WO2019058510A1

WO2019058510A1 - Control device of elevator, and car position detection method

Info

Publication number: WO2019058510A1
Application number: PCT/JP2017/034321
Authority: WO
Inventors: 原田　徹
Original assignee: 三菱電機株式会社
Priority date: 2017-09-22
Filing date: 2017-09-22
Publication date: 2019-03-28

Abstract

The present invention comprises: a control cable that is suspended in a U shape, one end of which being connected below a car, and the other end of which being connected to a device; a first load detector provided on the car, said first detector detecting the suspension load of the control cable on the one end side; a second load detector provided on the device, said second detector detecting the suspension load of the control cable on the other end side; a speed detector that detects the speed of the car; and a controller that calculates the level of acceleration and deceleration from the speed, and calculates the position of the car within a hoistway on the basis of the respective loads detected by the first load detector and the second load detector, and the acceleration and deceleration level.

Description

Elevator control device and car position detection method

The present invention relates to an elevator control device and a car position detection method capable of detecting a car position of an elevator based on a detection result of a weight of a control cable.

As a conventional elevator position detection device, a configuration is proposed in which the elevator car position is detected by measuring the load of a rope attached to the elevator car on the one side and the elevator car on the other (for example, Patent Document 1).

Japanese Patent Laid-Open No. 5-262467

However, the prior art has the following problems.
A conventional elevator position detection device has to be provided with a dedicated rope for detecting a car position. Moreover, the position detection device of the conventional elevator does not have means for correcting the car position with respect to the inertial force generated at the time of acceleration / deceleration. Therefore, the conventional elevator position detection device has a problem that detection of a car position is impossible at the time of acceleration / deceleration.

The present invention has been made to solve such problems, and an elevator control device and a car position detection method capable of detecting the car position of the elevator sequentially regardless of stop, acceleration or deceleration, and constant speed. The aim is to get

A control device of an elevator according to the present invention has a control cable suspended in a U-shape, with one end connected to the lower side of the car and the other end connected to an intra-liftway machine or machine room machine, A first load detector which is provided and detects a hanging load of the control cable at one end side, and is provided at a device in a hoistway or a machine room, and detects a hanging load of the control cable at the other end side A second load detector, a speed detector for detecting the speed of a car traveling in the hoistway, and an acceleration / deceleration calculated from the speed detected by the speed detector. And a controller that calculates the position of the car in the hoistway based on the loads detected by the load detectors and the degree of acceleration / deceleration.

In the car position detecting method according to the present invention, a control cable which is connected at one end to the lower side of the car and connected at the other end to the device in the hoistway or the device in the machine room and suspended in a U shape. A first load detector which is provided in the car and detects the hanging load of the control cable at one end side, and is provided in the equipment in the hoistway or the machine room, and the hanging load of the control cable is provided at the other end side A control device for an elevator comprising a second load detector to be detected and a controller for controlling the traveling of the car, wherein the position of the traveling car in the hoistway is calculated by the controller. First and second pre-measured values detected by the first and second load detectors, respectively, with the car stopped at each floor, Floor of And a second step of obtaining acceleration / deceleration speed of a traveling car, and obtaining a first load detection value from a first load detector. From the three steps, the fourth step of acquiring the second load detection value from the second load detector, and the acceleration / deceleration obtained in the second step, it is determined whether the car is accelerating or decelerating If it is determined that acceleration / deceleration travel is not performed in the 5th step and the 5th step, the position of the car is determined from the comparison result of the first load detection value and the second load detection value with the data in the data table. If it is determined in the sixth step to specify and the fifth step that acceleration / deceleration travel is being performed, the first actual load is determined from the first load detection value using the acceleration / deceleration and the second load Second actual load from detected value Calculated, those having a first actual load and the second actual load, and a seventh step of specifying the position of the car from the comparison result between the data in the data table.

According to the present invention, the car position is detected based on the detection result of the load detector and the calculation result of the acceleration / deceleration. As a result, it is possible to obtain an elevator control device and a car position detection method capable of detecting the car position of the elevator sequentially regardless of stop, acceleration or deceleration and constant speed.

