CN102530671A - Elevator system - Google Patents
Elevator system Download PDFInfo
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- CN102530671A CN102530671A CN201110405726XA CN201110405726A CN102530671A CN 102530671 A CN102530671 A CN 102530671A CN 201110405726X A CN201110405726X A CN 201110405726XA CN 201110405726 A CN201110405726 A CN 201110405726A CN 102530671 A CN102530671 A CN 102530671A
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Abstract
Provided is an elevator system, which have both safety and utilizability. For example, while ensuring the safety of passengers in the elevator, the elevator system can prevent unnecessary emergency stop, due to which passengers will be locked in the elevator car. The elevator system detects the opening abnormality of an elevator car door (21) disposed on the elevator car (20) and controls the driving of the elevator car. The elevator system comprises a door-openable area sensor (27) which detects whether the elevator car is positioned at the door-openable area, a controller (10) for safety control which calculates the opening range of the elevator car door based on a signal of an elevator door position sensor (24) for detecting the moving range of the elevator car door (21). The elevator system controls the running of the elevator car (20) based on the opening range of the elevator car door when the door-openable area sensor (27) detects that the elevator car is not positioned in the door-openalbe area.
Description
Technical field
The present invention relates to a kind ofly can guarantee the elevator device of passenger safety when unusual having taken place to open the door, be particularly suitable for eliminating the erroneous detection of elevator door open mode, can further improve the safety and the service quality of elevator.
Background technology
The car door of elevator cab door opens the door unusually that (elevator door opens the door unusually) is meant in the place (for example between floor and the floor) that elevator door should not be opened originally, and elevator door is unusual because of what taken place that fault etc. opens.As detecting the car door unusual method of opening the door; Mechanical switch (microswitch that is called as door switch (Gate Switch)) for example is set; When car door is in closed condition; Make switch motion (connection) and detect, when switch cuts off, be judged as car door and be in open mode to car door is in closed condition.
In addition; The other sensor is configured to detect elevator and is positioned at and allows the opened the door zone that car door opens or be positioned at the position that car door can not be opened; When door switch is cut off under elevator is positioned at the situation in the zone that car door can not open; Elevator control gear is judged as and car door has occurred and open the door unusually, and lift car is promptly stopped.
In addition; A kind of technology is for example disclosed in patent documentation 1; It closes the back starting in order to realize making elevator at elevator door fully, and in order to prevent that car door from moving during elevator goes, opening direction because of propylaeums such as vibrations behind the elevator starter, causes elevator emergency to stop; The state of affairs that the passenger is closed in the lift car takes place; Be provided be used to detect car door whether near shutdown side first switch be used to detect the second switch whether car door has arrived shutdown side fully, when first switch and second switch all are in closed circuit state, make elevator starter.And, after first switch has been exported connection signal,,, also keep this signal condition and make lift car continue to keep motoring condition even this signal is flashy signal as long as second switch exported connection signal.
Technical literature formerly
Patent documentation
Summary of the invention
In above-mentioned prior art, second switch does not have any problem, but first switch is owing to be mechanical switch; First switch was all connected off action when car door opened and closed at every turn; So, taken place when aging at contact abrasion and spring, perhaps when receiving lift car and rock influencing of (for example being out of shape rocking of causing and be not fault because of lift car rocking of producing by rocking of deliberately causing of passenger etc.) because of guide rail; Contact may take place separately makes switch be in dissengaged positions; Making does not have under the situation of et out of order at elevator, and lift car promptly stops, and causes the passenger to be closed in the situation in the lift car.
And, because two switches all are mechanical switch, so when judging the safety that car door is opened; Only carry out monistic judgement; Promptly just judge merely whether switch moves, therefore, the situation that elevator emergency stops (passenger is closed in the lift car) takes place easily.That is to say that it is high that the potential possibility that the passenger is closed in the accident that accident or action in the lift car stop for a long time taking place, and can cause reducing with respect to whole passenger's elevator utilizability (Availability).
In addition, the setting of the detection position of first switch and second switch difficulty, for example; If the position away from shutdown side is detected; Then detect less than car door and whether open, on the contrary, if detect in position near shutdown side; Then, cause elevator emergency to stop easily because of handstone etc. produces misoperation.
The objective of the invention is to solve existing problem in the above-mentioned prior art; Make it possible to guarantee long-term reliability, and (elevator utilizability height=fault is few, sustainablely under normal condition, uses can to have safety and elevator utilizability concurrently; The elevator utilizability is low=and mistake and fault frequently appear in system; Repair and the repair increase, the time that can normally move tails off), for example; In guaranteeing lift car in passenger's the safety, avoid elevator carry out unnecessary promptly stopping (can causing the passenger to be closed in the lift car) and stop to move long-term.
In addition, other purpose of the present invention is, for the service that has more the sense of security is provided to the passenger, when elevator car door has taken place opens the door unusual the grade, detailed and definite information notified to the passenger in the lift car.
The objective of the invention is to realize any purpose at least in the above-mentioned purpose.
Solution
To achieve these goals; The present invention relates to a kind of detection, to be arranged on opening the door of car door on the lift car unusual; And the elevator device that going of said lift car controlled; This elevator device has: the area sensor that can open the door, and it detects said lift car at each floor and whether is positioned at the openable zone of opening the door of elevator door; And safety control uses controller, and its signal according to the elevator door position sensor that is used to detect said car door amount of movement calculates the car door opening of said lift car; Said elevator device detect through the said area sensor that opens the door said lift car not elevator door openable open the door the zone in the time, according to said car door opening going of said lift car controlled.
The invention effect
According to the present invention; Detect lift car not elevator door openable open the door the zone in the time; According to the car door opening going of lift car controlled; So can open the door and guarantee passenger's in the lift car safety when unusual in that car door has taken place, can also avoid elevator to carry out unnecessary promptly stopping (can causing the passenger to be closed in the lift car) simultaneously.Therefore, can have safety and elevator utilizability concurrently, the service that can not undermine passenger safety sense and elevator utilizability can be provided.
