JP2017178552A - Elevator device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve the problem in which: conventionally, a door closing end detection switch and a door opening end switch are prepared so as to detect a closed state of a door.SOLUTION: An encoder 5 detects driving of a door motor 4 and outputs an encoder output signal. A door control device 10 measures a door moving distance on the basis of the encoder output signal, has an arithmetic section 12 for outputting door positions of doors 2a and 2b, and controls the driving of the door motor 4 so as to control the operations of the doors 2a and 2b. An elevator control device 9 instructs the operations of the doors 2a and 2b to the door control device 10, causes the door control device 10 to operate the doors 2a and 2b to closed states, and determines the closed states of the doors 2a and 2b on the basis of a door closed state detection signal input from a door closed state detection switch 6. The elevator control device 9 determines the closed states of the doors 2a and 2b on the basis of the door positions input from the arithmetic section 12 when switching to the bypass.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an elevator apparatus.

  Generally, a first switch that is disposed near the door open end of the elevator and detects the fully open position of the door and a second switch that is disposed near the door closed end and detects the fully closed position of the door are the absolute switches of the door. This is a switch for detecting the position, and requires a fine adjustment for installation. In addition, even if each switch is mounted in the normal position during the initial installation of the elevator, if the mounting position, that is, the operating position changes due to secular change, a control error will occur, increasing the door-to-door noise, near the door open end, and the door closed end Speed error occurs.

  For this reason, Patent Document 1 discloses an elevator door control device that can respond quickly and without the need to decelerate the door opening / closing speed in order to cope with an abnormal operation position of the switch due to secular change. .

JP 2009-292577 A

  The door control device described in Patent Document 1 described above is based on the operation from the open end detection switch for detecting the fully open position of the door and the closed end detection switch for detecting the fully closed position of the door. A closed state was detected. A door closed end detection switch is used to detect the door closed state, and an encoder output signal or a motor current is used to detect an abnormal switch operation position. However, if the door closed end detection switch does not operate effectively due to a failure or the like, the door open end position and the door closed end position could not be determined even using the encoder output signal or the motor current. If it was not possible to detect the closed state of the door, the elevator controller could not operate the car.

  The present invention has been made in view of such a situation, and an object thereof is to detect a closed state of a door without depending on the operation of a door closed state detection switch.

The elevator apparatus according to the present invention includes a car, a drive detection unit, a bypass switching unit, a car door control device, and an elevator control device.
The passenger car includes a car door, a door driving unit that opens and closes the car door, and a door closed state detecting unit that detects a closed state of the car door and outputs a door closed state detection signal. The drive detection unit detects the drive of the door drive unit and outputs a drive detection signal. The bypass switching unit switches bypass or non-bypass of the door closed state detection signal input from the door closed state detection unit. The car door control device has a calculation unit that measures the door movement distance of the car door based on the drive detection signal and outputs the door position of the car door, and controls the driving of the door drive unit, thereby Control the behavior. The elevator control device causes the car door control device to operate in a closed state, and determines the closed state of the car door based on a door closed state detection signal input from the door closed state detection unit. Moreover, an elevator control apparatus determines the closed state of a car door based on the door position input from a calculating part, when it switches from a non-bypass to a bypass by a bypass switching part.

According to the present invention, when the door closed state detection signal is bypassed, the closed state of the car door can be determined based on the door position input from the calculation unit. For this reason, it is possible to safely operate the car with the car door closed.
Problems, configurations, and effects other than those described above will be clarified by the following description of embodiments.

It is explanatory drawing which shows the relationship between the installation place of the switch provided in the door, door speed, and a door position. 1 is a schematic configuration diagram of an elevator apparatus according to a first embodiment of the present invention. It is a block diagram which shows the example of an internal structure of the calculating part which concerns on the 1st Example of this invention. It is a flowchart which shows the process example for an elevator control apparatus to detect a door closed state in the state which the door closed state detection switch concerning the 1st Example of this invention became invalid. It is a flowchart which shows the process example in which the calculating part which concerns on the 1st Example of this invention determines the door position of a door. It is explanatory drawing which shows the example of a movement of a door in case the door which concerns on the 2nd Example of this invention is a fully-closed state, and an elevator control apparatus is turned on. It is explanatory drawing which shows the example of a movement of a door in case the door concerning the 2nd Example of this invention is a full open state, and a power supply is turned on to an elevator control apparatus. It is explanatory drawing which shows the example of a movement which closes after opening a door once, when the door which concerns on the 2nd Example of this invention is an intermediate position, and an elevator control apparatus is turned on. It is explanatory drawing which shows the example of the movement which opens after opening a door once, when a door concerning the 2nd Example of this invention is a middle position, and a power supply is turned on to an elevator control apparatus. It is a flowchart which shows the process example in which the calculating part which concerns on the 2nd Example of this invention determines the door position of a door.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments for carrying out the present invention will be described with reference to the accompanying drawings. In the present specification and drawings, components having substantially the same function or configuration are denoted by the same reference numerals, and redundant description is omitted.

<Door control performed by door control device>
Before describing an embodiment of the present invention, a general door movement control method performed by a conventional door control device will be described. The elevator apparatus includes a hold door provided on the hall floor and a car door provided on the passenger car. The “door” which is abbreviated in the following description means a car door.

  In the conventional door control device, the door position is used to create a door speed command to be output to the door motor. When the door control device moves the door at a constant door speed, the deceleration start position is determined by calculating the remaining distance between the current position of the door and the target position (open end or closed end). . For this reason, the door control device uses the door open end position and the door closed end position as absolute positions of the door position, and the door position inside the door open / close end is determined by an encoder pulse output from an encoder connected to the door motor. Estimated. For example, the encoder pulse has an initial value of zero when the door is closed, and the encoder pulse value is accumulated as the door is opened. Therefore, the door control device can calculate the door position based on the cumulative value of the encoder pulse.

