WO2020008696A1

WO2020008696A1 - Speed detection device of elevator and elevator

Info

Publication number: WO2020008696A1
Application number: PCT/JP2019/016159
Authority: WO
Inventors: 健史近藤; 智久早川; 真輔井上; 野口　直昭
Original assignee: 株式会社日立製作所
Priority date: 2018-07-06
Filing date: 2019-04-15
Publication date: 2020-01-09
Also published as: JP7100515B2; JP2020007085A

Abstract

In this elevator, the traveling speed of a cage is detected without processing of an elevator hoistway internal member. This speed detection device detects the speed of a cage inside an elevator hoistway through which the cage moves up and down, and is attached to the cage. The speed detection device is provided with: a detection unit which detects, from images, the surface conditions of a pair of guide rails installed so as to face each other in the elevator hoistway along a traveling path of the cage; and a calculation unit which executes a calculation of the speed of the cage from a difference between images of surfaces of the guide rails detected by the detection unit.

Description

Elevator speed detection device and elevator

The present invention relates to an elevator moving distance / speed detecting device for sensing a relative speed of a car with respect to a guide rail, and an elevator including the same.

The elevator detects the moving distance and the moving speed of the car one by one so that landing control with less deviation from the floor on the building side and power-off of the hoisting machine and safety equipment when the elevator exceeds the specified speed can be performed. Let it work. Conventionally, the moving distance and moving speed of the car have been measured by a mechanical governor or encoder. On the other hand, in order to reduce long objects in the hoistway, there is a measurement method using an image in the hoistway captured by an optical sensor or a camera.

エレベーター The elevator position detection device according to Patent Document 1 is configured by an image acquisition device such as a car and a camera, and an arithmetic device that calculates a moving distance and a moving speed of the car. Also, on the surface of the detected shaft member (guide rail, shaft inner wall, fasteners of the member, etc.), for example, processing such as hammer finish painting on the rail so that the feature points of the acquired image can be extracted Is applied. Images of walls and guide rails in the hoistway are obtained by an image obtaining device installed in the car, and feature points are extracted from the surface state of the members in the hoistway. The absolute position of the car in the hoistway is detected by comparing with the image data stored in the control device.

International Publication No. WO 2016/096669 pamphlet

However, when the absolute position of the car is detected by the method according to Patent Document 1, it is necessary to apply processing such as hammer finish coating or powder coating to the surface of the shaft member and to detect these processing marks during measurement. is there. Therefore, the cost of processing the members in the hoistway is high. In addition, it is conceivable to detect an incorrect car position at the time of measurement due to a change in the surface state due to aging.

From the above, it is required to detect the moving distance and the moving speed of the car without processing the members in the hoistway.

A speed detector that detects the speed of the car inside the hoistway where the car moves up and down, and is a speed detection device that is attached to the car, and detects the surface condition of a pair of guide rails that are laid facing each other in the hoistway along the movement path of the car. A detection unit for detecting an image, and a calculation unit for calculating the speed of the car from an image difference of the surface of the guide rail detected by the detection unit are provided.

With the above configuration, the moving distance and speed of the car can be detected without processing the members in the hoistway. Further, since the moving distance and the speed of the car are calculated using the image difference of the surface of the guide rail which is always detected, the influence of the secular change of the detection target can be reduced.

FIG. 1 is a schematic diagram illustrating an overall configuration of an elevator according to a first embodiment of the present invention. FIG. 2 is a front view schematically showing the moving distance / speed detecting device shown in FIG. Top view schematically showing the moving distance / speed detecting device shown in FIG. FIG. 3 is a view for explaining a method in which the moving distance / speed detecting device and the control unit shown in FIG. Schematic showing the overall configuration of an elevator according to another embodiment

FIG. 1 is a schematic diagram showing the overall configuration of an elevator according to one embodiment of the present invention. FIG. 2 is a front view schematically showing the moving distance / speed detecting device shown in FIG. The car 1 moves along guide rails 2 provided at both ends of the hoistway. FIG. 2 is a front view schematically showing the speed detection device 3. FIG. 3 is a top view schematically showing the speed detection device 3 shown in FIG.