Description of drawings
Fig. 1 is the integral structure figure of an expression embodiment of the present invention.
Fig. 2 is the diagram of block of the related safety control of an embodiment with controller.
Fig. 3 is the diagram of block that the related car door of an embodiment is opened protection system.
Fig. 4 is the car door of expression prior art the open the door diagram of curves of the difference between unusual of the car door of unusual and an embodiment that opens the door.
Fig. 5 be expression one embodiment related detect car door and open the time the diagram of curves of protection action.
Fig. 6 is the diagram of block of the related car door position probing of expression one embodiment.
Fig. 7 is the related diagram of curves that opens the door the protection action unusual to car door of explanation one embodiment.
Fig. 8 is the related diagram of curves that opens the door the protection action unusual to car door of another embodiment of explanation.
Fig. 9 is the diagram of circuit of the related safety control of an embodiment with controller.
Figure 10 is the detail flowchart of the related safety control of an embodiment with controller.
Figure 11 is the front elevation that the related car internal information of expression one embodiment shows example.
Figure 12 is the related diagram of curves that opens the door the protection action unusual to car door of the another embodiment of explanation.
Figure 13 judges the related unusual diagram of block of car door opening of an embodiment.
Figure 14 is the diagram of curves of the unusual judgement of the related car door opening of explanation one embodiment.
The specific embodiment
Followingly an embodiment of the present invention is elaborated with reference to accompanying drawing.
In having realized the elevator device of electronic securityization, safety device is by being that the electronics package at center constitutes with safety control with controller (microcomputer of the high reliability with dual structure for example is installed).The safe condition of elevator is judged in safety control through the input information that makes up a plurality of sensors and safety switch with controller.Function when ratio uses software to judge aspect the judgment processing of safe condition is higher, can realize H.D safety control.In addition; The prior mechanical safety system; Because use switch and relay etc. to judge unusually, thus can only carry out the judgement of one dimension property, and in having realized the elevator device of electronic securityization; Because control safe in utilization is simultaneously carried out judgment processing with controller and software, so can carry out the multi-dimensional more judgement of height through combination various states signal.
In this elevator device; Detect the position of car door continuously through sensor; And this signal is input to safety control with in the controller; Calculate car door opening (open amplitude and open distance),, carry out more suitable operation control with the mode of guaranteeing passenger's safety in the lift car according to the car door opening.
Fig. 1 is the integral structure figure of elevator device.As shown in Figure 1, lift car 20 is connected through main hoist cable with counterbalanced weight 60, and along with the rotation of the rope sheave (Sheave) 44 that is driven by electrical motor 43, lift car 20 moves at above-below direction.When electrical motor 43 drives, come the alternating current of automatic power supply 40 to flow into power inverters (inverter) 42, and come driving motor 43 with variable speed be transformed to the alternating current of optional frequency by power inverter 42 after through main power source contactless switch 41.Power inverter 42 is controlled with controller 11 by the operation control of being responsible for elevator integral body is moved control.
Safety control is controllers of being responsible for the elevator general safety with controller 10, and it is independent of operation control and controls with controller.The opening (distance shown in the symbol 26) of shutdown side of the car door 21 of elevator is for example calculated in safety control according to the car door position transduser 24 and the signal of the coder 22 of the car door electrical motor 23 that drives car door with controller 10; Car door taken place opened the door when unusual being judged as, to car internal information notifying device 29, safety control with controller 10, main power source contactless switch 41 and drg device output command with the necessity in the contactless switch 47.
Opened the door area sensor 27 through being arranged on the lift car detects the seized drafting board 28 (being installed in the not shown seized drafting board on each floor) that is arranged on each floor, detects the openable position of car door of each floor thus.As the area sensor that can open the door, can adopt opto-electronic pickup, eddy current sensor, Magnetic Sensor and electrostatic capacitance sensor etc.
If car door is opened in the zone that can open the door beyond the zone, then can threaten passenger's in the lift car safety.For example, when car door is opened, under the worst situation passenger's falling accident may take place between floor and floor.In addition, when elevator went between floor, if car door is opened, hand may cause hand injured when from the gap of car door, stretching out.
Detect through car door position transduser 24, body to be detected 25 and the amount of movement (miles of relative movement) of 22 pairs of car doors of coder that detects the rotation amount of car door electrical motor 23, and go out the opening of (calculating) car door according to these signal detection in controller 10 in safety control.Therefore, can the open the door signal of coder 22 of area sensor 27, car door position transduser 24 and car door electrical motor is input to safety control respectively with in the controller 10.In addition; As being input to safety control with in the controller 10 and security-related signal, can enumerate out according to the deflection of Shockproof rubber 30 detect the load cell 31 of the loaded weight (relevant) in the lift car with patronage in the lift car output signal, car door electrical motor 23 current sensor signal (only showing signal wire (SW) among the figure), detect near the passenger the elevator door occupant detection sensor 51 signal and be installed in the signal of the governor coder 14 on the governor 13 that detects car speed.
Safety control is calculated the position of car door shutdown side with controller 10 according to the signal of the coder 22 of the detection signal of 24 pairs of bodies 25 to be detected of car door position transduser and car door electrical motor, and calculates the opening (length shown in the symbol 26) of car door.As the car door position transduser, preferably use reflection type optical sensor, as body to be detected, the preferred body to be detected that is provided with the different identity column of reflectivity that uses.Quantity through to the sign of body to be detected is counted the amount of movement that detects the car door position.The situation of car door when complete closing state is converted to open mode slightly has been shown in Fig. 1.Count through 24 pairs of identity columns of car door position transduser; Detect the distance Y of starting at this from the left end of body 25 to be detected; Service range Y, the distance A of starting at from the car door shutdown side of car door position transduser and from the car door shutdown side of body to be detected start at apart from B; Calculate according to A-(B+Y), calculate the car door opening thus.
Safety control judges that according to the car door opening car door opens the door unusually with controller 10; Car door occurred and opened the door when unusual being judged as; Stipulate cooresponding safety control action, and instruct with contactless switch 47 output actions with controller 11, main power source contactless switch 41 and drg to car internal information notifying device 29, operation control.
