CN117580792A - Elevator and elevator diagnosis method - Google Patents
Elevator and elevator diagnosis method Download PDFInfo
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- CN117580792A CN117580792A CN202180099744.1A CN202180099744A CN117580792A CN 117580792 A CN117580792 A CN 117580792A CN 202180099744 A CN202180099744 A CN 202180099744A CN 117580792 A CN117580792 A CN 117580792A
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- 238000003745 diagnosis Methods 0.000 title claims abstract description 76
- 238000000034 method Methods 0.000 title claims abstract description 50
- 238000012545 processing Methods 0.000 claims description 78
- 230000003287 optical effect Effects 0.000 claims description 23
- 238000012423 maintenance Methods 0.000 claims description 19
- 238000005259 measurement Methods 0.000 claims description 6
- 230000015556 catabolic process Effects 0.000 claims description 3
- 238000006731 degradation reaction Methods 0.000 claims description 3
- 238000002405 diagnostic procedure Methods 0.000 description 8
- 230000014509 gene expression Effects 0.000 description 8
- 230000006870 function Effects 0.000 description 7
- 238000007689 inspection Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000003028 elevating effect Effects 0.000 description 4
- 230000036962 time dependent Effects 0.000 description 4
- 239000000284 extract Substances 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B11/00—Main component parts of lifts in, or associated with, buildings or other structures
- B66B11/02—Cages, i.e. cars
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/02—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B7/00—Other common features of elevators
- B66B7/12—Checking, lubricating, or cleaning means for ropes, cables or guides
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- Engineering & Computer Science (AREA)
- Civil Engineering (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Maintenance And Inspection Apparatuses For Elevators (AREA)
- Indicating And Signalling Devices For Elevators (AREA)
Abstract
Provided are an elevator and a diagnosis method for an elevator, which do not require strict adjustment of the angle of a camera. A camera (14) provided on the car (8) of the elevator (1) captures a characteristic point that moves in the hoistway (2) with movement of the car (8). In an elevator (1), the relative position of a feature point is calculated based on the position of a car (8) acquired by a car position detector. The relative position of the characteristic points is the position of the characteristic points when the car (8) is at the second car position, with the position of the characteristic points when the car (8) is at the first car position being the reference. The position of the feature point when the car (8) is at the reference car position is calculated based on the calculated relative position of the feature point, the position of the car (8) acquired by the car position detector, and the image of the feature point captured by the camera (14) when the car (8) is at the first car position and the second car position. Based on the calculated position of the characteristic point, the state of the elevator (1) is determined.
Description
Technical Field
The present disclosure relates to an elevator and a diagnostic method of an elevator.
Background
Patent document 1 discloses an example of an inspection apparatus for an elevator. The inspection device is provided with a camera and a car position detector. The camera is mounted horizontally on the car. The camera photographs the balance weight. The car position detector detects the position of the car. The inspection device measures the elongation of the main rope supporting the load of the car and the balance weight according to the position of the car when the camera shoots the balance weight from the front side.
Prior art literature
Patent literature
Patent document 1: japanese patent application laid-open No. 2012-171776
Disclosure of Invention
Problems to be solved by the invention
However, in the inspection apparatus of patent document 1, an error occurs due to the camera being tilted from the horizontal plane. The further the distance between the camera and the balance weight, the more sensitive the error is to minor tilting of the camera. Therefore, when the camera is slightly tilted due to vibration, temporal change, or the like, it is necessary to adjust the angle of the camera.
The present disclosure relates to solving such problems. The present disclosure provides an elevator and a diagnosis method of the elevator, which do not require strict adjustment of the angle of a camera.
Means for solving the problems
An elevator according to the present disclosure includes: a main rope wound around the driving pulley; a car, a load of which is supported by the main rope at one side of the driving sheave, the car moving in a range including a first car position and a second car position of a hoistway; a balance weight supported on the main rope on the other side of the drive sheave, the balance weight moving in the hoistway with movement of the car; a camera provided in the car and capturing a feature point moving in the hoistway according to movement of the car; a car position detector that obtains a position of the car; and a diagnosis processing unit that calculates a relative position of the feature point when the car is at the second car position based on the position of the car acquired by the car position detector, and calculates a position of the feature point when the car is at the preset reference car position of the hoistway based on the calculated relative position of the feature point, the position of the car acquired by the car position detector, and an image of the feature point captured by the camera when the car is at the first car position, and an image of the feature point captured by the camera when the car is at the second car position.
An elevator of the diagnostic method of an elevator according to the present disclosure includes: a main rope wound around the driving pulley; a car, a load of which is supported by the main rope at one side of the driving sheave, the car moving in a range including a first car position and a second car position of a hoistway; a balance weight supported on the main rope on the other side of the drive sheave, the balance weight moving in the hoistway with movement of the car; a camera provided in the car and capturing a feature point moving in the hoistway according to movement of the car; and a car position detector for acquiring the position of the car, wherein the elevator diagnosis method comprises the following steps: a relative position calculating step of calculating a relative position of the characteristic point when the car is located at the second car position with reference to a position of the characteristic point when the car is located at the first car position, based on the position of the car acquired by the car position detector; a feature point position calculating step of calculating a position of the feature point when the car is located at a reference car position of the elevator shaft, based on the relative position of the feature point calculated in the relative position calculating step, the position of the car acquired by the car position detector, and an image of the feature point captured by the camera when the car is located at the first car position and an image of the feature point captured by the camera when the car is located at the second car position; and a determination step of determining the state of the elevator based on the position of the feature point calculated in the feature point position calculation step.
ADVANTAGEOUS EFFECTS OF INVENTION
According to the elevator or the diagnostic method of the elevator of the present disclosure, there is no need to strictly adjust the angle of the camera.
Drawings
Fig. 1 is a structural diagram of an elevator according to embodiment 1.
Fig. 2 is a diagram showing an example of a camera and a positional relationship of an object photographed by the camera in the elevator according to embodiment 1.
Fig. 3 is a flowchart showing an example of the operation of the elevator according to embodiment 1.
Fig. 4 is a flowchart showing an example of the operation of the elevator according to embodiment 1.
Fig. 5 is a hardware configuration diagram of a main part of the elevator according to embodiment 1.
Fig. 6 is a flowchart showing an example of the operation of the elevator according to embodiment 2.
Fig. 7 is a flowchart showing an example of the operation of the elevator according to embodiment 3.
Detailed Description
The manner in which the objects of the present disclosure are implemented will be described with reference to the accompanying drawings. In the drawings, the same or corresponding portions are denoted by the same reference numerals, and repetitive description thereof will be appropriately simplified or omitted. The object of the present disclosure is not limited to the following embodiments, and modifications, additions, omissions, and the like of any of the constituent elements of the embodiments may be made without departing from the spirit of the present disclosure.
Embodiment 1
Fig. 1 is a structural diagram of an elevator 1 according to embodiment 1.
