Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B66—HOISTING; LIFTING; HAULING
  • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
  • B66B1/00—Control systems of elevators in general
  • B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
  • B66B1/3492—Position or motion detectors or driving means for the detector
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B66—HOISTING; LIFTING; HAULING
  • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
  • B66B3/00—Applications of devices for indicating or signalling operating conditions of elevators
  • B66B3/02—Position or depth indicators
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B66—HOISTING; LIFTING; HAULING
  • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
  • B66B7/00—Other common features of elevators
  • B66B7/02—Guideways; Guides
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
  • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
  • G01P3/36—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
  • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
  • G01P3/36—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light
  • G01P3/366—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light by using diffraction of light

Definitions

• Elevator bolt detection device Elevator bolt detection device, elevator device, and position of moving body
• the present invention relates to an elevator bolt detection device for detecting the presence or absence of bolts on a guide rail having a plurality of unit rails connected to each other in the vertical direction, an elevator device using the same, and a rail.
• the present invention relates to a position detection device for a moving body.
• the cord rail force s containing optically identifiable information is provided vertically inside the hoistway adjacent to the vertical movement path of the elevator car.
• An optical sensor is attached to and moves with the elevator car.
• an elevator apparatus in a position where a code rail marker related to a hoistway can be optically read is known (for example, see Patent Document 1).
• an uneven shape is formed on the surface of the guide rail that guides the car, and the force cage is provided with an optical position detection element for reading the unevenness, and the force
• An elevator apparatus is known in which the position is detected by observing the period of unevenness read by the optical position detection element (see, for example, Patent Document 2).
• the moving body position and speed detection device moves from a light source that irradiates light to the guide rail, a camera that captures the surface of the guide rail, a previous rail surface image captured by the camera, and a new image. It includes a processing unit that calculates the amount of body movement (see, for example, Patent Document 3).
• Patent Document 1 Japanese Patent Laid-Open No. 2002-226149 (page 6, column 9, line 22 to line 38, Fig. 1)
• Patent Document 2 Japanese Patent Laid-Open No. 9-124238 (page 3, column 4, line 13 to page 13) Line 46, Fig. 1)
• Patent Document 3 Japanese Unexamined Patent Publication No. 2002-274765 ([0007] to [0017], Fig. 1) Disclosure of the Invention Problems to be solved by the invention
• the frame rate of the camera is about 1 kHz for a CCD line camera, and is even lower for a two-dimensional camera. As the speed of the moving object increases, there is a problem that the position cannot be detected because there is no overlap between the previous image and the previous image at the above frame rate.
• the present invention has been made to solve the above-described problem, and can be easily installed in an elevator, and can detect the presence of a guide rail bolt for detecting the position of a car.
• the first object is to obtain an elevator bolt detection device and an elevator device using the same.
• a second object of the present invention is to obtain a moving body position / speed detecting device capable of detecting the position and speed of a moving body moving at high speed.
• An elevator bolt detection apparatus includes a car guide rail provided in a hoistway and configured by unit rails connected to each other in the vertical direction, a seam plate connecting the unit rails, and a seam plate And a bolt for fixing the unit rail, an elevator car guided by the car guide rail, a bolt detection sensor head provided on the car facing the car guide rail and detecting the bolt, and a bolt detection sensor head And a bolt detection determination unit that determines the presence or absence of a bolt based on information from.
• the bolt detection sensor head is a distance sensor that measures the distance from the guide rail surface or the bolt surface, and the bolt detection determination unit determines the presence or absence of the bolt based on the distance information of the distance sensor. Is.
• the bolt detection sensor head is arranged at a position where a light source that irradiates light to the surface of the guide rail or the bolt and regular reflection light when the light is regularly reflected by the surface of the bolt.
• the bolt detection determining unit determines the presence or absence of a bolt based on the amount of light received by the light receiving unit.
• the bolt detection sensor head has a light source that irradiates the guide rail or the surface of the bolt with a light beam, and a position where the specularly reflected light is incident when the light beam is regularly reflected on the surface of the guide rail.
• the bolt detection determination unit is configured to determine the presence / absence of a bolt based on light reception amount information at the light reception unit.
• the bolt detection sensor head avoids a light source that irradiates light on the surface of the guide rail or the bolt, and an optical path of reflected light when the light is regularly reflected on the surface of the guide rail and the bolt. And a light receiving portion disposed at a position where the scattered light on the guide rail and the bolt surface is incident, and the bolt detection determining portion is based on the received light amount information at the light receiving portion, The presence or absence of bolts is determined.
• an elevator apparatus includes a car guide rail formed by unit rails provided in a hoistway and connected to each other in the vertical direction, a seam plate that connects each unit rail, and a seam A bolt for fixing the plate and the unit rail, an elevator car guided by the force guide rail, a bolt detection sensor head for detecting the bolt provided on the car facing the car guide rail, a bolt A bolt position storage unit that stores the installation position, a bolt detection determination unit that determines the presence / absence of a bolt based on the information of the bolt detection sensor head force, and a car that is provided on the car and contacts the guide rail
• the position of the car based on the information of the guide roller, the encoder that reads the rotational position of the guide roller, the bolt position storage unit, the bolt detection determination unit, and the encoder
• the car position detector to detect, the force speed detector to detect the speed of the force based on the encoder information, and the operation status of the force based on the information of the car position detector and the force speed detector It
• the position and speed detection device for a moving body is mounted on the moving body and connected to a control unit that controls the movement of the moving body, and the position and speed for controlling the moving body are determined.