Car internal information notifying device 29 is notified information to the passenger in the lift car with the mode of voice or image or reflection.Car door occurred and opened the door when unusual being judged as; Car internal information notifying device 29 according to from safety control with unusual judged result, the car door opening of controller 10 and the relevant information of controlling with safe action of content; Remind it to note car door unusual notice of opening the door to the passenger, perhaps carry out and car door opening, unusual or to the unusual relevant notice of safe action.
Operation control is controlled with the operation that controller 11 carries out elevator, car door occurred and opens the door when unusual being judged as, and according to the instruction of safety control with controller 10, changes the running velocity (moving velocity of lift car) of elevator accordingly with the car door opening.Its details is explained in Fig. 4.Along with the car door opening changes; Dangerous degree also changes; Therefore, in car door opening hour (dangerous hour), operation control moves the lift car continued that underspeeds with controller 11 through control; In the passenger safety in guaranteeing lift car, keep the utilizability (availability) of elevator thus.Open the door unusual and when making elevator underspeed operation being judged as car door, operation control comes power controlling changer 42 with the signal feedback of the coder 45 of controller through making rope sheave 44 or electrical motor 43, reaches required rotative speed thus.
Main power source contactless switch 41 and drg with contactless switch 47 be respectively applied for cut off drive main power source that lift car uses with the relevant drg power supply of drg action; When above-mentioned contactless switch is cut off; Power supply is cut off, and drg moves and lift car is promptly stopped.When the car door opening is big, pay the utmost attention to passenger's safety, promptly stop this safe action.
Time meter 50 is measured the time that opening and car door are opened when detecting car door and open.Safety control with controller 10 in, time of measuring the car door opening and opening according to the temporal information of time meter, and judge that car door opens the door unusually according to car door opening and the time of opening.Time through combination car door opening and car door are opened judges that car door opens the door unusually, can avoid momentary the opening that causes because of cambic rock of car and mischief etc. with car door to miss being judged as car door opening the door unusually.
Car door occurred and open the door when unusual being judged as, communicator 12 obtains the information of judged result, car door opening and selected safety control etc. from operation control with controller 11, and sends it to elevator reparing company.Elevator reparing company takes the necessary security measure according to the information of sending.
Fig. 2 is the diagram of block of safety control with controller, the single-piece safety control processing that the region representation that is surrounded by symbol A01 among the figure is carried out with controller by safety control.Below the flow process of various processing is described.Car door end position computer device A10 calculates the car door end position according to the code device signal of car door position sensor signal and car door electrical motor.Be specifically, the position, body to be detected 25 that detects body 25 to be detected according to car door position transduser 24 on car door position (is the position of benchmark with the car door end) and calculate by detected car door amount of movement of the coder of car door electrical motor etc.The data of calculating the position of required car door sensor and the position of body to be detected etc. are stored among the sensor position data memory storage A30 in advance.
Car door opening computer device A16 detects the opening of car door according to the car door end position that is calculated by car door end position computer device A10.For example, when car door was the midsplit type car door, calculating formula was (reference position, car door end when closing fully-calculate car door end position) * 2.
Car speed computer device A11 counts the pulse count of per unit time according to the governor code device signal, calculates the speed of lift car thus.With the action that is used to judge the car speed restriction after the computing value of car speed and the combination of car door opening, perhaps according to car door opening restriction maximum speed the time, be used to judge car speed whether at Maximum speed limit with inferior.Number computer device A12 for example calculates the number in the car according to everyone average weight according to car internal burden sensor signal in the car.
The data and the combination of car door opening of number in the car are used, to judge whether suitably that according to number car door has taken place to open the door unusually.Can open the door area judgement unit A13 according to judging from the regional detection signal of opening the door of area sensor that can open the door whether lift car is positioned at the zone of can opening the door (car door position to be opened/closed).
Whether whether car door motor current judgment means A14 according to the action of being judged the car door electrical motor by the detected car door motor current of car door motor current sensor detected value normal (producing the moment that is necessary).For example, judge that motor current is whether more than specified value.
Whether occupant detection judgment means A15 has the passenger to exist near judging car door according near the signal of the occupant detection sensor that whether has the passenger to exist the detection car door.
The time average value calculation apparatus A31 of car door opening calculates the time average of car door opening according to the time of car door opening of being obtained by car door opening computer device and time meter.Judge that according to the time average of car door opening car door opens the door unusually.Therefore, can avoid that to open erroneous detection be that car door opens the door unusually with not belonging to unusual momentary car door, and can judge the long car door of time of origin definitely and open the door unusually.
Judge the car door unusual hazard level of opening the door with the corresponding protection of car door opening action judgment means A20 according to the car door opening that calculates and out of Memory, and judge whether to need to implement necessary security measure (protection action).Be specifically; Make car internal information notifying device implement the notice (in Figure 11, explaining) of reminding and warning according to the car door opening; Implement and the corresponding cage operation speed limit of car door opening (in Fig. 4, Fig. 5, Fig. 7 and Fig. 8, explaining); Implement with car door opening and car in the corresponding running velocity restriction of patronage with promptly stop (in Figure 12, explaining), implement and car door opening and time of origin is corresponding promptly stops (in Figure 13, explaining) etc.
The information that expression should be implemented any protection action according to the car door opening be stored in advance with the corresponding protection action message of car door opening memory storage A21 in, select cooresponding protection action according to this information.The Fig. 4 (c) that states after for example storing in the data bank of protection action message memory storage A21, Fig. 7, Fig. 8, Figure 12 and shown in Figure 13 and the characteristic information corresponding car maximum speed of car door opening, with car door opening and car in the corresponding judgement characteristic information that promptly stops of number and the judgement characteristic information that promptly stops that carries out based on car door opening and time of origin etc.