The elevator 1 is applicable to, for example, a building having a plurality of floors. In a building, a hoistway 2 of an elevator 1 is provided. The hoistway 2 is a vertically long space that spans a plurality of floors. A pit 3 is provided at the lower end of the elevating channel 2. In the building, a machine room 4 is provided above the hoistway 2. The elevator 1 includes a hoist 5, a deflector sheave 6, a main rope 7, a car 8, and a counterweight 9.
The hoist 5 is disposed in the machine room 4, for example. Alternatively, the hoist 5 may be provided at an upper portion or a lower portion of the hoistway 2, for example. The hoist 5 includes a motor 10, a drive sheave 11, and a hoist encoder 12. The motor 10 is a device that generates driving force. The driving pulley 11 is connected to a rotation shaft of the motor 10. The hoist encoder 12 is a device that measures the rotation angle of the drive sheave 11. The deflector pulley 6 is disposed near the hoist 5 in the machine room 4, for example.
The main rope 7 is a rope-like device such as a rope, a cable, or a belt. The main rope 7 is wound around the driving pulley 11 and the deflector pulley 6. The main rope 7 supports the load of the car 8 on one side of the drive sheave 11. The main rope 7 supports the load of the balance weight 9 on the other side of the drive sheave 11. In this example, one end of the main rope 7 is connected to the car 8. The other end of the main rope 7 is connected to a balance weight 9.
The car 8 is a device that moves in the up-and-down direction in the hoistway 2 to convey users and the like between a plurality of floors. The car 8 includes a scale device 13, a camera 14, and a floor landing detector 15. The scale device 13 is a device for measuring the load of the car 8. The scale device 13 is provided on the floor surface of the car 8, for example. Alternatively, the scale device 13 may be provided at a connecting portion between the car 8 and the main rope 7. The camera 14 is disposed outside the car 8. The camera 14 is a device that captures an image in the elevating channel 2. In this example, the camera 14 is provided at the lower part of the car 8. The camera 14 may be disposed at the center of the car 8 in the horizontal direction. The landing floor detector 15 is a device for detecting that the floor surface of the car 8 matches the floor surface of the floor corresponding to the plate 16 by detecting the plate 16 attached to the wall surface of the hoistway 2 corresponding to each floor. The landing floor detector 15 is an example of a car position detector that detects the position of the car 8 by detection of the plate 16. The counterweight 9 is a device for balancing the load applied to both sides of the drive sheave 11 by the main rope 7 with respect to the car 8. The car 8 and the counterweight 9 move in opposite directions in the hoistway 2 in conjunction with the main rope 7 that is moved by the motor 10 driving the drive sheave 11 to rotate.
A control cable 17 is attached to the car 8 of the elevator 1. The control cable 17 is a cable for supplying electric power to the car 8, communicating signals, and the like. One end of the control cable 17 is connected to the car 8. The other end of the control cable 17 is fixed to the wall surface of the elevating channel 2. The control cable 17 receives electric power and communication signals supplied to the car 8 at an end portion fixed to the wall surface of the hoistway 2.
In the elevator 1, a compensation cable 18 is provided. The compensation cable 18 is a device for compensating for a change in weight balance of the main rope 7 accompanying movement of the car 8 and the counterweight 9. One end of the compensation cable 18 is mounted on the car 8. The other end of the compensation cable 18 is mounted on the balance weight 9. Thereby, the compensation cable 18 is suspended below the car 8 and the counterweight 9. The compensation cable 18 is folded back in the up-down direction at the lower end portion below the car 8 and the counterweight 9.
The elevator 1 includes a governor 19. The governor 19 is a device that suppresses excessive speed of the car 8. The governor 19 includes a governor sheave 20 and a governor encoder 21. The governor sheave 20 rotates in conjunction with movement of the car 8, for example, by a governor rope connected to the car 8. The governor encoder 21 is a device that measures the rotation angle of the governor sheave 20.
The elevator 1 includes a buffer 22. A buffer 22 is provided on the pit 3 to prevent the car 8 from colliding with the top of the hoistway 2 in the case where the car 8 travels over the uppermost floor. The damper 22 is disposed below the balance weight 9.
The elevator 1 is provided with a control device 23. The control device 23 is disposed in the machine room 4, for example. Alternatively, the control device 23 may be provided at an upper portion or a lower portion of the elevating path 2, for example. The control device 23 is connected to the hoist 5, the speed governor 19, and the like. The control device 23 is connected to the car 8 via a control cable 17 or the like. The control device 23 includes an operation control unit 24 and a diagnosis processing unit 25. The operation control unit 24 is a part that controls the operation of the elevator 1. The operation control unit 24 controls, for example, movement of the car 8. The diagnosis processing unit 25 is a part for performing information processing and the like for diagnosing the elevator 1. The diagnosis processing unit 25 includes a storage unit 26, an image processing unit 27, a calculation unit 28, and a determination unit 29. The storage unit 26 is a portion for storing information. The storage unit 26 stores a diagnostic standard or the like of the elevator 1. The image processing unit 27 is a part that performs processing such as extraction of information from an image captured by the camera 14. The calculation unit 28 is a unit that calculates information indicating the state of the elevator 1 based on information extracted from the image by the image processing unit 27, and the like. The determination unit 29 is a unit that determines the state of the elevator 1 based on the information calculated by the calculation unit 28, the information stored in the storage unit 26, and the like.
Fig. 2 is a diagram showing an example of the positional relationship between camera 14 and an object photographed by camera 14 in elevator 1 according to embodiment 1.
In fig. 2, the y-coordinate of the vertical axis represents the position in the up-down direction. Further, the x-coordinate of the horizontal axis represents a lateral position perpendicular to the up-down direction.
The car 8 moves in the hoistway 2 over a range including a first car position and a second car position. The first car position and the second car position are positions of the cars 8 that are different from each other.
The position of the camera 14 indicates, for example, the position of a portion facing the photographic subject, such as a lens of the camera 14. The camera 14 acquires an image to be photographed based on the intensity of the light reception on the image pickup surface of the focal length f from the lens or the like. The imaging surface of the camera 14 is, for example, a surface perpendicular to the optical axis of the camera 14. In this example, the optical axis of the camera 14 is inclined from the horizontal direction. The depression angle of the optical axis of the camera 14 is an angle θ 0 . The camera 14 moves in the up-down direction in the hoistway 2 with the movement of the car 8. The camera 14 photographs the feature points when the car 8 is located at the first car position and the second car position.
The characteristic point is a point that moves in the up-down direction in the hoistway 2 with movement of the car 8. For example the point of the balancing weight 9. The feature point is, for example, a point having a feature in the shape of any one corner portion or the like of the balance weight 9. Alternatively, the feature points may be marks or the like attached to the surface of the balance weight 9 so as to be easily recognized on the image, for example.
