CN111573474B

CN111573474B - Long-strip article swing detection device

Info

Publication number: CN111573474B
Application number: CN201910124896.7A
Authority: CN
Inventors: 中川淳一; 大野佑辅; 佐藤功一; 刘红军
Original assignee: Fujitec Co Ltd
Current assignee: Fujitec Co Ltd
Priority date: 2019-02-19
Filing date: 2019-02-19
Publication date: 2023-02-28
Anticipated expiration: 2039-02-19
Also published as: JP6900965B2; CN111573474A; JP2020132426A

Abstract

Provided is an elongated article swing detection device capable of detecting the magnitude of a yaw motion of an elongated article to be detected in each direction as reliably as possible. Rectangular thing swing detection device, it is provided with: a detection frame setting part (6012) which is provided with a detection frame surrounding the long object on a coordinate plane selected from a horizontal plane in the hoistway; a central coordinate detection unit (6008) that detects the central coordinate on the coordinate plane of a coordinate data group that exists within a detection frame, among a plurality of coordinate data obtained by one scan of a distance measurement sensor (50); and a detection frame setting unit (6012) that predicts the center coordinate of the (n + 2) th scan based on the center coordinate detected by the center coordinate detection unit (6008) in the nth scan, the center coordinate detected by the (n + 1) th scan, and the scanning time interval, moves the detection frame to a position corresponding to the predicted center coordinate, and updates the position of the detection frame on the coordinate plane.

Description

Long-strip article swing detection device

Technical Field

The present invention relates to a rope sway detector, and more particularly to a rope sway detector for detecting sway of a main rope, a balance rope, or another long object, which is caused by sway of a building in which an elevator is installed due to an earthquake or the like.

Background

In recent years, with the progress of high-rise buildings, rope elevators have had a problem of sway of ropes and the like caused by earthquake or strong wind.

For example, when a building sways due to a long-period earthquake motion, a main rope suspending a car from the uppermost part of the building or a balance rope hanging from the car (hereinafter, in this column and the column of "subject to be solved by the present invention," main rope and balance rope "are collectively referred to as" rope ") sways in the hoistway in the horizontal direction almost in the same direction as the sway of the building (hereinafter, this horizontal sway is referred to as" lateral sway ").

In this case, the regulation operation corresponding to the magnitude of the lateral swing is performed. Here, patent document 1 discloses a rope sway detection device that detects whether or not the magnitude of lateral sway of a rope exceeds a certain threshold.

The rope sway detection device of patent document 1 includes a sensor including a light emitter and a light receiver. This sensor is used as the first lateral rope vibration sensor 12, and patent document 1 describes paragraphs [0028] and [0029] that "fig. 4 is a plan view showing a first embodiment of the first lateral rope vibration sensor 12 of fig. 1. In this example, the first rope lateral vibration sensor 12 has a light emitter 21 that emits the detection light 20 and a light receiver 22 that receives the detection light 20. The light emitter 21 and the light receiver 21 are disposed on both sides in the width direction (Y-axis direction in the drawing) of the car 7 as viewed from directly above. The detection light 20 is projected horizontally in parallel to the width direction of the car 7. When the amplitude of the lateral vibration of the main rope 6 in the front-rear direction (X-axis direction in the figure) of the car 7 reaches a preset threshold amplitude value, the detection light 20 is cut. Namely: in this embodiment, an intermittent ON/OFF signal is output in accordance with the lateral vibration of the main rope 6. In the case where two kinds of swing threshold values are set as described above, two sets of the light emitters 21 and the light receivers 22 are arranged so that the distances from the main ropes 6 to the detection light 20 are different ".

According to the rope sway detection device of patent document 1, the degree of lateral sway in the X-axis direction of the main ropes 6 can be detected in two stages.

In addition, in patent document 1, fig. 5 discloses an example in which the light emitter 21 and the light receiver 22 are provided on both sides in the front-rear direction (X-axis direction in the drawing) of the car 7 as a second embodiment.

Thus, from fig. 4 and 5 of patent document 1 and the description thereof, according to the rope sway detection device of patent document 1, it is possible to detect the magnitude of the lateral sway of the main rope 6 swaying in the front-rear direction (X-axis direction of fig. 4) and the width direction (Y-axis direction of fig. 5) of the car 7 in two stages.

Documents of the prior art

Patent literature

Patent document 1 Japanese patent laid-open No. 2014-156298 (Japanese patent No. 5791645)

Patent document 2 Japanese patent laid-open No. 2006-124102 (Japanese patent No. 4773704)

Disclosure of Invention

Problems to be solved by the invention

However, as described above, since the direction of sway of the rope and the building is almost the same, the sway direction of the rope is not limited to the width direction and the front-rear direction of the car. Thus, using the sensor (a set of light emitter and light receiver) of patent document 1, more sensors are required to detect the yaw motion of the rope in directions other than the above-described directions.

Further, the long object suspended in the hoistway includes a governor rope or a moving cable in addition to the main rope or the balance rope. When the technique described in patent document 1 is used to detect the lateral swing of each of the long objects, it is conceivable to provide a sensor for each long object, and in this case, the detection light 20 is often jammed in a narrow hoistway. Therefore, the detection light 20 for detecting a certain long article may be cut by another long article, and it is difficult to reliably detect various long articles.

In view of the above-described problems, it is an object of the present invention to provide a long article sway detection device capable of detecting the magnitude of a yaw motion in each direction of a long article to be detected as reliably as possible.

Means for solving the problems

In order to achieve the above object, a long article sway detection device according to the present invention is a long article sway detection device that detects the magnitude of a yaw motion of a long article suspended in a hoistway of an elevator, the long article sway detection device including: a distance measuring sensor which is installed in the hoistway, scans a horizontal plane in the hoistway including an installation position thereof at regular time intervals, measures a direction and a distance of an object existing in the hoistway on the horizontal plane from the installation position, and outputs the direction and the distance as position data; a conversion unit that converts the position data output from the distance measuring sensor into coordinate data of a coordinate plane selected on the horizontal plane; a detection frame setting unit that sets a detection frame surrounding the long object on the coordinate plane; a detection unit that detects a center coordinate of a coordinate data group existing in the detection frame in the coordinate plane, among a plurality of the coordinate data obtained by one scan of the distance measuring sensor; a calculating unit that calculates the swing amplitude of the horizontal plane of the long article when the long article swings according to the central coordinate detected by the detecting unit; the detection frame setting unit predicts the center coordinates of the coordinate data group of the (n + 2) th scan based on the center coordinates detected by the detection unit in the nth (n is a positive integer), the center coordinates detected by the (n + 1) th scan, and the time interval, moves the detection frame to a position corresponding to the predicted center coordinates, and updates the position of the detection frame on the coordinate plane.

Further, the apparatus includes an initial detection frame storage unit that stores a detection frame surrounding the long article on the coordinate plane in a state where the long article is stationary; the detection frame setting unit sets a first scan of the distance measuring sensor before the long object generates the lateral swing as a first scan, and sets the detection frame stored in the initial detection frame storage portion as a detection frame surrounding the long object in the first scan and a second scan.

