JP7100515B2 - Elevator - Google Patents

Description

An embodiment of the present invention relates to an elevator provided with a moving distance / speed detecting device of the elevator that senses the relative speed of the car with respect to the guide rail.

In the elevator, by sequentially detecting the moving distance and moving speed of the car, the landing control with little deviation from the floor on the building side and when the elevator exceeds the specified speed, the power of the hoisting machine is shut off and the safety device is turned on. Make it work. In the past, the moving distance and moving speed of the car were measured using a mechanical governor or an encoder. On the other hand, in order to reduce the number of long objects in the hoistway, there is a measurement method using an image in the hoistway captured by an optical sensor or a camera.

The position detection device for an elevator according to Patent Document 1 is composed of an image acquisition device such as a car and a camera, and an arithmetic device for calculating the moving distance and moving speed of the car. In addition, on the surface of the detected hoistway member (guide rail, hoistway inner wall, member fastener, etc.), for example, the rail is processed with a hammer finish so that the feature points of the acquired image can be extracted. To apply. Images of the walls and guide rails in the hoistway are acquired by the image acquisition device installed in the car, and feature points are extracted from the surface condition of the members in the hoistway. The absolute position of the car in the hoistway is detected by comparing it with the image data stored in the control device.

International Publication No. 2016/0966698 Pamphlet

However, when detecting the absolute position of the car by the method according to Patent Document 1, it is necessary to process the surface of the member in the hoistway, for example, hammer finish coating or powder-to-powder coating, and detect these processing marks at the time of measurement. be. Therefore, it is costly to process the members in the hoistway. In addition, it is conceivable that erroneous car position detection will be performed during measurement due to changes in the surface condition due to aging.

From the above, it is required to detect the moving distance and moving speed of the car without processing the members in the hoistway.

It is a speed detection device attached to the car that detects the speed of the car inside the hoistway where the car goes up and down. A speed detection device including a detection unit for detection, a calculation unit for calculating the speed of the car from the image difference on the surface of the guide rail detected by the detection unit , a car, a pair of guide rails, and a control unit. Providing an elevator to prepare . The elevator is characterized in that it is provided with a plurality of speed detection devices corresponding to each pair of guide rails, and the control unit is based on a memory in which the speed detection device stores the speed of the car and a moving speed data stored in the memory. It is provided with a calculation device for calculating the moving distance of the car 1 and an abnormality determination device for executing abnormality determination. The abnormality determination device is characterized in that it determines whether or not the difference between the speeds output by the plurality of speed detection devices is equal to or less than a preset threshold value. If the abnormality determination device determines that the difference in speed output by the plurality of speed detection devices is larger than the preset threshold value, the control unit determines whether the difference is due to the lateral displacement of the car, and determines whether the difference is due to the lateral displacement of the car. A processing device that determines that an abnormality is not caused by the lateral displacement of the car and executes the car control function provided by the control unit is characterized in that the car is stopped.

With the above configuration, it is possible to detect the moving distance and speed of the car without processing the members in the hoistway. In addition, since the moving distance and speed of the car are calculated using the image difference on the surface of the guide rail that is always detected, the influence of the secular change of the detection target can be reduced.

Schematic diagram showing the overall configuration of the elevator according to the first embodiment of the present invention. Front view schematically showing the moving distance / speed detecting device shown in FIG. Top view schematically showing the moving distance / speed detecting device shown in FIG. The figure explaining the method of correcting the speed of a car by a movement distance / speed detection device and a control part shown in FIG. Schematic diagram showing the overall configuration of an elevator according to another form

FIG. 1 is a schematic view showing an overall configuration of an elevator according to an embodiment of the present invention. FIG. 2 is a front view schematically showing the moving distance / speed detecting device shown in FIG. 1. The car 1 moves along guide rails 2 provided at both ends of the hoistway. FIG. 2 is a front view schematically showing the speed detection device 3. FIG. 3 is a top view schematically showing the speed detection device 3 shown in FIG.

