JP2732730B2 - Control device for self-propelled elevator - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a self-propelled elevator, which allows a plurality of cars to run simultaneously and safely on the same traveling path in the self-propelled elevator.

[0002]

2. Description of the Related Art Most of elevators that have been widely used in the past, except for a hydraulic elevator that raises and lowers a car using a hydraulic plunger and a roll-to-roller elevator that is used in a relatively small capacity area, are mostly used. A method in which a basket and a counterweight are connected in a rope-like manner with a rope.
There are two cars.

As shown in FIG. 7, in the elevator of the present invention, a car 1 and a counterweight 2 are provided between guide rails (guide rails) 3 and 4, respectively. In this configuration, both are connected to each other with a rope 8 via a sheave 6 or a deflecting sheave 7 of a hoisting machine 5 installed in a machine room of the vehicle. In recent years, a three-phase induction motor has been widely used as a motor for driving the hoisting machine 5, and an inverter device having a microprocessor mounted on a control device has been widely used.

[0004] In such a lift-type elevator control system, a car collision accident, which can be considered due to motor control abnormality or equipment failure, may occur only at the terminal floor, and abnormal car overrun may occur at the terminal floor. There is a terminal floor forced deceleration device that detects the speed and rapidly decelerates or stops the car. This system has been widely used in the past, so it is a technology in terms of performance and safety. Is established and reliable.

[0005] In recent years, however, various ideas for a new inter-story transportation system for responding to the demands of skyscrapers and ultra-high-rise buildings have been proposed as future prospects. Of a new transportation system
One is a self-propelled elevator in which the car itself travels without using a rope. This is a concept of a vertically and horizontally movable elevator having a configuration capable of traveling not only vertically but also horizontally.

The concept of this self-propelled elevator system is as follows:
It breaks down the conventional concept of a single car with one hoistway, and is attracting attention as an innovative technology capable of running a plurality of cars on one hoistway.

FIG. 8 shows a system configuration of such a self-propelled elevator capable of running vertically and horizontally. A linear motor secondary conductor 10 is installed in a plurality of cars 9 and a linear motor provided on a hoistway. The drive thrust is obtained by the magnetic force between the primary conductor 11. As a safety device, a shock absorber 13 for reducing the impact caused by the collision between the brake 12 and the car 9 is provided, and a superconducting magnet 14 for connecting and traveling is provided. Further, a suspension machine 15 and a movable plate 16 for horizontal traveling are installed on the top floor, and a hydraulic jack 17 is also installed on the bottom floor, and a plurality of cars 9 in one hoistway.
That can be run.

A detailed arrangement of the equipment around the car 9 is as shown in FIG. 9 in which a secondary conductor 10 of a linear motor for propulsion is installed on the car 9 and a primary conductor 11 of the linear motor is installed on a hoistway. Have been. The car 9 moves up and down while being guided by the guide rails 18, and the brakes 12 are arranged so as to obtain a braking force on the guide rails 18. Furthermore, a current collector 19 for supplying power to the lighting and control devices of the car 9 is provided with the car 9.
And an information transmission cable 20 for performing signal transmission with the car 9 is installed in the hoistway. As a signal transmission method using the information transmission cable 20,
For example, an inductive wireless transmission system is conceivable.

[0009]

In such a proposed control device for a self-propelled elevator, as described above, a shock absorber 13 is used as one of the safety devices in order to reduce the impact due to collision between the cars. However, if the vehicle is traveling at the rated speed, the shock absorber 13 is a last-stage safety device, and in order to prevent collisions between the cars, the following car is forcibly forced when approaching abnormally. It is desirable that the vehicle be suddenly decelerated so that each car travels always with a safe inter-vehicle distance.

The present invention has been made to solve such a technical problem, and when a plurality of cars are traveling on the same traveling path, there are some causes such as control abnormality or equipment failure. If the following car approaches the car ahead in the direction of travel abnormally, by forcibly decelerating or suddenly stopping it, always keep a plurality of cars running with each other while maintaining a safe inter-vehicle distance, An object of the present invention is to provide a self-propelled elevator control device capable of performing safe and reliable operation control.

[0011]

SUMMARY OF THE INVENTION The present invention relates to a self-propelled elevator control device in which a plurality of cars run by themselves along a traveling path formed in a building. Car position detecting means for detecting the position and speed of each of the cars in the car; relative speed calculating means for calculating the relative speed between the cars from a car position detection signal detected by the car position detecting means; Minimum approach distance calculation for calculating a minimum allowable approach distance capable of avoiding a collision between cars based on the car position and speed data from the position detecting means and the relative speed data from the relative speed calculating means. Means, the minimum allowable approach distance calculated by the minimum approach distance calculation means, and the actual inter-car distance, and when there is a car that is approaching abnormally, It is obtained by a collision prevention means for causing a forced rapid deceleration with respect to the car.

