JP6530342B2 - Elevator equipment - Google Patents

Description

  The present invention relates to an elevator apparatus.

  Generally, a first switch disposed near the door open end of the elevator and detecting a fully open position of the door, and a second switch disposed near the closed door end and detecting a fully closed position of the door It is a switch for detecting the position and requires a minute adjustment at the time of mounting. Also, even if each switch is attached to the normal position at the time of initial installation of the elevator, if the attachment position, that is, the operating position changes due to secular change, control abnormality will occur, door noise increase, door open end, and door close end vicinity Speed abnormality occurs.

  For this reason, Patent Document 1 discloses an elevator door control device capable of responding promptly without requiring deceleration of the door opening / closing speed in order to cope with abnormal operation position of the switch due to secular change. .

JP, 2009-292577, A

  The door control device described in Patent Document 1 described above opens the door based on operations from the open end detection switch that detects the fully open position of the door and the closed end detection switch that detects the fully closed position of the door. The closed state was detected. And a door closed end detection switch is used for detection of a door closed state, It utilized for the detection of switch operation position abnormality etc. using an encoder output signal and motor current. However, when the door closed end detection switch does not operate effectively due to a failure or the like, the door open end position and the door closed end position can not be determined even using the encoder output signal or the motor current. If the door closed could not be detected, the elevator control could not operate the car.

  The present invention has been made in view of such a situation, and an object of the present invention is to detect the closed state of the door without depending on the operation of the door closed state detection switch.

An elevator apparatus according to the present invention includes a car, a drive detection unit, a bypass switching unit, a car door control device, and an elevator control device.
The car has a car door, a door drive unit that opens and closes the car door, and a door closed state detection unit that detects a closed state of the car door and outputs a door closed state detection signal. The drive detection unit detects the drive of the door drive unit and outputs a drive detection signal. The bypass switching unit switches bypass or non-bypass of the door closed state detection signal input from the door closed state detection unit , and / or the mode switching unit switches the normal mode or the maintenance mode. The car door control device measures the door movement distance of the car door based on the drive detection signal, and has an operation unit that outputs the door position of the car door, and a storage unit, and controls the drive of the door drive unit. Control the operation of the car door. The elevator control device causes the car door control device to operate the car door in a closed state, and determines the closed state of the car door based on a door closed state detection signal input from the door closed state detection unit. Further, the elevator control device determines the closed state of the car door based on the door position input from the computing unit when the bypass switching unit switches from non-bypass to bypass.
The operation unit is
When the door closed state detection signal in the on state is input, a movement distance calculation unit that calculates the door movement distance based on the drive detection signal input from the drive detection unit, and the door closed state detection signal in the on state are input. The door speed calculation unit calculates the door speed of the car door based on the drive detection signal input from the drive detection unit, the speed command calculation unit calculates the speed command of the door speed, and the door speed as the speed command. The drive current command of the door drive unit is calculated based on the torque command calculation unit that calculates the torque command for following, the torque command, and the drive current returned from the door drive unit, and the drive current command is sent to the door drive unit. The door position is calculated based on the driving current command calculation unit to be output, the door movement distance and the torque command, the door position is output to the elevator control device, and the door position and the door opening are stored in the storage unit. It has a door position calculating unit that, the.
In the case where the mode switching unit is at least one of the state switched to the maintenance mode and the bypass switching unit switched to the bypass, the car door control device is fully closed from the car door at the reference speed The door position is operated at the low door speed in the door opening direction, the door speed is zero, and the door drive is torque-saturated, and the door position is stored in the memory as the door open end position when the car door is fully opened. The car door operates the car door with the car door control device fully open in the door closing direction at a door speed lower than the reference speed, the door speed is zero, and the door drive has torque saturation. It is stored in the storage unit as a door closed end position when it is fully closed.
Then, when the door movement distance between the door open end position and the door closed end position matches the door opening stored in the storage unit, the door position of the car door that has become fully closed from the fully open state is closed. The position of the car door determined from the fully closed state to the fully open state is determined as the door open end position, and the car door control device stores the position in the storage unit based on the door movement distance calculated by the calculation unit. The operation of the car door is controlled between the door open end position and the door closed end position.

According to the present invention, when the door closed state detection signal is bypassed, the closed state of the car door can be determined based on the door position input from the calculation unit. Therefore, it becomes possible to safely operate the car with the car door closed.
Problems, configurations, and effects other than those described above will be made clear by the following description of the embodiment.