• Position detection speed detection device a light source that irradiates light to a stationary structure existing around a moving body, a first camera that captures a surface image of the stationary structure, and a second power camera
• the shooting range of the first camera and the second camera is small.
• a first mirror and an image processing unit that detect the position and speed of the moving object based on the image data of the first camera and the second camera. The image capture start times of the first camera and the second camera are different.
• the moving body is a moving body that moves along the rail, and the rail is configured by connecting unit rails of a predetermined length, and detects a joint structure existing at the joint of the rail.
• the joint detection sensor, the joint position storage unit that stores the position of the joint structure in advance, and the position and speed of the moving body are output. Based on the output of the joint detection sensor and the position data of the joint position storage unit Is equipped with a position / speed output section that resets the position of the moving object.
• an elevator bolt detection device and an elevator device that can be easily installed in an elevator and can detect a guide rail bolt for detecting the position of a car. it can.
• FIG. 1 is a schematic diagram showing an elevator apparatus according to Embodiment 1 of the present invention.
• FIG. 2 is a graph showing a speed pattern of the elevator apparatus according to Embodiment 1 of the present invention.
• FIG. 3 is a schematic diagram showing a bolt detection unit of the elevator apparatus according to Embodiment 1 of the present invention.
• FIG. 4 is a graph showing a distance signal of the sensor head of the elevator apparatus according to Embodiment 1 of the present invention.
• FIG. 5 is a schematic diagram showing a bolt detection sensor of the elevator apparatus according to Embodiment 1 of the present invention.
• FIG. 6 is a schematic diagram showing a bolt detection sensor of an elevator apparatus according to Embodiment 2 of the present invention.
• FIG. 7 is a schematic diagram showing a bolt detection sensor of an elevator apparatus according to Embodiment 3 of the present invention.
• FIG. 8 is a graph showing a distance signal and a differential signal value of a bolt detection sensor of an elevator apparatus according to Embodiment 3 of the present invention.
• FIG. 9 is a schematic diagram showing a bolt detection sensor of an elevator apparatus according to Embodiment 4 of the present invention.
• FIG. 10 is a graph showing a distance signal and a differential signal value of a bolt detection sensor of an elevator apparatus according to Embodiment 4 of the present invention.
• FIG. 11 is a schematic diagram showing a bolt detection sensor of an elevator apparatus according to Embodiment 5 of the present invention.
• FIG. 12 is a graph showing a distance signal and a difference signal value of a bolt detection sensor of an elevator apparatus according to Embodiment 5 of the present invention.
• FIG. 13 is a schematic diagram showing a bolt detection sensor of an elevator apparatus according to Embodiment 6 of the present invention.
• FIG. 14 is a graph showing a distance signal and a car position signal of a bolt detection sensor of an elevator apparatus according to Embodiment 6 of the present invention.
• FIG. 15 is a schematic diagram showing a configuration of a moving body position / speed detection device according to Embodiment 7 of the present invention.
• FIG. 16 is a schematic diagram for explaining camera capture timing.
• FIG. 17 is a diagram showing a template matching method.
• FIG. 18 is a diagram showing a template matching method for a position / speed detection device for a moving body in Embodiment 8 of the present invention.
• FIG. 19 is a diagram showing a template matching method in Embodiment 8 of the present invention.
• FIG. 20 is a schematic diagram showing a configuration of a moving body position / speed detection device according to Embodiment 9 of the present invention.
• FIG. 21 is a schematic diagram showing the configuration of a moving body position / speed detection device according to Embodiment 10 of the present invention.
• FIG. 22 is a schematic diagram showing a configuration of a moving body position / speed detection device according to Embodiment 11 of the present invention.
• FIG. 23 is a schematic diagram showing a configuration of a moving body position / speed detection device according to Embodiment 12 of the present invention.
• FIG. 1 is a schematic diagram showing an elevator apparatus according to Embodiment 1 of the present invention
• FIG. 2 is a graph showing a speed pattern of the elevator apparatus according to Embodiment 1 of the present invention
• FIG. 3 is an elevator according to Embodiment 1 of the present invention
• FIG. 4 is a schematic diagram showing the bolt detection unit of the apparatus
• FIG. 4 is a graph showing the distance signal of the sensor head of the elevator apparatus in Embodiment 1 of the present invention
• FIG. 1 is a schematic diagram showing a bolt detection sensor of an elevator apparatus according to Embodiment 1 of the present invention.
• a counterweight 4 is connected to a car 2 and a car 2 via a plurality of main ropes 3.
• the force guide rail 5 that guides the lifting movement of the force 2
• the counterweight guide rail 6 that guides the lifting movement of the counterweight 4
• the lifting machine 7 and the lifting machine 7 that are the driving devices of the main rope 3
• a control panel 8 that is electrically connected to control the operation of the elevator is installed.
• the lifting machine 7 includes a driving sheave 9 rotated by a driving device including a motor, a braking apparatus 10 for a lifting machine that brakes the rotation of the driving sheave 9 to decelerate the force 2, and a main rope 3.
