JP7349073B2 - Elevator operation control device - Google Patents
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Description
本発明は、エレベータにおけるかごの運行を制御するエレベータの運行制御装置に関する。 The present invention relates to an elevator operation control device that controls the operation of cars in an elevator.
エレベータの運行制御装置を有するエレベータとして、特許文献１に記載のエレベータが知られている。エレベータは、例えば２つの昇降路と３つのかごを備え、３つのかごのうちの１つのかごが昇降方向のみならず昇降路間を横移動できるように構成され、これら３つのかごの移動を制御する制御部を備えている。そして、制御部は、１つのかごが昇降路間を移動する時に、他のかごと干渉しないように互いのかごの移動を制御する（例えば、特許文献１の図６参照）。具体的には、制御部は、かごが時々刻々と変化する位置を、昇降路の上端位置に備える昇降ロープを巻き上げる巻上機モータの回転数を検出するエンコーダからの検出信号に基づいて検出している。 An elevator described in Patent Document 1 is known as an elevator having an elevator operation control device. An elevator includes, for example, two hoistways and three cars, and is configured so that one of the three cars can move not only in the ascending and descending direction but also laterally between the hoistways, and the movement of these three cars is controlled. It is equipped with a control section to Then, when one car moves between hoistways, the control unit controls the movement of each car so as not to interfere with other cars (for example, see FIG. 6 of Patent Document 1). Specifically, the control unit detects the constantly changing position of the car based on a detection signal from an encoder that detects the rotation speed of a hoist motor that winds up a hoisting rope provided at the top end of the hoistway. ing.
特許文献１に記載のようなエレベータでは、落雷等による停電や、エンコーダと制御部との間での信号の送受信の不調等により、検出位置がずれてしまい、かごの位置が実際の位置と大きく異なる場合が発生することがある。また、エンコーダでは、基準位置に対する相対位置を測定するので、かごの昇降路内における絶対位置の検出ができず、かごの位置が実際の位置とずれるおそれもある。昇降路間を移動している１つのかごの検出位置が実際の位置とずれていると、他のかごの位置と干渉したり、乗場に停止できなかったりして、エレベータのかごを適切に運行できなくなる虞があった。 In the elevator described in Patent Document 1, the detected position may deviate due to a power outage due to a lightning strike or a malfunction in signal transmission and reception between the encoder and the control unit, and the car position may be significantly different from the actual position. Different cases may occur. Furthermore, since the encoder measures the position relative to the reference position, it is not possible to detect the absolute position of the car in the hoistway, and there is a possibility that the position of the car may deviate from the actual position. If the detected position of one car moving between hoistways deviates from its actual position, it may interfere with the position of other cars or fail to stop at the landing, making it difficult for elevator cars to operate properly. There was a risk that it would not be possible.
そこで、本発明は、エレベータの移動路を移動する移動体の検出位置が実際の位置とずれていたとしても適切に移動体を停止させることができるエレベータの運行制御装置を提供することを目的とする。 SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide an elevator operation control device that can appropriately stop a moving object even if the detected position of the moving object moving along the elevator travel path deviates from the actual position. do.
本発明のエレベータの運行制御装置は、かごを含む１又は複数の移動体と、該移動体が内部を移動可能な移動路と、を備えるエレベータに設けられるとともに、前記移動体の運行を制御するエレベータの運行制御装置であって、前記移動体の移動を停止させる停止制御手段を備え、該停止制御手段は、前記移動路に設けられる被検出部と、前記移動体に設けられ、前記被検出部との距離を非接触で検知可能な検出部と、制御部と、を備え、該制御部は、前記被検出部を操作することにより、前記被検出部が前記検出部に検出される検出可能状態、及び、前記被検出部が前記検出部に検出されない検出不能状態、を切り替える検出切替制御と、前記検出部が前記検出可能状態にある前記被検出部との距離が基準値未満であることを検知した場合に、前記基準値未満の検出がされた前記検出部が設けられる前記移動体を停止させる停止制御と、を実行する。 The elevator operation control device of the present invention is provided in an elevator that includes one or more moving objects including a car, and a movement path through which the moving objects can move, and controls the operation of the moving objects. An elevator operation control device, comprising a stop control means for stopping the movement of the movable body, the stop control means comprising a detected portion provided on the moving path, a detected portion provided on the movable body, and a stop control device configured to stop the movement of the movable body. a detection unit capable of detecting a distance from the detection unit in a non-contact manner; and a control unit, the control unit detecting the detection unit by operating the detection unit. Detection switching control for switching between a possible state and an undetectable state in which the detected part is not detected by the detecting part, and a distance between the detecting part and the detected part in which the detecting part is in the detectable state is less than a reference value. When this is detected, stop control is executed to stop the moving body provided with the detection unit in which the detection unit detects a value less than the reference value.
かかる構成によれば、制御部は、移動体に設けられた検出部と検出状態の被検出部の距離が基準値未満になると移動体を停止させるので、検出可能状態の被検出部の手前で移動体を停止させることができる。よって、移動体の検出位置が実際のかご位置とずれていたとしても停止制御手段によって移動体を停止させることができるので、適切に移動体を停止させることができる。 According to this configuration, the control unit stops the moving body when the distance between the detecting unit provided in the moving body and the detected part in the detection state becomes less than the reference value, so that the control unit stops the moving body when the distance between the detection unit provided in the moving body and the detected part in the detection state becomes smaller. A moving object can be stopped. Therefore, even if the detected position of the movable body deviates from the actual car position, the movable body can be stopped by the stop control means, so that the movable body can be appropriately stopped.
また、前記被検出部は、前記検出切替制御によって前記移動体の移動軌跡に対して出退可能であり、前記検出可能状態の前記被検出部は、前記移動体の移動軌跡に対して進出した進出状態であり、前記検出不能状態の前記被検出部は、前記移動体の移動軌跡から退避した退避状態であり、前記被検出部は、前記進出状態で前記移動体が当たると退避方向に移動し、前記移動体の通過を許容することもできる。 Further, the detected part is capable of moving in and out of the moving trajectory of the moving body by the detection switching control, and the detected part in the detection-enabled state is able to move into and out of the moving trajectory of the moving body. The detected part that is in the advanced state and is in the undetectable state is in a retracted state in which it has retreated from the movement trajectory of the moving object, and when the detected part is hit by the moving object in the advanced state, it moves in the retracted direction. However, it is also possible to allow the moving object to pass through.
かかる構成によれば、被検出部は移動体が当たると退避方向に移動するので、移動体が被検出部に衝突して被検出部に力がかかったときに、該力によって被検出部が破損することを抑制できる。 According to this configuration, the detected part moves in the retracting direction when the moving object hits it, so when the moving object collides with the detected part and force is applied to the detected part, the detected part is moved by the force. Damage can be suppressed.
また、前記移動体は複数設けられ、前記停止制御手段は、前記移動体が当たることで前記進出状態の前記被検出部が退避方向に移動したことを検知する退避検知手段を備え、前記制御部は、前記移動体が当たることで前記進出状態の前記被検出部が退避したことを前記退避検知手段が検知したときにすべての前記移動体を停止させる緊急停止制御を実行するよう構成することもできる。 In addition, a plurality of the movable bodies are provided, and the stop control means includes a retreat detection means for detecting that the detected portion in the advanced state has moved in the retreat direction when the movable body hits the control unit. The device may be configured to execute emergency stop control for stopping all of the moving objects when the retreat detection means detects that the detected portion in the advanced state has retreated due to being hit by the moving object. can.
かかる構成によれば、検出部の不良などにより移動体が被検出部に衝突した場合に、全ての移動体を停止させるので、移動体同士が衝突することを未然に抑制できる。 According to this configuration, when a moving object collides with the detected section due to a defect in the detection section or the like, all the moving objects are stopped, so it is possible to prevent the moving objects from colliding with each other.
また、前記移動体は複数設けられ、前記移動路は、複数の前記移動体が内部を移動可能な少なくとも２本の昇降路と、該少なくとも２本の昇降路間を連通し、前記移動体が移動可能な横移動部と、を備え、前記被検出部は、前記かごが前記横移動部を介して前記昇降路間を移動する移動軌跡上に設けられ、前記制御部は、前記横移動部が連通する一の昇降路から他の昇降路に前記かごが移動不可である場合に前記被検出部を前記検出可能状態とし、前記横移動部が連通する一の昇降路から他の昇降路に前記移動体が移動可能である場合に前記被検出部を前記検出不能状態とするよう構成することもできる。 Further, a plurality of the movable bodies are provided, and the movable path communicates between at least two hoistways in which the plurality of movable bodies can move, and the at least two hoistways are arranged so that the movable bodies a movable lateral movement section, the detected section is provided on a movement locus in which the car moves between the hoistways via the lateral movement section, and the control section is configured to control the lateral movement section. When the car cannot be moved from one hoistway to another hoistway with which the car is connected, the detected part is set to the detectable state, and the lateral moving part is moved from the one hoistway to the other hoistway with which it communicates. It is also possible to configure the detection target section to be in the undetectable state when the movable body is movable.