In fig. 2, an example of the position of the camera 14 and the position of the feature point when the car 8 is located at the first car position is shown. The position of the camera 14 at this time is defined by xy coordinates (0, yc 1 ) And (3) representing. Further, the position of the feature point is represented by xy coordinates (B, Y p1 ) And (3) representing. Here, the distance B is the horizontal direction between the camera 14 and the feature pointDistance. In this example, the distance B is regarded as a constant value based on design information of the elevator 1, for example. A first angle formed by the direction of the optical axis of the camera 14 and the direction in which the feature points are connected from the camera 14 is defined by the angle θ at which the feature points are observed from the camera 14 1 And (3) representing. The image of the feature point is imaged on the image capturing plane at a center distance y from the image capturing plane 1 Is a position of (c). At this time, the angle θ 1 Represented by the following formula (1).
[ mathematics 1]
In addition, the position Y of the camera 14 when the car 8 is at the first car position c1 Position Y of feature point p1 Angle θ for relation of (2) 1 Represented by the following formula (2).
[ math figure 2]
Y c1 -Y p1 ＝B tan(θ 1 +θ 0 )…(2)
Fig. 2 shows an example of the position of the camera 14 and the position of the feature point when the car 8 is located at the second car position. At this time, the position of the camera 14 is determined by xy coordinates (0, yc 2 ) And (3) representing. Further, the position of the feature point is defined by xy coordinates (B, Y p2 ) And (3) representing. A second angle formed by the direction of the optical axis of the camera 14 and the direction in which the feature points are connected from the camera 14 is defined by the angle θ at which the feature points are observed from the camera 14 2 And (3) representing. The image of the feature point is imaged on the image capturing plane at a center distance y from the image capturing plane 2 Is a position of (c). At this time, the angle θ 2 Represented by the following formula (3).
[ math 3]
In addition, the position Y of the camera 14 when the car 8 is at the second car position c2 Position Y of feature point p2 Angle θ for relation of (2) 2 Represented by the following formula (4).
[ mathematics 4]
Y c2 -Y p2 ＝B tan(θ 2 +θ 0 )…(4)
At this time, according to the formulas (2) and (4), the depression angle θ of the optical axis of the camera 14 0 By angle theta 1 Angle theta 2 Position difference Y of camera 14 c2 -Y c1 And the position difference Y of the feature points p2 -Y p1 Represented by the following formula (5).
[ math 5]
cos(θ 1 +θ 2 +2θ 0 )＝F(θ 2 -θ 1 ，Y c2 -Y c1 ，Y p2 -Y p1 )，…(5a)
Next, an example of the diagnosis process in the elevator 1 will be described with reference to fig. 3 and 4.
Fig. 3 and 4 are flowcharts showing an example of the operation of the elevator 1 according to embodiment 1.
Fig. 3 shows the position of the characteristic point when the car 8 is at the second car position, that is, the relative position Y of the characteristic point, with reference to the position of the characteristic point when the car 8 is at the first car position p2 -Y p1 An example of a process involved in the calculation of (a).
In step S301, the operation control unit 24 moves the car 8 to the lowest floor. After that, the elevator 1 proceeds to the process of step S302.
In step S302, the camera 14 captures an image at a floor where the car 8 stops. The image processing unit 27 acquires an image captured by the camera 14. The image processing unit 27 determines whether or not the feature point of the balance weight 9 is included in the imaging range of the acquired image. If the determination result is no, the elevator 1 proceeds to the process of step S303. If the determination result is yes, the elevator 1 proceeds to the process of step S304.
In step S303, the operation control unit 24 moves the car 8 to the previous floor. After that, the elevator 1 proceeds to the process of step S302.
In step S304, the storage unit 26 stores an image including the feature points of the balance weight 9 captured by the camera 14. The storage unit 26 stores the position of the car 8 when the camera 14 captures the image, which is detected by a car position detector such as the floor detector 15. The position of the car 8 at this time is an example of the first car position. After that, the elevator 1 proceeds to the process of step S305.
In step S305, the operation control unit 24 moves the car 8 to the previous floor. After that, the elevator 1 proceeds to the process of step S306.
In step S306, the camera 14 captures an image at a floor where the car 8 stops. In this example, the characteristic point of the balance weight 9 is selected to be included in the shooting range of the image shot by the camera 14 in the plurality of floors. At this time, since the characteristic point of the balance weight 9 of the car 8 stops at the floor immediately above the floor at the lower limit included in the photographing range, the characteristic point of the balance weight 9 is included in the photographing range of the image photographed by the camera 14 at this floor. The storage unit 26 stores an image including the feature points of the balance weight 9 captured by the camera 14. The storage unit 26 stores the position of the car 8 when the camera 14 captures the image, which is detected by a car position detector such as the floor detector 15. The position of the car 8 at this time is an example of the second car position. After that, the elevator 1 proceeds to the process of step S307.
In step S307, the calculating unit 28 calculates the relative position Y of the feature point as follows, for example p2 -Y p1 . After the calculation unit 28 calculates the relative position of the feature point, the elevator 1 ends the processing related to the calculation of the relative position.
The characteristic points of the balance weight 9 move together with the balance weight 9 as the car 8 moves. The movement amount of the balance weight 9 is a movement amount that affects the extension of the main rope 7 with respect to the lowering amount corresponding to the lifting amount of the car 8. The elongation of the main rope 7 includes a time-lapse elongation and an elastic elongation. The time-lapse elongation means an elongation gradually generated in the main rope 7 by repeatedly applied bending. The elastic elongation represents an elongation generated according to a load applied to the main rope 7. Here, due to the main rope 7Since the time-dependent elongation of the car 8 does not depend on the load attached to the main rope 7, the influence of the difference between the amount of rise of the car 8 and the amount of fall of the counterweight 9 when the car 8 rises from the first car position to the second car position is caused by the elastic elongation of the main rope 7. The relative position of the characteristic point, that is, the influence of elastic elongation on the movement amount of the balance weight 9 becomes tension T on the car 8 side in the portion of the main rope 7 passing through the driving sheave 11 during the movement of the car 8 and the balance weight 9 c Corresponding tensile force T on the side of the elongation and balance weight 9 w The difference in corresponding elongations. Accordingly, the movement amount Y of the balance weight 9 p2 -Y p1 By the movement Yc of the car 8 2 -Yc 1 And influence of elastic elongation of main rope 7 21 Represented by the following formula (6).
[ math figure 6]
Y p2 -Y p1 ＝-(Y c2 -Y c1 )-Δ 21 …(6)
Here, the length of the portion of the main rope 7 passing through the driving sheave 11 during the movement of the car 8 and the balance weight 9 is equal to the movement amount of the camera 14 provided on the car 8. Thus, the influence of elastic elongation Δ 21 Young's modulus E and cross-sectional area A using the main rope 7 are represented by the following formula (7).