• a wrapping baffle 11 is provided.
• the force 2 is provided with an emergency stop device 12 that holds the car guide rail 5 with a pair of wedges during operation and performs braking operation of the car 2, and detection means 13 that detects the position and speed of the force 2. Yes.
• the brake device 10 for the hoisting machine, the emergency stop device 12, and the control panel 8 are electrically connected to a monitoring device 14 that constantly monitors the state of the elevator.
• the monitoring device 14 has a calculation unit 15 that constantly detects the operation status of the car 2 to determine whether there is an abnormality in the operation status, and a storage unit 16 that holds abnormality determination reference data that serves as a reference for determining an abnormality in the car operation.
• the operation unit 15 determines that there is an abnormality in the driving situation, an operation signal is output to the lifting device brake device 10 or the emergency stop device 12.
• the calculation unit 15 is electrically connected to the detection means 13.
• the detecting means 13 includes a car position detecting unit 17 that detects the position of the car 2 in the hoistway 1 and a force speed detecting unit 18 that detects the moving speed of the force 2. Is output to the arithmetic unit 15.
• the storage unit 16 stores a car speed abnormality judgment criterion which is an abnormality judgment standard for the car speed with respect to the position of the car 2.
• FIG. 2 shows a graph which is a criterion for determining abnormal force / velocity held in the storage unit 16.
• Fig. 2 shows the speed pattern corresponding to the car position. In the hoistway, there is an acceleration / deceleration section near the terminal floor and a constant speed section between the acceleration / deceleration sections.
• the storage unit 16 holds three types of speed patterns. That is, the normal speed detection pattern (normal level) 19 which is the car speed during normal operation, the first abnormal speed detection pattern (first abnormal level) 20 having a speed value larger than the normal speed detection pattern 19, and the first Abnormal speed detection A second abnormal speed detection pattern (second abnormal level) 21 having a speed value larger than the outgoing pattern 20 is set.
• the above three speed patterns are set so that the speed is continuously reduced toward the final floor in the acceleration / deceleration section, and constant speed values are set in the constant speed section.
• the difference between the normal speed detection pattern 19 and the first abnormal speed detection pattern 20 and the difference between the first abnormal speed detection pattern 20 and the second abnormal speed detection pattern 21 are substantially constant at all car positions. Each is set to
• the monitoring device 14 outputs an operation signal to the lifting device brake device 10 when the force speed value exceeds the first abnormal speed detection pattern 20. At the same time, a stop signal for stopping the driving of the lifting machine 7 is output to the control panel 8. Further, when the force speed value exceeds the second abnormal speed detection pattern 21, an operation signal is output to the lifting device brake device 10 and the emergency stop device 12.
• the calculation unit 15 compares the car position and speed value received from the detection means 13 with the three types of speed patterns stored in the storage unit 16 and constantly checks whether there is an abnormality in the car operation state. During normal operation, the car position and speed value from the detection means 13 and the normal speed detection pattern 19 in the storage unit 16 are almost the same, so it is determined that there is no abnormality in the operating state and normal operation is continued. . For example, if the car speed increases for some reason and exceeds the first abnormal speed detection pattern 20, the calculation unit 15 determines that the operation state is abnormal, and the monitoring device 14 moves to the lifting device brake device 10. The operation signal and stop signal to the control panel 8 are output.
• the rotation of the drive sheave 9 is braked to reduce the force speed so that it matches the normal speed detection pattern 19.
• the monitoring device 14 maintains the operation signal output to the lifting device brake device 10.
• the operation signal to the safety device 12 is output.
• the emergency stop device 12 is activated by the above operation, and the operation of the force 2 is braked.
• the car guide rail 5 is composed of unit rails 22 connected to each other in the upward and downward directions. Each unit rail 22 is connected to the joint plate 23 at the upper and lower ends via the joint plate 23.
• the rank rail 22 is fastened and fixed by a plurality of bolts 24.
• the car 2 is provided with a guide roller 25 that contacts the car guide rail 5 and rotates as the force 2 moves, and a bolt detection sensor 26 that detects the presence or absence of the bolt 24 facing the car guide rail 5. ing.
• the guide roller 25 has an encoder 27, and the encoder 27 outputs a rotational position signal (pulse signal) as the guide roller 25 rotates.
• the bolt detection sensor 26 outputs a bolt detection signal when the force 2 passes over the bolt 24.
• the car position detection unit 17 is electrically connected to the encoder 27, the bolt detection sensor 26, and the bolt position storage unit 28. For example, the position of each bolt 24 in the hoistway 1 is memorized in the bolt position storage unit 28 when the elevator is installed.
• the car position detection unit 17 integrates the pulse signal of the encoder 27 to obtain the position of the car 2.
• the car position in the bolt position storage unit 28 and the encoder pulse are integrated.
• the car position obtained by the value is compared. If the two are different, the bolt position in the bolt position storage unit 28 is set as the car position.
• the car speed detector 18 calculates the car speed from the number of pulses of the encoder 27 counted per unit time, and outputs it as the force cage speed.
• the bolt detection sensor 26 measures the distance from the sensor to the car guide rail 5 or the surface of the bolt 24, and outputs a distance signal corresponding to the distance, and determines the presence or absence of the distance signal force bolt 24.
