CN109956375B - Elevator control device and elevator control method - Google Patents
Elevator control device and elevator control method Download PDFInfo
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- CN109956375B CN109956375B CN201811180774.1A CN201811180774A CN109956375B CN 109956375 B CN109956375 B CN 109956375B CN 201811180774 A CN201811180774 A CN 201811180774A CN 109956375 B CN109956375 B CN 109956375B
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- car
- elevator
- absolute
- pulse generator
- elevator car
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/02—Control systems without regulation, i.e. without retroactive action
- B66B1/06—Control systems without regulation, i.e. without retroactive action electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3415—Control system configuration and the data transmission or communication within the control system
- B66B1/3423—Control system configuration, i.e. lay-out
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/36—Means for stopping the cars, cages, or skips at predetermined levels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/36—Means for stopping the cars, cages, or skips at predetermined levels
- B66B1/40—Means for stopping the cars, cages, or skips at predetermined levels and for correct levelling at landings
Abstract
The invention provides an elevator control device which can control the stop position of an elevator car with high precision without arranging a position detection plate. The elevator control device is provided with: a car position calculation unit which is provided in a motor for driving an elevator car of an elevator and calculates the position of the elevator car based on a signal from a pulse generator for detecting the rotational speed of the motor; a car absolute position calculation unit that calculates an absolute position of the elevator car based on position information from a position detection device different from a pulse generator capable of detecting a position of the elevator car and correction points indicating a plurality of absolute positions set in advance; and a car position correcting unit that corrects the position calculated by the car position calculating unit based on the absolute position calculated by the car absolute position calculating unit in units of absolute positions of correction points.
Description
Technical Field
The present invention relates to an elevator control device and an elevator control method, and is preferably applied to an elevator control device and an elevator control method for calculating a position of an elevator car based on a signal from a pulse generator for detecting a rotation speed of a motor, for example.
Background
A pulse generator for detecting the rotation speed of a motor is provided in the motor for driving an elevator car of an elevator. The position and speed of the elevator car are indirectly detected from the pulse generator, and speed control is performed. In addition, a position detection plate is provided at a stop floor and other arbitrary positions in the hoistway, and the position detected by the pulse generator is corrected every time the position detection plate passes a position detection plate detector provided in the elevator car.
In recent years, a technique of detecting a stop position of an elevator car by a pulse generator provided in a governor (speed governor) has been disclosed (see patent document 1). When a position detection plate is detected during running, the position detected by a pulse generator of the regulator is corrected, thereby reducing the parking error.
Documents of the prior art
Patent document 1: international publication No. 2017/103968
Since the position detection plate necessary for correcting the position detected by the pulse generator is provided on each floor, the more the height of the building is, the more the number of steps required for providing the position detection plate increases. Further, when the building contracts with time, an error occurs in the initial measurement value of the position detection plate, and there is a possibility that the position detected by the pulse generator is corrected by mistake.
Disclosure of Invention
The present invention has been made in view of the above points, and it is desirable to provide an elevator control device and the like capable of controlling a stop position of an elevator car with high accuracy without providing a position detection plate.
In order to solve the above problem, an elevator control device according to the present invention includes: a car position calculation unit that is provided in a motor that drives an elevator car of an elevator, and that calculates a position of the elevator car based on a signal from a pulse generator that detects a rotation speed of the motor; a car absolute position calculation unit that calculates an absolute position of the elevator car based on position information from a position detection device different from the pulse generator capable of detecting the position of the elevator car and correction points indicating a plurality of absolute positions set in advance; and a car position correction unit that corrects the position calculated by the car position calculation unit based on the absolute position calculated by the car absolute position calculation unit, in units of absolute positions of correction points.
Further, an elevator control method according to the present invention includes: a first step of providing a car position calculation unit to a motor that drives an elevator car of an elevator, and calculating a position of the elevator car based on a signal from a pulse generator that detects a rotation speed of the motor; a second step in which a car absolute position calculation unit calculates an absolute position of the elevator car based on position information from a position detection device different from the pulse generator capable of detecting the position of the elevator car and correction points indicating a plurality of absolute positions set in advance; and a third step in which the car position correction unit corrects the position calculated by the car position calculation unit on the basis of the absolute position calculated by the car absolute position calculation unit in units of absolute positions of correction points.
According to the above configuration, the position of the pulse generator can be corrected in units of correction points.
Effects of the invention
According to the present invention, the parking position can be controlled with high accuracy.
Drawings
Fig. 1 is a diagram showing an example of the overall structure of an elevator according to the first embodiment.
