JP5788848B2 - Passenger conveyor control device and residue detection method in passenger conveyor - Google Patents

Description

  The present invention relates to a passenger conveyor control device and a technique for a residue detection method in a passenger conveyor.

  Passenger conveyors are installed in commercial facilities having multiple floors. In preparation for opening a commercial facility or the like, an employee or an administrator visually confirms that there is no residue such as a person or a foreign object there before starting the operation of the passenger conveyor. Then, after confirming that no residue is present, the employee or the like starts operation of the passenger conveyor.

  However, when a large number of passenger conveyors are installed, such as in high-rise commercial facilities, it is a heavy burden on employees to visually check the presence or absence of passenger conveyor residues in a short time when preparing for opening a store. Become. Therefore, if the presence or absence of residue on the passenger conveyor can be detected without visual observation, the burden on employees and the like can be reduced.

  For example, Patent Documents 1 and 2 disclose techniques for determining whether or not a large number of passengers are on the passenger conveyor using the magnitude of current flowing in a motor that drives the passenger conveyor.

JP 2002-160884 A JP 2008-137789 A

  When detecting the presence or absence of residue on the passenger conveyor when opening a store in a commercial facility or the like, even if there is a residue, the number is assumed to be very small. Therefore, it is assumed that the difference in weight between when the residue is present and when it is not present is small. That is, in order to discriminate between the case where there is a residue and the case where there is no residue, it is necessary to accurately detect the small difference.

  An object of the present invention is to provide a passenger conveyor control device that detects the presence or absence of residue on a passenger conveyor and a residue detection method in the passenger conveyor. Another object of the present invention is to provide a passenger conveyor control device and a residue detection method in a passenger conveyor that detect the presence or absence of residues on the passenger conveyor with higher accuracy in a preparation stage before actually operating the passenger conveyor. There is to do.

  A passenger conveyor control device according to an embodiment of the present invention has a first operation execution means for executing a first operation of a passenger conveyor, and a drive value that varies with driving of the passenger conveyor in the first operation. Based on the residue determination means for determining whether there is a residue on the passenger conveyor, and a stop means for stopping the driving of the passenger conveyor when it is determined that the residue is present in the residue determination means, And a second operation executing means for executing a second operation of the passenger conveyor when the residue determining means determines that there is no residue.

  ADVANTAGE OF THE INVENTION According to this invention, the passenger conveyor control apparatus which detects the presence or absence of the residue on a passenger conveyor, and the residue detection method in a passenger conveyor can be provided. In addition, according to the present invention, a passenger conveyor control device and a residue detection method in a passenger conveyor that detect the presence or absence of residue on the passenger conveyor with higher accuracy in a preparation stage before actually operating the passenger conveyor are provided. can do.

The schematic diagram of a structure of a passenger conveyor. The schematic diagram when a residue exists in a passenger conveyor. The block block diagram which shows the drive and control of a passenger conveyor. The block diagram which shows the function which a control apparatus has. The graph which shows the change of the torque load value at the time of preliminary operation, and an operating current value. The example of the flowchart of the process which concerns on the 1st method of determining the presence or absence of a residue. Handrail mechanism on passenger conveyors. Mechanism of steps on passenger conveyors. The graph which shows the torque load value and driving | running current value when not considering the time-dependent change of driving resistance. The graph which shows the torque load value and driving | running current value at the time of considering the time-dependent change of the running resistance which concerns on the 1st method of adjusting a threshold value. The example of the flowchart of the process which concerns on the 1st method of adjusting a threshold value. The graph which shows the characteristic of a torque load value and driving | running current at the time of considering the time-dependent change of the running resistance which concerns on the 2nd method of adjusting a threshold value. The example of the flowchart of the process which concerns on the 2nd method of adjusting a threshold value. The schematic diagram in case a big frictional resistance generate | occur | produces suddenly in a passenger conveyor. The graph of the torque load value when a big frictional resistance generate | occur | produces suddenly. The example of the flowchart of the determination process of the presence or absence of the residue which concerns on the prevention method of a misdetection. The schematic diagram in the case where a residue exists in the case where it exists in the slope of a passenger conveyor, and a plane. The graph which shows the change of a torque load value and operating current value when a residue moves from a slope to a plane in the passenger conveyor in the ascending operation. The example of the flowchart of the process which concerns on the 2nd method of determining the presence or absence of a residue. The side view in case a residue exists in the plane in the vicinity of alighting of a passenger conveyor. The top view in case a residue exists in the plane in the vicinity of the passenger conveyor getting off.

  In the present embodiment, the presence or absence of a residue on the passenger conveyor is detected using a change characteristic of a torque load value or an operating current value related to a motor that drives the passenger conveyor. Hereinafter, embodiments according to the present invention will be described with reference to the drawings.

  FIG. 1 shows a schematic diagram of the configuration of a passenger conveyor. FIG. 2 shows a schematic diagram when there is a residue on the passenger conveyor.

  The passenger conveyor 1 includes a step 16 for passengers to board, a handrail 11 for a passenger to hold, a handrail guide 12 for guiding the handrail 11, and a handrail for driving the handrail 11. A drive device 13, a motor device 14 for driving the steps 16, and a control device 15 for controlling the operation of the passenger conveyor 1 are provided.