Further, on the coordinate plane, a center coordinate of the coordinate data group existing in the detection frame and a center coordinate of the long object are in a corresponding relationship; the detection frame is set to have a minimum size that allows the long object to enter the detection frame corresponding to the center coordinates of the coordinate data group obtained as a result of one scan, at the time of the next scan, when the long object moves to a virtual maximum value during the period from one scan to the next scan of the range sensor.

Further, in the scanning after the third time by the distance measuring sensor, when the coordinate data group of the long article is not detected in the detection frame by the detection unit, the detection frame setting unit resets the detection frame to the detection frame stored in the initial detection frame storage unit, waits for the coordinate data group to be detected by the detection unit, and resumes the updating of the detection frame.

Alternatively, in the scanning after the third time by the distance measuring sensor, when the coordinate data group of the long article is not detected in the detection frame by the detection means, the detection frame setting means may temporarily enlarge the detection frame, wait for the detection of the coordinate data group by the detection means, and restore the detection frame to the original size.

Further, it is characterized by having a fixture-presence-area storing section that stores a presence area on the coordinate plane of a fixture present on the horizontal plane; the detection unit detects a center coordinate on the coordinate plane of a coordinate data group existing within the detection frame, from among remaining coordinate data obtained by removing coordinate data within the fixture existing region from the plurality of coordinate data obtained by one scan by the ranging sensor.

Further, the elevator is characterized in that: an elevator in which a car and a counterweight are suspended by a main rope group bucket, and a balance rope group is suspended between the car and the counterweight, and the car and the counterweight ascend and descend in the hoistway in opposite directions; the long strip is as follows: a plurality of ropes constituting the main rope group or the balance rope group; the center coordinates detected by the detection unit are: center coordinates of a coordinate data group as a result of detection of the plurality of ropes.

ADVANTAGEOUS EFFECTS OF INVENTION

According to the long article swing detection device of the present invention having the above configuration, the direction and distance of the object existing on the horizontal plane from the installation position are output as position data from the distance measurement sensor that scans the horizontal plane in the hoistway including the installation position at regular time intervals, and the position data are converted into coordinate data of a coordinate plane selected on the horizontal plane.

On the other hand, a detection frame surrounding a long object suspended in the hoistway is provided on the coordinate plane, the center coordinates of a coordinate data group existing in the detection frame among a plurality of coordinate data obtained by one scanning of the distance measuring sensor are detected, and the amplitude of the horizontal plane of the yaw motion when the long object swings sideways is calculated from the center coordinates.

Here, the center coordinates of the coordinate data group of the (n + 2) th scan are predicted based on the center coordinates detected in the nth scan (n is a positive integer), the center coordinates detected in the (n + 1) th scan, and the time interval, the detection frame is moved to a position corresponding to the predicted center coordinates, and the position of the detection frame on the coordinate plane is updated. This makes it possible to determine the long object to be detected in the detection frame as reliably as possible, and to detect the magnitude of the lateral swing in each direction.

Drawings

Fig. 1 is a diagram showing a schematic configuration of an elevator including a long article sway detection device according to the present embodiment.

Fig. 2 is a diagram showing an example of a manner of suspending (roping) the respective 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 inside of a hoistway cut at a side of an upper portion of a distance measuring sensor which is a component of the long article swing detecting device, and shows a state where a car is stopped below the distance measuring sensor.

Fig. 5 is a plan view of the inside of a hoistway cut at a side of an upper portion of a distance measuring sensor which is a component of the long article swing detecting device, and shows a state where a car is stopped on an upper surface of the distance measuring sensor.

Fig. 6 (a) is a functional block diagram of the control circuit unit, and (b) is a detailed functional block diagram of the long article oscillation amount detection unit.

Fig. 7 (a) is a diagram for plotting coordinate data of an object detected by one scan of the distance measuring sensor in the state shown in fig. 4, and (b) is a diagram for plotting coordinate data of an object detected by one scan of the distance measuring sensor in the state shown in fig. 5.

Fig. 8 (a) is a diagram showing a result of excluding the extra coordinate data from the coordinate data shown in fig. 7 (a) by the extra coordinate excluding unit of the control circuit unit; (b) The figure shows the result of excluding the extra coordinate data from the coordinate data shown in fig. 7 (b) by the extra coordinate excluding unit of the control circuit unit.

Fig. 9 (a) is a diagram showing a detection frame, (b) is a diagram for explaining update of the position of the detection frame on the coordinate plane, and (c) is a diagram for explaining the size of the detection frame.

Fig. 10 is a view showing a result of monitoring the center coordinates of the coordinate data group corresponding to the car-side main rope for a predetermined time (a result of scanning performed for a plurality of times during the predetermined time) among the plurality of pieces of coordinate data shown in fig. 8 (a), where (a) shows a case where the center coordinates are displaced in a straight line, and (b) shows a case where the center coordinates are displaced in an elliptical shape.

Fig. 11 is a diagram showing a coordinate data group obtained as a result of the distance measuring sensor scanning the car-side main rope portion using the distance measuring sensors having different performances, (a) showing a relationship between the coordinate data group and the detection frame, and (b) showing a relationship between the coordinate data group and the detection frame, which are different detection frames.

Description of the symbols

50. 52, a distance measuring sensor; 6002. a coordinate conversion unit; 6008. a central coordinate detection unit; 6012. a detection frame setting part; 6014. a swing amplitude calculating unit.

Detailed Description

Hereinafter, an embodiment of the long article swing 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 as viewed from a boarding location (not shown), in which an elevator 10 including

distance measuring sensors

50 and 52 as components of a long article sway detector according to the present embodiment is accommodated in the hoistway 12, and fig. 2 is a right side view of the elevator 10. In fig. 2, the

distance measuring sensors

50 and 52 are not shown.

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 hoistway 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 hoist 18. These plurality of main ropes are referred to as "main rope group 24" (the exact number of main rope groups 24 is not shown in fig. 1).

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 balance ropes is referred to as a "balance 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 (six in the present embodiment). The diameter of the main rope group and the balance rope group is generally 10mm to 20mm. 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 hoistway 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 moving cable 34 is a cable that transmits electric power and signals between the car 26 and a control panel 46 described later, and moves up and down in accordance with the operation of the car 26. The moving cable 34 is generally a flat cable, for example, having a thickness of about 15mm and a width of about 100mm.

A pair of

car guide rails

36 and 38 and a pair of

counterweight guide rails

40 and 42 are laid in the hoistway 12 in the vertical direction. (both not shown in fig. 1 and 2, refer to fig. 4 and 5).

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 back on 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.

In addition to the hoist 18 or the deflector wheel 20, a long-period vibration sensor 44 is provided in the machine room 16, and a long-period vibration sensor 48 detects long-period sway of the building 14 accompanying an earthquake or a 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 46 having a control circuit unit 48 (fig. 6) that controls the various devices are provided in the machine room 16.