• a bolt detection determination unit 30 is provided.
• the sensor head 29 and the bolt detection determination unit 30 are electrically connected.
• a distance sensor by an optical triangulation method, an eddy current sensor, a capacitance sensor, an ultrasonic sensor, or the like can be used.
• Figure 4 shows how the distance signal value 32 changes when the sensor head 29 passes over the bolt 24.
• the horizontal axis represents the car position, and the vertical axis represents the distance signal value output by the sensor head 29.
• the distance signal value 32 is greater when the sensor head 29 is on the bolt 24 than when the bolt 24 is not present. Become smaller. Therefore, when there is no bolt 24, that is, when the distance measurement object of the sensor head 29 is the car guide rail 5, the distance signal value al and when the distance measurement object is the bolt 24 A bolt detection threshold cl is provided between the distance signal values bl, and when the distance signal value 32 changes beyond the bolt detection threshold cl, the bolt detection determination unit 30 determines that the bolt 24 has passed and detects the bolt. Sensor 26 outputs a bolt detection signal.
• the bolt detection sensor 26 may be configured as shown in FIG.
• the bolt detection sensor 26 includes a sensor head 29 and a bolt detection determination unit 30, and the sensor head 29 and the bolt detection determination unit 30 are electrically connected.
• the sensor head 29 has a light source 36 that emits parallel light L1 and a light receiving element 37 that converts the received light into an electrical signal corresponding to the amount of light.
• the light source 36 may be a semiconductor laser or a combination of a light emitting diode and a lens.
• the light receiving element 37 may be a photodiode, a photocell, or a CCD.
• the light source 3 6 irradiates the car guide rail 5 with the emitted light L1 which is parallel light, and the specularly reflected light L2 specularly reflected by the surface of the head of the bolt 24 enters the light receiving element 37 and receives the light source 36 and Place element 37.
• the sensor head 29 outputs the received light amount signal converted into an electric signal by the light receiving element 37 to the bolt detection determination unit 30.
• the outgoing light L2 is regularly reflected as the reflected light L2 on the surface of the bolt 24 and is incident on the light receiving element 37.
• the bolt detection determination unit 30 sets a threshold value for the received light amount signal in advance, and determines that the bolt 24 has passed when the received light amount signal changes beyond the threshold value. A detection signal is output.
• the light source 36 and the light receiving element 37 are disposed at the position where the outgoing light L1 enters the light receiving element 37 where the regular reflected light from the bolt 24 of the light source 36 is incident.
• a light source 36 and a light receiving element 37 may be arranged so that light enters the light receiving element 37.
• the guide roller 25 rotates as the force 2 moves, and the car position detector 17 detects the car position and the force speed detector 18 uses the pulse signal of the encoder 27 that reads the rotation speed of the guide roller 25.
• the car speed is detected at.
• the car position detector 17 has a bolt 24 from the bolt detection sensor 26. Presence / absence information is always input as a bolt detection signal. If there is no bolt detection signal from the bolt detection sensor 26, the pulse signal of the encoder 27 is output as the accumulated position. When there is a bolt detection signal from the bolt detection sensor 26, the bolt position recorded in the bolt position storage unit 28 is compared with the position information based on the calculation result of the encoder pulse.
• the car position information is output. If they match, the car position information is output. If they are different, the bolt position recorded in the bolt position storage unit 28 is corrected and output as position information. Thereafter, the car position is calculated by accumulating encoder pulses based on this bolt position, and the car position detection unit 17 outputs the car position as position information.
• the force speed detector 18 calculates the car speed based on the number of pulses of the encoder 27 counted per unit time, and outputs the car speed information.
• the detection means 13 outputs the car position information and the car speed information calculated by the above method to the monitoring device 14.
• a sensor head 29 for detecting the presence of the bolt 24 is provided in the car 2, and the bolt 24 is determined by the bolt detection determination unit 30 based on the output of the sensor head 26. Therefore, the sensor head 29 and the bolt detection determination unit 30 can be mounted on the car 2 and can be easily installed in the elevator.
• the bolt 24 existing on the car guide rail 5 is detected, the force required to additionally process the car guide rail 5 or install a new position detecting structure in the hoistway. The position of your 2 can be detected easily and reliably.
• the position information of the car 2 by the encoder 27 is corrected by the car position detector 17 based on the information of the bolt detection sensor 26, and the operation of the elevator is controlled based on the corrected position information.
• the deviation between the actual car position and the integrated value of the encoder noise signal due to slipping or idling of the guide roller 25 can be prevented, and the elevator can be operated more accurately. Accordingly, it is possible to prevent the car 2 from colliding with the end of the hoistway. Moreover, since the maximum speed of entering the final floor can be reduced, the distance between the final floor and the end of the hoistway can be shortened, and the length of the entire hoistway can be shortened.
• FIG. 6 is a schematic diagram showing a bolt detection sensor of an elevator apparatus according to Embodiment 2 of the present invention.
• the light source 36 and the light receiving element 37 of the sensor head 39 of the bolt detection sensor 33 may be arranged.
• the light source 36 and the light receiving element 37 are arranged at positions where the specularly reflected light of the surface force of the bolt 24 and the car guide rail 5 does not enter the light receiving element 37.
