JP2021121557A - Elevator door control device - Google Patents

Abstract

To provide an elevator door control device which reduces power consumption and prevents the deterioration of door motors by changing the door closing holding force during operation as needed.SOLUTION: An elevator door control device 20 according to an embodiment comprises a door motor 32, a user detection means, and a control means. The door motor 32 operates a car door opening/closing. The user detection means detects the presence or absence of the users in the car. The control means controls the door closing holding force according to the boarding situation of the users during the car operation and drives the door motor 32 based on the operating information of the car and on the detection result by the user detection means.SELECTED DRAWING: Figure 1

Description

Embodiments of the present invention relate to elevator door controls.

When the elevator car lands on the landing on each floor, the car door engages with the landing door and opens and closes. The door motor, which is the drive source, is installed in the car. By driving this door motor, the car door moves in the opening / closing direction, and the landing door follows the car door. Here, when the car is in operation, a certain amount of control (door closing holding force) is output to the door motor so that the car door does not open due to vibration or the like.

Japanese Unexamined Patent Publication No. 8-26611

In general, the control amount of the door motor is always constant regardless of the presence or absence of a user in the car. Therefore, if more power than necessary is required and the operation is continued for a long time, the door motor may generate heat and deteriorate.

An object to be solved by the present invention is to provide an elevator door control device capable of suppressing power consumption and preventing deterioration of a door motor by changing the door closing holding force during operation as necessary. Is.

The elevator door control device according to the embodiment includes a door motor, a user detection means, and a control means. The door motor opens and closes the car door. The user detecting means detects the presence or absence of a user in the car. Based on the driving information of the car and the detection result of the user detecting means, the control means controls the door closing holding force according to the riding situation of the user while driving the car, and the door motor. To drive.

FIG. 1 is a diagram showing a configuration of an elevator system according to the first embodiment. FIG. 2 is a diagram showing a configuration of a portion around an entrance / exit in a car provided in the elevator system. FIG. 3 is a schematic view of the inside of the car as viewed from above. FIG. 4 is a schematic view of the inside of the car as viewed from above. FIG. 5 is a flowchart showing the operation of the door control device according to the first embodiment. FIG. 6 is a diagram showing a configuration of an elevator system according to the second embodiment. FIG. 7 is a flowchart showing the operation of the door control device according to the second embodiment. FIG. 8 is a diagram showing a configuration of an elevator system according to a third embodiment. FIG. 9 is a flowchart showing the operation of the door control device according to the third embodiment. FIG. 10 is a diagram showing a configuration of an elevator system according to a fourth embodiment.

Hereinafter, embodiments will be described with reference to the drawings.
The disclosure is merely an example, and the invention is not limited by the contents described in the following embodiments. Modifications that can be easily conceived by those skilled in the art are naturally included in the scope of disclosure. In order to clarify the explanation, in the drawings, the size, shape, etc. of each part may be changed with respect to the actual embodiment and represented schematically. In a plurality of drawings, the corresponding elements may be given the same reference numbers and detailed description may be omitted.

(First Embodiment)
FIG. 1 is a diagram showing a configuration of an elevator system according to the first embodiment. The elevator system in this embodiment includes an elevator control device 10, a door control device 20, and a car 30.

The elevator control device 10 is composed of a computer and is installed in a machine room or a hoistway (not shown) to control the entire elevator including the operation control of the car 30. The elevator control device 10 outputs driving information indicating the operating state (driving, driving direction, stopped, etc.) of the car 30 to the door control device 20.

The door control device 20 is composed of a computer and is installed in the car 30 to control the opening / closing operation of the car door 31. In the present embodiment, the door control device 20 is provided with a user detection unit 21, a control unit 22, and a drive unit 23.

The user detection unit 21 detects the presence or absence of a user in the car 30. Specifically, the user detection unit 21 has a function of analyzing an image of the camera 34 installed in the car 30, and detects the presence or absence of a user in the car 30 based on the analysis result of the image. Then, the user detection information indicating the detection result is output to the control unit 22. The function of the user detection unit 21 may be provided in the elevator control device 10, and the elevator control device 10 may be configured to detect the presence or absence of a user in the car 30.