速度 A speed detection device 3 and a control unit 4 are provided above the car 1. The speed detection device 3 senses the imaging range 10 and acquires image data. As shown in FIG. 3, if the speed detecting device 3 can continue sensing while securing a certain clearance with the guide rail 2 so as not to come into contact with the guide rail 2 when vibration of the car 1 occurs, (The upper part of the guide roller 5 in FIG. 2).

The speed detecting device 3 may detect any surface of the guide rail 2 as long as the speed detecting device 3 can sense the surface of the guide rail 2 according to the moving path of the car 1. Further, another component may be used as the object to be detected.

The speed detecting device 3 includes a speed detecting device 3a for one guide rail 2 and a speed detecting device 3b for the other guide rail 2. The speed detecting device 3 senses the guide rail 2 as the car 1 moves, and calculates the moving speed of the car 1.

The control unit 4 includes a processing device that executes a control function related to the car 1, a memory that stores the moving speed data of the car 1 calculated by the speed detecting device 3, and a movement of the car 1 based on the stored moving speed data. An arithmetic unit that calculates the distance, an abnormality determination device that performs an abnormality determination of the car 1 in real time, and a speed correction device that corrects the calculated speed value output by the speed detection device 3 are provided.

The speed detecting device 3 includes an optical sensor 6 and a calculation unit 7. The speed detecting device 3a has an optical sensor 6a and an arithmetic unit 7a, and the other speed detecting device 3b has an optical sensor 6b and an arithmetic unit 7b, and forms a so-called dual system. Here, in this embodiment, the speed detecting device 3 is configured as a double system, but this is not necessarily essential, and a single system provided with only one speed detecting device may be used.

The optical sensor 6 includes an optical system and an image sensor for acquiring an image of the detection surface, and acquires a surface image of the guide rail 2 at regular intervals. The optical sensor 6 includes a lighting device (not shown), a lens, and a photographing element. The light source used in the illumination device only needs to be able to form an image on the image sensor via the lens, and may be, for example, an LED or a laser diode. The lens is used for forming an image of the reflected illumination light on the image sensor, and detects a flaw or an adhering substance present on the surface of the guide rail 2. Further, for example, a telecentric lens may be used so that detection can be performed even when the distance between the optical sensor 6 and the detection surface changes. The imaging element only needs to be able to convert the formed light into an electric signal, and for example, a CCD element or a CMOS element can be used. The image information acquired by the optical sensor 6 is transmitted to the calculation unit 7.

The operation unit 7 extracts feature points of the transmitted image data. The data of the extracted feature points is stored in a time series in a memory provided in the speed detection device 3, and the calculation unit 7 compares the stored data with newly obtained data. The calculation unit 7 calculates the moving speed of the car 1 from the moving amount of the feature point that appears after the comparison. For example, a flaw of an image in a range captured at time t is detected as a feature point. Next, the arithmetic unit 7 extracts the same flaw as a feature point from the image captured at time t + Δt, compares the images, and calculates the moving distance. The calculating unit 7 transmits the moving speed of the car 1 calculated from the moving distance of the time difference to the control unit 4.

(4) The control unit 4 stores the calculated speed values output from the speed detection device 3 in a memory in a time series. Thereafter, the calculation unit of the control unit 4 calculates the moving distance from the reference position of the car 1, for example, the lowest floor of the hoistway by integrating the calculated speed value stored in the memory.

In the speed detecting device 3 configured as described above, the car 1 and the guide rail 2 keep a constant distance via the guide device, and the moving distance and the speed of the car 1 are always determined from the surface image difference of the detected guide rail 2. , The influence of the arrangement of the devices in the tower, the deformation of the building due to aging, and the aging of the detection surface can be reduced, and the moving distance and speed of the car 1 can be measured with high resolution.

