WO2024057445A1

WO2024057445A1 - Elevator

Info

Publication number: WO2024057445A1
Application number: PCT/JP2022/034420
Authority: WO
Inventors: 典宏長徳; 智史山▲崎▼
Original assignee: 三菱電機ビルソリューションズ株式会社
Priority date: 2022-09-14
Filing date: 2022-09-14
Publication date: 2024-03-21

Abstract

An elevator (10) comprises an imaging device (43) attached to a car (11) and capable of capturing an image of at least one of an upper region positioned above the car (11) and a lower region positioned below the car (11), a lighting device (40) attached to the car (11) and configured to irradiate at least a portion of the upper region and the lower region with light, and an earthquake detector (47) capable of detecting an earthquake. When the earthquake detector (47) detects an earthquake, the car (11) stops and, thereafter, the imaging device (43) captures an image of at least a portion of at least one long object. Connection of the long object is then determined on the basis of the image captured by the imaging device (43).

Description

elevator

The present disclosure relates to an elevator.

Conventionally, the technology described in Patent Document 1 is known as a countermeasure against earthquakes in elevators. With this technology, during automatic diagnostic recovery operation after an earthquake occurs, the car is operated at a slower speed than normal, and the possibility of a long object being caught is detected from changes in the torque of the hoisting machine.

Japanese Patent Application Publication No. 2018-184241

Using the above technology, it is possible to detect long objects caught after an earthquake, and it is easy to perform safe automatic recovery of elevators. However, this technology indirectly (pseudo) detects long objects that are caught and does not directly detect them, and it would be desirable to be able to more directly and accurately determine whether or not long objects are caught. .

Therefore, an object of the present disclosure is to provide an elevator that can directly and accurately determine whether or not a long object is caught after an earthquake.

In order to solve the above problems, an elevator according to the present disclosure includes a car, a lifting mechanism for raising and lowering the car, an upper area attached to the car and located above the car, and an upper area below the car. a photographing device capable of photographing at least one of the lower regions located on the side; an illumination device attached to the basket and irradiating light to at least part of the upper region and the lower region; and a lighting device capable of detecting an earthquake. an earthquake sensor, and when the earthquake sensor detects an earthquake, the cage stops, and after the cage stops, the photographing device photographs at least a part of at least one elongated object, and the photographing device It is determined whether the at least one elongated object is caught based on the at least part of the images taken by the device.

According to the present disclosure, it is determined whether a long object is caught based on an image of at least a portion of at least one long object taken by a photographing device after the basket is stopped due to earthquake sensing. Therefore, it is possible to directly and accurately determine whether a long object is caught.

Further, regarding the at least one elongated object, a two-dimensional waveform defined by time and a deflection amount in one direction at a reference point of the elongated object is generated based on the image; , it may be determined whether the elongated object is caught based on the two-dimensional waveform. Note that at the reference point of a long object when no earthquake occurs, the amount of deflection is 0 (zero).

There is a large difference in the two-dimensional waveform before and after the time when the long object is caught, for example, there is a sudden decrease in the amplitude of the two-dimensional waveform. According to this configuration, it is possible to determine whether a long object is caught on the basis of the two-dimensional waveform, and therefore it is possible to accurately determine whether a long object is caught.

Further, it is determined whether the at least one elongated object is caught on the basis of a plurality of attenuation peaks that can be confirmed in the two-dimensional waveform, and the attenuation peak is a maximum point of shake in the two-dimensional waveform, and It may be a maximum point where there is no maximum point of the amount of runout greater than the attenuation peak at a time after the time when the attenuation peak occurs.

According to this configuration, local and rapid attenuation in a two-dimensional waveform can be easily and objectively evaluated. Therefore, it is easy to accurately determine whether a long object is caught.

Additionally, the reference location may include a location closest to the center of the image.

According to this configuration, image analysis can be performed automatically and easily.

Furthermore, the reference location may include a location of the elongated object where the shake is largest in the image.

According to this configuration, it is easy to determine sudden attenuation. Therefore, it is possible to accurately determine whether a long object is caught.

Furthermore, the reference location may be a marked location on the elongated object.

The mark may be, for example, a light-reflecting member fixed to the reference point of the long object, or a paint such as fluorescent paint applied to the reference point of the long object.

According to this configuration, measurement of the displacement of the reference location and image processing can be performed much more easily.

The storage unit stores a plurality of reference two-dimensional waveforms in advance. It may also be possible to determine if the object is caught.

Multiple standard two-dimensional waveforms (standard when no long object is caught) differ for typical multiple types of earthquakes, such as pitching, lateral shaking, long-period ground motion, earthquakes with different magnitudes, etc. (two-dimensional waveform) may be created in advance for each landing on each floor and stored in advance in the storage section of the elevator. Then, one standard two-dimensional waveform is selected from a plurality of standard two-dimensional waveforms based on the landing area of the car that stopped when an earthquake actually occurred and the type of earthquake identified based on information detected by the earthquake sensor. It is also possible to determine whether a long object is caught by selecting a dimensional waveform and comparing the selected reference two-dimensional waveform with a two-dimensional waveform based on photography. In this way, it is easy to accurately determine whether a long object is caught.

The photographing device may photograph a plurality of different long objects, generate the two-dimensional waveform for each long object, and generate a plurality of different two-dimensional waveforms for each of the plurality of long objects. Based on the waveform, it may be determined whether one or more of the plurality of elongated objects is caught.

If it is not caused by being caught on multiple long objects, multiple long objects may exhibit similar swing behavior in relation to the same earthquake. Therefore, it may be possible to determine whether a long object is caught, and whose behavior is significantly different from that of other long objects and whose swinging behavior is unique. According to this configuration, a plurality of mutually different two-dimensional waveforms are generated for a plurality of elongated objects. Therefore, it may be possible to determine whether a long object is caught and exhibits unusual swinging behavior.

