CN111056399A

CN111056399A - Long-strip object hanging detection device

Info

Publication number: CN111056399A
Application number: CN201910068692.6A
Authority: CN
Inventors: 中川淳一; 大野佑辅
Original assignee: Fujitec Co Ltd
Current assignee: Fujitec Co Ltd
Priority date: 2018-10-17
Filing date: 2019-01-24
Publication date: 2020-04-24
Anticipated expiration: 2039-01-24
Also published as: JP2020063127A; CN111056399B; JP6784285B2

Abstract

A long article catching detection device is provided to detect with higher accuracy whether or not a long article caught in a lifting path of an elevator installed in a building is caught in the lifting path than before. A distance measuring sensor 54 that measures a direction and a distance from a set position of an object existing in a lifting path on a horizontal plane including the set position, and outputs the direction and the distance as position information; detection means (6002, 6004) for detecting, from the position information output from the distance-measuring sensor 54, a position coordinate on a coordinate plane selected by the horizontal plane of the long article; a reference coordinate area storage unit 6012 that stores a reference coordinate area in the coordinate plane where a normal long object exists when the building is not swayed; when the swing of the long object accompanying the building sway is regarded as being completed after the building sway, the determination unit 6014 determines that the long object is caught when the detection unit detects an object outside the reference coordinate region.

Description

Long-strip object hanging detection device

Technical Field

The present invention relates to a device for detecting the presence of a long article hanging on a lifting path of an elevator, and more particularly, to a device for detecting the presence of a main rope hanging on the lifting path of the elevator or other long articles hanging on equipment in the lifting path.

Background

Long objects such as the main rope and the governor rope of an elevator are caused to swing in a horizontal direction with a large amplitude due to long-period earthquake motion or building sway caused by strong wind. (hereinafter, this swing is referred to as a lateral swing). In this case, the long-period vibration sensor provided in the building senses the amount of the sway of the building, and the level of the lateral sway is estimated based on the sensed amount, and the controlled operation is performed according to the level, so that the car stops at a predetermined floor.

When the sway of the building is large, the long object largely swings sideways, and there is a possibility that the long object catches equipment in the elevating path. Therefore, after the shaking of the building is completed, a maintenance worker is dispatched to the site to confirm that the long object is not hung, and then the operation is resumed.

However, the inspection of the elevators disposed in more buildings is completely completed, which takes too long and thus results in slower resumption of operation. In contrast, the fifth embodiment of patent document 1 discloses a technique for detecting a governor rope, which is one of long articles, without requiring a maintenance person (paragraph [0059] of patent document 1, fig. 6).

As shown in fig. 6, patent document 1 includes a first optical sensor 10a in which a laser beam 17a emitted from a light emitter 16a has a fan shape, and a second optical sensor 10b in which a laser beam 17b emitted from a light emitter 16b has a linear shape.

A first photosensor 10a is provided so that a stationary governor rope 9b penetrates the center of the fan shape (fig. 6 of patent document 1), a second photosensor 10b is provided so as to be parallel to the center of the fan shape and so as to be irradiated with the laser beam 17b at a predetermined interval from the center (fig. 6 of patent document 1), in paragraph [0051] of patent document 1, there are provided "on the one hand, a normal detection range T detected by the first photosensor 10a is a range of an angle α of the laser beam 17a (a range T surrounded by a circle), and on the other hand, in the second photosensor 10b, the other end side rope 9a is brought into contact with the laser beam 17b, that is, the laser beam 17b is detected as an abnormal boundary L.

In the above-described configuration, the first photosensor 10a outputs the detection ON signal when the governor rope 9b is located within the detection range T (paragraph [0054] of patent document 1), or performs the normal operation when both the first photosensor 10a and the second photosensor 10b output the OFF signal (paragraph [0055] of patent document 1).

When the first optical sensor 10a outputs an OFF signal and the second optical sensor 10b outputs an ON signal, the governor rope 9b greatly swings and may catch equipment in the elevator shaft (the landing floor level adjustment gates 18 and 19 in fig. 6 in patent document 1), and therefore the car is quickly stopped at the nearest floor as a controlled operation (paragraph [0056] in patent document 1).

Further, in paragraph [0059] of patent document 1, it is described that when "the first photosensor 10a outputs an OFF signal and the second photosensor 10b also outputs an OFF signal, and these signals are continuously output for a predetermined time, … … executes control to quickly stop the driving of the boarding car 3 because the governor rope 9 may be entangled in a machine in the elevator path 1. "

That is, in patent document 1, the state of continuous swinging of the governor rope is detected before reaching a level at which the governor operation is required, so that the engagement of the governor rope is detected.

Documents of the prior art

Patent document

Japanese patent application laid-open No. 2006-124102 of patent document 1

Japanese patent application laid-open No. 2014-156298 (patent document 2)

Disclosure of Invention

Problems to be solved by the invention

As described above, patent document 1 is provided to detect the engagement of a long article (governor rope) during the operation of an elevator, but in a state where a car is stopped by a controlled operation, the sway of a building is ended, and it is generally checked whether or not the long article is engaged after a time sufficient to determine that the lateral swing of the long article is also ended to a certain extent.

Further, at the detection position (detection area) of the sensor, even if it is not necessary to perform the lateral swing of the control operation level (that is, even if it is determined by the sensor described in patent document 1 that the long article is not caught), the long article may be caught in the device in the ascending/descending path. This is because, for example, when the detection position of the sensor is largely away in the vertical direction from the point where the long article is caught, the long article is inclined from the point toward the detection region of the first optical sensor 10a, and the detection ON signal is output as a determination that the long article is located within the detection range T at the installation position of the first optical sensor 10 a.

