WO2017203576A1

WO2017203576A1 - Elevator apparatus

Info

Publication number: WO2017203576A1
Application number: PCT/JP2016/065202
Authority: WO
Inventors: 敬太望月; 白附　晶英; 甚井上; 雅洋石川; 宣仁木村
Original assignee: 三菱電機株式会社
Priority date: 2016-05-23
Filing date: 2016-05-23
Publication date: 2017-11-30

Abstract

In this elevator apparatus, a cage moves vertically in a hoistway. A distance detector that irradiates, with a detection beam, an object to be measured in the hoistway and detects a distance from the cage to the object, is mounted on the cage. An inclination sensor detects the inclination of the cage. A detection direction correction unit corrects the detection direction of the distance detector on the basis of a signal from the inclination sensor.

Description

Elevator equipment

The present invention relates to an elevator apparatus in which a distance detector for detecting a distance to a measurement object in a hoistway is mounted on a car.

In the conventional elevator apparatus, the distance between the car and the car forward in the traveling direction is periodically detected by a distance detection device using a reflected signal of light or radio waves. When the distance between the car and the forward car in the traveling direction is less than the minimum approach distance that can avoid the rear collision when the forward car suddenly stops, the car is suddenly decelerated to prevent the rear collision (for example, patent) Reference 1).

Further, in other conventional elevator apparatuses, a millimeter wave transmitter / receiver and a distance calculator for calculating the distance of each other from the phase difference or transmission time of the received signal are mounted on the own car. And when the own car abnormally approaches another car, the own car is urgently stopped (for example, refer to Patent Document 2).

Japanese Patent No. 2835206 Japanese Patent No. 4540173

In the conventional elevator apparatus as described above, when the car is inclined due to the passenger getting on and off or the movement of the passenger in the car, the detection beam is also inclined with respect to the vertical direction, and an error occurs in the distance between the cars. For example, even when the inclination is about 1 °, the error increases as the distance between the cars increases.

The present invention has been made to solve the above-described problems, and provides an elevator apparatus that can more accurately measure the distance from a car to a measurement object even when the car is inclined. With the goal.

The elevator apparatus according to the present invention is mounted on a car that moves up and down in a hoistway and a car, and irradiates a measurement beam on the measurement object in the hoistway to detect the distance from the car to the measurement object. A distance detector that detects the inclination of the car, and a detection direction correction unit that corrects the detection direction of the distance detector based on a signal from the inclination sensor.
Further, the elevator apparatus according to the present invention is mounted on a car that moves up and down in the hoistway, the car, and irradiates a measurement beam on the object to be measured in the hoistway, and the distance from the car to the object to be measured. A distance detector that detects a gravity vector, a gravity vector sensor that detects a gravity vector, and a detection direction correction unit that corrects the detection direction of the distance detector to be parallel to the gravity vector based on a signal from the gravity vector sensor. ing.
Furthermore, the elevator apparatus according to the present invention is mounted on a car that moves up and down in the hoistway, the car, and is capable of scanning the detection direction in the horizontal direction, and detects an object to be measured in the hoistway. A distance detector that detects the distance from the car to the object to be measured by irradiating the beam and the distance obtained by scanning the detection direction of the distance detector in the horizontal direction is the shortest distance within the scanning range. A distance determination unit that determines the distance to the measurement object is provided.
Furthermore, the elevator apparatus according to the present invention is mounted on a car that moves up and down in the hoistway, the car, and is capable of scanning the detection direction in the horizontal direction, with respect to the measurement object in the hoistway. A distance detector that irradiates a detection beam and detects the distance from the cage to the measurement object, a reflector provided on the measurement object opposite the distance detector, and having retroreflectivity for the detection beam And distance determination that determines the distance corresponding to the scanning angle at which the reflected signal intensity is highest within the scanning range as the distance to the measurement object among the distances obtained by scanning the detection direction of the distance detector in the horizontal direction. Department.

According to the elevator apparatus of the present invention, the distance from the car to the measuring object can be measured more accurately even when the car is inclined.