BRIEF DESCRIPTION OF THE DRAWINGS It is a whole block diagram which shows the control apparatus of the elevator based on Embodiment 1 of this invention. In the control apparatus of the elevator which concerns on Embodiment 1 of this invention, it is the block diagram which showed the control structure for detecting a cage | basket | car position. The control apparatus of the elevator which concerns on Embodiment 1 of this invention WHEREIN: It is explanatory drawing which shows the data table previously memorize | stored in the memory | storage part. It is a flowchart which shows a series of operation | movement of the cage | basket | car position determination process performed by the controller in Embodiment 1 of this invention. FIG. 7 is an explanatory view showing a state in which the control cable is caught when traveling in the UP direction in the automatic inspection operation mode, the elevator control device according to Embodiment 1 of the present invention. FIG. 7 is an explanatory view showing a state in which the control cable is caught when the elevator control device according to Embodiment 1 of the present invention travels in the DOWN direction in the automatic inspection operation mode.

BEST MODE FOR CARRYING OUT THE INVENTION Preferred embodiments of the elevator control device and car position detection method of the present invention will be described below using the drawings.

Embodiment 1
FIG. 1 is an entire configuration diagram showing a control device of an elevator according to Embodiment 1 of the present invention. The elevator control apparatus according to the first embodiment shown in FIG. 1 includes a controller 1 provided on a control panel, a hoist 2, a speed detector 3 for detecting a traveling speed of a car, a car 4, and a control. It comprises the cable 5, the load detector 6 of the control cable 5 provided on the shaft side, and the load detector 7 of the control cable 5 provided on the car side.

As shown in FIG. 1, the control cable 5 is connected at one end to a load detector 7 disposed below the car 4 and at the other end to a load detector 6 fixedly disposed in the machine room, It has been suspended in a U-shape. Although FIG. 1 exemplifies the case where the load detector 6 is fixedly installed in the machine room provided at the upper part of the hoistway, the load detector 6 may also be fixed and arranged in the hoistway. It is possible.

FIG. 2 is a block diagram showing a control configuration for detecting a car position in the elevator control device according to Embodiment 1 of the present invention. As shown in FIG. 2, the controller 1 is configured to include a storage unit 11, a car position determination unit 12, and an acceleration / deceleration calculation unit 13. Then, the controller 1 determines the car position from the detection results of each of the load detector 6, the load detector 7, and the speed detector 3. The car position determination method according to the first embodiment will be specifically described below.

FIG. 3 is an explanatory view showing a data table stored in advance in the storage unit 11 in the elevator control device according to Embodiment 1 of the present invention. F1 (1) to F1 (n) in FIG. 3 indicate that the control cable 5 on each floor is measured in advance by the load detector 6 provided on the hoistway side while the car 4 is stopped on each floor. It is a load value.

Similarly, F2 (1) to F2 (n) in FIG. 3 are control cables for each floor, which are measured in advance by the load detector 7 provided on the car side while the car 4 is stopped at each floor. It is a load value of 5.

On the other hand, f1 (1) to f1 (n) are actual weight values of the control cables 5 of the floors measured by the load detector 6 provided on the hoistway side while the car 4 is traveling normally. Similarly, f2 (1) to f2 (n) are actual weight values of the control cables 5 of the floors measured by the load detector 7 provided on the car side while the car 4 is traveling normally.

In the elevator control device having the configuration shown in FIG. 1, the controller 1 can estimate the car position from the actual load values f (1) and f (2) obtained during normal travel. FIG. 4 is a flowchart showing a series of operations of the car position determination process executed by the controller 1 according to the first embodiment of the present invention.

First, in step S401, the car position determination unit 12 in the controller 1 obtains the measurement results f1 and f2 of the load detector 6 and the load detector 7, respectively. Next, in step S402, the acceleration / deceleration calculation unit 13 in the controller 1 calculates the acceleration / deceleration a by differentiating the value detected by the speed detector 3.

In the first embodiment, the acceleration / deceleration speed a is calculated by differentiating the detected value by the speed detector 3. However, the present invention is not limited to such a configuration. Absent. By installing an acceleration detector in the car 4, the controller 1 can also obtain acceleration / deceleration directly. In this case, the acceleration / deceleration calculation unit 13 becomes unnecessary.

Next, in step S403, the car position determination unit 12 determines whether the car 4 is accelerating or decelerating based on the acceleration / deceleration a calculated by the acceleration / deceleration calculating unit 13. When the car position determination unit 12 determines that the car 4 is not accelerating or decelerating, that is, when it is determined that the car 4 is stopped or traveling at a constant speed, the process of step S404 is performed. Run. On the other hand, when it is determined that the car 4 is accelerating or decelerating, the car position determination unit 12 executes the process of step S405.

When the process proceeds to step S404, the car position determination unit 12 determines the car position as follows. The car position determination unit 12 compares the measurement results f1 and f2 acquired in step S401 with the pre-measurement values F1 and F2 stored in advance in the data table in the storage unit 11. The car position determination unit 12 can specify the car position if the equation for the car position determination shown in the right column of FIG. 3 holds.