• the emitted light L4 from the light source 36 irradiates the head of the bolt 24, a part of the light is scattered on the surface of the bolt 24 and enters the light receiving element 37 as the bolt surface scattered light L5.
• the car guide rail 5 is irradiated, part of the light is scattered on the surface of the car guide rail 5 and enters the light receiving element 37 as the rail surface scattered light L6.
• Bolt surface scattered light L5 and rail surface scattered light L6 differ due to differences in materials of bolt 24 and car guide rail 5 and differences in distance between bolt 24 and car guide rail 5 and light receiving element 37, etc. Has light intensity. Accordingly, the amount of light incident on the light receiving element 37 changes in accordance with the presence or absence of the bolt 24, and the received light amount signal input to the bolt detection determination unit 38 varies.
• the bolt detection determination unit 38 determines that the car 2 has passed the bolt 24 when the received light amount signal changes beyond the threshold value by setting a preliminarily set threshold value for the received light amount signal.
• a bolt detection signal is output from the bolt detection sensor 33.
• Other components and operations are the same as those in the first embodiment.
• Example 3 Even in the case of Example 2, it is a matter of course that the same operation and effect as Example 1 can be obtained.
• Example 3
• FIG. 7 is a schematic diagram showing a bolt detection sensor of an elevator apparatus according to Embodiment 3 of the present invention
• FIG. 8 shows a distance signal and a differential signal value of the bolt detection sensor of the elevator apparatus according to Embodiment 3 of the present invention. It is a graph.
• the bolt detection sensor 40 includes a first sensor head 41 and a second sensor head 42, and a bolt detection determination unit 43.
• the first sensor head 41 and the second sensor head 42 are Each is electrically connected to the bolt detection determination unit 43.
• the first sensor head 41 and the second sensor head 42 use sensors that measure the distance between the sensor head and the car guide rail 5 or the bolt 24.
• the first sensor head 41 and the second sensor head 42 are spaced apart from each other by a distance pi in the height direction of the hoistway 1.
• Four bolts 24 are attached to each unit rail in the vicinity of the rail joint 31 of the two unit rails 22, so that each of them is equidistant.
• the first sensor head 41 and the second sensor head 42 are arranged so that pi> L1, where L1 is the distance between the four bolts that are the furthest away from each other.
• Fig. 8 shows the distance signal 44 of the first sensor head 41 and the second sensor head 42 when the downward force of the ascending / descending path 1 passes upward on the four bolts 24 of the bolt detection sensor 40.
• the distance signal 45 and the difference signal between the distance signal 44 and the distance signal 45 (distance signal 45—distance signal 44) 46 are shown.
• the bolt detection sensor 40 passes through the bolt 24
• the first sensor head 41 passes through the four bolts 24
• the car 2 approaches the car guide rail 5
• the second sensor head force When two bolts 24 are passed, the signal output when the car 2 is separated from the car guide rail 5 is shown.
• the horizontal axis indicates time.
• the distance signal 44 and the distance signal 45 indicate the distance fluctuation amount due to the vibration of the force force by the distance fluctuation amount due to the presence or absence of the bolt 24.
• the added distance signal The bolt detection determination unit 43 calculates the difference signal 46 by taking the difference between the input distance signal 44 and the distance signal 45 to obtain a distance fluctuation signal based only on the presence or absence of the bolt 24.
• the bolt detection determination unit 43 sets a bolt detection threshold value c2 for the obtained difference signal 46 so that when the difference signal 46 changes beyond the bolt detection threshold value c2, 2 is judged to have passed through the bolt 24, and a bolt detection signal is output from the bolt detection sensor 40.
• Other components and operations are the same as those in the first embodiment.
• the installation interval force between the first sensor head 41 and the second sensor head 42 Fixing of the two most distant bolts among a plurality of continuous bolts 24 Each is arranged so as to be larger than the interval, and the presence or absence of the bolt 24 is determined from the difference signal 46 between the distance signal 44 of the first sensor head 41 and the distance signal 45 of the second sensor head 42. Even when the distance between the car 2 and the car guide rail 5 changes due to vibration of the force 2 or the like, the bolt can be detected accurately and stably.
• FIG. 9 is a schematic diagram showing a bolt detection sensor of an elevator apparatus according to Embodiment 4 of the present invention
• FIG. 10 is a graph showing distance signals and differential signal values of the bolt detection sensor of the elevator apparatus according to Embodiment 4 of the present invention. It is.
• the installation interval between the two first sensor heads 41 and 42 is p2, and the fixing interval between adjacent bolts among a plurality of continuous bolts 24 is set.
• the crossing plate 23 and the force guide rail 5 are fixed by the first bolt 24 a, the second bolt 24 b, the third Bonole rod 24 c and the fourth Bonole rod 24 d. ing.
• FIG. 10 shows that 47 sensor signals of the first sensor head 41 and the second sensor head 42 when passing through the 47 bolts 24a to 24d of the bolt detection sensor from the lower side of the hoistway 1 upward.
• Distance signal 50 and a difference signal (distance signal 50—distance signal 49) 51 between the distance signal 49 and the distance signal 50 are shown.
• the distance between the car 2 and the guide rail 5 approaches while the first sensor head 41 reaches the fourth bolt 24d after passing through the first bolt 24a.
