation of the door motor before the abnormality detection section detects the abnormality after the elapse of the time corresponding to the distance between the doors. rotate.

1 is a perspective view of an elevator apparatus according to this embodiment; FIG. It is a block diagram showing a control system of the elevator apparatus according to the present embodiment. 3 is a physical block diagram of a control unit according to this embodiment; FIG. 3 is a functional block diagram of a control unit according to this embodiment; FIG. 4 is a flowchart for explaining the operation of the elevator control device according to the embodiment; It is a figure for demonstrating operation|movement of the elevator control apparatus which concerns on this embodiment. It is a figure for demonstrating operation|movement of the elevator control apparatus which concerns on this embodiment. It is a figure for demonstrating operation|movement of the elevator control apparatus which concerns on this embodiment. It is a figure for demonstrating operation|movement of the elevator control apparatus which concerns on this embodiment. It is a figure for demonstrating operation|movement of the elevator control apparatus which concerns on this embodiment. It is a block diagram showing a control system of the elevator apparatus according to the present embodiment.

Hereinafter, this embodiment will be described with reference to the drawings. The description uses an XYZ coordinate system made up of mutually orthogonal X, Y, and Z axes as appropriate. The diagrams and flowcharts used to describe the present embodiment show an example.

When an abnormality is detected during door opening control, the elevator control apparatus according to the present embodiment detects the abnormality in order to recover from the abnormal state after a waiting time corresponding to the inter-door distance of the stopped door. The door motor is rotated in the direction opposite to the direction of rotation of the door motor before detection. The elevator control device according to the present embodiment, by setting a shorter waiting time as the distance between the doors is shorter, shortens the door closing time when recovering from the abnormal state during the door opening control, and the closing of the passenger reduce the feeling of

(Embodiment 1)
FIG. 1 is a perspective view of an elevator apparatus 10 according to this embodiment. The elevator apparatus 10 is arranged inside a hoistway 100 provided in buildings such as commercial facilities and residential facilities. As shown in FIG. 1, the elevator apparatus 10 has a car 31, a counterweight 50, an elevating motor 40, guide rails 21 to 24, and a control panel 70 (elevator control apparatus).

Each of the guide rails 21 to 24 is a member whose longitudinal direction is the Z-axis direction. The guide rails 21 and 22 are a pair of members for guiding the car 31 so that it can move up and down. Also, the guide rails 23 and 24 are a pair of members for guiding the counterweight 50 so that it can move up and down. The guide rails 21 and 22 are spaced apart in the Y-axis direction. Similarly, the guide rails 23 and 24 are also spaced apart from each other in the Y-axis direction. In FIG. 1, the guide rails 23, 24 of the counterweight 50 are spaced apart from the guide rails 21, 22 of the car 31 in the X-axis direction. The arrangement of the guide rails 21-24 is not limited to the arrangement shown in FIG.

The car 31 is a unit that accommodates users and ascends and descends the hoistway 100 . The car 31 is arranged between the guide rails 21 and 22 and attached to the guide rails 21 and 22 so as to be vertically movable.

An opening 31a is formed on the side surface of the car 31 on the +X side for entering and exiting the interior. The opening 31 a is closed or opened by a pair of doors 32 (a right door 32 a and a left door 32 b ) that move along the sides of the car 31 . The door 32 is opened and closed by a door motor (not shown in FIG. 1).

The counterweight 50 is attached to the guide rails 23 and 24 so as to be vertically movable. The weight of the counterweight 50 is adjusted to have a predetermined ratio with respect to the weight of the car 31 .

The elevating motor 40 is a motor for elevating the car 31 . The lifting motor 40 is arranged above the hoistway 100 so that its rotation axis is parallel to the Y-axis. A pulley 42 is fixed to the rotating shaft of the lifting motor 40 .

A wire 43 is wound around the pulley 42 of the lifting motor 40 . The wire 43 has one end fixed to the car 31 and the other end fixed to the counterweight 50 .

The control panel 70 is arranged in the hoistway 100 . The control panel 70 accommodates the lift motor 40 and a control device for controlling the devices provided in the car 31 .

FIG. 2 is a block diagram showing the control system of the elevator apparatus 10. As shown in FIG. The control system includes a control unit 80 and a drive unit 91 housed in a control panel 70 (elevator control device), an operation panel 36 and an input/output device 35 provided in the car 31, a right door full open detection sensor 34a and a left door. and a full-open detection sensor 34b.