A speed detection device 3 and a control unit 4 are provided on the upper part of the car 1. The speed detection device 3 senses the imaging range 10 and acquires image data. As shown in FIG. 3, if the speed detection device 3 can continue sensing with a certain clearance from the guide rail 2 so as not to come into contact with the guide rail 2 when the car 1 vibrates, the car 1 It may be installed in any part of the throat (upper part of the guide roller 5 in FIG. 2).

Further, the speed detection device 3 may detect any surface of the guide rail as long as it can sense the surface of the guide rail 2 according to the movement path of the car 1. Further, another component may be used as the object to be detected.

The speed detection device 3 includes a speed detection device 3a for one guide rail 2 and a speed detection device 3b for the other guide rail 2. The speed detection device 3 senses the guide rail 2 as the car 1 moves, and calculates the moving speed of the car 1.

The control unit 4 has a processing device that executes a control function related to the car 1, a memory that stores the movement speed data of the car 1 calculated by the speed detection device 3, and a movement of the car 1 from the saved movement speed data. It includes a calculation device for calculating the distance, an abnormality determination device for executing abnormality determination of the car 1 in real time, and a speed correction device for correcting the speed calculation value output by the speed detection device 3.

The speed detection device 3 includes an optical sensor 6 and a calculation unit 7. The speed detection device 3a includes an optical sensor 6a and a calculation unit 7a, and the other speed detection device 3b comprises an optical sensor 6b and a calculation unit 7b, forming a so-called dual system. Here, in this embodiment, the speed detection device 3 is configured by a dual system, but this is not always essential, and a single system provided with only one speed detection device may be used.

The optical sensor 6 includes an optical system and an image pickup element for acquiring an image of the detection surface, and acquires a surface image of the guide rail 2 at regular intervals. Further, the optical sensor 6 includes a lighting device (not shown), a lens, and an image pickup element. The light source used in the lighting device may be an LED or a laser diode, for example, as long as it can form an image on the image pickup element via a lens. The lens is used to form an image of the reflected illumination light on the image pickup device, and detects scratches and deposits existing on the surface of the guide rail 2. Further, for example, a telecentric lens may be used so that even if the distance between the optical sensor 6 and the detection surface fluctuates, it can be detected. As the image pickup device, it suffices if the imaged light can be converted into an electric signal, and for example, a CCD element, a CMOS element, or the like can be used. The image information acquired by the optical sensor 6 is transmitted to the calculation unit 7.

The calculation unit 7 extracts feature points of the transmitted image data. The extracted feature point data is stored in a memory provided in the speed detection device 3 in time series, and the calculation unit 7 compares the stored data with the newly acquired data. The calculation unit 7 calculates the moving speed of the car 1 from the moving amount of the feature points appearing after the comparison. For example, scratches in the image in the range captured at time t are detected as feature points. Next, the calculation unit 7 extracts the same scratch as a feature point from the image captured at time t + Δt, compares the images, and calculates the moving distance. The calculation unit 7 transmits the moving speed of the car 1 calculated from the moving distance of this time difference to the control unit 4.

The control unit 4 stores the speed calculation value output by the speed detection device 3 in the memory in time series. After that, the calculation unit of the control unit 4 calculates the movement distance from the reference position of the car 1, for example, the lowest floor of the hoistway by integrating the speed calculation value stored in the memory.

In the speed detection device 3 configured as described above, the car 1 and the guide rail 2 maintain a constant distance via the guide device, and the moving distance and speed of the car 1 are always detected from the surface image difference of the guide rail 2. Therefore, it is possible to reduce the influence of the arrangement of equipment in the tower, the deformation of the building due to aging, and the aging of the detection surface, and to measure the moving distance and speed of the car 1 with high resolution.