  However, the door position calculated by the door control device using the encoder pulse may drift, and an accurate door position may not be indicated. In this case, the conventional door control device performs correction for resetting the door position data to the reference data based on the detection signal from the mechanical switch provided at the door open end position and the door close end position which are absolute positions, and Drift was handled. Further, the door control device performs door opening / closing control by speed control inside the door opening / closing end, and performs various types of failure detection. Further, the door control device performs door holding control by current control with the speed control disabled outside the open / close end. Since the door is stopped, the door control device invalidates some of the failure detection functions and further performs initialization processing such as speed control constants.

Here, the position of each switch provided on the door and the operation example of the door will be described.
FIG. 1 is an explanatory diagram showing the relationship between the location of the switch provided on the door, the door speed, and the door position. This switch is assumed to be provided on the right door as viewed from the front.

  FIG. 1A shows the position of each switch provided in a conventional car. As shown in FIG. 1A, the door position P1 of the fully closed door is called “true closed end”, and the door position P4 of the fully opened door is called “true open end”. The conventional car is provided with a door closing switch that detects the closed state of the door at the door position P2 before the door approaches the true closing end. Similarly, the conventional car is provided with a door open end switch for detecting the open end state of the door at the door position P3 before the door approaches the true open end. As described above, the conventional door is provided with at least two switches for detecting the door position.

Next, the relationship between the door speed and the door position when the conventional door is opened from the fully closed state will be described.
If the door is fully closed, the end of the door (the side on which the left and right doors contact) is at the true closed door position P1. When the door starts to open, the door moves at a slow door speed at the beginning, and the end of the door reaches the door position P2. A space between the door positions P1 and P2 is called a door holding control section.

  Furthermore, when the door opens, the door speed increases and the door moves at a constant speed. At this time, the door position increases. Thereafter, as the door end approaches the door open end switch, the door speed decreases and reaches the door position P3. The space between the door positions P2 to P3 is called a speed control section. In the speed control section, the door moves when the door motor is driven.

Thereafter, the door slowly opens by current control, reaches the door position P4 which is a true open end, and the door is fully opened. The space between the door positions P3 and P4 is called a door holding control section.
Note that the closing operation after the door is fully opened is the reverse of the above-described opening operation.

  FIG. 1B shows the position of the door closed state detection switch 6 (see FIG. 2) provided in the car 20 according to the present embodiment. The door closed state detection switch 6 is provided at the door position P5. The door position P5 is a position slightly shifted to the open end side from the door position P2. In FIG. 1A, the door position P2 provided with the door closing switch is called “virtual door closing”, and the door position P3 provided with the door opening switch is called “virtual door opening”. The virtual door closed end and the virtual door open end are virtual door positions calculated by the calculation unit 12 according to the present embodiment as shown in FIG. A space between the virtual door closed end and the virtual door open end is called a door frontage. The moving distance when the door changes from the fully closed state to the fully open state is substantially equal to the door frontage.

[First Embodiment]
Next, the elevator apparatus 1 which concerns on the 1st Example of this invention is demonstrated.
Unlike the switch provided in the conventional door, the elevator apparatus 1 includes only a door closed state detection switch 6 that detects the closed state of the doors 2a and 2b. As shown in FIG. 1B, the door closed state detection switch 6 is a mechanical switch provided only at the door position P5 where the closed state of the door 2b can be detected. Thus, the elevator apparatus 1 according to the first embodiment does not require a conventional door closing switch or door opening switch. When the door closed state detection switch 6 does not operate normally due to a failure or the like, the door opening / closing control is performed without the door closed state detection switch 6. However, the door speed control itself in the door opening / closing operation is performed as shown in FIG.

FIG. 2 is a schematic configuration diagram of the elevator apparatus 1.
The elevator apparatus 1 includes doors 2a and 2b, pulleys 3a and 3b for driving the doors 2a and 2b, a door motor 4 for driving the pulleys 3a and 3b, an encoder 5 for counting the number of rotations of the door motor 4, and a door closing A state detection switch 6 is provided. The doors 2a and 2b are car doors provided in a car 20 (not shown). The door motor 4 is used as an example of a door drive unit that opens and closes the car doors 2a and 2b, and the encoder 5 detects the rotation (drive) of the door motor 4 and outputs an encoder output signal (an example of a drive detection signal). It is used as an example of a drive detection unit. The door closed state detection switch 6 is used as an example of a door closed state detection unit that detects the closed state of the car doors 2a and 2b and outputs a door closed state detection signal.

  The pulleys 3a and 3b are connected by a belt. Similarly, the door motor 4 and the pulley 3b are connected by a belt. For this reason, when the rotational force of the door motor 4 is transmitted to the pulley 3b, the belt connected to the pulley 3b rotates, so that the rotational force is transmitted to the pulley 3a and the doors 2a and 2b are opened and closed. The encoder 5 is connected to the door motor 4 and outputs an encoder output signal indicating the rotation speed of the door motor 4 to the door control device 10.

  The door closed state detection switch 6 (an example of a door closed state detection unit) is provided near the closed end of the door 2b and detects the fully closed state of the door 2b. At this time, the door closed state detection switch 6 outputs a door closed state detection signal indicating the fully closed state to the elevator control device 9 and the input / output circuit 11a. Since the doors 2a and 2b operate symmetrically, when the right door 2b is closed, the left door 2a is also closed. For this reason, the door closed state detection switch 6 should just exist in any one of the doors 2a and 2b.

The elevator device 1 also includes a mode switch 7, a bypass switch 8, an elevator controller 9, and a door controller 10.
The mode changeover switch 7 is used as an example of a mode changeover unit in which a maintenance person changes the elevator apparatus 1 between a normal mode or a maintenance mode. In the normal mode, a passenger enters the car 20 and the car 20 moves to the destination floor registered by the passenger. In the maintenance mode, since the worker controls the raising / lowering operation of the car 20, the passenger cannot get on the car 20.