The control circuit unit 48 has a configuration (neither shown) in which a ROM and a RAM are connected to a CPU. The CPU centrally controls the winding machine 18 and the like by operating various control programs stored in the ROM, thereby realizing normal operation such as smooth elevator operation of the car and control operation for ensuring safety of passengers in the event of an earthquake.

Here, as shown in fig. 2, in the main rope group 24, a portion suspending the car 26 is referred to as a car-side main rope portion 24A, and a portion suspending the counterweight 28 is referred to as a counterweight-side main rope portion 24B. In the balancing rope group 32, a portion (a portion of the balancing rope group 32 between the car 26 and the balancing sheave 30) depending from the car 26 is referred to as a car-side balancing sheave portion 32A, and a portion (a portion of the balancing rope group 32 between the counterweight 28 and the balancing sheave 30) depending from the counterweight 28 is referred to as a counterweight-side balancing rope portion 32B.

Further, as shown in fig. 1, a portion of the moving wire 34 suspended from the car 26 is referred to as a car-side wire portion 34A, and a portion suspended from the connection box is referred to as a connection box-side wire portion 34B.

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. In addition, the lengths (ranges) of the car-side cable part 34A and the connection-side cable part 34B occupying the moving cable 34 also extend and contract (vary) according to the elevating position of the car 26.

Referring to fig. 3, the arrangement of a plurality of (six in the present embodiment) main ropes M1 to M6 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) is a diagram showing the correspondence relationship between the connection positions of the main ropes M1 to M6 constituting the main rope group 24 with respect to the car 26 and the main rope groups M1 to M6 in a plan view. 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 six main ropes M1 to M6 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. The six main ropes M1 to M6 are connected to the car 26 at equal intervals in the order shown in the lower diagram of fig. 3 (a).

Here, the coupling interval of the car 26 is larger than the winding interval of the sheave 22. This is due to the influence of the size (outer diameter) of the fastening metal (rope end lever) that joins the ends of the main ropes M1 to M6 to the car 26. Therefore, as shown in fig. 3 (a), the intervals of the main ropes M1 to M6 increase as extending downward, although the increase is slight.

The arrangement of the main ropes M1 to M6 of the counterweight-side main rope portions 24B is basically the same as that of the car-side main rope portions 24A described above (fig. 5). Note that, as for the plurality of (six in this embodiment) balance ropes C1 to C6 constituting the balance rope group 32, the arrangement of the plurality of ropes of the car-side balance sheave portion 32A and the counterweight-side balance sheave portion 32B is basically the same as that of the car-side main rope portion 24A and the counterweight-side main rope portion 24B, respectively, as shown in fig. 5 and 4, except that the turning positions thereof are different (that is, only the vertical directions are opposite) in the sheaves 22 or the balance sheaves 30.

When the building 14 in which the elevator 10 having the above-described configuration is installed is subjected to long-term earthquake motion or heavy wind sway, long objects such as the main rope group 24, the counterweight rope group 32, and the movable wire 34 suspended in the hoistway 12 sway laterally. A governor rope (not shown) is provided in addition to the long object suspended in the hoistway 12. The governor rope is, of course, a rope (neither of which is shown) looped between a sheave of the governor provided in the machine room 16 and a tension sheave provided at the bottom of the hoistway 12.

For example, in order to realize the control operation corresponding to the degree of lateral swing of the main rope group 24 or the balancing rope group 32, the degree of the swing amplitude of the lateral swing of the long article is detected.

As shown in fig. 1, the

distance measuring sensors

50 and 52 for detecting the swing of the yaw movement are provided on the side wall of the hoistway 12. The distance measuring sensor 50 is provided at a position intermediate in the vertical direction of the hoistway 12, and the distance measuring sensor 52 is provided at a position 1/4 of the height from the bottom of the hoistway 12 with respect to the entire length of the hoistway 12. The distance measuring sensor 50 and the distance measuring sensor 52 are the same type of sensor, and are used in the same manner except for the vertical installation position. Therefore, the distance measuring sensor 50 will be described below as a representative example, and the detailed description of the distance measuring sensor 52 will be omitted.

Here, the hoistway 12 is a space surrounded by four side walls 54 in the present embodiment, as shown in fig. 4 and 5. In the case where it is necessary to distinguish the four side walls 54, the symbol "54" is given the letter A, B, C, D. The distance measuring sensor 50 is provided on the side wall 54B. As shown in fig. 1, 4, and 5, the distance measuring sensor 50 is disposed outside the hoistway of the car 26 and the counterweight 28.

The distance measuring sensor 50 measures the direction and distance of an object (generally, a plurality of kinds) present in the hoistway 12 including the horizontal plane including the installation position thereof from the installation position, and outputs the direction and distance as two-dimensional position data. The two-dimensional position data is in polar coordinate form.

The distance measuring sensor 50 is, for example, a known two-dimensional distance measuring 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 shape, measures the round trip Time of the emitted Laser light each Time it reaches the object, and measures the distance from the installation position of the distance measuring sensor 50 to the object by a Time of Flight distance measuring method (Time of Flight) converted into the distance. The time per scan (scan time) is, for example, 25msec, and the number of scans per second is 40 times. As shown in fig. 4, the scanning angle α of the distance measuring sensor 50 is approximately 180 degrees, and the scanning range is almost the entire area of the hoistway 12 on the horizontal plane including the installation position of the distance measuring sensor 50.

When the car 26 is positioned below the distance measuring sensor 50 (fig. 1), as shown in fig. 4, the car side main rope portion 24A and the counterweight side balancing rope portion 32B are objects to be detected, and when the car 26 is positioned above the distance measuring sensor 50, as shown in fig. 5, the car side balancing rope portion 32A, the counterweight side main rope portion 24B, and the traveling cable 34 are objects to be detected.

Next, a method of detecting the amplitude of oscillation of an elongated object such as the car-side main rope portion 24A that oscillates horizontally due to a long-period earthquake or strong wind in the horizontal plane will be described.

The two-dimensional position data output from the distance measuring sensor 50 is input to a long article swinging amount detecting unit 60 shown in fig. 6 (a) of the control circuit unit 48. The control circuit unit 48 includes an operation control unit 62 in addition to the long article oscillation amount detection unit 60. The operation control unit 62 controls various devices as described above, and realizes the above-described normal operation or the above-described control operation.

The two-dimensional position data in the polar coordinate format is converted into orthogonal coordinates (xy orthogonal coordinates) of a coordinate plane selected on the horizontal plane by the long article swing amount detecting unit 60 at the coordinate converting unit 6002 shown in fig. 6 (b).

As shown in fig. 7 a and 7 b, the orthogonal coordinates are, for example, xy orthogonal coordinates with the installation position of the distance measuring sensor 50 (not shown in fig. 7) as the origin.

In fig. 7 (a), in a state where the car-side main rope portion 24A and the counterweight-side balancing rope portion 32B enter the scanning range of the distance measuring sensor 50 (the state shown in fig. 4), the coordinates of an object detected by one scan (hereinafter referred to as "coordinate data") are indicated in the figure. In fig. 7B, in a state where the car-side balancing rope portion 32A, the counterweight-side main rope portion 24B, and the movable cable 34 are within the scanning range of the distance measuring sensor 50 (the state shown in fig. 5), the coordinate data of the object detected by one scan is indicated in the figure.

