CN110857204A - Door control device for elevator - Google Patents
Door control device for elevator Download PDFInfo
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- CN110857204A CN110857204A CN201910452879.6A CN201910452879A CN110857204A CN 110857204 A CN110857204 A CN 110857204A CN 201910452879 A CN201910452879 A CN 201910452879A CN 110857204 A CN110857204 A CN 110857204A
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- door
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- time
- speed
- overload
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
- B66B13/24—Safety devices in passenger lifts, not otherwise provided for, for preventing trapping of passengers
- B66B13/26—Safety devices in passenger lifts, not otherwise provided for, for preventing trapping of passengers between closing doors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
- B66B13/02—Door or gate operation
- B66B13/14—Control systems or devices
- B66B13/16—Door or gate locking devices controlled or primarily controlled by condition of cage, e.g. movement or position
- B66B13/18—Door or gate locking devices controlled or primarily controlled by condition of cage, e.g. movement or position without manually-operable devices for completing locking or unlocking of doors
- B66B13/185—Door or gate locking devices controlled or primarily controlled by condition of cage, e.g. movement or position without manually-operable devices for completing locking or unlocking of doors electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
- B66B5/0018—Devices monitoring the operating condition of the elevator system
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Elevator Door Apparatuses (AREA)
- Indicating And Signalling Devices For Elevators (AREA)
- Elevator Control (AREA)
Abstract
Embodiments of the present invention relate to a door control device for an elevator. An overload state caused by the clamping of people or objects is detected with high precision during the opening and closing operation of the door. A door control device (100) for an elevator according to an embodiment is provided with a speed deviation calculation unit (140), an overload detection unit (130), and a motor control unit (110). A speed deviation calculation unit (140) calculates a speed deviation between a target speed and an actual speed during opening and closing operations of a door (2) of a car (1). An overload detection unit (130) detects the overload state of the door (2) on the basis of the amount of change in the speed deviation per unit time. The motor control unit (110) stops the opening/closing operation of the door (2) when detecting an overload state of the door (2).
Description
The application is based on the Japanese patent application No. 2018-156442 (application date: 2018, 8 and 23), and enjoys the priority benefit of the application. This application is incorporated by reference into this application in its entirety.
Technical Field
Embodiments of the present invention relate to a door control device for an elevator.
Background
When the elevator car reaches the elevator taking place at each floor, the car door is clamped with the floor door to perform opening and closing actions. A door motor as a driving source is provided in the car. The car door is driven by the door motor to move in the opening and closing direction, and the landing door moves along with the car door. Hereinafter, the car door is simply referred to as "door" with the movement of the car door as a target.
Here, when a person or an object is caught by the door in the door opening motion, the running resistance of the door increases. When the running resistance exceeds a predetermined value, it is determined that the door is in an overload state, and the door opening operation is stopped.
Disclosure of Invention
Technical problem to be solved by the invention
However, the doors of elevators are prone to local variations in the running resistance depending on the adjustment at the time of installation. Therefore, it is difficult to detect an overload state due to a human or an object being caught or the like in each layer based on the value of the running resistance. This is the same also in the door closing operation.
The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide an elevator door control apparatus capable of accurately detecting an overload state caused by a person or an object being caught or the like in opening and closing operations of a door.
Means for solving the technical problem
The door control device for an elevator according to one embodiment includes a speed deviation calculation unit, an overload detection unit, and a control unit. The speed deviation calculation unit calculates a speed deviation between a target speed and an actual speed during opening and closing operations of the doors of the car. The overload detecting unit detects an overload state of the door based on a variation per unit time of the speed deviation calculated by the speed deviation calculating unit. The control unit stops the opening and closing operation of the door when the overload state of the door is detected by the overload detection unit.
According to the door control device for an elevator having the above-described configuration, an overload state caused by a person or an object being caught or the like can be detected with high accuracy in the opening and closing operation of the door.
Drawings
Fig. 1 is a schematic configuration diagram showing an elevator door mechanism according to a first embodiment.
Fig. 2 is a graph showing a speed curve of the door in the door opening operation in the embodiment.
