JPH10316339A - Elevator door control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To surely and quickly detect a failure and ensure the safety of users when a motor speed detecting means fails by setting a motor voltage instruction value to zero for the prescribed time, and setting the door opening/closing torque applied to a door to zero when a motor speed value is continuously zero for a prescribed period. SOLUTION: When a rotary encoder 29 fails, a door actual speed value becomes 0, no door actual speed value exists at all, a time counter 2151 starts counting at the prescribed voltage value or above, and a motor voltage instruction value is set to zero. Since the rotary encoder 29 has a failure, the time counter 2151 continues counting. When the prescribed period elapses on the time counter 2151, an increment is applied to a failure detecting counter 2152. When the failure detecting counter 2152 reaches the prescribed number of increments, it outputs a failure detection signal to an elevator door control device 1.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an elevator door control device, and more particularly to an elevator door control device, which can improve the serviceability to a user when the door is stopped due to a user being caught, mischievous, or clogged with dust. The present invention relates to an elevator door control device capable of detecting a failure without damage.

[0002]

2. Description of the Related Art As a prior art, Japanese Patent Laid-Open Publication No.
Japanese Patent Application Laid-Open No. 6-204, discloses that when the rotation of the motor is stopped and the difference (speed deviation) between the door speed and the rotation speed of the door driving motor increases, the speed deviation is integrated and the speed deviation continues for a predetermined time. When it is detected that the door is open, it is determined that the door is too tight and the door is driven at a low speed. When the door can be opened and closed, the motor speed is differentiated and the door speed per predetermined time is determined. There is disclosed a technology for preventing a danger to a user by detecting a change in the opening and closing operation at a low speed so that the door does not open and close suddenly.

[0003]

However, the above prior art does not take into account the clamping force applied to the user or the like after the detection of the user being caught or the like.

[0004] In view of the above problems, the present invention aims to reduce the clamping pressure when the door is jammed due to the user being pinched, etc., to protect the user's safety, and to prevent the motor speed detecting means and the like from malfunctioning. It is an object of the present invention to provide an elevator door control device capable of reliably and quickly detecting a failure and preventing a decrease in elevator service.

[0005]

In order to achieve the above object, the present invention employs the following means.

A motor voltage command value output in accordance with a deviation between a door speed command value calculated according to a door opening / closing command and a motor speed value obtained by detecting a rotation speed of a door driving motor is obtained. In an elevator door control device that controls the opening and closing of the door by driving the door driving motor,
When the door speed command value equal to or more than a predetermined value is output and the motor speed value is continuously zero for a predetermined time, by setting the motor voltage command value to zero for a predetermined time,
The door opening / closing torque applied to the door is reduced to zero.

In the state where the motor voltage command value is set to zero for the predetermined time, if the motor speed value is continuously zero for a predetermined time, the number of times the motor voltage command value is set to zero is counted. An elevator door control device, comprising:

[0008] Further, when the motor voltage command value is set to zero for the predetermined time, the counter is reset when a negative value is detected as the motor speed value.

Further, when the counter has exceeded a predetermined number of times, a failure signal is output.

Further, after the failure signal is output, the motor speed is detected in a state where either the door open end detecting means or the door closed end detecting means detects the door open end or the door closed end by the opening / closing operation of the door. If the value is non-zero,
The counter is reset.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of the present invention is shown in FIG.
This will be described with reference to FIGS.

FIG. 1 is a block diagram showing an overall configuration of an elevator door control device according to the present embodiment.

Reference numeral 1 denotes an elevator control device for controlling the elevator to move up and down to a predetermined floor in response to a hall call or a door call of an elevator (not shown). The elevator control device 1 generates a door open command signal Po and a door close command signal Pc. Output to the door control device, and input the failure detection signal Tre from the door control device.

Reference numeral 2 denotes a door controller which outputs a drive signal to a door driving motor for opening and closing the door in accordance with a command from the elevator controller 1.
Is mainly composed of a computer, executes an arithmetic processing unit 21 for executing various arithmetic processing, and detects a detected motor current I
A / D converter 22 for A / D conversion of m, arithmetic processing unit 2
The base drive circuit 23 outputs a motor voltage command value Em for driving the motor based on the signal output from the control unit 1.

