JP2669544B2 - Elevator door control - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to an elevator door control device, and more particularly, to controlling an elevator door opening / closing speed by using a CPU (arithmetic processing device) such as a microprocessor. The present invention relates to an elevator door control device for improving control stability and safety of elevator passengers at the time.

[Conventional technology]

As a conventional technique, Japanese Patent Laid-Open No. 61-45878 discloses a device that detects the actual speed of a door and gives a speed command to control the opening and closing of the door.

[Problems to be solved by the invention]

The above-mentioned prior art has a problem in generating a speed command for the door. That is, in the door opening / closing control, particularly in the case where the door opening / closing control is performed using a CPU such as a microprocessor, the door position data necessary for creating the speed command is lost due to the occurrence of an abnormality such as a power failure. . When the power is restored and the door control is continuously performed, if a speed command is generated with the position data lost, there is a risk that the movement may be controlled to the closed end position or the open end position in a high speed state. In particular, when such high-speed control is performed when the door is closed, passengers are often pinched by the door, and there is a problem that performance in terms of safety and service is reduced.

An object of the present invention is to provide a stable speed command in a door control device using a CPU even if an abnormal situation occurs in which the door position data stored in the storage device is instantaneously lost. An object of the present invention is to provide an elevator door control device capable of performing the above-described door opening / closing control.

[Means for solving the problem]

The present invention relates to an elevator door control including means for detecting a door position from rotation of an electric motor for driving an elevator door, means for storing the door position, and means for performing a door speed control according to the door position. In the apparatus, a means for directly detecting the door position mechanically or electromagnetically, and means for controlling the speed of the door based on the output of the direct detection means when the door position information is not obtained, are provided. To do.

In a preferred embodiment of the present invention, means for directly detecting the position of the door mechanically or electromagnetically, and when the door position information is not obtained, when the door is opened or closed based on the output of the direct detection means A means for detecting that the door is located in the scheduled end area of the predetermined time, and means for controlling the speed of the door using a low-speed or high-speed command according to the presence or absence of the output of the end area detection means. .

[Action]

In normal times, the door position is detected from the number of rotations of the electric motor driving the door, the door position is stored, and the speed of the door is controlled in accordance with the door position. When the door position information cannot be obtained,
Switch to the control that determines the door speed command by directly detecting the door position mechanically or electromagnetically. Means for detecting the door position mechanically or electromagnetically include, for example, a method in which a magnet is attached to the door and a switch which closes the circuit by a magnetic attraction force is arranged near the passage of the magnet, or the door. A method is used in which a cam is attached to the switch and a switch is provided to close the circuit by the contact of the cam. When an abnormality such as a power failure occurs and the door position information cannot be obtained, the control is switched to the control that uses the door position directly obtained by the detection means, and even if the door is at any position during a power failure, the Since the speed is determined,
Stable control is realized.

Further, according to a preferred embodiment, when the door is located in a predetermined termination region when the door is opened or closed based on the output of the direct detection means, the speed of the door is controlled by using a low speed command. Thus, stable door control is performed.