In fig. 7 (a) and 7 (b), the symbols of the objects corresponding to the coordinate data are indicated by parentheses (the same applies to fig. 8).

As can be understood from the detection principle of the distance measuring sensor 50, 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 50. For example, in fig. 7 (a), a part of the side wall 54C is not detected because the part is hidden behind the guide rail 36 and the counterweight-side balancing rope portion 32B when viewed from the distance measuring sensor 50. In the installation position of the distance measuring sensor 50 of the present embodiment, the counterweight guide rail 40 (fig. 4) is hidden behind the car guide rail 36 and is not detected at all.

In the present embodiment, the necessary coordinate data is the coordinate data of the long object to be detected by the lateral swing, and the coordinate data of the fixed objects such as the

car guide rails

36 and 38, the

counterweight guide rails

40 and 42, and the side wall 54 are obstacles for specifying the long object.

Therefore, the existence region of the fixed object existing on the scanning surface (horizontal surface) of the distance measuring sensor 50 on the coordinate plane (xy orthogonal coordinate) is stored in advance, and the coordinate data output from the coordinate converting unit 6002 excluding the coordinate data in the existence region of the fixed object is regarded as the coordinate data of the long object.

Specifically, in fig. 4 and 5, regions partitioned by a chain line are fixed object presence regions F1, F2, F3, F4, and F5. Inside the boxes F1, F2, F3, and F4 indicated by the dashed-dotted lines are the areas where the

car guide rails

36 and 38 and the

counterweight guide rails

40 and 42 are present, respectively. The region outside the dotted-dashed box F5 is the region where the sidewall 54 exists. The frames F1, F2, F3, and F4 are not limited to the square frame, and may be T-shaped frames that match the cross-sectional shapes of the

car guide rails

36 and 38 and the

counterweight guide rails

40 and 42.

The positions of the boxes F1, F2, F3, F4, and F5 on the coordinate plane are stored in the fixed object existence region storage unit 6006 of the long article swing amount detection unit 60, and the inner sides of the boxes F1, F2, F3, and F4 and the outer side of the box F5 are set as fixed object existence regions to be identified.

The long article swing amount detecting unit 60 refers to the fixed article existing region stored in the fixed article existing region 6006 by the extra coordinate excluding unit 6004 shown in fig. 6 (b), removes the coordinate data in the fixed article existing region from the coordinate data output by the coordinate converting unit 6002, and outputs the remaining coordinate data.

The coordinate data output from the extra coordinate exclusion unit 6004 is plotted on a coordinate plane shown in fig. 8 (a) and 8 (b). In fig. 8 a, the coordinate data remaining after excluding the coordinate data of the fixed objects (the

car guide rails

36 and 38, the

counterweight guide rails

40 and 42, and the side wall 54) from the coordinate data (fig. 7 a) output from the coordinate conversion unit 6002, that is, the coordinate data: coordinate data of the long articles (in this embodiment, the car side main rope portion 24A and the counterweight side balancing rope 32B). In fig. 8 b, the coordinate data remaining after excluding the coordinate data of the fixed objects (the

car guide rails

36 and 38, the

counterweight guide rails

40 and 42, and the side wall 54) from the coordinate data (fig. 7 b) output from the coordinate conversion unit 6002, that is, the coordinate data: the coordinate data of the long article (in the present embodiment, the car side balancing rope portion 32A, the counterweight side main rope portion 24B, and the car side cable portion 34A of the movable cable 34).

As described above, as shown in fig. 8 (a) and 8 (b), only the coordinate data of a plurality of types of long objects is output from the redundant coordinate exclusion unit 6004. In order to detect the swing amplitude of the lateral swing of these long objects, it is necessary to determine which set of coordinate data corresponds to which long object. In this case, it is difficult to determine which set of coordinate data corresponds to which set of long object, when the long object starts to swing laterally, which is not the case when the long object is stationary.

Therefore, in the present embodiment, the long objects are identified as follows.

On the coordinate plane, the state before each long object starts the yaw motion is surrounded, namely: the detection frame in the state of the rest position is stored in the initial detection frame storage unit 6010 of the long article sway amount detection unit 60. In the present embodiment, the detection frames W1, W2, and W3 indicated by two-dot chain lines in fig. 4 and 5 correspond to the car side main rope portion 24A (car side balancing rope portion 32A), the counterweight side balancing rope portion 32B (counterweight side main rope portion 24B), and the car side cable portion 34A of the movable cable 34, respectively, and are stored in the initial detection frame storage portion 6010.

Since the detection frames W1, W2, and W3 are the same for each long object, the detection frame W1 will be described below as a representative, and the detection frames W2 and W3 will be referred to as needed. The detection frame W1 is used for detection of the car side main rope portion 24A (fig. 4) and the car side balancing rope portion 32A (fig. 5), but since the detection methods are the same for each, the car side main rope portion 24A will be described as an example.

As shown in fig. 9 (a), in the present embodiment, the detection frame W1 is square. On the coordinate plane, the detection frame W1 surrounds the car-side main rope portion 24A.

In the present embodiment, the center P1 of the detection frame W1 coincides with the center coordinates of the car-side main rope portion 24A in a stationary state. The center of the detection frame W1 is the center of gravity of the detection frame W1 having a square shape (the intersection of the diagonal lines of the square shape). The center coordinates of the car-side main rope portion 24A are coordinates obtained by an arithmetic mean of coordinates of a plurality of (six in this embodiment) main ropes M1 to M6 on the coordinate plane, and are coordinates specified in design.

The detection frame W1 is set to a preset size that just surrounds the car-side main rope portions 24A (the main ropes M1 to M6). The preset size will be described later.

Similarly to the detection frame W1, the detection frame W2 (fig. 4 and 5) and the detection frame W3 (fig. 5) corresponding to the counterweight-side balancing rope portion 32B (counterweight-side main rope portion 24B) and the car-side cable portion 34A of the movable cable 34 are also stored in the initial detection frame storage portion 6010 (fig. 6B).

In addition, in the movable wire 34, the detection frame W3 is provided so as to surround only the car-side wire portion 34A, as shown in fig. 5, among the car-side wire portion 34A and the connecting box-side wire portion 34B. This is because the distance measuring sensor 50 mainly detects the car-side cable portion 34A at the installation position of the present embodiment, and the junction-box-side cable portion 34B is hidden behind the car-side cable portion 34A and hardly detected. In addition, since the car-side cable part 34A and the connecting box-side cable part 34B swing laterally in the same motion, it is sufficient that only one of the cable parts can be detected. Of course, in the case where the distance measuring sensor 50 is provided at a position capable of detecting both the car-side cable part 34A and the connection box-side cable part 34B similarly, the detection frame W3 may be provided so as to surround the car-side cable part 34A and the connection box-side cable part 34B.