The arithmetic processing unit 21 includes an I / O interface 211 for inputting and outputting data to and from the elevator control device 1, a data bus 212, and a CP for executing arithmetic processing.
U213, Door control program 21 for opening and closing the door
RA including a ROM 214 for storing information such as the E. 41 and various time counters 2151 and a failure detection counter 2152.
M215 and an I / O interface 216 for inputting and outputting various data related to door opening / closing control.

Reference numeral 24 denotes a power source for driving the door driving motor, 25 denotes an AC / DC converter, 26 denotes a smoothing capacitor,
Reference numeral 27 denotes a door motor drive element that receives a drive signal from the base drive circuit 23 and controls a voltage applied to the motor, 28 denotes a current detector that detects a current flowing to the motor, 29 denotes a door open / close position and a door actual speed value. , A rotary encoder for detecting a rotary encoder signal (hereinafter, referred to as an R / E signal), 30 a door driving motor, 31 a switch operation cam, and 32 a switch operation when the door reaches the closed end. A closing end detection switch 33 that detects a door closing end by contact with the cam 31 and outputs a closing end detection signal Sc. When the door reaches the opening end, the switch 33 is opened by contact with the switch operating cam 31. Open end detection switch for detecting the open end and outputting an open end detection signal So, 34, 35
Is a rotor that is rotated by the rotation of the door drive motor 30,
Reference numeral 36 denotes a strip which is wound around the rotating body 35 and moves by the rotation of the rotating body 35, 37 denotes a door rail for suspending and sliding the door, and 38 denotes a rail connected to the strip 36 and moves horizontally with the movement of the strip. The door moving in the direction 39 is a door opening. L indicates the width of the door opening, and S indicates the door position that changes depending on whether the door is opened or closed.

Next, the operation of the elevator door control device according to this embodiment will be described with reference to FIGS.

FIG. 2, FIG. 3, and FIG. 4 are diagrams showing transitions of signals of the respective parts of the elevator door control device at the time of door opening control when the door is in normal operation, when the door is closed, and when there is a failure.

Here, the door opening command signal Po indicates a state where an ON signal is being output from the elevator control device 1 to the elevator door control device 2, and the door opening command signal Pc indicates a state where an OFF signal is being output. . The door speed command value Vp represents a command value calculated by the arithmetic processing unit 21 described later, and the door actual speed value Vd is a speed calculated by the arithmetic processing unit 21 from the R · E signal detected by the rotary encoder 11. Represents a value. The RE signal Vre represents a detection signal detected by the rotary encoder 11.
The motor voltage Em ′ represents a voltage applied to the door driving motor 30 by driving the door motor driving element 27 by the motor voltage command value Em output from the base drive circuit 23.

FIGS. 5 to 7 are flowcharts showing the processing procedure of the arithmetic processing unit 21.

In the flowchart, K1, K
2, K3 are constants, α is an acceleration constant relating to acceleration, β is a deceleration constant relating to deceleration, and the door traveling state flag F is set to 1 when the deceleration is started. Other than these, the flag F = 0 is set.

First, the operation of the elevator door control device 2 when the door is operating normally will be described.

In FIG. 5, in step 1, it is determined whether or not the door running state flag F = 1. Now, the flag F = 1
If not (the actual operation does not change even when the flag F = 1 here), when the door opening instruction signal Po is input from the elevator door control device 1 to the arithmetic processing device 21, the arithmetic processing device 21 The door speed command value Vp is calculated based on the signal Po. In step 2, an acceleration constant α is added to the calculated door speed command value Vp. In step 3, it is determined whether or not the door speed command value Vp is greater than the constant speed value V1. If the door speed command value Vp has not yet reached the constant speed value V1, as shown at time point t1 in FIG. , Door running state flag F = 0
Set to. Next, at step 9, the actual door speed value V calculated from the rotary encoder signal Vre is calculated.
Read d. In step 10, the torque command value T is calculated from the door speed command value Vp and the door actual speed value Vd obtained in step 2.
Ask for. In step 11, it is determined whether or not the door actual speed value Vd is zero. Since the door 38 has normally opened, the process proceeds to step 12, and the current command value I is obtained from the torque command value T. Next, in step 13, the motor current value I detected by the current detector 28 shown in FIG.
Read m. Next, at step 14, a motor voltage command value Em is obtained from the current command value I and the motor current value Im. In step 15, the calculated motor voltage command value Em is output to the door motor drive element 27 via the base drive circuit 23. In order to repeat the same process again, the process returns to the point B shown in FIG. 5 and the process is repeated.

