JPH0313486A - Door control device for elevator - Google Patents

Abstract

PURPOSE:To obtain a safe and highly reliable door control device by constructing the device in such a way as to switch the speed command to the low speed mode when the speed difference more than the specified value is generated to the speed command value during the specified period after the starting of door opening/closing action. CONSTITUTION:The door opening/closing speed and its direction can be obtained by operating by a MPU 1 on the basis of output signals from a speed detecting means 11 fitted at a motor 10 for controlling the driving of a door. The MPU 1 monitors and controls the specified interval from the event time of the door starting its opening/closing action on the basis of the command of the MPU 1, for instance, the interval until the operation of a closing end and an opening end detecting means 7, 8, the existence of the output signal from the speed detecting means 11, the opening/closing direction of the door indicated by the MPU 1 and the actually rotated motor 10. Whether or not there is failure in the speed detecting means 11 can be therefore detected in the low speed action state immediately after the starting of door opening/closing action. The door can be thereby prevented from being abnormally accelerated, thus obtaining a safe and highly reliable door control device.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a device for controlling the opening and closing of elevator doors.
In particular, the present invention relates to a safe door control device in which the opening/closing speed of the door does not increase abnormally even if the speed detection means for detecting the opening/closing speed of the door fails.

[Conventional technology]

As described in Japanese Patent Application Laid-Open No. 61-45875, the conventional device detects the opening/closing speed of the door using a speedometer attached to an electric motor, and adjusts the deviation value between the speed command signal and the door speed signal to a predetermined value. By suppressing the opening/closing force of the door, it was controlled so that even if a passenger got caught in the door, the force exerted on the passenger would be weakened.

Furthermore, as a general method for detecting the stiffness of a door, a detection method that mechanically detects the amount of change when the door suddenly stops is also known.

[Problem to be solved by the invention]

Each of the above-mentioned conventional techniques has the following disadvantages.

(1) With the control method described above, even if garbage or stones are caught in the middle of opening or closing, the opening/closing force of the door is weakened in the same way as for passengers.As a result, the garbage or stones cannot be removed and the door is closed. There was a problem where it remained stuck and could not be opened or closed. Furthermore, if the deviation value between the speed command signal and the speed signal is increased in order to prevent this, the force that causes the passenger to collide with or get caught in the passenger becomes too strong, resulting in a problem that safety is impaired.

(2) Also, when using the mechanical detection method described above,
If the deviation value is set to a small value, the opening/closing force is weakened before the mechanical detection device operates, making it impossible to detect the door's stiffness. , there was a problem that the sandwiched state was maintained.

(3) Furthermore, in the above-mentioned known example, if the speedometer malfunctions, the speed feedback signal disappears, resulting in an uncontrolled state and the door accelerating abnormally, or it becomes impossible to detect the door's stiffness. There was a problem with it being dangerous.

[Means to solve the problem]

The object of the present invention is to limit the door to a predetermined period or a predetermined time from the start of opening and closing of the door.

This is achieved by configuring the system to monitor the presence or absence of an output signal from the speed detection means that detects the door opening/closing speed, and to compare and monitor the instructed opening/closing direction of the door with the actual opening/closing direction. I can do it.

[Effect]

The speed detection means is attached to the electric motor that drives and controls the door, and the MPU performs calculations based on the output signal from the speed detection means, thereby obtaining the opening/closing speed and opening/closing direction of the door.

Therefore, in a predetermined period from the time when the door starts opening and closing operations based on commands from the MPU, for example, the period until the closed end and open end detecting means operate, the output signal from the speed detecting means is The MPU monitors and controls the presence/absence of the door, and whether the direction of opening/closing of the door instructed by the MPU is normal or reverse of the direction of rotation of the electric motor actually rotating.

As a result, the door can be opened and closed immediately after the opening and closing operations have started.
To provide a safe and highly reliable door control device that can detect the presence or absence of a failure in the speed detection means and the presence or absence of an abnormality in the opening/closing direction in a low-speed operating state, so that the door does not accelerate abnormally. I can do it.

Moreover, although the monitoring control is carried out for a predetermined period, the same effect can be obtained even if the monitoring control is carried out for a predetermined period of time, regardless of the operation of the open end and closed end detection means.

〔Example〕

An embodiment of the present invention will be described below with reference to FIGS. 1 to 4.

FIG. 1 is a block diagram showing the overall configuration of the present invention.