  The bypass switch 8 is used as an example of a bypass switching unit that switches bypass or non-bypass of the door closed state detection signal input from the door closed state detection switch 6 in the maintenance mode. In the non-bypass mode, the elevator control device 9 determines the closed state of the doors 2a and 2b with the door closed state detection signal input from the door closed state detection switch 6 being effective. In the bypass, since the door closed state detection signal is short-circuited, the door closed state detection signal is invalid. In this case, the elevator control device 9 determines the closed state of the doors 2a and 2b without using the door closed state detection signal.

  The elevator control device 9 controls the operation of each device in the elevator device 1. Then, the elevator control device 9 instructs the door control device 10 to operate the car doors 2a and 2b. The elevator control device 9 is connected to a door closed state detection switch 6. The elevator control device 9 causes the door control device 10 to operate the car doors 2a and 2b in a closed state, and based on the door closed state detection signal input from the door closed state detection switch 6, the car doors 2a and 2b. Determine the closed state.

  A mode change switch 7 and a bypass switch 8 are connected to the elevator control device 9, and a mode changed by the mode change switch 7 and a bypass designation changed by the bypass switch 8 are input. For this reason, the elevator control device 9 operates the car doors 2a and 2b in a closed state when the door closed state detection signal is bypassed by the bypass switch 8 or is switched to the maintenance mode by the mode switch 7 (described later). See FIG. At this time, the elevator control device 9 determines the closed state of the car doors 2a and 2b based on the door positions of the car doors 2a and 2b input from the calculation unit 12.

  The door control device 10 includes a calculation unit 12 that measures the movement distances (hereinafter referred to as “door movement distances”) of the car doors 2 a and 2 b based on the encoder output signal and outputs the door position to the elevator control device 9. . The door control device 10 controls the operation of the car doors 2a and 2b by controlling the drive of the door motor 4. The door control device 10 includes an input / output unit 11, a calculation unit 12, a memory 13, a memory 14, and a bus 15. The arithmetic unit 12 and the memories 13 and 14 can input / output data to / from each other via the bus 15. The arithmetic unit 12 is configured by, for example, a microcomputer (abbreviated as “microcomputer” in the drawing) such as a CPU (Central Processing Unit).

The memory 13 is a ROM (Read Only Memory), for example, and the memory 14 is a RAM (Random Access Memory), for example, and stores various data. The memories 13 and 14 are used as an example of a storage unit.
Here, the memory 13 stores the door movement distance between the door open end position and the door close end position as door frontage data indicating the door frontage. Normally, data cannot be written to the memory 13 that is a ROM, but in the maintenance mode, the arithmetic unit 12 can write data to the memory 13.
The memory 14 stores the door position when the car doors 2a and 2b are fully opened as door position data indicating the door open end position, and the door position when the car doors 2a and 2b are fully closed. It is stored as door position data indicating the door closed end position. The door open end position indicated by the door position data stored in the memory 14 is a virtual door open end position, and the door closed end position is a virtual door closed end position.

  The input / output unit 11 receives various signals output from the door motor 4, the encoder 5, the elevator control device 9, and the calculation unit 12, and outputs various commands to the door motor 4, the elevator control device 9, and the calculation unit 12. To do. The input / output unit 11 includes an input / output circuit 11a, an encoder output signal input circuit 11b, a motor current detection circuit 11c, and a motor drive device 11d.

  The input / output circuit 11 a passes various commands input from the elevator control device 9 and a door closed state detection signal indicating the fully closed state input from the door closed state detection switch 6 to the calculation unit 12. Further, the input / output circuit 11a outputs various commands input from the calculation unit 12 to the elevator control device 9 or outputs them to the motor drive device 11d.

  The encoder output signal input circuit 11 b outputs an encoder output signal input from the encoder 5 and indicating the rotation speed of the door motor 4 to the calculation unit 12. Thereby, the calculating part 12 monitors the rotation speed of the door motor 4, and gives a suitable motor current command (an example of a drive current command) to the motor drive device 11d.

  The motor current detection circuit 11 c detects a motor current (an example of a drive current) flowing through the door motor 4. The motor current detection circuit 11 c outputs the detected motor current to the calculation unit 12. Thereby, the calculating part 12 can monitor the electric current which flows into the door motor 4, and can give a motor electric current command to the motor drive device 11d.

  The motor drive device 11 d generates a motor drive signal based on the motor current command given from the calculation unit 12, and outputs this motor drive signal to the door motor 4. The door motor 4 is driven by receiving a motor drive signal.

  The arithmetic unit 12 has a door control function for controlling the opening / closing operation of the doors 2a and 2b. When the door closed state detection signal (ON state) of the car door 2b output by the door closed state detection switch 6 is input, the calculation unit 12 can calculate the door speed and the moving distance of the doors 2a and 2b. Is possible. In this calculation, the calculation unit 12 uses the rotation count value of the door motor 4 based on the encoder output signal output from the encoder 5. The computing unit 12 can calculate a torque command such that the door speed follows the speed command value. Then, the calculation unit 12 outputs a motor current command based on the torque command to the motor drive device 11d.

  Thus, the calculating part 12 starts the motor drive device 11d by giving a motor current command to the motor drive device 11d. Then, the motor drive device 11d drives the door motor 4 by outputting a motor drive signal to the door motor 4 in accordance with the motor current command. As a result, the door motor 4 opens and closes the doors 2a and 2b via the pulleys 3a and 3b.