The central coordinate detecting unit 6008 of the long article vibration amount detecting unit 60 recognizes the coordinate data outputted from the redundant coordinate excluding unit 6004 as coordinate data existing in the detection frames W1, W2, and W3 set by the detection frame setting unit 6012, and processes each set of coordinate data. Since the coordinate data present in each of the detection frames W1, W2, and W3 is usually plural, the coordinate data in each of the detection frames W1, W2, and W3 is referred to as a "coordinate data group".

The central coordinate detection unit 6008 detects the central coordinates R1, R2, and R3 of the coordinate data groups present in the detection frames W1, W2, and W3, respectively.

The center coordinates R1, R2, R3 are detected as an arithmetic average of a plurality of coordinate data constituting the corresponding coordinate data group. In the present embodiment, the center coordinates R1, R2, and R3 are the center coordinates of the car side main rope portion 24A (car side balancing rope portion 32A), the counterweight side balancing rope portion 32B (counterweight side main rope portion 24B), and the car side cable portion 34A of the movable cable 34 on the above-described coordinate plane, respectively. Namely: in the present embodiment, the center coordinates R1, R2, R3 correspond to the center coordinates of the car-side main rope portion 24A (car-side balancing rope portion 32A), the counterweight-side balancing rope portion 32B (counterweight-side main rope portion 24B), and the car-side cable portion 34A of the movable cable 34, respectively.

The center coordinate detecting unit 6008 outputs the detected center coordinates R1, R2, and R3 to the swing calculating unit 6014 and the detection frame setting unit 6012.

Here, the detection frame installing section 6012 moves the detection frames W1, W2, and W3 to positions around the long object in response to the displacement of the long object that swings laterally, and updates the positions on the coordinate plane.

In the method of updating the position on the coordinate plane, since the detection frames W1, W2, and W3 are the same, here, a case of detecting the car-side main rope portion 24A will be described by taking the detection frame W1 as an example.

The scanning by the distance measuring sensor 50 is started in response to an instruction from the operation control unit 62 before the operation of the elevator 10 is started. Before the operation of the elevator 10 is started, the car-side main rope portion 24A is normally stationary and does not swing laterally. One scanning of the distance measuring sensor 50 in the state where the yaw motion is not generated is set as the first scanning, and in the first scanning and the second scanning, the detection frame setting portion 6012 reads the detection frame W1 stored in the initial detection frame storage portion 6010, and sets the initial detection frame W1 as a detection frame surrounding the car-side main rope portion 24A. Although the car-side main rope portion 24A is stationary and does not oscillate laterally, it is obviously not completely stationary, and may oscillate slightly due to slight oscillation of the building 14 or the like.

Further, it can also be confirmed that the car side main rope portion 24A does not generate the lateral sway with reference to the output result of the long-period vibration sensor 44. Namely: when it is confirmed by the long-period vibration sensor 44 that the building 14 does not swing in a long period within a preset time, it is considered that the car-side main rope portion 24A does not swing in a lateral direction.

Since the detection frame W1 stored in the initial detection frame storage portion 6010 surrounds the car-side main rope portion 24A that does not generate lateral sway as described above, the center coordinate detection portion 6008 can certainly specify the car-side main rope portion 24A in the first scanning. In addition, the time interval of the scanning is as described above, for example, 25msec, which is very short, and therefore, the car-side main rope portion 24A does not protrude outward from the detection frame W1 stored in the initial detection frame storage portion 6010 during this time.

The center coordinate detecting unit 6008 detects the center coordinates of the car-side main rope portion 24A of the first scan and the second scan using the detection frame W1 (the detection frame W1 read from the initial detection frame storage unit 6010) set by the detection frame setting unit 6012. The center coordinate detecting unit 6008 outputs the detected center coordinates to the excursion calculating unit 6014 and the detection frame setting unit 6012.

The detection frame installing section 6012 predicts the center coordinates of the car main rope portion 24A of the third scanning based on the center coordinates of the first scanning, the center coordinates of the second scanning, and the scanning time interval, moves the detection frame W1 to a position corresponding to the predicted center coordinates, updates the position of the detection frame W1 on the coordinate plane, and is used for detection of the car main rope portion 24A of the third scanning.

The detection frame setting unit 6012 predicts the center coordinates of the car main rope portion 24A of the (n + 2) th scan based on the center coordinates of the car main rope portion 24A detected by the center coordinate detecting unit 6008 in the nth (n is a positive integer) scan, the center coordinates of the car main rope portion 24A detected in the (n + 1) th scan, and the time interval between scans, moves the detection frame W1 to a position corresponding to the predicted center coordinates, and updates the position of the detection frame W1 on the coordinate plane.

This will be described in further detail with reference to fig. 9.

In fig. 9 (b), detection frames provided for detection of the nth and (n + 1) th scans are W1 (n) and W1 (n + 1), respectively. The center coordinates of the car-side main rope portion 24A detected using the detection frames W1 (n) and W1 (n + 1) are referred to as R1 (n) and R1 (n + 1), respectively.

The detection frame installing unit 6012 obtains, from the center coordinate R1 (n) and the center coordinate R1 (n + 1), a distance between the center coordinate R1 (n) and the center coordinate R1 (n + 1), that is: the moving distance of the car-side main rope portion 24A from the nth scan to the (n + 1) th scan.

The detection frame installing unit 6012 obtains the direction of the center coordinate R1 (n + 1) as viewed from the center coordinate R1 (n), that is: the car-side main rope portion 24A moves in the direction from the nth scan to the (n + 1) th scan.

The detection frame installing unit 6012 obtains an average moving speed (moving distance/time interval) of the car-side main rope portion 24A during the period, based on the moving distance and the scanning time interval.

The detection frame installing unit 6012 predicts the center coordinates of the car-side main rope portion 24A of the (n + 2) th scan based on the average moving speed, the time interval of the scans, and the moving direction, moves the detection frame W1 to a position corresponding to the predicted center coordinates, and updates the position of the detection frame W1 on the coordinate plane (the detection frame W1 (n + 2)). The "position corresponding to the center coordinates" refers to a position where the center P1 (fig. 9 (a)) of the detection frame W1 coincides with the center coordinates.

As described above, in the present embodiment, the center coordinates of the car-side main rope portion 24A of the (n + 2) th scan are predicted from the center coordinates R1 (n) detected in the nth scan, the center coordinates R1 (n + 1) detected in the (n + 1) th scan, and the scanning time interval, the detection frame W1 is moved to the position [ detection frame W1 (n + 2) ] corresponding to the predicted center coordinates, and the position of the detection frame W1 on the coordinate plane is updated. Thus, in the (n + 2) th scan, the coordinate data of the car side main rope portion 24A among the coordinate data output from the extra coordinate excluding unit 6004 is specified as the coordinate data within the detection frame W1 (n + 2), and is distinguished from the other long pieces.

Here, on the other hand, if the detection frame W1 is too large, there is a possibility that long objects other than the car-side main rope portion 24A may enter the detection frame W1 during yaw. On the other hand, if the detection frame W1 is too small, it is difficult to catch the entire car-side main rope portion 24A when it is displaced at a high speed.