To move corresponding safety control instruction with the protection of selecting with the corresponding control command setting device A22 of protection action and output to operation control with in controller, drg power contactor, main power source contactless switch and the car internal information notifying device.For example; Make the instruction that elevator stops and the limits value instruction of restriction car speed output to operation control through motor control with in the controller; The instruction that elevator emergency is stopped through the winch drg outputs in the drg power supply; Main power source cuts off instruction and outputs in the main power source contactless switch, and passenger's notification instruction outputs in the car internal information notifying device in the car.
Fig. 3 representes that safety control opens protection system with the car door in the controller, and it detects the body to be detected (body to be detected that is embedded with the magnetic sign has been shown among the figure) that is installed on the car door panel B02 through position transduser A (B03) and position transduser B (B04).Two positions of sensor through the number of magnetic identity column is counted to detect car door.
Safety control is imported the signal of two sensors respectively with controller A (B05) and B (B06), and detected identity column is counted, and calculates the position or the amount of movement of elevator door with this.Relation according between the elevator door end of the position of the identity column of body to be detected sign and body to be detected detects the elevator door end position, and calculates the elevator door opening.
The output signal of position transduser A and position transduser B compares in controller in safety control, has taken place when unusual at any sensor, detects unusually according to the difference of comparative result.In addition; Safety control also is configured to dual structure with controller; Through the operation result of two safety controls with controller compared mutually, when any safety control wrong (hard error or software error) occurred with controller, can detect this mistake through comparative result.
Export and the corresponding control command of car door opening with controller, main power source contactless switch and drg power contactor to car internal information notifying device, operation control according to the information in car door opening that calculates and the control command table (B10).For example, when the car door opening is big, because degree of risk is high, so cut off instruction so that lift car promptly stops to main power source contactless switch and drg power contactor out-put supply.That is to say, be judged as enforcement when promptly stopping, from safety control with controller A and safety control with controller B output signal respectively; To cut off the contactless switch (B07 of drg power supply respectively; B08) and the contactless switch of main power source (B09 B10), makes lift car promptly stop.At this, and the contactless switch of drg power supply (B07, B08) and the contactless switch (B09 of main power source; B10) all be configured to dualization structure; Even have a side that fault has taken place in A system and the B system, the opposing party also can move, so can lift car promptly stopped.Sending to operation control sends to respectively each installs with controller from each safety control with the instruction of controller (control halt instruction with car speed restriction instruct) and the instruction that sends to car internal information notifying device too.
Fig. 4 representes to the elevator door unusual protection of opening the door; Fig. 4 (a) expression prior art to the elevator door unusual protection of opening the door; Its abscissa is represented car door opening (supposing that lift car is outside the zone of can opening the door); With car door opening 10mm is the demarcation line, when 10mm is following, is judged as safety with the car door opening, and the car door opening is judged safety for unusual this simple logical method of judgement through mechanical switch when 10mm is above.When rubbish or handstone were stuck in the elevator door, the car door that is easy to take place about 10mm was opened phenomenon.So, elevator door might occur unusual and fault not take place, but still be judged as elevator door and taken place unusual and situation that lift car is promptly stopped, thereby cause the passenger to be closed in the lift car.
Fig. 4 (b) also represent prior art (in patent documentation 1 open) to the elevator door unusual protection of opening the door; It judges through 2 mechanical switch are set, when the car door opening when 10mm is following, be judged as safety; When 15mm is following; Make elevator drive to nearest floor and stop,, elevator emergency is stopped when when 15mm is above.At this moment; Make elevator drive to nearest floor when following to stop through being arranged in 15mm; Can avoid the passenger being taken place when being 10mm～15mm and be closed in the situation in the lift car in the car door opening; Unusually handle but on the result, still open the door as car door, thus after this still make elevator continue to stop, thus make troubles to the passenger.
Fig. 4 (c) expression present embodiment to the elevator door unusual protection of opening the door, abscissa C20 representes the car door opening, ordinate C21 representes the speed of lift car, guarantees safety and elevator utilizability simultaneously through this two-dimensional coordinate.That is to say, through changing the speed (maximum speed) of (reductions) lift car according to the opening of car door (open amplitude and open distance), in passenger's that can be in guaranteeing lift car the safety, make elevator proceed to move.Be to set and the corresponding speed License Value of car door opening shown in the line C10 specifically.The characteristic of speed License Value (line C10) is set to the opening according to car door, with along with car door to open quantitative change big and mode that reduce the speed (maximum speed and limited speed) of lift car makes elevator proceed operation.With respect to detected car door opening, when the speed of lift car when the speed License Value is following, be judged as and be in safe range, make lift car continue operation with the speed below the speed License Value.The characteristic of speed License Value is set to from command speed and begins along with the increase of car door opening speed License Value (speed limit and admissible maximum speed) to be reduced; Reached the amount of opening the door of regulation when above in the car door opening; The speed that makes lift car is 0, and elevator emergency is stopped.
When car door is opened; Angle from safety; The car door opening can be considered safety when being 0～10mm (zone shown in the C11), the car door opening can be regarded as safety under certain condition when being 10～100mm (zone shown in the C12), allows elevator to proceed operation with low speed.When the car door opening has surpassed 100mm (zone shown in the C13), then be regarded as having taken place through the winch drg elevator emergency being stopped at once unusually.In addition, when the car door opening is 10～100mm (zone shown in the C12),, then is regarded as danger and makes lift car promptly stop (detailed speed change action is explained) in Fig. 5 if elevator speed has surpassed the speed of permission.In addition, 100mm is nothing but the value as an example regulation.
Through implementing to change this safety control of speed of lift car according to the car door opening; Can take suitable safety measure according to the opening of car door; In guaranteeing lift car in passenger's the safety, the utilizability (Availability) that makes elevator proceed to move to keep elevator.
When implementing change (restriction) shown in Fig. 4 (c) and the corresponding car speed of car door opening; Make the judgement back by safety control with controller and instruct with the controller transmission, and implement the change of speed with controller by operation control to operation control.The threshold value (threshold value of decision safety control instruction) that is used as decision and corresponding each safe action of each car door opening with the characteristic (shown in symbol C17) of the corresponding car speed permissible value of car door opening in advance with the stored in form of data sheet etc. safety control with controller in.