It is explanatory drawing which shows the installation location of the switch provided in the door, door speed, and the relationship of a door position. BRIEF DESCRIPTION OF THE DRAWINGS It is a schematic block diagram of the elevator apparatus which concerns on the example of the 1st Embodiment of this invention. FIG. 3 is a block diagram showing an example of the internal configuration of a calculation unit according to the first embodiment of the present invention. It is a flowchart which shows the process example for an elevator control apparatus to detect a door closed state in the state by which the door closed state detection switch which concerns on the 1st Embodiment of this invention became invalid. It is a flowchart which shows the process example which the calculating part which concerns on the example of the 1st Embodiment of this invention determines the door position of a door. It is an explanatory view showing an example of movement of a door when power is supplied to an elevator control device in a fully closed state according to a second embodiment of the present invention. It is an explanatory view showing an example of movement of a door when power is supplied to an elevator control device with a door according to a second embodiment of the present invention fully open. It is an explanatory view showing an example of movement which closes after opening a door once, when power is supplied to an elevator control device in a middle position and a door concerning a 2nd example of an embodiment of the present invention. It is an explanatory view showing an example of movement which opens after closing a door once, when power is supplied to an elevator control device in a middle position and a door concerning a 2nd example of an embodiment of the present invention. It is a flowchart which shows the process example which the calculating part which concerns on the example of the 2nd Embodiment of this invention determines the door position of a door.

  Hereinafter, embodiments of the present invention will be described with reference to the attached drawings. In the specification and the drawings, components having substantially the same function or configuration will be assigned the same reference numerals and overlapping descriptions will be omitted.

<Door control performed by door control device>
Before describing an embodiment of the present invention, a general door movement control method performed by a conventional door control device will be described. The elevator apparatus includes a holder provided on a hall floor and a car door provided on a car, but the term "door" abbreviated in the following description means a car door.

  Conventional door control devices use a door position to create a door speed command that is output to a door motor. When the door control device moves the door at a fixed door speed, the remaining distance between the current position of the door and the target position (open end or closed end) is calculated to determine the deceleration start position. . Therefore, the door control device uses the door open end position and the door closed end position as the absolute position of the door position, and the door position inside the door open and close end is output by an encoder pulse output by an encoder connected to the door motor. It is estimated. For example, when the door is closed, the encoder pulse has an initial value of zero, and the value of the encoder pulse is accumulated as the door is opened. Therefore, the door control device can calculate the door position based on the accumulated value of the encoder pulses.

  However, the door position calculated by the door control device using the encoder pulse may drift and may not indicate the correct door position. In this case, the conventional door control device performs correction to reset the door position data to the reference data according to detection signals from mechanical switches provided at the door open end position and the door closed end position which are absolute positions. It was doing drift correspondence. Further, the door control device performs opening / closing control of the door by speed control inside the door opening / closing end to carry out various failure detections. In addition, outside the opening and closing end, the door control device invalidates the speed control and performs door holding control by current control. Then, since the door is stopped, the door control device invalidates a part of the failure detection functions, and further performs initialization processing such as a speed control constant.

Here, the position of each switch provided in the door and an operation example of the door will be described.
FIG. 1 is an explanatory view showing a relationship between an installation place of a switch provided on a door, a door speed, and a door position. This switch is provided on the right door toward the front.

  The position of each switch provided in the conventional car is shown by FIG. 1A. As shown in FIG. 1A, the door position P1 of the completely closed door is referred to as the "true closed end", and the door position P4 of the completely open door is referred to as the "true open end". And the door closed end switch which detects the closed end state of a door in door position P2 before the door approaches a true closed end is provided in the conventional car. Similarly, the conventional car is provided with a door open switch for detecting the open state of the door at a door position P3 before the door approaches the true open end. Thus, conventional doors have been provided with at least two switches to detect the position of the door.

Next, the relationship between the door speed and the door position when the conventional door opens from the fully closed state will be described.
When the door is fully closed, the end of the door (the side on which the left and right doors are in contact) is at the true closed end door position P1. Then, when the door starts to open, the door moves at a slow door speed at the beginning, and the end of the door reaches the door position P2. A section between the door positions P1 and P2 is called a door holding control section.