[ math 7]
Tension T on car 8 side c Which varies according to the loading amount of the car 8. Therefore, the elevator 1 performs a process of calculating the relative positions of the feature points when the user or the like is not riding the car 8, for example. Tension T on car 8 side at this time c Tension T on the balance weight 9 side w For example, based on design information of the elevator 1. Thus, the calculating unit 28 calculates the relative position Y of the feature point by the expressions (6) and (7) p2 -Y p1 。
Alternatively, in the case of processing for calculating the relative position of the feature point when the user or the like sits on the car 8, the measurement value of the scale device 13 is calculatedTension T on car 8 side c . At this time, the calculation unit 28 calculates the relative position Y of the feature point from the measurement value of the scale device 13 using the formulas (6) and (7) p2 -Y p1 . In this case, the elevator 1 can perform diagnostic processing even in the normal operation. In order to suppress the influence of the change in the loading amount of the car 8, the diagnostic processing unit 25 may perform diagnostic processing in the normal operation using, for example, information immediately after the door of the car 8 is closed at the first car position and immediately before the door of the car 8 is opened at the second car position. Here, the information used by the diagnosis processing section 25 includes an image captured by the camera 14, a measurement value measured by the scale device 13, and the like.
Fig. 4 shows an example of processing related to determination of the time-lapse elongation of the main rope 7.
In step S401, the calculation unit 28 calculates the position Y of the feature point when the car 8 is located at the reference car position Yc, for example, as follows p . Here, the reference car position Yc is a position of the car 8 set in advance in the hoistway 2. Reference car position Y c For example, the position of the car 8 at the time of stopping at the uppermost floor. The calculation unit 28 calculates the position Y of the feature point p After that, the elevator 1 proceeds to the process of step S402.
When the car 8 is at the first car position, the image processing section 27 extracts the position y on the image of the feature point from the image captured by the camera 14 1 . The calculation unit 28 uses the position y on the extracted image of the feature point 1 And a focal length f, calculating an angle θ according to equation (1) 1 . Similarly, the image processing unit 27 extracts the position y on the image of the feature point from the image captured by the camera 14 when the car 8 is at the second car position 2 . The calculation unit 28 uses the position y on the extracted image of the feature point 2 And a focal length f, calculating an angle θ according to equation (3) 2 。
The calculation unit 28 uses the calculated relative position Y of the feature points p2 -Y p1 Difference Y in position of camera 14 based on position of car 8 detected by car position detector c2 -Y c1 Calculated angle theta 1 Angle of angleDegree θ 2 According to equation (5), the depression angle θ0 of the optical axis of the camera 14 is calculated. The calculation unit 28 uses the calculated depression angle θ 0 Calculating the position Y of the characteristic point when the car 8 is at the first car position according to the formula (2) p1 . Similarly, the calculating unit 28 calculates the position Y of the feature point when the car 8 is at the second car position according to expression (4) p2 。
The calculation unit 28 uses the calculated position Y of the feature point when the car 8 is at the first car position p1 The position Y of the characteristic point when the car 8 is at the reference car position Yc is calculated according to the following formula (8) p 。
[ math figure 8]
Y p -Y p1 ＝-(Y c -Y c1 )-Δ…(8)
Here, the influence Δ of elastic elongation is calculated by the following formula (9).
[ math figure 9]
As described above, the calculating unit 28 calculates the reference car position Y of the car 8 based on the images captured from the stop positions of the cars 8 at two positions, the detection results of the positions of the cars 8, and the like c Position Y of characteristic point at the time p . The calculation unit 28 may use the calculated position Y of the characteristic point when the car 8 is located at the second car position p2 Based on the same relationship as the equations (8) and (9), the position of the car 8 at the reference car position Y is calculated c Position Y of characteristic point at the time p 。
In step S402, the diagnosis processing unit 25 determines whether or not the storage unit 26 stores the reference position of the feature point. If the determination result is no, the elevator 1 proceeds to the process of step S403. If the determination result is yes, the elevator 1 proceeds to the process of step S404.
Here, the reference position of the feature point is a parameter used for calculating the time-dependent elongation of the main rope 7. As the time-dependent elongation proceeds, the position of the feature point at which the car 8 stops at the reference car position drops. Therefore, the diagnosis processing unit 25 can calculate the time-lapse expansion of the main rope 7 by comparing the reference position of the feature point stored in advance in the first diagnosis process after maintenance and inspection or the diagnosis process immediately before maintenance and inspection with the reference position of the feature point calculated in the diagnosis process.
In step S403, the storage unit 26 stores the position Y of the feature point calculated in step S401 p Stored as a reference position. After that, the elevator 1 proceeds to the process of step S404.
In step S404, the calculation unit 28 calculates the position Y of the feature point calculated in step S401 before the processing in step S404 p The length of the main rope 7 which is lowered from the reference position stored in the storage unit 26 in advance is regarded as the time-lapse elongation of the main rope. The time-lapse elongation calculated here is the time-lapse elongation of the main rope 7 from the time of storing the reference position. After that, the elevator 1 proceeds to the process of step S405.
In step S405, the determination unit 29 compares the time-lapse elongation calculated by the calculation unit 28 with the time-lapse elongation threshold value. The time-lapse elongation threshold value is information of a preset criterion for diagnosis of the elevator 1. The time-lapse elongation threshold value is stored in the storage unit 26. The threshold value of the elongation over time is, for example, 0.5% of the total length of the main rope 7. The determination unit 29 determines whether or not the time-lapse elongation is smaller than the time-lapse elongation threshold value. If the determination result is yes, the determination unit 29 diagnoses the main rope 7 as normal. On the other hand, if the determination result is no, the determination unit 29 determines that the main rope 7 is degraded or abnormal, and the maintenance work is required. The determination result in the diagnosis process is transmitted to, for example, an information center monitoring the state of the elevator 1, a manager of the elevator 1, or the like.
If the depression angle θ of the optical axis of the camera 14 is eliminated according to the formulas (2), (4) and (5) 0 The following formula (10) is obtained.
[ math figure 10]
The calculation unit 28 may not calculate the depression angle θ of the optical axis of the camera 14 0 And the position Y of the characteristic point when the car 8 is positioned at the first car position is directly calculated by the method (10) p1 Or the position Y of the characteristic point when the car 8 is at the second car position p2 。
In addition, the image processing unit 27 may extract the position y of the feature point on the image when the image is acquired in step S304, step S306, or the like 1 Position y 2 Etc. The calculation unit 28 may calculate the angle θ at this time 1 And angle theta 2 . The storage unit 26 may store the position of the extracted feature point, the calculated angle, or the like together with the image captured by the camera 14. Alternatively, the storage unit 26 may store the position of the extracted feature point, the calculated angle, or the like instead of the image captured by the camera 14.
In addition, the right value of the equation (5 b) may exceed 1 due to a horizontal displacement of the camera 14 or the like. In this case, the diagnostic processor 25 may perform the diagnostic process with the right value of the equation (5 b) set to 1. Although some errors occur in the calculation result of the calculation unit 28, the diagnosis process proceeds more stably. Further, when the right value of the equation (5 b) exceeds the preset threshold value and exceeds 1, the diagnosis processing unit 25 may determine that the state of the elevator 1 is abnormal.