Fig. 5 representes that car door opens the example of the protection action when detecting.The curve of Fig. 5 (a) is shown in the time point shown in the dotted line D01 and car door has taken place opens the door unusually, the abscissa express time among the figure, and ordinate is represented the car door opening.Suppose the car door that is taken place open the door be unusually when lift car goes, (be in not the state in the zone of can opening the door) because of handstone etc. be stuck in make in the elevator door that car door opens slightly unusually.
The action of the lift car when prior art (mechanical switch) is adopted in Fig. 5 (b) expression; In the opening that detects car door when specified amount is above; Be judged as in the holely, implement emergency braking through the winch drg at once, lift car is promptly stopped.Therefore, the passenger in the lift car was closed in the lift car before the maintainer of elevator arrives.And,, there is no need to make lift car promptly to stop if car door is just slightly opened because of blocking handstone in fact.
The protection action example of Fig. 5 (c) expression present embodiment; After detecting car door and opening; Do not brake through drg; But lift car is temporarily stopped through electrical motor is controlled, afterwards according to making lift car restart operation with the corresponding limited speed of car door opening.Below the action of Fig. 5 (c) is described.
When normal operation; At this time point of D02; Detecting elevator cab door through safety control with controller is opened; Safety control will judge that with controller signal sends to operation control with in the controller, and operation control temporarily stops lift car with controller through electrical motor is controlled.After this; Operation control is set in this speed limit below with the speed limit that controller sends with maximum speed from safety control with the controller basis; And make lift car restart operation, and after this also make elevator continue operation with the speed below the limited speed (shown in the dotted line of Fig. 5 (c)).Till the operation of carrying out with this speed below limited speed lasts till that always elevator service personnel is passed through inspection and confirmed that elevator is normal.In addition, when detecting car door and open, use car internal information notifying device, open this matters, give a warning through voice or image, to cause passenger's attention to car door.Thus, the passenger is understood what situation has taken place, thereby can bring the sense of security (this partial content specifies) in Figure 11 to the passenger.
Fig. 5 (d) is and Fig. 5 (c) different protection action example that it does not make elevator stop, but under running state, directly implements speed limit.Below the action of Fig. 5 (d) is described.
When normal operation, at this time point of D02, detect elevator door through safety control with controller and be opened, safety control is exported and the corresponding speed limit instruction of car door opening with controller to operation control with controller.The speed limit instruction that operation control receives with controller from safety control with the controller basis; Erection rate model (moving model of the lift car of representing with speed and time or speed and position) at once; The maximum speed of elevator is limited in below the limited speed, and lift car is moved according to revised rate pattern.After this, make lift car proceed operation according to limited speed.Also can obtain identical effect this moment with Fig. 5 (c).
Fig. 6 representes the example of car door position detecting device; In Fig. 6 (a), the information of the coder E05 of combination use location sensor E02 (reflective photoelectric sensor, vortex flow type proximity transducer and induction type proximity transducer etc.) and car door electrical motor E04 is calculated car door opening (opening distance).Be arranged on the body E03 to be detected on the car door E01 through reflective photoelectric sensor, vortex flow type proximity transducer or the detection of induction type proximity transducer; Come the detection reference position with this; And the rotation amount according to the coder of car door electrical motor is calculated the amount of movement of starting at from the reference position, after this reference position is detected the car door end position in the Calais mutually with amount of movement.
In Fig. 6 (b), car door is provided with a plurality of body E11 to be detected as the reference position, detects the car door end position according to the detection information of these bodies to be detected and the encoder information of car door electrical motor.Sensor E10 for example is RFID (Radio Frequency IDentification, RF identification) label reader or a reflective photoelectric sensor, and body E11 to be detected is by RFID label or otch and be embedded with the reflecting plate of information.Detect the absolute location on the car door through detecting the information that is embedded in each body to be detected in regular turn, the amount of movement of starting at from the absolute location carries out interpolation according to the encoder information of car door electrical motor.Shown in Fig. 6 (b), owing to have the body to be detected of a plurality of indexs as the reference position, so can more accurately calculate the car door end position.
In Fig. 6 (c); Adopt optical profile type reader and magnetic measurement sensor as sensor 12; Adopt bar code and magnetic to identify as body E13 to be detected, with car door on the position that is directly detected car door by sensor is set under the identical state of the occasion of scale (ruler) of segmentation.At this moment, need not use the information of the coder of car door electrical motor just can detect the position of car door.
Fig. 7 presentation graphs 4 (c) and the opening according to car door shown in Figure 5 change the content of the protection action of car speed; Abscissa F20 representes the car door opening; Ordinate F21 representes car speed, and line F01 representes the characteristic with the corresponding car speed License Value of car door opening (car speed limits value and admissible car maximum speed).On the diagram of curves of two dimension; Be positioned at the zone (F05 of the characteristic line F01 below of car speed License Value; F02) be the safety zone (zone of F05) and the zone of safety (F02 zone) under certain condition, allow elevators to proceed operation with common running velocity or the speed below the limited speed in these zones.The regional F04 that is surrounded by dotted line has opened the door and allows elevator temporarily to be in the zone of state shown in this zone when unusual in that car door has taken place; Be specifically; Make elevator stop (occasion of Fig. 5 (c)) through the control motor and perhaps carry out speed limit (occasion of Fig. 5 (d)); Make elevator change the state that moves with the speed below the speed License Value F01 rapidly into, according to implementing protection control like this.The regional F30 that is positioned at the regional F04 outside is regarded as the car door abnormal area that opens the door, and when this zone, uses the winch drg that elevator emergency is stopped at once.Shown in Figure 7 and the characteristic corresponding limited speed of car door opening (line F01) be stored in Fig. 2 with the corresponding protection action message of car door opening memory storage A21 in.
Fig. 8 representes to change according to patronage in the car example of characteristic of the car speed License Value of Fig. 7.The abscissa of the diagram of curves of Fig. 8 is represented the implication identical with Fig. 7 with ordinate, and the characteristic of speed License Value changes along with the increase of the patronage in the lift car, and line F12, F11 and F10 are changed along with the increase of patronage.