Next, a method for correcting the influence of the vibration of the car 1 will be described. Here, the vibration direction of the car 1 is assumed to be the horizontal direction in the top view of FIG. When the car 1 vibrates in this direction, or when an eccentric load occurs due to an unbalanced passenger in the car, one speed detecting device 3a approaches the guide rail 2 and the other speed detecting device 3b moves from the guide rail 2 to the other. An event such as the car moving sideways, such as going away, occurs. According to the principle of the detection device, for example, in the approaching state, an image enlarged from an image obtained at a distance between the optical sensor 6 and the guide rail 2 designed in advance (hereinafter referred to as a design distance) is obtained. The fluctuation of the image difference obtained in the cycle is large, and the calculated speed calculation value of the car 1 is larger than the actual speed. In the case of going away, the opposite event occurs. This suggests that a difference occurs between the speed values output by the left and right detection devices. Hereinafter, a method for equalizing and correcting the detection speeds of the

speed detection devices

3a and 3b will be described in detail.

FIG. 4 is a flowchart showing the speed calculation process of the speed detection device 3 and the control unit 4. With reference to FIG. 4, a method of correcting the speed calculation value by the control unit 4 and a method of diagnosing an abnormality of the car 1 will be described. First, in S1, the

optical sensors

6a and 6b each acquire a surface image of the guide rail 2.

Next, in S2, the

calculation units

7a and 7b calculate the moving speed from the surface image. The moving speed data of the car 1 calculated by the speed detecting device 3 is transmitted to the control unit 4.

In S3, the control unit 4 compares the calculated speed values output from the

speed detection devices

3a and 3b. At the time of comparison, a difference between the moving speeds output by the

speed detecting devices

3a and 3b is calculated. If the difference after the calculation is equal to or smaller than a preset threshold, the abnormality determination device determines that the output results of the left and right speed detection devices 3 are equal. Therefore, in S4, the abnormality determination device of the control unit 4 determines that the speed detection device 3 is outputting a normal value, and ends the process without correcting the calculated speed data. The speed data is stored in a memory provided in the control unit 4.

If the difference between the moving speeds output by the speed detecting device 3a and the speed detecting device 3b exceeds the set threshold value, the cause may be a failure of the speed detecting device 3 or an unbalanced load or vibration of the car 1 for each of the causes. The displacement of the distance between the speed detection device 3 and the guide rail 2 can be considered. If the displacement of the distance between the speed detection device 3 and the guide rail 2 due to the unbalanced load or vibration of the car 1 affects, it is desired to correct the value to a normal value and continue the operation. Therefore, in S5, it is determined whether or not the difference between the respective calculated speeds is due to a change in the distance between the speed detection device 3 and the guide rail 2 due to the lateral displacement of the car.

As described above, when the distance between the optical sensor 6 and the guide rail 2 is shorter than the designed distance, the speed calculation value output when the distance is longer differs. For example, when the distance between the optical sensor 6 and the guide rail 2 approaches, the calculated speed calculation value of the car 1 becomes larger than the actual speed. On the other hand, when the distance between the optical sensor 6 and the guide rail 2 is longer than the design time, the calculated speed value of the car 1 is smaller than the actual speed. Here, attention is paid to a positional relationship in which the left and right guide rails 2 face each other, and the

speed detectors

3a and 3b are arranged on the same line. When the car 1 is tilted due to vibration or unbalanced load, the distance between each of the guide rails 2 and the

speed detectors

3a and 3b is equal to the distance between them. Therefore, when the distance between the car and the guide rail changes due to vibration or the like, and the speed detected by the speed detecting device 3a and the speed detected by the speed detecting device 3b are different, the guide rail and the optical There is a certain relationship that correlates to the distance of the sensor. Further, the maximum distance and the minimum distance between the guide rail 2 and the

speed detecting devices

3a and 3b are determined. Therefore, the above relationship is stored in advance in a memory provided in the control unit 4 as advance information, and it is determined whether the speed detected by the speed detection device 3a and the speed detected by the speed detection device 3b satisfy this relationship. Thus, it is determined whether the change is caused by a change in the distance between the speed detection device 3 and the guide rail 2. Here, when the distance between the car and the guide rail changes, the relationship between the speed detected by the speed detection device 3a and the speed detected by the speed detection device 3b is detected for each distance between the guide rail 2 and the optical sensor 6. The relationship between the moving speed and the actual speed may be measured in advance, or may be derived by calculation or the like and stored in a memory provided in the control unit 4.