Therefore, in the technique described in patent document 1, there is a possibility that the long leak detection object is caught, and it can be said that the accuracy is insufficient in the detection of the catching.

In view of the above-described problems, it is an object of the present invention to provide a long article hanging detection device capable of detecting whether or not a long article is hung more accurately than before.

Means for solving the problems

In order to achieve the above object, a long object hanging detection device according to the present invention is a long object hanging detection device for detecting that a long object hanging in a lifting path of an elevator installed in a building is hung on equipment in the lifting path, the device including: a distance measuring sensor that is provided in the lifting path, measures a direction and a distance from the installation position of an object present in the lifting path on a horizontal plane including the installation position of the distance measuring sensor, and outputs the direction and the distance as position information; a detection unit that detects position coordinates of the long object in a coordinate plane selected by the horizontal plane from the position information output by the distance measuring sensor; a reference coordinate area storage unit that stores a reference coordinate area in which a normal long object exists in the coordinate plane when the building is not swayed; and a determination unit that determines that the long object is caught when the long object is detected outside the reference coordinate region by the detection unit when the swing of the long object accompanying the building sway is regarded as being completed after the building sway.

Further, the detection unit detects the position coordinates of the coordinate plane on the long object by excluding the position coordinates outside an imaginary coordinate area in which only the long object exists in the coordinate plane, from the position coordinates of the coordinate plane of the object determined based on the position information of the object output from the distance measuring sensor.

Further, the elevator is: an elevator having a structure in which a car and a counterweight are suspended by a main rope group bucket, a balance rope group hangs down between the car and the counterweight, and the car and the counterweight ascend and descend in opposite directions along the ascending and descending path; the long object is a plurality of ropes forming the main rope group or the balance rope group; the determination means determines that the part of the ropes detected outside the reference coordinate region is caught when the detection means detects the part of the ropes outside the reference coordinate region and detects the remaining ropes in the reference coordinate region.

Further, the elevator system may further include an estimating unit that estimates a position where the part of the rope is caught in the vertical direction from the position coordinates of the part of the rope detected by the detecting unit, and an installation position of the distance measuring sensor in the vertical direction of the ascending/descending path and a stop position of the car after the judging unit judges that the part of the rope is caught.

In addition, the elevator performs a control operation when the long object swings due to the building swinging by an earthquake or the like and the magnitude of the amplitude of the swing movement in the coordinate plane exceeds a preset threshold, and the reference coordinate area is narrower than an area defining the preset threshold.

ADVANTAGEOUS EFFECTS OF INVENTION

According to the long article hanging apparatus of the present invention, the position coordinates of the long article hung in the ascending/descending path on the coordinate plane selected by the horizontal plane are detected from the position information of the object existing in the ascending/descending path on the horizontal plane including the installation position of the distance measuring sensor, which is output from the distance measuring sensor.

When the swing of the long object accompanying the building swing is regarded as being completed after the building swing, and the long object is detected outside a reference coordinate region where a normal long object exists when the building does not swing and is located on the coordinate plane, it is determined that the long object is caught.

In this way, the yaw motion of the long article when the building is swaying is detected, the yaw motion having a level at which the control operation is required, and the detection of the engagement state can be performed even in a state where only the displacement of the level at which the control operation is not required is generated by an amplitude level compared to the conventional method of determining that the long article is engaged.

Drawings

Fig. 1 is a diagram showing a schematic configuration of an elevator including an elongated object hanging detection device according to an embodiment.

Fig. 2 shows an example of the manner of hanging (roping) the ropes of the elevator.

Fig. 3 is a conceptual diagram for explaining an example of arrangement of a plurality of main ropes constituting a main rope group.

Fig. 4 is a plan view of the elevator shaft cut at the upper side of the distance measuring sensor, which is a component of the long article catching and detecting device, and a view showing a state where the car is stopped below the distance measuring sensor.

Fig. 5(a) is a functional block diagram of the control circuit unit, and (b) is a detailed functional block diagram of the long article detection unit.

Fig. 6(a) is a diagram plotting coordinates of an object detected by one scanning of the distance measuring sensor, and (b) is a diagram showing a result of excluding an extra coordinate from the coordinates shown in (a) by the extra coordinate excluding unit of the control circuit unit.

Fig. 7 is a view showing a result of monitoring a specified coordinate among the plurality of coordinates shown in fig. 6(b) for a preset time (a result of scanning a plurality of times in the preset time).

Fig. 8(a) is a diagram showing a relationship between a reference coordinate area and an unregulated operation area, (b) is an example showing that the main rope (long object) can be determined to be caught even if the displacement is within the unregulated operation area, and (c) is a diagram for explaining a process of estimating a catching position of the main rope (long object).

Fig. 9 is a plan view of a lifting path cut at a side of an upper portion of a distance measuring sensor which is a component of the long article catching detection device, and a state where the car is stopped above the distance measuring sensor.

Description of the reference numerals

54. 56, a distance measuring sensor is arranged on the base,

60. a long-strip-shaped object detecting part,

6002. a coordinate conversion unit for converting the coordinate of the object,

6006. a storage unit for a virtual coordinate area, wherein,

6012. a reference coordinate area storage section for storing a reference coordinate area,

6014. a hanging judgment part.

Detailed Description

Hereinafter, an embodiment of the long article hanging apparatus according to the present invention will be described with reference to the drawings. In the drawings, the sizes of the constituent elements are not necessarily uniform.