かかる構成によれば、移動体が昇降路間を移動可能なエレベータにおいて、横移動部を含んで移動する移動体を検出可能状態の被検出部の手前で移動体を停止させることができる。よって、移動体の検出位置が実際の位置とずれていたとしても停止制御手段によって移動体を停止させることができるので、適切に移動体を停止させることができる。 According to this configuration, in an elevator in which a movable body is movable between hoistways, the movable body that moves including the lateral movement part can be stopped in front of the detected part that is in a detectable state. Therefore, even if the detected position of the moving body deviates from the actual position, the moving body can be stopped by the stop control means, so that the moving body can be stopped appropriately.
本発明によれば、エレベータの移動路を移動する移動体の検出位置が実際の位置とずれていたとしても適切に移動体を停止させることができるエレベータの運行制御装置を得ることができる。 According to the present invention, it is possible to obtain an elevator operation control device that can appropriately stop a moving object even if the detected position of the moving object moving along the elevator travel path deviates from the actual position.
本発明の一実施形態に係るエレベータの運行制御装置１０について図１乃至図５を参照して説明する。 An elevator operation control device 10 according to an embodiment of the present invention will be described with reference to FIGS. 1 to 5.
はじめに、本エレベータの運行制御装置１０が設けられるエレベータＥについて図１を参照して説明する。図１は、前記エレベータＥの基本構成を示している。このエレベータＥは、隣り合うように配置される複数（図１では２つ）の昇降路Ａ，Ｂ、及び、各昇降路間を連通する横移動部Ｃ（本実施形態では、昇降路Ａ，Ｂの間の空間）を有する移動路と、複数の昇降路Ａ，Ｂを縦移動（上下移動）する又は横移動部Ｃを横移動する複数の移動体８と、移動体８の運行を制御するエレベータの運行制御装置１０（図２参照）と、を備える。本実施形態で移動体８は、複数（本実施形態では５つ）の昇降駆動装置２～６と、複数（本実施形態では３つ）のかごＫ１～Ｋ３と、を含む。エレベータの運行制御装置１０は、すべての移動体８の移動についての制御をする移動制御部１２と、すべての移動体８を群管理する群管理部１３と、を備える制御部１１を有する。（図２参照）。かごＫ１，Ｋ２，Ｋ３は、前方に乗り降りするための開閉可能な単数又は複数の扉を備える。図１において、図の左右方向を左右方向（又は横方向）とし、図の上下方向を上下方向（又は縦方向）とし、紙面の貫通方向を前後方向として以下において説明する。尚、かごＫ１～Ｋ３の個数は、複数の昇降路Ａ，Ｂの数に対して少なくとも１つ多い個数とすることが好ましい。図１では、２つの昇降路Ａ，Ｂが近接した状態で隣り合うように配置されているが、昇降路Ａ，Ｂ間に所定の距離を空けて昇降路Ａ，Ｂを隣り合うように配置してもよい。昇降路Ａ，Ｂ間に所定の距離を空けて昇降路Ａ，Ｂを隣り合うように配置する場合には、横移動部Ｃは、実体のある連結部分としての通路として構成される。 First, an elevator E provided with the elevator operation control device 10 will be described with reference to FIG. 1. FIG. 1 shows the basic configuration of the elevator E. This elevator E includes a plurality of (two in FIG. 1) hoistways A and B arranged adjacent to each other, and a lateral moving part C (in this embodiment, hoistways A, B) communicating between each hoistway. A plurality of movable bodies 8 that move vertically (up and down) in a plurality of hoistways A and B or horizontally move in a lateral movement section C, and control the operation of the movable bodies 8. The elevator operation control device 10 (see FIG. 2) is provided. In this embodiment, the moving body 8 includes a plurality of (five in this embodiment) lifting drive devices 2 to 6 and a plurality of (three in this embodiment) cars K1 to K3. The elevator operation control device 10 includes a control unit 11 that includes a movement control unit 12 that controls the movement of all the moving bodies 8 and a group management unit 13 that manages the group management of all the moving bodies 8. (See Figure 2). The cars K1, K2, and K3 each include one or more doors that can be opened and closed for getting on and off the car from the front. In FIG. 1, the following description will be made assuming that the left-right direction of the figure is the left-right direction (or horizontal direction), the up-down direction of the figure is the up-down direction (or vertical direction), and the penetrating direction of the paper is the front-back direction. The number of cars K1 to K3 is preferably at least one more than the number of hoistways A and B. In Fig. 1, two hoistways A and B are arranged next to each other in close proximity, but hoistways A and B are arranged next to each other with a predetermined distance between them. You may. When the hoistways A and B are arranged adjacent to each other with a predetermined distance between them, the lateral moving part C is configured as a passageway as a substantial connecting part.
各昇降路Ａ又はＢには、上下方向に延びる左右一対のガイドレール１，１と、ガイドレール１，１に案内されて昇降可能な複数（図１では５つ）の第１～第５昇降駆動装置２～６と、を備えている。これら第１～第５昇降駆動装置２～６の昇降は、エレベータの運行制御装置１０の制御部１１（詳しくは移動制御部１２）により制御される。 Each hoistway A or B includes a pair of left and right guide rails 1, 1 extending in the vertical direction, and a plurality of (five in FIG. The driving device 2 to 6 are provided. The lifting and lowering of these first to fifth lifting drive devices 2 to 6 is controlled by a control unit 11 (more specifically, a movement control unit 12) of an elevator operation control device 10.
各昇降駆動装置２～６は、かごＫ１～Ｋ３に結合又は離脱可能に構成されるとともに、図示していない駆動部を備えていて、駆動部を駆動させることによって、結合されたかごＫ１～Ｋ３をガイドレール１，１に沿って昇降させるように構成している。なお、昇降駆動装置は、かごＫ１～Ｋ３が結合していない状態でも昇降路Ａ，Ｂ内を移動可能である。他の実施形態として、各昇降駆動装置２～６は、かごＫ１～Ｋ３に結合又は離脱可能に構成されるとともに、図示していない吊りロープに連結され、該吊りロープを巻き上げる巻上機（図示せず）の駆動により、結合されたかごＫ１～Ｋ３をガイドレール１，１に沿って昇降できるように構成してもよい。この実施形態では、かごＫ１～Ｋ３を昇降させるための昇降駆動装置２～６を設けているが、昇降駆動装置２～６を省略し、かごＫ１～Ｋ３を縦横自走式に構成してもよい。具体的には、かごＫ１～Ｋ３をガイドレール１，１に沿って昇降させるための昇降用駆動部をかごＫ１～Ｋ３に備えて、昇降用駆動部を駆動させることによって、かごＫ１～Ｋ３をガイドレール１，１に沿って昇降させるように構成し、かごＫ１～Ｋ３を横移動させるための横駆動装置９ＡをかごＫ１～Ｋ３に備えて、横駆動装置９Ａを駆動させることによって、特定の階又は任意の階で隣り合う昇降路Ａ，Ｂ間を移動できるように形成された横移動部Ｃを含む移動通路ＤをかごＫ１～Ｋ３が移動できるように構成する。 Each of the lifting drive devices 2 to 6 is configured to be able to be connected to or detached from the cars K1 to K3, and is provided with a drive section (not shown), and by driving the drive section, the connected cars K1 to K3 can be connected to or detached from each other. It is configured to move up and down along guide rails 1, 1. Note that the elevator drive device can move within the hoistways A and B even when the cars K1 to K3 are not coupled. As another embodiment, each of the lifting drive devices 2 to 6 is configured to be able to be connected to or detached from the cars K1 to K3, and is connected to a hanging rope (not shown), and is connected to a hoisting machine (not shown) that winds up the hanging rope. The combined cars K1 to K3 may be moved up and down along the guide rails 1, 1 by driving the car (not shown). In this embodiment, the elevator drives 2 to 6 are provided to raise and lower the cars K1 to K3, but the elevator drives 2 to 6 may be omitted and the cars K1 to K3 can be configured to be self-propelled in the vertical and horizontal directions. good. Specifically, the cars K1 to K3 are provided with lifting drive units for raising and lowering the cars K1 to K3 along the guide rails 1 and 1, and the cars K1 to K3 are moved by driving the lift drive units. The cars K1 to K3 are configured to move up and down along the guide rails 1 and 1, and the cars K1 to K3 are provided with a lateral drive device 9A for laterally moving the cars K1 to K3, and by driving the lateral drive device 9A, a specific The cars K1 to K3 are configured so that they can move through a moving path D that includes a lateral moving part C that is formed so that they can move between adjacent hoistways A and B on a floor or any floor.
