WO2022249383A1 - Dispositif de détection de position de cabine et dispositif de sécurité d'ascenseur mettant en œuvre un tel dispositif - Google Patents

Dispositif de détection de position de cabine et dispositif de sécurité d'ascenseur mettant en œuvre un tel dispositif Download PDF

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Publication number
WO2022249383A1
WO2022249383A1 PCT/JP2021/020151 JP2021020151W WO2022249383A1 WO 2022249383 A1 WO2022249383 A1 WO 2022249383A1 JP 2021020151 W JP2021020151 W JP 2021020151W WO 2022249383 A1 WO2022249383 A1 WO 2022249383A1
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WO
WIPO (PCT)
Prior art keywords
car
image
marks
floor
safety controller
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Application number
PCT/JP2021/020151
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English (en)
Japanese (ja)
Inventor
勇来 齊藤
晃 岩本
義人 大西
Original Assignee
株式会社日立製作所
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Priority to PCT/JP2021/020151 priority Critical patent/WO2022249383A1/fr
Publication of WO2022249383A1 publication Critical patent/WO2022249383A1/fr

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    • 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

Definitions

  • the present invention relates to a car position detection device that detects the position of an elevator car based on an image inside a hoistway, and an elevator safety device that uses this car position detection device.
  • the governor when the governor detects an overspeed condition, the power supply is cut off or the emergency stop device is activated to bring the car to an emergency stop. Since the governor is equipped with a governor rope that is long, a space for laying the governor rope is required in the hoistway.
  • Patent Document 1 does not consider the terminal floor deceleration stop function of the safety device, so it is difficult to apply it to a safety device that has an integrated safety function including the terminal floor deceleration stop function.
  • the car position detection device detects the position of the car of an elevator based on the image in the hoistway, and detects the surface of the guide rail provided in the car and guiding the car. a plurality of marks juxtaposed along the longitudinal direction of the guide rail on the surface of the guide rail adjacent to the end floor; a safety controller that calculates the position of the car, the plurality of marks having a plurality of types of pattern shapes, and arranged side by side so that adjacent marks have different pattern shapes.
  • the car can be decelerated or stopped near the end floor based on the image inside the hoistway.
  • FIG. 1 is a configuration diagram showing the overall configuration of an elevator that is Embodiment 1 of the present invention.
  • Example 1 As shown in FIG. 1, in Example 1, the car 1 and the counterweight 2 are mechanically connected to one end and the other end of the main rope 3, respectively.
  • the main rope 3 is wound around a sheave provided in the hoisting machine 4 .
  • the car 1 and the counterweight 2 are suspended in the hoistway 101 provided in the building. That is, Example 1 is a so-called barrel-type elevator.
  • the hoist 4 is installed in a machine room provided on the hoistway.
  • the car 1 is movably engaged with the guide rails 5 via guide devices 20 (eg, guide shoes). Therefore, the car 1 is guided by the guide rails 5 and moves between arbitrary floors of the lowest floor FL1 and other floors (FL2, etc.).
  • guide devices 20 eg, guide shoes
  • the car 1 is guided by the guide rails 5 and moves between arbitrary floors of the lowest floor FL1 and other floors (FL2, etc.).
  • a general T-shaped guide rail is applied as the guide rail 5 .
  • the counterweight 2 moves while being guided by a guide rail for the counterweight (not shown).
  • a safety controller 8 is installed on the top of the car 1.
  • the safety controller 8 is electrically connected to an image sensor 9 installed on top of the car 1 .
  • the image sensor 9 acquires a surface image of the guide rail 5 which is a stationary object in the hoistway.
  • the surface image of the guide rail 5 the surface image of the tip of the T-shaped foot is acquired.
  • the safety controller 8 measures the position and speed of the car 1 based on the surface image of the guide rail 5 acquired by the image sensor 9 .
  • a floor-to-floor mark 10 is provided on the surface of the guide rail 5 to indicate positional information in the hoistway, for example, the height of the lowest floor from the floor surface.