• the signal output when the distance is long is shown.
• the horizontal axis is time.
• the difference signal 51 fluctuates only when the sensor head 42 does not face the bolt 24 and when only the second sensor head 42 faces the bolt 24 and the first sensor head 41 does not face the bolt 24. That is, the distance signal 49 and the distance signal 50 are generated when the sensor head is opposed to any of the first bolt 24a, the second bolt 24b, the third bolt 24c, and the fourth bolt 24d. Although it fluctuates, the difference signal 51 changes to a positive value only when the first sensor head 41 faces the first bolt 24a, and the second sensor head 42 faces the fourth bolt 24d. Only in the case of a negative value.
• the bolt detection determination unit 48 previously sets a bolt detection threshold c3 for the obtained difference signal 51, and if the difference signal 51 changes beyond the bolt detection threshold c3, four consecutive bolts are detected. It is determined that the force 2 has passed over one particular bolt 24a or 24d out of 24, and a bolt detection signal is output from the bolt detection sensor 47. So Other components and operations are the same as those in the first and third embodiments.
• the installation interval p2 of the first sensor head 41 and the second sensor head 42 is equal to the fixing interval L2 of the two adjacent bolts 24. Since each bolt is arranged and the presence or absence of a bolt is judged from the difference signal 51 of each distance signal 49 and distance signal 50, a specific one of the continuously arranged bolts is determined. Only when the car 2 passes through the bolt 24a or 24d, the bolt detection signal can be output, and the position of the bolt can be detected more accurately. Further, even when the bolt detection sensor 47 is in the vicinity of the bolt and the lifting / lowering motion of the force 2 is reversed, a specific bolt can be detected.
• FIG. 11 is a schematic diagram showing a bolt detection sensor of an elevator apparatus according to Embodiment 5 of the present invention
• FIG. 12 shows a distance signal and a difference signal value of the bolt detection sensor of the elevator apparatus according to Embodiment 5 of the present invention. It is a graph to show.
• FIG. 11 shows a planar cross section in a plane perpendicular to the direction in which the force 2 moves (vertical direction).
• the bolt detection sensor 59 has a first sensor head 57, a second sensor head 58, and a bolt detection determination unit 60.
• the first sensor head 57 and the second sensor head 58 are respectively a bolt detection determination unit. 60 is electrically connected.
• the first sensor head 57 is disposed at a position facing the left bolt 24 that fastens and fixes one of the T-shaped pieces of the car guide rail 5, and the second sensor head 58 is disposed on the T-shaped of the car guide rail 5. Of these, it is arranged at a position facing the head surface where the bolt 24 is not present.
• the first sensor head 57 uses a sensor that measures the distance between the sensor head and the car guide rail 5 or the bolt 24, and the second sensor head 58 uses the sensor head and the car guide rail 5. A sensor that measures the distance from the T-shaped head is used.
• Fig. 12 shows the distance between the first sensor head 57 distance signal 61 and the second sensor head 58 when the lower force of the ascending / descending path 1 passes upward as well.
• the signal 62 and the difference signal 61 between the distance signal 61 and the distance signal 62 (distance signal 62—distance signal 61) 63 are shown.
• the bolt detection sensor 59 passes 4 bolts
• the first sensor head 57 passes 4 bolts.
• the signal output when the car 2 approaches the car guide rail 5 and the car 2 moves away from the car guide rail 5 after passing is shown.
• the horizontal axis indicates time.
• the distance signal 61 adds the distance fluctuation amount due to the vibration of the force force that is just the distance fluctuation amount due to the presence or absence of the bolt. It becomes a distance signal.
• the distance signal 62 is a signal indicating the distance fluctuation between the car 2 and the guide rail 5.
• the bolt detection determination unit 60 calculates the difference signal 63 by taking the difference between the input distance signal 61 and the distance signal 62 to obtain a distance fluctuation signal based only on the presence or absence of the bolt.
• the bolt detection determination unit 60 sets a bolt detection threshold value c4 for the obtained difference signal 63 in advance so that when the difference signal 63 changes beyond the bolt detection threshold value c4, the force detection is performed. It is determined that 2 has passed the bolt, and a bolt detection signal is output from the bolt detection sensor 59.
• Other components and operations are the same as those in the first embodiment.
• the first sensor head 57 is positioned opposite to the bolt 24, and the second sensor head 58 is not present in the bolt! And the presence of the bolt 24 is determined from the difference signal 63 between the distance signal 61 of the first sensor head 57 and the distance signal 62 of the second sensor head 58. Therefore, even when the distance between the car 2 and the car guide rail 5 changes due to vibration of the force 2 or the like, the bolt can be detected accurately and stably.
• FIG. 13 is a schematic diagram showing the bolt detection sensor of the elevator apparatus according to Embodiment 6 of the present invention
• FIG. 14 shows the distance signal and the car position signal of the bolt detection sensor of the elevator apparatus according to Embodiment 6 of the present invention. It is a graph to show.
• Fig. 13 shows a plane cross section in a plane perpendicular to the direction in which the force 2 moves (vertical direction), and shows the positional relationship between the car guide rail 5 and the eddy current distance sensor 61 used as a bolt detection sensor head. It is.
• the output of the eddy current distance sensor 61 varies. The reason is as follows.