Here, when the door closed state detection switch 6 does not function effectively, or when the power of the elevator control device 9 is once turned off and then turned on again, the elevator control device 9 is the door of the doors 2a and 2b. Since the position is indefinite, the fully closed state of the doors 2a and 2b cannot be detected.
In this case, the elevator control device 9 opens and closes the doors 2a and 2b at a low speed, and the arithmetic unit 12 measures the true open end and the true closed end of the doors 2a and 2b. At this time, the calculation unit 12 detects the true open end and the true closed end by monitoring the torque saturation of the door motor 4 and the door speed. For example, when the doors 2a and 2b reach the open end or the closed end, the door speed becomes zero. Further, if the current control continues even when the doors 2a and 2b reach the open end or the closed end, the torque of the door motor 4 is saturated. For this reason, the calculating part 12 can detect that a door speed became zero and the torque of the door motor 4 was saturated, and can detect a true open end and a true closed end.

  Then, the calculation unit 12 generates door opening data of the door opening determined based on the measured true open end and true closed end, and stores the door opening data in the storage unit 13. Thereafter, the elevator control device 9 can determine the door position based on the door opening data read from the storage unit 13, and therefore detects the positions of the virtual door closed end and the open end based on the encoder pulse.

  Note that the virtual door open end described below is a virtual door position at which the computing unit 12 determines that the doors 2a and 2b are fully open in the doors 2a and 2b that do not have a door open end switch. The virtual door closed end is a virtual door position at which the computing unit 12 determines that the doors 2a and 2b are fully closed in the doors 2a and 2b that do not have the door closed end switch. The virtual door open end and closed end are used by the door control device 10 instead of the open end and closed end detected by the open end and closed end switches installed in the conventional car.

FIG. 3 is a block diagram illustrating an internal configuration example of the calculation unit 12.
The calculation unit 12 includes a speed command calculation unit 12a, a torque command calculation unit 12b, a motor current command calculation unit 12c, a door position calculation unit 12d, a door movement distance calculation unit 12e, and a door speed calculation unit 12f.

The speed command calculation unit 12a calculates a speed command for opening and closing the doors 2a and 2b, and outputs the speed command to the torque command calculation unit 12b.
The torque command calculator 12b calculates a torque command for causing the door speed to follow the speed command based on the speed command input from the speed command calculator 12a and the actual door speed input from the door speed calculator 12f. The torque command is output to the motor current command calculation unit 12c.

The motor current command calculation unit 12c calculates the motor current command of the door motor 4 based on the torque command input from the torque command calculation unit 12b and the motor current returned from the door motor 4, and this motor current command is calculated by the motor. Output to the driving device 11d.
As a result, the motor drive device 11 d that has received the motor current command can output the motor drive signal to the door motor 4 to drive the door motor 4.

  The door position calculation unit 12d calculates the actual door positions of the doors 2a and 2b based on the torque command input from the torque command calculation unit 12b and the door movement distance input from the door movement distance calculation unit 12e. Further, the door position calculation unit 12d corrects the door open position and the door closed position with the door position at the time when the door closed state detection signal is input from the door closed state detection switch 6 as an absolute position. Then, the door movement distance calculation unit 12 e outputs door position data indicating the calculated door position to the elevator control device 9 and stores the door position data in the memory 14. The elevator control device 9 can determine the open / closed state of the doors 2a and 2b based on the door position data input from the door position calculation unit 12d.

The door movement distance calculation unit 12e calculates the door movement distance based on the encoder output signal input from the encoder 5, and outputs the door movement distance to the door position calculation unit 12d.
The door speed calculation unit 12f calculates the door speed of the car doors 2a and 2b based on the encoder output signal input from the encoder 5, and outputs the door speed to the torque command calculation unit 12b.

<Operation example of elevator device>
Next, an operation example of the elevator apparatus 1 will be described.
FIG. 4 is a flowchart showing a processing example for the elevator control device 9 to detect the door closed state in a state where the door closed state detection switch 6 is disabled.

  As shown in FIG. 1 described above, conventionally, as a countermeasure for mechanical switch drift, a correction that resets the door position data to the reference data by the mechanical switch provided at the door open end position and the door close end position, which are absolute positions, is performed. I was going. On the other hand, the elevator control device 9 according to the present embodiment does not include mechanical switches at the door open end position and the door close end position. For this reason, the elevator control device 9 detects the fully closed state of the doors 2a and 2b by the door closed state detection signal output from the mechanical door closed state detection switch 6.

  However, when the door closed state detection switch 6 that detects the closed state of the doors 2a and 2b is turned on or the door closed state detection switch 6 is forcibly turned on due to maintenance or the like, the elevator control device 9 is in the door closed state. The detection signal cannot be received. In this case, the elevator control device 9 cannot detect the door fully closed state by the door closed state detection switch 6.

  Therefore, when the mode changeover switch 7 is in the maintenance mode and the bypass switch 8 is changed to the bypass, the elevator control device 9 uses the door position obtained from the door closed state detection signal and the encoder pulse count value to determine whether the car door It is detected that 2a and 2b are closed. For this reason, the elevator control device 9 determines each mode set by the mode changeover switch 7 and the bypass switch 8 in advance. The determination process will be described below.

  First, the elevator control device 9 determines whether or not the normal mode is switched to the maintenance mode based on the input of the mode switch 7 (S1). If it is not switched to the maintenance mode (NO in S1), since it is the normal mode, the elevator control device 9 uses the input / output unit 11 to the calculation unit 12 to set the door closed state detection switch 6 to detect the door closed state. An instruction to use is given (S4).

  If the mode is switched to the maintenance mode (YES in S1), the elevator control device 9 determines whether or not the mode is switched from non-bypass to bypass based on the input of the bypass switch 8 (S2). If it is non-bypass (NO in S2), the elevator control device 9 instructs the calculation unit 12 through the input / output unit 11 to use the door closed state detection switch 6 to detect the door closed state (S4).

  If it is switched to bypass (YES in S2), the elevator control device 9 instructs the computing unit 12 through the input / output unit 11 not to use the door closed state detection switch 6 to detect the door closed state (S4). ).