  When the door is further opened, the door speed increases, and the door moves at a constant speed. At this time, the door position becomes large. Thereafter, as the end of the door approaches the door open switch, the door speed decreases and reaches the door position P3. A section between the door positions P2 and P3 is called a speed control section. In the speed control section, the door is moved by driving the door motor.

Thereafter, the door is slowly opened by current control to reach the true open end, the door position P4, and the door is fully opened. A section between the door positions P3 and P4 is called a door holding control section.
The closing operation from the fully open state of the door is the reverse of the opening operation described above.

  FIG. 1B shows the position of the door closed state detection switch 6 (see FIG. 2) provided in the car 20 according to the present embodiment. The door closed state detection switch 6 is provided at the door position P5. The door position P5 is a position slightly shifted to the open end side than the door position P2. And in FIG. 1A, the door position P2 where the door closed end switch is provided is called "virtual door closed end", and the door position P3 where the door open end switch is provided is called "virtual door open end". The virtual door closed end and the virtual door open end are virtual door positions calculated by the calculation unit 12 according to the present embodiment as shown in FIG. 2 described later. And between a virtual door closed end and a virtual door open end is called door frontage. The travel distance when the door is fully closed to fully open is approximately equal to the door opening.

[First Embodiment]
Next, an elevator apparatus 1 according to a first embodiment of the present invention will be described.
The elevator apparatus 1 includes only a door closed state detection switch 6 for detecting the closed state of the doors 2a and 2b, unlike the switch provided in the conventional door. The door closed state detection switch 6 is a mechanical switch provided only at a door position P5 capable of detecting the closed state of the door 2b as shown in FIG. 1B. As described above, the elevator apparatus 1 according to the first embodiment does not require the conventional door closed end switch and the door open end switch. When the door close state detection switch 6 does not operate normally due to a failure or the like, the door open / close control is performed without the door close state detection switch 6. However, the control of the door speed in the opening and closing operation of the door itself performs control as shown in FIG.

FIG. 2 is a schematic configuration diagram of the elevator apparatus 1.
The elevator apparatus 1 includes the doors 2a and 2b, pulleys 3a and 3b for driving the opening and closing operations of the doors 2a and 2b, a door motor 4 for driving the pulleys 3a and 3b, an encoder 5 for counting the number of rotations of the door motor 4, and the door closing A state detection switch 6 is provided. The doors 2a and 2b are car doors provided in a car 20 (not shown). The door motor 4 is used as an example of a door drive unit for opening and closing the car doors 2a and 2b. The encoder 5 detects the rotation (drive) of the door motor 4 and outputs an encoder output signal (an example of a drive detection signal) Is used as an example of the drive detection unit. The door closed state detection switch 6 is used as an example of a door closed state detection unit that detects the closed state of the car doors 2a and 2b and outputs a door closed state detection signal.

  The pulleys 3a and 3b are connected by a belt. Similarly, the door motor 4 and the pulley 3b are connected by a belt. Therefore, when the rotational force of the door motor 4 is transmitted to the pulley 3b, the belt connected to the pulley 3b rotates, whereby the rotational force is transmitted to the pulley 3a, and the doors 2a and 2b open and close. The encoder 5 is connected to the door motor 4, and outputs an encoder output signal indicating the number of rotations of the door motor 4 to the door control device 10.

  The door closed state detection switch 6 (an example of a door closed state detection unit) is provided near the closed end of the door 2b, and detects a fully closed state of the door 2b. At this time, the door closed state detection switch 6 outputs a door closed state detection signal indicating the fully closed state to the elevator control device 9 and the input / output circuit 11a. Since the doors 2a and 2b operate symmetrically, when the right door 2b is closed, the left door 2a is also closed. For this reason, the door closed state detection switch 6 may be provided at either one of the doors 2a and 2b.

The elevator apparatus 1 further includes a mode switching switch 7, a bypass switch 8, an elevator control device 9, and a door control device 10.
The mode switching switch 7 is used as an example of a mode switching unit in which a maintenance worker switches the elevator apparatus 1 to a normal mode or a maintenance mode. In the normal mode, a passenger gets into the car 20 and the car 20 moves to the destination floor registered by the passenger. In the maintenance mode, since the worker controls the elevating operation of the car 20, the passenger can not get on the car 20.