BRIEF DESCRIPTION OF THE DRAWINGS It is a block diagram which shows the elevator apparatus by Embodiment 1 of this invention. It is a block diagram which shows the principal part of the elevator apparatus of FIG. It is a block diagram which shows the detail of the distance detector and detection direction correction | amendment part of FIG. It is a block diagram which shows the principal part of the elevator apparatus by Embodiment 2 of this invention. It is a block diagram which shows the principal part of the elevator apparatus by Embodiment 3 of this invention. It is a block diagram which shows the elevator apparatus by Embodiment 4 of this invention. It is a block diagram which shows the principal part of the elevator apparatus of FIG. It is a graph which shows the relationship between the scanning angle range and detection distance by the distance detector of FIG. It is a block diagram which shows the elevator apparatus by Embodiment 5 of this invention. It is a block diagram which shows the principal part of the elevator apparatus of FIG.

Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.
Embodiment 1 FIG.
1 is a block diagram showing an elevator apparatus according to Embodiment 1 of the present invention. In the figure, a first car 1 and a second car 2 are lifted and lowered independently from each other in the same hoistway 3. That is, the elevator apparatus according to Embodiment 1 is a multi-car elevator. In this example, the first car 1 is arranged below the second car 2.

A first hoisting machine (not shown) for raising and lowering the first car 1 and a second hoisting machine (not shown) for raising and lowering the second car 2 are installed above the hoistway 3. Has been. A first suspension body (not shown) for suspending the first car 1 and a first counterweight (not shown) is wound around the drive sheave of the first hoisting machine. A second suspension body (not shown) for suspending the second car 2 and a second counterweight (not shown) is wound around the drive sheave of the second hoisting machine. As the first and second suspension bodies, a plurality of ropes or a plurality of belts are used.

In the hoistway 3, a pair of car guide rails (not shown) for guiding the raising and lowering of the first and

second cars

1 and 2 are installed. The first and

second cars

1 and 2 each have a car frame and a car room supported by the car frame.

The upper portion of the first car 1 is irradiated with the detection beam to the second car 2 and receives the reflected wave of the detection beam from the second car 2 to receive the second car 2 from the first car 1 to the second car 2. A distance detector 4 for detecting the distance to the car 2 is mounted. That is, the measurement object of the first embodiment is the second car 2.

In the first embodiment, the distance detector 4 is mounted on the upper frame of the first car 1. As the distance detector 4, for example, a radio wave distance meter that irradiates millimeter wave radar as a detection beam is used.

If the first car 1 is tilted due to a load deviation in the car room, movement of passengers in the car room, etc., for example, as shown by a dotted line in FIG. 1, the detection direction of the distance detector 4 is relative to the vertical direction. Tilt. Even if the inclination of the detection direction of the distance detector 4 is slight, when the distance to the second car 2 is large, a large error is included in the detected distance, that is, the distance between the cars.

On the other hand, as shown in FIG. 2, the elevator apparatus according to the first embodiment is based on an inclination sensor 5 that detects the inclination of the first car 1 and a distance detector 4 based on a signal from the inclination sensor 5. And a detection direction correction unit 6 that corrects the detection direction.

As the inclination sensor 5, for example, a gyro sensor or an acceleration sensor is used. The inclination sensor 5 is installed on the same rigid body as the distance detector 4. That is, in the first embodiment, the inclination sensor 5 is installed on the upper frame of the car frame of the first car 1.

FIG. 3 is a block diagram showing details of the distance detector 4 and the detection direction correction unit 6 of FIG. The distance detector 4 includes an antenna 4a, a receiver 4b connected to the antenna 4a, and a signal processing unit 4c connected to the receiver 4b. The signal processing unit 4c is configured by a computer, for example.

The detection direction correction unit 6 mechanically changes the detection direction of the distance detector 4 by mechanically changing the angle of the antenna 4a, and the drive device based on the signal from the signal processing unit 4c. And a drive control unit (not shown) for controlling 6a. For example, an electric motor is used as the driving device 6a. The detection direction correction unit 6 uses the driving device 6a to adjust the angle of the antenna 4a so that the detection direction of the distance detector 4 is always the vertical direction.

The drive control unit is configured by a computer, for example. Further, the signal processing unit 4c and the drive control unit can be configured by a common computer. Further, the functions of the signal processing unit 4c and the drive control unit may be executed by a computer of the elevator control device, the group management device, or the safety monitoring device.

In such an elevator apparatus, since the detection direction correction unit 6 maintains the detection direction of the distance detector 4 based on the signal from the inclination sensor 5, even if the first car 1 is inclined, The distance from the first car 1 to the second car 2 can be measured more accurately.