  • the safety controller 8 detects the position of the car 1 (hereinafter referred to as “car position”) based on the position information corresponding to the floor-to-floor mark 10 . ) is corrected.
  • the safety controller 8 stores in advance inter-floor mark position data that indicates the correspondence between the inter-floor mark 10 and position information in the height direction in the hoistway.
  • This position information indicates the height from the reference position in the hoistway to the position where the floor-to-floor mark 10 is provided.
  • the reference position is the floor surface of the lowest floor FL1, which is the reference floor.
  • the car position is the height from the reference position, that is, the floor surface of the lowest floor FL1 to the floor plate surface of the car 1.
  • the safety controller 8 determines the installation height of the image sensor 9 in the car 1, that is, the height of the image sensor 9 from the floor plate surface of the car 1, from the position information of the detected floor-to-floor mark 10. By subtracting, the car position is calculated.
  • the safety controller 8 normally sets a measured value based on the surface image of the guide rail 5, but when the floor-to-floor mark 10 is detected, sets a calculated value based on the position information of the floor-to-floor mark 10. do. As a result, the car position in which errors have been accumulated is corrected.
  • At least one floor-to-floor mark 10 is preferably provided between each floor in the hoistway. As a result, the position of the car is corrected each time the car 1 travels, so that the accuracy of measuring the position of the car is improved.
  • the floor-to-floor mark 10 for example, a barcode or the like is applied. Note that different inter-floor marks 10 correspond to different position information.
  • end floor marks 11 and 12 are formed along the longitudinal direction of the guide rail 5. arranged side by side.
  • the safety controller 8 detects the The end floor mark 11 is detected based on the image.
  • the safety controller 8 sends a deceleration control command to the elevator control device 6 via the tail cord 7 to decelerate and stop the car 1 so that the car 1 does not overrun the end floor. Send out.
  • the safety controller 8 determines that the car 1 has gone too far over the end floor from the car position measured based on the images of the end floor marks 11 and 12, the safety controller 8 shuts off the power source of the hoisting machine 4 to ensure the car 1 is in place. to stop.
  • the end story marks 11 and 12 have English character patterns "A” and "B", respectively.
  • a plurality of (three in FIG. 1) end floor marks 11 (English character pattern “A”) and a plurality (three in FIG. 1) end floor marks 12 (English character pattern “B”) are adjacent to each other. Character patterns are juxtaposed differently.
  • the English character pattern "A” and the English character pattern "B” are arranged side by side repeatedly in this order from the top. As will be described later, it is possible to accurately measure the amount of movement of the car 1 in the vicinity of the end story by using a small number of pattern shapes (two types in FIG. 1).
  • the end floor mark 11 positioned at the top in FIG.
  • the safety controller will continue to determine that car 1 is overtraveled until the buffers 100 are compressed by car 1 .
  • pattern shape of the end story mark is not limited to English characters, and other types of characters, numbers, graphic patterns, etc. may be used.
  • FIG. 2 is a functional block diagram showing the configuration of the safety controller according to the first embodiment.
  • the safety controller 8 includes a computer system such as a microcomputer, and operates as each section by executing a predetermined program with the computer system.
  • the image detection unit 8a Based on the signal from the image sensor 9, the image detection unit 8a detects an image of the surface of the guide rail 5 (FIG. 1) at predetermined time intervals.
  • the image memory 8b stores the image detected by the image detection unit 8a.
  • the image comparison unit 8c compares the current image detected by the image detection unit 8a with the previous image stored in the image memory 8b, and measures the deviation between the two images.
  • a comparison means for example, an image correlation method is applied.
  • the shift between both images corresponds to the amount of movement of the car 1 (FIG. 1).
  • the car position calculation unit 8d calculates the car position based on the image shift calculated by the image comparison unit 8c. As described above, the calculated image shift corresponds to the amount of movement of the car 1. Therefore, the current position of the car can be calculated by sequentially accumulating the image shifts measured at predetermined time intervals. be.