Further, it is determined that the elongated object is not caught when a local attenuation rate, which can be a measure of attenuation in a portion of 10% or less of the two-dimensional waveform, is a first threshold value or less; If it is larger than one threshold value, it may be determined that the elongated object is caught.

Note that the 10% or less portion of the two-dimensional waveform refers to a time portion that is 10% or less of the entire two-dimensional waveform, which is a function of the amount of shake with respect to time. Further, the overall waveform is the waveform of the time from the start of imaging until the earthquake subsides. According to this configuration, it is easy to objectively determine whether a long object is caught.

Further, a first case is defined as a case where a local attenuation rate that can be a measure of attenuation in a portion of 10% or less of the two-dimensional waveform is less than or equal to a first threshold, and a second case is defined as a case where the local attenuation rate is less than or equal to a first threshold. The earthquake has ended when the second case is the case where the local attenuation rate is greater than the first threshold, and the third case is when the local attenuation rate is greater than the first threshold and less than the second threshold. In the subsequent first movement of the car, the maximum speed of the car in the first case is made greater than the maximum speed of the car in the second case, and further, the maximum speed of the car in the second case is The maximum speed may be greater than the maximum speed of the car in the third case.

Note that the above-mentioned first movement of the car is defined as the movement of the car from the time the car first starts moving until it stops after the car stops due to the occurrence of an earthquake.

If a long object is caught, it is better to move the car at a low speed during automatic diagnostic operation to automatically diagnose whether there is a problem with the elevator after an earthquake, as this will cause damage to the elevator during the automatic diagnostic operation. less likely.

According to this configuration, the maximum speed of the first basket movement is controlled in three levels depending on the degree (size) of the possibility that a long object will be caught. Therefore, it is possible to effectively suppress the possibility of damage caused by long objects being caught in an automatic diagnostic operation for automatically diagnosing whether or not there is a problem with the elevator after an earthquake.

Further, a plurality of attenuation peaks that can be confirmed in the two-dimensional waveform are identified, and each of the attenuation peaks is a maximum point of shake in the two-dimensional waveform, and a time later than the time at which the attenuation peak occurs. is a maximum point where there is no maximum point of the amount of runout that is greater than or equal to the attenuation peak, and the local attenuation rate is [(the amount of runout of the attenuation peak after a time among the two adjacent attenuation peaks)/ (The amount of deflection of the attenuation peak that is earlier in time among the two adjacent attenuation peaks)] may be a value based on the minimum value.

According to this configuration, local attenuation of a two-dimensional waveform can be evaluated objectively and accurately.

Further, the local damping rate is a value based on the maximum value of [a value obtained by subtracting the minimum deflection amount of the attenuation peak from the maximum deflection amount of the damping peak during a predetermined time], and The attenuation peak may be a maximum point of the shake in the two-dimensional waveform, and a maximum point where there is no maximum point of the shake amount greater than the attenuation peak at a time after the time when the attenuation peak occurs. .

Also in this configuration, the local attenuation of the two-dimensional waveform can be evaluated objectively and accurately.

Further, the photographing device includes an upper photographing device that photographs the upper region and a lower photographing device photographing the lower region, and after the car stops, the upper photographing device and the lower photographing device Photographing may be performed using only the photographing device that can photograph a region having a large length in the height direction.

According to this configuration, it is easy to photograph a portion of a long object where the shake is large, and it is easy to accurately determine whether the long object is caught.

The photographing device may photograph at least a portion of the at least one elongated object after it has stopped moving, and regarding the at least one elongated object, at least a portion of the elongated object that has stopped moving. It may be determined whether the long object is caught based on the image.

An image taken by the photographing device of at least a portion of at least one long object in which the car is stopped at each landing floor and is not caught may be stored in advance in the storage unit of the elevator. . In this case, after the car is stopped at one of the landings after the earthquake, the photographing device is used to photograph at least a portion of at least one long object that has stopped moving after the earthquake, and the photographed image is transferred to the corresponding landing. By comparing the image with an image in which no object is caught, it is possible to accurately determine whether or not at least one long object is caught.

According to the elevator according to the present disclosure, it is possible to directly and accurately determine whether a long object is caught after an earthquake.

1 is a schematic configuration diagram of an elevator according to an embodiment of the present disclosure. FIG. 2 is a block diagram of related parts related to control for determining whether a long object is caught. It is a flowchart which shows the procedure of an example of the catching determination control of a long object performed by a control apparatus. It is a flowchart which shows the procedure of an example of the catching determination control of a long object performed by a control device. It is a figure showing an example of a two-dimensional waveform in a wire rope without a catch. It is a figure which shows an example of the two-dimensional waveform in the wire rope with a catch.

Embodiments according to the present disclosure will be described in detail below with reference to the accompanying drawings. Note that when a plurality of embodiments, modifications, etc. are included below, it is assumed from the beginning that a new embodiment will be constructed by appropriately combining their characteristic parts. Furthermore, in the following embodiments, the same components are denoted by the same reference numerals in the drawings, and overlapping explanations will be omitted. Moreover, in the following description, the wire rope 14, the control cable, and the compensating rope are long ones. Further, as will be described in detail below, the amount of deflection at the reference location of the long object when no earthquake occurs is 0 (zero). Further, in the following explanation, a portion of 10% or less of the two-dimensional waveform refers to a time portion of 10% or less of the entire two-dimensional waveform, which is a function of the amount of deflection with respect to time. Further, the overall waveform is the waveform of the time from the start of imaging until the earthquake subsides. Furthermore, among the constituent elements described below, constituent elements that are not described in the independent claim indicating the most significant concept are optional constituent elements and are not essential constituent elements.