Its reason is that from the consideration to passenger safety, along with the increase of patronage in the car, License Value correspondingly underspeeds.For example; At patronage (patronage in the car very for a long time) when the specified number, have the passenger and stand in position, so shown in line F10 near car door; Be arranged to the License Value that underspeeds; Make elevator with lower speed operation, elevator is stopped, guaranteeing passenger's safety with this.On the contrary,, then can notify, cause the passenger, make the passenger transfer to position thus, so danger is less relatively away from elevator door to unusual attention through car internal information notifying device if the patronage in the car is few.Therefore, shown in line F13, be arranged to improve the speed License Value, elevator is moved at faster speed, can improve the utilizability of elevator thus.
That is to say; Adjust car door protection action parameter (being change car speed License Value this moment) according to the patronage in car door opening and the car; Can be implemented in thus when improving passenger safety, improve safety control with respect to whole passenger's elevator utilizability.
Fig. 9 is the action flow chart of safety control with controller, is imported into safety control with (G01) in the controller from the detection data of various sensors and detecting device.Whether the position that safety control is judged lift car according to the detection data from the regional detecting sensor of can opening the door in the data of being imported with controller is in the zone of can opening the door (G02).
Be judged as lift car can open the door the zone in the time, can not go wrong even open elevator door yet.So, be combined into object to be positioned at can open the door extra-regional, enter into next step processing.In the time of outside lift car can open the door the zone, calculate car door end position (G03).
The car door end position is calculated according to the signal of the coder of car door position transduser and car door electrical motor.According to the car door end position that calculates, calculate car door opening (G04).Judge the corresponding protection action of enforcement and this opening (G05) according to the car door opening.The protection action is meant according to the car door opening; By impelling the notice (Figure 11) of noting and warning with the corresponding car internal information of this opening notifying device; Implement running velocity restriction (Fig. 4, Fig. 5, Fig. 7 with the cooresponding car of car door opening; Fig. 8), in enforcement and opening and the car the corresponding running velocity restriction of patronage with promptly stop (Figure 12) and enforcement and car door opening and time of origin is cooresponding promptly stops (Figure 13) etc.When the situation that car door is opened has taken place, all judge whether to implement the protection action according to the car door opening calculated.
When being judged as needs enforcement protection action, enter into next step processing (G06).Judge that the car door motor current is whether more than specified value (G07).Judge whether the car door electrical motor has been exported the reason of the moment of necessary amount and be; Even car door is in open mode; But have electrical motor moment to produce as long as the electric current of car door electrical motor more than specified value, just can be thought, car door can further not opened under the control of electrical motor.And if be judged as the car door motor current when specified value is following, then since moment guaranteed that not car door has the danger of further opening, the institute so that lift car promptly stop.
When the electric current of car door electrical motor when specified value is above, control according to selected protection and to carry out safety control (G08).When being judged as the protection action of need implementing to carry out with controller (G09), carry out operation control (G10) according to selected protection action by operation control.For example according to car door opening change car speed.
Action flow chart when Figure 10 representes according to car door opening change car speed, the action shown in the execution graph 5 (c).Calculate car door end position (H01), and calculate car door opening (H02).Calculate the speed (H03) of lift car according to the rotation amount signal of governor coder, and set and the corresponding car speed limits value of this opening (H04) according to the car door opening of being calculated.
Judge that the car speed calculated is whether more than limits value (H05); If below limits value; Then control with controller transmission speed limits value to operation with controller from safety control; And make lift car continue to keep running state (H06) (after this in service, implement to control according to speed limit with controller) by operation control.
When car speed has surpassed limits value, send the instruction that through motor control lift car stopped to operation control with controller with controller from safety control, and in operation is controlled with controller, carry out motor control so that lift car stops (H07).In addition, further send car speed limits value instruction (H08) to operation control with controller with controller from safety control.After in operation is controlled with controller, lift car once being stopped,, and make lift car restart operation according to car speed limits value instruction restriction maximum speed.
After this, make elevator proceed operation (confirming safety back releasing speed limit) the maintainer according to speed limit.But, after having passed through specified time, detect car speed constantly and whether surpassed limits value (H09), under the situation that has surpassed limits value, be regarded as having taken place unusually, implement promptly to stop through the winch drg.
Figure 11 representes the demonstration example of car internal information notifying device, and car internal information notifying device is notified for information about according to the passenger of mode in lift car of the car door opening that calculates with voice and/or image.The information notice example that Figure 11 (a) expression detects car door when opening has unusually shown information (K02) and " elevator door beyond this point " this warning message (K03) of car door opening (being 2cm among the figure) on information notice picture (K01).To open quantitative change big along with car door, and it is more severe that the degree of warning message becomes.
When detecting car door and be opened, safety control makes car internal information notifying device notify above-mentioned attention information at once with controller according to the car door opening, causing passenger's attention, thereby can impel the passenger to transfer to safer state.
Information notice example when Figure 11 (b) expression is changed speed according to the car door opening.The speed change action of this example and Fig. 5 (c) is corresponding, moves with low speed to passenger's notice information relevant with the car door opening and after elevator was once being stopped again and waits and move relevant information.Through notify above-mentioned information to the passenger, can impel the interior passenger of lift car that car door is opened and arouse attention.Simultaneously, because after this to passenger's notice information relevant, so can make the passenger understand the information of elevator operation aspect in advance with operating method.Information notice example when Figure 11 (c) also representes according to car door opening change speed.The speed change action of this example and Fig. 5 (d) is corresponding, owing to notify the speed modification information to the passenger, so the situation that the passenger in the lift car can the change of understanding speed can obtain the sense of security.
Figure 12 represent with car door opening and car in the corresponding protection of patronage (identical) action example with the loaded weight in the car.The abscissa of the diagram of curves of Figure 12 (M11) expression car door opening, the rate of taking in ordinate (M10) the expression lift car.Line M01 representes the judgement characteristic of opening the door unusual according to the car door that the rate of taking in car door opening and the car is confirmed; The zone that is positioned at line M01 below can be considered safety zone; Allow elevator to continue operation; When being positioned at line M01 top regional, being regarded as having taken place car door and opening the door unusually, elevator emergency is stopped through the winch drg.