Moreover, since the detection direction correction | amendment part 6 changes the detection direction of the distance detector 4 mechanically using the drive device 6a, it can change the detection direction of the distance detector 4 more reliably by simple structure. Can do.

Embodiment 2. FIG.
Next, FIG. 4 is a block diagram showing a main part of an elevator apparatus according to Embodiment 2 of the present invention. The distance detector 7 according to the second embodiment is a phased array type distance detector. The distance detector 7 is connected to a plurality of antennas 7a, a phase shifter 7b connected to the antenna 7a, a power combiner / distributor 7c connected to the phase shifter 7b, and a power combiner / distributor 7c. A receiver 7d and a signal processing unit 7e connected to the receiver 7d are provided.

The signal processing unit 7e is configured by a computer, for example. The signal processing unit 7e corrects the detection direction of the distance detector 7 by phase conversion scanning. That is, the signal processing unit 7e also serves as a detection direction correction unit, and based on the signal from the inclination sensor 5 (FIG. 2), the phase shift conversion scanning is performed so that the detection direction of the distance detector 4 is always the vertical direction. I do. Other configurations and operations are the same as those in the first embodiment.

Even with such an elevator apparatus, the distance from the first car 1 to the second car 2 can be measured more accurately regardless of whether the first car 1 is inclined. Moreover, since the detection direction of the distance detector 4 is controlled by electrical control, the responsiveness to shaking of the first car 1 can be improved with a simple configuration.

Embodiment 3 FIG.
Next, FIG. 5 is a block diagram showing a main part of an elevator apparatus according to Embodiment 3 of the present invention. In the third embodiment, a gravity vector sensor 8 that detects a gravity vector is used instead of the inclination sensor 5 of the first and second embodiments. As the gravity vector sensor 8, for example, a gravity acceleration acceleration sensor capable of detecting DC (direct current) acceleration is used. The gravity vector sensor 8 is installed on the same rigid body as the

distance detector

4 or 7.

The detection direction correction unit 9 corrects the detection direction of the distance detector 4 to be parallel to the gravity vector based on the signal from the gravity vector sensor 8. Moreover, the detection direction correction | amendment part 9 is comprised by the computer, for example. The detection direction correction method, other configurations and operations are the same as those in the first or second embodiment.

In such an elevator apparatus, the detection direction correction unit 9 maintains the detection direction of the distance detector 4 in parallel with the gravity vector based on the signal from the gravity vector sensor 8, so that the first car 1 is inclined. Even if it occurs, the distance from the first car 1 to the second car 2 can be measured more accurately.

Embodiment 4 FIG.
Next, FIG. 6 is a block diagram showing an elevator apparatus according to Embodiment 4 of the present invention, and FIG. 7 is a block diagram showing a main part of the elevator apparatus of FIG. The distance detector 11 according to Embodiment 4 can scan the detection direction in the horizontal direction. As a scanning method of the detection direction, for example, scanning by a change in the mechanical detection direction shown in FIG. 3 or phase shift conversion scanning shown in FIG.

The distance detector 11 periodically scans the detection direction in response to a command from the detection direction operation unit 12. The scanning speed and cycle are sufficiently shorter than the traveling speed of the first car 1. The scanning range is a range corresponding to a range in which the first car 1 can tilt.

A distance determination unit 13 is connected to the distance detector 11. The distance determination unit 13 determines the shortest distance in the scanning range as the distance to the second car 2 among the distances obtained by scanning the detection direction of the distance detector 11 in the horizontal direction. Other configurations and operations are the same as those in the first or second embodiment.

In such an elevator apparatus, as shown in FIG. 8, since the shortest distance within the scanning angle range is determined as the distance to the second car 2, even if the first car 1 is inclined, The distance from the first car 1 to the second car 2 can be measured more accurately.

Embodiment 5 FIG.
9 is a block diagram showing an elevator apparatus according to Embodiment 5 of the present invention, and FIG. 10 is a block diagram showing a main part of the elevator apparatus of FIG. In the fourth embodiment, a reflector 14 having retroreflectivity with respect to the detection beam is provided below the second car 2. The reflector 14 faces the distance detector 11.