本実施形態の昇降駆動装置２～６は、前面に、後方に凹となる凹部２Ａ～６Ａを備える。凹部２Ａ～６Ａは、上下方向において、前方の幅が狭く、後方の幅が広い窪みである。また、凹部２Ａ～６Ａは、左右方向に沿って、昇降駆動装置２～６の左端から右端までにわたって延びるように設けられる。このような昇降駆動装置２～６は、凹部２Ａ～６Ａによって横移動部Ｃを含む移動通路Ｄを形成する。具体的には、隣接する昇降路Ａ，Ｂに位置する昇降駆動装置２～６（本実施形態では第１昇降駆動装置２と第４昇降駆動装置５）が横並びになった際（昇降路Ａ，Ｂ内で同じ高さに位置した場合に）に、横並びになった昇降駆動装置２～６のそれぞれの凹部２Ａ～６Ａによって隣接する昇降路Ａ，Ｂ間の横移動部Ｃを含むように延びる１本の移動通路Ｄが形成される。また、凹部２Ａ～６Ａの内壁には、後述する退避状態の被検出部１５を格納可能な格納空間を有する格納部７が形成される（図５参照）。 The lifting drive devices 2 to 6 of this embodiment are provided with recesses 2A to 6A that are concave toward the rear on the front surface. The recesses 2A to 6A are recesses that are narrow at the front and wide at the rear in the vertical direction. Further, the recesses 2A to 6A are provided so as to extend from the left end to the right end of the elevating drive devices 2 to 6 along the left-right direction. Such lifting drive devices 2 to 6 form a movement path D including a lateral movement part C by the recesses 2A to 6A. Specifically, when the elevator drive devices 2 to 6 (in this embodiment, the first elevator drive device 2 and the fourth elevator drive device 5) located in the adjacent hoistways A and B are arranged side by side (the hoistway A , B), so as to include the lateral movement part C between the adjacent hoistways A and B by the respective recesses 2A to 6A of the horizontally arranged lifting drive devices 2 to 6. One extending movement path D is formed. Further, a storage portion 7 having a storage space capable of storing a detected portion 15 in a retracted state, which will be described later, is formed on the inner wall of the recesses 2A to 6A (see FIG. 5).
各かごＫ１の後面には、昇降駆動装置２，３，４，５，６の前面の凹部２Ａ，３Ａ，４Ａ，５Ａ，６Ａのそれぞれに横方向から係合する係合部９を備えている。凹部２Ａ，３Ａ，４Ａ，５Ａ，６Ａに係合部９が係合した状態で係合部９が横方向（左右方向）に移動することができるように、横駆動装置９Ａを備えている。この横駆動装置９Ａは、固定側となる昇降駆動装置２，３，４，５，６の凹部２Ａ，３Ａ，４Ａ，５Ａ，６Ａ側にリニアガイド（リニアモータの一次側）を設けるとともに、可動側となる係合部９側にリニアモータの二次側を設けている。そして、リニアモータを駆動することにより、係合部９が凹部２Ａ，３Ａ，４Ａ，５Ａ，６Ａに沿って横方向に移動することで、一方の昇降路Ａから隣り合う他方の昇降路ＢへかごＫ１が移動できるように構成している。なお、係合部９に駆動用車輪を設けて、駆動用車輪をモータにより駆動することにより係合部９が凹部２Ａ，３Ａ，４Ａ，５Ａ，６Ａに沿って横方向に移動することで、一方の昇降路Ａから隣り合う他方の昇降路ＢへかごＫ１が移動できるように構成してもよい。 The rear surface of each car K1 is provided with an engaging portion 9 that laterally engages with each of the recesses 2A, 3A, 4A, 5A, and 6A on the front surface of the lifting drive devices 2, 3, 4, 5, and 6. . A lateral drive device 9A is provided so that the engaging portion 9 can move laterally (left and right) in a state in which the engaging portion 9 is engaged with the recesses 2A, 3A, 4A, 5A, and 6A. This lateral drive device 9A is provided with a linear guide (primary side of a linear motor) in the recessed portions 2A, 3A, 4A, 5A, 6A of the fixed side lifting drive device 2, 3, 4, 5, 6, and is movable. The secondary side of the linear motor is provided on the engaging portion 9 side. By driving the linear motor, the engaging portion 9 moves laterally along the recesses 2A, 3A, 4A, 5A, and 6A, thereby moving from one hoistway A to the other adjacent hoistway B. The car K1 is configured to be movable. In addition, by providing a driving wheel on the engaging portion 9 and driving the driving wheel with a motor, the engaging portion 9 moves laterally along the recesses 2A, 3A, 4A, 5A, and 6A. The car K1 may be configured to be able to move from one hoistway A to the other adjoining hoistway B.
図１では、左側の昇降路Ａに３つの第１～第３昇降駆動装置２，３，４を備え、右側の昇降路Ｂに２つの第４～第５昇降駆動装置５，６を備えている。図１では、最下方に位置しているかごＫ１が一方（左側）の昇降路Ａから隣り合う他方（右側）の昇降路Ｂへ移動している途中の状態を示し、他方（右側）の昇降路Ｂへの移動が完了すると、右側の昇降路Ｂを上昇して左側の昇降路ＡのかごＫ２を追い越してかごＫ２の上方に位置している昇降駆動装置４に移動するように構成されている。具体的に、かごＫ１は、横駆動装置９Ａによって、左側の昇降路Ａに位置している第１昇降駆動装置２から、第１昇降駆動装置２と隣り合う第４昇降駆動装置５に向かって横移動する。ここで、かごＫ１の横移動は、第１昇降駆動装置２と第４昇降駆動装置５の凹部２Ａ，５Ａによって形成される横移動部Ｃを含む移動通路Ｄに沿って係合部９が移動することによってなされる。 In FIG. 1, the hoistway A on the left side is provided with three first to third elevating drive devices 2, 3, 4, and the hoistway B on the right side is provided with two fourth to fifth elevating drive devices 5, 6. There is. In Fig. 1, a car K1 located at the lowest position is moving from one (left) hoistway A to the other (right) hoistway B adjacent to it, and the other (right) hoistway When the movement to path B is completed, the car is configured to ascend up the hoistway B on the right side, overtake the car K2 in the hoistway A on the left side, and move to the elevator drive device 4 located above the car K2. There is. Specifically, the car K1 is moved by the lateral drive device 9A from the first elevator drive device 2 located in the hoistway A on the left side toward the fourth elevator drive device 5 adjacent to the first elevator drive device 2. Move laterally. Here, the lateral movement of the car K1 involves the movement of the engaging part 9 along a movement path D that includes a lateral movement part C formed by the recesses 2A and 5A of the first lifting drive device 2 and the fourth lifting drive device 5. done by doing.
図２に示すように、上記のようなエレベータＥに設けられるエレベータの運行制御装置１０は、移動体８を移動させる制御をする制御部１１を有する。制御部１１は、各移動体８の移動を制御する移動制御部１２と、複数のかごＫ１～Ｋ３の移動について群管理を行う群管理部１３と、移動体８の移動量を検出するエンコーダ１４と、を備える。エンコーダ１４は、昇降駆動装置２～６及び横駆動装置９Ａの駆動量を検出して昇降駆動装置２～６及び横駆動装置９Ａに移動量を検出することで、かごＫ１～Ｋ３の移動量を検出する。また、エンコーダ１４は、検出した移動体８の移動量を移動制御部１２に出力する。移動制御部１２は、各移動体８の移動についての制御を行う。具体的に、移動制御部１２は、エンコーダ１４からの出力を考慮しつつかごＫ１～Ｋ３が結合した昇降駆動装置２～６及び横駆動装置９Ａ（リニアモータ）を制御して駆動させることで、かごＫ１～ｋ３の昇降路Ａ，Ｂ内の移動及び横移動部Ｃにおける移動を制御する。群管理部１３は、複数のかごＫ１～Ｋ３の移動について群管理をする。具体的に、群管理部１３は、エレベータＥ全体の輸送効率やエネルギー効率を考慮して、乗場呼びに対して割り当てるかごＫ１～Ｋ３を選択する制御をする。 As shown in FIG. 2, the elevator operation control device 10 provided in the elevator E as described above includes a control section 11 that controls the movement of the moving body 8. The control section 11 includes a movement control section 12 that controls the movement of each moving object 8, a group management section 13 that performs group management regarding the movement of the plurality of cars K1 to K3, and an encoder 14 that detects the amount of movement of the moving object 8. and. The encoder 14 detects the amount of movement of the lift drive devices 2 to 6 and the lateral drive device 9A, and detects the amount of movement of the lift drive devices 2 to 6 and the lateral drive device 9A, thereby detecting the amount of movement of the cars K1 to K3. To detect. Further, the encoder 14 outputs the detected movement amount of the moving body 8 to the movement control unit 12. The movement control unit 12 controls the movement of each moving body 8. Specifically, the movement control unit 12 controls and drives the elevator drive devices 2 to 6 and the lateral drive device 9A (linear motor) to which the cars K1 to K3 are coupled, taking into account the output from the encoder 14. The movement of the cars K1 to k3 in the hoistways A and B and in the lateral movement section C is controlled. The group management unit 13 performs group management regarding the movement of the plurality of cars K1 to K3. Specifically, the group management unit 13 controls the selection of the cars K1 to K3 to be assigned to a hall call, taking into consideration the transportation efficiency and energy efficiency of the elevator E as a whole.