Line M01 also can be regarded as with the corresponding car of car door opening in the permissible value (limits value and License Value) of patronage; When patronage has surpassed permissible value with respect to the car door opening, be regarded as having taken place car door and open the door unusual and lift car is promptly stopped.Thus, in the increase along with patronage, the rich space in the lift car disappears, and under the situation of passenger near near the increase of the possibility the car door, can take the proper protection measure.
With the property settings of line M01 is along with the car door opening increases, and reduces the permissible value of patronage (identical with the loaded weight in the car) in the car.That is to say; In car, take under the bigger situation of rate (identical) with the loaded weight in the car; Dwindle the unusual judgment value of car door opening; And in car, take under the less situation of rate, increase the unusual judgment value of car door opening, judge whether to have taken place car door according to the car door opening thus and open the door unusually.
Through judged whether to take place car door open the door unusually (whether implementing promptly stopping of lift car) according to patronage in car door opening and the car; Can judge hazard level according to patronage in car door opening and the car; Can, take by elevator door the proper protection measure when opening; Make it possible in the passenger safety in guaranteeing lift car, guarantee elevator utilizability with respect to whole passenger.In addition, in passenger's that can be in guaranteeing lift car the safety, avoid making elevator promptly to stop (can causing the passenger to be closed in the lift car and elevator emergency stop the back out of service) and make elevator proceed operation.
The control diagram of block of Figure 13 abnormality judgment method that to be expression carry out according to car door opening and time.Calculate the car door opening by car door opening computer device P01, measure the open hour of elevator cab door by timer device (identical) P02 with clock.Time average value calculation apparatus P03 by the car door opening calculates the time average of car door opening according to (∑ (car door opening) * Δ t)/T.Δ t representes the sampling time that the car door opening detects, the time range when T representes calculating mean value.T for example is the time span of several seconds (about 3～10 seconds).The threshold value of the time average of the car door opening that calculates and regulation compared judge whether to have taken place car door open the door (P04) unusually.When the time average of car door opening has surpassed threshold value, be judged as and car door has taken place open the door unusually, make the winch drg implement emergency braking through emergency braking device.
The safety control action that Figure 14 representes to carry out according to abnormality judgment method shown in Figure 13, wherein this abnormality judgment method is judged according to car door opening and time unusually.Figure 14 (a) expression with can not be regarded as unusual momentary car door and open (occasion that car door is opened because of rock of car etc. and the occasion of opening because of mischief) corresponding action example momentaryly momentaryly.Shown in Figure 14 (a); The actual waveform of car door opening is for represent the waveform of the mountain peak shape that the car door opening increases momentaryly; With respect to the waveform of car door opening, time average is the waveform of shape linearly, from judged result; Time average is less than judgment value, car door does not take place opens the door unusually so be judged as.Waveform when the waveform of Figure 14 (b) makes that car door is opened for a long time unusually for the car door that reality takes place opens the door; Actual waveform and time average are consistent under stabilized conditions; Its result, time average be greater than judgment value, car door has taken place opens the door unusually so be judged as.Judge that according to the time average (aviation value of the time span about 3～10 seconds) of car door opening car door opens the door unusually; Can avoiding being regarded as unusual momentary car door, to open erroneous detection be that car door opens the door unusually; In passenger's that can be in guaranteeing lift car the safety; Avoid making elevator promptly to stop (can causing the passenger to be closed in the lift car and elevator emergency stop the back out of service), thereby can make elevator proceed operation with reasonable method more.
Nomenclature
Controller is used in 10 safety controls
Controller is used in 11 operation controls
20 lift cars
21 car doors
22 coders
23 car door electrical motors
24 car door position transdusers
25 bodies to be detected
27 area sensors that can open the door
28 seized drafting boards
29 car internal information notifying devices
30 Shockproof rubbers
31 load cells
41 main power source contactless switchs
42 power inverters
43 electrical motors
44 rope sheaves
46 drgs
47 drgs are used contactless switch
50 time meters
51 occupant detection sensors
Claims (10)
1. it is unusual that elevator device, its detection are arranged on opening the door of car door on the lift car, and going of said lift car controlled, and said elevator device is characterised in that to have:
The area sensor that can open the door, it detects said lift car at each floor and whether is positioned at the openable zone of opening the door of elevator door; And
Controller is used in safety control, and its signal according to the elevator door position sensor of the amount of movement that is used to detect said car door calculates the car door opening of said lift car,
Said elevator device detect through the said area sensor that opens the door said lift car not elevator door openable open the door the zone in the time, according to said car door opening going of said lift car controlled.
2. elevator device as claimed in claim 1; It is characterized in that; Car internal information notifying device is set in said lift car; Detecting said lift car through the said area sensor that opens the door not in the openable zone of opening the door of elevator door the time, said safety control is carried out and unusually perhaps is directed against the unusual relevant notice of safe action to the passenger according to said car door opening with controller.
3. elevator device as claimed in claim 1; It is characterized in that; Detect through the said area sensor that opens the door said lift car not elevator door openable open the door the zone in the time, big more with said car door opening, set the speed License Value more little; And the mode that when reaching the said car door opening of regulation, elevator is stopped to determine the speed License Value, with this going of said lift car is controlled.
4. elevator device as claimed in claim 1; It is characterized in that; Car internal information notifying device is set in said lift car, detect through the said area sensor that opens the door said lift car not elevator door openable open the door the zone in the time, big more with said car door opening; Set the speed License Value more little; And the mode that when reaching the said car door opening of regulation, elevator is stopped to determine the speed License Value, with this going of said lift car is controlled, and is carried out the notice relevant with above-mentioned ride control to the passenger.