The control unit 22 controls the door closing holding force during operation of the car 30 based on the driving information of the car 30 and the user detection information. "Driving" means a state in which the car 30 is moving between floors. On the other hand, "other than driving" means a state in which the car 30 is stopped on an arbitrary floor.

The car 30 is provided with a car door 31, a door motor 32, and a door opening / closing mechanism 33. The car door 31 is composed of, for example, two door panels, and is provided at the entrance / exit of the car 30 so as to be openable / closable. If the opening / closing method of the car door 31 (also simply referred to as a door method) is a central double door method, the two door panels constituting the car door 31 open and close in opposite directions. In the single-door system, the two door panels constituting the car door 31 open and close in the same direction.

The landing door 40 installed at the entrance / exit of the landing has the same door system as the car door 31, and moves at the same time following the opening / closing operation of the car door 31. The door opening / closing mechanism 33 includes, for example, a plurality of pulleys and a belt wound around these pulleys, and converts the rotational force of the door motor 32 into a force required for opening / closing the door.

In the figure, P1 is the motor output, P2 is the running resistance (force that hinders the door opening operation such as frictional force), and P3 is the door closing holding force (force required to hold the door closing state). The motor output P1 is determined by the rotation speed and torque of the door motor 32. Here, it is assumed that all of the motor output P1 is transmitted to the car door 31. The motor output P1 can be expressed by the following equation (1). The running resistance P2 is measured in advance for each floor at the time of installation.

P1 = P2 + P3
= P2 + (M × a) …… (1)
M is the weight of the door, including the weight of the car door 31 and the weight of the landing door 40. a is the acceleration.

In a general door control method, the door closing holding force is controlled by the weight of the door while the car 30 is in operation, regardless of the presence or absence of a user. That is, the door closed state is maintained with a constant force regardless of whether the user is in the car 30 or not. Therefore, the power consumption is high, and if the operation is continued for a long time, the door motor 32 may generate heat and deteriorate. Therefore, in the present embodiment, by detecting the user from the image of the camera 34 installed in the car 30, the door closing holding force is controlled according to the riding situation of the user while the car 30 is in operation. It has a structure.

FIG. 2 is a diagram showing a configuration of a portion around the entrance / exit in the car 30.
A car door 31 is provided at the entrance and exit of the car 30 so as to be openable and closable. In the example of FIG. 2, a double door double door type car door 31 is shown, and the two door panels 31a and 31b constituting the car door 31 open and close in opposite directions along the frontage direction (horizontal direction). .. The "frontage" is the same as the entrance / exit of the car 30.

Front pillars 41a and 41b are provided on both sides of the doorway of the car 30, and surround the doorway of the car 30 together with the curtain plate 30a. The "front pillar" is also referred to as an entrance / exit pillar or an entrance / exit frame, and a door pocket for storing the car door 31 is generally provided on the back side. In the example of FIG. 2, when the car door 31 is opened, one door panel 31a is housed in a door pocket 42a provided on the back side of the front pillar 41a, and the other door panel 31b is provided on the back side of the front pillar 41b. It is stored in the door bag 42b.

A display 43, an operation panel 45 on which a destination floor button 44 and the like are arranged, and a speaker 46 are installed on one or both of the front pillars 41a and 41b. In the example of FIG. 2, the speaker 46 is installed on the front pillar 41a, the display 43 and the operation panel 45 are installed on the front pillar 41b.

The camera 34 is installed in the center of the curtain plate 30a above the doorway of the car 30. The camera 12 is a small surveillance camera such as an in-vehicle camera, has a wide-angle lens or a fisheye lens, and can continuously capture images of several frames (for example, 30 frames / second) per second. The camera 34 photographs the entire inside of the car including the vicinity of the car door 31, and outputs the photographed image to the user detection unit 21. It should be noted that the camera 34 is not limited to the mode provided on the curtain plate 30a as shown in FIG. 2, as long as the camera 34 includes the vicinity of the car door 31 and can photograph the entire inside of the car. For example, it may be provided on the ceiling of the car 30 like a surveillance camera.

3 and 4 are schematic views of the inside of the car 30 when viewed from above. The door opening / closing direction of the car door 31 is the X-axis direction, and the direction orthogonal to the door opening / closing direction is the Y-axis direction. Q1 to Q3 in the figure represent users.