また、エレベータの運行制御装置１０は、各移動体８を停止させる制御をする停止制御手段を有する。停止制御手段は、移動路に設けられる被検出部１５と、移動体８に設けられ、被検出部１５との距離を非接触で検知する検出部１６と、被検出部１５及び移動体８を制御する制御部１１と、制御部１１の制御によって、被検出部１５を移動させる切替手段１７と、を含む。 Further, the elevator operation control device 10 includes a stop control means for controlling each moving body 8 to stop. The stop control means includes a detected part 15 provided on the moving path, a detection part 16 provided in the moving body 8 and that detects the distance to the detected part 15 in a non-contact manner, and a detected part 15 and the moving body 8. It includes a control section 11 that controls, and a switching means 17 that moves the detected section 15 under the control of the control section 11.
検出部１６は、被検出部１５との距離を検出可能な部位であり、例えば距離センサである。具体的に、検出部１６は、被検出部１５にレーザ光を照射して、照射したレーザ光の反射光によって被検出部１５との距離を検出可能である。図３及び図４に示すように、本実施形態の検出部１６は、かごＫ１～Ｋ３に設けられ、具体的には、かごＫ１～Ｋ３の係合部９の左右両側面に設けられる。また、本実施形態の検出部１６は、係合部９から横移動部Ｃを含む移動通路Ｄの延伸方向に沿って光を照射可能である。 The detection section 16 is a part that can detect the distance to the detected section 15, and is, for example, a distance sensor. Specifically, the detection section 16 can irradiate the detected section 15 with a laser beam and detect the distance to the detected section 15 based on the reflected light of the irradiated laser beam. As shown in FIGS. 3 and 4, the detection portions 16 of this embodiment are provided in the cars K1 to K3, specifically, on both left and right sides of the engaging portions 9 of the cars K1 to K3. Furthermore, the detection unit 16 of this embodiment is capable of emitting light from the engagement portion 9 along the extending direction of the movement path D including the lateral movement portion C.
被検出部１５は、移動体８の移動軌跡（本実施形態では係合部９の移動軌跡）に対して出退可能な部材である。図４に示すように、本実施形態の被検出部１５は、板状体であり、具体的には、検出部１６が照射したレーザ光を反射可能な反射面１８を有する。また、被検出部１５は、検出部１６が検出可能な検出可能状態と検出不能な検出不能状態とを切り替え可能に構成されている。本実施形態で、被検出部１５は、移動体８の移動軌跡に対して出退することで、反射面１８が検出部１６の照射するレーザ光の軌跡に対して出退可能し、検出部１６が検出可能な状態と検出不能な状態とを切り替える。即ち、被検出部１５は、移動体８の移動軌跡に対して進出した進出状態と、移動体８の移動軌跡から退避した退避状態と、を切り替え可能であり、進出状態のときには検出可能状態となり、退避状態のときには検出不能状態となる。本実施形態の被検出部１５は、横移動するかごＫ１～Ｋ３の移動軌跡に対して出退可能である。 The detected portion 15 is a member that can move in and out of the movement trajectory of the moving body 8 (in this embodiment, the movement trajectory of the engaging portion 9). As shown in FIG. 4, the detected part 15 of this embodiment is a plate-shaped body, and specifically has a reflective surface 18 that can reflect the laser beam irradiated by the detection part 16. Further, the detected section 15 is configured to be able to switch between a detectable state in which the detecting section 16 can detect and an undetectable state in which the detecting section 16 cannot detect. In this embodiment, the detection target section 15 moves in and out of the movement locus of the moving body 8, so that the reflective surface 18 can move in and out of the locus of the laser beam irradiated by the detection section 16, and the detection section 16 switches between a detectable state and an undetectable state. That is, the detected unit 15 can switch between an advanced state in which it advances into the movement trajectory of the moving object 8 and a retreated state in which it retreats from the movement trajectory of the moving object 8, and is in a detectable state in the advanced state. , it is in an undetectable state when it is in the evacuation state. The detected portion 15 of this embodiment can move in and out of the locus of movement of the laterally moving cars K1 to K3.
図３乃至図５に示すように、本実施形態の被検出部１５は、横移動部Ｃを含む移動通路Ｄに設けられている。具体的に、被検出部１５は、各昇降駆動装置２～６の凹部２Ａ～６Ａに設けられている。また、被検出部１５は、凹部２Ａ～６Ａの左右方向において、隣接する昇降路Ａ，Ｂ側の端部に設けられている。 As shown in FIGS. 3 to 5, the detected portion 15 of this embodiment is provided in a movement path D that includes a lateral movement portion C. As shown in FIGS. Specifically, the detected portions 15 are provided in the recesses 2A to 6A of the respective lifting drive devices 2 to 6. Furthermore, the detected portions 15 are provided at the ends of the adjacent hoistways A and B in the left-right direction of the recesses 2A to 6A.
図５に示すように、切替手段１７は、被検出部１５を駆動させ、被検出部１５を検出可能状態又は検出不能状態に切り替える。具体的に、切替手段１７は、被検出部１５を駆動させるための駆動力を供給する動力部１９と、動力部１９及び被検出部１５を連結する連結軸部２０と、を備え、動力部１９が連結軸部２０を回動させることで、連結軸部２０に連結された被検出部１５を回動させて、被検出部１５を進出状態又は退避状態に切り替える。本実施形態の切替手段１７は、昇降駆動装置２～６の内部に設けられ、具体的には、凹部２Ａ～６Ａの上方に設けられる。また、本実施形態の連結軸部２０は、凹部２Ａ～６Ａの上部で前後方向に延びる軸である。切替手段１７は、制御部１１の制御によって駆動し、具体的には、制御部１１が連結軸部２０を回動させ、連結軸部２０に連結された被検出部１５が、横移動部Ｃを含む移動通路Ｄにおける移動体８（具体的にはかごＫ１～Ｋ３）の移動軌跡上に位置する状態（検出可能状態）と凹部２Ａ～６Ａの内壁に設けられる格納部７に格納される状態（検出不能状態）とを切り替える。本実施形態で被検出部１５が横移動部Ｃを含む移動通路Ｄにおける移動体８の移動軌跡上に位置する状態の時には、反射面１８が移動体８の移動軌跡に直交する。また、切替手段１７は、移動体８の移動軌跡上に位置する状態（検出可能状態）において、検出部１６の検出不良などにより被検出部１５にかごＫ１～Ｋ３が当たった際に、かごＫ１～Ｋ３が当たった力によって被検出部１５か格納部７の内部に格納された状態（検出不能状態）に移動可能なように被検出部１５を保持する。例えば、検出可能状態では、被検出部１５を重力により重下させ、連結軸部２０の回動を許容した状態とすることができる。よって、移動体８が被検出部１５に当たった場合に、連結軸部２０が回動し、被検出部１５は移動体８から逃げるように移動できるので、移動体８が被検出部１５に当たることで被検出部１５が損傷することを抑制できる。 As shown in FIG. 5, the switching means 17 drives the detected part 15 and switches the detected part 15 into a detectable state or an undetectable state. Specifically, the switching means 17 includes a power section 19 that supplies a driving force for driving the detected section 15, and a connecting shaft section 20 that connects the power section 19 and the detected section 15. 19 rotates the connecting shaft portion 20, thereby rotating the detected portion 15 connected to the connecting shaft portion 20, and switches the detected portion 15 to an advanced state or a retracted state. The switching means 17 of this embodiment is provided inside the elevating drive devices 2 to 6, and specifically, provided above the recesses 2A to 6A. Further, the connecting shaft portion 20 of this embodiment is a shaft extending in the front-rear direction above the recesses 2A to 6A. The switching means 17 is driven under the control of the control section 11. Specifically, the control section 11 rotates the connecting shaft section 20, and the detected section 15 connected to the connecting shaft section 20 switches to the lateral moving section C. A state in which the movable body 8 (specifically, the cars K1 to K3) is located on the movement path D in the movement path D including (detectable state) and a state in which it is stored in the storage section 7 provided on the inner wall of the recessed portions 2A to 6A. (undetectable state). In this embodiment, when the detected portion 15 is located on the movement trajectory of the moving body 8 in the movement path D including the lateral movement portion C, the reflective surface 18 is perpendicular to the movement trajectory of the moving body 8 . In addition, when the cars K1 to K3 hit the detected part 15 due to a detection failure of the detection part 16 in a state where the moving body 8 is located on the movement trajectory (detectable state), the switching means 17 switches the car K1 to K3. The detected part 15 is held so that it can be moved to a state where the detected part 15 is stored inside the storage part 7 (undetectable state) by the force applied by K3. For example, in the detectable state, the detected portion 15 may be weighed down by gravity, and the connection shaft portion 20 may be allowed to rotate. Therefore, when the moving body 8 hits the detected part 15, the connecting shaft part 20 rotates and the detected part 15 can move away from the moving body 8, so that the moving body 8 hits the detected part 15. This can suppress damage to the detected portion 15.