〔Example〕

 Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram of the embodiment apparatus. In FIG. 1, 1 is an AC power supply, 2 is a power converter for directly converting AC power from the AC power supply 1 to electric power, 3 is a smoothing capacitor for suppressing driving of a DC voltage, and 4 is a point of a self-turn-off element. The DC motor control device 5 is composed of these 2, 3 and 4 with a power controller that can control the output power by adjusting the arc period. Reference numeral 6 denotes a DC motor serving as a drive source for opening and closing the door 11 of the elevator, and rotates upon receiving an output of the power controller 4. 7
Is a speed detector, 8 is a speed reducer for detecting the rotation speed ω _r of the DC motor 6, is a speed reducer for reducing the rotation of the DC power supply 6, 9 is a drive pulley, 10 is a drive belt, 12 is a drive belt together with the drive pulley 9. These are the pulleys that support the rotation of these 8,9,1
A door speed control device 20 for driving the door 11 with 0 and 12 outputs a control signal Pc of the power controller 4 and is configured as follows. That is, as the internal configuration, the CPU 21, the pulse counter 22,
It has an information bus 23, storage devices 24 and 25, a signal input / output device 26, and a self-turn-off device driving circuit 27, and functions as follows. Door open command from the open / close command generator 18 of the elevator control panel 19
S _0, the closing command Sc, receives the signal S ₁ to S ₄ from the door position detector 13 to 16, a signal input and output unit 26 for outputting a voltage command Sv, CPU 21
Storage device that stores procedures and data values required for processing
24 and 25 and a pulse counter 22 for counting the number of pulses P _r proportional to the rotational speed ω _r of the DC motor 6 output from the speed detector 7 are connected to the CPU 21 by the same information bus 23. Then, the self-extinguishing element drive circuit 27 receives the voltage command Sv from the signal input / output device 26 and generates the signal Pc for controlling the power controller 4. Here, as the voltage command Sv increases, the speed of the DC motor 6 increases, and the direction of rotation is changed by switching the positive and negative polarities of the voltage command Sv.

The door position detectors 13 to 16 are mounted on the cam 17 attached to the door 11.
There generates a signal S ₁ to S ₄ in closing and opening by connexion electrical circuit to and away from contact. Fig. 6 shows signals
It shows the states of S _{1 to} S ₄ . Four position detectors 13
~ 16, the position detector 13 is arranged near the closed end of the door,
Signal S ₁ when the position of door 11 is closer to the closed end than position detector 13
Becomes “H”. Conversely, when the position of the door 11 is on the open end side of the position detector 13, the signal S ₁ becomes "L". Similarly, the signal S ₂ from the position detector 14 becomes “H” when the door 11 is on the closed end side and “L” when it is on the open end side. Signal S from position detectors 15 and 16
₃ and S ₄ operate so as to be “H” when the door 11 is on the open end side of the position detector and “L” when it is on the closed end side.

In CPU21, door open signal S ₀ , door close signal Sc and signals S _{1 to} S
₄ is received via the signal input / output unit 26, and the process proceeds according to the process flow chart shown in FIG. That is, when the power of the CPU 21 is turned on, initialization is performed by the process 100, and the contents of the storage device 25 that can be freely read and written are set to a predetermined value such as zero. In the process 200, it is detected whether or not the door position data PDR stored in the storage device 25 is in a reset state, that is, whether or not the stored contents have been lost. The detection result is N
O, that is, if the stored contents are not lost, process 300,
The normal processing of the processing 400 is repeated. If the detection result in the process 200 is YES, that is, if the stored contents are lost, the process proceeds to the process 500, and after that, the normal processes of the processes 300 and 400 are repeated.

FIG. 3 is a detailed flow chart of the process 300 in FIG. In process 301, the closing command Sc is judged, and if it is "H", process 3
Proceed to 02, where the speed command SPDCD is increased by the acceleration data ACCCL. Next, in process 303, it is determined whether or not the maximum speed data TOPCL has been reached. If the speed command SPDCD exceeds the maximum speed data TOPCL, process 308
SPDCD is reduced to the top speed data TOPCL. Then it determines the state of the signal S ₂ at process 304. If the determination result is "H", * P count value of _r P _r is added to the door position data PDR, start position operation of the door 11. State determination result of the signal S ₂ in the process 304 proceeds to a process 309 in the case of "L", the door position data PDR is cleared. Next, in step 306, the speed table S stored in the storage device 24 is stored based on the door position data PDR obtained in step 305.
The corresponding speed data is extracted from PO and replaced when it is smaller than the speed command SPDCD before the processing 304. Then, in process 307, the speed command SPDCD and P _r are used as speed data ω
_The voltage command VCMD is created by a proportional or proportional-integral process with _r *. This VCMD becomes the voltage command Sv from the signal input / output device 26. If the state determination result of the closing command Sc in the processing 301 is "L" state of the door opening command S ₀ proceeds to process 310 is determined. Here, if S ₀ is determined to be “H”, then processes 311 to 317 and process 307 are similarly performed. Proceed to process 318 if the processing 310 S ₀ is determined to be "L", where the speed command SPDCD is made zero, then, performs the processing 307.