In addition, in calculating the relative positions of the feature points, the diagnosis processing unit 25 can perform diagnosis processing by moving the car 8 from the lowest floor to the lowest floor, regardless of the structure of each elevator such as the number of floors. On the other hand, when the characteristic point of the balance weight 9 is a known range of the positions of the cars 8 included in the imaging range, the diagnosis processing unit 25 may set the positions of the cars 8 included in the range, which are different from each other, as the first car position and the second car position that are set in advance. The first car position and the second car position are, for example, positions of two floors different from each other, and the like. However, the longer the distance between the feature points of the camera 14 and the balance weight is, the poorer the position resolution of the feature points with respect to the resolution of the camera 14, and therefore the first car position and the second car position are selected in consideration of the resolution of the camera 14. When the first car position and the second car position are set in advance, the operation control unit 24 may move the car 8 directly to the first car position and the second car position without moving from the lowest floor.
The plate 16 detected by the landing floor detector 15 may be provided at a position not corresponding to any floor. At this time, the plate 16 is disposed at a first car position and a second car position selected in consideration of the position resolution of the feature points. The car position detector may detect the position of the car 8 using the measurement values of the hoist encoder 12, the governor encoder 21, or other sensors. At this time, the diagnosis processing unit 25 can set the position of the car 8 where the plate 16 is not provided as the first car position and the second car position. Here, when the relative position of the feature point is calculated by moving the car 8 from the lowest floor, the operation control unit 24 may raise the car 8 by a predetermined distance, for example, 1 m.
The diagnosis processing unit 25 may perform diagnosis processing based on the image captured by the camera 14 at the position of the car 8 at 3 or more positions. At this time, the calculating unit 28 can calculate the amount of the state of the elevator 1 such as the time-lapse elongation of the main rope 7, for example, a plurality of times. The calculation unit 28 calculates the state quantity of the elevator 1 by processing the average value, the intermediate value, and the like of the calculated values. Thereby, the accuracy of the calculated amount is further improved.
The camera 14 may be provided at the upper part of the car 8. At this time, the diagnosis processing unit 25 performs diagnosis processing using, for example, a relationship obtained based on the elevation angle of the optical axis of the car 8, as in the case of the equations (1) to (10). The camera 14 may be provided on the side surface of the car 8. The diagnosis processing unit 25 performs diagnosis processing using, for example, a relationship obtained based on the pitch angle of the optical axis of the car 8, as in the case of equations (1) to (10). Here, the pitch angle of the optical axis is the elevation angle or depression angle of the optical axis, i.e., the angle between the optical axis and the horizontal plane.
The elevator 1 is not limited to thisAn elevator roping at 1:1. Elevator 1 may also be a 2:1 roping elevator. At this time, the length of the portion of the main rope 7 passing through the driving sheave 11 during the movement of the car 8 and the balance weight 9 is 2 times the movement amount of the car 8 and the balance weight 9. Therefore, the diagnosis processing unit 25 performs diagnosis processing using a relationship or the like corrected in consideration of the relationship between the length of the portion of the main rope 7 of the drive sheave 11 and the movement amounts of the car 8 and the counterweight 9. For example, the calculation unit 28 calculates the position Y of the feature point calculated with respect to the reference position stored in advance p The length of the drop is 2 times as long as the main rope 7 is elongated with time.
As described above, the elevator 1 of embodiment 1 includes the main rope 7, the car 8, the counterweight 9, the camera 14, the car position detector, and the diagnosis processing unit 25. The main rope 7 is wound around the driving pulley 11. The load of the car 8 is supported by the main rope 7 on one side of the drive sheave 11. The car 8 moves within a range of the hoistway 2 including a first car position and a second car position. The load of the balance weight 9 is supported by the main rope 7 on the other side of the drive sheave 11. The counterweight 9 moves in the hoistway 2 with the movement of the car 8. A camera 14 is provided on the car 8. The camera 14 photographs the feature points. The feature point moves in the hoistway 2 with the movement of the car 8. The car position detector acquires the position of the car 8. The calculation unit 28 of the diagnosis processing unit 25 calculates the relative position of the feature point from the position of the car 8 acquired by the car position detector. The relative position of the feature point is the position of the feature point when the car 8 is at the second car position, with reference to the position of the feature point when the car 8 is at the first car position. The calculation unit 28 of the diagnosis processing unit 25 calculates the position of the feature point when the car 8 is at the reference car position, based on the calculated relative position of the feature point, the position of the car 8 obtained by the car position detector, and the image of the feature point captured by the camera 14 when the car 8 is at the first car position and the second car position. The reference car position is a position of the hoistway 2 set in advance.
The diagnosis method of the elevator 1 according to embodiment 1 includes a relative position calculation step, a feature point position calculation step, and a determination step. The relative position calculating step is a step of calculating the relative position of the feature point from the position of the car 8 acquired by the car position detector. The feature point calculation step calculates the position of the feature point when the car 8 is at the reference car position based on the relative position of the feature point calculated in the relative position calculation step, the position of the car 8 acquired by the car position detector, and the image of the feature point captured by the camera 14 when the car 8 is at the first car position and the second car position. The determination step is a step of determining the state of the elevator 1 based on the position of the feature point calculated in the feature point position calculation step.
According to this configuration, the position of the feature point is calculated from a plurality of images including the feature point captured by the camera 14 in the capturing range at a plurality of positions of the car 8. The position of the characteristic point moves in the hoistway 2 with the movement of the car 8, and therefore the state of the elevator 1 is determined from the position of the characteristic point. By using a plurality of images from a plurality of positions of the car 8, the displacement due to the pitch angle or the like of the optical axis of the camera 14 is corrected, so that the state of the elevator 1 can be determined without requiring strict adjustment, confirmation, or the like of the angle of the camera 14. Since the state of the elevator 1 can be directly determined even when the optical axis of the camera 14 is inclined from the horizontal plane, the determination of the elevator 1 can be performed with higher accuracy even when the distance between the camera 14 and the feature point in the horizontal direction is long. This makes it possible to diagnose the elevator 1 by using the camera 14 for inspection and maintenance of the hoistway 2 arranged in the horizontal center of the car 8.
The calculation unit 28 of the diagnosis processing unit 25 calculates a first angle formed by the direction of the optical axis of the camera 14 and the direction in which the feature points are connected from the camera 14, from the image of the feature points captured by the camera 14 when the car 8 is at the first car position. The calculating unit 28 of the diagnosis processing unit 25 calculates a second angle formed by the direction of the optical axis of the camera 14 and the direction in which the feature points are connected from the camera 14, based on the image of the feature points captured by the camera 14 when the car 8 is at the second car position. The calculation unit 28 of the diagnosis processing unit 25 calculates the position of the feature point when the car 8 is located at the reference car position, using the first angle and the second angle.
With this configuration, the direction of the feature point observed from the camera 14 is calculated as the first angle and the second angle based on the position of the feature point on the image, and therefore the position of the feature point and the like can be calculated more easily.