As a result of the processing, when the door speed command value Vp reaches the constant speed value V1 as shown at time t2 in FIG. 2 in step 3, the door speed command value Vp is maintained at the constant speed value V1 in step 4. I do. Then, step 5
, The value changes depending on the door open position.
β (LS)} is compared with the constant speed value V1. Door 3
In a state where the shutter speed 8 has not been sufficiently opened yet, {2β (LS)} is larger than the constant speed value V1, so that the same processing as that described above after step 8 is repeated.

In step 5, as shown at time t3 in FIG. 2, when {2β (LS)} becomes smaller than the constant speed value V1, in step 6, the door speed command value V
p is matched with {2β (LS)}. Further, in step S7, the door running state flag F is set to 1, and the process proceeds to step 9, where the same processing as described above is repeated. Finally, since {2β (LS)} = 0, the door speed command value Vp = 0, and the door opening operation stops.

Next, the operation of the elevator door control device 2 when the door is tight due to a user being pinched or the like will be described.

FIG. 3 shows a state in which the door is tight at time t4, and the actual door speed value Vd becomes zero.

When the actual door speed value Vd becomes zero, it is determined in step 11 shown in FIG.
At 6, the time counter ta is counted from the time point 4. In step 17, it is determined whether or not the time counter ta has reached a predetermined time T1. If the time has not reached T1, the processing after step 12 is repeated again. In step 17, when ta> T1 under the condition that the constant speed value V1 is larger than the small predetermined speed value V2 which is not zero, the motor voltage command value Em = 0 is set in step 18 to drive the door driving motor 30. To stop. As a result, the squeezing pressure applied to the squeezed user can be eliminated. Next, as shown at time t5 in FIG. 3, when the motor voltage command value Em is set to 0, the strip 36 relaxes momentarily, and the actual door speed value Vd is calculated as a negative speed value.
In step 19, the determination is made. In step 20, the time counter tb is counted. When the negative speed value is detected for the predetermined time T2, the process proceeds to step 22. Since the negative speed value is detected, the rotary encoder 29
It is clear that the speed detecting means such as, etc. does not have a failure, so the failure detection counter n is set to n = 0. Then
In step 23, the time count td is counted. In step 24, it is determined whether or not the time count td has passed a predetermined time T3-T2.
When 3-T2 has elapsed, the process returns to step 1, and the same processing is executed again from step 1 as shown at time t6 in FIG.

As described above, according to the present embodiment, when the user is pinched by the door, after detecting the state in which the door 38 is stuck for the predetermined time T1, the door torque is detected for the predetermined time T3. Is set to zero, so that the user can escape from the pinched state in the meantime.

Next, the operation of the elevator door control device 2 when the speed detecting means such as the rotary encoder 29 is out of order or the door is fixed by mischief or the like will be described.

FIG. 4 shows a case where the rotary encoder 29 is out of order. Since the door 38 is actually moving, there is a door actual speed.
Has failed, the RE signal Vre = 0 detected from the rotary encoder 29 is obtained, and the arithmetic processing unit 21
The actual door speed value Vd is not calculated and becomes zero.

Although FIG. 4 illustrates the case where the rotary encoder 29 is out of order, the operation of the elevator door control device 2 does not change even if the door is fixed by mischief or the like.

When the rotary encoder 29 fails, the actual door speed value Vd = 0 in step 11 shown in FIG.
In step 16, since the actual door speed value Vd does not exist at all, the time counter ta starts counting when the predetermined voltage value V2 at time t7 in FIG.
As shown at time t8, in step 18, the motor voltage command value Em is set to zero. Rotary encoder 2
9 has failed, so steps 19 to 25
Then, the time counter tc is counted. When the time counter tc has passed the predetermined time T3 in step 26, the failure detection counter n is incremented in step 27. If the failure detection counter 28 has not reached the predetermined number N in step 28, the processing from step 1 is repeated again as shown at time t9 in FIG. The reason for providing the failure detection counter here is to distinguish between a door jam due to being pinched by a user or the like and a failure, and to reliably detect failure of the speed detection means such as the rotary encoder 29. When the failure detection counter n reaches the predetermined number N in step 28, a failure detection signal Tre is output to the elevator door control device 1 in step 29 as shown in FIG. As a result, the elevator control device 1 stops outputting the door opening command Po and puts the elevator into a halt state.

