JPH11248732A - Method for computing speed of transferring body and device for measuring traveling characteristic - Google Patents

Abstract

PROBLEM TO BE SOLVED: To permit reduction in the effort of maintenance personnel and device cost and the highly accurate measurement of speed. SOLUTION: This device comprises an acceleration sensor 91 to detect the acceleration of a passenger cage in a traveling direction, a CPU 104a to compute the speed of the passenger cage on the basis of the detected value of the acceleration sensor 91, data memory 104d to store the computed speed, and a clock 104g to measure the time between starting the detection of acceleration and halting the detection. The CPU computes a speed error value through the use of the detected values of stationary parts of the passenger cage before traveling, after the completion of traveling, and between traveling and corrects each speed stored in the data memory 104d. As it is possible to remove error components from the computed values of speed obtained from acceleration and to improve accuracy by this, there is no need for performing measurement at separate occasions by necessity for accuracy, or there is no need for using a specially highly accurate sensor for the acceleration sensor 91 itself.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for calculating a speed of a transporting body for measuring a moving speed of a transporting body such as an elevator, an escalator and a so-called moving sidewalk, and a traveling characteristic measuring device.

[0002]

2. Description of the Related Art In general, elevators, escalators, and so-called moving walkways are transporting devices that carry passengers. Therefore, if a failure occurs in the device, not only will the passengers be disturbed but also in some cases. It can pose a great danger. For this reason, it is necessary to periodically maintain the above-mentioned transfer body to ensure safety. In this maintenance, many items are checked by a specialized maintenance person, and among them, measurement of the acceleration and speed of the transfer body is indispensable.

[0003] Conventionally, for example, Japanese Patent Application Laid-Open No. Hei 3-19567.
As described in Japanese Patent Application Publication No. 8 (1994), three acceleration sensors for simultaneously detecting accelerations in up, down, front and back, and left and right directions during traveling in a car of an elevator, and a recording unit for recording detection values of the acceleration sensors And the above-mentioned car is run to detect each acceleration, and the speed is measured by integrating the obtained acceleration data, and the obtained speed data is further integrated to obtain the distance data. A technique has been proposed in which the acceleration data, speed data, and distance data are displayed on a display unit as a time axis on a display unit, and based on the display, the quality of the ride comfort of the elevator is determined.

[0004]

In the prior art described above, when a high-precision acceleration sensor is used, there is no problem in terms of detection accuracy, but there is a problem in that it is considerably expensive. On the other hand, if an accelerometer with less accuracy is used, the price is low, but accurate acceleration cannot be obtained due to its temperature characteristics and other error components, and the speed calculated therefrom after the car stops. Even in the stationary state, the speed due to the calculation does not become zero, and there is a case where a great deviation occurs. This error component has the characteristics of non-linearity and non-reproducibility, and the error tends to increase with time, so that the measurement can be performed only within the time that can guarantee the accuracy required for the measurement. Therefore, when the car is driven in all directions of the hoistway, when the car is driven in one direction of ascending or descending on a long floor, or when the ascending or descending operation is performed multiple times each time, the abnormality is measured. For the measurement to be evaluated, there is a problem in that the measurement time is limited due to the above-described accuracy requirement, so that the measurement must be performed in several steps.

The present invention has been made in view of such circumstances in the prior art, and has as its object to reduce the labor and equipment costs of maintenance personnel and to perform highly accurate measurement. To provide a speed calculation method and a traveling characteristic measuring device.

[0006]

In order to achieve the above-mentioned object, the invention according to claim 1 of the present invention is directed to a method for controlling the moving direction of a transfer body which has been continuously started and stopped a plurality of times by using an acceleration sensor. In the method for calculating the speed of the transfer body, in which the acceleration detection value is integrated at a preset time interval and the speed of the transfer body is calculated based on the integrated value, the start and stop continuous running is performed a plurality of times within the detection value. The speed error value is estimated using the detected values of the stationary portion before, after the travel, and during the travel of the transported body, and the calculated speed value including the error is corrected.

In order to achieve the above object, the invention according to a second aspect of the present invention is mounted on a transfer body which performs a continuous operation of starting and stopping a plurality of times, and detects an acceleration in a moving direction of the transfer body. An acceleration sensor; speed calculation means for calculating the speed of the transfer body based on a detection value of the acceleration sensor; a storage unit for storing the speed calculated by the speed calculation means; and detection stop from the start of the acceleration detection Time measurement means for measuring the time until the vehicle travels a plurality of times within the detected value, starting, stopping, before traveling, after traveling, and using the detected value of the stationary part between traveling speeds Speed correction means for calculating an error value and correcting each speed stored in the storage unit is provided.