The calculation unit 28 of the diagnosis processing unit 25 calculates a pitch angle of the optical axis of the camera 14.
With this configuration, since the pitch angle of the optical axis is calculated as the tilt of the camera 14, the change in the tilt of the camera 14 can be grasped. Therefore, it can be confirmed whether the determination of the state of the elevator 1 is performed normally.
In addition, the characteristic point is a point of the balance weight 9.
The storage unit 26 of the diagnosis processing unit 25 stores the reference positions of the feature points. The calculation unit 28 of the diagnosis processing unit 25 calculates the time-lapse elongation of the main rope 7 from the difference between the position of the feature point when the car 8 is at the reference car position and the reference position of the stored feature point.
The diagnosis method of the elevator 1 further includes a time-lapse elongation calculation step. The time-lapse elongation calculation step is a step of calculating the time-lapse elongation of the main rope 7 from the difference between the position of the characteristic point when the car 8 is at the reference car position and the reference position of the characteristic point stored in advance.
With this configuration, since the position of the characteristic point of the balance weight 9 linked to the car 8 by the main rope 7 is calculated, the state of the main rope 7 such as the time-lapse elongation of the main rope 7 can be more easily diagnosed from the position of the characteristic point.
The determination unit 29 of the diagnosis processing unit 25 determines degradation of the main rope 7 based on the calculated time-lapse elongation of the main rope 7.
In the determination step of the diagnostic method of the elevator 1, deterioration of the main rope 7 is determined based on the time-lapse elongation of the main rope 7 calculated in the time-lapse elongation calculation step.
With this configuration, deterioration of the main rope 7 can be diagnosed based on an image or the like captured by the camera 14. This makes it possible to determine whether maintenance work or the like of the elevator 1 is required.
The calculation unit 28 of the diagnosis processing unit 25 calculates the relative position of the feature point based on the distance between the first car position and the second car position and the elastic elongation corresponding to the load applied to the main rope 7.
With this configuration, since the position of the characteristic point is corrected by the elastic elongation of the main rope 7, the state of the elevator 1 can be determined with higher accuracy.
The elevator 1 further includes a scale device 13. The scale device 13 measures the load of the car 8. The calculation unit 28 of the diagnosis processing unit 25 calculates the elastic elongation of the main rope 7 from the measurement value of the scale device 13.
With this configuration, since the elastic expansion can be corrected according to the load of the car 8, the diagnosis process of the elevator 1 can be performed even in the normal operation. This can further increase the frequency of the diagnosis process of the elevator 1, and thus an abnormality in the elevator 1 can be found more reliably.
The calculation unit 28 of the diagnosis processing unit 25 may calculate the distance between the first car position and the second car position as the relative position of the feature point. That is, the calculating unit 28 may calculate the influence Δ of the elastic elongation in the expression (6) 21 Let 0 be the relative position of the feature point is calculated. In this case, the calculation unit 28 may calculate the position of the feature point by setting the influence Δ of the elastic elongation to 0 in expression (8). For example, when the car 8 moves within a range in which the influence of elastic elongation due to a tension difference is small, the influence of elastic elongation is ignored in calculation of the relative position or the like of such feature points. Due to the movement amount Y of the car 8 c2-Yc1 Directly calculating the movement amount Y of the balance weight 9 p2-Yp1 Etc., so that the diagnostic process is performed by a simpler calculation.
Next, an example of the hardware configuration of the elevator 1 will be described with reference to fig. 5.
Fig. 5 is a hardware configuration diagram of a main part of elevator 1 according to embodiment 1.
The functions of the elevator 1 can be implemented by a processing circuit. The processing circuit is provided with at least one processor 100a and at least one memory 100b. The processing circuit may also be provided with the processor 100a and the memory 100b, or at least one dedicated hardware 200 as an alternative to the processor 100a and the memory 100b.
In the case where the processing circuit is provided with a processor 100a and a memory 100b, the functions of the elevator 1 are implemented by software, firmware, or a combination of software and firmware. At least one of the software and firmware is described as a program. The program is stored in the memory 100b. The processor 100a realizes the functions of the elevator 1 by reading out and executing the programs stored in the memory 100b.
The processor 100a is also called a CPU (central processing unit), a processing device, an arithmetic device, a microprocessor, a microcomputer, a DSP. The memory 100b is constituted by a nonvolatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, EEPROM, or the like, for example.
In the case of a processing circuit provided with dedicated hardware 200, the processing circuit is implemented by, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof.
The functions of the elevator 1 can be implemented by a processing circuit, respectively. Alternatively, the functions of the elevator 1 may be collectively implemented in the processing circuit. For the functions of the elevator 1, one part can also be implemented in dedicated hardware 200 and another part in software or firmware. Thus, the processing circuit implements the functions of the elevator 1 by means of dedicated hardware 200, software, firmware or a combination thereof.
Embodiment 2
In embodiment 2, differences from the example disclosed in embodiment 1 will be described in particular detail. As for the features not described in embodiment 2, any of the features disclosed in the example of embodiment 1 may be employed.
In the elevator 1 according to embodiment 2, the balance weight gap is diagnosed in the diagnosis process. The balance weight gap is a distance between the upper end portion of the buffer 22 and the lower end portion of the balance weight 9 when the car 8 stops at the uppermost floor. The balance weight gap needs to be a distance in a range where the balance weight 9 does not collide with the buffer 22 when the elevator 1 is in normal operation. In addition, the balance weight gap needs to be a distance of a range in which the balance weight 9 collides with the buffer 22 before the car 8 collides with the top of the hoistway 2 in the case where the car 8 travels above the uppermost floor. The balance weight gap needs to be within such required range.
As the main rope 7 expands with time, the position of the counterweight 9 drops when the car 8 stops at the uppermost floor. Therefore, the balance weight gap becomes smaller as the main rope 7 is elongated with time. In the diagnosis process, it is determined whether the balance weight gap is within a required range.
Fig. 6 is a flowchart showing an example of the operation of elevator 1 according to embodiment 2.
In step S601, the calculating unit 28 calculates that the car 8 is located at the reference car position Y by, for example, the same processing as in step S401 of fig. 4 c Position Y of characteristic point at the time p . In this example, the reference car position Y c Is the position at which the car 8 stops at the uppermost floor. The characteristic point is the point of the balance weight 9. After that, the elevator 1 proceeds to the process of step S602.
In step S602, the calculation unit 28 calculates a position Y based on the passing feature point p The calculated position of the lower end portion of the balance weight 9 calculates a balance weight gap. The determination unit 29 compares the balance weight gap calculated by the calculation unit 28 with a balance weight gap threshold value. The balance weight gap threshold value is information of a preset diagnostic reference of the elevator 1. The balance weight gap threshold value is stored in the storage section 26. The balance weight gap threshold is, for example, 200mm or the like. The determination unit 29 determines whether the balance weight gap is greater than a balance weight gap threshold value, for example. If the determination result is yes, the determination unit 29 diagnoses the balance weight gap as normal. On the other hand, when the determination result is no, the determination unit 29 determines that maintenance work for adjusting the balance weight gap is required. The determination result in the diagnosis process is transmitted to, for example, an information center monitoring the state of the elevator 1, a manager of the elevator 1, or the like. In the maintenance work, for example, the balance weight gap is adjusted by attaching and detaching a spacer attached to the lower end portion of the balance weight 9.