Fig. 2 is a diagram showing an example of the corrected position data according to the first embodiment.
Fig. 3 is a diagram showing an example of a processing procedure relating to the correction processing in the first embodiment.
Fig. 4 is a diagram showing an example of the overall structure of an elevator according to the second embodiment.
Fig. 5 is a diagram showing an example of a processing procedure relating to the correction processing in the second embodiment.
Description of reference numerals:
1: an elevator car; 2: adjusting the sling; 3: a regulator; 4: a pulse generator for adjustment; 5: a main sling; 6: an electric motor; 7: a pulse generator; 8: a counterweight; 9: a lifting channel; 10: an elevator control device; 11: a car position calculation unit; 12: an absolute car position calculation unit; 13: a car position correction unit; 14: a position detector abnormality determination unit; 15: a car speed control part.
Detailed Description
Hereinafter, one embodiment of the present invention will be described in detail with reference to the drawings.
(1) First embodiment
Fig. 1 shows an example of the overall structure of an elevator according to a first embodiment.
As shown in fig. 1, in the elevator of the present embodiment, an elevator car 1 of the elevator is connected to one end of a main rope 5, a counterweight 8 is connected to the other end of the main rope 5, and the main rope 5 is wound around a motor 6. The elevator car 1 is raised and lowered in the hoistway 9 by driving the motor 6.
The ascending and descending of the elevator car 1 caused by the rotation of the motor 6 are controlled by an elevator control device 10.
The elevator control device 10 is a control device including storage devices such as a cpu (central Processing unit), a rom (read Only memory), a ram (random Access memory), and an hdd (hard disk drive), which are not shown in the drawings. For example, the CPU realizes the functions of the elevator control device 10 (the car position calculating unit 11, the car absolute position calculating unit 12, the car position correcting unit 13, the position detector abnormality determining unit 14, the car speed control unit 15, and the like) by expanding and executing a program stored in the ROM in the RAM. It should be noted that an asic (applied Specific Integrated circuit) may be used instead of the CPU.
The motor 6 is provided with a pulse generator 7 that outputs a pulse (detects the rotational speed of the motor 6) synchronized with the rotation of the motor 6. The pulse generated by the pulse generator 7 is input to the car position calculating unit 11. The car position calculation unit 11 counts the number of pulses output from the pulse generator 7, calculates the position of the elevator car 1 (car position data), and notifies the car speed control unit 15 of the car position data. The car speed control section 15 gives a speed command to the motor 6 using the car position data.
Here, the car position calculating unit 11 is configured to add the pulse number at the time of ascent and subtract the pulse number at the time of descent, and for example, when the elevator car 1 starts with the lowermost floor as a reference value (0mm, 0 pulse), the pulse number becomes the reference value (0mm, 0 pulse) in principle when the elevator car 1 ascends and descends and returns to the lowermost floor. However, for example, when a slip occurs between the main hoist rope 5 and the motor 6 (when the main hoist rope 5 does not move although the motor 6 rotates), when the elevator car 1 moves up and down and returns to the lowermost floor, the current value (0mm, 2 pulses, etc.) becomes the current value, and the position calculated by the car position calculating unit 11 becomes incorrect. In contrast, in the present embodiment, as will be described later, the position detected by the pulse generator 7 is corrected in units of correction points.
More specifically, the adjusting rope 2 is connected to the elevator car 1, and the adjusting rope 2 is wound around the adjuster 3. The governor 3 is provided with a governor pulse generator 4 that outputs a pulse (detects the rotational speed of the governor) synchronized with the movement of the governor rope 2 (the rotation of the governor). Since the elevator car 1 is connected to the adjusting rope 2, the pulse output from the pulse generator 4 for the adjuster is a pulse synchronized with the raising and lowering of the elevator car 1.
Here, in the case of using the pulse generator 4 for the adjuster, a sling having a small expansion and contraction amount and a small slip between the sling 2 and the adjuster 3 is used as the adjusting sling 2 so as to reduce the measurement error as much as possible.
The pulses output from the regulator pulse generator 4 are input to the car absolute position calculating unit 12. The car absolute position calculation unit 12 determines a correction point based on the correction position data 16 shown in fig. 2, and calculates the absolute position of the elevator car 1.
Here, the corrected position data 16 is data indicating the position of the corrected point, and is stored in the storage device of the elevator control device 10. The correction point can be set arbitrarily. For example, the correction points may be provided at a fixed distance from each floor, at predetermined intervals (8m, 4m, etc.), or at other positions.