  Thereafter, the elevator controller 9 estimates the positions of the door open end position and the door closed end position based on the door position obtained by the calculation unit 12 from the encoder pulse. However, when the door position is not yet determined, for example, immediately before the door opening is measured or immediately after the elevator apparatus 1 is turned on, the elevator control device 9 sets the door open position and the door closed position as the door position. It cannot be estimated.

Here, the conventional door frontage is calculated | required by the integrated value of the encoder pulse between the door open end position by the mechanical switch provided in the door open end position and the door closed end position, and a door closed end position.
However, in the present embodiment, the mechanical switches provided at the door open end position and the door close end position are not used. For this reason, when the measurement of the door opening is incomplete, the elevator control device 9 detects the door opening position and the door closing position by another means in order to measure the door opening, and the integrated value of the encoder pulse during that time It is necessary to measure. Thereafter, the door calculation unit 12 determines the door position. In the following FIG. 5, processing in which the calculation unit 12 detects and determines the door open end position and the door closed end position will be described.

<Virtual door open end, virtual door closed end detection, and door position determination processing>
FIG. 5 is a flowchart illustrating a processing example in which the calculation unit 12 determines the door positions of the doors 2a and 2b. In this process, the calculation unit 12 detects the virtual door open end and closed end positions of the doors 2a and 2b, thereby determining the door positions of the doors 2a and 2b.

  First, the computing unit 12 refers to the memory 13 which is a ROM, and determines whether or not the door opening of the doors 2a and 2b has been measured (S11). When the door opening has been measured (YES in S11), the door opening data is stored in the memory 13. In this case, the calculation unit 12 performs processing for detecting the virtual door open and closed positions of the doors 2a and 2b by the following processing using the door opening data read from the memory 13.

  Next, the door position calculation unit 12d of the calculation unit 12 determines whether the door closed state detection switch 6 is turned on, that is, whether the doors 2a and 2b are closed (S12). When the door closed state detection switch 6 is not turned on (NO in S12), or when the bypass switch 8 is switched to bypass and the door closed state detection signal is treated as invalid, the door control device 10 moves the car door 2a. , 2b is controlled.

  At this time, the car doors 2a and 2b in which the door control device 10 is in the fully closed state are operated in the door opening direction at a door speed lower than the reference speed, and the door speed is zero and the door motor 4 is in a state where the torque is saturated. The position is the door open position. For this reason, the calculating part 12 performs operation control which opens the doors 2a and 2b at low speed (S13). At this time, the motor current command calculation unit 12c sends a motor current command to the motor drive device 11d, and the motor drive device 11d drives the door motor 4.

  Next, the calculation unit 12 determines whether or not the door speed in the opening direction is zero and the torque is saturated (S14). That is, whether or not the door speed is zero is determined based on the door speed calculated by the door speed calculation unit 12f. Whether or not the torque is saturated is determined by the motor current input to the motor current command calculation unit 12c.

  When it is determined that the door speed is not zero or the torque is not saturated, the arithmetic unit 12 returns to step S13 and continues the operation control for opening the doors 2a and 2b at a low speed. On the other hand, when it is determined that the door speed is zero and the torque is saturated, the arithmetic unit 12 detects the door position at this time as a virtual door open end (S15).

  Next, the calculating part 12 performs operation control which closes the doors 2a and 2b at low speed (S16). At this time, the position where the door control device 10 is in the fully open state and the car doors 2a and 2b are operated in the door closing direction at a door speed lower than the reference speed, the door speed becomes zero, and the door motor 4 is detected in a torque saturated state. Is the door closed position.

  Therefore, the calculation unit 12 determines whether the door speed in the closing direction is zero and the torque is saturated (S17). When it is determined that the door speed is not zero or the torque is not saturated, the arithmetic unit 12 returns to step S16 and continues the operation control for closing the doors 2a and 2b at a low speed. On the other hand, when it is determined that the door speed is zero and the torque is saturated, the arithmetic unit 12 detects the door position at this time as a virtual door closed end (S18).

  Even when the doors 2a and 2b are once opened and the virtual door open end is detected, the doors 2a and 2b are closed and the virtual door closed end is detected, so that the door closed state detection switch 6 does not operate. The exact door position can be determined.

  In step S11, when the door opening has not been measured, that is, when the door opening data is not stored in the memory 13 (NO in S11), the calculation unit 12 first performs a process of measuring the door opening.

  For this reason, the calculating part 12 performs the operation control which opens the doors 2a and 2b at low speed (S21), and determines whether the door speed in the opening direction is zero and the torque is saturated (S22). When it is determined that the door speed is not zero or the torque is not saturated, the arithmetic unit 12 returns to step S21 and continues the operation control for opening the doors 2a and 2b at a low speed. On the other hand, when it is determined that the door speed is zero and the torque is saturated, the calculation unit 12 detects the door position at this time as a virtual door open end (S23).

  Next, the calculating part 12 performs operation control which closes the doors 2a and 2b at low speed (S24). Then, the calculation unit 12 determines whether or not the door speed in the closing direction is zero and the torque is saturated (S25). When it is determined that the door speed is not zero or the torque is not saturated, the arithmetic unit 12 returns to step S24 and continues the operation control for closing the doors 2a and 2b at a low speed. On the other hand, when it is determined that the door speed is zero and the torque is saturated, the computing unit 12 detects the door position at this time as a virtual door closed end (S26).

  And the calculating part 12 completes the measurement of a door front based on the detected virtual door open end and closed end position (S27). Next, the calculation unit 12 switches to the rewrite permission mode (S28), stores the door opening data in the memory 13 which is a ROM (S29), and then switches to the rewrite prohibition mode (S30).