Next, a method of correcting the influence of the vibration of the car 1 will be described. Here, the vibration direction of the car 1 is assumed to be the left-right direction in the top view of FIG. When the car 1 vibrates in this direction or when an unbalanced load is generated due to the bias of passengers in the car, one speed detection device 3a approaches the guide rail 2 and the other speed detection device 3b is from the guide rail 2. An event occurs in which the car changes laterally, such as when moving away. According to the principle of the detection device, for example, in an approaching state, the optical sensor 6 is constant because an enlarged image can be obtained from the image acquired by the distance between the optical sensor 6 and the guide rail 2 (hereinafter referred to as the design distance) designed in advance. The fluctuation of the image difference acquired in the cycle is large, and the calculated speed of the car 1 is larger than the actual speed. The opposite happens when moving away. This suggests that there is a difference in the speed values output by the left and right detectors. Hereinafter, a method of equalizing and correcting the detection speeds of the speed detection devices 3a and 3b will be described in detail.

FIG. 4 is a flowchart showing the speed calculation process of the speed detection device 3 and the control unit 4. A method of correcting the speed calculation value by the control unit 4 and a method of diagnosing an abnormality in the car 1 will be described with reference to FIG. First, in S1, the optical sensors 6a and 6b acquire surface images of the guide rail 2, respectively.

Next, in S2, the calculation units 7a and 7b calculate the moving speed from the surface image, respectively. The moving speed data of the car 1 calculated by the speed detecting device 3 is transmitted to the control unit 4.

In S3, the control unit 4 compares the speed calculation values output from the speed detection device 3a and the speed detection device 3b. At the time of comparison, the difference between the moving speeds output by the speed detecting device 3a and the speed detecting device 3b is calculated. If the difference after the calculation is equal to or less than the preset threshold value, the abnormality determination device determines that the output results of the left and right speed detection devices 3 are equal. Therefore, in S4, the abnormality determination device of the control unit 4 determines that the speed detection device 3 outputs a normal value, and ends the process without correcting the speed data after the calculation. This speed data is stored in the memory provided in the control unit 4.

If the difference between the moving speeds output by the speed detection device 3a and the speed detection device 3b exceeds the set threshold value, the cause may be a failure of the speed detection device 3 or an unbalanced load or vibration of the car 1. It is conceivable that the distance between the speed detection device 3 and the guide rail 2 is displaced. If the displacement of the distance between the speed detection device 3 and the guide rail 2 due to the eccentric load or vibration of the car 1 has an effect, we would like to correct it to a normal value and continue the operation. Therefore, in S5, it is determined whether the difference between the calculated speed values is due to the change in the distance between the speed detection device 3 and the guide rail 2 due to the lateral displacement of the car.

As shown above, when the distance between the optical sensor 6 and the guide rail 2 is closer than the design distance, the speed calculation value output differs depending on the distance. For example, when the distance between the optical sensor 6 and the guide rail 2 is short, the calculated speed of the car 1 becomes larger than the actual speed. On the other hand, when the distance between the optical sensor 6 and the guide rail 2 is longer than at the time of design, the calculated speed of the car 1 becomes smaller than the actual speed. Here, attention is paid to the positional relationship in which the left and right guide rails 2 face each other and the speed detection devices 3a and 3b are arranged on the same line. When the car 1 is tilted due to vibration or eccentric load, the approaching distance and the moving distance of the respective guide rails 2 and the speed detection devices 3a and 3b become equal. Therefore, if the distance between the cage and the guide rail changes due to vibration or the like, and the speed detected by the speed detection device 3a and the speed detected by the speed detection device 3b are different, the guide rail and the optical are between the two speeds. There is a certain relationship that correlates with the sensor distance. Further, the maximum distance and the minimum distance between the guide rail 2 and the speed detection devices 3a and 3b are fixed. Therefore, the above relationship is stored in advance in the memory provided by the control unit 4 as prior information, and it is determined whether the speed detected by the speed detection device 3a and the speed detected by the speed detection device 3b satisfy this relationship. Therefore, it is determined whether it is due to the fluctuation of the distance between the speed detection device 3 and the guide rail 2. Here, the relationship between the speed detected by the speed detection device 3a and the speed detected by the speed detection device 3b when the distance between the cage and the guide rail changes is detected for each distance between the guide rail 2 and the optical sensor 6. The relationship between the moving speed and the actual speed may be actually measured in advance, or it may be stored in the memory provided in the control unit 4 by deriving it by calculation or the like.