The detection area E1 is set with reference to the position of the car door 31 on the captured image of the camera 34. The detection area E1 has a size of L1 in the Y-axis direction from the car door 31. The size in the X-axis direction is W0, which is the same as the frontage width of the car 30. As shown in FIG. 3, when the users Q1 and Q2 are not detected in the detection area E1, it is determined that the user is in a place away from the car door 31. On the other hand, as shown in FIG. 4, when the user Q3 is detected in the detection area E1, it is determined that the user is in the vicinity of the car door 31.

The range of the detection area E1 is set in the vicinity of the car door 31, and the size of the detection area E1 may be freely changed. For example, it is preferable that the size of L1 in the Y-axis direction is set within half of the car door 31 side in the Y-axis direction of the car 30. For example, when the capacity of the car 30 is large, the size of L1 in the Y-axis direction may be the size of the width of several passengers. The value of the detection area E1 is stored in, for example, a storage unit (not shown) in the door control device 20 or the elevator control device 10.

The operation of the first embodiment will be described below.
FIG. 5 is a flowchart showing the operation of the door control device 20 in the first embodiment.

The control unit 22 provided in the door control device 20 acquires the operation information of the car 30 from the elevator control device 10 (step S11), and the car 30 is operating in the ascending direction or the descending direction from the operation information. Whether or not it is determined (step S12). When the car 30 is in operation (Yes in step S12), the control unit 22 activates the user detection unit 21 to execute the user detection process (step S13). It should be noted that the configuration may be such that the presence / absence of a user is always detected by the user detection unit 21 not only while the car 30 is in operation.

As a result of the user detection process, when the user is in the detection area E1, that is, when the user is in the vicinity of the car door 31 (Yes in step S14), the control unit 22 sets the control unit 22. Judging that the danger is high, the door closing holding force is raised above the reference value TH to drive the door motor 32 in the door closing direction (step S15).

The reference value TH is obtained from, for example, the weight of the car. "Increasing the door closing holding force above the reference value TH" means increasing the torque required to maintain the door closing state more than usual. As a result, the car door 31 is closed with a strong force, and even if an external force such as a user's mischief is applied to the car door 31, the car door 31 cannot be easily opened.

In particular, when the car door 31 is a two-door single-door system, the car door 31 may open if the user leans against the overlapping portion of one door panel and the other door panel. In such a case, if the door closing holding force is increased, the user can prevent the door from opening due to leaning or the like.

On the other hand, when the user is not in the detection area E1, that is, when there is no user in the vicinity of the car door 31, or when the user is not in the car 30 (step S14). No), the control unit 22 determines that the risk is low, lowers the door closing holding force to the reference value TH or less, and drives the door motor 32 in the door closing direction (step S16).

"Reducing the door closing holding force to the reference value TH or less" means that the torque required to hold the door closing state is set to a normal value or less. However, since the minimum level of door closing holding force is stipulated by law, the door closing holding force shall be slightly reduced within the range not below the minimum level.

Further, in step S12, when the car 30 is not in operation, that is, when the car 30 is stopped on an arbitrary floor (No in step S12), the control unit 22 doors regardless of the presence or absence of a user. The closing holding force is lowered to the reference value TH or less to drive the door motor 32 in the door closing direction (step S16).

As described above, according to the first embodiment, the door closing holding force during driving is controlled according to the riding state of the user, and the door closing holding force is applied only when the user is riding near the door. Go up. Therefore, the power consumption can be significantly reduced as compared with the method in which the door is always kept closed with a constant force. Further, since the electric power required for holding the door closed is reduced, the temperature rise of the door motor 32 can be suppressed, deterioration due to heat generation can be prevented, and the size of the door motor 32 can be reduced.

In the first embodiment, the door closing holding force is controlled depending on whether the user is near the door or not near the door (including the case where the user is not on board). It is also possible to control the door closing holding force depending on whether the user is on board or not. When the user is in the car 30, the door closing holding force is increased, and when the user is not in the car, the door closing holding force is decreased, as in the first embodiment. The effect is obtained.

(Second Embodiment)
Next, the second embodiment will be described.
In the second embodiment, in addition to the configuration of the first embodiment, the door closing holding force is controlled when an earthquake occurs.