The control unit 4 determines how much the measurement speed when the distance between the optical sensor 6 and the guide rail 2 is maximum or close to the reference value due to the vibration of the car may deviate from the actual speed is a vibration influence standard. It is stored in the memory provided by. The speed determined as a normal value in S4 after the previous measurement stored in the memory provided in the control unit 4 is set as a reference speed, and it is determined whether a deviation from this speed is within a vibration influence standard. It can also be determined that the variation is in accordance with the characteristics.

If it is determined in S5 that the difference between the calculated speed values is not due to a change in the distance between the speed detection device 3 and the guide rail 2, the process proceeds to S8.

If it is determined in S5 that the difference between the calculated speed values is due to a change in the distance between the speed detection device 3 and the guide rail 2, in S6, the calculated value is corrected in accordance with the distance between the sensor and the detection surface. The speed detected by the speed detection device 3a and the speed detected by the speed detection device 3b are determined based on two variables, that is, the distance between the sensor and the detection surface and the actual speed of the car. Since the car speed is naturally the same, and the distance between the sensor and the detection surface is also determined if one is determined, the speed detected by the speed detection device 3a and the speed detected by the speed detection device 3b are two expressions. The simultaneous formation enables calculation of the car speed and the distance between the sensor and the detection surface. If a calculated speed characteristic (correction value) with respect to the distance between the detection surface and the speed detection device 3 is obtained in advance, it is possible to perform correction according to the distance from the guide rail 2 to the

speed detection devices

3a and 3b.

In S7, it is determined whether the corrected speed calculated values are equal. If the speed calculation values compared after the correction are equal, it is determined in S4 that the speed detection device 3 outputs a normal value.

If the calculated speed values do not fluctuate according to the predetermined characteristics in S5, or if the corrected speed values are not equal in S7, it is determined that an abnormal value is calculated in S8. When the control unit 4 determines that an abnormal value is to be calculated, for example, it outputs a command signal for stopping the elevator to the nearest floor or urgently stopping it, or issues failure information.

According to the above, the two speed detectors 3 target the pair of guide rails 2 as detection targets, so that the control unit 4 specifies the detection error due to the lateral vibration or the unbalanced load of the car 1, and the speed detector 3 Can be corrected. Therefore, it is possible to prevent the speed detection error of the car 1 when the car vibration occurs.

FIG. 5 is a schematic diagram showing the overall configuration of an elevator according to another embodiment. In the second embodiment, the car position detector 9 detects the detection plate 8 and updates the position information of the car 1 to correct the moving distance of the car 1 calculated by the control unit 4 up to FIG. This is different from the first embodiment described above.

The detection plate 8 is installed on, for example, the guide rail 2 along the movement path of the car 1. The detection plate 8 may be installed on each floor, or may be installed on a part such as the top floor and the bottom floor. The car position detector 9 is installed in the car 1, and transmits the position information of the car 1 in the hoistway to the control unit 4 by detecting the detection plate 8. The car position detector 9 detects the detection plate 8 by various methods such as a laser transmission type and an eddy current type.

The speed detecting device 3 is installed on the car 1, senses the surface condition of the guide rail 2, and acquires an image of the imaging range 10. The configuration of the speed detection device 3 is the same as that of the first embodiment, and a description thereof will be omitted. The speed detecting device 3 may be provided at two places on both sides as in the first embodiment. The control unit 4 includes a processing device that executes a plurality of controls related to the car 1, a memory that stores the moving speed data of the car 1 calculated by the speed detecting device 3, and a moving distance of the car 1 based on the stored moving speed data. And a calculation unit that corrects the moving distance of the car 1 calculated from the speed calculated by the speed detection device 3 based on the signal from the car position detection device 9. The speed detecting device 3 transmits the moving speed of the car 1 to the control unit 4.