  • the car position memory 8e stores the car position calculated by the car position calculation unit 8d.
  • the cage position calculation unit 8d reads out the cage position calculated at the previous time and stored in the cage position memory 8e from the cage position memory 8e, and stores the calculated shift of the image at the current time in the read cage position at the previous time. That is, by adding or subtracting the amount of movement of the car 1, the current position of the car is calculated. By repeatedly executing such calculations while the elevator is in operation, the amount of movement of the car 1 is successively integrated.
  • the floor-to-floor mark detection unit 8f detects the floor-to-floor mark 10 (FIG. 1) based on the current image detected by the image detection unit 8a.
  • the floor-to-floor mark detection unit 8f identifies the floor-to-floor mark 10 by pattern recognition or the like.
  • the floor-to-floor mark detection unit 8f stores the basic image data of the floor-to-floor mark 10 in advance, and compares the detected image with the basic image data to detect the floor-to-floor mark 10 (FIG. 1). to detect
  • the comparison means for example, an image correlation method is applied.
  • the car position correction unit 8g acquires the position information indicated by the detected floor-to-floor mark 10 from the mark position memory 8h, and corrects the car position calculated by the car position calculation unit 8d to the acquired position information. As a result, the car position error accumulated along with the integration of the movement amount of the car 1 is corrected, and the accuracy of the measured value of the car position is improved.
  • the end floor mark detection unit 8i detects end floor marks 11 and 12 (FIG. 1) based on the current image detected by the image detection unit 8a.
  • the end floor mark detection unit 8i identifies the end floor marks 11 and 12 by, for example, pattern recognition.
  • the floor-to-floor mark detection unit 8f stores the basic image data of the end floor marks 11 and 12, and detects the end floor marks 11 and 12 by comparing the detected image with the basic image data. .
  • the comparison means for example, an image correlation method is applied.
  • the end floor deceleration stop control unit 8j detects the end floor marks 11 and 12 by the end floor mark detection unit 8i, it sends a deceleration control command to decelerate and stop the car 1 to the elevator control device 6.
  • the elevator control device 6 decelerates and stops the motor 41 of the hoisting machine 4 .
  • the end floor deceleration stop control unit 8j detects the end floor marks 11 and 12 by the end floor mark detection unit 8i, and based on the measured value of the car position calculated by the car position calculation unit 8d, 1 sends a car restraining control signal to the contactor 50 when it determines that it has gone too far over an end floor.
  • the contactor 50 cuts off the power supply when receiving the car restraint control signal. As a result, the motor 41 of the hoisting machine 4 is stopped and the brake 42 of the hoisting machine 4 is brought into a braking state. As a result, the car 1 is reliably stopped.
  • FIG. 3 is a flow chart showing the operation of the safety controller 8 (FIGS. 1 and 2) in the first embodiment. In addition, it demonstrates, referring FIG. 2 suitably hereafter.
  • step S1 after starting operation, the safety controller 8 acquires a current image of the guide rail surface based on the image signal from the image sensor 9 using the image detection unit 8a (step S1). After executing step S1, the safety controller 8 next executes step S2.
  • step S2 the safety controller 8 uses the end story mark detection unit 8i to determine whether or not the end story mark is detected based on the acquired current image (current image) (step S2).
  • step S2 determines that the end story mark has been detected (YES in step S2)
  • step S3 executes step S3.
  • step S4 executes step S4.
  • step S3 the safety controller 8 uses the end floor deceleration stop control unit 8j to issue a deceleration control command to decelerate and stop the car, or a car stop command to forcibly stop the car by cutting off the power supply. Send a control signal.
  • these control commands are collectively described as "end floor deceleration stop command”.
  • step S4 the safety controller 8 uses the image comparison unit 8c to compare the current image acquired in step S1 with the previous image stored in the image memory 8b. is different from the previous image.
  • the safety controller 8 determines that the current image is different from the previous image (YES in step S4), it then executes step S5. If the safety controller 8 determines that the current image does not differ from the previous image (NO in step S4), it skips steps S5 and S6 and then executes step S7.