[0012]

According to the control device for a self-propelled elevator of the present invention,
The relative speed calculation means calculates the relative speed between the cars from the car position detection signal detected by the car position detection means, and the minimum approach distance calculation means calculates the car position and speed data from the car position detection means, and Based on the relative speed data from the relative speed calculation means, a minimum allowable approach distance that can avoid collision between the cars is calculated.

The collision preventing means compares the minimum permissible approach distance calculated by the minimum approach distance calculating means with the actual distance between the cars, and when there are cars that are approaching abnormally, the cars concerned Among them, the collision is prevented by forcibly and rapidly decelerating the following car, thereby enabling safe running when a plurality of cars run in the same hoistway.

[0014]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below in detail with reference to the drawings. As shown in FIG. 1, the unit control device 21A of each unit
21X includes car speed detectors 22A to 22X that periodically detect the traveling speed and position of the car 9 of the own car.

The car speed detectors 22A to 22X can be constituted by a pulse generator attached to a roller guide 26 of the car 9 as shown in FIG.
When the car 9 rotates as it travels, it generates a pulse signal and generates car position / speed signals 23A to 23X, and the car speed / detection sections 22A to 22X generate car position / speed signals 23A to 23X for each car. The data is input to the group control device 24 which controls the collision prevention function which is a feature of the present invention. The group control device 24 is connected to the individual control devices 21A to 21X so that forced deceleration command signals 25A to 25X can be output as needed.

As shown in FIG. 2, the group control device 24 is normally realized by a microcomputer. The necessary function means are a car position / speed input and travel sequence detecting means 24a, and a minimum car distance. Distance calculation means 2
4b and a forced deceleration detecting means 24c. Next, the operation of the control device for a self-propelled elevator having the above configuration will be described.

As shown in the flow chart of FIG. 5, the car position / speed and traveling sequence detecting means 24a detects the traveling position, traveling speed and traveling sequence of the car from the car position data sequentially inputted from each of the single controllers 21A to 21X. (Step S1), and a car position / speed data table TB as shown in FIG. 4 is created (step S2).

As an example, in the ascending hoistway ASHAFT for ascending operation shown in FIG.
No. 5-No. 2-No. 6-No. 1, the car position / speed and travel order detecting means 24a creates a car position / speed and travel order data table TB as shown in FIG. 4, and sets the car position data and the car speed data. You.

Here, the detection of the position and speed of the car of each car is performed by each of the single control devices 21A to 21X, and the traveling from the pulse generator attached to the roller guide 26 of the car. The position is detected by a pulse signal, and the pulse signal is transmitted to the single control devices 21A to 21X by an induction wireless transmission method or the like, where the car position data and the car speed data of each car are calculated, and the data signals 23A to 23X is the group controller 2
It is transmitted to the 4 side.

Car position / speed and traveling sequence detecting means 2
The car position / speed and travel sequence data of each car obtained in 4a are output to the minimum car distance calculating means 24b, and the relative speed V (n + 1) between the cars and the actual speed are calculated according to the flowchart of FIG. The car distance S (n + 1) is calculated (steps S3 to S6).

First, based on the speed vn of the front car and the speed vn + 1 of the following car, the allowable minimum car distance Strip (n + 1) between the n-th and n + 1-th cars is as follows. Is required. That is, the deceleration during the forced deceleration operation performed when the front car and the subsequent car approach abnormally and approach closer than the allowable minimum car distance Strip (n + 1) is β (β>α;
Assuming that α is the deceleration during normal operation), as shown in FIG. 3, the traveling distance when the subsequent car performs the forced deceleration operation at the initial speed vn + 1 is vn + 1 ² / 2β.

The traveling distance when the forward car is forcedly stopped at an initial speed vn due to some failure is vn ² / 2γ. Here, γ is the deceleration due to the braking operation, and γ>β> α. Therefore, based on these data, the minimum car distance Strip (n + 1) at which the forced deceleration operation should be performed in order to prevent a car collision is

[0023]

(Equation 1) Than,

[0024]

(Equation 2) The actual value of Strip (n + 1) takes into account the margin Sα for the detection protection operation delay, etc.