FIG. 1 is a schematic configuration diagram of an elevator 10 according to an embodiment of the present disclosure. As shown in FIG. 1, the elevator 10 includes a car 11, a hoist 12, a counterweight 13, a wire rope 14, a car call button 15, a destination floor designation button 16, a floor landing detection sensor 17, an encoder 25, and a car elevator. A mechanism 28 and a control device 18 are provided. The control device 18 is composed of, for example, a control panel, and in this embodiment, the control device 18 and the hoist 12 are provided in a machine room 30 above the hoistway 19. If the elevator does not have a machine room, the control panel and hoisting machine may be provided on a pit below the hoistway. The wire rope 14 is wound around the hoist 12, and one end thereof is fixed, for example, to the upper part of the cage 11, and the other end is fixed to the counterweight 13 via a warping wheel (not shown). The car call button 15 is provided at the landing 22 for calling the car 11 and specifying the moving direction of the car 11. Further, a destination floor designation button 16 is provided within the car 11 to designate the destination floor of the car 11.

The landing detection sensor 17 is provided in the hoistway 19 and detects that the car 11 has landed on the landing 22. The landing detection sensor 17 includes, for example, a vane 17a such as a steel plate provided at a hoistway position corresponding to the landing position on each floor, and a magnetic detector 17b for detecting the vane 17a. The control device 18 receives a signal from the landing detection sensor 17 indicating that the car 11 has landed on the landing 22 on any floor, and controls the car door opening/closing motor 39, thereby opening the car door 32 and closing the car. The landing door 31 opens in conjunction with the door 32, allowing people to get on and off from the car 11.

The encoder 25 is composed of, for example, an absolute encoder, and detects the rotational distance and rotational direction of the hoisting machine motor 12a of the hoisting machine 12 from the origin, thereby determining the position of the car 11 and the movement of the car 11. Detect direction. The encoder 25 may be configured to be mechanical (contact type), optical type, magnetic type, or electromagnetic induction type.

The elevator 10 further includes a lighting device 40, a photographing device 43, and an earthquake sensor 47. The illumination device 40 has an upper illumination device 41 and a lower illumination device 42, and the photographing device 43 has an upper photographing device 45 and a lower photographing device 46. The upper lighting device 41 is installed, for example, on the ceiling of the car 11 to illuminate the hoistway 19 above the car 11, and the lower lighting device 42 is installed at the bottom of the car 11 on the hoistway 19 side. It is installed to illuminate the hoistway 19 below the car 11. Inside the hoistway 19, the car 11, the counterweight 13, a wire rope 14, a rail (not shown) that guides the car 11 and the counterweight 13, a control cable that connects the car 11 and the control device 18, and a control cable for connecting the car 11 and the control device 18. A landing detection sensor 17 and the like are installed to detect the position. The upper illumination device 41 and the lower illumination device 42 are used to illuminate the inside of the hoistway 19 during maintenance of these devices, and are also used when photographing a long object, which will be described later. Each of the upper lighting device 41 and the lower lighting device 42 is configured using a lighting device with an illuminance suitable for illuminating the periphery of the basket 11, such as a fluorescent lamp, an incandescent lamp, an LED, or the like.

The upper photographing device 45 is installed, for example, at the top of the basket 11 so that the photographing device protrudes vertically upward from the top end of the basket 11. The upper photographing device 45 can be suitably configured with, for example, a spherical camera (a photographing device capable of taking 360° panoramic photographs in all vertical and horizontal directions, and 360° videos). The upper photographing device 45 may be any photographing device that can photograph at least a portion of at least one elongated object located in an area above the basket 11. The upper photographing device is capable of photographing at least a portion of the wire rope 14 and at least a portion of the control cable, no matter where the cage 11 is located.

The lower photographing device 46 is installed at the bottom of the cage 11, for example, so that the photographing device protrudes vertically downward from the bottom end of the basket 11. The lower photographing device 46 can be suitably configured with, for example, a spherical camera (a photographing device capable of taking 360° panoramic photographs in all directions, top, bottom, right and left, and 360° video). The lower photographing device 46 may be any photographing device that can photograph at least a portion of at least one elongated object located in an area below the basket 11. The lower photographing device 46 is capable of photographing at least a part of the control cable no matter where the car 11 is located. At least a part of the compen rope can be photographed regardless of the position of the compen rope. Further, the lower photographing device 46 is capable of photographing at least a portion of the wire rope 14 when the counterweight 13 is located below the basket 11 by a predetermined length or more. Here, the predetermined length is a length greater than zero (0).

The earthquake sensor 47 is installed, for example, in the machine room 30 or a pit below the hoistway 19. When the earthquake sensor 47 detects the occurrence of an earthquake, it outputs a signal indicating that an earthquake has been detected to the control device 18. The earthquake sensor 47 may be configured with a mechanical earthquake sensor that detects earthquakes using magnetic force and does not require a power source, and uses a capacitance sensor to detect initial tremors (P-waves), main tremors (S-waves), and long-period earthquake motions. An electronic seismic sensor may be used to detect the earthquake. For example, the earthquake sensor 47 is configured to automatically operate and turn on an electric circuit when it senses an earthquake motion (P wave or S wave) that is higher than a set acceleration (gal). Then, the control device 18 that receives the signal from the earthquake sensor 47 performs stop control of the basket 11 and control for determining whether a long object is caught, which will be described in detail below.