また、切替手段１７は、検出可能状態の被検出部１５に移動体８が当たり退避方向に移動したことを検知する退避検知手段（図示しない）を有する。退避検知手段は、連結軸部２０の回動を検知する動力部１９に内蔵されたセンサであり、連結軸部２０が動力部１９以外の力を受けて回動したことを検知する。退避検知手段は、被検出部１５が横移動部Ｃを含む移動通路Ｄに進出した状態から横移動部Ｃを含む移動通路Ｄから退避する状態に切り替わる程度に連結軸部２０が回動したことを検知したときに、群管理部１３が送信した切替手段１７に対する指示との照合をして、移動体８が当たることで進出状態の被検出部１５が退避方向に移動したことを検知し、群管理部１３に被検出部１５が検出可能状態から検出不能状態に切り替わったことを検知した情報を出力する。 Further, the switching means 17 includes a retraction detection means (not shown) that detects when the movable body 8 hits the detected portion 15 in the detectable state and moves in the retraction direction. The retraction detection means is a sensor built into the power section 19 that detects rotation of the connecting shaft section 20, and detects that the connecting shaft section 20 is rotated by receiving a force other than the power section 19. The retraction detection means detects that the connecting shaft portion 20 has rotated to such an extent that the detected portion 15 is switched from a state in which it advances into a movement path D that includes the lateral movement portion C to a state in which it retreats from the movement path D that includes the lateral movement portion C. When detected, it is checked against the instruction to the switching means 17 sent by the group management section 13, and it is detected that the detected section 15 in the advanced state has moved in the retreat direction due to the collision with the moving object 8, Information indicating that the detected unit 15 has switched from the detectable state to the undetectable state is output to the group management unit 13.
制御部１１は、移動制御部１２と群管理部１３とを含む。本実施形態で、群管理部１３は、被検出部１５を検出可能状態又は検出不能状態に切り替える検出切替制御を実行し、移動制御部１２は、検出部１６が検出した被検出部１５との距離に応じて移動体８の移動を停止させる停止制御を実行する。また、本実施形態の制御部１１は、退避検知手段が、移動体８が当たることで進出状態の被検出部１５が退避したことを検知した場合に、全ての移動体８の移動を停止する緊急停止制御を実行する。 The control section 11 includes a movement control section 12 and a group management section 13. In this embodiment, the group management unit 13 executes detection switching control to switch the detected unit 15 into a detectable state or an undetectable state, and the movement control unit 12 performs communication between the detected unit 15 detected by the detection unit 16. Stop control is executed to stop the movement of the moving body 8 according to the distance. Further, the control unit 11 of the present embodiment stops the movement of all the moving bodies 8 when the retreat detecting means detects that the detected unit 15 in the advanced state has retreated due to being hit by the moving body 8. Execute emergency stop control.
群管理部１３は検出切替制御を実行する。検出切替制御は、被検出部１５を検出可能状態及び検出不能状態を切り替える制御であり、具体的には、切替手段１７の動力部１９を制御して被検出部１５が横移動部Ｃを含む移動通路Ｄの移動体８の移動軌跡上に位置する状態と格納部７に格納される状態を切り替える制御である。群管理部１３は、移動体８同士の衝突の可能性を考慮して検出切替制御を実行する。本実施形態では、一のかごＫ１が横移動した際に、他のかごＫ２，Ｋ３と衝突するおそれがあるか否かを判断し、衝突の可能性がない場合に被検出部１５を検出不能状態に切り替える。例えば、群管理部１３は、一のかごＫ１が横移動しようとする場合に、他のかごＫ２，Ｋ３が一のかごＫ１と横並びになるおそれがない場合に、衝突の可能性がないと判断する。本実施形態の群管理部１３は、一のかごＫ１が横移動する必要がある場合において、該かごＫ１が横移動した際に、他のかごＫ２，Ｋ３と衝突するおそれがあるか否かを判断し、被検出部１５を検出不能状態に切り替える。また、群管理部１３は、かごＫ１～Ｋ３が横移動する必要がない場合又は一のかごＫ１が横移動した際に、他のかごＫ２，Ｋ３と衝突するおそれがある場合には、被検出部１５を検出可能状態にする。即ち、群管理部１３は、かごＫ１～Ｋ３の横移動を許可する場合にのみ、被検出部１５を検出不能状態とし、それ以外の場合には被検出部１５を検出可能状態にする。 The group management unit 13 executes detection switching control. The detection switching control is a control for switching the detected part 15 between a detectable state and an undetectable state, and specifically, controls the power part 19 of the switching means 17 so that the detected part 15 includes the lateral moving part C. This is a control for switching between a state where the moving body 8 is located on the movement trajectory of the moving path D and a state where the moving body 8 is stored in the storage section 7. The group management unit 13 executes detection switching control in consideration of the possibility of collision between the moving bodies 8. In this embodiment, when one car K1 moves laterally, it is determined whether there is a risk of colliding with other cars K2 and K3, and if there is no possibility of collision, the detected part 15 cannot be detected. Switch to state. For example, when one car K1 attempts to move sideways, the group management unit 13 determines that there is no possibility of a collision if there is no risk that the other cars K2 and K1 will be lined up side by side with one car K1. do. In the case where one car K1 needs to move laterally, the group management unit 13 of this embodiment determines whether there is a risk of collision with other cars K2 and K3 when the car K1 moves laterally. Then, the detected part 15 is switched to an undetectable state. In addition, if there is no need for the cars K1 to K3 to move laterally or if there is a risk of collision with other cars K2 and K3 when one car K1 moves laterally, the group management unit 13 The unit 15 is brought into a detectable state. That is, the group management section 13 makes the detected section 15 undetectable only when horizontal movement of the cars K1 to K3 is permitted, and otherwise makes the detected section 15 detectable.
移動制御部１２は、検出部１６の検出に基づいて移動体８の移動を停止させる停止制御を実行する。停止制御は、検出部１６の検出に基づいて移動体８の移動を停止させる制御である。具体的に、停止制御では、検出部１６が被検出部１５との距離が基準値以下であると検知した場合に、基準値未満となった検出部１６が設けられる移動体８の移動を停止させる。また、停止制御では、検出部１６が被検出部１５との距離が基準値以下であると検知した場合に、移動体８の被検出部１５に近づく方向への移動を停止させる。本実施形態の停止制御では、かごＫ１～Ｋ３が横移動部Ｃを含む移動通路Ｄに沿って横移動する際に、検出部１６が被検出部１５までの距離を検出し、検出した距離が基準値未満である場合に、かごＫ１～Ｋ３の横移動を停止させる。さらに、停止制御では、移動体８を、移動方向基準で被検出部１５の手前側で停止させる。具体的に、停止制御では、検出部１６が検出した被検出部１５との距離を参照して、移動体８が検出部１６よりも手前で停止できるように移動体８を制動する。例えば、検出部１６と被検出部１５が通常のブレーキをかけた場合の制動距離よりも十分に離れている場合には、移動制御部１２は移動体８に通常のブレーキをかけ、検出部１６と被検出部１５が通常のブレーキをかけた場合の制動距離よりも近い場合には、移動制御部１２は移動体８に通常のブレーキよりも強いブレーキをかける。また、検出部１６と被検出部１５の距離が、移動体８にブレーキをかけたとしても被検出部１５の手前で停止できない程度に近い場合に、移動制御部１２は、移動体８の動力を遮断し、かつ、機械式ブレーキ（図示しない）によって、移動体８を制動することもできる。このような構成によれば、被検出部１５に不具合が生じた場合にも、確実に移動体８同士が衝突することを抑制できる。 The movement control unit 12 executes stop control to stop the movement of the moving body 8 based on the detection by the detection unit 16. The stop control is a control for stopping the movement of the mobile body 8 based on detection by the detection unit 16. Specifically, in the stop control, when the detection unit 16 detects that the distance to the detected unit 15 is equal to or less than a reference value, the movement of the moving body 8 provided with the detection unit 16 whose distance is less than the reference value is stopped. let Further, in the stop control, when the detection unit 16 detects that the distance to the detected part 15 is less than or equal to the reference value, the moving body 8 is stopped from moving in the direction closer to the detected part 15. In the stop control of this embodiment, when the cars K1 to K3 move laterally along the movement path D including the lateral movement part C, the detection part 16 detects the distance to the detected part 15, and the detected distance is If it is less than the reference value, the lateral movement of the cars K1 to K3 is stopped. Furthermore, in the stop control, the moving body 8 is stopped in front of the detected part 15 based on the moving direction. Specifically, in the stop control, the moving body 8 is braked so that the moving body 8 can stop before the detecting unit 16 with reference to the distance to the detected part 15 detected by the detecting unit 16. For example, if the detecting section 16 and the detected section 15 are far enough apart from each other than the braking distance when normal braking is applied, the movement control section 12 applies normal braking to the moving body 8, and the detecting section 16 If the detected part 15 is closer than the braking distance when normal braking is applied, the movement control unit 12 applies a stronger brake than the normal brake to the moving body 8. Further, when the distance between the detection unit 16 and the detected unit 15 is so close that even if the moving body 8 is braked, it cannot stop before the detected unit 15, the movement control unit 12 controls the The movable body 8 can also be braked using a mechanical brake (not shown). According to such a configuration, even if a malfunction occurs in the detected portion 15, it is possible to reliably prevent the moving bodies 8 from colliding with each other.