  The passenger conveyor 1 performs a preliminary operation at the start of operation in order to determine whether or not a residue 120 such as a person or an object exists on the step 16 as shown in FIG. Preliminary operation means that the passenger conveyor 1 is preliminarily operated in order to determine whether or not the residue 120 is present, for example, at the time of preparation for opening a commercial facility. In this preliminary operation, when it is determined that the residue 120 is present, the passenger conveyor 1 temporarily stops the operation. This is to ensure safety. When it is determined that the residue 120 does not exist, the passenger conveyor 1 switches from the preliminary operation to the actual operation (hereinafter referred to as “actual operation”) in which the passenger is boarded.

  FIG. 3 is a block diagram showing the drive and control of the passenger conveyor. The passenger conveyor 1 includes an operation device 100 that operates the passenger conveyor 1, an inverter circuit 25 that converts a direct current into an alternating current, a control device 15 that controls driving of the passenger conveyor 1, and a motor device that drives the passenger conveyor 1. 14. Further, the passenger conveyor 1 includes a torque load value detector 107 that detects a value of torque load applied to the motor device 14 (hereinafter referred to as “torque load value”) and a value of current supplied to the motor device 14 (hereinafter referred to as “operation”). An operating current value detector 105 for detecting “current value”) is provided.

  The operation device 100 receives instructions for starting and stopping the operation of the passenger conveyor 1 from employees or managers, and transmits the instructions to the control device 15. The operating device 100 is configured by buttons installed on the passenger conveyor 1, for example. Alternatively, the operating device 100 may be configured as an electronic computer installed in a remote place. In this case, the controller device 100 transmits the received instruction to the control device 15 via the communication network.

  The inverter circuit 25 is provided when the motor device 14 is driven by AC power. The inverter circuit 25 converts the direct current output from the control device 14 into an alternating current and supplies the alternating current to the motor device 14. In addition, when the motor apparatus 14 drives with a direct current, the inverter circuit 25 does not need to be provided.

  The motor device 14 receives the supply of the operating current controlled by the control device 15, rotates the shaft of the motor, and raises or lowers the step 16. At this time, the motor device 14 rotates the shaft so that the moving speed of the step 16 is constant (that is, a constant rotational speed). Therefore, when a large number of people and objects are present on the step 16 (that is, when the weight applied to the step 16 is large), a large torque load is applied to the shaft of the motor device 14 in order to maintain a constant speed. (Requires large operating current). The motor device 14 starts or stops operation in accordance with an instruction from the control device 15.

  The torque load value detector 107 detects the torque load value applied to the shaft of the motor device 14. The torque load value detector 107 provides the detected torque load value to the control device 15.

  The operating current value detector 105 detects the operating current supplied from the control device 15 to the motor device 14. The operating current value detector 105 provides the detected operating current value to the control device 15. When an alternating current is supplied to the motor device 14, the operating current value may be an effective value of the alternating current.

  The passenger conveyor 1 only needs to include at least one of the torque load value detector 107 and the operating current value detector 105.

  The control device 15 controls the motor device 14 according to an instruction from the operation device 100 or based on a preset instruction. The control device 15 includes, for example, a CPU (Central Processing Unit) 15a and a memory 15b. The CPU 15a and the memory 15b may be collectively referred to as the controller 103. The control device 15 includes, for example, a timer 15c for counting a predetermined time or time. Hereinafter, various functions of the control device 15 will be described.

  FIG. 4 is a block diagram illustrating functions of the control device 15. The various functions shown in FIG. 4 are realized by, for example, the controller 103 reading and executing a predetermined computer program held in the memory 15b by the CPU 15a.

  The control device 15 determines, for example, the preliminary operation executing means 201 that performs the preliminary operation, the residue determination means 202 that determines the presence or absence of the residue, the stop means 203 that stops the passenger conveyor 1, and the presence or absence of the residue. Threshold determining means 204 for determining a threshold value for performing the operation, and actual operation executing means 205 for executing the actual operation. The preliminary operation execution means 201 may be referred to as a first operation execution means, and the actual operation execution means 205 may be referred to as a second operation execution means. The preliminary operation may be referred to as a first operation, and the actual operation may be referred to as a second operation.

  The preliminary operation execution means 201 starts and executes the preliminary operation. The preliminary operation may be executed, for example, according to an instruction from the operation device 100 or when a time set in advance in the timer 15c (for example, a time for preparation for opening a commercial facility).

  The residue determination means 202 determines whether or not the residue 120 is present on the passenger conveyor 1 in the preliminary operation. When the residue determining unit 202 determines that the residue 120 is present, the stopping unit 203 stops the driving of the motor device 14 for safety. When the residue determining unit 202 determines that the residue 120 is not present, the actual operation executing unit 205 starts and executes the actual operation.

  The presence / absence of the residue 120 is determined based on, for example, a torque load value of the motor device 14 (hereinafter referred to as “torque load value”). The torque load value K is expressed by the following formula (1), for example.