[0008] In the present invention configured as described above, when the transfer body performs a continuous start and stop multiple times within the detected value, before the travel of the transfer body, after the end of the travel, and in the stationary portion between the runs. The detected values are measured, and a speed error value is estimated using these detected values, thereby correcting the calculated speed value including the error. This eliminates the error component from the speed calculation value obtained by integrating the acceleration, and enables high-precision speed measurement. Therefore, it is not necessary to perform the measurement several times depending on accuracy, and maintenance is possible. The labor of the operator can be reduced, and it is not necessary to use a particularly high-precision sensor for the acceleration sensor itself, so that the apparatus cost can be reduced.

[0009]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing an embodiment of the present invention. FIG. 1 is an explanatory diagram of an elevator provided with a traveling characteristic measuring device according to one embodiment of the present invention. In this figure,
1 is a car, 2 is a hydraulic cylinder, 3 is its plunger,
Reference numeral 4 denotes a pulley fixed to the top of the plunger 3, and reference numeral 5 denotes a rope spanned by the pulley 4 and connected to the car 1.
Reference numeral 6 denotes a guide rail for guiding the elevator 1 up and down, 7 denotes a guide roller, 8 denotes a top of a hoistway, and the traveling characteristics measuring device 9 of the present embodiment is installed in the elevator 1.

FIG. 2 is a block diagram showing the configuration of the running characteristic measuring device 9 according to the present embodiment. In this figure, reference numeral 91 denotes an acceleration sensor for detecting the acceleration of the car 1 in the traveling direction. The acceleration sensor 91 is fixedly installed on the floor of the car 1 with a permanent magnet (not shown) or the like. 101 is a voltage frequency converter, 102 is a counter, 103 is an A / D converter, 104 is an arithmetic control unit composed of a microcomputer, and 105 is a battery serving as a power supply of the arithmetic control unit 104.

The voltage frequency converter 101 comprises an integrator, a comparator and an output transformer as is well known. After the input voltage is integrated by the integrator, the output from the integrator is compared with the output voltage of the integrator. The pulse is compared with a reference voltage such as a sawtooth wave by an integrator, and as a result of the comparison, a pulse having a frequency proportional to the voltage input to the integrator is output from the output transistor.

The arithmetic control unit 104 includes a CPU (Central Processing Unit) 104a and a ROM (Read Only Memory) 104b for storing processing procedure data of the CPU 104.
A RAM (random access memory) 104c for storing the results of arithmetic control, a data memory 104d for storing acceleration data and speed data, an input circuit 104e for receiving an external input signal, and an external device (not shown) An input / output interface 104f having a communication function with a personal computer at a sales office to which the maintenance staff belongs, and a clock (CL) 1 for outputting a clock signal
04g. Note that the CPU 104
a, the speed calculating means for calculating the speed of the car 1 based on the detected value of the acceleration sensor 91, and the speed of the car 1 before running, after the running, and using the detected values of the stationary parts during the running. Speed correction means for calculating an error value and correcting each speed stored in the data memory 104d is constituted, and the CPU 104
a storage unit configured to store the speed calculated by a;
The CPU 104a and the clock 104g constitute time measuring means for measuring the time from the start of acceleration detection to the stop of acceleration detection, and the data memory 104d may be a removable card type memory.

In FIG. 2, 111 is a display for displaying speed, 112 is a power switch for turning on and off the power of the arithmetic control unit 104, 113 is a 0 correction switch for instructing 0 point correction, and 114 is the start of measurement. And a measurement start / end switch for instructing display and termination, 115 is a display switch for instructing whether or not display is to be performed on the display 111, and 116 is a plurality of lamps indicating the states of the switches 112 to 115, respectively.

In this embodiment, when measuring the running characteristics of the car 1, the maintenance person A first gets on the car 1, and as shown in FIG. 1, the floor of the car 1 (located at the center of the floor). It is desirable to install the running characteristic measuring device 9. Next, the power switch 112 is turned on, the zero point correction of the acceleration sensor 91 is performed by the zero point correction switch 113, and then the measurement start is instructed by the measurement start / end switch 114. Press the floor button. When the car 1 starts running in response to the running command, the acceleration sensor 91 outputs an acceleration value corresponding to the amount of movement of the car 1 due to gravity applied to the car 1, and the output voltage of the acceleration sensor 91 Is a voltage frequency converter 101
And converted into a pulse having a frequency proportional to the output voltage. This pulse is counted by the counter 102, and the count value is taken into the CPU 104a.
Since the voltage frequency converter 101 integrates the acceleration detected by the acceleration sensor 91 with the integrator, the count value is a value proportional to the speed of the car 1.