To return the elevator from the halt state, the elevator maintenance person checks the failure information stored in the elevator control device 1, checks the function of the speed detection means such as the rotary encoder, and if the failure has occurred, the parts are removed. Is replaced or the fixed factor of the door is removed, and the failure information of the elevator control device 1 is reset.

When the door is fixed due to mischief or the like and the elevator is in a halt state, the door is manually moved and the door is opened or closed to execute a failure state. To release.

That is, after outputting the failure detection signal Tre to the elevator control device 1, the arithmetic processing unit 21 checks whether there is a door speed value when the door open / close end detection switch 32 or 33 is operated. If the door speed value is zero, it is determined that the speed detection means has failed, and the failure detection signal Tre
If the door speed value is not zero, the output of the failure detection signal Tre to the elevator control device 1 is stopped, and the elevator is returned from the halt state to the normal operation.

As described above, when the door is fixed by mischief or the like, the speed detecting means is erroneously detected as having failed, and the elevator is in a halt state, the door is manually opened and closed to operate normally. Can be returned to Therefore, by notifying the building manager or the like of the return method even if the maintenance staff does not go to the site, the return time can be shortened, and a decrease in elevator service can be minimized.

As described above, according to the present embodiment, when the door speed detecting means breaks down, the runaway of the door can be prevented by setting the torque applied to the door to zero.

In addition, when the door is hard, such as when the user is pinched by the door, it is possible to prevent erroneous detection that the speed detecting means is out of order and to continue the pinching pressure due to the pinching by the door. Can be prevented.

Further, when the door is fixed due to mischief or the like and the speed detecting means is erroneously detected as being faulty, the elevator can be returned from the halt state to the normal operation state by manually moving the door. As a result, it is possible to minimize a decrease in elevator service.

[0041]

As described above, the present invention prevents erroneous detection that the speed detecting means is out of order when the user is jammed in the door, for example, when the door is jammed. As a result, continuation of pinching can be prevented, and safety for the user can be ensured.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an overall configuration of an elevator door control device according to an embodiment of the present invention.

FIG. 2 is a diagram showing transition of signals of respective parts of the elevator door control device in a normal state.

FIG. 3 is a diagram showing a transition of signals of each part of the elevator door control device when the door is in a traffic jam.

FIG. 4 is a diagram showing transitions of signals of various parts of the elevator door control device at the time of failure.

FIG. 5 is a flowchart showing a processing procedure in the arithmetic processing unit 21 shown in FIG.

6 is a flowchart showing a processing procedure in the arithmetic processing unit 21 shown in FIG.

7 is a flowchart showing a processing procedure in the arithmetic processing unit 21 shown in FIG.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 elevator control device 2 door control device 21 arithmetic processing device 2141 door control program 2151 time counter 2152 failure detection counter 29 rotary encoder 30 door drive motor 32 door closed end detecting means 33 door open end detecting means 38 door

Continued on the front page (72) Inventor Takayuki Hashimoto 1070 Ma, Hitachinaka City, Ibaraki Prefecture Inside the Mito Plant of Hitachi, Ltd.

Claims (5)

[Claims] A motor voltage command value output according to a deviation between a door speed command value calculated according to a door opening / closing command and a motor speed value obtained by detecting a rotation speed of a door driving motor. In the elevator door control device that drives the door drive motor to control the opening and closing of the door, the door speed command value equal to or higher than a predetermined value is output and the motor speed value is continuously zero for a predetermined time. By setting the motor voltage command value to zero for a predetermined time,
An elevator door control device, wherein a door opening / closing torque applied to the door is reduced to zero. 2. The motor voltage command value according to claim 1, wherein the motor speed command value is set to zero in a state where the motor speed command value is set to zero for a predetermined time. An elevator door control device comprising a counter for counting the number of times of processing. 3. The counter according to claim 2, wherein the counter is reset when a negative value is detected as the motor speed value in a state where the motor voltage command value is set to zero for the predetermined time. Elevator door control. 4. The elevator door control device according to claim 2, wherein a failure signal is output when the counter exceeds a predetermined number. 5. The state according to claim 4, wherein after the failure signal is output, the door opening / closing operation detects that the door open end detecting means or the door closed end detecting means detects the door open end or the door closed end. An elevator door control device, wherein the counter is reset when the detected motor speed value is other than zero.