    K = aP + bQ + cR (1)

  Here, P is the weight of the residue 120, Q is a resistance such as friction during the travel of the step 16 (hereinafter referred to as “step travel resistance”), and R is a resistance such as friction during the travel of the handrail 11. (Hereinafter referred to as “handrail running resistance”). a to c are predetermined coefficients.

  When the motor device 14 raises the step 16 at a constant speed and there is a residue 120 on the step 16, the torque load value K applied to the motor device 14 increases by the weight P of the residue 120. On the contrary, if the residue 120 exists in the step 16 when the step 16 is lowered at a constant speed by the motor device 14, the torque load value K applied to the motor device 14 is reduced by the weight P of the residue 120. . Similarly, the handrail travel resistance R and the step travel resistance Q also increase or decrease the torque load value K applied to the motor device 14.

  In addition, instead of the torque load value K or together with the torque load value K, the presence or absence of the residue 120 is determined based on the value of current supplied to drive the motor device 14 (hereinafter referred to as “operation current value”). You may judge. This is because when the torque load value K increases (or decreases), the operating current value supplied to the motor device 14 also increases (or decreases).

  The threshold value determination unit 204 determines a threshold value for determining whether or not the residue 120 exists on the passenger conveyor 1. For example, the threshold value determination unit 204 sets a threshold value that is equal to or higher than the driving value when it is determined that the residue 120 does not exist in the past. The threshold value determination means 204 is, for example, a first driving value in the first past determined that no residue is present and a second past that is newer than the first past determined that no residue is present. A threshold value in a certain preliminary operation is set based on the difference value calculated based on the difference from the second driving value and the threshold value in the second past. Details of the method for determining the threshold will be described later.

  The actual operation executing means 205 executes the actual operation when it is determined that the residue 120 does not exist in the preliminary operation. In actual operation, the presence / absence of the residue 120 is not determined.

<First method for determining presence or absence of residue>
Next, the 1st method of determining the presence or absence of a residue is demonstrated.

  FIG. 5 is a graph showing changes in torque load value and operating current value during preliminary operation. In the graph, the vertical axis represents the torque load value and the operating current value, and the horizontal axis represents time.

First, the change in the torque load value K will be described. In FIG. 5, a graph K ₀ shows a temporal change in the torque load value K when the residue 120 is not present on the step 16. The graph K ₁ shows the temporal change of the torque load value K when the residue 120 is present on the step 16. The torque load value K increases monotonously for a predetermined time from the start of operation of the passenger conveyor 1, and then converges to a substantially constant value. The graph K ₀ (K ₁ ) shown in FIG. 3 converges to a substantially constant torque load value after a predetermined time has elapsed (t = t ₁ ) from the start of operation (t = 0). This convergence value may be referred to as a torque load convergence value Kc.

Next, the threshold value Kp for determining the presence or absence of the residue 120 will be described. The threshold value Kp is calculated by adding a predetermined allowable value α to the torque load convergence value Kc when the residue 120 is not present. For example, in the case of FIG. 5, “Kp = K ₀ c + α” is calculated.

  Here, if the allowable value α is too large, the residue 120 having a small weight cannot be detected. On the other hand, if the allowable value α is too small, it is erroneously detected that the residue 120 is present even though the residue 120 does not exist due to fluctuations in the torque load value K generated by the handrail travel resistance R, the step travel resistance Q, and the like. . Therefore, it is desirable that the allowable value α is set to be slightly larger than the fluctuation of the torque load value K generated by the handrail travel resistance R and the step travel resistance Q.

When the torque load convergence value K ₁ c is greater than the threshold value Kp (K ₁ c> Kp) after a predetermined time has elapsed from the start of operation (t = 0) (t = t ₁ ), it is determined that the residue 120 is present. . The torque load convergence value K ₀ c in the case where there is no residue 120 is the maximum value or average of the torque load values K acquired a plurality of times in a certain predetermined time (t _{1 to} t ₂ ) after the predetermined time has elapsed. It is good as a value.

Next, changes in the operating current value will be described. In FIG. 3, the operating current value J ₀ indicates a temporal change in the operating current value J when the residue 120 is not present on the step 16. The operating current value J ₁ indicates a temporal change in the operating current value J when the residue 120 is present on the step 16. The operating current value J is temporarily (approximately 3 seconds) at the start of operation of the passenger conveyor 1, but an excessive current (inrush current to the motor device 14) is generated. Converge. The operating current value J ₀ (J ₁ ) shown in FIG. 5 converges to a substantially constant operating current value after a predetermined time has elapsed (t = t ₁ ) from the start of operation (t = 0). This convergence value may be referred to as an operating current convergence value Jc.

Next, setting of the threshold value Jp related to the operating current value J for determining the presence or absence of the residue 120 will be described. The threshold value Jp is calculated by adding a predetermined allowable value β to the operating current convergence value J ₀ c when there is no residue 120. For example, in the case of FIG. 3, “Jp = J ₀ c + β” is calculated.