  As described above, when the door frontage data is not stored in the memory 13, the calculation unit 12 once opens the doors 2a and 2b to detect the virtual door open end, and then closes the doors 2a and 2b to detect the virtual door closed end. To measure the door frontage.

  After the door closed state detection switch 6 is turned on (YES in S12), when the virtual door closed end is detected in Step S18, or when the mode is switched to the rewrite prohibition mode in Step S30. The door position calculation unit 12d determines the door position (S19). Thereafter, the door control device 10 can control the opening and closing of the doors 2a and 2b at an appropriate door position as usual.

  As described above, the door position by the encoder pulse needs to be corrected at the absolute position to cope with the drift. Therefore, the calculation unit 12 uses the installation position of the mechanical door closed state detection switch 6 as an absolute position, and uses the door closed state detection signal input from the door closed state detection switch 6 to open the door open position and the door closed position. Correct. For example, when the mode switch 7 is switched to the normal mode, or when the bypass switch 8 is switched to non-bypass, the door position calculation unit 12d receives the door closed state input from the door closed state detection switch 6. The door open end position and the door closed end position are corrected based on the detection signal. Thereby, the reliability of the door position calculated by the calculating part 12 can be improved.

  The elevator control device 9 according to the first embodiment described above includes a switch (open end detection switch) that detects a fully open position of a door and a switch (closed end) that detects a fully closed position of the door, which have been essential in the past. No detection switch is required, and only the door closed state detection switch 6 is used. Then, when the door closed state detection signal indicating the fully closed state is input from the door closed state detection switch 6, the fully closed state of the doors 2a and 2b can be determined. If the fully closed state of the doors 2a and 2b can be determined, the elevator control device 9 can raise and lower the car 20 safely.

  Further, the elevator control device 9 is switched to the maintenance mode or the bypass even when the door closed state detection switch 6 is turned on or when the door closed state detection switch 6 is forcibly turned on by maintenance or the like. Thus, the closed state of the doors 2a and 2b can be detected without the door closed state detection signal. For this reason, when the doors 2a and 2b are moved in the maintenance mode, the elevator control device 9 can accurately grasp the door positions of the doors 2a and 2b and detect that the doors 2a and 2b are in the closed state. .

  In FIG. 4, when the maintenance mode (YES in S1) and bypass (YES in S2) are switched, the door closed state detection switch is not used to detect the door closed state (S3). . However, in the maintenance mode, the door closed state detection switch may not be used for detecting the door closed state. Similarly, in the case of bypass, the door closed state detection switch may not be used for detecting the door closed state.

[Second Embodiment]
Next, an elevator apparatus 1 according to a second embodiment of the present invention will be described.
In the above-described first embodiment, the position where the door speed is zero and the torque is saturated is detected as the door open end position and the door closed end position.
On the other hand, the computing unit 12 according to the present embodiment determines the virtual door open end and the virtual door closed end from the doors 2a and 2b manually moved by the worker. At this time, the calculation unit 12 determines the door open end position and the door close end position based on the relationship between the door movement distance based on the count value from the encoder output signal and the door opening determined from the door opening data stored in the memory 13 in advance. For this reason, in this embodiment, it is assumed that door opening data is stored in the memory 13 in advance.

  First, variations of the movement of the doors 2a and 2b will be described with reference to FIGS. The white arrow in the figure represents the transition of the door state, and the solid line arrow represents the moving direction of the doors 2a and 2b.

  FIG. 6 is an explanatory diagram showing an example of movement of the doors 2a and 2b when the elevator controller 9 is powered on with the doors 2a and 2b being fully closed.

  As shown in FIG. 6A, the doors 2a and 2b are fully closed. At this time, since the elevator control device 9 is immediately after the power is turned on, the door position is undetermined. That is, the elevator control device 9 cannot determine whether the doors 2a and 2b are fully closed or whether the doors 2a and 2b are stopped in the middle of closing. Since the doors 2a and 2b in the fully closed state cannot be further closed, an operator must manually operate the doors 2a and 2b in the opening direction.

  For this reason, as shown to FIG. 6B, an operator manually opens the doors 2a and 2b until it becomes a full open state. At this time, the calculating part 12 measures the door movement distance of the doors 2a and 2b. The door moving distance can be measured based on, for example, an encoder output signal output from the encoder output signal input circuit 11b. The door movement distance from the fully closed state to the fully open state coincides with the door frontage. For this reason, the calculating part 12 determines the door position of the doors 2a and 2b which became a full open state as a door open end position.

  FIG. 7 is an explanatory diagram illustrating an example of movement of the doors 2a and 2b when the elevator control device 9 is powered on with the doors 2a and 2b fully opened.

As shown in FIG. 7A, the doors 2a and 2b are fully opened. At this time, since the elevator control device 9 is immediately after the power is turned on, the door position is undetermined. Since the doors 2a and 2b in the fully open state cannot be further opened, the worker must move the doors 2a and 2b in the closing direction.
Therefore, as shown in FIG. 7B, the worker manually closes the doors 2a and 2b until the fully closed state is reached. In this case, the door movement distance matches the door frontage. For this reason, the calculating part 12 determines the door position of the doors 2a and 2b which became the fully closed state as a door closed end position.

  FIG. 8 is an explanatory diagram showing an example of a movement in which the doors 2a and 2b are once opened and then closed when the elevator controller 9 is powered on with the doors 2a and 2b being in the intermediate positions.

  As shown in FIG. 8A, the doors 2a and 2b are stopped at an intermediate position that is neither in the fully open state nor in the fully closed state. Here, as shown in FIG. 8B, the doors 2a and 2b are manually opened until the doors 2a and 2b are fully opened, and even if the doors 2a and 2b move to the open end position, the door moving distance is not the door opening. That is, the door movement distance does not coincide with the door frontage.