• an eddy current sensor excites a high-frequency current in a coil inside the sensor to Generate a high-frequency magnetic field in the vicinity.
• a conductor is present in this magnetic field, an eddy current is generated on the conductor surface in a direction perpendicular to the magnetic flux passing direction, and the coil loss fluctuates.
• the coil loss increases and the oscillation amplitude of the coil fluctuates, so that distance information can be obtained from this amplitude.
• FIG. 14 is a graph showing an output signal when the bolt detection sensor head passes around the bolt 24 when an eddy current type distance sensor is used as the bolt detection sensor head.
• the bolt detection threshold is c5
• the bolt detection position when the distance signal changes beyond the bolt detection threshold c5 when passing through bolt 24 is xl for signal si and for signal s2. x3. Due to the influence of the side surface 5a described above, the detection positions xl and x2 of the bolt 24 are displaced.
• the bolt detection positions x2 and x4 are detected when the distance signal changes beyond the bolt detection threshold c5 when the bolt 24 has been passed.
• FIG. 15 is a schematic diagram showing a configuration of a moving body position / velocity detecting device according to Embodiment 7 of the present invention
• FIG. 16 is a schematic diagram for explaining camera capture timing
• FIG. 17 is a template matching method.
• Position and speed detection device 70 is a stationary structure. It is mounted on the moving body 72 that moves in the direction along the rail 71 (X direction), and the control unit 73 controls the operation of the moving body 72 based on the position 'speed detection device 70 position' speed detection signal. Is going.
• the position / velocity detection device 70 includes a light source 74, and the light source 74 is arranged to irradiate light on the surface of the rail 71.
• the light source 74 an LED, a laser diode, a lamp, or the like can be used.
• the first camera 75 and the second camera 76 provided in the position / speed detection device 70 are arranged so as to photograph the surface of the rail 71 via a noise mirror 77, respectively.
• a non-interfering light source such as an LED or lamp is used as the light source 74, a light intensity distribution corresponding to the uneven shape on the surface of the rail 71 is generated, and the light intensity distribution force camera 76 takes an image. .
• the two shooting ranges are arranged so that they are partly or entirely in common.
• the camera drive unit 78 controls the shooting start timing of each of the cameras 75 and 76, and by shifting the capture start time of the two cameras 75 and 76, for example, the moving body 72 is moving in the positive X direction in FIG.
• the first camera 75 captures the first image
• the second camera 76 captures the second image
• the imaging range is configured so that they partially overlap.
• the image processing unit 79 detects the position “velocity” of the overlapping partial force moving body 72 of both pieces of image data, and sends a detection signal to the control unit 73.
• FIG. 16 shows a timing chart of the imaging start timing generated by the camera driving unit 78 and imaging ranges of the first camera 75 and the second camera 76.
• the acquisition start time of the first camera 75 is Ta
• the acquisition start time of the second camera 76 is Tb
• the difference between the two acquisition start times tl (Tb-Ta) is shorter than the camera frame rate t2. Is set. Therefore, even when the moving speed of the moving body 72 is high, an overlapped portion exists between the acquisition range of the first image and the acquisition range of the second image as shown in FIG.
• the exposure time of the camera is realized by opening an electronic or mechanical shutter provided in the camera for a time ⁇ . Or, keep the shutter open at all times, turn on the light source 74 in pulses, and the lighting time May be equal to the exposure time ⁇ .
• the intensity distribution of the first image taken by the first camera 75 the intensity distribution obtained by cutting off a part of the central portion is used as a template for the first image.
• template matching is performed on the intensity distribution of the second image taken by the second camera 76 using the template of the first image, and the amount of movement ⁇ between the two images is ⁇ .
• Calculate X As described above, the movement amount ⁇ during the time tl can be measured, and the moving speed V of the moving body 72 is calculated by ⁇ x / tl. Further, since the speed V is measured every frame rate time t2 of the camera, the moving amount of the moving body 72 can be measured by integrating V * t2.
• Such a position / speed detection device 70 is equipped with two cameras 75 and 76, and by taking a time difference in the shooting start timing between them, two images can be acquired with a time difference shorter than the frame rate of the camera. Even when the moving speed of the moving body 72 is high, an overlap portion is present between the two images. Therefore, even when the moving speed of the moving body 72 is high, the position and speed of the moving body can be detected.
• a force using a moving body that moves along a rail as an example of the moving body can obtain the same effect even for a moving body that does not use a rail such as an automobile. Togashi.
• the surface of the rail 71 is used as an image photographed by the cameras 75 and 76.
• it may be a stationary structure existing around the moving body 72, for example, a floor surface on which the rail is laid, the ground, or an elevator.
• the same effects can be obtained by using walls, pillars of hoistways, roads, ground and landscapes for automobiles.
• the first camera 75 and the second camera 76 may use a force two-dimensional area sensor that can use a line sensor in which pixels are arranged in the X direction.
• a two-dimensional density distribution is used as a template for acquiring the first image force photographed by the first camera 75, and the density of the second image photographed by the second camera 76 is used.
• both The amount of movement ⁇ x in the movement direction (x direction) along the rail 71 between the images can be measured.