The control device 18 that receives signals from the car call button 15, the destination floor designation button 16, the floor landing detection sensor 17, the encoder 25, and the earthquake sensor 47 controls the rotation speed and rotation direction of the hoist motor 12a. Then, the car 11 moves up and down in the hoistway 19. The wire rope 14, the hoist 12, the warping wheel, and the counterweight 13 constitute a car lifting mechanism 28.

Figure 2 is a block diagram of the relevant parts related to the control of determining whether a long object has been caught, which will be described below. As shown in Figure 2, the control device 18 receives signals (information) from the landing detection sensor 17, the encoder 25, the earthquake detector 47, the upper camera 45, and the lower camera 46. Based on the received signals, the control device 18 also controls the hoist motor 12a, the cage door opening and closing motor 39, the upper lighting device 41, the lower lighting device 42, the upper camera 45, and the lower camera 46.

The control device 18 is preferably configured by a computer, for example, a microcomputer, and includes a control section 60 and a storage section 61. The control unit 60, that is, the processor includes, for example, a CPU (Central Processing Unit). The storage unit 61 is composed of a hard disk drive (HDD), solid state drive (SSD), etc., and includes nonvolatile memory such as ROM (Read Only Memory) and volatile memory such as RAM (Random Access Memory). May include. Further, the storage unit 61 may be configured with only one storage medium, or may be configured with a plurality of different storage media. The CPU reads and executes programs etc. stored in advance in the storage unit 61. Furthermore, the nonvolatile memory stores in advance a control program, predetermined threshold values, and the like. Further, the volatile memory temporarily stores read programs and processing data. A stopwatch application is stored in the storage unit 61. The stopwatch application is activated and starts measuring time based on the time-lapse start signal from the control unit 60, and ends the time-measurement based on the time-lapse end signal from the control unit 60. The control unit 60 is capable of acquiring information from the stopwatch application that can specify the time measured.

The control unit 60 includes an earthquake determination unit 60a, a car stop floor identification unit 60b, a hoisting machine motor control unit 60c, a car door opening/closing motor control unit 60d, an imaging device control unit 60e, a reference position identification unit 60f, and a two-dimensional waveform generation unit. 60g, an attenuation peak calculation section 60h, a local attenuation rate calculation section 60i, and a threshold comparison section 60j. The operation of the control unit 60 will be explained in detail using FIGS. 3A to 5.

FIGS. 3A and 3B are flowcharts illustrating an example of a long object snagging determination control performed by the control device 18. In addition, although FIGS. 3A and 3B will be described using an example in which the elongated object is the wire rope 14, the elongated object may be a control cable or a compen rope. When a normal operation in which the car 11 transports passengers starts due to the initial operation of the new elevator 10 or transition from the maintenance mode to the normal operation mode, in step S1, the earthquake determination unit 60a detects information from the earthquake sensor 47. Based on this, it is determined whether an earthquake has occurred. If a negative determination is made in step S1, step S1 is repeated.

On the other hand, if an affirmative determination is made in step S1, the process proceeds to step S2, where the car stop floor identifying unit 60b recognizes the position and moving direction of the car 11 based on the information from the encoder 25, and the car 11 reaches the landing 22. If the car 11 is not stopped, the stopping floor of the car 11 is specified. The specific floor specified by the car stop floor specifying unit 60b may be, for example, the nearest floor that is located ahead in the moving direction of the car 11 and is the closest to the car 11 in the height direction. Alternatively, the specific floor identified by the car stop floor identifying section 60b may be a floor where the wire rope 14 does not resonate.

Specifically, since the earthquake sensor 47 can detect the direction of acceleration, it can estimate the period of the earthquake, that is, the period of vibration of the building in which the elevator 10 is installed. Furthermore, the positions of the wire rope 14, the car 11, and the counterweight 13 can be specified for each landing based on the information from the encoder 25 when the car 11 lands on that floor. Therefore, the period of vibration of the building can be estimated using the information from the earthquake sensor 47, and the resonant frequency of the wire rope 14 can be specified using the information from the encoder 25, so it is possible to estimate the floor where the wire rope 14 does not resonate.

In step S3 after step S2, the hoist motor control unit 60c controls the hoist motor 12a based on information from the encoder 25 and landing detection sensor 17 to move the car 11 to the specific floor. Then, the car door opening/closing motor control unit 60d controls the car door opening/closing motor 39 to open the car door 32 and the landing door 31. In this way, if there is a person inside the car 11, the person is quickly evacuated outside the car 11.

In step S4 after step S3, the photographing device control unit 60e determines whether or not the upper photographing device 45 is to perform photographing. Specifically, the photographing device control unit 60e determines, for example, whether the position where the car 11 is stopped is located in a lower area below the center of the movement range of the car 11 in the height direction. do. When the basket 11 is located in the lower region, the photographing device control unit 60e determines that the upper photographing device 45 is to perform photographing, and the position where the basket 11 is stopped is the movement range of the basket 11 in the height direction. If it is located at the center and above the center, the photographing device control unit 60e determines that the lower photographing device 46 is to perform photographing.

If an affirmative determination is made in step S4, the process proceeds to step S5, where the photographing device control unit 60e drives the upper lighting device 41 and the upper photographing device 45 to start photographing, and at the same time drives the stopwatch app. Start measuring time using the stopwatch app. Note that the elevator 10 may have any known clock mechanism other than the stopwatch app, and the control device 18 starts and ends shooting by obtaining information from the clock mechanism other than the stopwatch app. You can also get the time until

In step S5, the upper photographing device 45 photographs at least a portion of the wire rope 14 located above the car 11 in the hoistway 19, and then in step S6, the earthquake determination unit 60a determines whether the earthquake has ended. Determine whether or not. If a negative determination is made in step S6, the process moves to step S7, and after continuing to photograph at least a portion of the wire rope 14 located above the car 11, steps S6 and subsequent steps are repeated. On the other hand, if an affirmative determination is made in step S6, the process moves to step S8.