The distance determination unit 15 sets the distance corresponding to the scanning angle at which the reflected signal intensity is highest within the scanning range to the second car 2 among the distances obtained by scanning the detection direction of the distance detector 11 in the horizontal direction. Determine the distance. Other configurations and operations are the same as those in the fourth embodiment.

In such an elevator apparatus, as in the fourth embodiment, even if the first car 1 is inclined, the distance from the first car 1 to the second car 2 can be measured more accurately. .

In addition, since the reflector 14 is mounted on the second car 2 and the distance corresponding to the scanning angle at which the reflected signal intensity is highest within the scanning range is determined as the distance to the second car 2, Even when the lower surface of the car 2 is formed of a structure having a complicated shape, the distance from the first car 1 to the second car 2 can be measured more accurately.

That is, when the detection surface of the distance determination unit 15 has a complicated shape, the distance detection may become unstable. In contrast, since the reflected signal intensity from the reflector 14 is higher than the reflected signal intensity from other structures, the reflected signal from the reflector 14 can be separated from the other reflected signals, and the distance detector 11. The distance from the reflector 14 to the reflector 14 can be stably calculated as the distance to the second car 2.

Although the radio wave type distance meter is shown in the first to fifth embodiments, the distance detector is not limited to this, and may be a laser type distance meter, for example. In this case, the detection direction can be changed or scanned by driving the mirror.
In the first to fifth embodiments, the second car 2 is arranged directly above the first car 1, but the second car 2 may be arranged just below the first car 1. Good. For example, when detecting the distance to the second car adjacent to the lower side, the distance detector may be provided in the lower part of the first car.
Further, the first car may also serve as the second car, and the second car may serve as the first car. That is, a distance detector may be mounted on both the first and second cars.
Furthermore, although only two cars are shown in the first to fifth embodiments, the present invention can be applied to a multi-car elevator in which three or more cars exist in the same hoistway.
The present invention can also be applied to elevators other than multi-car elevators. That is, the measurement object does not have to be a cage, for example, a ceiling of a hoistway, a device arranged at the top of the hoistway, a floor surface of a hoistway pit, a device arranged in a hoistway pit, or an elevator It may be a lifting body other than a car that moves up and down in the road.

Claims

A car that goes up and down in the hoistway,
A distance detector that is mounted on the car and irradiates a detection beam to the measurement object in the hoistway to detect a distance from the car to the measurement object;
An elevator apparatus comprising: an inclination sensor that detects an inclination of the car; and a detection direction correction unit that corrects a detection direction of the distance detector based on a signal from the inclination sensor.
A car that goes up and down in the hoistway,
A distance detector that is mounted on the car and irradiates a detection beam to the measurement object in the hoistway to detect a distance from the car to the measurement object;
An elevator apparatus comprising: a gravity vector sensor that detects a gravity vector; and a detection direction correction unit that corrects the detection direction of the distance detector to be parallel to the gravity vector based on a signal from the gravity vector sensor.
The elevator apparatus according to claim 1 or 2, wherein the detection direction correction unit includes a drive device that mechanically changes a detection direction of the distance detector.
The distance detector is a phased array distance detector,
The elevator apparatus according to claim 1, wherein the detection direction correction unit corrects a detection direction of the distance detector by phase conversion scanning.
A car that goes up and down in the hoistway,
It is mounted on the car and can be scanned in the detection direction in the horizontal direction. The measurement beam in the hoistway is irradiated with a detection beam, and the distance from the car to the measurement object. And a distance determination unit that determines the shortest distance in the scanning range as the distance to the measurement object among the distances obtained by scanning the detection direction of the distance detector in the horizontal direction. Elevator device equipped with.
A car that goes up and down in the hoistway,
It is mounted on the car and can be scanned in the detection direction in the horizontal direction. The measurement beam in the hoistway is irradiated with a detection beam, and the distance from the car to the measurement object. Detecting distance detector,
A reflector provided on the measurement object facing the distance detector and having retroreflectivity with respect to the detection beam, and a distance obtained by scanning the detection direction of the distance detector in the horizontal direction An elevator apparatus comprising: a distance determination unit that determines a distance corresponding to a scanning angle at which the reflected signal intensity is highest within a scanning range as a distance to the measurement object.
The car includes first and second cars that move up and down independently of each other in the hoistway,
The distance detector is mounted on the first car;
The elevator apparatus according to any one of claims 1 to 6, wherein the measurement object is the second car.