Fig. 3 is a block diagram showing the configuration of a speed deviation calculation unit provided in the door control device according to this embodiment.
Fig. 4 is a block diagram showing the configuration of an overload detection unit provided in the door control device according to this embodiment.
Fig. 5 is a block diagram showing the configuration of the clamping force calculation unit provided in the overload detection unit.
Fig. 6 is a diagram showing a relationship between a speed curve at a normal time and a motor output in the embodiment.
Fig. 7 is a diagram showing a relationship between a speed curve and a motor output in a case where a load force is generated on the door due to an external factor in the embodiment.
Fig. 8 is a diagram showing the relationship among the motor output, the door operation resistance, the door operation force, and the clamping force in the embodiment.
Fig. 9 is a flowchart showing an overload detection process of the door control device in this embodiment.
Fig. 10 is a diagram for explaining the timing of calculating the impulse value in the present embodiment.
Fig. 11 is a schematic configuration diagram showing an elevator door mechanism according to a second embodiment.
Fig. 12 is a block diagram showing the configuration of an overload detection unit provided in the door control device according to this embodiment.
Detailed Description
The following describes embodiments with reference to the drawings.
(first embodiment)
Fig. 1 is a schematic configuration diagram showing an elevator door mechanism according to a first embodiment.
The door mechanism includes a door 2, a door opening and closing mechanism 20, a motor 10, a speed sensor 11, and a door control device 100.
The door 2 is formed of, for example, one sliding door panel, and is provided openably and closably at an entrance of the car 1 of the elevator. The door 2 is connected to a door opening and closing mechanism 20. The door opening/closing mechanism 20 includes, for example, a plurality of pulleys and a belt wound around the pulleys, and converts the rotational force of the motor 10 into the opening/closing force of the door 2.
The motor 10 is provided above the car 1 and rotates according to an instruction from the door control device 100. The speed sensor 11 is constituted by, for example, a rotary encoder, and detects the rotational speed of the motor 10 and outputs the detected rotational speed to the door control device 100.
The door control device 100 includes a motor control unit 110, a motor drive unit 120, an overload detection unit 130, and a speed deviation calculation unit 140.
When the car 1 arrives at an elevator boarding location at any floor, the motor control unit 110 drives the motor 10 to rotate by the motor drive unit 120, and causes the door 2 to open and close. Arrival of the car 1 is detected by an arrival detection sensor, not shown, provided at the boarding location of each floor.
The door control device 100 drives the motor 10 in a forward direction, and moves the door 2 in the door opening direction at a predetermined speed (target speed) based on an output signal of the speed sensor 11. When the door 2 is closed, the door control device 100 drives the motor 10 to rotate in the reverse direction, and moves the door 2 in the door closing direction based on the output from the speed sensor 11.
Fig. 2 shows a speed profile of the door 2 during the opening movement of the door. The vertical axis represents the moving speed (m/s) of the door 2, and the horizontal axis represents time. The speed curve of the door 2 is divided into three parts of acceleration, constant speed and deceleration. When the arrival of the car 1 is detected, the door 2 moves in the door opening direction at a predetermined speed (a preset target speed) according to the speed profile.
The overload detection unit 130 detects an overload state in which a load equal to or greater than a predetermined value is applied to the door 2 during the door opening operation. The present embodiment is characterized in that the overload detecting unit 130 detects the overload state of the door 2 based on the amount of change per unit time of the speed deviation calculated by the speed deviation calculating unit 140, which will be described later.
The configuration of the overload detection unit 130 and the speed deviation calculation unit 140 included in the door control device 100 will be described in detail.
Fig. 3 is a block diagram showing the configuration of the speed deviation calculation unit 140 provided in the door control device 100.
The speed deviation calculation unit 140 includes a speed command unit 141, a speed calculation unit 142, a comparison unit 143, a speed deviation output unit 144, and a differential calculation unit 145.
When the car 1 arrives, the speed command unit 141 outputs a target speed conforming to the speed curve of the door 2 shown in fig. 2 as a command value. The speed calculation unit 142 calculates an actual moving speed (actual speed) of the door 2 based on the rotation speed of the motor 10 detected by the speed sensor 11. The comparison unit 143 compares the target speed output from the speed command unit 141 with the moving speed output from the speed calculation unit 142 to calculate the speed deviation Δ v.