  The bypass switch 8 is used as an example of a bypass switching unit that switches bypass or non-bypass of the door closed state detection signal input from the door closed state detection switch 6 in the maintenance mode. In the non-bypass mode, the elevator control device 9 determines the closed state of the doors 2a and 2b by using the door closed state detection signal input from the door closed state detection switch 6 as valid. In the bypass, since the door close state detection signal is short-circuited, the door close state detection signal is invalidated. In this case, the elevator control device 9 determines the closed state of the doors 2a and 2b without using the door closed state detection signal.

  The elevator control device 9 controls the operation of each device in the elevator device 1. Then, the elevator control device 9 instructs the door control device 10 to operate the car doors 2a and 2b. Further, a door closed state detection switch 6 is connected to the elevator control device 9. Then, the elevator control device 9 causes the door control device 10 to operate the car doors 2a and 2b in the closing state, and based on the door closing state detection signal input from the door closing state detection switch 6, the car doors 2a and 2b. Determine the closed state of.

  The mode control switch 7 and the bypass switch 8 are connected to the elevator control device 9, and the mode switched by the mode switch 7 and the bypass designation switched by the bypass switch 8 are input. Therefore, the elevator control device 9 operates the car doors 2a and 2b in the closed state when the door closed state detection signal is bypassed by the bypass switch 8 or switched to the maintenance mode by the mode changeover switch 7 (described later) See Figure 4). At this time, the elevator control device 9 determines the closed state of the car doors 2a and 2b based on the door positions of the car doors 2a and 2b input from the calculation unit 12.

  The door control device 10 has a calculation unit 12 that measures the movement distance of the car doors 2a and 2b (hereinafter referred to as "door movement distance") based on the encoder output signal and outputs the door position to the elevator control device 9. . The door control device 10 controls the operation of the car doors 2 a and 2 b by controlling the driving of the door motor 4. The door control device 10 includes an input / output unit 11, an operation unit 12, a memory 13, a memory 14, and a bus 15. Arithmetic unit 12 and memories 13 and 14 can mutually input and output data via bus 15. The calculation unit 12 is configured by, for example, a microcomputer (abbreviated as a “microcomputer” in the drawing) such as a CPU (Central Processing Unit).

The memory 13 is, for example, a ROM (Read Only Memory), and the memory 14 is, for example, a RAM (Random Access Memory), and stores various data. The memories 13 and 14 are used as an example of a storage unit.
Here, in the memory 13, the door movement distance between the door open end position and the door closed end position is stored as door opening data indicating a door opening. Normally, data can not be written to the memory 13, which is a ROM, but in the maintenance mode, the operation unit 12 can write data to the memory 13.
The memory 14 stores the door position when the car doors 2a and 2b are fully open as door position data indicating a door open end position, and the door position when the car doors 2a and 2b are fully closed is It is stored as door position data indicating the door closed end position. The door open end position indicated by the door position data stored in the memory 14 is the virtual door open end position, and the door closed end position is the virtual door closed end position.

  The input / output unit 11 receives inputs of various signals output from the door motor 4, the encoder 5, the elevator control device 9, and the calculation unit 12, and outputs various commands to the door motor 4, elevator control device 9, and calculation unit 12 Do. The input / output unit 11 includes an input / output circuit 11a, an encoder output signal input circuit 11b, a motor current detection circuit 11c, and a motor drive device 11d.

  The input / output circuit 11 a passes the various commands input from the elevator control device 9 and the door closed state detection signal indicating the fully closed state input from the door closed state detection switch 6 to the calculation unit 12. Further, the input / output circuit 11a outputs various commands input from the calculation unit 12 to the elevator control device 9 or outputs the same to the motor drive device 11d.

  The encoder output signal input circuit 11 b outputs an encoder output signal indicating the number of rotations of the door motor 4 input from the encoder 5 to the calculation unit 12. Thereby, the calculation unit 12 monitors the number of rotations of the door motor 4 and gives an appropriate motor current command (an example of a drive current command) to the motor drive device 11 d.

  The motor current detection circuit 11 c detects a motor current (an example of a drive current) flowing to the door motor 4. The motor current detection circuit 11 c outputs the detected motor current to the calculation unit 12. As a result, the calculation unit 12 can monitor the current flowing through the door motor 4 and give a motor current command to the motor drive device 11 d.

  The motor drive device 11 d generates a motor drive signal based on the motor current command given from the calculation unit 12, and outputs the motor drive signal to the door motor 4. The door motor 4 receives and drives a motor drive signal.