For example, the car absolute position calculating unit 12 counts the number of pulses of the regulator pulse generator 4, and determines that the position corresponding to the counted number of pulses is the movement distance "X1"in the case of the car position correction unit 13, the notification indicates the movement distance" X1"signal (corrected position information).
The corrected position information calculated by the car absolute position calculating unit 12 is input to the car position correcting unit 13. The car position correction unit 13 corrects the position detected by the car position calculation unit 11 based on the corrected position information. With the above configuration, the car speed control unit 15 can receive the corrected car position data from the car position calculation unit 11 and can issue a speed command to the motor 6 based on the corrected car position data.
The position detected by the pulse generator 7 and the position detected by the regulator pulse generator 4 are input to the position detector abnormality determination unit 14. When the position detector abnormality determination unit 14 obtains the difference between the two and determines that the difference exceeds the abnormality determination value (abnormality (warning) is detected), it instructs the car position correction unit 13 not to perform correction thereafter.
The correction processing executed by the elevator control device 10 will be described with reference to fig. 3.
First, the car absolute position calculating unit 12 determines whether or not the position corresponding to the number of pulses of the regulator pulse generator 4 is a correction point (step S11). When the car absolute position calculating unit 12 determines that the correction point is present, it notifies the car position correcting unit 13 of the corrected position information, and the process proceeds to step S12, and when it determines that the correction point is not present, the process returns to step S11.
In step S12, the car position correction unit 13 corrects the position detected by using the pulse generator 7. More specifically, the car position correction unit 13 corrects a pulse number counter (counter value) for counting the number of pulses output from the pulse generator 7 based on the corrected position information. For example, the car position correction unit 13 receives the position X indicating the correction point1In the case of correcting the position information, the position X of the correction point is compared with the position X of the correction point1The corresponding number of pulses is set in the pulse number counter.
Next, the position detector abnormality determination unit 14 determines whether or not the difference between the position detected by the pulse generator 7 and the position detected by the regulator pulse generator 4 exceeds a preset abnormality determination value (step S13). The position detector abnormality determination unit 14 moves the process to step S14 when determining that the abnormality determination value is exceeded, and moves the process to step S11 when determining that the abnormality determination value is not exceeded.
In step S14, the position detector abnormality determination unit 14 instructs the car position correction unit 13 not to correct the position detected by the pulse generator 7.
In the above-described embodiment, the case where the pulse generator 4 for the regulator attached to the regulator 3 is used as the position detection device (method) for detecting the absolute position of the elevator car 1 has been described as an example, but the method for detecting the absolute position of the elevator car 1 is not limited to this.
For example, the following method may be employed: in order to be able to continuously detect the absolute position of the elevator car 1, a magnetic tape is stuck in the hoistway 9 from the lowermost floor to the uppermost floor, and is read by a detector provided in the elevator car 1.
For example, a method may be employed in which a barcode is attached to the hoistway 9 and the barcode is read by a detector provided in the elevator car 1.
For example, a method may be employed in which an imaging device is provided in the elevator car 1, and an absolute position is detected by analyzing an image captured by the imaging device.
In the above configuration, the position detected using the pulse generator 7 is corrected based on the absolute position detected using the position detection device different from the pulse generator 7 in units of correction points, so that the stopping position control of the elevator car 1 can be performed with high accuracy without providing a position detection plate.
(2) Second embodiment
Fig. 4 shows an example of the overall structure of an elevator according to the second embodiment.
In the present embodiment, when the error of the regulator pulse generator 4 cannot be ignored, the reference position detection device 21 for eliminating the error is attached to an arbitrary position such as an end floor. For example, the regulator is judged by a test at the time of product shipment with no error by the pulse generator 4. In this embodiment, a configuration different from that of the first embodiment will be mainly described.
The elevator control device 10 includes a reference position correction unit 22. When there is no call for an elevator for a certain period of time, the reference position correction unit 22 performs a process of correcting the position by automatically moving the elevator car 1 toward the reference position detection device 21. For example, when the elevator car 1 contacts the reference position detection device 21, the reference position correction unit 22 sets the pulse number counter of the car absolute position calculation unit 12 to a value (for example, 0 pulse) corresponding to the reference position (for example, 0 mm).
When the reference position correction unit 22 determines again that the abnormality determination value is exceeded within a predetermined time after correction based on the reference position, it performs processing for issuing an abnormality alarm and stopping the operation of the elevator car 1.
Fig. 5 is a diagram showing an example of a processing procedure relating to the correction processing in the present embodiment. The processing of steps S11 to S13 is the same as that described in the first embodiment, and therefore, the description thereof is omitted.