When the arrival of the car 1 is detected, the speed deviation output section 144 changes the timing of starting the calculation of the speed deviation Δ v within a preset time T (integration time T) at intervals of a predetermined time Δ T, and sets a plurality of start timings. The speed deviation output unit 144 averages a plurality of speed deviations Δ V calculated during a period from each start timing to an elapsed time T (also referred to as an integration time T) to obtain an average speed deviation Δ V.
The average speed deviation Δ V is shown in equation (1). ts is the integration start time. N is the number of measurements, and N is T/Δ T.
The differential calculation unit 145 calculates the change amount α of the average speed deviation Δ V according to equation (2).
α＝ΔV/T……(2)
Fig. 4 is a block diagram showing the configuration of the overload detection unit 130 provided in the door control device 100.
The overload detection unit 130 includes a clamping force calculation unit 131, an impulse calculation unit 132, a comparison unit 133, and a stop signal generation unit 134.
The clamping force calculating section 131 calculates a clamping force applied to a person or object clamped by the door 2. This clamping force corresponds to a load force generated on the door 2 due to some external cause. As shown in fig. 5, the clamping force calculation unit 131 includes a motor output calculation unit 131a, a door operation resistance calculation unit 131b, and a door operation force calculation unit 131c, and calculates the clamping force (load force) as follows.
The motor output calculation section 131a calculates a motor output P1. The motor output P1 is determined by the rotational speed and torque of the motor 10. Here, for ease of understanding, it is assumed that the motor output P1 is entirely transmitted to the door 2. The motor output P1 is a design value and can be expressed by equation (3).
P1＝P2+P3
＝P2+(M×a1)……(3)
P2 is a door operation resistance (a force such as a frictional force that resists the door opening operation of the door 2). P3 is a door operating force (force required for the door opening operation of the door 2). M is the door weight. The door weight M is measured at the time of door installation and stored in a storage unit, not shown. a1 is the acceleration of the door 2.
In a normal state where a person, an object, or the like is not caught by the door 2, the door 2 moves at a predetermined speed according to a speed curve shown in fig. 2. Fig. 1 shows the force relationship among the motor output P1, the door operating resistance P2, and the door operating force P3 at this time by arrows.
The door operating resistance calculating unit 131b obtains a door operating resistance P2 from the motor output P1 at the constant speed. Here, when the door 2 moves at a constant speed, the door operating force P3 becomes 0, and therefore, as shown in equation (4), the motor output P1 and the door operating resistance P2 become the same value. The door operating resistance P2 may be measured in advance when the door 2 is mounted.
P2＝P1……(4)
The door operating force calculating unit 131c calculates the door operating force P3 using equation (5).
P3＝M×a1……(5)
On the other hand, when a load force is generated on the door 2 due to an external factor, the acceleration of the door 2 is reduced as compared with the normal time. The "external cause" mentioned here is a cause that interferes with the opening and closing operation of the door 2, and includes a case where a hand or an object is caught by the door 2.
This is shown in fig. 6 and 7. Fig. 6 is a diagram showing a relationship between a speed curve at a normal time and a motor output. Fig. 7 is a diagram showing a relationship between a speed curve and a motor output in a case where a person or an object is caught by the door 2 (in a case where a load force is generated on the door 2 due to an external factor).
When a load force is generated in the door 2 due to an external factor, the acceleration of the door 2 decreases from a1 to a2, and therefore the door operating force P3 decreases. The door operating force P3 at this time is expressed by equation (6). On the other hand, since the speed feedback control is performed, the motor output P1 rises, and becomes a force including an external factor as shown in fig. 7.
P3＝M×a2
＝M×(a1-α)……(6)
When the acceleration a2 is represented by the change α in the average speed deviation Δ V expressed by the above equation (2), a2 is equal to (a1- α).
The clamping force calculator 131 obtains a clamping force P4 using the motor output P1, the door operating resistance P2, and the door operating force P3. Fig. 8 shows force relationships among the motor output P1, the door operating resistance P2, the door operating force P3, and the clamping force P4 at this time by arrows.