The car position is calculated by adding or subtracting (stacking) the moving distance calculated by the control unit 4 and by calculating how much the car has moved from a certain reference position, for example, the lowest floor. Therefore, the more the car 1 moves away from the reference position, the more errors in calculation are accumulated, and the larger the output error of the moving distance becomes.

Therefore, a method of correcting the moving distance of the car 1 using the detection plate 8 and the car position detecting device 9 will be described. When the car 1 moves up and down along the guide rail 2, the car position detecting device 9 detects the detecting plate 8. At this time, the car position detection device 9 transmits to the control unit 4 that the detection plate 8 has been detected. The control unit 4 separately stores in the memory which position of the detection plate is installed in the hoistway in the memory, and sets the position of the detection plate that has passed at this time to the current position information of the car 1 as positive and stores it in the memory. Record.

Thereafter, the moving distance of the car 1 calculated from the detected speed value output by the speed detecting device 3 is obtained, and the current position is calculated by adding or subtracting the position information of the car 1 recorded in the memory.

According to the above, by using the car position detecting device 9 and the detecting plate 8, the moving distance of the car 1 calculated from the speed calculated by the speed detecting device 3 can be corrected, and the position of the car 1 in the hoistway can be corrected. Can be detected.

1 car, 2 guide rail, 3, 3a, 3b speed detection device, 4 control unit, 10 imaging range, 5 guide roller, 6, 6a, 6b optical sensor, 7, 7a, 7b operation unit, 8 detection plate, 9 car Position detection device

Claims

A speed detecting device that detects the speed of the car inside the hoistway where the car moves up and down, and is a speed detecting device attached to the car, and a pair of guide rails laid opposite to each other in the hoistway along the movement path of the car. A speed detection device, comprising: a detection unit that detects an image of a surface state; and a calculation unit that calculates the speed of the car from an image difference of the surface of the guide rail detected by the detection unit.
An elevator comprising the speed detection device according to claim 1, the car, and the pair of guide rails, the elevator including a plurality of the speed detection devices respectively corresponding to the pair of guide rails.
3. The elevator according to claim 2, further comprising a control unit, wherein the control unit detects a speed of the car 1 from a memory in which the speed detection device stores the speed of the car and moving speed data stored in the memory. An elevator, comprising: a calculating device for calculating a moving distance.
4. The elevator according to claim 3, wherein the control unit further includes an abnormality determination device that performs an abnormality determination, wherein the abnormality determination device is configured such that a difference between the speeds output by the plurality of speed detection devices is equal to or less than a preset threshold. The elevator characterized in that it is determined whether or not.
5. The elevator according to claim 4, wherein when the abnormality determination device determines that the difference between the speeds output by the plurality of speed detection devices is greater than or equal to a predetermined threshold, the control unit determines that the difference is the car It is determined whether or not due to the lateral displacement of the car, and if not due to the lateral displacement of the car, it is determined to be abnormal, and the processing device that executes the control function of the car provided by the control unit stops the car. An elevator characterized by performing control.
The elevator according to claim 5, wherein
The memory stores a relationship between the speed calculated by each of the plurality of speed detection devices and a distance between the guide rail and the optical sensor, and the control unit determines whether the difference is due to a lateral displacement of the car. The determination is that the speed calculated by each of the plurality of speed detection devices is a relationship between the speeds respectively calculated by the plurality of speed detection devices stored in the memory and correlated with the distance between the guide rail and the optical sensor. An elevator, wherein the difference is determined to be due to a lateral displacement of the car when the following relationship is satisfied.
6. The elevator according to claim 5, wherein the control unit determines whether the difference is due to a lateral displacement of the car, and determines that the difference is due to a lateral displacement of the car. Based on the relationship between the speeds respectively calculated by the plurality of stored speed detection devices and the correlation between the distance between the guide rail and the optical sensor, based on the speeds respectively calculated by the plurality of speed detection devices. An elevator comprising a speed correction device for correcting.