On the other hand, the output voltage of the acceleration sensor 91 is A /
The data is converted into a digital value by the D
It is taken into 104a. The count value is stored in the data memory 104d as speed data corresponding to the count value. Similarly, the value converted by the A / D converter 103 is also stored in the data memory 104d as acceleration data. The data is stored in the data memory 104d. Eventually, after the car 1 reaches the predetermined floor and stops, the car 1 is raised or lowered by pressing the destination floor button to the predetermined floor to be measured again.

After performing such a measurement operation repeatedly according to the measurement purpose, the maintenance person A confirms that the car 1 has stopped at the predetermined floor, measures the stationary time of the predetermined time,
The measurement start / end switch 114 is operated to instruct the end of the measurement. By the above operation, the data memory 104d
Then, speed data and acceleration data of the car 1 between predetermined floors are obtained.

FIG. 3 is a diagram showing actually measured values of speed and acceleration measured by performing two reciprocations of the car 1 between certain floors, ie, two successive rises and falls. In this figure, the horizontal axis represents time, and the vertical axis represents acceleration and velocity. In FIG. 3, A is a curve indicating acceleration, and V is a curve indicating speed. At the start of the rise of the car 1 from one floor, the acceleration sharply increases in the positive direction from almost 0, and the speed, which is the integral value, also rapidly increases at that time. The speed, which is the integral value, is constant. Conversely, car 1 approaches the other floor and decelerates,
In the case of stopping, the acceleration in the negative direction rapidly increases, and the speed, which is the integral value, rapidly decreases. After that, the speed becomes zero when the acceleration becomes almost zero after repeating several decelerations. Car 1 stops. At the time of stopping the passenger cage 1 acceleration due impact changes as shown by the curve A ₁ in FIG.

After the traveling of the car 1 is completed and stopped as described above, the car 1 starts to descend according to the descending command, but draws a similar curve in the negative direction opposite to the above-described ascending state. An acceleration is generated, and a speed curve based on the acceleration is obtained. Acceleration due to impact even when stopping the descent of the passenger cage 1 changes as shown in curve A ₂ in FIG.

By the way, in the present embodiment, although the above result is originally obtained, if the acceleration sensor 91 is not of high accuracy, the obtained speed may be as shown in FIG. This is a diagram showing an actually measured traveling curve when the car 1 makes two reciprocations. It can be seen that the speed error increases with time and is included in the true value, resulting in unreliable data. The cause is that an accurate acceleration cannot be obtained due to the temperature characteristics and other error components, and the calculated speed does not become zero even if the car 1 is in the stationary state after the stop. , To cause a great mess. Moreover, this error component has characteristics of non-linearity and non-reproducibility, and the error tends to increase with time. Therefore, it is necessary to correct the speed in order to obtain accurate speed data.

In order to correct the speed, the present embodiment uses an error curve approximation method using the least squares method.
In other words, this modification of the previous travel from the velocity data V ₁ of the 4 stored, taken out a few points still partial data Vi after traveling, determined approximate curve F data corresponding to the coordinates (x) F (i ) Is determined so as to minimize the sum of squares of the residual of the approximation curve F (x). The equation for this residual is shown below. Then, by subtracting the value of the approximate curve in the above formula at each coordinate or time approximation curve from the data measured velocity data V ₁ obtained t, we obtain a temporary correction curve V ₂ as follows. V ₂ = V ₁ −F (x) Here, the reason for the provisional correction is that the entire error component is estimated from two stationary portions before the start of travel and after the end of travel. Is not used for estimating the approximated curve, and the estimated approximated curve shifts, so that only an accuracy that can be distinguished between stopping and running can be expected. A process for improving the accuracy of error curve estimation by using the data in the intermediate portion for estimating the approximate curve will be described with reference to FIG.

That is, first, data is read from the measurement start point T ₀ of the speed data subjected to the above temporary correction until the speed exceeds a predetermined speed ± αm / min for judging that the car 1 has started traveling. The Ta seconds before the measurement time B ₂ corresponding to the data exceeds this predetermined speed ± .alpha.m / min and the traveling start position B _1. Next, after detecting a larger speed ± βm / min, a point B indicating a predetermined speed ± αm / min or less is obtained.
₃ detects, for a later Tb seconds and running stop position B _4. Thereafter, the same determination is repeated, and the second travel start position B ₅ , travel stop position B ₆ , third travel start position B ₇ , travel stop position B ₈ , fourth travel start position B ₉ ,
The travel stop position B ₁₀ is detected, pre-travel stop portion of the above-described processing from the measurement starting point T ₀ to the traveling start position B _1, stop portion in continuous operation, the measurement end point T ₁ from the travel stop position B ₁₀ The driving end part up to is required.