Normally, the door operating force P3 is calculated as the door opening force, but in the present embodiment, the door opening force is calculated by dividing the door operating force P3 and the clamping force P4.
P1 ═ P2+ P3+ P4. Therefore, the clamping force P4 is as shown in equation (7).
P4＝P1-(P2+P3)……(7)
In the above equation (7), the motor output P1 and the door operating resistance P2 are known when the door 2 is opened. The clamping force P4 can be obtained by obtaining the door operating force P3 from the above equation (6).
In most cases, the pain felt by a person with respect to pressure is more correlated with the integral of the force continuously applied for a certain period of time (integral of the clamping force P4) than with the force instantaneously applied. Therefore, in the present embodiment, the overload state of the door 2 is detected using the impulse value of the clamping force P4 for a certain period of time.
In fig. 4, when the arrival of the car 1 is detected, the impulse calculating unit 132 sets a plurality of start timings by changing the timing for starting the calculation of the gripping force P4 within a predetermined time T (integral time T) at intervals of a predetermined time Δ T. Note that the interval between T and Δ T at this time is the same as when the plurality of start timings are set by the speed deviation calculation unit 140.
The impulse calculating unit 132 obtains the total value of the clamping forces P4 calculated from the respective start timings to the elapsed time T as an impulse value pt (k).
The impulse value PT (K) is represented by formula (8). In this case, the total value of the clamping force P4 from time T1 to time (T1+ T) is calculated as an impulse value PT (1), the total value of the clamping force from time T2 to time (T2+ T) is calculated as an impulse value PT (2), and the total value of the clamping force from time T3 to time (T3+ T) is calculated as an impulse value PT (3).
ts is the integration start time. te is integration end time. te-ts ═ Δ T × N ═ T. The time T is set in consideration of the time when the person reacts to pain, the moving speed of the door 2, and the like. For example, the time T is set to be between 10ms and 1 s. Here, a case where T is 100ms and Δ T is 10ms will be described.
The comparison unit 133 compares the impulse value pt (k) of the clamping force P4 calculated by the impulse calculation unit 132 with a preset threshold TH. The threshold TH is set based on the weight, the moving speed, and the like of the door 2, and is stored in advance in a storage unit, not shown.
For example, when the allowable value of the force applied to the human body is 250N and the integration time T is 100ms, the threshold TH is set to "25N · s". When the impulse value pt (k) of the clamping force P4 is equal to or greater than the threshold value TH, the comparing unit 133 determines that the door 2 is in the overload state, and outputs a signal indicating that the door is in the overload state (hereinafter, referred to as an overload state signal) to the stop signal generating unit 134.
Upon receiving the overload state signal from the comparing unit 133, the stop signal generating unit 134 generates a stop signal for stopping the driving of the motor 10 to the motor driving unit 120. The motor driving unit 120 stops the driving of the motor 10 upon receiving the stop signal.
Next, the operation of the present embodiment will be explained.
Fig. 9 is a flowchart showing an overload detection process of the door control device 100.
When the arrival detection sensor (not shown) detects that the car 1 arrives at the registration floor of the call (hall call/car call) (yes in step S11), the door control device 100 executes the following processing.
That is, the door control device 100 (the motor control unit 110) drives the motor 10 by the motor drive unit 120 to move the door 2 of the car 1 in the door opening direction (step S12). At this time, the not-shown landing door moves in the door opening direction together with the door 2. When the door 2 is moved by the driving of the motor 10, the moving speed at that time is detected by the speed sensor 11 and given to the door control device 100 (step S13).
Here, as the initial setting, the door control device 100 sets the counter K to 0 (step S14).
Next, the door control device 100 sets an integration start time ts and an integration end time te for calculating the impulse value of the clamping force P4 within the fixed time T (step S15). The integration start time ts is denoted by ts ═ Δ T × K-T. The integration end time te is represented by te ═ t0+ Δ t × K.