On the other hand, if a negative determination is made in step S4, the process proceeds to step S9, where the photographing device control unit 60e drives the lower lighting device 42 and the lower photographing device 46 to start photographing, and at the same time runs the stopwatch app. drive and start measuring time using the stopwatch app. In step S9, the lower photographing device 46 photographs at least a portion of the wire rope 14 located below the car 11 in the hoistway 19, and then in step S10, the earthquake determining unit 60a determines that the earthquake has ended. Determine whether or not. If a negative determination is made in step S10, in step S11, photographing of at least a portion of the wire rope 14 located below the car 11 is continued, and then steps S10 and subsequent steps are repeated. On the other hand, if an affirmative determination is made in step S10, the process moves to step S8.

In step S8, the photographing device control unit 60e ends the photographing by the photographing device 43 and at the same time ends the time measurement by the stopwatch application. Subsequently, in step S12, the reference position specifying section 60f specifies the reference position of the wire rope 14. For example, the reference position specifying unit 60f specifies, as the reference position of the wire rope 14, the location on the wire rope 14 that is closest to the center of the image captured by the image capturing device 43 at the start of imaging. Note that the lighting device 40 is installed so as to illuminate the reference position. Subsequently, in step S13, the two-dimensional waveform generation unit 60g generates a two-dimensional waveform based on the moving image photographed by the photographing device 43.

Specifically, for example, the two-dimensional waveform generation unit 60g generates a two-dimensional waveform based on the displacement of the reference position of the wire rope 14 in one direction and the elapsed time information from the stopwatch application. Hoistway equipment where long objects are likely to get caught (e.g., counterweight 13, vane (guide plate) 17a, guide rail, members fixed to the guide rail (e.g., brackets supporting the guide rail, etc.)) They are arranged on the front side and the back side of the basket 11 in the depth direction. Therefore, it is preferable to select the depth direction of the basket 11 as one direction because it is easy to accurately determine whether or not a long object is caught.

In the following step S14, the attenuation peak calculation unit 60h identifies a plurality of

attenuation peaks

81a, 81b (see FIGS. 4 and 5). FIG. 4 is a diagram showing an example of a two-dimensional waveform in a wire rope 14 that is not caught, and FIG. 5 is a diagram showing an example of a two-dimensional waveform in a wire rope 14 that is caught. As shown in FIG. 4, the two-dimensional waveform of the wire rope 14 without any snags generally has a sinusoidal shape and gradually attenuates. On the other hand, as shown in FIG. 5, the two-dimensional waveform of the wire rope 14 that is caught has a sharply attenuated amplitude in the vicinity of the snag, and has a locally large attenuation portion.

The attenuation peak calculation unit 60h specifies a plurality of

attenuation peaks

81a and 81b based on the two-dimensional waveform generated in step S13. Here, the

attenuation peaks

81a, 81b are the maximum points of vibration in the two-dimensional waveforms 80a, 80b, and are greater than or equal to the

attenuation peaks

81a, 81b at a time later than the time at which the

attenuation peaks

81a, 81b occur. This is a maximum point where the amount of runout does not exist.

Subsequently, in step S15, the local attenuation rate calculation unit 60i calculates attenuation rates for all sets of two different

adjacent attenuation peaks

81a, 81b based on the identified plurality of

attenuation peaks

81a, 81b, and Determine the decay rate. Here, the local attenuation rate is [(the amount of deflection of the

attenuation peaks

81a, 81b that are later in time among the two

adjacent attenuation peaks

81a, 81b)/(the amount of deflection of the

attenuation peaks

81a, 81b that are later in time among the two adjacent attenuation peaks 81a, 81) is defined as the minimum value among the deflection amounts of the

previous attenuation peaks

81a and 81b)]. By specifying the local attenuation rate, it is possible to accurately and objectively evaluate whether or not there is a locally large attenuation part in the two-dimensional waveform, and it is possible to accurately and objectively evaluate whether or not the wire rope 14 is caught. Can be judged. Note that the local attenuation rate can be calculated only for a very short local portion of the two-dimensional waveform, and therefore can be used as a measure of attenuation in a portion of 10% or less of the two-dimensional waveform.

In the following step S16, the threshold comparison unit 60j determines whether the local attenuation rate is less than or equal to the first threshold. If an affirmative determination is made in step S16, it is determined that the wire rope 14 is not caught, and the process proceeds to step S17. 11 is raised and lowered to perform normal operation, and then steps S1 and subsequent steps are repeated.

On the other hand, if a negative determination is made in step S16, the process proceeds to step S18, and the threshold comparison unit 60j determines whether the local attenuation rate is equal to or greater than a second threshold that is larger than the first threshold. If a negative determination is made in step S18, the process proceeds to step S19, where the hoisting machine motor control unit 60c sets the maximum speed of the car 11 to the maximum speed of the car 11 during the first movement of the car 11 after the earthquake. After limiting the speed to a speed lower than the maximum speed of movement of the car 11, an automatic diagnostic operation of the car 11 is performed to determine whether or not there is a problem with the elevator 10, and then the process moves to step S20.