The operation panel 36 is provided on the inner wall surface of the car 31 . The operation panel 36 is an interface for accepting the destination floor and the like from the user of the car 31 . The user can register the destination floor of the car 31 and open/close the door 32 by operating the operation panel 36 . The input/output device 35 is composed of a speaker, a display, a microphone, and the like.

The right door fully open detection sensor 34a and the left door fully open detection sensor 34b are sensors for detecting that the door 32 (the right door 32a and the left door 32b) is completely open. The right door full-open detection sensor 34a and the left door full-open detection sensor 34b are composed of touch sensors, push button switches, and the like. The right door fully open sensor 34a is arranged at a position where the right door 32a comes into contact with the right door fully open sensor 34a when the right door 32a reaches the fully open position. The right door fully open detection sensor 34a outputs, for example, a high level signal when it detects that the right door 32a is in a completely open state. The left door fully open sensor 34b is arranged at a position where the left door 32b comes into contact with the left door fully open sensor 34b when the left door 32b reaches the fully open position. When the left door fully open detection sensor 34b detects that the left door 32b is completely open, it outputs a high level signal, for example.

The operation panel 36, the input/output device 35, the right door full-open detection sensor 34a, and the left door full-open detection sensor 34b are connected to the control unit 80 housed in the control panel 70 via the cable 44 shown in FIG. It is connected.

The drive unit 91 shown in FIG. 2 supplies electric power to the lift motor 40 and the door motor 41 (not shown in FIG. 1) that drives the door 32 of the car 31, thereby driving the lift motor 40 and the door motor 41. . The drive unit 91 drives the lift motor 40 based on instructions from the control unit 80 . The drive unit 91 also drives the door motor 41 based on instructions from the control unit 80 .

The door motor 41 is composed of two motors, a motor for opening and closing the right door 32a and a motor for opening and closing the left door 32b. The door motor 41 transmits pulses to the control unit 80 according to the number of rotations of the rotating shaft (for example, each time the rotating shaft makes one rotation).

FIG. 3 is a physical block diagram of control unit 80. As shown in FIG. The control unit 80 is a computer having a CPU (Central Processing Unit) 81 , a main memory section 82 , an auxiliary memory section 83 and an interface section 84 interconnected via a bus 85 . The CPU 81 executes processes described later according to programs stored in the auxiliary storage unit 83 . The main storage unit 82 has a RAM (Random Access Memory) and the like. A main storage unit 82 is used as a work area for the CPU 81 . The auxiliary storage unit 83 has a non-volatile memory such as a ROM (Read Only Memory) and a semiconductor memory. The auxiliary storage unit 83 stores programs executed by the CPU 81, various parameters, and the like.

The interface section 84 has a serial interface, a parallel interface, a wireless LAN interface, and the like. The operation panel 36, the input/output device 35, the right door full-open detection sensor 34a, the left door full-open detection sensor 34b, the door motor 41, and the drive unit 91 are connected to the CPU 81 via the interface section 84. be.

FIG. 4 is a functional block diagram of control unit 80. As shown in FIG. The CPU 81 of the control unit 80 implements the motor control section 71 and the abnormality handling section 72 by executing the programs stored in the auxiliary storage section 83 .

The motor control unit 71 controls the elevation of the car 31 and the opening and closing of the door 32 via the drive unit 91 based on the input from the operation panel 36 or the call panel of each floor. For example, when the motor control unit 71 rotates the elevator motor 40 forward through the drive unit 91, the car 31 is raised and the counterweight 50 is lowered. When the motor control unit 71 reverses the elevation motor 40 via the drive unit 91, the car 31 is lowered and the counterweight 50 is raised. When the motor control unit 71 rotates the door motor 41 forward through the drive unit 91, the doors 32 of the car 31 and the doors provided at the landings of each floor are controlled to open, and when the door motor 41 is rotated in the reverse direction. , the doors 32 of the car 31 and the doors provided at the landings of each floor are controlled to close.

When an abnormality is detected during door opening control of the door 32, the abnormality handling unit 72 detects the abnormality after a waiting time Tw corresponding to the inter-door distance L between the right door 32a and the left door 32b. A signal of a reversal command for rotating the door motor 41 in the opposite direction to the rotating direction of the door motor 41 before the rotation is output to the motor control unit 71 . The abnormality handling section 72 has an abnormality detection section 73 , a door distance measurement section 74 , and a reversal command section 76 .