Electric motor that drives the door10. A motor drive element 12 that drives and controls the motor 10. Door control microcomputer 1 (hereinafter abbreviated as MPU) that controls the motor drive element 12
, a speed detection means 11, which is attached to the electric motor 1o, detects the rotational speed of the electric motor 10, and provides a detected rotational speed output signal to the MPU 1 via the I10 input/output buffer 4. Closed end detection means for detecting the closed end of the door7. Open end detection means for detecting the open end of the door8. It consists of an elevator control device 9 that gives door opening and closing commands to the MPUI.

FIG. 2 shows an operation flowchart for explaining the operation of the embodiment shown in FIG. 1, and the operation will be explained below.

(1) The MPUI checks whether there is a door opening command output from the elevator control device 9, and if there is no door opening command, it stops and holds the door closed (steps 201 and 20).
2).

(2) Next, unlike (1), when the door opening command is output, the MPUI starts the door opening operation according to the door opening command and opens the door at a predetermined speed mode (steps 203 and 204
).

(3) At the same time as the door opening operation starts, the MPUI performs speed feedback control processing based on the speed detection signal output from the speed detection means 11 to control the door opening/closing operation. An abnormal mode determination processing routine is performed to check whether the value differs from the normal value by a predetermined value or more and whether the opening/closing direction of the door is normal with respect to the instructed direction (step 205). ),
The abnormal mode determination processing routine starts from the true closed end of the door.
It is set at a position 8±2 m away from the open end side, and the processing operation is continued until the closed end detection means 7 operates (steps 205 and 206).

(4) Next, when the door moves and the closed end detection means 7 operates,
Performs the judgment processing work of the abnormal mode judgment processing routine,
The presence or absence of the speed detection signal is checked, and if there is, the process moves from step 207 to step 208, and the next step is to check whether the rotational direction of the electric motor 10, that is, the opening/closing direction of the door, is normal in response to the door opening command. Perform check processing. If the check processing results are normal, the abnormal mode determination processing routine is canceled and door opening operation is performed in a predetermined high speed mode (
steps 207 to 212).

(5) In step 207, if the speed detection means 11 fails and there is no speed detection signal, the MPU 1 performs processing by switching from the normal high speed door opening operation mode to the low speed door opening operation mode, and performs processing at a predetermined low speed. Execute the door opening operation with (
Step 213).

(6) Next, after switching to step 213, when the open end detection means 8 detects the open end of the door and operates, the MPUI decelerates the door, stops the door, holds it at the open end, and sends the door to the elevator control device 9. , notifies that the speed detection means 11 is malfunctioning in the form of a malfunction flag signal (steps 214 and 215).
).

(7) As a result of (6), the elevator control device 9 determines that the door control device is malfunctioning, and performs processing to suspend operation of the elevator (step 216).

(8) In addition, in item (5), even if the speed detection signal is present, if the direction of rotation of the electric motor 10, that is, the direction of opening and closing the door is different from the door opening command, there is something wrong with the speed detection means. Since it is possible that an abnormality has occurred or that another abnormal factor has occurred, the same process as steps 213 to 215 is performed to stop the operation of the elevator (steps 208, 213, 214).゜2
15 and 216).

FIG. 3 is a diagram showing an operation flowchart when the door performs a closing operation compared to FIG. 2.

In FIG. 3, step 301 is exactly the same as opening the door in the operation flowchart of steps 201 to 205 in FIG. Step 205 in Figure 2
The subsequent operations will be explained below.

(1) According to the closing command from the elevator control device 9, M
The PUI performs the door closing operation in a predetermined speed command mode, and continues to perform the abnormal mode determination processing routine until the door moves and the open end detection means 8 operates (step 30).
1,302).

(2) When the open end detection means 8 operates, it performs the determination processing work of the abnormal mode determination processing routine and checks the presence or absence of the speed detection signal, and if it is present.

Moving from step 303 to step 304, the first step is to check whether the direction of rotation of the electric motor 10, that is, the opening and closing direction of the door, is normal in response to the door closing command. The abnormal mode determination processing routine is canceled and door closing operation is performed in a predetermined high speed mode (step 303, L308).

(3) In step 303, the speed detection means 11 malfunctions;
If there is no speed detection signal, the MPUI performs processing by switching from the steady high-speed door-closing operation mode to the low-speed door-closing operation mode, and executes the door-closing operation at a predetermined low speed (step 309).

(4) Next, after switching to step 309, when the closed end detection means 7 detects the closed end of the door and operates, the MPUI decelerates the door, stops the door, and then holds it at the closed end. after that,
In accordance with the commands from the elevator control device 9, the elevator is operated to another floor, and after landing at the destination floor, the MPUI performs a switching process from the normal high-speed door-opening operation mode to the low-speed door-opening operation mode, and operates the elevator at a predetermined low speed. Then, the door opening operation is executed (steps 310 to 313).