FIG. 4 is a detailed flow chart of the process 400 in FIG. In normal control by CPU processing, this is when the door open / close command is reversed, that is, when the door position is on the open end side and the close command is issued, and when the door position is on the closed end side and the open command is issued. In this case, the door position data PDR is counted to perform normal speed control. A process 401 determines the state of the door closing command Sc, and a process 402 determines the state of the signal S ₃ . If both are "H", it means that the door position is on the open end side and a door closing command is issued, and the process proceeds to step 403. On the other hand, the process 406 determines the state of the door opening command S ₀ , and the process 407 determines the state of the signal S ₂ . If both are "H", it means that the door position has been closed and the door opening command has been issued, and the process proceeds to step 408. Process 403 and process
At 408, the process proceeds from the door position data PDR to count P _r * a reduced processing 404 of P _r. It is checked in step 404 whether the PDR has underflowed.
The processing 400 is completed by resetting the DR. Command 401 to close the door
Sc is at "L", if the door opening command S ₀ is "L" in the process 406 completes the process as it is 400.

FIG. 5 is a detailed flow chart of the process 500 of FIG. Here, in response to the determination in process 200 that the door position data PDR has been lost, a speed control process different from the normal process by the CPU is performed. When the process 500 is entered, it is first determined in a process 501 whether the door closing command Sc is "H". Processing when Sc is “H”
Proceeding to 502, the state of signal S ₂ is determined. Signal S ₂ is “H”
If so, the process moves to step 503, and the speed command value SPCSD is input to the speed command SPDCD such that the door stop is not severe. Then, the process 504
To make the voltage command VCMD. Next, in process 505, it is confirmed that the signal S ₁ or S ₄ has become “H”. This confirmation is made and processed
Finish 500. When the signal S ₂ is “L” in the process 502, the process 300 and the process 400 are normally opened and closed, the process 500 is ended, and the process shifts to the normal process. Even when the door opening command S ₀ after the process 506 is issued, the same process as described above is performed.

FIG. 7 and FIG. 8 show the state of the speed of the door, as seen from the movement of the door. FIG. 8 is a diagram showing the speed of the door during normal opening and closing as viewed with respect to time. When the closing instruction Sc is “L” and the opening instruction S ₀ is “H”, the opening operation starts at time 0. The speed of the door is set to acceleration data A by processing 311.
Continue acceleration at the acceleration based on CCOP. At time t ₁ , when the maximum intensity v _TOP is reached, processing 316 causes constant speed running. On the other hand, when the door reaches the position of the position detector 15, the signal S ₂
Becomes "H", the processing 314, the distance l ₁ from the detection point of the position detector 15, it is measured by the pulse P _r. FIG. 9 is a conceptual diagram of the speed table SPO held in the storage device 24.
Here is stored velocity data corresponding to the distance obtained from P _r is in the process 315, the speed v ₁ with respect to the distance l ₁
Pull out. The extracted data is compared with the speed command accelerated by the above-mentioned time, and the smallest one is set as the speed command. This process deceleration than time t ₂ by begins. And time t ₂ is the door will stop, finish the door opening operation. The same applies when the door is closed, and smooth opening / closing control can be obtained.