  For this reason, the calculation unit 12 is based on the encoder output signal input from the encoder 5 when the car doors 2a and 2b are fully closed after the worker manually opens the car doors 2a and 2b. To calculate the door movement distance. For example, after the doors 2a and 2b are fully opened as shown in FIG. 8B, the doors 2a and 2b are manually closed until they are fully closed as shown in FIG. 8C. In this case, the door movement distance matches the door front based on the door front data stored in the memory 13. For this reason, the calculation unit 12 determines the position where the calculated door movement distance is the door frontage stored in the memory 14 as the door closed position.

  FIG. 9 is an explanatory diagram illustrating an example of movement in which the doors 2a and 2b are opened once after the doors 2a and 2b are in the intermediate position and the elevator control device 9 is powered on.

  As shown in FIG. 9A, the doors 2a and 2b are stopped at an intermediate position. Here, as shown in FIG. 9B, the doors 2a and 2b are manually closed until they are fully closed, and even if the doors 2a and 2b move to the closed end position, the door moving distance is not the door opening. That is, the door movement distance does not coincide with the door frontage.

  For this reason, the arithmetic unit 12 is based on the encoder output signal input from the encoder 5 when the car doors 2a and 2b are fully opened after the worker manually opens the car doors 2a and 2b. To calculate the door movement distance. For example, after the doors 2a and 2b are fully closed as shown in FIG. 9B, the doors 2a and 2b are manually opened until they are fully opened as shown in FIG. 9C. In this case, the door movement distance matches the door front based on the door front data stored in the memory 13. For this reason, the calculating part 12 determines the door position of the doors 2a and 2b which became a full open state as a door open end position.

  Thus, in the second embodiment, the doors 2a and 2b are manually opened and closed. For this reason, the calculation part 12 makes only the door position calculation part 12d and the door movement distance calculation part 12e effective. The door position calculation unit 12d calculates the door position from the door movement distance input from the door movement distance calculation unit 12e without calculating the torque command and the door closed state detection signal when calculating the door position. Then, the door position is output to the elevator control device 9. Even if the doors 2a and 2b are manually opened and closed, the door motor 4 rotates with the movement of the doors 2a and 2b, so that the encoder 5 can output an encoder output signal to the door movement distance calculation unit 12e. For this reason, the door movement distance calculation unit 12e can calculate the door movement distance based on the input encoder output signal.

Next, an operation example of the calculation unit 12 according to the present embodiment will be described.
FIG. 10 is a flowchart illustrating a processing example in which the calculation unit 12 determines the door positions of the doors 2a and 2b. In the following processing, when the calculation unit 12 is referred to, the door position calculation unit 12d performs the processing mainly.

  First, the computing unit 12 refers to the memory 13 which is a ROM, and determines whether or not the door opening of the doors 2a and 2b has been measured (S31). When the door opening has not been measured, that is, when the door opening data is not stored in the memory 13 (NO in S31), the processing after step S21 in the operation flow of the calculation unit 12 according to the first embodiment is performed. And measure the door frontage.

  When the door opening has been measured (YES in S31), the door opening data is stored in the memory 13. In this case, the computing unit 12 performs processing for detecting the virtual door open or closed position of the doors 2a and 2b using the door frontage data read from the memory 13 by the following processing.

  That is, the worker determines whether or not the doors 2a and 2b can be opened (S32). When the doors 2a and 2b can be opened (YES in S32), the worker opens the doors 2a and 2b (S33). Then, the calculation unit 12 determines whether or not the doors 2a and 2b have moved in the opening direction by the frontage (S34).

  When the doors 2a and 2b move in the opening direction by an amount corresponding to the frontage (YES in S34), the doors 2a and 2b that are fully closed as shown in FIG. 6 are fully opened. For this reason, the calculating part 12 detects the door position of the doors 2a and 2b as a virtual door open end (S35).

  When the door opening operation is not possible in step S32 (NO in S32), the worker performs the closing operation of the doors 2a and 2b (S36). Then, the calculation unit 12 determines whether or not the doors 2a and 2b have moved by the frontage in the closing direction (S37).

  When the doors 2a and 2b move in the closing direction by an amount corresponding to the frontage (YES in S37), the doors 2a and 2b that are fully opened as shown in FIG. 7 are fully closed. For this reason, the calculating part 12 detects the door position of door 2a, 2b as a virtual door closed end (S38).

  In step S34, when the doors 2a and 2b have not moved in the opening direction by an amount corresponding to the frontage (NO in S34), the doors 2a and 2b that are in the intermediate state are fully opened as shown in FIG. . For this reason, the door position of the doors 2a and 2b cannot be determined as the virtual door open end. In this case, the worker performs the closing operation of the doors 2a and 2b that are fully opened (S36). When the doors 2a and 2b move in the closing direction by an amount corresponding to the frontage (YES in S37), the calculation unit 12 detects the door position of the doors 2a and 2b as a virtual door closed end (S38).

  In step S37, when the doors 2a and 2b are not moved in the closing direction by the frontage (NO in S37), the doors 2a and 2b that are in the intermediate state are fully closed as shown in FIG. Yes. For this reason, the door position of the doors 2a and 2b cannot be determined as the virtual door closed end. In this case, the worker opens the doors 2a and 2b, which are fully closed (S33). When the doors 2a and 2b move in the opening direction by an amount corresponding to the frontage (YES in S34), the calculation unit 12 detects the door position of the doors 2a and 2b as a virtual door open end (S35).

  When the virtual door open end is detected in step S35, or when the virtual door closed end is detected in step S38, the calculation unit 12 determines the virtual door open end or the virtual door closed end as the door position (S39). . Thereafter, the door control device 10 can control the doors 2a and 2b by a normal opening / closing operation.