On the other hand, if an affirmative determination is made in step S18, the process proceeds to step S21, and in the first movement of the car 11 after the earthquake, the maximum speed of the car 11 is determined as the car 11 in the automatic diagnostic operation of the car 11 in step S19. After limiting the speed to a speed lower than the maximum speed of the car 11, an automatic diagnostic operation of the car 11 is performed to determine whether or not there is a problem with the elevator 10, and then the process moves to step S20. Note that the first movement of the car 11 in step S19 and step S21 refers to the movement of the car 11 from when the car 11 first starts moving until it stops after the earthquake subsides. In step S20, the control device 18 determines whether or not there is a problem with the elevator 10 based on the automatic diagnostic operation. If a negative determination is made in step S20, the process moves to step S17. On the other hand, if an affirmative determination is made in step S20, the process moves to step S22, and after stopping the car 11, the control ends.

As described above, the elevator 10 includes a car 11, a car lifting mechanism 28 for raising and lowering the car 11, an upper area that is attached to the car 11 and is located above the car 11, and a lower area that is located below the car 11. A photographing device 43 capable of photographing at least one of the side regions, an illumination device 40 attached to the basket 11 and irradiating light to at least part of the upper region and the lower region, and an earthquake sensor capable of detecting earthquakes. 47. Further, when the earthquake sensor 47 detects an earthquake, the car 11 stops, and after the car 11 stops, the photographing device 43 captures at least part of at least one long object (for example, wire rope 14, control cable, compen rope, etc.). is photographed, and based on an image of at least a portion of at least one long object (in the above embodiment, the wire rope 14) photographed by the photographing device 43, it is determined whether the long object is caught.

According to the present disclosure, whether a long object is caught is determined based on an image of at least a portion of at least one long object taken by the photographing device 43 after the basket 11 is stopped due to earthquake sensing. Therefore, it is possible to directly and accurately determine whether a long object is caught.

Further, regarding at least one long object, two-dimensional waveforms 80a and 80b defined by time and a deflection amount in one direction of a reference point of the long object are generated based on the image, and regarding at least one long object, two-dimensional waveforms 80a and 80b are generated based on the image. It may be determined whether a long object is caught based on the two-dimensional waveforms 80a and 80b.

When a long object is caught, there is a large difference in the two-dimensional waveform 80b before and after the time when the long object is caught. Then, as shown in FIG. 5, a local and rapid decrease occurs in the amplitude of the two-dimensional waveform 80b. According to this configuration, it is possible to determine whether a long object is caught on the basis of the two-dimensional waveforms 80a and 80b, and therefore it is possible to accurately determine whether a long object is caught.

In addition, it is determined whether a long object is caught on the basis of a plurality of

attenuation peaks

81a, 81b that can be confirmed in the two-dimensional waveforms 80a, 80b, and the

attenuation peaks

81a, 81b are the maximum points of deflection in the two-dimensional waveforms 80a, 80. In addition, it may be a maximum location where there is no maximum location of the amount of runout greater than the

attenuation peaks

81a, 81b at a time later than the time when the

attenuation peaks

81a, 81b occur.

According to this configuration, local and rapid attenuation in a two-dimensional waveform can be easily and objectively evaluated. Therefore, it is possible to accurately determine whether a long object is caught.

Additionally, the reference location may include the location closest to the center of the image of at least one elongated object. According to this configuration, image analysis can be performed automatically and easily. Note that the reference location may include the location of the elongated object where the shake is the largest in the image. In this case, it is easy to determine a sudden decrease in attenuation, and it is possible to accurately determine whether the elongated object is caught.

Alternatively, the reference location may be a marked location on a long object. Here, if the floor on which the car will stop after an earthquake is not determined, a plurality of marks may be placed on the long object at intervals. Furthermore, the mark may be, for example, a light-reflecting member fixed to a reference point on the long object, or a paint such as fluorescent paint applied to the reference point on the long object. According to this configuration, measurement of the displacement of the reference location and image processing can be performed much more easily.

Further, the first case is defined as a case where the local attenuation rate, which can be a measure of attenuation in a portion of 10% or less of the two-dimensional waveforms 80a, 80b, is less than or equal to the first threshold, and the second case where the local attenuation rate is greater than the first threshold is defined as the first case. The second case is when the local attenuation rate is greater than the threshold, and the third case is when the local attenuation rate is larger than the first threshold and less than the second threshold. In moving the car 11, the maximum speed of the car 11 in the first case is set higher than the maximum speed of the car 11 in the second case, and the maximum speed of the car 11 in the second case is set to be higher than the maximum speed of the car 11 in the second case. The maximum speed of the car 11 may be higher than the maximum speed of the car 11 in this case. The above-mentioned first movement of the car 11 is the movement of the car 11 from when the car 11 first starts moving until it stops after the car 11 stops due to the occurrence of an earthquake.

If a long object is caught, it is better to move the car 11 at a low speed during the automatic diagnostic operation to automatically diagnose whether there is a problem with the elevator 10 after an earthquake. is less likely to be damaged.

According to this configuration, the maximum speed of the first movement of the basket 11 is controlled in three stages depending on the degree (large or small) of the possibility that a long object will be caught. Therefore, it is possible to effectively suppress the possibility of damage caused by long objects being caught in the automatic diagnostic operation for automatically diagnosing whether or not there is a problem with the elevator 10 after an earthquake.

In addition, the local attenuation rate is [(the amount of deflection of the

attenuation peaks

81a, 81b that are later in time among the two

adjacent attenuation peaks

81a, 81b)/(the amount of deflection of the

attenuation peaks

81a, 81b that are later in time among the two

adjacent attenuation peaks

81a, 81b) may be a value based on the smallest value among the deviation amounts of the

previous attenuation peaks

81a and 81b). Here, the value based on the minimum value includes, for example, the minimum value itself, a constant multiple of the minimum value, and the like.