As shown in fig. 10, K is 0 for the first time. Therefore, the arrival detection time T0 is set to te, ts, and te, T0-T, and T0. The second time K is 1, ts is T1-T, te is T1 is T0+ Δ T. The third time K is 2, ts is T2-T, te is T2 is T0+ Δ T × 2. The same applies below.
The speed deviation calculation unit 140 of the door control device 100 calculates the average speed deviation Δ V in the section ts-te using the above equations (1) and (2) and calculates the amount of change α of the average speed deviation Δ V with the driving of the motor 10 (steps S16 and S17).
The overload detector 130 of the door control device 100 calculates the clamping force P4 in the section based on the change amount α of the average speed deviation Δ V calculated by the speed deviation calculator 140 (step S18). in detail, the overload detector 130 obtains the clamping force P4 using the motor output P1, the door operating resistance P2, and the door operating force P3 in the clamping force calculator 131 shown in fig. 4.
Next, the impulse calculating unit 132 calculates an impulse value pt (k) of the clamping force P4 according to the above equation (8) (step S19). In this case, the first time K is 0, ts is T0-T, and the impulse value PT (0) of the clamping force P4 in the section te is T0 is calculated. The second time K is equal to 1, ts is T1-T, and the impulse value PT (1) of the clamping force P4 in the interval te T1T 0+ Δ T is calculated. The third time K is 2, ts is T2-T, and the impulse value PT (2) of the clamping force P4 in the interval te T2T 0+ Δ T × 2 is calculated.
In this way, the impulse values pt (k) of the clamping force P4 for a certain time T are sequentially calculated at intervals of Δ T.
Next, the comparing unit 133 compares the impulse value pt (k) of the clamping force P4 with a predetermined threshold value TH (step S20). As described above, for example, when the allowable value of the force applied to the human body by the facility is 250N and the integration time T is 100ms, the threshold TH is 25N · s.
If the impulse value pt (K) of the clamping force P4 is smaller than the threshold value TH (no in step S20), the overload detector 130 repeats the processing from step S15 while updating the counter K by +1 (step S21). When the end of the door opening operation is detected by a sensor (not shown) (yes in step S22), the process ends here.
On the other hand, when the impulse value pt (k) of the clamping force P4 becomes equal to or greater than the threshold value TH until the door opening operation is completed (yes in step S20), the overload detector 130 determines that the door 2 is in an overload state due to an external factor (step S23).
When the overload state of the door 2 is detected, the door control device 100 stops the driving of the motor 10 by the motor control section 110 (step S24). After the driving of the motor 10 is stopped, the door 2 may be moved in the door closing direction by rotating the motor 10 in the reverse direction.
In this way, according to the first embodiment, the door opening force of the door 2 applied by the driving of the motor 10 is divided into the door operating force P3 and the gripping force P4, and the door operating force P3 is obtained from the change amount α of the average speed deviation Δ V, whereby only the gripping force P4 generated when a person or an object is gripped by the door 2 is accurately calculated, and the overload state can be detected.
In this case, by detecting the overload state using the impulse value pt (k) within a certain period of time instead of the instantaneous value of the clamping force P4, the frequency of stopping the door opening operation by unintentionally determining the overload state can be reduced, and the door opening operation can be reliably stopped in a dangerous state where a person or an object is caught by the door 2.
(second embodiment)
Next, a second embodiment will be explained.
For example, the injury from the door 2 is different between adults and children. In the second embodiment, the threshold TH is configured to be changed according to the characteristics of a person caught by the door 2.
Fig. 11 is a schematic configuration diagram showing an elevator door mechanism according to a second embodiment. Note that the same reference numerals are given to the same portions as those in the configuration of fig. 1 in the first embodiment, and the description thereof is omitted.
A small camera 12 is provided in the car 1 toward the door 2. The camera 12 photographs a person caught by the door 2 and sends the photographed image to the door control device 100. The installation place of the camera 12 may be any place as long as it can photograph a person caught by the door 2.
The door control device 100 includes an image recognition unit 150 in addition to the motor control unit 110, the motor drive unit 120, the overload detection unit 130, and the speed deviation calculation unit 140.