  Here, if the allowable value β is too large, the residue 120 having a small weight cannot be detected. On the other hand, if the allowable value β is too small, the residue 120 is erroneously detected due to fluctuations in the operating current value J generated by the handrail travel resistance R, the step travel resistance Q, and the like. Therefore, it is desirable to set the allowable value β to a value that is slightly larger than the fluctuation of the driving current value J generated by the handrail running resistance R, the step running resistance Q, and the like.

When the operating current convergence value J ₁ c after a predetermined time has elapsed from the start of operation (t = 0) (t = t ₁ ) is larger than the threshold value Jp (J ₁ c> Jp), it is determined that the residue 120 exists. . Note that the operating current convergence value J ₀ c when there is no residue 120 may be the maximum value or the average value of the operating current value J in a certain predetermined time (t _{1 to} t ₂ ) after a predetermined time has elapsed. .

  The determination of the presence or absence of a residue can be made using either a change in the torque load value K or a change in the operating current value J. Alternatively, both the change in the torque load value K and the change in the operating current value J can be used. Therefore, in the following description, the torque load value K will be described as the drive value K. However, the following description is valid even if the driving value K is the operating current value J.

  FIG. 6 is an example of a flowchart of processing according to the first method for determining the presence or absence of a residue. This process is executed in the controller 103.

  The residue determination unit 202 waits for a predetermined time from the start of the preliminary operation until the drive value K converges (S101). Then, the residue determination unit 202 acquires the drive value K from the torque load value detector 107 (or the operating current value detector 105), and calculates the drive convergence value Kc (S102).

  The residue determination unit 202 determines whether or not the drive convergence value Kc is larger than a threshold value Kp for determining the presence or absence of the residue 120 (Kc> Kp) (S103).

  When the drive convergence value Kc is larger than the threshold value Kp (Kc> Kp) (S103: YES), the residue determining means 202 determines that the residue 120 is present on the step 16, and temporarily stops the passenger conveyor 1 ( S104), the process ends.

  When the drive convergence value Kc is equal to or less than the threshold value Kp (Kc ≦ Kp) (S103: NO), the residue determination unit 202 determines whether or not a predetermined preliminary operation time has elapsed (S105).

  If the predetermined preliminary operation time has not elapsed (S105: NO), the residue determination unit 202 returns to the process of step S102.

  When the predetermined preliminary operation time has elapsed (S105: YES), the residue determination unit 202 determines that the residue 120 does not exist (S106). In response to this, the actual operation execution means 205 switches from the preliminary operation to the actual operation.

  According to the above process, the presence or absence of the residue 120 can be automatically determined in the preliminary operation of the passenger conveyor 1. That is, it is possible to reduce the burden of employees and the like visually checking whether or not the residue 120 exists on the passenger conveyor 1 when preparing for opening a commercial facility or the like.

<First Method for Adjusting Threshold>
Next, a first method for adjusting the threshold will be described.

  The structure of the handrail 11 and the step 16 may be changed by driving for a long time. And the frictional resistance of contact parts, such as the handrail 11 and the step 16, may change with the change of this structure. When the difference in weight between when the residue is present and when it is not present is small, even such frictional resistance may adversely affect the accuracy of detection of the presence or absence of the residue. Therefore, an example will be shown in which the threshold value Kp is adjusted in consideration of the frictional resistance that changes with the change of the structure over time.

  FIG. 7 shows the mechanism of the handrail 11 in the passenger conveyor 1. The handrail 11 slides along a fixed handrail guide 12. At this time, a frictional resistance 21 is generated between the handrail 11 and the handrail guide 12. This frictional resistance 21 becomes one of the factors of the handrail running resistance R of the above formula (1). The structure of the handrail 11 and the handrail guide 12 changes with the passage of time, and the frictional resistance 21 increases. Therefore, the handrail running resistance R also increases with time.

  FIG. 8 shows the mechanism of the steps 16 in the passenger conveyor 1. The step 16 includes a traveling roller 18 at the lower portion, and the roller 18 travels on a fixed rail 17. At this time, a frictional resistance 22 is generated between the roller 18 and the rail 17. This frictional resistance 22 is one of the factors of the step running resistance Q of the above formula (1). The structure of the roller 18 and the rail 17 changes with time, and the frictional resistance 22 increases. Therefore, the step running resistance Q also increases with time. Hereinafter, the handrail travel resistance R and the step travel resistance Q may be collectively referred to simply as “travel resistance”.

  FIG. 9 is a graph showing a torque load value and an operating current value when a change in running resistance with time is not taken into consideration. Since the running resistance increases with the passage of time, the influence on the driving value increases with the passage of time. Therefore, when this running resistance becomes larger than a predetermined value, the drive convergence value Kc may become larger than the threshold value Kp even though the residue 120 does not exist.

This example will be described with reference to FIG. For example, the driving value when there is no residue 120 at the initial stage when the passenger conveyor 1 is introduced is K ₀ . The driving value when there is no residue 120 after the change with time is K ₃ . In this case, if the threshold value Kp remains the value obtained by adding the allowable value α to the initial driving convergence value K ₀ c, the driving convergence value K3c is the threshold value Kp even though the residue 120 is not present. Will be bigger than. That is, the residue 120 is erroneously detected. Therefore, the threshold value Kp is adjusted with time as follows.