Therefore, the measurement data of the measurement time corresponding to the above position should be 0, and a value not showing 0 at this time is a pure speed error component. Therefore, an error component can be estimated by obtaining a curve passing through a portion corresponding to a stationary portion before provisional correction is performed, and correction can be performed with high accuracy by subtracting the component from measurement data. That is, since the approximation is performed including the error value of the intermediate portion in the measurement by using the above-described method, the method is optimal for estimating an error component that draws a curve having no regularity for each measurement.

As described above, since the arithmetic control unit 104 is provided with the speed correcting means, even if the acceleration sensor 91 itself is relatively inaccurate, the speed can be accurately measured. In the above case, the predetermined speed ± αm / min, which is a condition value immediately before the start of traveling and immediately before the stop of traveling, does not need to be erroneously recognized as the speed obtained from the vibration in the stationary state. From ± αm / m
in, and the time Tb may be set to a value equal to or longer than the time required from the recognition of the predetermined speed ± αm / min to the stop of traveling. It is determined by the characteristics. In addition, although the description has been made in the order of ascending and descending of the car 1, the measurement may be performed in descending and ascending order in order to grasp the traveling state by the absolute value of ±.

The data memory 104d is finally in a state where acceleration data and velocity data are stored. After the speeds thus obtained are stopped at a predetermined floor, they may be sequentially displayed as numbers on the display 111 or as curves. When a data transmission command is input from an input unit (not shown) to a transmission destination, for example, a personal computer of a sales office to which a maintenance worker belongs, the data memory 1
The 04d acceleration data and velocity data are transmitted to the above destination. Since the sampling time of the transmitted acceleration data and velocity data is known at this transmission destination, time can be assigned to each of the data.

FIG. 6 is a plan view of the running characteristic measuring device 9 according to the present embodiment, and FIG.
It is the side view seen from the direction shown by. In these figures, the same parts as those shown in FIG.

In these figures, reference numeral 110 denotes a storage case, in which the acceleration sensor 91, the voltage / frequency converter 101, and the counter 10 shown in FIG.
2, the arithmetic control unit 104 and the battery 105 are housed. Reference numerals 117a and 117b denote display feed switches. When the speed is displayed on the display unit 111, when the display feed switch 117a is pressed once, the data memory 104 is pressed.
The next data among the speed data stored in d is displayed, and the other display feed switch 117b is set to 1
When the button is pressed twice, the next data among the speed data stored in the data memory 104d is displayed. When the display feed switch 117a is continuously pressed for a predetermined time, the speed data in the data memory 104d flows continuously and continuously along the passage of the time at which the data is collected, and is displayed on the display 111.
The same applies to the other display feed switches 117b. 118
Denotes a connector for data communication with an external device, and an input interface 104f inside the storage case 110.
It is connected to the. Reference numeral 119 denotes a plurality of feet provided on the bottom surface (the surface opposite to the surface shown in FIG. 6). With such a configuration, by storing all the components in one storage case 110, the entire configuration can be reduced in size,
Carrying of maintenance staff becomes easy. Furthermore, since various functions are arranged on the upper surface of the storage case, when the storage case 110 is placed on the floor surface of the car 1, the surface becomes the upper surface, so that the maintenance staff can easily operate.

In the embodiment configured as described above, when the car 1 performs a continuous start and stop multiple times within the detected value, before the car 1 runs, after the end of the run, and at a stationary portion between the runs. Are measured, and a speed error value is estimated using these detected values to correct the calculated speed value including the error. As a result, the measurement time is not limited by the need for accuracy, so that it is not necessary to perform the measurement in several steps, so that the labor of maintenance personnel can be greatly reduced and high-precision measurement can be performed. Furthermore, since it is not necessary to use a particularly high-accuracy one for the acceleration sensor 91,
Equipment costs can also be reduced.

In this embodiment, the more the number of points used in the stationary data approximation used for the error curve estimation, the higher the reliability of the approximation. Although the case where all the intermediate portions between them are used has been illustrated, the stationary data used for approximation may be reduced as long as the accuracy that satisfies the desired target is obtained. In addition, although the case where the two reciprocations of the car 1 are measured has been described, the operation may be performed in any combination and number of times as long as an intermediate stop portion can be secured between the start and the stop as a necessary condition for the measurement.