Fig. 1 is a front view of the inside of a hoistway 12 in which an elevator 10 is accommodated, the hoistway having

distance measuring sensors

54 and 56 as components of an elongated object catching detection device according to an embodiment (the

distance measuring sensors

54 and 56 are not shown in fig. 1), as viewed from the side of an elevator car (not shown), and fig. 2 is a right side view of the elevator 10.

As shown in fig. 1 and 2, the elevator 10 is a cable elevator employing a traction type drive system. A machine room 16 is provided in a portion of the building 14 above the uppermost portion of the lifting path 12. A hoist 18 and a deflector wheel 20 are provided in the machine room 16. A plurality of main ropes are wound around the sheave 22 and the deflector sheave 20 constituting the hoisting machine 18. These main ropes are referred to as "main rope group 24" (in fig. 1, the exact number of main rope groups 24 is not shown).

One end of the main rope group 24 is connected to the car 26, and the other end is connected to the counterweight 28, and the car 26 and the counterweight 28 are suspended by the main rope group 24 in a bucket type.

A plurality of balance ropes having the lowermost ends wound around a balance wheel 30 hang down between the car 26 and the counterweight 28. The plurality of balancing ropes is referred to as a "balancing rope group 32". In the present embodiment, the number of main ropes constituting the main rope group 24 is the same as the number of balance ropes constituting the balance rope group 32 (eight balance ropes in the present embodiment). The diameter of the main rope group and the balance rope group is generally 10mm-20 mm. The number of main ropes constituting the main rope group 24 and the number of balance rope groups 32 are not limited to the above numbers, and may be arbitrarily selected according to the specification of the elevator.

The traveling cable 34 is suspended from a lower end portion of the car 26, and an end portion of the traveling cable 34 on the opposite side of the car 26 is connected to a cable connection box (not shown) provided on a side wall in the vertical direction of the ascending/descending path 12. Namely: the moving cable 34 is suspended in an elongated U shape between the lower end of the car 26 and the cable connection box. The traveling cable 34 transmits electric power and signals between the car 26 and a control panel 50 described later, and moves up and down in accordance with the operation of the car 26. The moving cable 34 generally uses a parallel cable, for example, having a thickness of about 15mm and a width of about 100 mm.

A pair of

car guide rails

36 and 38 and a pair of

counterweight guide rails

40 and 42 are laid in the vertical direction in the lifting path 12. (neither of them is shown in fig. 1 and 2, but refer to fig. 4).

In the elevator 10 having the above-described configuration, when the sheave 22 is rotated in the normal direction or the reverse direction by a not-shown hoist motor, the main rope group 24 wound around the sheave 22 travels, and the car 26 and the counterweight 28 suspended by the main rope group 24 are lifted and lowered in directions opposite to each other. In addition, the balance rope group 32 hanging between the car 26 and the counterweight 28 turns around the balance sheave 30. Further, as the car 26 moves up and down, the lower end portion (folded portion) of the U-shaped suspended moving wire 34 is also displaced in the vertical direction.

As shown in fig. 4, the car 26 is provided with a known floor leveling sensor 44 (only shown in fig. 4) for detecting whether the car 26 is accurately landed on the target floor. The flat sensor 44 is, for example, a light-transmitting photoelectric sensor in which a light emitter and a light receiver (both not shown) are disposed to face each other.

Further, a light shielding plate 46 (only shown in fig. 4) is provided corresponding to each floor, and the light shielding plate 46 is formed of an L-shaped elongated metal plate, for example, as shown in fig. 4. The front end of the light shielding plate 46 is positioned at a position where it can be detected by the leveling sensor 44 when the lower car 26 is correctly landed on the target floor, and the base end of the light shielding plate 46 is fixed to the car guide rail 36.

Returning to fig. 1 and 2, a long-period vibration sensor 48 is provided in the machine room 16, and the long-period vibration sensor 48 detects long-period sway of the building 14 caused by an earthquake or strong wind.

In addition, a power supply unit (not shown) that supplies power to various devices (not shown) provided in the hoisting machine 18 or the car 26, and a control panel 50 having a control circuit unit 52 (fig. 5) that controls these devices are provided in the machine room 16.

The control circuit unit 52 has a configuration in which a ROM and a RAM are connected to a CPU (all not shown). The CPU centrally controls the winding machine 18 and the like by operating various control programs stored in the ROM, thereby smoothly realizing normal operation such as a car lifting operation and realizing a controlled operation for ensuring safety of passengers when an earthquake occurs.

Here, as shown in fig. 2, in the main rope group 24, a portion from which the car 26 is suspended is referred to as a car-side main rope portion 24A, and a portion from which the counterweight 28 is suspended is referred to as a counterweight-side main rope portion 24B. In the balancing rope group 32, a portion (the portion of the balancing rope group 32 between the car 26 and the balance sheave 30) depending from the car 26 is referred to as a car-side balance sheave portion 32A, and a portion (the portion of the balancing rope group 32 between the counterweight 28 and the balance sheave 30) depending from the counterweight 28 is referred to as a counterweight-side balancing rope portion 32B. According to the above definition, the lengths (ranges) of the car side main rope portions 24A and the counterweight side main rope portions 24B in the main rope group 24 and the lengths (ranges) of the car side balance rope portions 32A and the counterweight side balance rope portions 32B in the balance rope group 32 expand (contract) and contract (change) depending on the elevating positions of the car 26 and the counterweight 28.

Referring to fig. 3, the arrangement of a plurality of (eight in the present embodiment) main ropes M1-M8 constituting the main rope group 24 will be described. Fig. 3 is a conceptual diagram illustrating a car-side main rope portion 24A, which is a portion of the main rope group 24 between the sheave 22 and the car 26.