群管理部１３及び移動制御部１２は、緊急停止制御を実行する。緊急停止制御は、群管理部１３が退避検知手段から移動体８が当たることで進出状態の被検出部１５が退避方向に移動したことを検知した情報を受信した場合に実行される。即ち、緊急停止制御は、群管理部１３が切替手段１７に進出状態の被検出部１５を退避状態に切り替える指示をしていないにもかかわらず、進出状態の被検出部１５が退避方向に移動したことを検知した場合に実行される。緊急停止制御が実行されると、群管理部１３は、移動制御部１２に対してすべての移動体８（かごＫ１～Ｋ３の横駆動装置９Ａ及び昇降駆動装置２～６）の移動を停止する指令を送信し、移動制御部１２は、群管理部１３からの指令に基づいてすべての移動体８の移動を停止させる。 The group management section 13 and movement control section 12 execute emergency stop control. The emergency stop control is executed when the group management unit 13 receives information from the evacuation detection means that detects that the detected unit 15 in the advance state has moved in the evacuation direction due to being hit by the moving object 8. That is, in the emergency stop control, the detected part 15 in the advanced state moves in the retracted direction even though the group management section 13 does not instruct the switching means 17 to switch the detected part 15 in the advanced state to the retracted state. Executed when it is detected that something has happened. When the emergency stop control is executed, the group management unit 13 causes the movement control unit 12 to stop the movement of all moving bodies 8 (the lateral drive devices 9A and the elevation drive devices 2 to 6 of the cars K1 to K3). After transmitting the command, the movement control unit 12 stops the movement of all moving bodies 8 based on the command from the group management unit 13.
以上のような構成のエレベータの運行制御装置１０によれば、制御部１１は、移動体８に設けられた検出部１６と検出状態の被検出部１５の距離が基準値未満になると移動体８を停止させるので、検出可能状態の被検出部１５の手前で移動体８を停止させることができる。よって、移動体８の検出位置（エンコーダ１４により検出された位置）が実際の位置とずれていたとしても停止制御手段によって移動体８を停止させることができるので、適切に移動体８を停止させることができる。 According to the elevator operation control device 10 configured as described above, the control unit 11 controls the moving body 8 when the distance between the detecting unit 16 provided in the moving body 8 and the detected part 15 in the detection state becomes less than a reference value. Therefore, the movable body 8 can be stopped in front of the detected part 15 which is in a detectable state. Therefore, even if the detected position of the moving body 8 (the position detected by the encoder 14) deviates from the actual position, the moving body 8 can be stopped by the stop control means, so the moving body 8 can be stopped appropriately. be able to.
また、被検出部１５は移動体８が当たると退避するので、移動体８が被検出部１５に衝突して被検出部１５に力がかかったときに、該力によって被検出部１５が破損することを抑制できる。 Moreover, since the detected part 15 retreats when the moving object 8 hits it, when the moving object 8 collides with the detected part 15 and force is applied to the detected part 15, the detected part 15 is damaged by the force. can be restrained from doing so.
さらに、検出部１６の不良などにより移動体８が被検出部１５に衝突した場合に、全ての移動体８を停止させるので、移動体８同士が衝突することを未然に抑制できる。 Furthermore, if the moving objects 8 collide with the detected section 15 due to a defect in the detection section 16 or the like, all the moving objects 8 are stopped, so it is possible to prevent the moving objects 8 from colliding with each other.
また、移動体８が昇降路Ａ，Ｂ間を移動可能なエレベータＥにおいて、横移動部Ｃを含んで移動する移動体８を検出可能状態の被検出部１５の手前で移動体８を停止させることができる。よって、移動体８の検出位置が実際の位置とずれていたとしても停止制御手段によって移動体８を停止させることができるので、適切に移動体８を停止させることができる。 In addition, in the elevator E in which the moving body 8 can move between the hoistways A and B, the moving body 8 is stopped in front of the detected part 15 in which the moving body 8 including the lateral moving part C can be detected. be able to. Therefore, even if the detected position of the movable body 8 deviates from the actual position, the movable body 8 can be stopped by the stop control means, so the movable body 8 can be appropriately stopped.
また、被検出部１５は、かごＫ１～Ｋ３が横移動部Ｃを含む移動通路Ｄに沿って横移動することができる場合にのみ検出不能状態となるように構成されるので、移動体８同士の衝突を確実に抑制できる。 Further, since the detected portion 15 is configured to be in an undetectable state only when the cars K1 to K3 can move laterally along the movement path D including the lateral movement portion C, collisions can be reliably suppressed.
さらに、制御部１１は、複数のかごＫ１～Ｋ３の運行を群管理する群管理部１３と、各かごＫ１～Ｋ３の移動を制御する移動制御部１２と、を備え、群管理部１３は、検出切替制御を実行し、移動制御部１２は、停止制御を実行するので、群管理部１３と移動制御部１２とを備える制御部１１を有するエレベータＥにおいて、群管理部１３と移動制御部１２の間で信号の送受信の不調などがあった場合にも、移動制御部１２によって、検出部１６及び被検出部１５に応じて移動体８の移動を確実に停止させることができるので、移動体８の衝突を抑制できる。 Further, the control unit 11 includes a group management unit 13 that manages the operation of the plurality of cars K1 to K3 as a group, and a movement control unit 12 that controls the movement of each of the cars K1 to K3, and the group management unit 13 includes: Since the movement control unit 12 executes the detection switching control and the stop control, in the elevator E having the control unit 11 including the group management unit 13 and the movement control unit 12, the group management unit 13 and the movement control unit 12 Even if there is a problem in the transmission and reception of signals between 8 collisions can be suppressed.
以上、本発明の実施形態について一例を挙げて説明したが、本発明は前記実施形態に限定されるものではなく、本発明の要旨を逸脱しない範囲内において種々の変更を加えることができる。 Although the embodiments of the present invention have been described above with reference to one example, the present invention is not limited to the embodiments described above, and various changes can be made without departing from the gist of the present invention.
例えば、昇降路を１本のみ有するエレベータＥにも適用できる。このような場合には、例えば、昇降路Ａ内における乗場の位置に被検出部１５を設け、乗場にかごＫ１～Ｋ３が停止するように制御するために本発明を適用することができる。 For example, the present invention can also be applied to an elevator E having only one hoistway. In such a case, for example, the present invention can be applied to provide the detected portion 15 at a landing in the hoistway A and control the cars K1 to K3 to stop at the landing.
また、かごＫ１～Ｋ３が昇降駆動装置２～６に結合又は分離して移動する場合について説明したが、このような構成に限らず、かごＫ１～Ｋ３がワイヤに吊り下げられて移動するいわゆるロープ式エレベータとして構成したり、油圧式エレベータとして構成したりすることもできる。 In addition, although the case where the cars K1 to K3 are moved by being connected to or separated from the lifting drive devices 2 to 6 has been described, the structure is not limited to this, and a so-called rope movement in which the cars K1 to K3 are moved by being suspended from a wire is not limited to this configuration. It can also be constructed as a hydraulic elevator or as a hydraulic elevator.