Therefore, as shown in fig. 9 (c), the detection frame W1 is set to: from the state where the center P1 thereof coincides with the center coordinates of the car-side main rope portion 24A indicated by the solid line, during the time interval of scanning, as indicated by the broken line, even if the car-side main rope portion 24A is displaced to the virtual maximum state, the main car-side main rope portion 24A indicated by the broken line can enter the detection frame W1 by the minimum size.

Namely: the size of the detection frame W1 is such that, even if the car-side main rope portion 24A is displaced to a virtual maximum value during a period from one scan [ n +1 th scan ] to the next scan [ n +2 th scan ] of the distance measuring sensor 50 when the car-side main rope portion 24A swings laterally, the car-side main rope portion 24A can enter the detection frame W1 corresponding to the center coordinates R1 (n + 1) of the car-side main rope portion 24A obtained as a result of the one scan [ n +1 th scan ] of the car-side main rope portion 24A at the time of the next scan [ n +2 th scan ], thereby setting the minimum size of the detection frame W1.

If such a size is set, the car-side main rope portion 24A is displaced beyond the prediction from the (n + 1) th scan described in fig. 9 (b), and even in the case where the amount of displacement of the excess is the maximum value, that is, the maximum value, the car-side main rope portion 24A can enter the detection frame W1 corresponding to the center coordinate R (n + 1) at the (n + 2) th scan. This means that the car-side main rope portion 24A enters the detection frame W1 (n + 2) even in the (n + 2) -th scan, and therefore the car-side main rope portion 24A can be detected in the (n + 2) -th scan.

Here, the size of the detection frame W1 is set based on the arrangement of the main ropes M1 to M6 of the car-side main rope portion 24A near the position connected to the car 26. As described with reference to fig. 3, at this position, since the intervals of the main ropes M1 to M6 are the widest, it is sufficient if the main rope portions 24A are of a size that can surround the position.

As described above, the detection frame setting unit 6012 updates the position of the detection frame W1 on the coordinate plane, and the center coordinate detection unit 6008 detects the center coordinate of the coordinate data group within the detection frame W1, that is: the center coordinate R1 of the car-side main rope portion 24A.

As described above, the size of the detection frame W1 is set in a state (corresponding state) where the designed center coordinates of the car-side main rope portion 24A and the center P1 of the detection frame W1 coincide with each other, and the detection frame W1 is updated based on the center coordinates R1 of the car-side main rope portion 24A actually detected (i.e., the center coordinates of the coordinate data group in the detection frame W1). The main ropes M1 to M6 constituting the car-side main rope portion 24A can only detect approximately half of their circumference (fig. 7 a and 8 a) based on the above-described detection principle of the distance measuring sensor 50. Therefore, the designed center coordinates of the car-side main rope portion 24A do not completely match the center coordinates specified by the detection of the distance measuring sensor 50. However, since the deviation of the two coordinate centers is slight, there is no particular problem.

The amplitude calculation unit 6014 calculates the amplitude of oscillation of the car-side main rope portion 24A based on the center coordinate R1 output from the center coordinate detection unit 6008.

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 M6 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 maintain the arrangement shown in fig. 4 while swinging laterally.

Therefore, if the amplitude of the swing of the center coordinate R1 of the car-side main rope portion 24A is calculated, the amplitudes of the main ropes M1 to M6 are calculated, respectively. Therefore, the swing calculating unit 6014 calculates the swing of the car-side main rope portion 24A on the entire scanning surface (horizontal plane) from the displacement of the center coordinate R1.

The swing calculating unit 6014 monitors the center coordinate R1 input from the center coordinate detecting unit 6008 after each scanning by the range sensor 50 for a predetermined time (after the scanning is performed a plurality of times). The preset time is, for example, a maximum period (for example, 10 seconds) of the imaginary lateral swing. This preset time is hereinafter referred to as "observation time".

Fig. 10 shows the result of one monitoring. A plurality of center coordinates R1 monitored at one time, or as shown in fig. 10 (a), arranged in a line (hereinafter, this line is referred to as a "coordinate line"); alternatively, as shown in fig. 10 (b), an elliptical trajectory is formed. The swing calculating unit 6014 extracts the coordinates (Xel, yel), (Xe 2, ye 2) at both ends of the coordinate series, or the coordinates (Xel, yel), (Xe 2, ye 2) in the vicinity of the end of the major axis (not shown) of the ellipse, and calculates the distance SX between these two points. SX is considered as the maximum swing SX generated in one monitored observation time.

The swing amplitude calculation unit 6014 outputs SX to the swing level determination unit 6016. The swing level determining unit 6016 determines the level of the lateral swing based on SX input from the swing calculating unit 6014.

The swing level determination section 6016 compares the preset reference values S1, S2, S3, and S4 of the swing (S1 < S2< S3< S4) with the swing SX, and determines the swing SX to be one of the swing level LO (no control operation level), L1 (extra low level), L2 (low level), L3 (high level), and L4 (extra high level).

SX < S1 is L0

S1 is more than or equal to SX < S2 is L1

S2 is more than or equal to SX < S3 is L2

S3 is not more than SX < S4 is L3

SX is more than or equal to S4 and is L4

The swing level determination unit 6016 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 6016. The contents of the different policing operations at each level are omitted from illustration.

In addition, when the car-side main rope portion 24A largely swings in the vertical direction of fig. 8 (a) and reaches the origin of the X axis or is displaced beyond the origin, only the main rope M1 is detected at the position (hereinafter, simply referred to as "origin position") near the origin and the origin based on the detection principle of the distance measuring sensor 50, and in addition, the main ropes M2 to M6 are hardly detected.

Therefore, compared with the case where the car-side main rope portion 24A is regarded as being located at the origin position of the X axis, that is: in the case where only a very small number of points of coordinate data are detected in the detection frame W1, the center coordinates of the coordinate data group at this time can be used for detecting the movement of the frame W1, but are not used for calculating the amplitude of the car-side main rope portion 24A, as compared with the case where all the main ropes M1 to M6 are detected.

Here, if the main purpose is to detect the car-side main rope portions 24A, the distance measuring sensor 50 may be always provided at a position where all six main ropes M1 to M6 can be detected regardless of the position in the yaw of the car-side main rope portions 24A.

Such a position is preferably the side wall 54 shown in fig. 4, and more preferably, the middle of the side wall 54A in the width direction (the left-right direction in fig. 4), for example. Namely: irrespective of the yaw movement of the car-side main rope portions 24A, the direction intersects the direction in which the main ropes M1 to M6 are arranged, and the position is such that no other object is present between the main ropes M1 to M6.

As described above, in the present embodiment, the rope sway detection device is configured by the distance measuring sensor 50, the coordinate conversion unit 6002 of the long article sway amount detection unit 60, the extra coordinate exclusion unit 6004, the fixed object existing region storage unit 6006, the center coordinate detection unit 6008, the initial detection frame storage unit 6010, the detection frame setting unit 6012, and the sway calculation unit 6014 (fig. 6).