The upper view of fig. 3(a) is a view of the sheave 22 and a part of the car-side main rope portion 24A as viewed from the front, and the lower view of fig. 3(a) is a view of the car 26 as viewed from the top. The lower diagram of fig. 3(a) shows the correspondence relationship between the connection positions of the main ropes M1-M8 constituting the main rope group 24 in the front view direction of the car 26 and the main rope groups M1-M8. Fig. 3(b) is a view of the sheave 22, the car-side main rope portion 24A, and a part of the car 26 as viewed from the right direction.

The eight main ropes M1-M8 are wound around the sheave 22 at equal intervals in the horizontal direction (the axial direction of the sheave 22) in the order shown in the upper drawing of fig. 3 a. As shown in the lower diagram of fig. 3(a), the lower end portions of the main ropes M1-M8 are connected to the car 26 in two rows by dividing the odd-numbered main ropes M1, M3, M5, and M7 and the even-numbered main ropes M2, M4, M6, and M8.

The reason why the two rows are divided is that the limited space above the car 26 is prevented from being effectively used by the effect of the size (outer diameter) of the fastening metal (rope end) that connects the ends of the main ropes M1-M8 to the car 26 being larger than the interval between the main ropes M1-M8 of the sheave 22 when the main ropes M1-M8 are connected in one row.

The main ropes M1, M3, M5, M7 at the connection positions where the car 26 is connected are equally spaced, the main ropes M2, M4, M6, M8 are equally spaced, and the main ropes M1 to M8 are equally spaced in the horizontal direction. Thus, the horizontal intervals of the main ropes M1, M3, M5, M7, the main ropes M2, M4, M6, M8, and the main ropes M1 to M8 from the sheave 22 to the main rope group 24 portion (car-side main rope portion 24A) of the car 26 are equally spaced at all positions in the vertical direction.

The arrangement of the main ropes M1-M8 of the counterweight-side main rope portion 24B is substantially the same as that of the car-side main rope portion 24A described above (fig. 9). The arrangement of the plurality of balancing ropes C1-C8 (eight balancing ropes in the present embodiment) constituting the balancing rope group 32 is basically the same as the arrangement of the plurality of ropes of the car-side balancing rope portion 32A and the counterweight-side balancing rope portion 32B, respectively, as shown in fig. 9 and 4, except that the turning positions thereof are different (i.e., only the vertical directions are opposite) between the positions of the sheaves 22 and the positions of the balance sheaves 30.

When the building 14 in which the elevator 10 having the above-described mechanism is installed swings due to a long-term earthquake or strong wind, a long object such as the main rope group 24, the balance rope group 32, and the movable wire 34 suspended in the lifting path 12 swings laterally. In addition to the long object suspended in the lifting path 12, a governor rope (not shown) is provided. The governor rope is, of course, a rope looped between a sheave of the governor provided in the machine room 16 and a tension pulley provided in the elevator path 12 (neither of which is shown).

In order to realize the control operation corresponding to the yaw rate of the long object, for example, the main rope group 24 or the balance rope group 32, the level of the amplitude of the lateral sway is detected.

As shown in fig. 2, the

distance measuring sensors

54 and 56 for detecting the amplitude of the yaw motion are provided on the side walls of the ascending/descending path 12. The distance measuring sensor 54 is provided at a position intermediate in the vertical direction of the ascending/descending path 12, and the distance measuring sensor 56 is provided at a position 1/4 from the bottom of the ascending/descending path 12 with respect to the entire length of the ascending/descending path 12. The distance measuring sensor 54 and the distance measuring sensor 56 are the same type of sensor, and are used in the same manner except for the vertical installation position. Accordingly, the following description will be given by taking the distance measuring sensor 54 as a representative example, and the detailed description of the distance measuring sensor 56 will be omitted.

Here, as shown in fig. 4, the ascending/descending path 12 is a space surrounded by four side walls 58 in the present embodiment, and when it is necessary to distinguish the four side walls 58, a letter A, B, C, D is given with the symbol "58". The distance measuring sensor 54 is provided on the side wall 58A on the side where the elevator rides (not shown). As shown in fig. 2 and 4, the distance measuring sensor 54 is disposed outside the lifting path of the car 26 and the counterweight 28.

The distance measuring sensor 54 measures the direction and distance of an object (usually a plurality of objects) present in the ascending/descending path 12 on a horizontal plane including the installation position of the distance measuring sensor 54 from the installation position, and outputs the direction and distance as two-dimensional position information. The two-dimensional position information is in the form of polar coordinates.

The Range sensor 54 is, for example, a well-known two-dimensional Range sensor (Laser Range Scanner) that emits Laser light at preset angle intervals (for example, 0.125 degrees) and scans the horizontal plane in a fan-like manner, measures the Time of each round trip of the emitted Laser light to reach the object, and measures the distance from the installation position of the Range sensor 54 to the object by a Time of Flight ranging method (Time of Flight) converted into the distance, the Time per one scan (scan Time) is, for example, 25msec, the scan angle α of the Range sensor 54 is, as shown in fig. 4, approximately 180 degrees in size, and its scan Range is almost the entire area of the elevation path 12 in the horizontal plane including the installation position of the Range sensor 54.

A method of detecting the amplitude on the horizontal plane, which refers to the horizontal plane of the car-side main rope portion 24A and the car-side balancing rope portion 32A that laterally swing due to a long-period earthquake or a strong wind, is described below with reference to fig. 4 to 7.