As an example, when the measurement result f1 is equal to F1 (x) and the measurement result f2 is equal to F2 (x), the car position determination unit 12 can specify that the car position is on the xth floor. . Here, x is any value from the first floor to the n-th floor.

On the other hand, when the process proceeds to step S405, since the car 4 is accelerating or decelerating, the car position determination unit 12 determines the car position as follows. When the car is traveling at the acceleration / deceleration speed a when the direction of gravity is positive, an inertial force is applied to the control cable 5 on the car side. Therefore, the relationship between the actual load W1 of the control cable on the hoistway side and the actual load W2 of the control cable on the car side, and the detected value f1 of the load detector 6 on the hoistway side and the detected value f2 of the load detector 7 on the car side Is expressed by the following equation, where the gravitational acceleration is g.
W1 = f1 / g (1)
W2 = f2 / (g-a) (2)
It becomes.

Therefore, in step S405, the car position determination unit 12 actually uses the above equations (1) and (2) based on the acceleration / deceleration a calculated in S402 and the measurement results f1 and f2 acquired in step S401. Loads W1 and W2 are calculated. And the cage | basket | car position determination part 12 performs the cage | basket | car position determination process similar to step S404 using actual load W1, W2 instead of the measurement results f1 and f2. As a result, even when the car 4 is accelerating or decelerating, the car position can be specified.

As described above, according to the first embodiment, the car position can be detected based on the detection results of the load detector and the speed detector. As a result, the elevator can detect the door openable / closable position of the car successively in any of stop, acceleration and deceleration, and constant speed.

Second Embodiment
In the first embodiment, the configuration has been described in which the car door openable / closable position can be detected during normal travel of the elevator based on the load detection value and the speed detection value. However, for example, when an elevator car travels after an earthquake occurs, there is a possibility that load detection may not be performed correctly. Specifically, when the control cable is caught by the protrusion 8 protruding into the hoistway due to the influence of the earthquake, the detection value of the load detector 6 on the hoistway side and the detection value of the load detector 7 on the car side are It can not be detected correctly.

Therefore, the control device of the elevator according to the second embodiment is provided with a function capable of providing an automatic inspection operation mode and checking whether the detection values of the

load detectors

6 and 7 are normal after the occurrence of an earthquake. Specifically, the controller 1 causes the elevator car 4 to automatically travel at a low speed between the uppermost floor and the lowermost floor after the occurrence of the earthquake, and the detected values of the

load detectors

6, 7 acquired at that time are normal. The judgment as to whether it is abnormal is made as follows.

FIG. 5 is an explanatory view showing a state in which the control cable 5 is caught when the elevator control device according to the first embodiment of the present invention travels in the UP direction in the automatic inspection operation mode. The controller 1 checks whether the sum of the detection value of the load detector 6 on the shaft side and the detection value of the load detector 7 on the car side is within the normal range when traveling in the UP direction.

When the elevator car 4 is caused to travel in the UP direction in the automatic inspection operation mode after the occurrence of an earthquake, as shown in FIG. 5, the case where the control cable 5 is caught on the protrusion 8 is considered. In such a case, the following equations (3) to (5) exist among f1, f2, W1, and W2 at the car position x.
Load detection value on the hoistway side:
f1 (x)> W1 (x) (3)
Car side load detection value:
f2 (x)> W2 (x) (4)
Total load detection value:
f1 (x) + f2 (x)> W1 (x) + W2 (x) (5)

Therefore, the controller 1 calculates the sum of the detection value f1 (x) of the load detector 6 on the shaft side and the detection value f2 (x) of the load detector 7 on the car side according to the car position x. . Next, the controller 1 compares the calculated total value with the actual load value (W1 (x) + W2 (x)) of the control cable. Then, the controller 1 detects that the control cable 5 is caught at the car position x when the total value is larger than the actual load value and exceeds the predetermined determination value. it can.

On the other hand, FIG. 6 is an explanatory view showing a state where the control cable 5 is caught when the elevator control device according to the first embodiment of the present invention travels in the DOWN direction in the automatic inspection operation mode. While traveling in the DOWN direction, the controller 1 checks whether the sum of the detection value of the load detector 6 on the hoistway side and the detection value of the load detector 7 on the car side is within the normal range.