さらに、被検出部１５は反射面１８を有する板状体であり、板状体を駆動させて検出可能状態と検出不能状態とを切り替える場合について説明したが、このような構成に限らない。例えば、被検出部１５を、通電により透過率を調整可能な材料で構成し、透過率を変化させることで、検出部１６が検知可能な状態と検知不能な状態とを切り替えるように構成することもできる。このような構成を採用する場合には、被検出部１５を移動体８の移動軌跡外に配置することができる。 Further, although the detection target section 15 is a plate-shaped body having a reflective surface 18 and the plate-shaped body is driven to switch between a detectable state and an undetectable state, the present invention is not limited to such a configuration. For example, the detected part 15 may be made of a material whose transmittance can be adjusted by applying electricity, and the detecting part 16 may be configured to switch between a detectable state and an undetectable state by changing the transmittance. You can also do it. When adopting such a configuration, the detected portion 15 can be placed outside the movement trajectory of the moving body 8.
また、検出部１６は、レーザ距離センサとして構成される場合について説明したが、超音波センサ、カメラ（画像認識）、ミリ波レーダー、ＬｉＤＡＲ（Ｌａｓｅｒ Ｉｍａｇｉｎｇ Ｄｅｔｅｃｔｉｏｎ ａｎｄ Ｒａｎｇｉｎｇ）等の、被検出部１５との距離を検出可能な種々の手段を採用できる。 In addition, although the case where the detection unit 16 is configured as a laser distance sensor has been described, it may be configured as a detection unit 15 such as an ultrasonic sensor, a camera (image recognition), a millimeter wave radar, or a LiDAR (Laser Imaging Detection and Ranging). Various means capable of detecting the distance can be employed.
さらに、移動制御部１２は、検出部１６と被検出部１５の距離が基準値以下になった場合に移動体８の移動を停止させる場合について説明したが、このような構成に限らず、例えば、被検出部１５が進出状態であるにもかかわらず検出部１６が被検出部１５を検出できない場合に移動体８を停止させるように制御することもできる。このような構成によれば、被検出部１５に不具合が生じた場合等（例えば引っ掛かった場合）に移動体８の移動を停止させることができるので、移動体８同士が衝突することを抑制できる。また、上記の構成において、被検出部１５が進出状態であるにもかかわらず検出部１６が被検出部１５を検出できない場合に、移動制御部１２は、移動体８の動力を遮断し、かつ、機械式ブレーキ（図示しない）によって、移動体８を制動することもできる。このような構成によれば、被検出部１５に不具合が生じた場合等にも、確実に移動体８同士が衝突することを抑制できる。 Furthermore, although the case has been described in which the movement control unit 12 stops the movement of the moving body 8 when the distance between the detection unit 16 and the detected unit 15 becomes equal to or less than the reference value, the movement control unit 12 is not limited to such a configuration. It is also possible to control the moving body 8 to stop when the detection section 16 cannot detect the detected section 15 even though the detected section 15 is in the advanced state. According to such a configuration, the movement of the movable body 8 can be stopped when a malfunction occurs in the detected part 15 (for example, when it is caught), so it is possible to suppress the movable bodies 8 from colliding with each other. . Further, in the above configuration, when the detection unit 16 cannot detect the detection unit 15 even though the detection unit 15 is in the advanced state, the movement control unit 12 cuts off the power of the moving body 8 and , the moving body 8 can also be braked by a mechanical brake (not shown). According to such a configuration, even when a malfunction occurs in the detected portion 15, it is possible to reliably prevent the moving bodies 8 from colliding with each other.
また、被検出部１５は、凹部２Ａ～６Ａに設けられる場合について説明したが、このような構成に限らない。例えば、被検出部１５を移動体８が昇降移動する際の移動軌跡上に設けることもできる。このような構成によれば、昇降移動の際の移動体８同士の衝突を抑制できる。 Furthermore, although a case has been described in which the detected portions 15 are provided in the recesses 2A to 6A, the present invention is not limited to such a configuration. For example, the detected portion 15 may be provided on the movement trajectory of the moving body 8 as it moves up and down. According to such a configuration, it is possible to suppress collisions between the moving bodies 8 when moving up and down.
さらに、図６に示すように、横方向に伸びる凹部６Ａを備え、横移動部Ｃを含む移動通路Ｄを形成可能な昇降駆動装置６と、凹部を有さない昇降駆動装置４，５と、を備えるエレベータＥに本発明を適用することもできる。このような構成の場合には、例えば、凹部を有さない昇降駆動装置４，５が昇降路Ａ，Ｂの側方を移動し、凹部６Ａを有する昇降駆動装置６が昇降路Ａ，Ｂの後方を移動するように構成することで、昇降駆動装置４，５，６が衝突することを抑制できる。 Furthermore, as shown in FIG. 6, a lifting drive device 6 includes a recess 6A extending in the horizontal direction and is capable of forming a movement path D including a lateral movement portion C, and a lifting drive device 4 and 5 having no recess, The present invention can also be applied to an elevator E provided with. In the case of such a configuration, for example, the elevator drives 4 and 5 that do not have recesses move on the sides of the hoistways A and B, and the elevator drive device 6 that has the recess 6A moves along the sides of the hoistways A and B. By configuring it to move rearward, it is possible to suppress collisions between the elevation drive devices 4, 5, and 6.
また、図６に示すように、停止制御手段は、かごＫ１～Ｋ３（移動体８）の上面及び下面に設けられる反射板２１を備え、検出部１６は、反射板２１及び被検出部１５の両方との距離を検出可能に構成し、制御部１１は、検出部１６が検出した反射板２１又は被検出部１５との距離が基準値以下となった場合に、基準値以下となった検出部１６が設けられるかごＫ１～Ｋ３（移動体８）の移動を停止することもできる。このような構成を採用すれば、上方又は下方のかごＫ１～Ｋ３（移動体８）との距離を検出部１６により把握し、上方又は下方のかごＫ１～Ｋ３（移動体８）との距離が基準値以下になった場合にかごＫ１～Ｋ３（移動体８）の移動が停止されるので、エンコーダ１４の出力等に不調がある場合でもエレベータＥの移動路内での移動体８の衝突をさらに抑制できる。また、昇降路Ａ，Ｂの上端及び下端にも反射板２１を設けることもできる。このような構成を採用した場合には、昇降路Ａ，Ｂの上端及び下端に移動体８が衝突することを抑制できる。 Further, as shown in FIG. 6, the stop control means includes a reflection plate 21 provided on the upper and lower surfaces of the cars K1 to K3 (moving body 8), and the detection unit 16 includes a reflection plate 21 and a detection target unit 15. The control unit 11 is configured to be able to detect the distance to both, and when the distance to the reflecting plate 21 or the detected part 15 detected by the detection unit 16 becomes less than a reference value, the control unit 11 detects that the distance is less than the reference value. It is also possible to stop the movement of the cars K1 to K3 (moving bodies 8) in which the section 16 is provided. If such a configuration is adopted, the distance to the upper or lower cars K1 to K3 (moving object 8) is grasped by the detection unit 16, and the distance to the upper or lower cars K1 to K3 (moving object 8) is determined. Since the movement of the cars K1 to K3 (moving object 8) is stopped when the value falls below the reference value, even if there is a problem with the output of the encoder 14, the collision of the moving object 8 within the movement path of the elevator E can be prevented. It can be further suppressed. Further, the reflecting plates 21 can also be provided at the upper and lower ends of the hoistways A and B. When such a configuration is adopted, it is possible to suppress the movable body 8 from colliding with the upper and lower ends of the hoistways A and B.
さらに、図７及び図８に示すように、実体のある連結部分としての横移動部Ｃに沿って移動可能な１又は複数（例えば２台）のかごＫ１，Ｋ２を設け、横移動部Ｃの中途部分には、１又は複数（例えば２つ）開閉可能なゲート２２を備えることもできる。各ゲート２２が開放されることによって、かごＫ１，Ｋ２はゲート２２の外側（例えばゲート２２の外側に設けられる昇降路や横移動部Ｃ）へ移動できるように構成されている。ゲート２２は、例えば、群管理部１３からの指示信号に基づいて開閉される。各ゲート２２の開閉は、スライド式、揺動式、回転式等、設置する場所の状況に応じて決められる。このようなゲート２２は、閉じた状態の時には、横移動部Ｃの移動体８の移動軌跡に対して進出した進出状態となり、開いた状態の時には、横移動部Ｃの移動体８の移動軌跡から退避した退避状態となる。 Furthermore, as shown in FIGS. 7 and 8, one or more (for example, two) cars K1 and K2 are provided which are movable along the lateral movement part C as a tangible connection part, and The midway portion can also be provided with one or more (for example, two) openable/closeable gates 22 . When each gate 22 is opened, the cars K1 and K2 are configured to be able to move to the outside of the gate 22 (for example, to a hoistway or a lateral movement section C provided outside the gate 22). The gate 22 is opened or closed based on an instruction signal from the group management section 13, for example. The opening and closing of each gate 22 is determined depending on the situation of the place where it is installed, such as sliding type, swinging type, rotating type, etc. When the gate 22 is in a closed state, it is in an advanced state in which it advances with respect to the movement locus of the movable body 8 of the lateral movement part C, and when it is in an open state, it is in an advanced state in which it advances with respect to the movement locus of the movable body 8 of the lateral movement part C. It is in the evacuation state where it is evacuated from.