The two-dimensional position information detected by the distance measuring sensor 54 is input to the long article detecting unit 60 of the control circuit unit 52 shown in fig. 5 (a). The control circuit unit 52 includes an operation control unit 62 in addition to the long object detection unit 60. The operation control section 62 controls various devices to realize the above-described normal operation or the above-described regulation operation, as described above.

The two-dimensional position information in the polar coordinate format is converted into orthogonal coordinates (xy orthogonal coordinates) of a coordinate plane selected on the horizontal plane by a coordinate conversion unit 6002 of the long object detection unit 60 as shown in fig. 5 (b).

The orthogonal coordinate is, for example, an xy orthogonal coordinate as shown in fig. 6(a), that is, an orthogonal coordinate having the installation position of the distance measuring sensor 54 (not shown in fig. 6 (a)) as the origin.

In fig. 6(a), in a state where the car-side main rope portion 24A and the counterweight-side balancing rope portion 32B are within the scanning range of the distance measuring sensor 54 (the state shown in fig. 4), the coordinates of an object detected by one scan (hereinafter referred to as "position coordinates") are plotted in the figure.

In fig. 6(a), the symbols of the objects corresponding to the coordinates are also indicated by parentheses (the same applies to fig. 6(b), fig. 8(b), and fig. 8 (c)).

As can be understood from the detection principle of the distance measuring sensor 54, when the first object is detected, the second object (or a part thereof) hidden behind the first object is not detected when viewed from the distance measuring sensor 54. For example, a portion of the side wall 58B is not detected because the portion is hidden behind the guide rail 36 when viewed from the range sensor 54, and the balance cords C1-C8 are not detected because the balance cords C1-C8 are hidden behind the main cords M1-M8.

In the present embodiment, the desired position coordinates, which are marked among the position coordinates of fig. 6(a), are the position coordinates of the main ropes M1-M8 associated with the car-side main rope portion 24A, and the position coordinates of other objects are coordinates that would hinder the determination of the main ropes M1-M8. When the car 26 is positioned above the distance measuring sensor 54, the balancing ropes C1 to C8 associated with the car-side balancing rope portion 32A are detection targets required by the distance measuring sensor 54.

Therefore, in consideration of the virtual range of the lateral sway that can occur in the car side main rope portion 24A and the car side balancing rope portion 32A, a virtual coordinate region R1 (a region surrounded by a one-dot chain line in fig. 6) where only the car side main rope portion 24A and the car side balancing rope portion 32A are supposed to exist is set in advance on the scanning plane (horizontal plane) of the distance measuring sensor 54. In the present embodiment, the virtual coordinate region R1 is defined by the coordinates (X1, Y1), (X2, Y2), (X3, Y3) (X4, Y4) of four points P1-P4 as shown in fig. 6 (a). The set of the coordinates "defined as R1" of the P1-P4 is stored in the virtual coordinate region storage unit 6006 (fig. 5(b)) of the long article detection unit 60.

As described above, the two-dimensional position information output from the distance measuring sensor 54 is input to the coordinate conversion unit 6002, and is converted from polar coordinates to orthogonal coordinates in the coordinate conversion unit 6002. The coordinates (position coordinates) after the conversion are output from the coordinate conversion unit 6002 and input to the extra coordinate exclusion unit 6004.

The extra coordinate exclusion unit 6004 refers to the R1 definition information stored in the virtual coordinate region storage unit 6006, outputs only the position coordinates of the virtual coordinate region R1 out of the position coordinates of the object from the coordinate conversion unit 6002, and inputs the output position coordinates to the amplitude calculation unit 6008. In other words, the extra coordinate exclusion unit 6004 excludes the position coordinates outside the virtual coordinate region R1 from the position coordinates of the object from the coordinate conversion unit 6002, and outputs the position coordinates, and the output position coordinates are input to the amplitude calculation unit 6008.

Fig. 6(b) is a diagram in which the position coordinates input to the amplitude calculating unit 6008 are plotted on the orthogonal coordinates. As shown in fig. 6(b), the position coordinates input to the amplitude calculating unit 6008 are objects existing in the virtual coordinate region R1, that is, only for the main ropes M1-M8.

Here, when the car-side main rope portion 24A swings laterally in accordance with the sway of the building 14 caused by a long-period earthquake or a strong wind, the main ropes M1 to M8 constituting the car-side main rope portion 24A each swing laterally independently, but swing laterally in substantially the same motion when there is no obstacle. I.e., to swing laterally while maintaining the arrangement shown in fig. 4.

Therefore, the amplitude calculating unit 6008 calculates the amplitude of the scanning plane (horizontal plane) of the entire car-side main rope portion 24A from the displacement of one of the main ropes M1-M8.

Specifically, the amplitude is calculated from the displacement of the main rope (M1) shown in fig. 6(b), for example. The displacement of the main rope M1 is determined by the position coordinates (Xm1, Yml) toward the leftmost end of the paper surface in fig. 6(b) among the position coordinates corresponding to the main rope M1. The position coordinates are determined as the position coordinates having the smallest X coordinate value among the position coordinates of the corresponding main ropes M1-M8. Hereinafter, the position coordinates (Xm1, Ym1) for calculating the amplitude of the entire car-side main rope portion 24A are referred to as "fixed coordinates".

The amplitude calculating unit 6008 monitors the fixed coordinates (Xm1, Ym1) for a predetermined time (after a plurality of scans) from the position coordinates input from the redundant coordinate excluding unit 6004 after each scan by the distance measuring sensor 54. The preset time is, for example, a maximum period (for example, 10 seconds) of the imaginary lateral vibration. This preset time is hereinafter referred to as "observation time".