FIG. 6 is a diagram showing a configuration of an elevator system according to the second embodiment. In FIG. 6, the same parts as those in FIG. 1 are designated by the same reference numerals, and detailed description thereof will be omitted.

The elevator system includes an earthquake detector 11. The earthquake detector 11 is installed, for example, in a pit portion of a hoistway or a machine room (not shown). The earthquake detector 11 detects that an earthquake has occurred, and outputs an earthquake detection signal according to the earthquake level at that time to the elevator control device 10.

The elevator control device 10 controls the operation of the car 30 based on the earthquake detection signal output from the earthquake detector 11. Specifically, the elevator control device 10 switches to the seismic control operation mode, moves the car 30 to the nearest floor, opens the door there, and performs control such as waiting. Further, the elevator control device 10 outputs earthquake information indicating that an earthquake has occurred to the door control device 20.

In the second embodiment, when the door control device 20 detects that an earthquake has occurred based on the above earthquake information, it has a function of increasing the door closing holding force above the reference value regardless of the presence or absence of a user.

The operation of the second embodiment will be described below.
FIG. 7 is a flowchart showing the operation of the door control device 20 in the second embodiment. Similar to the first embodiment, the control unit 22 provided in the door control device 20 acquires the operation information of the car 30 from the elevator control device 10 (step S21), and the car 30 obtains the operation information from the operation information. It is determined whether or not the vehicle is operating in the ascending direction or the descending direction (step S22). When the car 30 is not in operation, that is, when it is stopped on an arbitrary floor (No in step S22), the control unit 22 sets the door closing holding force as a reference value TH regardless of the presence or absence of a user. It is lowered below to drive the door motor 32 in the door closing direction (step S27).

Here, in the second embodiment, when an earthquake is detected while the car 30 is in operation (Yes in step S23), the control unit 22 uses the door closing holding force as a reference value regardless of the presence or absence of a user. The door motor 32 is driven in the door closing direction by raising it above TH (step S26).

The occurrence of an earthquake can be determined from the earthquake information output from the elevator control device 10. In this case, it is preferable to increase the door closing holding force in order to prevent the car door 31 from opening even with a slight shaking regardless of the earthquake level. In addition, if an earthquake occurs while the car 30 is not in operation and is stopped on any floor, the door will generally open and stand by, so it is necessary to increase the door closing holding power. No.

On the other hand, if an earthquake is not detected while the car 30 is in operation (No in step S23), the control unit 22 activates and uses the user detection unit 21 as in the first embodiment. The person detection process is executed (step S24), and it is determined whether or not the user is in the detection area E1 (step S25). When the user is in the detection area E1, that is, when the user is in the vicinity of the car door 31 (Yes in step S25), the control unit 22 determines that the danger is high and the door is doord. The closing holding force is raised above the reference value TH to drive the door motor 32 in the door closing direction (step S26).

If there is no user near the car door 31 or if the user is not in the car 30 (No in step S25), the control unit 22 determines that the risk is low and the door The closing holding force is lowered to the reference value TH or less to drive the door motor 32 in the door closing direction (step S27).

As described above, according to the second embodiment, in addition to the effect of the first embodiment, when an earthquake occurs during the operation of the car 30, the door closing holding force is increased, so that the car is shaken by the earthquake. The danger of the door 31 opening can be avoided.

(Third Embodiment)
Next, a third embodiment will be described.
In the third embodiment, in addition to the configuration of the first embodiment, the pulse generator is used to detect that the door is opened and control the door closing holding force at that time.

FIG. 8 is a diagram showing a configuration of an elevator system according to a third embodiment. In FIG. 8, the same parts as those in FIG. 1 are designated by the same reference numerals, and detailed description thereof will be omitted.

A pulse generator 35 is provided in the door motor 32 in the car 30. The pulse generator 35 includes a resolver (rotation angle sensor) and the like, and outputs a first or second pulse signal to the door control device 20 in synchronization with the rotation of the door motor 32. The first pulse signal is output when the car door 31 moves in the door closing direction due to the rotation of the door motor 32 in a predetermined direction. The second pulse signal is output when the car door 31 moves in the door opening direction due to the rotation of the door motor 32 in the direction opposite to the predetermined direction.