The control unit 4 uses the vibration influence standard as the vibration influence standard for how much the measured speed when the distance between the optical sensor 6 and the guide rail 2 is maximum or close to the reference value due to the vibration of the car may be different from the actual speed. It is stored in the memory provided by. Using the speed determined to be a normal value in S4 after the previous measurement stored in the memory of the control unit 4 as the reference speed, it is determined whether the deviation from this speed is within the vibration influence standard, and if it is within the reference, the distance. It can also be judged as a fluctuation according to the characteristics.

If it is determined in S5 that the difference between the calculated speed values is not due to the change in the distance between the speed detection device 3 and the guide rail 2, the process proceeds to S8.

When it is determined in S5 that the difference between the respective speed calculated values is due to the fluctuation of the distance between the speed detection device 3 and the guide rail 2, the calculated value is corrected in S6 according to the distance between the sensor and the detection surface. The speed detected by the speed detection device 3a and the speed detected by the speed detection device 3b are determined based on two variables, the distance between the sensor and the detection surface and the actual speed of the car, respectively. Of course, the car speed is the same, and if one of the distances between the sensor and the detection surface is determined, the other is also determined. By making them simultaneous, it is possible to calculate the car speed and the distance between the sensor and the detection surface. If the calculated speed characteristic (correction value) with respect to the distance between the detection surface and the speed detection device 3 is obtained in advance, it is possible to perform correction according to the distance from the guide rail 2 to the detection devices 3a and 3b.

In S7, it is determined whether the corrected speed calculation values are equal. If the speed calculation values compared after the correction are equal, it is determined in S4 that the speed detection device 3 outputs a normal value.

If the respective speed calculation values do not fluctuate according to the predetermined characteristics in S5, or if the corrected speed calculation values are not equal in S7, it is determined that the abnormal value is calculated in S8. When the control unit 4 determines that the abnormal value is calculated, for example, it outputs a command signal such as stopping the elevator on the nearest floor or making an emergency stop, or issues failure information.

According to the above, the two speed detection devices 3 target the pair of guide rails 2 as detection targets, so that the control unit 4 identifies the detection error due to the lateral vibration and the eccentric load of the car 1, and the speed detection device 3 The output result of can be corrected. Therefore, it is possible to prevent a speed detection error of the car 1 when the car vibration occurs.

FIG. 5 is a schematic view showing the overall configuration of an elevator according to another embodiment. In the second embodiment, up to FIG. 4, the car position detector 9 detects the detection plate 8 and updates the position information of the car 1 to correct the moving distance of the car 1 calculated by the control device 4. It is different from the first embodiment described in.

The detection plate 8 is installed, for example, on the guide rail 2 along the movement path of the car 1. The detection plate 8 may be installed on each floor, or may be installed on a part of the top floor and the bottom floor. The car position detector 9 is installed in the car 1, and by detecting the detection plate 8, the position information of the car 1 in the hoistway is transmitted to the control unit 4. The car position detector 9 detects the detection plate 8 by various methods such as a laser transmission type and an eddy current type.

The speed detection device 3 is installed in the car 1 and senses the surface state of the guide rail 2 to acquire an image of the imaging range 10. Since the configuration of the speed detection device 3 is the same as that of the first embodiment, the configuration is omitted. The speed detection device 3 may be provided at two locations on both sides as in the first embodiment. The control unit 4 has a processing device that executes a plurality of controls related to the car 1, a memory that stores the movement speed data of the car 1 calculated by the speed detection device 3, and a movement distance of the car 1 from the saved movement speed data. It is provided with a calculation device for calculating the speed and a calculation unit for correcting the moving distance of the car 1 calculated from the calculated speed of the speed detection device 3 based on the signal from the car position detection device 9. The speed detection device 3 transmits the moving speed of the car 1 to the control unit 4.