(5) After executing the switch to step 313, when the open end detection means 8 detects the open end of the door and operates, the MPUI decelerates the door, stops the door, holds it at the open end, and sends the elevator control device 9 the speed The detection means 11 issues a notification that there is a failure in the form of a failure flag signal (steps 314, 315).

(6) As a result of (5), the elevator control device 9 determines that the door control device is malfunctioning, and performs processing to suspend operation of the elevator (step 316).

From the above, according to this embodiment, if a failure or an abnormality occurs in the speed detection means during door opening operation, the door will move a very small amount from the true closed end until the closed end detection means operates. It is possible to detect the abnormality within a period of By issuing an alarm as a flag, the door control device can be highly reliable without operating with the abnormality continuing.

Additionally, if an abnormality occurs while the door is closing, unlike when the door is opening, the elevator will land on another floor and, after the door opens, a fault flag will be issued. It can be used as a safe door control device without leaving the door trapped.

FIG. 4 is a diagram showing the respective operation modes of the open end detection means and the closed end detection means. From FIG. 4, the operation of the open end detection means is ON only in a section of 8±2 degrees from the true open end of the door to the closed end, and is OFF in the other sections. Also,
Similarly, the closed door detection means is ON only in an interval of 8±2cm from the true closed end to the open end, and is OFF in other intervals.

〔Effect of the invention〕

According to the present invention, the presence or absence of an abnormality in the speed detection means can be detected by
By configuring the door opening operation to be performed in the interval from the true closed end to the operation of the closed end detection means, and the door closing operation to be performed in the interval from the true open end to the operation of the open end detection means,
It is possible to switch to a predetermined low speed mode before the opening/closing speed of the door reaches a high speed, resulting in a safe door control device.

Additionally, if the door is clogged with people, garbage, stones, etc. when opening or closing, and the door slows down or stops, the output signal from the speed detection means will decrease or disappear, which is the same as when an abnormality occurs in the speed detection means. However, by limiting the detection of the presence or absence of an abnormality in the speed detection means, it is possible to distinguish the operation from being caused by dirt or stone clogging, thereby preventing malfunctions.

[Brief explanation of the drawing]

FIG. 1 is a control block diagram of an embodiment of the present invention, and FIG. 2 is a flowchart showing door control during door opening operation of the present invention.
FIG. 3 is a flow chart showing the door control during the door closing operation of the present invention, and FIG. 4 is an explanatory diagram showing the operation of the open end and closed end detecting means. DESCRIPTION OF SYMBOLS 1... Microcomputer, 4... Person, Output buffer, 7... Closed end detection means, 8... Open end detection means, 9... Elevator control device, 10... Electric motor. 11...Speed Figure 2 Figure 2 (15) Figure 3 (0-) Figure 3 (-er)

Claims (1)

[Scope of Claims] 1. An electric motor, a driving element of the electric motor, a microcomputer, a speed detection means for detecting the opening/closing speed of an elevator door, and an open end detection means for detecting an open end and a closed end of the elevator door. and a closed end detecting means, during a predetermined period from when the door starts opening and when the door starts closing, the speed of the door outputted from the speed detecting means is compared with a speed command, and the speed is determined by An elevator door control device, characterized in that when a difference of a speed command value by a predetermined value or more occurs, the speed command is switched to a predetermined low speed mode. 2. In claim 1, the predetermined period is a period from when the elevator door starts opening until the closed end detecting means operates, and a period from when the elevator door starts closing until the open end detecting means operates. An elevator door control device characterized by: 3. In claim 1, the means for comparing the speed output from the detection means with the speed command compares the presence or absence of an output from the speed detection means within the predetermined period and the direction of movement of the door with respect to the speed command. , an elevator door control device characterized in that if the speed command is different, the speed command is switched to a predetermined low speed mode. 4. The elevator door control device according to claim 3, wherein the predetermined low speed mode is a predetermined voltage reference command. 5. In claim 1, after switching the speed command to a predetermined low speed mode, during operation in the door opening direction, a failure flag is sent to the elevator control device after the door opening is completed, and the operation of the elevator is stopped. pause,
During operation in the door closing direction, the elevator will land after the door is opened based on the operation of the open button and hall button, or when the open button and hall button are not activated, based on a command from another floor. An elevator door control device, characterized in that after completion of opening the door, the failure flag is sent to an elevator control device to control the elevator to stop operating.