FIG. 10 is a graph showing the torque load value K and the operating current value J when considering the change over time of the running resistance according to the first method for adjusting the threshold value Kp. For example, it is assumed that the driving convergence value when the residue 120 of this time does not exist is K ₂ c. In this case, a value obtained by adding the allowable value α to the current drive convergence value K ₂ c is set as the next threshold value K ₃ p (K ₃ p = K ₂ c + α). As a result, the next drive convergence value K ₃ c is compared with the threshold value K ₃ p, so that the erroneous detection described with reference to FIG. 9 can be prevented. Next, an example of the process will be shown.

  FIG. 11 shows an example of a flowchart of the process of the first method for adjusting the threshold value Kp. This process is executed in the controller 103. Since the process of steps S201 to S206 in FIG. 11 is the same as the process of steps S101 to S106 in FIG. 6, the description is omitted here.

After step S206, the threshold value determination unit 204 calculates a next threshold value K _{n + 1} p by adding a predetermined allowable value α to the current drive convergence value K _n c (n is an integer of 0 or more) (S207), Then, the threshold value determination unit 204 stores the next threshold value K _{n + 1} p in a predetermined storage medium (not shown) (S208), and ends the process. The next threshold value K _{n + 1} p stored in the predetermined storage medium is used as the threshold value when the process shown in FIG. 11 is executed next time.

The next threshold value K _{n + 1} p may be calculated using the maximum value or the average value of the plurality of drive values K _n acquired this time, instead of the drive convergence value K _n c. Next threshold K _{n + 1 p} is not limited to this driving value K _n, the previous drive values K _n-k than this _(k is positive integer smaller than n) may be calculated using the. The next threshold value K _{n + 1} p does not have to be calculated in every preparation operation, and may be calculated every predetermined number of intervals (for example, every 10 times).

  According to the above processing, it is possible to prevent erroneous detection of the residue 120 that occurs due to a change in running resistance. In other words, by adjusting the threshold value in consideration of frictional resistance as described above, it is possible to accurately determine the presence or absence of a residue even when the difference in weight between the presence and absence of the residue is small. it can.

<Second Method for Adjusting Threshold>
Next, a second method for adjusting the threshold value by a method different from the first method for adjusting the threshold value will be described.

  FIG. 12 is a graph showing the characteristics of the torque load value K and the operating current value J in consideration of the temporal change of the running resistance according to the second method for adjusting the threshold value Kp. The characteristics of the torque load value K and the operating current value J are the same as the characteristics shown in FIG.

In the second method of adjusting the threshold value, the difference ΔKc between the previous drive convergence value K ₀ c and the current drive convergence value K ₁ c when the residue 120 is not present is calculated. This ΔKc is considered to be caused by a change with time of the frictional resistance of the handrail 11 and the step 16. If the current threshold value is K ₂ p, the next threshold value K ₃ p is a value obtained by adding the difference ΔKc to the threshold value K ₂ p (K ₃ p = K ₂ p + ΔKc).

  Here, when the difference ΔKc is larger than a predetermined value (for example, an increase in driving value when a child rides alone), the difference ΔKc may be set as the predetermined value. This is because the difference ΔKc is too large for a change with time.

  FIG. 13 shows an example of a flowchart of the process of the second method for adjusting the threshold value Kp. The processes in steps S301 to S306 in FIG. 13 are the same as the processes in steps S101 to S106 in FIG.

The threshold value determination unit 204 calculates a difference ΔKc between the current drive convergence value K _n c (n is an integer of 1 or more) and the previous drive convergence value K _n−1 c (S307).

  The threshold value determination unit 204 determines whether or not the difference ΔKc is larger than a predetermined value (S308). If the difference ΔKc is larger than the predetermined value (S308: YES), the difference ΔKc is set as a predetermined value (S309). Proceed to step S310. When the difference ΔKc is equal to or smaller than the predetermined value (S308: NO), the threshold value determination unit 204 proceeds to step S310 as it is.

In step S310, the threshold value determination unit 204 sets the next threshold value K _{n + 1} p as a value obtained by adding ΔKc to the current threshold value K _n p (S310).

The threshold value determination unit 204 registers the next threshold value K _{n + 1} p in the storage medium (S311). The next threshold value K _{n + 1} p is not limited to the current drive convergence value K _n c, but is calculated using a drive convergence value K _n−k c (k is a positive integer smaller than n) before this time. May be. The next threshold value K _{n + 1} p does not have to be calculated in every preparation operation, and may be calculated every predetermined number of intervals (for example, every 10 times).

By the above processing, the threshold value K _{n + 1} p is used next time for determining whether or not the residue 120 is present, so that it is possible to prevent erroneous detection of the residue caused by a change in running resistance.

<Method to prevent false detection of residue>
When a large deformation occurs in a specific portion between the handrail 11 and the handrail guide 12, a particularly large frictional resistance is generated at that portion. Next, a method for preventing erroneous detection of the residue due to such a sudden large frictional resistance will be described.

  FIG. 14 is a schematic diagram in the case where a large frictional resistance is suddenly generated in the passenger conveyor 1. Hereinafter, although the passenger conveyor 1 in the ascending operation will be described, the following explanation is valid even in the descending operation.