The image recognition unit 150 has a function of recognizing the characteristics of the person pinched by the door 2 from the image captured by the camera 12. Examples of the "human characteristics" include age-related factors such as infants, children, elderly people, and adults. The classification of infants, children, elderly people, and adults is based on an age generally specified by welfare law and the like, for example.
A method of recognizing a person from an image and recognizing an age characteristic and the like from the body shape, the face shape and the like of the person is a known technique, and a detailed description thereof is omitted here.
Fig. 12 is a block diagram showing the configuration of the overload detection unit 130 provided in the door control device 100. Note that the same reference numerals are given to the same portions as those of the structure of fig. 4 in the first embodiment, and the description thereof is omitted.
The overload detection unit 130 includes a threshold setting unit 135 and a storage unit 136 in addition to the clamping force calculation unit 131, the impulse calculation unit 132, the comparison unit 133, and the stop signal generation unit 134.
The threshold setting unit 135 reads an appropriate threshold from the storage unit 136 based on the characteristics of the person recognized by the image recognition unit 150, and sets the threshold to the comparison unit 133.
The storage unit 136 stores a plurality of thresholds set in advance according to the characteristics of a person. Specifically, the storage unit 136 stores a first threshold TH1 set for young children, a second threshold TH2 set for children, a third threshold TH3 set for elderly people, and a fourth threshold TH4 set for adults.
These threshold values TH1 to TH4 are experimentally set in advance to values of force that can be tolerated by infants, children, elderly people, and adults, respectively. In this case, the first threshold TH1 for infants is set to be the lowest, and the fourth threshold TH4 for adults is set to be the highest (TH1 < TH2 < TH3 < TH 4). For example, the first threshold TH1 is 10N · s, the second threshold TH2 is 15N · s, the third threshold TH3 is 20N · s, and the fourth threshold TH4 is 25N · s.
In this configuration, the basic processing flow is the same as the flowchart shown in fig. 9. In the second embodiment, the threshold TH used in step S20 is appropriately changed according to the characteristics of the person caught by the door 2.
That is, when the load ratio with respect to the door 2 is increased as compared to the normal case where the hand of the person is caught by the door 2, the door control device 100 recognizes the age characteristic of the person caught by the door 2 from the image captured by the camera 12. Specifically, the door control device 100 gives the image recognition unit 150 the captured image of the camera 12, and classifies the captured image into age categories of an infant, a child, an adult, and an elderly person according to the body type, the appearance, and the like of the person caught by the door 2.
Here, for example, when the person caught by the door 2 is an infant, the first threshold TH1 for the infant is read from the storage unit 136 shown in fig. 12. The threshold setting unit 135 sets the first threshold TH1 to the comparison unit 133.
Thus, in step S20 of fig. 9, the impulse value pt (k) of the clamping force P4 is compared with the first threshold TH 1. The first threshold TH1 is, for example, 10 ns, which is lower than the fourth threshold TH4 for adults. Therefore, the motor 10 is brought into an overload state earlier than when the adult is caught by the door 2, and the driving of the motor 10 is stopped.
As described above, according to the second embodiment, by changing the threshold TH according to the characteristics of the person caught by the door 2, it is possible to respond to the situation where an infant, child, or the like is caught by the door 2 by stopping the driving of the motor 10 earlier than usual.
In addition to the age classification of infants, children, elderly people, and adults, the gender classification of males and females may be added, and the threshold TH may be set. Further, the sex can be identified by the identification process of the captured image.
The threshold TH may be set more precisely according to the presence or absence of a walking aid such as a wheelchair or a crutch. In addition, the identification of the walking assistance device can be performed by the identification process of the captured image.
In the second embodiment, the threshold TH is changed in accordance with the characteristics of the person caught by the door 2 during the door opening operation, but the threshold TH may be changed in advance in accordance with the characteristics of the person by recognizing the characteristics of the person located near the door 2 from the captured image before the door opening operation is started.
At this time, the integration time T in calculating the average speed deviation Δ V and the impulse value pt (k) may be changed according to the characteristics of the person. For example, if the child is a young child, the driving of the motor 10 can be stopped earlier by setting the integration time T shorter than normal in advance.