The control unit 22 of the door control device 20 has a function of detecting that the car door 31 has moved in the door opening direction based on the second pulse signal output from the pulse generator 35 during the operation of the car 30. Have. Further, when the car door 31 moves in the door opening direction against the door closing holding force during the operation of the car 30, the control unit 22 activates the warning unit 24 to issue a warning to the user. Has. The warning unit 24 outputs a warning sound or a voice announcement through the speaker 46 installed in the car 30.

The operation of the third embodiment will be described below.
FIG. 9 is a flowchart showing the operation of the door control device 20 in the third embodiment. Similar to the first embodiment, the control unit 22 provided in the door control device 20 acquires the operation information of the car 30 from the elevator control device 10 (step S31), and the car 30 obtains the operation information from the operation information. It is determined whether or not the vehicle is operating in the ascending direction or the descending direction (step S32). When the car 30 is not in operation, that is, when it is stopped on an arbitrary floor (No in step S32), the control unit 22 sets the door closing holding force as a reference value TH regardless of the presence or absence of a user. It is lowered below to drive the door motor 32 in the door closing direction (step S38).

Here, in the third embodiment, when the second pulse signal is output from the pulse generator 35 during the operation of the car 30, the control unit 22 determines the car door 31 based on the second pulse signal. Detects that has moved in the door opening direction against the door closing holding force. When the car door 31 moves in the door opening direction (Yes in step S33), the control unit 22 activates the user detection unit 21 to execute the user detection process (step S34) and uses it in the detection area E1. It is determined whether or not a person is on board (step S35).

When the user is in the detection area E1, that is, when the user is in the vicinity of the car door 31 (Yes in step S35), the control unit 22 is doord due to mischief by the user or the like. It is determined that the door has been opened, and a warning is issued to the user through the warning unit 24 (step S36). Specifically, a warning sound or a voice announcement is output through the speaker 46 installed in the car 30 to call attention to move away from the car door 31. As a warning method, for example, a message may be displayed through the display 43.

On the other hand, when there is no user near the car door 31 or when the user is not in the car 30 (No in step S35), the door is opened due to something other than the user, such as an earthquake. It is considered to be. In such a case, the control unit 22 raises the door closing holding force above the reference value TH and drives the door motor 32 in the door closing direction without issuing a warning (step S37).

As described above, according to the third embodiment, in addition to the effect of the first embodiment, the door closing holding force is increased based on the pulse signal output from the pulse generator 35 during the operation of the car 30. Therefore, the danger of the car door 31 opening for some reason can be avoided. In addition, if there is a user near the door, it is possible to determine that the cause of the door opening is due to the user's mischief or the like and issue a warning.

(Fourth Embodiment)
Next, a fourth embodiment will be described.
In the fourth embodiment, in addition to the configuration of the first embodiment, when a situation in which the door does not close is detected even if the door closing holding force is increased, an abnormality is reported to the monitoring center or the like. It is a thing.

FIG. 10 is a diagram showing a configuration of an elevator system according to a fourth embodiment. In FIG. 10, the same parts as those in FIG. 1 are designated by the same reference numerals, and detailed description thereof will be omitted.

Similar to the third embodiment, the door motor 32 is provided with a pulse generator 35 in the car 30. The pulse generator 35 includes a resolver (rotation angle sensor) and the like, and outputs a first or second pulse signal to the door control device 20 in synchronization with the rotation of the door motor 32. The first pulse signal is output when the car door 31 moves in the door closing direction due to the rotation of the door motor 32 in a predetermined direction. The second pulse signal is output when the car door 31 moves in the door opening direction due to the rotation of the door motor 32 in the direction opposite to the predetermined direction.

The control unit 22 of the door control device 20 has a function of detecting that the car door 31 has moved in the door opening direction based on the second pulse signal output from the pulse generator 35 during the operation of the car 30. Have.

Here, for example, if the sill groove (not shown) of the car door 31 is clogged with dust or the like, the car door 31 may not be completely closed even if the door closing holding force is increased. In such a case, since the car door 31 moves alternately in the door opening direction and the door closing direction, the first pulse signal and the second pulse signal are repeatedly output from the pulse generator 35.