  • step S5 the safety controller 8 uses the image comparison unit 8c to measure the deviation between the current image and the previous image, and furthermore, uses the car position calculation unit 8d to calculate the previous image based on the deviation of the images. Calculate the amount of movement of the car from the point in time.
  • step S6 the safety controller 8 next executes step S6.
  • step S6 the safety controller 8 uses the car position calculator 8d to calculate the car position based on the car movement amount calculated in step S5. After executing step S6, the safety controller 8 next executes step S7.
  • the position of the car is measured not only when the car travels normally, but also when the car passes over an end floor.
  • step S7 the safety controller uses the floor-to-floor mark detection unit 8f to determine whether or not the floor-to-floor mark is detected based on the current image acquired in step S1.
  • the safety controller 8 determines that the floor-to-floor mark has been detected (YES in step S7), it then executes step S8.
  • the safety controller 8 determines that no end story mark has been detected (NO in step S7), it skips step S8 and then executes step S9.
  • step S8 the safety controller 8 uses the car position correction unit 8g to correct the car position to a position within the hoistway corresponding to the floor-to-floor mark detected in step S7.
  • the measured value of the car position at the present time is replaced with the position in the hoistway corresponding to the detected floor-to-floor mark regardless of the magnitude of the error.
  • step S9 the safety controller 8 next executes step S9.
  • step S9 the safety controller 8 records data of the current image in the image memory 8b. After executing step S9, the safety controller 8 next executes step S10.
  • step S10 the safety controller 8 records the current car position data in the car position memory 8e.
  • step S10 the safety controller 8 terminates the current series of processes. Note that the safety controller 8 repeatedly executes steps S1 to S10 at predetermined time intervals while the elevator is in operation.
  • FIG. 4 is a schematic diagram showing an example of an image of the exposed surface of the guide rail 5 (FIG. 1).
  • FIG. 4 shows an image I(t) at time t and an image I(t+ ⁇ t) at time t+ ⁇ t ( ⁇ t: frame period) acquired by the image sensor 9 (FIGS. 1 and 2). Both images are images of the exposed surface of the steel material that constitutes the guide rail 5, and show the pattern of the luminance distribution indicating the unevenness distribution on the exposed surface of the steel material. Note that the car 1 (FIG. 1) is lowered from time t to time t+ ⁇ t.
  • an image shift d occurs between the image I(t) and the image I(t+ ⁇ t), as shown in FIG.
  • This image shift d is calculated by comparing the image I(t) and the image I(t+ ⁇ t) using the image correlation method in the first embodiment.
  • the image I(t) or a portion thereof is moved in the image frame by a predetermined amount along the longitudinal direction of the guide rail 5.
  • a correlation function value between I(t) and the image I(t+ ⁇ t) is calculated. The total amount of movement of the image I(t) when the correlation function value is the maximum value is taken as the image shift d.
  • the image shift d corresponds to the amount of movement (the amount of descent in FIG. 4) of the car 1 at the time ⁇ t.
  • the direction in which the image shifts in the image frame indicates the moving direction (upward or downward) of the car 1 . Therefore, if the positive or negative image shift is set according to the direction of image shift, for example, if the downward direction (upward direction) is positive and the upward direction (downward direction) is negative, the image shift d is calculated for each ⁇ t. Then, by accumulating the car position at the time of startup, the car position at the present time can be measured.
  • the guide rail 5 is preferably finished by polishing or the like in order to make the surface uneven.
  • the image sensor 9 preferably has a light source for illuminating the surface of the guide rail 5 . As a result, the car position measurement accuracy is improved.
  • FIG. 5 is a schematic diagram showing an example of images of the end floor marks 11 and 12 (FIG. 1) provided on the surface of the guide rail 5 (FIG. 1).