As described above, in the elevator 1 of embodiment 2, the characteristic point is the point of the balance weight 9. The calculating unit 28 of the diagnosis processing unit 25 calculates the balance weight gap based on the position of the feature point when the car 8 is at the reference car position. The balance weight gap is a gap between an upper end portion of the damper 22 provided below the balance weight 9 and a lower end portion of the balance weight 9. The determination unit 29 of the diagnosis processing unit 25 determines whether or not maintenance work is required, based on the balance weight gap calculated by the calculation unit 28.
The diagnosis method of the elevator 1 according to embodiment 2 further includes a balance weight gap calculation step. The balance weight gap calculating step is a step of calculating a balance weight gap from the position of the feature point when the car 8 is located at the reference car position. In the determination step, it is determined whether or not maintenance work is required based on the balance weight gap calculated in the balance weight gap calculation step.
With this configuration, since the position of the characteristic point of the balance weight 9 linked to the car 8 by the main rope 7 is calculated, it is easier to diagnose whether or not maintenance work for adjusting the balance weight gap is necessary based on the position of the characteristic point.
Embodiment 3
In embodiment 3, differences from the examples disclosed in embodiment 1 or embodiment 2 will be described in particular detail. As the feature not described in embodiment 3, any feature of the examples disclosed in embodiment 1 or embodiment 2 may be employed.
The elevator 1 of embodiment 3 performs diagnosis of compensating for the cable gap in the diagnosis process. The compensation cable gap is the distance between the floor surface of the pit 3, which is the lower end of the hoistway 2, and the lower end of the compensation cable 18. The compensating cable gap needs to be a distance in the range where the compensating cable 18 does not collide with the floor surface of the pit 3 and the equipment provided in the pit 3 when the elevator 1 is operating normally. The compensation cable gap needs to be within such required range.
As the main rope 7 expands with time, the position of the lower end portion of the compensation cable 18 drops when the car 8 stops at the reference car position. Therefore, the compensation cable gap becomes smaller as the main cable 7 is elongated with time. In the diagnostic process, it is determined whether the compensating cable gap is within a desired range.
Fig. 7 is a flowchart showing an example of the operation of elevator 1 according to embodiment 3.
In step S701, the calculating unit 28 calculates that the car 8 is located at the reference car position Y c Position Y of characteristic point at the time p . The characteristic point is a point of the lower end portion of the compensation cable 18. The characteristic point of the lower end portion of the compensation cable 18 is, for example, a point turned back in the up-down direction. Both ends of the compensation cable 18 move in opposite directions with the movement of the car 8 and the counterweight 9. Therefore, the movement amount of the lower end portion of the compensation cable 18 is caused by the elastic elongation of the main rope 7. Since the compensation cable 18 is suspended between the car 8 and the counterweight 9, the amount of movement of the lower end portion of the compensation cable 18 is half the amount of lowering of the counterweight 9 due to elastic extension of the main rope 7. Therefore, for example, in the same process as step S401 in fig. 4, the calculating unit 28 calculates the position Y of the point of the lower end portion of the compensation cable 18 as the feature point by the process of replacing the expression (6) with the expression (11) and replacing the expression (7) with the expression (12) p . After that, the elevator 1 proceeds to the process of step S702.
[ mathematics 11]
[ math figure 12]
In step S702, the calculation unit 28 calculates a position Y based on the passing feature point p The calculated position of the lower end portion of the compensation cable 18 calculates the compensation cable gap. The determination unit 29 compares the compensating cable gap calculated by the calculation unit 28 with the compensating cable gap threshold value. The compensating cable gap threshold value is information of a preset reference for diagnosis of the elevator 1. The compensation cable gap threshold is stored in the storage 26. The compensating cable gap threshold is for example 200mm or the like in length. The determination unit 29 determines whether or not the compensating cable gap is larger than the compensating cable gap, for exampleA threshold value. When the determination result is yes, the determination unit 29 diagnoses the compensating cable gap as normal. On the other hand, when the determination result is no, the determination unit 29 determines that maintenance work for adjusting the compensating cable gap is required. The determination result in the diagnosis process is transmitted to, for example, an information center monitoring the state of the elevator 1, a manager of the elevator 1, or the like. In maintenance work, the adjustment of the compensating cable gap is performed by, for example, adjustment of a portion attached to the car 8 or the counterweight 9.
The calculation unit 28 may calculate the time-dependent elongation of the main rope 7 from the change in the position of the lower end portion of the compensation cable gap as the characteristic point.
As described above, in the elevator 1 of embodiment 3, the characteristic point is a point of the lower end portion of the compensation cable 18 attached to the car 8 and the counterweight 9. The calculation unit 28 of the diagnosis processing unit 25 calculates the compensation cable gap based on the position of the feature point when the car 8 is at the reference car position. The compensation cable gap is the spacing between the lower end of the hoistway 2 and the lower end of the compensation cable 18. The determination unit 29 of the diagnosis processing unit 25 determines whether or not maintenance work is required, based on the compensation cable gap calculated by the calculation unit 28.
The diagnosis method of the elevator 1 according to embodiment 3 further includes a compensation cable gap calculation step. The compensation cable gap calculating step is a step of calculating the compensation cable gap from the position of the feature point when the car 8 is at the reference car position. In the determining step, it is determined whether or not maintenance work is required based on the compensating cable slack calculated in the compensating cable slack calculating step.
With this configuration, since the position of the lower end portion of the compensation cable 18 as the feature point is calculated from the image captured by the camera 14, it is easier to diagnose whether maintenance work for adjusting the compensation cable gap is necessary.
Industrial applicability
The elevator of the present disclosure can be applied to a building or the like having a plurality of floors. The diagnostic method of the present disclosure is applicable to this elevator.
Description of the reference numerals
1 elevator, 2 hoistway, 3 pit, 4 machine room, 5 hoist, 6 deflector sheave, 7 main rope, 8 car, 9 counterweight, 10 motor, 11 drive sheave, 12 hoist encoder, 13 scale device, 14 camera, 15 landing floor detector, 16 board, 17 control cable, 18 compensation cable, 19 governor, 20 governor sheave, 21 governor encoder, 22 buffer, 23 control device, 24 operation control section, 25 diagnostic processing section, 26 storage section, 27 image processing section, 28 calculation section, 29 decision section, 100a processor, 100b memory, 200 dedicated hardware.