The abnormality detection unit 73 detects an abnormality during door opening control of the door 32 . The abnormality detection unit 73 has a timer that measures the elapsed time after the motor control unit 71 outputs the door open signal instructing the opening operation of the door 32 . This timer continues to measure the elapsed time until it receives a signal indicating that the door 32 is fully open from both the right door full-open detection sensor 34a and the left door full-open detection sensor 34b. do. The anomaly detection unit 73 outputs a signal indicating that an anomaly has been detected when the value measured by the timer has passed a predetermined time (for example, 10 seconds).

The door-to-door distance measurement unit 74 measures the door-to-door distance L between a pair of doors (the right door 32a and the left door 32b). The door 32 moves a distance corresponding to the number of revolutions of the door motor 41 . When the movement of the door 32 is stopped by a foreign substance or the like, the rotation of the door motor 41 is stopped. The door motor 41 outputs a pulse signal, for example, each time the rotating shaft rotates once. The inter-door distance measuring unit 74 counts the pulse signals to measure the positions of the right door 32a and the left door 32b, and measures the inter-door distance L between the right door 32a and the left door 32b.

The reversal command section 76 has a time setting section 77 and a time measuring section 78 . The time setting unit 77 sets a waiting time Tw according to the inter-door distance L when the abnormality detection unit 73 detects an abnormality. For example, the time setting unit 77 sets the waiting time Tw based on (Equation 1). L is the distance between the doors. For example, the function f(L) is a monotonically increasing function with a maximum waiting time Tw of 10 seconds and a minimum waiting time of 2 seconds.
Tw=f(L) (Formula 1)

The time measuring unit 78 measures the waiting time Tw set by the time setting unit 77, and when the waiting time Tw elapses, the door motor rotates in the direction opposite to the rotating direction of the door motor 41 before the abnormality detecting unit 73 detects the abnormality. 41 is output to the motor control unit 71 .

Next, an elevator control method according to the inter-door distance L will be described with reference to the flowchart shown in FIG. The control described below is performed based on a program stored in the auxiliary storage unit 83, and the subject of control is the CPU 81. FIG. When the car 31 lands on the destination floor and the door open signal is output from the motor control unit 71, the abnormal handling process during the door opening control is started.

When the door open signal is output from the motor control unit 71, the abnormality detection unit 73 detects the right door full open detection sensor 34a and the left door full open detection sensor 34a within a predetermined time (for example, 10 seconds) after the door open signal is output. It is monitored whether a signal indicating that the door 32 is completely opened has been received from both sensors of the door full-open detection sensor 34b (step S11). The abnormality detection unit 73 indicates that the door 32 is completely opened from both the right door full-open detection sensor 34a and the left door full-open detection sensor 34b within a predetermined period of time after the door open signal is output. If the signal indicating that the door opening control has been completed has been received (step S11: Yes), the abnormality handling process during door opening control is terminated. On the other hand, the abnormality detection unit 73 detects door opening from both the right door full-open detection sensor 34a and the left door full-open detection sensor 34b before a predetermined time (for example, 10 seconds) elapses after the door open signal is output. is not received (step S11: No), a signal indicating that an abnormality has been detected is sent to the time setting unit 77.

When the time setting unit 77 receives the signal indicating that the abnormality has been detected, the time setting unit 77 acquires the inter-door distance L from the inter-door distance measuring unit 74 (step S12). Next, the time setting unit 77 sets the waiting time Tw according to the inter-door distance L using (Formula 1) (step S13). For example, as shown in FIG. 6, the time setting unit 77 sets the waiting time Tw to 2 seconds when the door opening rate is 0% (the door 32 is completely closed and the inter-door distance L is 0). set to As shown in FIG. 7, the time setting unit 77 sets the waiting time Tw to 4 seconds when the door opening rate is 25%. As shown in FIG. 8, the time setting unit 77 sets the waiting time Tw to 8.4 seconds when the door opening rate is 80%.

Next, the time measuring unit 78 measures the set waiting time Tw (step S14). When the waiting time Tw elapses (step S14: Yes), the time measuring unit 78 outputs a reverse command signal for controlling the reverse of the door motor 41 to the motor control unit 71 . The motor control section 71 reversely controls the door motor 41 via the drive unit 91 (step S15).

Next, the abnormality handling unit 72 counts the number of times K that the reverse control is performed (step S16). When the number of times K of reversing control is performed is less than a predetermined number of times (for example, 5 times) (step S17: No), the abnormality response unit 72 returns the process to step S11 and performs the door opening control again. In the process of step S11 from the second time onward, the predetermined time is changed to the waiting time Tw set in step S13. In the process of step S13 for the second time, when the distance L between the doors for the first time is different from the distance L between the doors for the second time, a waiting time Tw different from that for the first time is set. On the other hand, when the number of times K of reversing control is performed is equal to or greater than the predetermined number of times (step S17: Yes), the abnormality response unit 72 stops reversing control of the door 32 . Then, the process proceeds to step S18.