When the first pulse signal and the second pulse signal are repeatedly output for a preset number of times K (for example, 5 times) or more during the operation of the car 30, the control unit 22 causes some abnormality in the car door 31. It is determined that the problem has occurred, and the abnormality information of the car door 31 is sent to the elevator control device 10. Upon receiving this abnormality information, the elevator control device 10 sends the abnormality information to the monitoring center 51 via the communication network 50 to notify that the car door 31 has an abnormality. Specifically, the abnormality information is transmitted to a monitoring terminal (not shown) installed in the monitoring center 51.

When the monitoring center 51 receives a report from the elevator control device 10, the monitoring center 51 takes measures such as sending a maintenance person to the site for inspection. The reporting destination is not limited to the monitoring center 51, and may be, for example, a monitoring terminal (not shown) installed in a monitoring room in a building, or a terminal device (not shown) possessed by a maintenance staff.

As described above, according to the fourth embodiment, in addition to the effect of the first embodiment, when a situation in which the car door 31 does not close is detected even if the door closing holding force is increased, an alarm is issued to the outside. As a result, the abnormality of the car door 31 caused by clogging with dust or the like can be eliminated at an early stage.

According to at least one embodiment described above, an elevator door control device capable of suppressing power consumption and preventing deterioration of a door motor by changing the door closing holding force during operation as necessary is provided. can do.

Although some 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 various other embodiments, and various omissions, replacements, and changes can be made without departing from the gist of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are also included in the scope of the invention described in the claims and the equivalent scope thereof.

10 ... Elevator control device, 11 ... Earthquake detector, 20 ... Door control device, 21 ... User detection unit, 22 ... Control unit, 23 ... Drive unit, 24 ... Warning unit, 30 ... Car, 31 ... Car door, 32 ... Door motor, 33 ... Door opening / closing mechanism, 34 ... Camera, 35 ... Pulse generator, 40 ... Landing door, 46 ... Speaker, 50 ... Communication network, 51 ... Monitoring center.

The elevator door control device according to the embodiment includes a door motor, a user detection means, and a control means. The door motor opens and closes the car door. The user detecting means detects the presence or absence of a user in the car. The control means determines whether or not the car is in a state of moving between floors based on the driving information of the car, and if the car is in operation , the control means determines whether or not the car is in operation. , The door closing holding force is controlled according to the riding condition of the user obtained as a result of the detection of the user detecting means, and when the car is not in operation, regardless of the presence or absence of the user. The door motor is driven by a constant door closing holding force set in advance.

Claims (10)

A door motor for opening and closing the car door,
User detection means for detecting the presence or absence of users in the above car, and
Based on the driving information of the car and the detection result of the user detecting means, the control means for driving the door motor by controlling the door closing holding force according to the riding situation of the user while driving the car. An elevator door control device characterized by being equipped with and. The above control means
The elevator door control device according to claim 1, wherein when a user is in the vicinity of the door while the car is in operation, the door closing holding force is increased above a reference value. The above control means
If the user is not in the vicinity of the door while the car is driving, or if the user is not in the car, the door closing holding force should be lowered to the reference value or less. The elevator door control device according to claim 1. The above control means
Claim 1 is characterized in that the door closing holding force is increased above the reference value when an earthquake is detected during the operation of the car based on the earthquake information output from the earthquake detector. Elevator door control device described. The above control means
When it is detected that the door moves in the door opening direction against the door closing holding force during the operation of the car based on the pulse signal output from the pulse generator provided in the door motor. The elevator door control device according to claim 1, wherein the door closing holding force is increased above a reference value. The above control means
The elevator according to claim 5, wherein when a user is in the vicinity of the door, it is determined that the cause of the door opening is the user and a warning is issued to the user. Door control device. The above control means
When the pulse signal in the door opening direction and the pulse signal in the door closing direction are repeatedly output from the pulse generator during the operation of the car, it is determined in advance that an abnormality has occurred in the door. The door control device for an elevator according to claim 5, wherein an abnormality of the door is notified to a set notification destination. The elevator door control device according to claim 7, wherein the notification destination includes a monitoring center that monitors the operating state of the elevator. Equipped with a camera installed in the above car
The above user detection means
The elevator door control device according to claim 1, wherein the presence or absence of a user in the car is detected based on an image of the camera. The above user detection means
The elevator door control device according to claim 9, wherein the presence or absence of a user existing in the detection area set around the door is detected on the image of the camera.

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