Claims (17)
1. An elevator, wherein the elevator comprises:
a main rope wound around the driving pulley;
a car, a load of which is supported by the main rope at one side of the driving sheave, the car moving in a range including a first car position and a second car position of a hoistway;
a balance weight supported on the main rope on the other side of the drive sheave, the balance weight moving in the hoistway with movement of the car;
A camera provided in the car and capturing a feature point moving in the hoistway according to movement of the car;
a car position detector that obtains a position of the car; and
and a diagnosis processing unit that calculates a relative position of the feature point when the car is at the second car position based on the position of the car acquired by the car position detector, and calculates a position of the feature point when the car is at the reference car position of the elevator hoistway, which is set in advance, based on the calculated relative position of the feature point, the position of the car acquired by the car position detector, and an image of the feature point captured by the camera when the car is at the first car position, and an image of the feature point captured by the camera when the car is at the second car position.
2. The elevator according to claim 1, wherein,
the diagnosis processing part
Calculating a first angle formed by a direction of an optical axis of the camera and a direction connecting the feature points from the camera based on an image of the feature points captured by the camera when the car is at the first car position,
Calculating a second angle formed by a direction of an optical axis of the camera and a direction connecting the feature points from the camera based on an image of the feature points captured by the camera when the car is at the second car position,
the first angle and the second angle are used to calculate the position of the feature point when the car is at the reference car position.
3. Elevator according to claim 1 or 2, wherein,
the diagnosis processing section calculates a pitch angle of an optical axis of the camera.
4. An elevator according to any one of claims 1-3, wherein,
the characteristic point is a point of the balance weight.
5. The elevator as claimed in claim 4, wherein,
the diagnosis processing unit calculates a balance weight gap, which is a gap between an upper end portion of a buffer provided below the balance weight and a lower end portion of the balance weight, based on a position of the feature point when the car is located at the reference car position, and determines whether maintenance work is required based on the calculated balance weight gap.
6. An elevator according to any one of claims 1-3, wherein,
the characteristic point is a point of a lower end portion of a compensation cable mounted on the car and the balance weight.
7. The elevator according to claim 6, wherein,
the diagnosis processing unit calculates a compensation cable gap, which is a gap between a lower end portion of the elevator shaft and a lower end portion of the compensation cable, based on a position of the feature point when the car is located at the reference car position, and determines whether maintenance work is required based on the calculated compensation cable gap.
8. The elevator according to any one of claims 1-7, wherein,
the diagnosis processing unit stores a reference position of the feature point, and calculates an extension of the main rope with time based on a difference between a position of the feature point when the car is at the reference car position and the stored reference position of the feature point.
9. The elevator according to claim 8, wherein,
the diagnosis processing unit determines degradation of the main rope based on the calculated time-lapse elongation of the main rope.
10. Elevator according to any one of claims 1-9, wherein,
the diagnosis processing unit calculates the relative position of the feature point based on a distance between the first car position and the second car position and an elastic elongation corresponding to a load applied to the main rope.
11. The elevator according to claim 10, wherein,
the elevator is provided with a balance device for measuring the loading capacity of the elevator car,
the diagnosis processing unit calculates an elastic elongation of the main rope based on the measurement value of the scale device.
12. Elevator according to any one of claims 1-9, wherein,
the diagnosis processing unit calculates a distance between the first car position and the second car position as the relative position of the feature point.
13. A method for diagnosing an elevator, which comprises the steps of,
the elevator comprises:
a main rope wound around the driving pulley;
a car, a load of which is supported by the main rope at one side of the driving sheave, the car moving in a range including a first car position and a second car position of a hoistway;
a balance weight supported on the main rope on the other side of the drive sheave, the balance weight moving in the hoistway with movement of the car;
a camera provided in the car and capturing a feature point moving in the hoistway according to movement of the car; and
a car position detector for acquiring the position of the car,
the elevator diagnosis method comprises the following steps:
A relative position calculating step of calculating a relative position of the characteristic point when the car is located at the second car position with reference to a position of the characteristic point when the car is located at the first car position, based on the position of the car acquired by the car position detector;
a feature point position calculating step of calculating a position of the feature point when the car is located at a reference car position of the elevator shaft, based on the relative position of the feature point calculated in the relative position calculating step, the position of the car acquired by the car position detector, and an image of the feature point captured by the camera when the car is located at the first car position and an image of the feature point captured by the camera when the car is located at the second car position; and
and a determination step of determining the state of the elevator based on the position of the feature point calculated in the feature point position calculation step.
14. The method for diagnosing an elevator according to claim 13, wherein,
the characteristic point is the point of the balancing weight,
the elevator diagnosis method further comprises a balance weight clearance calculation step of calculating a balance weight clearance, which is a distance between an upper end portion of a buffer provided below the balance weight and a lower end portion of the balance weight, based on a position of the characteristic point when the car is located at the reference car position,
In the determining step, it is determined whether or not maintenance work is required based on the balance weight gap calculated in the balance weight gap calculating step.
15. The method for diagnosing an elevator according to claim 13, wherein,
the characteristic point is a point of a lower end portion of a compensation cable mounted on the car and the balance weight,
the elevator diagnosis method further comprises a compensation cable clearance calculation step of calculating a compensation cable clearance, which is a distance between a lower end portion of the hoistway and a lower end portion of the compensation cable, based on a position of the feature point when the car is located at the reference car position,
in the determining step, it is determined whether or not maintenance work is required based on the compensating cable slack calculated in the compensating cable slack calculating step.
16. The method for diagnosing an elevator according to claim 13, wherein,
the elevator diagnosis method further includes an elapsed time extension calculation step of calculating the elapsed time extension of the main rope based on a difference between the position of the characteristic point when the car is at the reference car position and a reference position of the characteristic point stored in advance.
17. The method for diagnosing an elevator according to claim 16, wherein,
in the determining step, degradation of the main rope is determined based on the time-lapse elongation of the main rope calculated in the time-lapse elongation calculating step.
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| JPH05262474A (en) * | 1992-03-18 | 1993-10-12 | Hitachi Ltd | Detecting device for elongation of rope in elevator |
| US7117981B2 (en) | 2001-12-19 | 2006-10-10 | Otis Elevator Company | Load bearing member for use in an elevator system having external markings for indicating a condition of the assembly |
| JP5271155B2 (en) * | 2009-06-03 | 2013-08-21 | 三菱電機ビルテクノサービス株式会社 | Clearance measuring device |
| JP2012171776A (en) * | 2011-02-24 | 2012-09-10 | Mitsubishi Electric Corp | Rope inspection device for elevator |
| US10479648B2 (en) * | 2017-05-12 | 2019-11-19 | Otis Elevator Company | Automatic elevator inspection systems and methods |
| JP2020040813A (en) * | 2018-09-12 | 2020-03-19 | 株式会社日立ビルシステム | Elevator clearance measurement method |
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- 2021-06-28 WO PCT/JP2021/024376 patent/WO2023275939A1/en active Application Filing
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| WO2023275939A1 (en) | 2023-01-05 |
| JPWO2023275939A1 (en) | 2023-01-05 |
| JP7501795B2 (en) | 2024-06-18 |
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