When the elevator car 4 is caused to travel in the DOWN direction in the automatic inspection operation mode after the occurrence of an earthquake, as shown in FIG. 6, a case where the control cable 5 is caught on the protrusion 8 is considered. In such a case, the following equations (6) to (8) exist among f1, f2, W1, and W2 at the car position x.
Load detection value on the hoistway side:
f1 (x) <W1 (x) (6)
Car side load detection value:
f2 (x) <W2 (x) (7)
Total load detection value:
f1 (x) + f2 (x) <W1 (x) + W2 (x) (8)

Therefore, the controller 1 calculates the sum of the detection value f1 (x) of the load detector 6 on the shaft side and the detection value f2 (x) of the load detector 7 on the car side according to the car position x. . Next, the controller 1 compares the calculated total value with the actual load value (W1 (x) + W2 (x)) of the control cable. Then, the controller 1 detects that the control cable 5 is caught at the car position x when the total value becomes smaller than the actual load value by exceeding the predetermined judgment value. it can.

As described above, according to the second embodiment, when the car is moved in the UP direction and the DOWN direction, the detection value of the load detector on the hoistway side at each car position and the load detector on the car side By monitoring the total value with the detected value, it is possible to detect whether or not the control cable is stuck on the protrusion. As a result, when it is desired to perform an automatic inspection such as after an earthquake, it is possible to appropriately determine whether or not the control cable is caught by monitoring the total value of load detection values sequentially obtained while moving the car. It becomes.

Reference Signs List 1 controller, 2 hoists, 3 speed detectors, 4 elevator cars, 5 control cables, 6 hoistway side load detectors (first load detectors), 7 car side load detectors (second loads) Detector), 8 projections, 11 storage units, 12 car position determination units, 13 acceleration / deceleration calculation units.

Claims

A control cable suspended in a U-shape, with one end connected to the lower side of the car and the other end connected to a device in the hoistway or a device in the machine room;
A first load detector provided in the car and detecting a hanging load of the control cable at the one end side;
A second load detector provided in the equipment in the hoistway or the equipment in the machine room and detecting the hanging load of the control cable at the other end side;
A speed detector for detecting the speed of the car traveling in the hoistway;
The acceleration / deceleration is calculated from the speed of the car detected by the speed detector, and the respective loads detected by the first load detector and the second load detector and the acceleration / deceleration degree And a controller for calculating a position of the car in the hoistway.
A first prior measurement value detected by the first load detector and a second prior measurement value detected by the second load detector when the car is stopped at each floor; It further comprises a storage unit for storing a data table in which each floor is associated,
The controller sets the first preliminary measurement value on the x floor in the data table to F1 (x) and the second preliminary measurement value on the x floor in the data table to F2 (x) The first load detection value detected by the first load detector is equal to the F1 (x), and the second load detection value detected by the second load detector is the F2 The elevator control device according to claim 1, wherein the current position of the car is determined to be the x floor when it is equal to (x).
The controller
There is an inspection operation mode for moving the car at a predetermined speed in the upward or downward direction,
During traveling of the car in the inspection operation mode, the total value of the loads detected by the first load detector and the second load detector is sequentially calculated, and the total value is preset. The elevator according to claim 1 or 2, wherein it is determined that the U-shaped part of the control cable is caught on a protrusion in the hoistway when the control cable is out of the allowable range. Control device.
A control cable suspended in a U-shape, with one end connected to the lower side of the car and the other end connected to a device in the hoistway or a device in the machine room;
A first load detector provided in the car and detecting a hanging load of the control cable at the one end side;
A second load detector provided in the equipment in the hoistway or the equipment in the machine room and detecting the hanging load of the control cable at the other end side;
A control device for an elevator comprising: a controller for performing traveling control of the car, the car position detecting method for calculating the position of the traveling car in a hoistway of the car by the controller,
A first prior measurement value detected by the first load detector and a second prior measurement value detected by the second load detector when the car is stopped at each floor; A first step of storing in the storage unit a data table in which each floor is associated;
A second step of determining the acceleration / deceleration of the traveling car;
A third step of acquiring a first load detection value from the first load detector;
A fourth step of acquiring a second load detection value from the second load detector;
A fifth step of determining from the acceleration / deceleration obtained in the second step whether or not the car is in acceleration / deceleration travel;
If it is determined in the fifth step that the acceleration / deceleration traveling is not being performed, the comparison of the first load detection value and the second load detection value with the data in the data table The sixth step of identifying the position;
When it is determined in the fifth step that the vehicle is under acceleration / deceleration travel, the acceleration / deceleration is used to determine a first actual load from the first load detection value and the second load detection value. And a seventh step of determining the position of the car from the comparison result of the first actual load and the second actual load, and the data in the data table. Detection method.