• the moving body 72 moves to ⁇ and the Ay moves in the direction (y direction) perpendicular to the direction in which the rail 71 is laid by the vibration of the moving body 72, the moving direction along the rail 71 The amount of movement can be measured.
• the first camera 75 may be a one-dimensional area sensor
• the second camera 76 may be a two-dimensional area sensor.
• the moving body 72 moves in the y direction by using a one-dimensional image as a template and performing two-dimensional template matching on the two-dimensional second image. Even then, ⁇ X can be measured.
• FIG. 20 is a schematic diagram showing a configuration of a moving body position / speed detection device according to Embodiment 9 of the present invention.
• FIG. 20 is a view cut along a cross section perpendicular to the moving direction (X direction) of the moving body 72.
• the position / velocity detection device 70 includes a first lens 75 and a second camera 76 having a one-dimensional line sensor, and a cylindrical lens 80 for blurring an image in a direction perpendicular to the rail 71 (y direction).
• the first camera 75 and the second camera 76 are one-dimensional line sensors, and the cylindrical lens 80 shoots an image in a direction perpendicular to the rail 71, so that the moving body 72
• the rail 71 changes its position in the direction perpendicular to the rail 71 due to vibration. Even when moving along, it is possible to measure the amount of movement along the rail 71 in the moving direction. In addition, because template matching is performed between one-dimensional images, the amount of movement can be measured with less computation time than two-dimensional images.
• the light when a light source having a finite radiation angle such as an LED is used as the light source 74, the light may be condensed using the lens 81.
• the emitted light from the light source 74 can be used efficiently.
• FIG. 21 is a schematic diagram showing the configuration of the moving object position / speed detection device according to the tenth embodiment of the present invention.
• the position / velocity detecting device 70 is provided with a telecentric lens 82 on the object side between the half mirror 77 and the rail 71.
• a telecentric optical system is formed on the object side. Therefore, even if the distance between the lens 82 and the rail 71 fluctuates due to shaking or vibration of the moving body 73, the magnification of the optical system is always constant, and the magnification of the image by the first camera 75 and the second camera 76 is always constant. Since they are equal, stable template matching can be performed.
• FIG. 22 is a schematic diagram showing a configuration of a moving body position / speed detection device according to Embodiment 11 of the present invention.
• the position / speed detection device 70 is arranged such that the positions of the first camera 75 and the second camera 76 with respect to the light source 74 are specularly reflected with respect to the surface of the rail 71 via the half mirror 77. It is. Accordingly, the light from the light source 74 is efficiently incident on the first camera 75 and the second camera 76.
• FIG. 23 is a schematic diagram showing a configuration of a moving body position / speed detection apparatus according to Embodiment 12 of the present invention.
• the position / speed detection device 70 is further provided with a rail joint detector 84 that detects a joint 83 of the rail 71.
• the rail 71 on which the moving body 72 moves is configured by connecting unit rails of a predetermined length, and there is always a joint 83 between the unit rails.
• the rail joint detection unit 84 detects the joint 83 by any optical or magnetic method and outputs a detection signal.
• the position of the joint 83 of each rail that exists for each unit rail length is determined when the rail 71 is laid.
• the position of each joint 83 is stored in the joint position storage unit 84 as position data.
• the position / velocity calculation unit 85 always receives the moving amount per unit time of the moving body measured by the image processing unit 79 in the same manner as in the first embodiment.
• the amount of movement per unit time is output as a speed signal to the control unit 73. Further, the movement amount per unit time is integrated, and the integration amount is output to the control unit 73 as a position signal of the moving body 72.
• the position detection signal of the position / speed detection device 70 is always a value reset at the reference position based on the joint 83 of the rail 71, there is no accumulated error due to integration, and accurate position detection is possible. .
• Example 12 the rail joint detection unit 84 that detects the rail joint 83 of the unit rail has been described. However, the same effect can be obtained by performing a reset using a bolt that secures the unit rail instead of the rail joint 83. can get. Thus, by providing a reference sensor that resets the position of the moving body using rail joints and bolts, accurate position detection with little accumulated error can be performed.
• the elevator bolt detection device and the elevator device using the same can detect the presence of the guide rail bolt for detecting the position of the car.
• the position and speed detection device for a moving body can detect the position and speed of a moving body that moves at high speed.

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• Physics & Mathematics (AREA)
• Engineering & Computer Science (AREA)
• Electromagnetism (AREA)
• Power Engineering (AREA)
• General Physics & Mathematics (AREA)
• Automation & Control Theory (AREA)
• Computer Networks & Wireless Communication (AREA)
• Indicating And Signalling Devices For Elevators (AREA)

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• 2005
  • 2005-10-03 KR KR1020077005732A patent/KR100894727B1/ko active IP Right Grant
  • 2005-10-03 CN CN2005800248773A patent/CN1989060B/zh not_active Expired - Fee Related
  • 2005-10-03 KR KR1020087021919A patent/KR20080089673A/ko not_active Application Discontinuation
  • 2005-10-03 JP JP2006550608A patent/JP4853288B2/ja not_active Expired - Fee Related
  • 2005-10-03 WO PCT/JP2005/018299 patent/WO2006073015A1/ja not_active Application Discontinuation
• 2011
  • 2011-01-19 JP JP2011008426A patent/JP2011073885A/ja active Pending

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