According to this rope sway detection device, as described above, the direction and distance of an object present on the horizontal plane from the installation position are output as position data from the distance measuring sensor 50 that scans the horizontal plane in the hoistway 12 including the installation position at regular time intervals, and the position data are converted into coordinate data of a coordinate plane selected on the horizontal plane.

On the other hand, a detection frame surrounding only a long article (in the present embodiment, the car-side main rope portion 24A) suspended in the hoistway 12 is provided in the coordinate plane, the center coordinates of the coordinate data group existing in the detection frame in the coordinate plane are detected from a plurality of pieces of coordinate data obtained by one scanning by the distance measuring sensor 50, and the amplitude of the horizontal plane of the horizontal swing of the long article when the horizontal swing is calculated from the center coordinates.

Here, the center coordinates of the coordinate data group of the (n + 2) th scan are predicted based on the center coordinates detected in the nth scan (n is a positive integer), the center coordinates detected in the (n + 1) th scan, and the time interval, the detection frame is moved to a position corresponding to the predicted center coordinates, and the position of the detection frame on the coordinate plane is updated. This makes it possible to determine and detect the magnitude of lateral swing of the long article to be detected in each direction by the detection frame as reliably as possible. In this embodiment, since the center coordinates of the coordinate data group in the detection frame correspond to (approximately coincide with) the center coordinates of the long object surrounded by the detection frame, the center coordinates of the coordinate data group of the (n + 2) th scan are predicted to be the center coordinates of the long object of the (n + 2) th scan.

As described above, in the coordinate data outputted from the coordinate conversion unit 6002, the long object to be detected is identified by the detection frame W1 in the car-side main rope portion 24A in the above-described embodiment, for example. Therefore, although the extra coordinate exclusion unit 6004 may not be provided, the extra coordinate exclusion unit 6004 has the following advantages.

When the extra coordinate exclusion portion 6004 is not provided, for example, when the yaw motion of the car-side main rope portion 24A is extremely large and the detection frame W1 and the counterweight guide rail 40 are close to each other, there is a possibility that a part of the coordinate data of the counterweight guide rail 40 enters the detection frame W1 and erroneous detection is caused. In other words, by providing the extra coordinate exclusion unit 6004, even if the long article has a very large yaw motion, it is possible to avoid the case where the coordinate data of the fixed object is included in the detection frame for detecting the long article, and to prevent erroneous detection.

For example, the car-side main rope portion 24A during the yaw may not be caught by the detection frame W1 (that is, when the coordinate data (coordinate data group) corresponding to the number of points of the car-side main rope portion 24A is not detected in the detection frame W1) due to some reason. In this case, the detection frame installation portion 6012 also performs any of the following processes.

[ reset treatment ]

The detection frame W1 is reset to the detection frame W1 stored in the initial detection frame storage portion 6012. In the present embodiment, the long article, the car-side main rope portion 24A, normally passes through the initial position (the position in the stationary state) at the time of yaw movement. Here, in the detection frame W1 reset to the initial position, the center coordinate detecting unit 6008 waits for (the coordinate data group of) the car side main rope portion 24A to be detected, and then resumes the update of the position of the detection frame W1 on the plane coordinates.

[ amplification treatment ]

The detection frame setting unit 6012 enlarges the detection frame W1 once, waits for (the coordinate data group of) the car side main rope portion 24A to be detected by the center coordinate detection unit 6008, and returns the enlarged detection frame to the original size.

Specifically, the following procedure is followed.

(I) when the (coordinate data group of the) car main rope portion 24A is not detected in the detection frame W1,

(II) enlarging the detection frame W1 at the position where the detection is not detected. This magnification is, for example, twice.

(iii) waiting for (the coordinate data group of) the car-side main rope portion 24A to be detected within the enlarged detection frame W1.

(IV) when (the coordinate data group of) the car side main rope portion 24A is detected again by a certain scanning,

and (V) restoring the detection frame to the original size in the same position as the one-time scanning.

(vi) predicting the center position of the coordinate data group of the secondary scanning based on the center coordinates of the coordinate data group obtained by the primary scanning and the center coordinates of the coordinate data group (in the detection frame of the original size) obtained by the secondary scanning, and moving the detection frame W1 to a position corresponding to the predicted center position.

(VII) the following is the same as the above embodiment.

Although the long article vibration detection device of the present invention has been described above based on the present embodiment, it is needless to say that the present invention is not limited to the above-described embodiment, and for example, the following embodiment is also possible.

(1) Although the detection frame is square in the above embodiment, the shape of the detection frame is not limited to square. For example, an elliptical shape is also possible.

(2) In the above embodiment, the detection frame setting unit 6012 always sets the detection frames W1, W2, and W3. However, as the car 26 ascends, the lower end portion (the folded portion) of the movable wire 34 also ascends, and the movable wire 34 is not detected by the distance measuring sensor 52 (fig. 1), for example, while the car 26 is at a certain position.

Here, the detection frame setting unit 6012 may change the detection frame to be set according to the position of the car 26 that moves up and down. Specifically, in the case of the distance measuring sensor 52, (i) in the case where the car 26 is located below the distance measuring sensor 52, the detection frames W1, W2 are provided; (II) in the case that the car 26 is located above the distance measuring sensor 52 and the lower end portion of the movable wire 34 is located below the distance measuring sensor 52, the detection frames W1, W2, W3 are provided; (III) when the lower end of the movable wire 34 is positioned above the distance measuring sensor 52, the detection frames W1 and W2 are provided.

Whether one of the conditions (I), (II) and (III) is satisfied is determined based on the ascending position of the car 26. The detection frame setting unit 6012 refers to the car position information output from the operation control unit 62, and determines a detection frame to be set.

(3) In the above embodiment, the main rope, the balance rope, and the movable cable are the detection targets, but a governor rope (not shown) may be further added as the detection target. In this case, the initial detection frame storage unit 6010 stores the detection frame for the governor rope at the initial position, as with the detection frames W1, W2, and W3, and the detection frame setting unit 6012 reads the detection frame for the governor rope from the initial detection frame storage unit 6010, and then updates the position of the detection frame on the coordinate plane, as with the detection frames W1, W2, and W3.

As described above, in the main rope group and the balance rope group, although the detection result is influenced by the relation between the arrangement direction of the plurality of ropes and the installation position of the distance measuring sensor, since the speed governor rope is one rope, such influence is not exerted.

(4) In the above-described embodiment, for example, when the car-side main rope portions 24A are detected by the distance measuring sensor 50, as shown in fig. 8 (a) and the like, approximately half circumferences of the main ropes M1 to M6 are accurately detected, respectively.

However, according to the performance of the ranging sensor, the obtained coordinate data are the results as shown in fig. 11 (a), 11 (b). Namely: both ends of the approximately half cycle and their vicinities cannot be detected correctly. This is because the laser light emitted from the distance measuring sensor and illuminating the both end portions and the sides thereof is not reflected back toward the distance measuring sensor correctly.