(modification 1)
There is a tendency that: the heavier the weight M of the door 2, the greater the inertial force of the door opening operation of the door 2, and the greater the damage to the person. Therefore, by changing the threshold TH or the integration time T for detecting the overload state in accordance with the weight of the door 2, the door opening operation of the door 2 can be stopped before a person is seriously injured.
(modification 2)
There is a tendency that: the faster the door 2 moves, the more harm is done to a person. Therefore, the threshold TH or the integration time T of the overload state can be detected based on the moving speed of the door 2, and the door opening operation of the door 2 can be stopped before a person is seriously injured.
In the first and second embodiments, the case where the door 2 of the car 1 is opened has been described, but the same is true when the door 2 is closed (at the time of door closing), and the description can be made by replacing the opening operation and the closing operation.
According to at least one embodiment described above, it is possible to provide an elevator door control device that detects an overload state due to a person or an object being caught or the like with high accuracy in the opening and closing operation of the door.
Although several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in other various forms, and various omissions, substitutions, and changes can be made without departing from the spirit of the invention. These embodiments and modifications are included in the scope and spirit of the invention, and are included in the scope of the invention described in the claims and the equivalent scope thereof.
Claims (10)
1. A door control device for an elevator, comprising:
a speed deviation calculation unit that calculates a speed deviation between a target speed and an actual speed during opening and closing operations of a door of the car;
an overload detection unit that detects an overload state of the door based on a variation per unit time of the speed deviation calculated by the speed deviation calculation unit; and
and a control unit configured to stop control of opening and closing of the door when the overload state of the door is detected by the overload detection unit.
2. The door control apparatus of an elevator according to claim 1,
the speed deviation calculation unit sets a plurality of start timings by changing the timing at which the calculation of the speed deviation within a preset time period is started at a predetermined time, and calculates the amount of change per unit time of the average value of the plurality of speed deviations calculated during the period from each start timing to the elapse of the time.
3. The door control apparatus of an elevator according to claim 1,
the overload detecting unit obtains the operating force of the door based on a change amount per unit time of the speed deviation, and calculates a load force externally generated on the door based on a relationship between an output of a motor that drives the door and the operating force of the door.
4. The door control apparatus of an elevator according to claim 3,
the overload detection unit determines that the door is in an overload state when the load force is equal to or greater than a predetermined threshold value.
5. The door control apparatus of an elevator according to claim 4,
the overload detection unit sets a plurality of start timings by changing the timing of starting the calculation of the load force within a preset time by a predetermined time, and compares an impulse value obtained by integrating a plurality of load forces obtained during a period from each start timing to the elapse of the time with the threshold value.
6. The door control apparatus of an elevator according to claim 4,
the door control device is provided with an image recognition unit which recognizes the characteristics of a person applying a load to the door from an image captured by a camera provided in the vicinity of the door,
the overload detection unit changes the threshold value according to the characteristic of the person recognized by the image recognition unit.
7. The door control apparatus of an elevator according to claim 5,
the overload detection unit changes the time for accumulating the load force according to the characteristic of the person recognized by the image recognition unit.
8. The door control apparatus of an elevator according to claim 6 or 7,
the characteristics of the human include an age factor.
9. The door control apparatus of an elevator according to claim 4,
the overload detection unit changes the threshold value according to the weight or the moving speed of the door.
10. The door control apparatus of an elevator according to claim 5,
the overload detecting unit changes the time for integrating the load force according to the weight or the moving speed of the door.
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| JP2018-156442 | 2018-08-23 | ||
| JP2018156442A JP6629398B1 (en) | 2018-08-23 | 2018-08-23 | Elevator door control |
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| CN112777462A (en) * | 2021-02-07 | 2021-05-11 | 杭州西奥电梯有限公司 | Control method of door closing resistance self-adaptive elevator door motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115973884A (en) * | 2022-11-23 | 2023-04-18 | 菱王电梯有限公司 | Fault monitoring method and device for elevator door motor and electronic equipment |
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| CN110857204B (en) | 2022-03-18 |
| JP2020029346A (en) | 2020-02-27 |
| JP6629398B1 (en) | 2020-01-15 |
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