  • FIG. 5 shows an image I(t) at time t and an image I(t+ ⁇ t) at time t+ ⁇ t ( ⁇ t: frame period) acquired by the image sensor 9 (FIGS. 1 and 2). Both images are partial images of a plurality of end floor marks juxtaposed on the surface of the guide rail 5 . From time t to time t+ ⁇ t, car 1 (FIG. 1) is lowered near the lowest floor.
  • an image shift d occurs between the image I(t) and the image I(t+ ⁇ t), as shown in FIG.
  • the position P in the image I(t) is shifted upward by d in the image I(t+ ⁇ t) in the image frame.
  • This image shift d is calculated by comparing the image I(t) and the image I(t+ ⁇ t), for example, using the image correlation method as in the case of FIG.
  • the image shift d corresponds to the amount of movement (the amount of descent in FIG. 5) of the car 1 at time ⁇ t.
  • the direction in which the image shifts in the image frame indicates the moving direction (upward or downward) of the car 1 . Therefore, if the sign of the image shift is set according to the direction of image shift, for example, if the downward direction (upward direction) is positive and the upward direction (downward direction) is negative, the image shift d is calculated every ⁇ t. By calculating and adding to the measured value of the car position at the point before ⁇ t, the car position at the present time can be measured.
  • the car position near the end floor is measured, including the case where the car 1 goes over the end floor.
  • Example 1 the end story marks 11 having the English character pattern A and the end story marks 12 having the English character pattern B are alternately arranged side by side along the longitudinal direction of the guide rail. That is, the pattern shapes of two adjacent end story marks are different from each other. Therefore, as shown in FIG. 5, in the image I(t+ ⁇ t), only the pattern portion near the position shifted upward by d corresponds to the pattern portion near the position P in the image I(t). Therefore, by comparing the image I(t) and the image I(t+ ⁇ t), it is uniquely determined that the amount of movement of the car in the downward direction is d.
  • FIG. 6 is a schematic diagram showing an example of an image of an edge floor mark when two adjacent edge floor marks have the same pattern shape, as a comparative example with respect to the first embodiment described above. As in the first embodiment, the car is lowered.
  • the pattern portion near the position shifted upward by d corresponds to the pattern portion near the position P in the image I(t). Furthermore, in the image I(t+ ⁇ t), the pattern portion near the position shifted downward by d′ also corresponds to the pattern portion near the position P in the image I(t). Therefore, the moving amount of the car, including the direction, cannot be uniquely determined by simply comparing the image I(t) and the image I(t+ ⁇ t).
  • a plurality of (six in FIG. 1) end floor marks (11, 12) are provided on the surface of the guide rail 5 adjacent to the end floor (lowest floor in FIG. 1). They are juxtaposed along the longitudinal direction of rail 5 . Furthermore, the plurality of end floor marks have a plurality of types of pattern shapes (two types of alphabetic character patterns A and B in FIG. 1), and are arranged side by side so that adjacent end floor marks have different pattern shapes. Further, the plurality of end story marks are arranged in parallel so that the plurality of pattern shapes are repeatedly arranged in a predetermined order (the order of A and B from the top in FIG. 1). Based on the image of the end floor mark, the car 1 can be controlled to decelerate and stop at the end floor, and the position of the car near the end floor can be measured including the case where the car 1 goes over the end floor.
  • the types of pattern shape of the end story mark are not limited to two types, and may be multiple types.
  • the end floor mark may also be provided on the surface of the guide rail near the top floor.
  • FIG. 7 is a configuration diagram showing the overall configuration of an elevator that is Embodiment 2 of the present invention.
  • the safety controller 8 (Fig. 1) has a system of car position measurement systems including the image sensor 9 (Fig. 1).
  • the safety controller 8 has two car position measurement systems.
  • the safety controller 8 is electrically connected to two image sensors 9 installed on the top of the car 1.
  • One of the two image sensors 9 acquires a surface image of one of the pair of guide rails 5 (left side in FIG. 7).
  • the other of the two image sensors 9 acquires a surface image of the other of the pair of guide rails 5 (the right side in FIG. 7).
  • a floor-to-floor mark 10 indicating position information in the hoistway for example, the height from the floor surface of the lowest floor is provided.