Fig. 7 shows the result of one monitoring. As shown in fig. 7, a plurality of determined coordinates (Xm1, Ym1) monitored at one time are linearly arranged in a column (hereinafter, this column is referred to as a "coordinate column"). The amplitude calculating unit 6008 extracts the coordinates (Xel, Yel), (Xe2, Ye2) at both ends of the coordinate series, and calculates the distance SX between the two points. SX is considered as the maximum amplitude SX generated during the observation time of one monitoring.

The amplitude calculating unit 6008 outputs SX to the swing level determining unit 6010. The swing level determination unit 6010 determines the level of the lateral swing based on SX input from the amplitude calculation unit 6008.

The swing level determination unit 6010 compares the preset amplitude reference values S1, S2, S3, and S4(S1< S2< S3< S4) with the amplitude SX, and determines that the amplitude SX corresponds to one of the amplitude level LO (no regulation-required operation level), L1 (extra-low level), L2 (low level), L3 (high level), and L4 (extra-high level).

SX < S1 is L0;

SX < S2 is L1 and is not less than S1;

SX < S3 is L2 and is not less than S2;

SX < S4 is L3 and is not less than S3;

SX is more than or equal to S4 and is L4.

The swing level determination unit 6010 outputs the swing level (any one of L0, L1, L2, L3, and L4) of the determination result to the operation control unit 62.

The operation control unit 62 performs the controlled operation based on the swing level input from the swing level determination unit 6010. The contents of the different policing operations at each level are omitted from illustration.

As described above, in the embodiment, the rope sway detection device includes the distance measuring sensor 54, the coordinate conversion unit 6002 of the long article detection unit 60, the extra-coordinate exclusion unit 6004, the virtual coordinate area storage unit 6006, and the amplitude calculation unit 6008 (fig. 5). According to this rope sway detection device, as described above, the distance measuring sensor 54 detects the direction and distance of an object from the installation position of the distance measuring sensor 54, the object existing on the horizontal plane including the installation position of the distance measuring sensor 54, and the detection device outputs the direction and distance as two-dimensional position information; then, position coordinates of any one of the car side main rope portion 24A suspending the car 26 and the car side balancing rope portion 32A hanging from the car 26 in the horizontal plane are detected from the two-dimensional position information; then, from the detected position coordinates of the rope portion, the amplitude of the yaw motion of the rope portion on the horizontal plane when the rope portion is in the yaw motion is calculated.

After it is determined that the sway of the building 14 due to the long-period earthquake motion or strong wind is completed or the yaw movement of the long object is completed, whether or not the long object is caught on the equipment in the lifting path 12 is checked. The judgment of the end of the lateral swing of the long article may refer to the magnitude of the amplitude detected by the amplitude calculating unit 6008, or may judge the elapsed time, which is the time from the time when the magnitude of the swing of the building 14 detected by the long-period vibration sensor 48 is within the normal range before the occurrence of the earthquake or the like to the time when the lateral swing of the long article returns to the same normal range.

Among the equipment in the hoistway 12 that the main rope or the balancing rope is most likely to catch is the visor 46 (fig. 4). Further, an engaging mechanism (not shown) on the elevator riding side constituting an engaging device for interlocking opening and closing of the door of the car and the door at the elevator riding place is also a device in which the long article may be caught in the elevating path 12. The engaging mechanism is provided at each elevator landing.

Hereinafter, a method of detecting the catching of the main rope or the balance rope will be described. When the building 14 is not swayed, the reference coordinate region R2 where only the car side main rope portion 24A and the car side balancing rope portion 32A normally exist is set in advance. In the present embodiment, the reference coordinate region R2 is defined by the coordinates (X5, Y5), (X6, Y6), (X7, Y7) (X8, Y8) of four points P5-P8 as shown in fig. 6 (a).

When it is determined that the sway of the building 14 and the yaw movement of the long object are completed due to the long-period earthquake motion or the strong wind, if all of the plurality of ropes constituting the main rope group 24 or the balancing rope group 32 are detected in the reference coordinate region R2, the reference coordinate region R2 is a region determined to be free from abnormality. In other words, when a part of the plurality of ropes is detected outside the reference coordinate region R2, the reference coordinate region R2 is a region in which the part of the ropes that is determined to be detected is caught on the devices in the ascending/descending path 12.

The reference coordinate region R2 is, for example, a square as shown in fig. 6a, and is a square region in which the center (intersection of diagonal lines) thereof coincides with the center of the position coordinates of the entire main rope group 24 and the entire balance rope group 32 in the normal state (hereinafter referred to as "rope group center"). The rope group center is a coordinate obtained by arithmetic averaging, in a plan view, the X coordinate and the Y coordinate of the center of each rope at the connection position between the plurality of ropes constituting the main rope group 24 or the balancing rope group 32 and the car 26. The rope group center is (Xc, Yc) (fig. 8 (a)).

As shown in fig. 8(a), for example, the reference coordinate region R2 is set to a region narrower than the range of lateral swinging of the main rope group 24 and the balance rope group 32 that swing laterally at the swing level L1. The area covered by the diagonal lines in fig. 8(a) is an area where the amplitude SX is determined as the wobble level L1, and if the amplitude SX is a wobble in the range of L0, it is determined as an area where the operation level is not to be controlled.