Therefore, the distribution area of the coordinate data obtained as the detection result of each of the main ropes M1 to M6 is slightly wider as shown in fig. 11 (a) than that in fig. 8 (a). Here, of the coordinate data obtained as the detection results of the main ropes M1 to M6, the coordinate data that truly represents the positions of the circumferential surfaces of the main ropes M1 to M6 is referred to as "normal coordinates", and the coordinate data other than the normal coordinates is referred to as "ghost coordinates". The ghost coordinates are scattered slightly behind the normal coordinates as viewed from the distance measuring sensor (origin of coordinates) as shown in fig. 11 (a) and 11 (b).

Therefore, a detection frame WE1 (a detection frame larger than the detection frame W1) is provided, and the detection frame WE1 always has a size of a range into which not only normal data but also ghost data can enter, corresponding to the performance of the distance measuring sensor, and moving in the same manner as the detection frame W1.

The detection of the swing of the car-side main rope portion 24A is performed using the detection frame WE1, in the same manner as in the above-described embodiment. Namely: the detection frame WE1 is moved every scanning according to the center coordinates of the coordinate data group detected in the detection frame WE1, and the swing amplitude is calculated from a plurality of center coordinates obtained in the observation time.

As can be seen from the distribution of the coordinate data shown in fig. 11 (b), the relative position of the center coordinate in the coordinate data group with respect to the normal data in the coordinate data group varies. However, the amount of change is slight, and by setting the detection frame WE1 to a size that takes the amount of change into consideration, it is possible to surround almost all the coordinate data (normal data and ghost data) by the detection frame WE1 regardless of the movement of the detection frame WE 1.

In addition, as described above, the relative position of the center coordinates (the center coordinates of the plurality of pieces of normal data) of the corresponding car-side main rope portions 24A (the main ropes M1 to M6) including the center coordinates of the coordinate data group of the ghost data is changed in the coordinate plane. However, the amount of change is slight.

Therefore, since the displacement amount of the center coordinate of the coordinate data group is regarded as the displacement amount of the center coordinate of the car-side main rope portion 24A, the amplitude of the car-side main rope portion 24A can be obtained from the displacement of the center coordinate of the coordinate data group.

[ Industrial Applicability ]

The long article sway detection device of the present invention can be suitably used as a device for detecting the degree of the sway of a long article such as a main rope and a balance rope constituting an elevator, which is caused by a long-period seismic motion or the like, on each long article.

Claims

1. An elongated object swing detection device for detecting the magnitude of a yaw motion of an elongated object suspended in a hoistway of an elevator, the elongated object swing detection device comprising:

a distance measuring sensor which is installed in the hoistway, scans a horizontal plane in the hoistway including an installation position thereof at regular time intervals, measures a direction and a distance of an object existing in the hoistway on the horizontal plane from the installation position, and outputs the direction and the distance as position data;

the conversion unit is used for converting the position data output by the distance measuring sensor into coordinate data of a coordinate plane selected on the horizontal plane;

a detection frame setting unit that sets a detection frame surrounding the long object on the coordinate plane;

a detection unit that detects a center coordinate of a coordinate data group existing in the detection frame in the coordinate plane, among a plurality of pieces of the coordinate data obtained by one scanning of the distance measuring sensor;

a calculating unit that calculates the swing amplitude of the horizontal plane of the horizontal swing of the long article according to the central coordinate detected by the detecting unit;

the detection frame setting unit predicts the center coordinates of the coordinate data group of the n +2 th scan based on the center coordinates detected by the detection unit in the nth scan, the center coordinates detected by the detection unit in the n +1 th scan, and the time interval, moves the detection frame to a position corresponding to the predicted center coordinates, and updates the position of the detection frame on the coordinate plane; wherein n is a positive integer.

2. The device for detecting the swinging of a long article according to claim 1, comprising:

an initial detection frame storage unit that stores a detection frame surrounding the long object on the coordinate plane in a state where the long object is stationary;

the detection frame setting unit sets a first scan of the distance measuring sensor before the long object generates the lateral swing as a first scan, and sets the detection frame stored in the initial detection frame storage portion as a detection frame surrounding the long object in the first scan and a second scan.

3. The device for detecting the swinging of a long object according to claim 2, wherein the coordinate plane has a correspondence relationship between a center coordinate of the coordinate data group existing in the detection frame and a center coordinate of the long object;

the detection frame is set to have a minimum size that allows the long object to enter the detection frame corresponding to the center coordinates of the coordinate data group obtained as a result of one scan, at the time of the next scan, when the long object moves to a virtual maximum value during the period from one scan to the next scan of the range sensor.

4. The device for detecting the swinging of a long strip object as claimed in claim 3, wherein in the case where the coordinate data group of the long strip object is not detected in the detection frame by the detection unit in the scanning after the third time by the distance measuring sensor,

the detection frame setting unit resets the detection frame to the detection frame stored in the initial detection frame storage section, and waits for the coordinate data group to be detected by the detection unit, and then resumes updating of the detection frame.

5. The device for detecting the swinging of a long strip object as claimed in claim 3, wherein in the case where the coordinate data group of the long strip object is not detected in the detection frame by the detection unit in the scanning after the third time by the distance measuring sensor,

the detection frame setting unit temporarily enlarges the detection frame, waits for the coordinate data group to be detected by the detection unit, and then restores the detection frame to the original size.

6. The device for detecting the swinging of a long object according to claim 1, wherein the coordinate plane has a correspondence relationship between a center coordinate of the coordinate data group existing in the detection frame and a center coordinate of the long object;

7. The device for detecting the swinging of a long strip object as claimed in claim 2, wherein in the case where the coordinate data group of the long strip object is not detected in the detection frame by the detection unit in the scanning after the third time by the distance measuring sensor,

8. The elongated object swinging detection device according to claim 6, wherein in the scanning after the third time by the distance measuring sensor, in the case where the coordinate data group of the elongated object is not detected in the detection frame by the detection unit,

9. The device for detecting the swinging of a long article according to any one of claims 1 to 8, comprising:

a fixture-presence-area storage section that stores a presence area on the coordinate plane of a fixture present on the horizontal plane;

the detection unit detects a center coordinate on the coordinate plane of a coordinate data group existing in the detection frame, from among remaining coordinate data obtained by removing coordinate data in the fixture existing region from the plurality of coordinate data obtained by one scan of the range finding sensor.

10. The elongated object sway detection device of claim 9,

the elevator is as follows: an elevator of a structure in which a car and a counterweight are suspended by a main rope group bucket and a balance rope group hangs down between the car and the counterweight, and the car and the counterweight ascend and descend in the hoistway in opposite directions;

the long strip is as follows: a plurality of ropes constituting the main rope group or the balance rope group;

the center coordinates detected by the detection unit are: center coordinates of a coordinate data group as a result of detection of the plurality of ropes.

11. The device for detecting the swinging of a long article according to any one of claims 1 to 8,

the center coordinates detected by the detection unit are: a center coordinate of a coordinate data group as a result of the detection of the plurality of ropes.