Further, in the present embodiment, the example in which the acceleration sensor is installed at the center of the floor of the car 1 has been described. Further, instead of being fixed to the floor of the car 1, the car 1 can be fixed to a wall portion of the car 1.
It may be placed on top.

Further, in this embodiment, time, acceleration,
Although the example in which the speed and the speed are stored has been described, one of the acceleration and the speed or the distance obtained by integrating the speed may be stored depending on the capacity of the storage unit. If the distance is obtained in this way, it is convenient for searching for a position where an abnormality in acceleration or speed occurs.

Further, in this embodiment, the example in which the display 111 is provided has been described. However, the communication unit with the outside is provided without providing the display 111, and the acceleration and the acceleration stored in the storage unit are provided.
The speed and distance, or only the distance, can be transmitted to a predetermined external location, for example, a personal computer of a business office to which a maintenance worker belongs, by the above-mentioned communication means. Of course, both the display 111 and the above-mentioned communication means may be provided.

Furthermore, in the present embodiment, the elevator car 1 has been described as an example of a transfer body, but the present invention is not limited to this elevator, and in addition to the escalator and the moving sidewalk, a ropeway that needs maintenance by maintenance personnel is required. The present invention is also applicable to the measurement of the speed of a transfer body such as a car or a train by measuring the stationary state of many points and making correction using a correction formula.

[0033]

As described above, according to the present invention, high-precision speed measurement can be performed by removing an error component from the speed calculation value obtained by integrating the acceleration, which is necessary for accuracy. Accordingly, it is not necessary to perform the measurement in several steps, so that the labor of maintenance personnel can be reduced, and it is not necessary to use a particularly high-precision acceleration sensor itself, so that the apparatus cost can be reduced. Therefore, there is an effect that the accuracy in measuring the traveling characteristics of the transfer body can be improved and the cost can be reduced.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram of an elevator including a traveling characteristic measuring device according to an embodiment of the present invention.

FIG. 2 is a block diagram illustrating a configuration of a traveling characteristic measuring device according to the present embodiment.

FIG. 3 is a characteristic diagram showing a speed and an acceleration when the car rises and descends.

FIG. 4 is a characteristic diagram showing an actually measured traveling curve during two reciprocating operations of the car.

FIG. 5 is a characteristic diagram illustrating an operation when a correction process is performed by the traveling characteristic measurement device of the present embodiment.

FIG. 6 is a plan view of the traveling characteristic measuring device of the present embodiment.

FIG. 7 is a side view of the traveling characteristic measuring device according to the embodiment.

[Explanation of symbols]

 Reference Signs List 1 car (transportation body) 9 running characteristic measuring device 91 acceleration sensor 101 voltage frequency converter 102 counter 103 A / D converter 104 arithmetic control unit 104a CPU 104b ROM 104c RAM 104d data memory (storage unit) 104g clock

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[Procedure amendment]

[Submission date] March 2, 1998

[Procedure amendment 1]

[Document name to be amended] Drawing

[Correction target item name] All figures

[Correction method] Change

[Correction contents]

FIG. 3

FIG. 4

FIG.

FIG. 5

FIG. 7

FIG. 2

FIG. 6

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Kiyoshi Naganuma 1-6-6 Kandanishikicho, Chiyoda-ku, Tokyo, Japan Inside the Hitachi Building System Co., Ltd. (72) Koji Yamashita 1-6-6 Kandanishikicho, Chiyoda-ku, Tokyo, Ltd. Company Hitachi Building Systems

Claims (2)

[Claims] 1. An acceleration detection value in a moving direction of a transfer body which has been continuously operated for a plurality of start and stop operations using an acceleration sensor is integrated at predetermined time intervals, and the transfer is performed based on the integrated value. In the method of calculating the speed of the transfer body that calculates the speed of the body, use the detection values of the stationary part before, after, and during the run of the transfer body that has been started and stopped multiple times within the detection value. Estimating a speed error value, and correcting the speed calculation value including the error. 2. An acceleration sensor attached to a transfer body that performs a continuous operation of starting and stopping a plurality of times to detect an acceleration in a moving direction of the transfer body, and a speed of the transfer body based on a detection value of the acceleration sensor. A speed calculating means for calculating the acceleration, a storage unit for storing the speed calculated by the speed calculating means, a time measuring means for measuring a time from the start of the detection of the acceleration to the stop of the detection, and a plurality of times in the detected value. Calculate the speed error value using the detected values of the stationary portion before, after the traveling and after the traveling of the transfer body that has started and stopped continuously traveling, and corrects each speed stored in the storage unit. An apparatus for measuring traveling characteristics of a transfer body, comprising a speed correcting means.