The reference coordinate region R2 is set to a narrower region than this L0. That is, even in a state where the vehicle is stopped at a displacement of an amplitude level at which the control operation is not necessary, the main rope or the balance rope may catch the devices in the elevation path 12, and therefore the reference coordinate region R2 is used to detect the catching.

A set of the coordinates of the above-described P5-P8 defining the reference coordinate region R2, "as R2 defining information", is stored in the reference coordinate region storage unit 6012 (fig. 5(b)) of the long article detection unit 60.

As shown in fig. 5(b), the long object detection unit 60 includes a hanging determination unit 6014. The hanging determination unit 6014 determines whether or not the main rope or the balance rope is hung with reference to the R2 definition information.

When determining that the sway of the building 14 and the yaw motion of the long object are completed due to the long-period earthquake motion or the strong wind, the hanging determination unit 6014 refers to the R2 definition information, and determines whether or not an object exists outside the reference coordinate region R2 in the coordinates output from the redundant coordinate exclusion unit 6004. When it is determined that an object exists outside the reference coordinate region R2, it is determined that the main rope or the balance rope is caught. There is little possibility that all of the plurality of ropes constituting the main rope group 24 or the balancing rope group 32 are simultaneously caught, and normally, 1 to 2 ropes are caught.

Therefore, some of the ropes (1 to 2 ropes) are detected outside the reference coordinate region R2, and the remaining ropes (most of the ropes) are detected within the reference coordinate region R2.

The long object detection unit 60 includes a hanging position estimation unit 6016. The hanging position estimating unit 6016 estimates the rope detected outside the reference coordinate region R2, that is, the hanging position of the hung rope in the vertical direction of the ascending/descending path 12.

The long object detection unit 60 includes an apparatus position information storage unit 6018. The facility position information storage unit 6018 stores position information for specifying a position of a facility where the long article may be caught in the ascending/descending path 12.

This position information is determined by xyz rectangular coordinates obtained by adding a Z axis to xy rectangular coordinates shown in fig. 6 (a). The z-axis is an axis extending in the vertical direction, and is an axis passing through the origin of the xy orthogonal coordinate in fig. 6(a) with z being 0 at the bottom of the lifting path 12.

The facility position information storage unit 6018 stores position information (xyz rectangular coordinates) of the light shielding plate 46 (fig. 4) or each of the engagement mechanisms (not shown) on the boarding side.

The estimation processing of the hanging position by the hanging position estimation unit 1016 will be described with reference to fig. 8(c) and the like. Fig. 8(c) shows the result of the position coordinates output from the extra coordinate elimination unit 6004 to the hanging determination unit 6014.

Since the long article (in the present embodiment, the main rope M1) is detected outside the reference coordinate region R2, the hanging determination unit 6014 determines that the long article is hung. When the long article is not detected outside the reference coordinate region R2, the hanging determination unit 6014 notifies the operation control unit 62 that the hanging is not generated.

When it is determined that the hanging is occurring, the hanging determination unit 6014 notifies the hanging position estimation unit 6016 of the hanging and the position coordinates detected outside the reference coordinate region R2 (hereinafter, referred to as "outside reference coordinates").

The hanging position estimating unit 6016 acquires the stop position information of the car 26 at this time from the operation control unit 62, and estimates the hanging position of the long article (the main rope in this embodiment) in the vertical direction of the ascending/descending path 12 from the stop position of the car 26 and the reference external coordinates.

Specifically, coordinates (Xc, Yc, Zc) of the rope group center (Xc, Yc) in the xyz coordinate system are obtained from the stop position information of the car 26. Further, the coordinates (Xh, Yh, Zh) of the xyz-coordinate system of the position of the long article (the main rope M1 in the present embodiment) on the scanning plane of the distance measuring sensor 54 determined to be caught are obtained from the arithmetic mean of the X-coordinate and the Y-coordinate of the outside-reference coordinate and the set position on the z-axis of the distance measuring sensor 54.

The main rope (here, the main rope M1) to be hooked is generally substantially linear from a position connected to the car 26 to the equipment in the suspended elevator shaft 12. The hanging position estimating unit 6016 extends a line segment connecting the coordinates (Xc, Yc, Zc) and the coordinates (Xh, Yh, Zh) to the vicinity of the side wall 58 of the elevation path 12 toward the coordinates (Xh, Yh, Zh). The hanging position estimating unit 6016 estimates that the main rope is hanging on the equipment in the ascending/descending path 12 closest to the extended straight line near the side wall 58.

The estimation result (i.e., the device in the ascending/descending path 12 estimated to be caught) is notified to the operation control unit 62.

The operation control unit 62 that has received the notification notifies the central monitoring panel 64 (fig. 5) provided in the central management room (not shown) of the fact that the long article (the main rope in the present embodiment) is caught and the equipment in the ascending/descending route 12 estimated to be caught. The central monitoring panel 64 that receives the notification displays the notification content on a display in the same management room.

As described above, in the embodiment, the long article hanging detection device includes the distance measuring sensor 54, the coordinate conversion unit 6002 of the long article detection unit 60, the extra coordinate exclusion unit 6004, the hanging determination unit 6014, the reference coordinate region storage unit 6012, the hanging position estimation unit 6016, and the facility position information storage unit 6018 (fig. 5).

According to the long article hanging detection device, as described above, the distance measurement sensor 54 detects the direction and distance of the object from the installation position of the distance measurement sensor 54, the object existing on the horizontal plane including the installation position of the distance measurement sensor 54, and the detection device outputs the direction and distance as two-dimensional position information; then, the position coordinates on the horizontal plane of any one of the car main rope portion 24A suspending the car 26 and the car balancing rope portion 32A hanging from the car 26 are detected from the two-dimensional position information. When the swing of the long object (the main rope and the balance rope) accompanying the swing of the building 14 is regarded as being completed after the building 14 swings, it is determined that the rope is caught if an object exists outside the reference coordinate region R2 in the detected position coordinates.