According to this configuration, the local attenuation of the two-dimensional waveforms 80a and 80b can be evaluated objectively and accurately. Note that the local damping rate may be a value based on the maximum value of [the value obtained by subtracting the deflection amount of the minimum damping peak from the deflection amount of the maximum damping peak] during a predetermined period of time. Also, the local attenuation of the two-dimensional waveforms 80a and 60b can be evaluated objectively and accurately. Note that the value based on the maximum value includes, for example, the maximum value itself, a constant multiple of the maximum value, and the like. Further, the predetermined time is 10% or less of the entire time of the two-dimensional waveform.

Further, the photographing device 43 includes an upper photographing device 45 for photographing the upper region and a lower photographing device 46 for photographing the lower region, and after the car 11 has stopped, the upper photographing device 45 and the lower photographing device 46 are Photographing may be performed using only the photographing device that can photograph an area having a large length in the height direction.

According to this configuration, it is easy to photograph a portion of a long object where the shake is large, and it is easy to accurately determine whether the long object is caught. Note that the photographing device only needs to be able to photograph at least one of the upper region and the lower region, and the photographing device may be composed of only the upper photographing device 45 or only the lower photographing device 46. Here, if the lower photographing device 46 is installed below the cage 11 in order to ensure the safety of the maintenance workers working in the pit, if the photographing is performed only with the lower photographing device 46, The lower photographing device 46 for the safety of maintenance workers can be used to determine whether a long object is caught, and it is possible to determine whether a long object is caught without making new equipment investment. However, in this case, it is preferable that the floor of the car 11 to be stopped after an earthquake is a floor higher than the center of the movement range of the car 11 in the height direction.

Note that the present disclosure is not limited to the above-described embodiments and modifications thereof, and various improvements and changes can be made within the scope of the claims of the present application and their equivalents.

For example, in the above embodiment, the possibility of getting caught on a long object is evaluated in three stages using the local attenuation rate, but the possibility of getting caught on a long object is evaluated in two stages using the local attenuation rate. Good too. For example, if the local attenuation rate, which can be a measure of attenuation in a portion of 10% or less of the two-dimensional waveforms 80a, 80b, is equal to or less than a first threshold value, it is determined that there is no catch of a corresponding long object, and the local attenuation rate It may be determined that the corresponding elongated object is caught when is larger than the first threshold value.

In addition, the local attenuation rate was defined as a rate that can serve as a measure of attenuation in a portion of 10% or less of the two-dimensional waveforms 80a, 80b. However, if the local attenuation rate is a rate that can serve as a measure of attenuation in a portion of 5% or less of the two-dimensional waveforms 80a, 80b, it is easier to more accurately determine whether a long object is caught.

Furthermore, although the catching of a long object was determined using the local attenuation rate, the determination may be made without using the local attenuation rate. For example, the elevator may include a storage unit that stores a plurality of reference two-dimensional waveforms in advance. For at least one elongated object, whether or not the elongated object is caught may be determined based on one of the plurality of reference two-dimensional waveforms and the corresponding two-dimensional waveform.

In detail, multiple standard two-dimensional waveforms (no long objects caught (reference two-dimensional waveform) may be created in advance for each landing on each floor and stored in advance in the storage unit of the elevator. Then, one standard two-dimensional waveform is selected from a plurality of standard two-dimensional waveforms based on the landing area of the car that stopped when an earthquake actually occurred and the type of earthquake identified based on information detected by the earthquake sensor. It is also possible to determine whether a long object is caught by selecting a dimensional waveform and comparing the selected reference two-dimensional waveform with a two-dimensional waveform based on photography. Here, the comparison may be performed, for example, by comparing the time it takes for the attenuation rate of the two-dimensional waveform to reach a predetermined value (for example, 10%), the average amplitude of the two-dimensional waveform, or the like. Even in this case, it is easy to accurately judge whether a long object is caught.

Alternatively, the imaging device photographs a plurality of different long objects, generates a two-dimensional waveform for each long object, and generates a plurality of two-dimensional waveforms based on the plurality of mutually different two-dimensional waveforms generated for the plurality of long objects. It may be determined whether one or more of the long objects are caught.

If it is not caused by being caught on multiple long objects, multiple long objects may exhibit similar swing behavior in relation to the same earthquake. Therefore, it may be possible to determine whether a long object is caught, and whose behavior is significantly different from that of other long objects and whose swinging behavior is unique. For example, if the time period in which the amplitude decreases to the maximum is different for only one elongated object than for other elongated objects, it may be determined that that one elongated object is caught in hoistway equipment. . According to this configuration, a plurality of mutually different two-dimensional waveforms generated for a plurality of elongated objects are generated. Therefore, it may be possible to determine whether a long object is caught and exhibits unusual swinging behavior.

Furthermore, when a curve that smoothly connects the attenuation peaks is defined as a convergence curve 90 (see FIG. 4), it is also possible to determine whether a long object is caught on the basis of the convergence curve 90. For example, if there is a portion where the slope of the convergence curve 90 per unit time is larger than a threshold value, it may be determined that a long object is caught.

Further, the photographing device photographs at least a part of the at least one elongated object after the movement has stopped, and regarding the at least one elongated object, based on the image of at least a part of the elongated object that has stopped moving. It may also be possible to determine if a long object is caught.

An image taken by the photographing device of at least a portion of at least one long object in which the car is stopped at each landing floor and is not caught may be stored in advance in the storage unit of the elevator. . In this case, after the car is stopped at one of the landings after the earthquake, the photographing device is used to photograph at least a portion of at least one long object that has stopped moving after the earthquake, and the photographed image is transferred to the corresponding landing. By comparing the image with an image in which no object is caught, it is possible to accurately and much more easily determine whether or not at least one elongated object is caught. In this case as well, the two images may be compared at a marked location on the long object, and in this case, it is possible to instantly and accurately determine whether or not the long object is caught.