図７及び図８に示す形態において、ゲート２２の横移動部Ｃと直交する方向に延びる内面は、被検出部１５として構成されることもできる。具体的に、ゲート２２の横移動部Ｃと直交する方向に延びる内面を反射面１８として構成し、ゲート２２の開閉によって、検出部１６がゲート２２の横移動部Ｃと直交する方向に延びる内面を検出可能な状態（検出可能状態）と検出不能な状態（検出不能状態）を切り替えるように構成することもできる。このような構成によれば、移動路の途中を閉鎖するゲート２２に対して、移動体８が衝突することを防止できる。 In the embodiments shown in FIGS. 7 and 8, the inner surface of the gate 22 extending in a direction orthogonal to the lateral movement portion C can also be configured as the detected portion 15. Specifically, the inner surface of the gate 22 that extends in a direction orthogonal to the lateral movement section C is configured as the reflective surface 18, and when the gate 22 is opened or closed, the detection section 16 is configured to have an inner surface that extends in a direction orthogonal to the lateral movement section C of the gate 22. It can also be configured to switch between a detectable state (detectable state) and an undetectable state (undetectable state). According to such a configuration, it is possible to prevent the movable body 8 from colliding with the gate 22 that closes part of the travel path.
また、図７及び図８に示す形態において、被検出部１５に加え、移動体８（かごＫ１）の横駆動装置９Ａに反射板２１を設け、他の移動体８（かごＫ２）の検出部１６で反射板２１を検出可能なように構成することもできる。このような構成によれば、被検出部１５が退避状態の場合において、横移動部Ｃにおける移動体８同士（かごＫ１とかごＫ２）の衝突を防止できる。 In the embodiments shown in FIGS. 7 and 8, in addition to the detected portion 15, a reflective plate 21 is provided on the lateral drive device 9A of the movable body 8 (car K1), and the detection portion of the other movable body 8 (cage K2) is It is also possible to configure the reflection plate 21 to be detectable at 16. According to such a configuration, when the detected part 15 is in the retracted state, it is possible to prevent the movable bodies 8 (the car K1 and the car K2) from colliding with each other in the lateral moving part C.
１…ガイドレール、２～６…昇降駆動装置、２Ａ～６Ａ…凹部、７…格納部、８…移動体、９…係合部、９Ａ…横移動装置、１０…エレベータの運行制御装置、１１…制御部、１２…移動制御部、１３…群管理部、１４…エンコーダ、１５…被検出部、１６…検出部、１７…切替手段、１８…反射面、１９…動力部、２０…連結軸部、２１…反射板、２２…ゲート、Ａ，Ｂ…昇降路、Ｃ…横移動部、Ｄ…移動通路 DESCRIPTION OF SYMBOLS 1... Guide rail, 2-6... Lifting drive device, 2A-6A... Recessed part, 7... Storage part, 8... Moving body, 9... Engagement part, 9A... Lateral movement device, 10... Elevator operation control device, 11 ...control section, 12...movement control section, 13...group management section, 14...encoder, 15...detected section, 16...detection section, 17...switching means, 18...reflection surface, 19...power section, 20...coupling shaft Part, 21...Reflector, 22...Gate, A, B...Hoistway, C...Lateral movement section, D...Movement passage
Claims (4)
前記移動体の移動を停止させる停止制御手段を備え、
該停止制御手段は、
前記移動路に設けられる被検出部と、
前記移動体に設けられ、前記被検出部との距離を非接触で検知可能な検出部と、
制御部と、を備え、
該制御部は、
前記被検出部を操作することにより、前記被検出部が前記検出部に検出される検出可能状態、及び、前記被検出部が前記検出部に検出されない検出不能状態、を切り替える検出切替制御と、
前記検出部が前記検出可能状態にある前記被検出部との距離が基準値未満であることを検知した場合に、前記基準値未満の検出がされた前記検出部が設けられる前記移動体を停止させる停止制御と、を実行するエレベータの運行制御装置。 An elevator operation control device that is installed in an elevator and includes one or more moving objects including a car, and a travel path through which the moving objects can move, and that controls the operation of the moving objects,
comprising a stop control means for stopping the movement of the moving body,
The stop control means is
a detected part provided on the movement path;
a detection unit provided on the movable body and capable of detecting a distance to the detected unit in a non-contact manner;
comprising a control unit;
The control section is
Detection switching control for switching between a detectable state in which the detected part is detected by the detecting part and a non-detectable state in which the detected part is not detected by the detecting part by operating the detected part;
If the detection unit detects that the distance to the detected unit in the detectable state is less than a reference value, stop the moving body provided with the detection unit that has detected a distance less than the reference value. Elevator operation control device that performs stop control and
前記検出可能状態の前記被検出部は、前記移動体の移動軌跡に対して進出した進出状態であり、
前記検出不能状態の前記被検出部は、前記移動体の移動軌跡から退避した退避状態であり、
前記被検出部は、前記進出状態で前記移動体が当たると退避方向に移動し、前記移動体の通過を許容する請求項１に記載のエレベータの運行制御装置。 The detected part is capable of moving in and out of the movement trajectory of the moving object by the detection switching control,
The detected part in the detectable state is in an advanced state in which it has advanced with respect to the movement trajectory of the moving body,
The detected part in the undetectable state is in a retracted state where it is retracted from the movement trajectory of the moving body,
The elevator operation control device according to claim 1, wherein the detected portion moves in a retracting direction when the movable body hits it in the advanced state, and allows the movable body to pass.
前記停止制御手段は、前記移動体が当たることで前記進出状態の前記被検出部が退避方向に移動したことを検知する退避検知手段を備え、
前記制御部は、前記移動体が当たることで前記進出状態の前記被検出部が退避したことを前記退避検知手段が検知したときにすべての前記移動体を停止させる緊急停止制御を実行する請求項２に記載のエレベータの運行制御装置。 A plurality of the moving bodies are provided,
The stop control means includes a retreat detection means for detecting that the detected part in the advanced state has moved in a retreat direction when the movable body hits it,
The control unit executes emergency stop control to stop all of the moving bodies when the retreat detecting means detects that the detected part in the advanced state has retreated due to being hit by the moving body. 2. The elevator operation control device according to 2.
前記移動路は、複数の前記移動体が内部を移動可能な少なくとも２本の昇降路と、該少なくとも２本の昇降路間を連通し、前記移動体が移動可能な横移動部と、を備え、
前記被検出部は、前記かごが前記横移動部を介して前記昇降路間を移動する移動軌跡上に設けられ、
前記制御部は、前記横移動部が連通する一の昇降路から他の昇降路に前記かごが移動不可である場合に前記被検出部を前記検出可能状態とし、前記横移動部が連通する一の昇降路から他の昇降路に前記移動体が移動可能である場合に前記被検出部を前記検出不能状態とする請求項１乃至３のいずれか１項に記載のエレベータの運行制御装置。 A plurality of the moving bodies are provided,
The movement path includes at least two hoistways in which a plurality of the movable bodies can move, and a lateral movement section that communicates between the at least two hoistways and in which the movable bodies can move. ,
The detected portion is provided on a movement trajectory in which the car moves between the hoistways via the lateral movement portion,
The control unit sets the detected part to the detectable state when the car cannot be moved from one hoistway to another hoistway with which the lateral moving part communicates, The elevator operation control device according to any one of claims 1 to 3, wherein the detected portion is set in the undetectable state when the movable body is movable from one hoistway to another hoistway.
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| JP2022030607A JP7349073B2 (en) | 2022-03-01 | 2022-03-01 | Elevator operation control device |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013052986A (en) | 2011-09-06 | 2013-03-21 | Hitachi Ltd | Electronically controlled elevator |
| JP2016121021A (en) | 2016-03-01 | 2016-07-07 | 行宏 宮川 | Net work elevator |
| JP2021070540A (en) | 2019-10-29 | 2021-05-06 | 株式会社日立製作所 | Multi-car elevator |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013052986A (en) | 2011-09-06 | 2013-03-21 | Hitachi Ltd | Electronically controlled elevator |
| JP2016121021A (en) | 2016-03-01 | 2016-07-07 | 行宏 宮川 | Net work elevator |
| JP2021070540A (en) | 2019-10-29 | 2021-05-06 | 株式会社日立製作所 | Multi-car elevator |
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| JP2023127061A (en) | 2023-09-13 |
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