  FIG. 14 shows that the deformed portion 31 exists in the handrail guide 12 and the deformed portion 32 exists in the handrail 11. Positions 32 a to 32 c in FIG. 14 indicate that the deformed portion 32 of the handrail 11 is moving with the raising operation of the handrail 11. That is, the deformed portion 32 of the handrail 11 is at the initial position 32a, moves to the position 32b along with the ascending operation, and then circulates and moves to the position 32c. Here, when the deformed portion 32 of the handrail 11 collides with the deformed portion 31 of the handrail guide 12, a large frictional resistance is suddenly generated.

  FIG. 15 shows a graph of the torque load value K when a large frictional resistance is suddenly generated. In the following description, the operating current value J may be used instead of the torque load value K.

  When suddenly large frictional resistance occurs, the drive value K also suddenly increases. If the presence or absence of the residue 120 is determined at the timing when the suddenly large driving value K is generated, there is a possibility that an erroneous determination is made if the residue 120 is present even though the residue 120 is not present. The timing at which this suddenly large drive value K is generated varies depending on the position of the deformed portion 32 of the handrail 11 at the start of operation.

  However, since the handrail 11 circulates, this suddenly large drive value K is periodically generated. For example, as shown in the graph of FIG. 15, suddenly a large drive value K is generated with a period T. Therefore, when suddenly large drive values K occur periodically, it is regarded as a frictional resistance due to the presence of deformed portions of the handrail 11 and the handrail guide 12, and is excluded from the determination of the presence or absence of the residue 120. Hereinafter, the determination method will be described with reference to the graph of FIG.

When the presence / absence of the residue 120 is determined based on the drive value K (t ₁ ) at the time t ₁ , the drive value K (t ₁ ) is larger than the threshold value Kp. Nevertheless, it is determined that the residue 120 is present. Therefore, when the drive value K (t ₁ ) acquired first is larger than the threshold value Kp, the drive value K (t ₂ ) after the predetermined time Δt has elapsed is acquired and compared with the threshold value Kp again.

Here, when the drive value K (t ₂ ) is equal to or less than the threshold value Kp, the previously acquired drive value K (t ₁ ) is assumed to be abrupt, and the drive value K (t ₂ ) acquired this time is adopted. To do. If the drive value K (t ₂ ) acquired this time is also larger than the threshold value Kp, the drive value K (t ₃ ) is acquired again after the predetermined time Δt has elapsed and compared with the threshold value Kp. This comparison is continued for a predetermined time C. The predetermined time C can be set arbitrarily, but if it is set too long, the detection of the residue 120 will be delayed accordingly. Therefore, it is desirable to set the predetermined time C as short as possible according to the characteristics of the suddenly generated drive value K. The predetermined time C is set to be equal to or less than the period T in which the handrail 11 circulates at the longest.

  FIG. 16 shows an example of a flowchart of processing for determining the presence or absence of the residue 120 according to the false detection prevention method. This process is executed in the controller 103.

  The residue determination unit 202 waits for a predetermined time from the start of the preliminary operation until the drive value K converges (S401). And the residue determination means 202 acquires the drive value K (t) at the time t from the torque load value detector 107 (operating current value detector 105) (S402).

  The residue determination unit 202 compares the drive value K (t) with the threshold value Kp (S403), and when the drive value K (t) is larger than the threshold value Kp (K (t)> Kp) (S403: YES). Further, the time t is compared with the predetermined time C (S404).

  Here, when the time t is equal to or less than the predetermined time C (t ≦ C) (S404: NO), the residue determination unit 202 waits for the predetermined time Δt (t ← t + Δt) (S405), and then performs the process of step S402. Return to. On the other hand, when the time t is larger than the predetermined time (t> C) (S404: YES), the residue determination unit 202 determines that the residue 120 exists, temporarily stops the passenger conveyor (S406), The process ends.

  Returning to the comparison in step S403, when the drive value K (t) is equal to or less than the threshold value Kp (K (t) ≦ Kp) (S403: NO), the residue determination unit 202 determines whether or not a predetermined preliminary operation time has elapsed. Is determined (S410). Here, when the predetermined preliminary operation time has not elapsed (S410: NO), the residue determination unit 202 returns to the process of step S402. On the other hand, when the predetermined preliminary operation time has elapsed (S410: YES), the residue determination unit 202 determines that the residue 120 does not exist (S411). In response to this, the actual operation execution means 205 starts executing the actual operation.

  According to the above processing, it is possible to reduce the possibility that the residue 120 is erroneously detected when there is a frictional resistance that suddenly increases.

<Second method for determining presence or absence of residue>
Next, a second method for determining the presence or absence of the residue 120 by a method different from the first method for determining the presence or absence of the residue will be described.

  FIG. 17 shows a schematic diagram when the residue 120 exists on the slope of the passenger conveyor 1 and when it exists on a plane.