The control unit 80 repeats the processing from steps S11 to S17, thereby attempting to escape from the state where the interlock is caught, a foreign object is caught, or the like. If the process from steps S11 to S17 is performed K times and the abnormal state cannot be recovered, the control unit 80 notifies the monitoring center or the like that an abnormality has occurred when the door is open, and The input/output device 35 notifies the passengers that a has occurred (step S18). Here, as shown in FIG. 9, three states are set according to the inter-door distance L, and the case where the control unit 80 performs notification according to the states will be described. A table such as that shown in FIG. 9 is stored in the auxiliary storage unit 83 . It is assumed that the maximum door-to-door distance L is 1600 mm. In state 1 where the inter-door distance L is 0 to 400 mm, it is difficult to get off the vehicle through the gap between the doors 32 . In state 1, the control unit 80 issues a notification such as "Stay away from the door." At that time, in order to relieve the passenger's sense of blockage, a notice such as "I am contacting the staff" is given. In state 2 where the door-to-door distance L is 400 to 800 mm, a small person such as a child can get out of the vehicle through the gap of the door 32, but a large person has difficulty getting out of the vehicle. In the case of state 2, the control unit 80 issues a notification such as "Please do not get off the vehicle unreasonably." In state 3 in which the inter-door distance L is 800 to 1600 mm, it is possible to get off the vehicle through the gap between the doors 32 . In the case of state 3, a notification such as "You can get off the car. Please be careful when getting off." When the notification to the passengers is finished, the abnormality detection handling process during door opening control is finished.

As described above, the elevator control device (control panel 70) according to the first embodiment, when the abnormality detection unit 73 detects an abnormality during the door opening control of the door 32, the time corresponding to the inter-door distance L , the door motor 41 is rotated in the opposite direction to the rotation direction of the door motor 41 before the abnormality detection unit 73 detects the abnormality. In the elevator control apparatus according to the first embodiment, the shorter the inter-door distance L is, the shorter the waiting time Tw until the reversing command is issued to the door 32 is set. Therefore, in the elevator control apparatus according to the first embodiment, the doors 32 are closed when recovering from the abnormal state during the door opening control, compared to the case where the waiting time Tw is not changed according to the door-to-door distance L. time can be shortened. Therefore, it is possible to reduce the passenger's sense of blockage.

In the elevator control apparatus according to the first embodiment, as the value of the number of repetitions K of steps S11 to S17 for recovering from an abnormal state during door opening control increases, the waiting time Tw increases according to the distance L between the doors. is not changed, it is possible to shorten the time during which the door 32 is closed when recovering from the abnormal state during the door opening control.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above embodiments. For example, in the above embodiment, the control panel 70 is described as an elevator control device, but when the control unit 80 and the drive unit 91 are mounted in different devices, the control unit 80 may be used as an elevator control device.

Also, in the above description, the case where the function of (Formula 1) is a monotonically increasing function has been described, but the present invention is not limited to this. The function of (Equation 1) may be a function that shortens the waiting time Tw as the inter-door distance L is shorter. For example, the function of (Formula 1) may be a Log function or the like instead of a monotonically increasing function. Also, the maximum and minimum values of the waiting time Tw may be arbitrary times.

Further, in the explanation using the flowchart shown in FIG. 5 above, the case where the notification to the passenger (step S18) is performed after repeating the processing of steps S11 to S17 K times has been described, but the timing of notifying the passenger is It is not limited to this. The notification to the passenger may be made at any timing after the distance L between the doors is obtained. For example, notification to the treaty may be made after step S12 or after step S14.

Further, when it is known that the cause of the abnormality during the door opening control is not the door 32 of the car 31 but the door provided at the landing of each floor, the control unit 80 moves the car 31 to the nearest floor. It may be moved to perform door opening control. In this case, the control unit 80 issues a notification such as "Move to the nearest floor and open the door. Please move away from the door and wait."

(Embodiment 2)
In the first embodiment, the case where the time setting unit 77 sets the waiting time Tw based on (Equation 1) has been described. However, the method of setting the waiting time Tw according to the distance L between the doors is not limited to this. In the second embodiment, the case where the time setting unit 77 sets the waiting time Tw using the table shown in FIG. 10 will be described. Descriptions other than the time setting unit 77 are the same as those of the first embodiment, so descriptions thereof will be omitted.