5. elevator device as claimed in claim 1; It is characterized in that, car internal information notifying device is set in said lift car, detect through the said area sensor that opens the door said lift car not elevator door openable open the door the zone in the time; To passenger's notice and the corresponding attention information of said car door opening; Then, big more with said car door opening, set the speed License Value more little; And the mode that when reaching the said car door opening of regulation, elevator is stopped to determine the speed License Value, with this going of said lift car is controlled.
6. elevator device as claimed in claim 1; It is characterized in that; Car internal information notifying device is set in said lift car, detect through the said area sensor that opens the door said lift car not elevator door openable open the door the zone in the time, big more with said car door opening; Set the speed License Value more little; And the mode that when reaching the said car door opening of regulation, elevator is stopped to determine the speed License Value, makes said lift car proceed operation with this, and with notifying to the passenger with said car door opening and the relevant information of operation.
7. elevator device as claimed in claim 1; It is characterized in that; Obtain the rate of taking in the lift car; And detect through the said area sensor that opens the door said lift car not elevator door openable open the door the zone in the time, according to the rate of taking in said car door opening and the said lift car going of said lift car controlled.
8. elevator device as claimed in claim 1; It is characterized in that; Measure the open hour of said car door; Detecting said lift car through the said area sensor that opens the door not in the openable zone of opening the door of elevator door the time, going of said lift car controlled according to the open hour of said car door opening and said car door.
9. elevator device as claimed in claim 1; It is characterized in that; Measure the open hour of said car door; Detect through the said area sensor that opens the door said lift car not elevator door openable open the door the zone in the time, according to the aviation value of the said car door opening in the said time going of said lift car controlled.
10. elevator device as claimed in claim 1; It is characterized in that; Detection is used to drive the electric current of the car door electrical motor of said car door; Detect through the said area sensor that opens the door said lift car not elevator door openable open the door the zone in the time, according to the electric current of said car door opening and said car door electrical motor going of said lift car controlled.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2010274183A JP5380423B2 (en) | 2010-12-09 | 2010-12-09 | Elevator system |
| JP2010-274183 | 2010-12-09 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102530671A true CN102530671A (en) | 2012-07-04 |
| CN102530671B CN102530671B (en) | 2014-12-03 |
Family
ID=46338923
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110405726.XA Expired - Fee Related CN102530671B (en) | 2010-12-09 | 2011-12-08 | Elevator system |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP5380423B2 (en) |
| CN (1) | CN102530671B (en) |
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| CN103754726A (en) * | 2013-12-31 | 2014-04-30 | 日立电梯(上海)有限公司 | Device for preventing lift car from moving accidentally and method thereof |
| CN104291174A (en) * | 2013-07-19 | 2015-01-21 | 三菱电机株式会社 | Elevator door diagnostic device and elevator door diagnostic method |
| CN104370176A (en) * | 2014-11-10 | 2015-02-25 | 南京台菱电梯工程有限公司 | Elevator landing door and car door double-way detection system |
| CN109709957A (en) * | 2018-12-26 | 2019-05-03 | 重庆城市管理职业学院 | A kind of method for transporting object and system based on cell intelligent carriage |
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| CN110817631A (en) * | 2018-08-10 | 2020-02-21 | 奥的斯电梯公司 | Apparatus and method for monitoring movement of elevator door using RFID |
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| CN111646330B (en) * | 2020-06-15 | 2022-08-02 | 上海三菱电梯有限公司 | Elevator detection device |
| DE112020007784T5 (en) * | 2020-11-20 | 2023-09-21 | Mitsubishi Electric Corporation | Safety control device for an elevator and safety control system for an elevator |
| WO2023223073A1 (en) * | 2022-05-16 | 2023-11-23 | Wittur Holding Gmbh | System and method for detecting the position of a car door of an elevator |
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| CN103754726B (en) * | 2013-12-31 | 2016-02-17 | 日立电梯(上海)有限公司 | A kind of devices and methods therefor preventing accidental movement of elevator cage |
| CN103754726A (en) * | 2013-12-31 | 2014-04-30 | 日立电梯(上海)有限公司 | Device for preventing lift car from moving accidentally and method thereof |
| CN104370176A (en) * | 2014-11-10 | 2015-02-25 | 南京台菱电梯工程有限公司 | Elevator landing door and car door double-way detection system |
| CN104370176B (en) * | 2014-11-10 | 2016-08-24 | 南京台菱电梯工程有限公司 | Hoistway door car door two-way detecting system |
| CN110088026A (en) * | 2016-12-26 | 2019-08-02 | 三菱电机株式会社 | Elevator control system |
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| CN110312670B (en) * | 2017-02-27 | 2020-12-11 | 三菱电机株式会社 | Elevator fault monitoring device, elevator and elevator group management device |
| CN110461753A (en) * | 2017-03-27 | 2019-11-15 | 因温特奥股份公司 | Method and apparatus for monitoring elevator cab door |
| CN110461753B (en) * | 2017-03-27 | 2021-11-05 | 因温特奥股份公司 | Method and device for monitoring elevator car doors |
| CN110997547A (en) * | 2017-08-17 | 2020-04-10 | 因温特奥股份公司 | Method for monitoring operation of elevator door device and monitoring device |
| CN110068356A (en) * | 2018-01-23 | 2019-07-30 | 上海三菱电梯有限公司 | Door absolute position detecting device |
| CN110068356B (en) * | 2018-01-23 | 2021-08-03 | 上海三菱电梯有限公司 | Door absolute position detection device |
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| CN109709957B (en) * | 2018-12-26 | 2022-03-22 | 重庆城市管理职业学院 | Community intelligent trolley-based article conveying method and system |
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| CN115258868A (en) * | 2021-04-30 | 2022-11-01 | 株式会社日立大厦*** | Elevator abnormity detection device |
| CN115258868B (en) * | 2021-04-30 | 2023-12-08 | 株式会社日立大厦*** | Abnormality detection device for elevator |
Also Published As
| Publication number | Publication date |
|---|---|
| JP5380423B2 (en) | 2014-01-08 |
| JP2012121695A (en) | 2012-06-28 |
| CN102530671B (en) | 2014-12-03 |
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