In step S21, the reference position correction unit 22 determines whether or not a fixed time has elapsed since the previous correction. The reference position correcting unit 22 moves the process to step S22 when determining that the predetermined time has elapsed, and moves the process to step S23 when determining that the predetermined time has not elapsed.
In step S22, the reference position correction unit 22 turns on the reference position correction flag, and the process proceeds to step S11. The reference position correction flag indicates whether or not correction using the reference position is necessary by detecting an abnormality. When the reference position correction flag is on, as will be described later, after all the passengers in the elevator car 1 leave the car, correction is performed based on the reference position without delay.
In step S23, the reference position correction unit 22 performs control for issuing an abnormality alarm and stopping the operation of the elevator car 1.
In step S24, the reference position correction unit 22 determines whether or not the reference position correction flag is on. The reference position correcting unit 22 moves the process to step S25 when determining that the reference position correction flag is on, and moves the process to step S28 when determining that the reference position correction flag is off.
In step S25, the reference position correction unit 22 determines whether or not there is a passenger in the elevator car 1. The reference position correcting unit 22 moves the process to step S11 when determining that there is a passenger in the elevator car 1, and moves the process to step S26 when determining that there is no passenger in the elevator car 1.
In step S26, the reference position correction unit 22 turns off the reference position correction flag, and the process proceeds to step S27.
In step S27, the reference position correction unit 22 performs correction based on the reference position. More specifically, the reference position correcting unit 22 controls the elevator car 1 to face the reference position detecting device 21, and when receiving a signal indicating that the reference position detecting device 21 comes into contact with the elevator car 1, sets the pulse number counter of the car absolute position calculating unit 12 to a value corresponding to the reference position.
In step S28, the reference position correction unit 22 determines whether or not there is no elevator call within a certain time. The reference position correcting unit 22 moves the process to step S27 when determining that there is no elevator call, and moves the process to step S11 when determining that there is an elevator call.
According to the above configuration, even when the error of the regulator pulse generator 4 cannot be ignored, the accurate stop position control of the elevator car 1 can be performed by performing the correction based on the reference position.
Further, when it is determined that the difference between the position detected by the pulse generator 7 and the position detected by the regulator pulse generator 4 exceeds the abnormality determination value (abnormality), the stop position control of the elevator car 1 can be performed more appropriately by performing the correction based on the reference position.
Even if it is determined that the difference between the position detected by the pulse generator 7 and the position detected by the regulator pulse generator 4 exceeds the abnormality determination value (abnormality), the correction based on the correction point can be continued when the abnormality is a temporary factor by considering whether or not a predetermined time has elapsed since the previous correction, and therefore the stopping position control of the elevator car 1 can be performed more appropriately.
(3) Other embodiments
In the first and second embodiments described above, the case where the present invention is applied to the elevator control device 10 has been described, but the present invention is not limited thereto, and can be widely applied to various elevator control devices.
In the above-described embodiment, the case where the car position correction unit 13 corrects the pulse number counter for counting the number of pulses output from the pulse generator 7 has been described, but the present invention is not limited to this, and the car position correction unit 13 may notify the data (number of pulses) necessary for correction to the car position calculation unit 11.
In this case, the car position calculating unit 11 may calculate position data reflecting the correction and notify the car speed control unit 15, or may calculate the position data and the corrected position data and notify the car speed control unit 15. When the position data and the corrected position data are notified to the car speed control unit 15, the car speed control unit 15 gives a speed command to the motor 6 in consideration of both the position data and the corrected position data. In this case, the position detector abnormality determination unit 14 may instruct the car speed control unit 15 not to perform correction after the abnormality is detected.
In the above-described embodiment, the case where the reference position correction flag is on and the elevator car 1 automatically travels toward the reference position detection device 21 to perform correction when there is no passenger in the elevator car 1 has been described, but the present invention is not limited to this, and the elevator car 1 may be automatically traveled toward the reference position detection device 21 to perform correction when the entire passengers are separated from the elevator car 1 without providing the reference position correction flag.
In the above-described embodiment, the case where the correction based on the reference position is performed when the error of the regulator pulse generator 4 cannot be ignored has been described, but the present invention is not limited to this, and the correction based on the reference position may be performed regardless of the magnitude of the error of the regulator pulse generator 4.
The above-described configuration may be appropriately modified, replaced, combined, or omitted without departing from the scope of the present invention.
In the above description, information such as programs, tables, and files for realizing the respective functions may be stored in a memory, a hard disk, a storage device such as ssd (solid State drive), or a recording medium such as an IC card, an SD card, or a DVD.