Next, regarding the opening and closing operation of the door in the process 500, the seventh
A case where the door opening command S ₀ is “H” will be described with reference to the drawings. At the beginning of the door opening, the door position is at the closed end. Where the seventh
If a power failure occurs at the time shown in Figure (a), the door position will change to the 6th position.
It is in the range A or B in the figure. Then restore power and try again
When S ₀ becomes “H”, the process 500 is performed. In the door opening control, the door position data is required when the door position is in the range C, and when the door position is in the range A or the range B, normal control may be performed. . Looking at the signal S ₃ of the position detector 15, when the door position is in the range of A or B, the signal S ₃ is at "L" branches from the processing 507 processes 300 to later, the usual door opening control Done. On the other hand, if a power failure occurs at the time shown in FIG. 7B, the position of the door is in the range of C in FIG. If the power is restored and normal door opening processing is resumed while the measured door position data PDR is lost, the door will hit the open end at a high speed, causing unpleasant collision sounds and elevator riding. Causes the basket to vibrate. Therefore, in the present embodiment, in processing 507, it is detected that the signal S ₃ is “H”, the processing proceeds to the next processing 508, and the door is opened at a low speed at which sound or vibration does not occur. In this way, the door advances to the open end, and the signal S ₄ becomes “H”,
After the processing 500 is completed, normal processing is performed from the next.

As described above, according to this embodiment, two door position detectors are provided on each of the open end side and the closed end side to limit the range in which the door position is measured. Therefore, low speed operation is performed when the door position is unknown. The range is narrowed, the door opening and closing time can be shortened immediately after power recovery, and the serviceability for users is improved.

In the present embodiment, the position of the door is measured only in the range in which the door is decelerated. However, the measurement may be performed in the entire area, and the same effect can be obtained.

〔The invention's effect〕

According to the present invention, stable door control is possible even if the position data from the storage means cannot be obtained, such as after a power failure recovery, by only providing a simple mechanism that directly detects the position of the elevator door. , Improve safety for users,
The reliability of the elevator as a whole can be increased.

[Brief description of the drawings]

FIG. 1 is a block diagram of an embodiment of the present invention, FIG. 2 is a flowchart of signal processing according to the present invention, FIG. 3 is a detailed flowchart of a process 300 in FIG. 2, and FIG. 4 is a process 400 in FIG. Detailed flow chart of
5 is a detailed flow chart of the process 500 of FIG. 2, FIG. 6 is a state diagram of the output signals S _{1 to} S ₄ of the door position detectors 13 to 16 of FIG. ₁ ,
FIG. 7 is a diagram showing a door speed state at the time of door opening control by the process 500 of the present invention, FIG. 8 is a diagram showing a door speed state at the time of normal door control by the process 300 of the present invention, and FIG. Storage device 24 in the figure
FIG. 3 is a conceptual diagram of speed data held in a storage device. 4 ... Power controller, 5 ... DC motor controller, 6 ...
DC motor, 7 ... speed detector, 9 ... drive pulley, 10
...... Driving belt, 11 …… Door, 13 to 16 …… Door position detector,
17 ... Cam, 18 ... Open / close command generator, 20 ... Door speed control device, 21 ... CPU, 24,25 ... Storage device, 27 ... Self-extinguishing element drive circuit.

 ──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Mitsuru Sakai 1070 Mo, Katsuta-shi, Ibaraki Pref. Mito Plant, Hitachi, Ltd. (56) References JP-A-61-45878 (JP, A) JP-A-60 -48882 (JP, A)

Claims (1)

(57) [Claims] 1. An elevator door having means for detecting a door position from rotation of an electric motor for driving an elevator door, means for storing the door position, and means for controlling a door speed according to the door position. In the control device, opening / closing control of the door is performed by means for directly mechanically or electromagnetically detecting that the door is located in the planned open end area and closed end area, and a speed command according to the door position stored in the storage means. And a terminal area detection for detecting whether or not the door opening / closing command is generated when the door opening / closing command is generated in a state where the door position information is not obtained and the door opening / closing command and the output of the direct detection means. And a means for controlling the speed of the door using a low-speed or high-speed command in accordance with the output of the end area detection means.