Thus, even in a state where the long article is stopped at a displacement of an amplitude level at which the regulation operation is not necessary, the presence of the long article can be detected with higher accuracy than before.

Although the above description has been given of an example in which only one of the plurality of ropes is hooked, even when there are a plurality of ropes to be hooked, as will be described below, the position at which each rope is hooked (the device in the elevator path 12) can be estimated.

The hooked rope is detected as a plurality of coordinates outside the reference coordinate region R2. The plurality of coordinates are grouped into sets of coordinates from the continuity thereof, and each set is treated as one rope, whereby the hanging position of each rope can be estimated by the above-described method.

Although the car-side main rope portion 24A and the car-side balancing rope portion 32A are the objects of catching detection in the above description, the counterweight-side main rope portion 24B and the counterweight-side balancing rope portion 32B may be the objects of catching detection.

In this case, the

distance measuring sensors

54, 56 may be provided on the side wall 58C (fig. 4) in order to easily detect the counterweight-side main rope portion 24B and the counterweight-side balancing rope portion 32B.

Alternatively, the

distance measuring sensors

54 and 56 may be provided on the side wall 58B or the side wall 58D (fig. 4) in order to easily detect the car side main rope portion 24A and the car side balancing rope portion 32A, and the counterweight side main rope portion 24B and the counterweight side balancing rope portion 32B at the same time.

When the car 26 stops above the distance measuring sensor 54, the movable wire 34 appears on the scanning surface of the distance measuring sensor 54 as shown in fig. 9, and therefore the movable wire 34 may be a target to be caught.

That is, for each long object to be subjected to the catching detection, the virtual coordinate region and the reference coordinate region are determined, and the catching detection process performed in the car side main rope portion 24A and the car side balancing rope portion 32A as described above may be performed in the same manner.

In the present embodiment, since the additional sensor 56 is provided in addition to the sensor 54, when the car 26 is stopped between the sensor 54 and the sensor 56 in the vertical direction, for example, the sensor 54 can detect the catching of the car-side main rope portion 24A and the sensor 56 can detect the catching of the car-side balancing rope portion 32A.

Industrial applicability

The long article catching detection device according to the present invention can be used as a device for detecting whether or not a main rope or another long article catches on a device in a lifting path due to a long-period earthquake motion or the like in a long elevator installed in a high-rise building during lifting.

Claims

1. A long article hanging detection device for detecting that a long article hanging in a lifting path of an elevator arranged in a building is hung on equipment in the lifting path, the device is characterized by comprising:

a distance measuring sensor that is provided in the lifting path, measures a direction and a distance from the installation position of an object present in the lifting path on a horizontal plane including the installation position of the distance measuring sensor, and outputs the direction and the distance as position information;

a detection unit that detects position coordinates of the long object in a coordinate plane selected by the horizontal plane from the position information output by the distance measuring sensor;

a reference coordinate area storage unit that stores a reference coordinate area in which a normal long object exists in the coordinate plane when the building is not swayed;

and a determination unit that determines that the long object is caught when the long object is detected outside the reference coordinate region by the detection unit when the swing of the long object accompanying the building sway is regarded as being completed after the building sway.

2. The long article hanging detection device according to claim 1, wherein said detection means detects the position coordinates of the coordinate plane on the long article by excluding the position coordinates outside an imaginary coordinate area in which only the long article is supposed to be present in the coordinate plane, from the position coordinates of the coordinate plane of the object determined based on the position information of the object output from the distance measurement sensor.

3. The device for detecting hanging of long object according to claim 2, wherein the elevator comprises: an elevator having a structure in which a car and a counterweight are suspended by a main rope group bucket, a balance rope group hangs down between the car and the counterweight, and the car and the counterweight ascend and descend in opposite directions along the ascending and descending path;

the long object is a plurality of ropes forming the main rope group or the balance rope group;

the determination means determines that the part of the ropes detected outside the reference coordinate region is caught when the detection means detects the part of the ropes outside the reference coordinate region and detects the remaining ropes in the reference coordinate region.

4. The long article hanging detection device according to claim 3, further comprising an estimation means,

the estimating means estimates a position where the rope is caught in the vertical direction from the position coordinates of the rope detected by the detecting means, and the installation position of the distance measuring sensor in the vertical direction of the ascending/descending path and the stop position of the car, after the determining means determines that the rope is caught in the part.

5. The device for detecting hanging of long object according to claim 1, wherein the elevator comprises: an elevator having a structure in which a car and a counterweight are suspended by a main rope group bucket, a balance rope group hangs down between the car and the counterweight, and the car and the counterweight ascend and descend in opposite directions along the ascending and descending path;

6. The long article hanging detection device according to claim 5, further comprising an estimation means for estimating a hanging position of the part of the rope in the vertical direction from position coordinates of the part of the rope detected by the detection means, an installation position of the distance measurement sensor in the vertical direction of the ascending/descending path, and a stop position of the car, after the judgment means judges that the part of the rope is hung.

7. The detecting apparatus for detecting the hanging of a long object according to any one of claims 1 to 6, wherein the elevator performs a control operation when the long object swings due to the building swinging by an earthquake or the like and the magnitude of the amplitude of the swing movement in the coordinate plane exceeds a preset threshold value;

the reference coordinate area is narrower than an area defining the preset threshold.