Claims (4)
1. An elevator control device is characterized in that,
the elevator control device is provided with:
a car position calculation unit that is provided in a motor that drives an elevator car of an elevator, and that calculates a position of the elevator car based on a signal from a pulse generator that detects a rotation speed of the motor;
a car absolute position calculation unit that calculates an absolute position of the elevator car based on position information from a regulator pulse generator that outputs a pulse that is different from the pulse generator that can detect the position of the elevator car and that is synchronized with the lifting of the elevator car, and correction points that indicate a plurality of preset absolute positions; and
and a car position correcting unit that corrects the position calculated by the car position calculating unit based on the absolute position calculated by the car absolute position calculating unit, in units of absolute positions of correction points.
2. Elevator control device according to claim 1,
the elevator control device includes a reference position correcting unit that corrects the absolute position calculated by the car absolute position calculating unit based on the reference position of the elevator car based on a signal from a reference position detecting device for detecting a reference position.
3. Elevator control device according to claim 2,
the reference position correcting unit controls the elevator car so as to face the reference position detecting device when it is determined that a difference between the position calculated by the car absolute position calculating unit and the position calculated by the car position calculating unit exceeds an abnormality determination value.
4. A method for controlling an elevator, characterized in that,
the elevator control method includes:
a first step of providing a car position calculation unit to a motor that drives an elevator car of an elevator, and calculating a position of the elevator car based on a signal from a pulse generator that detects a rotation speed of the motor;
a second step in which a car absolute position calculation unit calculates an absolute position of the elevator car based on position information from a regulator pulse generator that outputs a pulse synchronized with the raising and lowering of the elevator car, the pulse generator being different from the pulse generator that can detect the position of the elevator car, and correction points indicating a plurality of absolute positions that are set in advance; and
and a third step of correcting the position calculated by the car position calculating unit based on the absolute position calculated by the car absolute position calculating unit in units of absolute positions of correction points by the car position correcting unit.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2017245851A JP6796053B2 (en) | 2017-12-22 | 2017-12-22 | Elevator control device and elevator control method |
| JP2017-245851 | 2017-12-22 |
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| CN109956375A CN109956375A (en) | 2019-07-02 |
| CN109956375B true CN109956375B (en) | 2021-06-18 |
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| CN201811180774.1A Active CN109956375B (en) | 2017-12-22 | 2018-10-10 | Elevator control device and elevator control method |
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| CN110723604B (en) * | 2019-09-20 | 2022-03-22 | 深圳优地科技有限公司 | Elevator control method and device |
Citations (6)
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| CN1475421A (en) * | 2003-06-24 | 2004-02-18 | 上海三菱电梯有限公司 | Elevator control device |
| CN101121483A (en) * | 2006-08-10 | 2008-02-13 | 东芝电梯株式会社 | Control device of elevator |
| CN102050361A (en) * | 2009-11-10 | 2011-05-11 | 株式会社日立制作所 | Elevator system and control method of elevator system |
| CN102060220A (en) * | 2009-11-18 | 2011-05-18 | 林浩生 | Automatic rescue device for elevator |
| JP2015013731A (en) * | 2013-07-05 | 2015-01-22 | 株式会社日立製作所 | Safety system for elevator |
| WO2017168619A1 (en) * | 2016-03-30 | 2017-10-05 | 株式会社日立製作所 | Elevator system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3958551B2 (en) * | 2001-10-16 | 2007-08-15 | 株式会社日立製作所 | Elevator control method and apparatus |
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- 2017-12-22 JP JP2017245851A patent/JP6796053B2/en active Active
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1475421A (en) * | 2003-06-24 | 2004-02-18 | 上海三菱电梯有限公司 | Elevator control device |
| CN101121483A (en) * | 2006-08-10 | 2008-02-13 | 东芝电梯株式会社 | Control device of elevator |
| CN102050361A (en) * | 2009-11-10 | 2011-05-11 | 株式会社日立制作所 | Elevator system and control method of elevator system |
| CN102060220A (en) * | 2009-11-18 | 2011-05-18 | 林浩生 | Automatic rescue device for elevator |
| JP2015013731A (en) * | 2013-07-05 | 2015-01-22 | 株式会社日立製作所 | Safety system for elevator |
| WO2017168619A1 (en) * | 2016-03-30 | 2017-10-05 | 株式会社日立製作所 | Elevator system |
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| JP2019112172A (en) | 2019-07-11 |
| JP6796053B2 (en) | 2020-12-02 |
| CN109956375A (en) | 2019-07-02 |
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