The car position is calculated by adding / subtracting (stacking) the moving distance calculated by the control unit 4, and calculating the car position according to a certain reference position, for example, how much the car has moved from the lowest floor. Therefore, as the car 1 moves away from the reference position, an error during calculation is accumulated, and the output error of the moving distance becomes larger.

Therefore, a method of correcting the moving distance of the car 1 using the detection plate 8 and the car position detecting device 9 will be described. When the car 1 moves up and down along the guide rail 2, the car position detecting device 9 detects the detection plate 8. At this time, the car position detecting device 9 transmits to the control unit 4 that the detection plate 8 has been detected. The control unit 4 separately stores in a memory at which position in the hoistway each of the detection plates is installed, and the position of the detection plate passed at this time is set as the positive current position information of the car 1 and is stored in the memory. Record in.

After that, the moving distance of the car 1 calculated from the speed calculation value output by the speed calculation device 3 is obtained, and the current position is calculated by adding or subtracting to the position information of the car 1 recorded in the memory.

According to the above, by using the car position detection device 9 and the detection plate 8, the moving distance of the car 1 calculated from the calculated speed of the speed detection device 3 can be corrected, and the position of the car 1 in the hoistway can be corrected. It can be detected.

1, Car 2, Guide rail 3, 3a, 3b Speed detection device 4, Control unit 10, Imaging range 5, Guide roller 6, 6a, 6b Optical sensor 7, 7a, 7b Calculation unit 8, Detection plate 9, Car position detection Device

Claims (3)

A speed detection device attached to a car that detects the speed of the car inside the hoistway where the car goes up and down, and the surface of a pair of guide rails laid facing each other in the hoistway along the movement path of the car. A speed detection device including a detection unit that detects an image of a state and a calculation unit that calculates the speed of the car from the image difference on the surface of the guide rail detected by the detection unit .
An elevator including the basket, the pair of guide rails, and a control unit.
It is characterized in that a plurality of the speed detection devices corresponding to the pair of guide rails are provided.
The control unit includes a memory in which the speed detection device stores the speed of the car, a calculation device for calculating the movement distance of the car 1 from the movement speed data stored in the memory, and an abnormality determination device for executing abnormality determination. And with
The abnormality determination device is characterized in that it determines whether or not the difference between the speeds output by the plurality of speed detection devices is equal to or less than a preset threshold value.
When the abnormality determination device determines that the difference in speed output by the plurality of speed detection devices is greater than or equal to a preset threshold value, the control unit determines whether the difference is due to the lateral displacement of the car. However, the processing device that determines that it is abnormal if it is not due to the lateral displacement of the car and executes the control function of the car provided by the control unit is an elevator that controls to stop the car . The elevator according to claim 1.
The memory stores a relationship in which the speed calculated by the plurality of speed detection devices correlates with the distance between the guide rail and the optical sensor, and the control unit determines whether the difference is due to the lateral displacement of the car. The determination is that the speed calculated by each of the plurality of speed detection devices is the relationship between the speeds calculated by the plurality of speed detection devices stored in the memory and correlates with the distance between the guide rail and the optical sensor. The elevator according to claim 1, wherein the difference is determined to be due to the lateral displacement of the car when the relationship is satisfied. The elevator according to claim 2, wherein the control unit determines whether the difference is due to the lateral displacement of the car, and if it is determined that the difference is due to the lateral displacement of the car, the memory is stored. Based on the relationship between the speeds calculated by the plurality of stored speed detection devices and correlating with the distance between the guide rail and the optical sensor, based on the speeds calculated by the plurality of speed detection devices. The elevator according to claim 2, further comprising a speed correction device for correction.

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