[0025]

(Equation 3) And The margin Sα needs to be a margin that can sufficiently compensate for the protection operation delay. Similarly, the minimum car distance S′trip (n + 1) at which a forced stop operation for preventing car collision should be performed is

[0026]

(Equation 4) Becomes

Next, of the cars traveling on the same hoistway, the car with the n-th speed vn, which is the forward car,
The relative speed for each of the (n + 1) th speeds vn + 1 as the subsequent traveling car is calculated as V (n + 1), where V (n + 1) = vn + 1-vn.

Based on the minimum car distance Strip (n + 1), the relative speed V (n + 1), and the data between the cars calculated by the minimum car distance calculating means 24b, the forced deceleration detecting means 24c. Determines the necessity of a forced deceleration operation command for collision avoidance (steps S7 to S10).

That is, from the relative speed data V (n + 1),
If V (n + 1) <0, that is, if the forward car speed is higher, there is no possibility of collision, and this processing routine ends. On the other hand, from the relative speed data V (n + 1), V (n + 1) ≧ 0
In the case of (2), the car distance detection data S (n + 1) is compared with the allowable minimum car distance Strip (n + 1) (step S8), and S
If (n + 1) ≦ Strip (n + 1) is detected (step S
9) The forced deceleration commands 25A to 25X are output, and the collision is avoided by forcibly decelerating the corresponding car (step S10).

Hereinafter, the above processing is repeatedly performed for all cars traveling in the same hoistway to make a judgment.
The necessary collision prevention operation is performed for the corresponding car (steps S11 and S12).

In this way, by always detecting the distance between the cars, the relative speed between the cars and the speed of each car are calculated, and the minimum allowable car distance is calculated based on the data. Based on the minimum car distance data as a reference value, it is compared with the actual car distance and determined based on the minimum car distance reference value corresponding to the running speed of each car in a situation where each car speed changes every moment The deceleration protection operation is performed.

The present invention is not limited to the above embodiment. In the above embodiment, the car position data and the speed data are input from the single control device of each car and processed. This may be an input of only the car position data, and the speed calculation may be performed on the group control device side.

Further, as in the above embodiment, the car position data and the speed data are inputted, the speed data calculated from the car position data and the inputted speed data are compared, and the data of each data inputted from the single control device of each car are compared. By performing a rationality check and adding a function to stop the operation of the unit that detected the abnormality and the unit behind it when an abnormality occurs, reliability and safety can be further improved.

[0034]

As described above, according to the present invention, when a plurality of self-propelled elevators are traveling on the same traveling path, there is a possibility that the front and rear cars approach abnormally due to occurrence of some abnormality. When it occurs, the minimum car distance that changes according to the traveling speed of both cars is calculated to prevent collision, and forced rapid deceleration is performed on the following car so that the car does not approach within the minimum car distance. Since the vehicle is driven, even when a plurality of cars are driven on the same traveling path, it is possible to prevent occurrence of a rear-end collision and to enhance safety.

[Brief description of the drawings]

FIG. 1 is a block diagram of one embodiment of the present invention.

FIG. 2 is a functional block diagram of the control device of the embodiment.

FIG. 3 is an explanatory diagram for explaining the operation of the embodiment.

FIG. 4 is a data table created by a car position / speed and traveling order detecting means in the embodiment.

FIG. 5 is a flowchart showing the operation of the car position / speed and traveling sequence detecting means in the embodiment.

FIG. 6 is a flowchart showing operations of a minimum car distance calculating means and a forced deceleration detecting means in the embodiment.

FIG. 7 is a configuration diagram of a conventional slide-type elevator system.

FIG. 8 is a configuration diagram of a proposed self-propelled elevator system.

FIG. 9 is a plan view showing a peripheral device arrangement of a car of the self-propelled elevator system.

[Explanation of symbols]

 21A to 21X ... single control device 22A to 22X ... speed detection device 23A to 23X ... car position / speed signal 24 ... group control device 24a ... car position / speed and traveling sequence detection means 24b ... minimum car distance calculation means 24c ... compulsory Deceleration detecting means 25A to 25X ... forced deceleration command signal

Claims (1)

(57) [Claims] 1. A self-propelled elevator control device in which a plurality of cars are self-propelled along a traveling path formed in a building, wherein a position of each car operating in the same traveling path is determined. Car position detecting means for detecting a speed, relative speed calculating means for calculating a relative speed between each car from a car position detection signal detected by the car position detecting means, and a car position and a car position from the car position detecting means. Minimum approach distance calculation means for calculating a minimum allowable approach distance capable of avoiding a collision between the cars based on speed data and relative speed data from the relative speed calculation means; and The minimum permissible approach distance calculated by the means is compared with the actual distance between cars, and if there is a car that is approaching abnormally, the subsequent cars out of the car are forcibly reduced. Control device for self-propelled elevator comprising a collision preventing means to perform.