The auxiliary storage unit 83 stores a table in which the waiting time Tw is set according to the distance between the doors. In the example of the table shown in FIG. 10, three states are set according to the distance L between the doors. The waiting time Tw is set to 2 seconds in state 1 where the inter-door distance L is 0 to 400 mm. The waiting time Tw is set to 6 seconds in state 2 where the inter-door distance L is 400 to 800 mm. The waiting time Tw is set to 10 seconds in state 3 where the inter-door distance L is 800 to 1600 mm. When the time setting portion 77 receives a signal indicating that an abnormality has been detected from the abnormality detecting portion 73 , the time setting portion 77 acquires the value of the inter-door distance L from the inter-door distance measuring portion 74 . Then, the time setting unit 77 sets the waiting time Tw according to the distance L between the doors with reference to the table shown in FIG.

(Embodiment 3)
In the first embodiment, the case where the abnormality detection unit 73 detects an abnormality based on the time from when the door open signal is output to when it detects that the door 32 is completely opened has been described. However, the abnormality detection method during door opening control is not limited to this. For example, as shown in FIG. 11, a torque sensor 39 for measuring the torque of the door motor 41 is provided. You may make it judge that it did.

(Embodiment 4)
In the first embodiment, the case where the inter-door distance measuring unit 74 measures the inter-door distance L based on the number of revolutions of the door motor 41 has been described. However, the method for measuring the inter-door distance L is not limited to this. For example, as shown in FIG. 11, the door-to-door distance L may be measured by providing a distance measuring device 38 using a laser in the car 31 .

While several embodiments of the invention have been described, these embodiments have been presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and modifications can be made without departing from the scope of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are included in the scope of the invention described in the claims and its equivalents.

10 elevator device 21 to 24 guide rail 31 car 31a opening 32 door 32a right door 32b left door 34a right door fully open detection sensor 34b left door fully open detection sensor 35 input/output device 36 operation panel 38 distance measuring device 39 torque sensor 40 lifting motor 41 door motor 42 pulley 43 wire 44 cable 50 counterweight 70 control panel 71 motor control unit 72 abnormality response unit 73 abnormality detection unit 74 door distance measurement unit 76 reversal command unit 77 time setting unit 78 time measurement unit 80 control Unit 81 CPU
82 main storage unit 83 auxiliary storage unit 84 interface unit 85 bus 91 drive unit 100 hoistway

Claims (8)

In an elevator control device that opens and closes a pair of doors of a car of an elevator system with a door motor,
a door-to-door distance measuring unit that measures the distance between the doors;
an abnormality detection unit that detects an abnormality during door opening control of the door;
When the abnormality detection unit detects an abnormality, the door motor is rotated in a direction opposite to the rotational direction of the door motor before the abnormality detection unit detects the abnormality after a lapse of time corresponding to the distance between the doors. a reversal command unit to rotate;
an elevator controller having a The reversal command section is
a time setting unit for setting a time according to the distance between the doors;
a time measuring unit that measures elapsed time after the abnormality detection unit detects an abnormality;
has
When the time set by the time setting unit elapses after the abnormality detection unit detects the abnormality, the direction of rotation of the door motor is opposite to the rotation direction of the door motor before the abnormality detection unit detects the abnormality. rotating the door motor to
2. The elevator control system of claim 1. The time setting unit sets a shorter time as the distance between the doors is shorter.
3. The elevator control system according to claim 2. The abnormality detection unit is
If the door does not reach a completely open state even after a predetermined time has passed since the signal commanding the opening operation of the door was output, it is determined that there was an abnormality during the door opening control of the door.
The elevator control device according to any one of claims 1 to 3. The abnormality detection unit is
If the value measured by the torque sensor that measures the torque of the door motor exceeds a predetermined threshold value, it is determined that there is an abnormality during door opening control of the door;
The elevator control device according to any one of claims 1 to 3. The inter-door distance measuring unit measures the inter-door distance based on the number of revolutions of the door motor.
The elevator control device according to any one of claims 1 to 3. The inter-door distance measuring unit measures the distance between the doors using a distance measuring device using a laser.
The elevator control device according to any one of claims 1 to 3. In the opening control of the car door of the elevator system,
measuring the distance between the doors;
a step of detecting an abnormality during door opening control of the door;
when an abnormality is detected during door opening control, measuring the passage of time according to the distance between the doors when the abnormality is detected;
a step of rotating the door motor in a direction opposite to the direction of rotation of the door motor before the abnormality was detected after a lapse of time corresponding to the distance between the doors;
Elevator control method including.

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