  The driving value K varies depending on whether the residue 120 exists on the slope 24 of the passenger conveyor or near the plane 19 at the boarding position or the getting-off position. For example, when the passenger conveyor 1 is running upward, the drive value K is generally larger when the residue 120 is present on the slope 24 (120a) than when the residue 120 is present near the plane 19 (120b). Become. On the contrary, when the passenger conveyor 1 is in the descending operation, the drive value K is generally set to be greater when the residue 120 is present on the slope 24 (120a) than when the residue 120 is present near the plane 19 (120c). Get smaller. That is, regardless of whether the operation of the passenger conveyor 1 is ascending or descending, the drive value K changes when the residue 120 moves from the slope 24 to the plane 19. Therefore, the presence or absence of the residue 120 is determined using this change in the drive value K.

  FIG. 18 is a graph showing changes in the torque load value K and the operating current value J when the residue 120 moves from the slope 24 to the plane 19 in the passenger conveyor 1 during the ascending operation.

18, during the period from the time t ₁ to time t _4, the change of the driving value K is reduced occurs. That is, it can be estimated that the residue 120 has moved from the slope 24 to the plane 19 during this time. Next, a method for detecting the change in the drive value K will be described.

  FIG. 19 shows an example of a flowchart of processing according to the second method for determining the presence or absence of a residue. This process is executed in the controller 103.

  The residue determination unit 202 waits for acquisition of the drive value K for a predetermined time until the drive value K converges after the start of the preliminary operation (S501).

  The residue determination unit 202 calculates a drive convergence value Kc based on the drive value K (S502). This calculation is similar to step S102 described above.

  The residue determination unit 202 acquires the drive value K (t) at time t (S503). When the passenger conveyor 1 is in ascending operation, the residue determination unit 202 determines whether the drive value K (t) is smaller than the value obtained by subtracting the predetermined value γ from the drive convergence value Kc (K (t) <Kc−γ). It is determined whether or not (S504). When the passenger conveyor 1 is in the descending operation, on the contrary, whether the drive value K (t) is larger than the value obtained by adding the predetermined value γ to the drive convergence value Kc (K (t)> Kc + γ). judge.

  First, the case where the drive value K (t) is equal to or greater than the value obtained by subtracting the predetermined value γ from the drive convergence value Kc (K (t) ≧ kc−γ) in step S504 (S404: NO) will be described. In this case, the residue determination unit 202 determines whether or not a predetermined preliminary operation time has elapsed (S510). And when predetermined preliminary operation time passes (S510: YES), the residue determination means 202 determines with the residue 120 not existing in the passenger conveyor 1 (S511). In response to this, the actual operation execution means 205 executes the actual operation. On the other hand, when the predetermined preliminary operation time has not elapsed (S510: NO), the residue determination unit 202 returns to the process of step S503.

  Next, the case where the drive value K (t) is smaller than the value obtained by subtracting the predetermined value γ from the drive convergence value Kc (K (t) <Kc−γ) in step S504 (S504: YES) will be described. In this case, the residue determination unit 202 determines that the residue 120 is present, and temporarily stops the passenger conveyor 1 (S505).

<Method of adjusting the speed of the steps in the preliminary operation>
Next, a method for adjusting the speed of the step 16 in the preliminary operation will be described.

  FIG. 20 is a side view in the case where the residue 120 exists on the plane 19 in the vicinity of the passenger conveyor getting off. FIG. 21 is a plan view in the case where the residue 120 exists on the plane 19 near the disembarkation of the passenger conveyor.

  Near the disembarkation, there is a floor insertion opening 20 through which the step 16 is drawn under the floor. Therefore, considering that the residue 120 may be present in the vicinity of getting off, it is desirable to operate at a very low speed at the start of the preliminary operation.

For example, in FIG. 20, the distance between the residue 120 and the floor insertion opening 20 is 200 mm. In this case, if the preliminary operation is performed at a speed of 5 m / min, which is a low speed operation,
The residue 120 reaches the floor insertion opening 20 in 2.4 seconds. Thus, when the residue 120 exists in the position very close to the floor insertion port 20, there exists a possibility that it may reach the floor insertion port 20 before the residue 120 is detected.

  Therefore, the preliminary operation execution unit 201 operates at a speed (for example, 0.3 m / min) slower than the speed of the subsequent preliminary operation (for example, 5 m / min) for the first predetermined time (for example, 10 seconds) of the preliminary operation. To do. Thereby, even if the residue 120 exists in the vicinity of the floor insertion port 20, it can be prevented that the residue 120 reaches the floor insertion port 20 before the residue 120 is detected.

  The above-described embodiments of the present invention are examples for explaining the present invention, and are not intended to limit the scope of the present invention only to those embodiments. Those skilled in the art can implement the present invention in various other modes without departing from the spirit of the present invention.

  For example, the “first method for determining the presence or absence of a residue” may be combined with the “first method for adjusting the threshold” or the “second method for adjusting the threshold”. Alternatively, “the second method for determining the presence or absence of a residue” may be combined with “the first method for adjusting the threshold” or “the second method for adjusting the threshold”.

  For example, the “first method for determining the presence or absence of residue” may be combined with the “method for preventing erroneous detection of residue” or the “method for adjusting the speed in the preliminary operation”. Alternatively, the “second method for determining the presence or absence of residue” may be combined with the “method for preventing erroneous detection of residue” or the “method for adjusting the speed in the preliminary operation”.