  In the door control device 9 according to the second embodiment described above, when the doors 2a and 2b are stopped in the intermediate state and the power is turned on again and the door position is indefinite, the doors 2a and 2b are fully opened. After making it into a state, it is made into a fully closed state, or after making the doors 2a and 2b into a fully closed state, it is made into a fully opened state. When the door movement distance at this time matches the frontage stored in the memory 13, the calculation unit 12 determines the calculated door position as the virtual door open end and the virtual door closed end. Since the virtual door open end and the virtual door closed end are determined in this way, the elevator control device 9 can detect the fully closed state of the doors 2a and 2b in the subsequent processing.

  In the second embodiment, the operator manually opens and closes the doors 2a and 2b. However, the door motor 4 controls the doors 2a and 2b to open and close at low speed as in the first embodiment. You can go. In this case, the calculation unit 12 needs to validate the functions of the speed command calculation unit 12a, the torque command calculation unit 12b, the motor current command calculation unit 12c, and the door speed calculation unit 12f.

Further, the present invention is not limited to the above-described embodiments, and various other application examples and modifications can be taken without departing from the gist of the present invention described in the claims.
For example, in the above-described embodiment, the configuration of the apparatus is described in detail and specifically in order to explain the present invention in an easy-to-understand manner, and is not necessarily limited to the configuration having all the configurations described. Further, it is possible to replace a part of the configuration of the embodiment described here with the configuration of another embodiment, and further, the configuration of another embodiment is replaced with the configuration of another embodiment. It is also possible to add. Moreover, it is also possible to add, delete, and replace other configurations for a part of the configuration of each embodiment.
Further, the control lines and information lines indicate what is considered necessary for the explanation, and not all the control lines and information lines on the product are necessarily shown. Actually, it may be considered that almost all the components are connected to each other.

  DESCRIPTION OF SYMBOLS 1 ... Elevator apparatus, 2a, 2b ... Door, 4 ... Door motor, 5 ... Encoder, 6 ... Door closed state detection switch, 7 ... Switch, 8 ... Bypass switch, 9 ... Elevator control apparatus, 10 ... Door control apparatus, 11 ... I / O part, 12 ... Calculating part, 12a ... Speed command calculating part, 12b ... Torque command calculating part, 12c ... Motor current command calculating part, 12d ... Door position calculating part, 12e ... Door movement distance calculating part, 12f ... Door Speed calculation unit, 20 ... Ride car

Claims (8)

A car having a car door, a door driving unit that opens and closes the car door, and a door closed state detection unit that detects a closed state of the car door and outputs a door closed state detection signal,
A drive detection unit that detects the drive of the door drive unit and outputs a drive detection signal;
A bypass switching unit that switches bypass or non-bypass of the door closed state detection signal input from the door closed state detection unit;
The operation of the car door has a calculation unit that measures the door movement distance of the car door based on the drive detection signal and outputs the door position of the car door, and controls the driving of the door drive unit. A car door control device for controlling
The car door control device is operated to close the car door, and based on the door closed state detection signal input from the door closed state detection unit, the closed state of the car door is determined, and the bypass switching is performed. An elevator apparatus comprising: an elevator control device that determines a closed state of the car door based on the door position input from the arithmetic unit when the unit is switched from the non-bypass to the bypass. Furthermore, a mode switching unit for switching between the normal mode or the maintenance mode is provided,
When the mode switching unit is switched from the normal mode to the maintenance mode, and when the bypass switching unit is switched from the non-bypass to the bypass, based on the door position input from the arithmetic unit, The elevator apparatus according to claim 1, wherein the closed state of the car door is determined. The door position when the car door is fully opened is stored in the storage unit as a door open end position, and the door position when the car door is fully closed is stored in the storage unit as a door closed end position. Stored, the door movement distance between the door open end position and the door closed end position is stored in the storage unit as a door frontage,
The elevator apparatus according to claim 2, wherein the door control device controls an operation of the door between the door open end position and the door closed end position stored in the storage unit. The computing unit is
A movement distance calculation unit that calculates the door movement distance based on the drive detection signal input from the drive detection unit;
The door position calculating part which calculates the door position of the said car door based on the said door movement distance, outputs the said door position to the said elevator control apparatus, and preserve | saves the said door position in a memory | storage part. The elevator apparatus as described in. In the state where the bypass switching unit is switched to the non-bypass,
When the car door is not fully opened or fully closed and the car door is fully opened after the car door is not fully opened or fully closed, the calculation unit is input from the drive detection unit. The position at which the door movement distance calculated based on the drive detection signal is the door opening stored in the storage unit is the door open end position, or the car door is fully closed, and then the car When the door is fully opened, the door movement distance calculated based on the drive detection signal input from the drive detection unit is the door opening position stored in the storage unit as the door closing position. The elevator apparatus according to claim 4. The computing unit is
A door speed calculator that calculates the door speed of the car door based on the drive detection signal input from the drive detector;
A speed command calculation unit that calculates a speed command of the door speed;
A torque command calculation unit that calculates a torque command for causing the door speed to follow the speed command;
Based on the torque command and the drive current returned from the door drive unit, the drive current command of the door drive unit is calculated, and a drive current command calculation unit that outputs to the door drive unit,
The elevator apparatus according to claim 4, wherein the door position calculation unit calculates the door position based on the door movement distance and the torque command. In the state where the bypass switching unit is switched to the bypass,
The position where the door control device detects the state in which the car door in the fully closed state is operated in the door opening direction at the door speed lower than a reference speed, the door speed is zero, and the door drive unit is saturated with torque. The door open end position,
The position where the door control device detects the state in which the car door in the fully open state is operated in the door closing direction at the door speed lower than the reference speed, the door speed is zero, and the door driving unit is saturated with torque. The elevator apparatus according to claim 6, wherein the door is at the closed end position. The said door position calculating part correct | amends the said door open end position and the said door closed end position by making the said door position into an absolute position when the door closed state detection signal is input from the said door closed state detection part. The elevator apparatus as described in any one of 7.

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