  • a plurality of (six in FIG. 7) end floor marks 11 are provided along the longitudinal direction of the guide rails 5 on each surface of the pair of guide rails 5 adjacent to the end floor (lowest floor FL1 in FIG. 1). , 12 are arranged in parallel.
  • car position measuring means and end floor deceleration stop control means using end floor marks in each measurement system are the same as those in the first embodiment.
  • the safety controller 8 can have the following functions by having two car position measurement systems.
  • the safety controller 8 normally executes safety control by one measurement system, and if one measurement system is abnormal, continues safety control by the other measurement system.
  • the safety controller 8 also compares the measured values of both measurement systems to determine whether the car 1 is displaced in the lateral direction. When the safety controller 8 determines that there is lateral displacement, it corrects the car position measurement value used for safety control.
  • the safety controller 8 compares the measured values of both measurement systems to determine whether there is an abnormality in the measurement system. When the safety controller 8 determines that there is an abnormality, it decelerates and stops the car 1 or forces it to stop.
  • the reliability of safety control based on the image of the surface of the guide rail 5 is improved.
  • the present invention is not limited to the above-described embodiments, and includes various modifications.
  • the above-described embodiments have been described in detail in order to explain the present invention in an easy-to-understand manner, and are not necessarily limited to those having all the described configurations.
  • the elevator may be a so-called machine room-less elevator in which the hoist and elevator control device are installed in the hoistway.

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  • Indicating And Signalling Devices For Elevators (AREA)

Abstract

Est divulgué un dispositif de détection de position de cabine qui détecte une position de cabine sur la base d'images dans une cage d'ascenseur et qui peut être appliqué à un dispositif de sécurité ayant une fonction d'arrêt de décélération au dernier étage. Ce dispositif de détection de position de cabine comprend : un capteur d'image (9) qui détecte la position d'une cabine (1) d'un ascenseur sur la base d'images dans une cage d'ascenseur, est installé sur la cabine, et acquiert des images de la surface d'un rail de guidage (5) qui guide la cabine ; une pluralité de marques (11, 12) qui sont alignées le long de la direction longitudinale du rail de guidage sur la surface du rail de guidage adjacent à un dernier étage ; et un dispositif de commande de sécurité (8) qui calcule la position de la cabine sur la base d'images de la pluralité de marques acquises par le capteur d'image. La pluralité de marques présentent plusieurs sortes de formes de motif, et sont agencées afin que des marques adjacentes aient des formes de motif différentes.
PCT/JP2021/020151 2021-05-27 2021-05-27 Dispositif de détection de position de cabine et dispositif de sécurité d'ascenseur mettant en œuvre un tel dispositif WO2022249383A1 (fr)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS56161278A (en) * 1980-05-14 1981-12-11 Hitachi Ltd Detector for location of elevator
JPH01294180A (ja) * 1988-05-19 1989-11-28 Mitsubishi Electric Corp エレベータの位置検出装置
JP2002274765A (ja) * 2001-02-20 2002-09-25 Inventio Ag エレベータ制御を行うための昇降路情報を発生させる方法
JP2008037557A (ja) * 2006-08-04 2008-02-21 Hitachi Ltd エレベータ装置
JP2008285265A (ja) * 2007-05-16 2008-11-27 Toshiba Elevator Co Ltd エレベータ強制減速装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS56161278A (en) * 1980-05-14 1981-12-11 Hitachi Ltd Detector for location of elevator
JPH01294180A (ja) * 1988-05-19 1989-11-28 Mitsubishi Electric Corp エレベータの位置検出装置
JP2002274765A (ja) * 2001-02-20 2002-09-25 Inventio Ag エレベータ制御を行うための昇降路情報を発生させる方法
JP2008037557A (ja) * 2006-08-04 2008-02-21 Hitachi Ltd エレベータ装置
JP2008285265A (ja) * 2007-05-16 2008-11-27 Toshiba Elevator Co Ltd エレベータ強制減速装置

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