10 Elevator, 11 Car, 12 Hoisting machine, 12a Hoisting machine motor, 13 Counterweight, 14 Wire rope, 15 Car call button, 16 Destination floor designation button, 17 Landing detection sensor, 17a Vane, 17b detector, 18 Control device, 19 Hoistway, 22 Landing, 25 Encoder, 28 Car lifting mechanism, 30 Machine room, 31 Landing door, 32 Car door, 39 Car door opening/closing motor, 40 Lighting device, 41 Upper lighting device, 42 Lower side Lighting device, 43 Photographing device, 45 Upper photographing device, 46 Lower photographing device, 47 Earthquake detector, 60 Control section, 60a Earthquake determination section, 60b Car stop floor identification section, 60c Hoisting machine motor control section, 60d Car door Opening/closing motor control unit, 60e Imaging device control unit, 60f reference position identification unit, 60g two-dimensional waveform generation unit, 60h attenuation peak calculation unit, 60i local attenuation rate calculation unit, 60j threshold comparison unit, 61 storage unit, 80a, 80b Two-dimensional waveform, 81a, 81b attenuation peak, 90 convergence curve.

Claims

A basket and
a lifting mechanism for lifting and lowering the basket;
a photographing device attached to the basket and capable of photographing at least one of an upper region located above the basket and a lower region located below the basket;
a lighting device that is attached to the basket and irradiates light to at least a portion of the upper region and the lower region;
Equipped with an earthquake sensor capable of detecting earthquakes,
When the earthquake sensor detects an earthquake, the basket stops, and after the basket stops, the photographing device photographs at least a portion of at least one elongated object;
An elevator that determines whether the at least one elongated object is caught based on at least some of the images taken by the imaging device.
With respect to the at least one elongated object, a two-dimensional waveform defined by time and a deflection amount in one direction of a reference point of the elongated object is generated based on the image;
The elevator according to claim 1, wherein, regarding the at least one elongated object, whether or not the elongated object is caught is determined based on the two-dimensional waveform.
determining whether the at least one elongated object is caught based on a plurality of attenuation peaks that can be confirmed in the two-dimensional waveform;
The attenuation peak is a maximum point of the deflection in the two-dimensional waveform, and is a maximum point where there is no maximum point of the deflection amount greater than the attenuation peak at a time after the time when the attenuation peak occurs. The elevator according to claim 2.
The elevator according to claim 2 or 3, wherein the reference location includes a location closest to the center of the image of the at least one elongated object.
The elevator according to claim 2 or 3, wherein the reference location includes a location of the elongated object where the shake is largest in the image.
The elevator according to claim 2 or 3, wherein the reference location is a location marked on the long object.
Equipped with a storage unit that stores a plurality of reference two-dimensional waveforms in advance,
The elevator according to claim 2 or 3, wherein, regarding the at least one elongated object, whether or not the elongated object is caught is determined based on one of the plurality of reference two-dimensional waveforms and the two-dimensional waveform.
The photographing device photographs a plurality of different elongated objects, generates the two-dimensional waveform for each elongated object, and generates the two-dimensional waveforms generated for the plurality of elongated objects. The elevator according to claim 2 or 3, wherein the elevator determines whether one or more of the plurality of elongated objects is caught, based on the above.
It is determined that the elongated object is not caught when a local attenuation rate that can be a measure of attenuation in a portion of 10% or less of the two-dimensional waveform is less than a first threshold value, and the local attenuation rate is determined to be a first threshold value. The elevator according to claim 2, wherein the elevator determines that the elongated object is caught if the elongated object is larger.
The first case is a case where the local attenuation rate, which can be a measure of attenuation in a portion of 10% or less of the two-dimensional waveform, is less than or equal to a first threshold, and the local attenuation rate is greater than or equal to a second threshold that is greater than the first threshold. The second case is the case, and the third case is the case where the local attenuation rate is larger than the first threshold and less than the second threshold. In the first movement of the car, the maximum speed of the car in the first case is greater than the maximum speed of the car in the second case, and further, the maximum speed of the car in the second case is The elevator according to claim 2, wherein: is greater than the maximum speed of the car in the third case.
Identifying multiple attenuation peaks that can be confirmed in the two-dimensional waveform,
Each of the attenuation peaks is a maximum point of the shake in the two-dimensional waveform, and a maximum point where there is no maximum point of the shake amount greater than the attenuation peak at a time after the time when the attenuation peak occurs. and
The local attenuation rate is [(the amount of deflection of the attenuation peak that is later in time among the two adjacent attenuation peaks)/(the amount of deflection of the attenuation peak that is earlier in time among the two adjacent attenuation peaks) 11. The elevator according to claim 9 or 10, wherein the value is based on the smallest value among the following: (amount of vibration)].
The local damping rate is a value based on the maximum value of [a value obtained by subtracting the minimum deflection amount of the attenuation peak from the maximum deflection amount of the attenuation peak during a predetermined period of time], and is a maximum point of the shake in the two-dimensional waveform, and is a maximum point where there is no maximum point of the shake amount greater than the attenuation peak at a time after the time when the attenuation peak occurs. The elevator according to item 9 or 10.
The photographing device includes an upper photographing device that photographs the upper region, and a lower photographing device that photographs the lower region,
According to claim 1 or 2, after the car has stopped, photography is performed only with the one of the upper photography device and the lower photography device that can photograph an area having a larger length in the height direction. elevator.
the photographing device photographs at least a portion of the at least one elongated object after it stops moving;
The elevator according to claim 1, wherein, regarding the at least one elongated object, whether or not the elongated object is caught is determined based on an image of at least a portion of the elongated object that has stopped moving.