  For example, a “first method for determining the presence or absence of a residue”, a “first method for adjusting a threshold value”, and a “method for preventing erroneous detection of a residue” may be combined. Or you may implement combining "the 1st method of determining the presence or absence of a residue", "the 1st method of adjusting a threshold value", and "the method of adjusting the speed in preliminary operation." Or, “a first method for determining the presence or absence of a residue”, “a first method for adjusting a threshold value”, “a method for adjusting speed in preliminary operation”, and “a method for adjusting speed in preliminary operation” are combined. May be implemented.

  For example, “a first method for determining the presence or absence of a residue”, “a second method for adjusting a threshold value”, and “a method for preventing erroneous detection of a residue” may be combined. Or you may implement combining "the 1st method of determining the presence or absence of a residue", "the 2nd method of adjusting a threshold value", and "the method of adjusting the speed in preliminary operation." Or, “a first method for determining the presence or absence of a residue”, “a second method for adjusting a threshold value”, “a method for adjusting a speed in preliminary operation”, and “a method for adjusting a speed in preliminary operation” are combined. May be implemented.

  For example, “a second method for determining the presence or absence of a residue”, “a first method for adjusting a threshold”, and “a method for preventing erroneous detection of a residue” may be combined. Alternatively, “a second method for determining the presence or absence of a residue”, “a first method for adjusting a threshold value”, and “a method for adjusting a speed in preliminary operation” may be combined. Or, “a second method for determining the presence or absence of a residue”, “a first method for adjusting a threshold value”, “a method for adjusting speed in preliminary operation”, and “a method for adjusting speed in preliminary operation” are combined. May be implemented.

  For example, “a second method for determining the presence or absence of a residue”, “a second method for adjusting a threshold”, and “a method for preventing erroneous detection of a residue” may be combined. Alternatively, “a second method for determining the presence or absence of a residue”, “a second method for adjusting a threshold value”, and “a method for adjusting a speed in preliminary operation” may be combined. Or, a combination of “second method for determining the presence or absence of residue”, “second method for adjusting threshold”, “method for adjusting speed in preliminary operation”, and “method for adjusting speed in preliminary operation” May be implemented.

DESCRIPTION OF SYMBOLS 100 ... Operation apparatus 15 ... Control apparatus 14 ... Motor apparatus 107 ... Torque load value detector 105 ... Operating current value detector 201 ... Preliminary operation execution means 202 ... Residue determination means 203 ... Stop means 204 ... Actual operation execution means

Claims (6)

First operation executing means for executing a first operation of the passenger conveyor;
In the first operation, a residue determination means for determining whether or not there is a residue on the passenger conveyor, based on a drive value that changes as the passenger conveyor is driven,
When it is determined in the residue determination means that there is a residue, stop means for stopping the driving of the passenger conveyor;
A second operation executing means for executing a second operation of the passenger conveyor when the residue determining means determines that there is no residue ; and
The residue determination means compares the drive value with a threshold for determining the presence or absence of the residue after a predetermined time from the start of the first operation, and the drive value is greater than the threshold in the comparison. Next, after the predetermined time elapses until the handrail of the passenger conveyor makes one round, the drive value and the threshold value are repeatedly compared at predetermined time intervals ,
In any comparison, if the drive value is larger than the threshold value, it is determined that the residue is present on the passenger conveyor,
Passenger conveyor control apparatus which determines with the said residue not existing on the said passenger conveyor when the said drive value is below the said threshold value in any comparison.
The threshold, the passenger conveyor control apparatus according to claim 1, or the drive value when the residue is determined not to exist in the past.
The threshold value is a difference between a first drive value when it is determined that no residue is present and a second drive value when it is determined that there is no residue in the past than the first drive value. The passenger conveyor control device according to claim 2 , wherein a value obtained by adding a threshold value when the first drive value is compared to the value is added.
A current detector for detecting a value of a current supplied to drive the passenger conveyor at a predetermined speed;
The passenger conveyor control device according to any one of claims 1 to 3 , wherein the residue determination unit calculates the driving value based on a value of a current detected by the current detector.
A torque load detector for detecting a load value of torque required to drive the passenger conveyor at a predetermined speed;
The passenger conveyor control device according to any one of claims 1 to 3 , wherein the residue determination unit calculates the driving value based on a value of a torque load detected by the torque load detector.
Perform the first operation of the passenger conveyor,
After a predetermined time has elapsed since the start of the first operation , the drive value that changes as the passenger conveyor is driven is compared with a threshold value for determining the presence or absence of residue on the passenger conveyor. When the driving value is larger than the threshold value, the driving value and the threshold value are repeatedly compared at predetermined time intervals after the predetermined time has elapsed until the handrail of the passenger conveyor makes one round. ,
In any comparison, if the drive value is larger than the threshold value, it is determined that the residue is present on the passenger conveyor, and the driving of the passenger conveyor is stopped.
In any comparison, when the drive value is equal to or less than the threshold value, it is determined that the residue does not exist on the passenger conveyor, and a second operation of the passenger conveyor is performed.

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