  The calculation unit 12 has a door control function for controlling the opening and closing operation of the doors 2a and 2b. The calculation unit 12 can calculate the door speed and the movement distance of the doors 2a and 2b when the door closed state detection signal (on state) of the car door 2b output by the door closed state detection switch 6 is input. It is possible. In this calculation, the calculation unit 12 uses the rotation count value of the door motor 4 based on the encoder output signal output from the encoder 5. The calculation unit 12 can also calculate a torque command such that the door speed follows the speed command value. Then, the calculation unit 12 outputs a motor current command based on the torque command to the motor drive device 11 d.

  As described above, the calculation unit 12 activates the motor drive device 11 d by giving a motor current command to the motor drive device 11 d. Then, the motor drive device 11 d drives the door motor 4 by outputting a motor drive signal to the door motor 4 in accordance with the motor current command. As a result, the door motor 4 opens and closes the doors 2a and 2b via the pulleys 3a and 3b.

Here, when the door closed state detection switch 6 does not function effectively, or when the power is turned on again after the power of the elevator control device 9 is temporarily turned off, the elevator control device 9 opens the doors of the doors 2a and 2b. Since the position becomes unstable, the fully closed state of the doors 2a and 2b can not be detected.
In this case, the elevator control device 9 opens and closes the doors 2a and 2b at a low speed, and the calculation unit 12 measures the true open ends and the true closed ends of the doors 2a and 2b. At this time, the computing unit 12 detects a true open end and a true closed end by monitoring the torque saturation of the door motor 4 and the door speed. For example, when the doors 2a and 2b reach the open end or the closed end, the door speed becomes zero. Further, even if the doors 2a and 2b reach the open end or the closed end, if the current control continues, the torque of the door motor 4 is saturated. Therefore, the operation unit 12 can detect the true open end and the true closed end by detecting that the door speed is zero and the torque of the door motor 4 is saturated.

  Then, the calculation unit 12 generates door gap data of the door gap obtained based on the measured true open end and true closed end, and stores the door gap data in the storage unit 13. Thereafter, the elevator control device 9 can determine the door position based on the door opening data read out from the storage unit 13, and thus detects the positions of the virtual door closed end and the open end based on the encoder pulse.

  The virtual door open end described below is a virtual door position determined by the calculation unit 12 that the doors 2a and 2b are fully open in the doors 2a and 2b having no door open end switch. The virtual door closed end is a virtual door position determined by the calculation unit 12 that the doors 2a and 2b are fully closed in the doors 2a and 2b not having the door closed end switch. The virtual door open end and the closed end are used by the door control device 10 instead of the open end and the closed end detected by the open end and the closed end switch installed in the conventional car.

FIG. 3 is a block diagram showing an example of the internal configuration of the calculation unit 12.
The calculation unit 12 includes a speed command calculation unit 12a, a torque command calculation unit 12b, a motor current command calculation unit 12c, a door position calculation unit 12d, a door movement distance calculation unit 12e, and a door speed calculation unit 12f.

The speed command calculation unit 12a calculates a speed command for opening and closing the doors 2a and 2b, and outputs the speed command to the torque command calculation unit 12b.
The torque command calculation unit 12b calculates a torque command for causing the door speed to follow the speed command based on the speed command input from the speed command calculation unit 12a and the actual door speed input from the door speed calculation unit 12f. The torque command is output to the motor current command calculation unit 12c.

The motor current command calculation unit 12c calculates the motor current command of the door motor 4 based on the torque command input from the torque command calculation unit 12b and the motor current returned from the door motor 4, and the motor current command is calculated It outputs to the drive device 11d.
As a result, the motor drive device 11 d having received the motor current command can output a motor drive signal to the door motor 4 to drive the door motor 4.

  The door position calculation unit 12d calculates an actual door position of the doors 2a and 2b based on the torque command input from the torque command calculation unit 12b and the door movement distance input from the door movement distance calculation unit 12e. Further, the door position calculation unit 12 d corrects the door open end position and the door closed end position with the door position at the time when the door closed state detection signal is input from the door closed state detection switch 6 as the absolute position. Then, the door movement distance calculation unit 12 e outputs door position data indicating the calculated door position to the elevator control device 9, and stores the door position data in the memory 14. The elevator control device 9 can determine the open / close state of the doors 2a and 2b based on the door position data input from the door position calculation unit 12d.

The door movement distance calculation unit 12e calculates the door movement distance based on the encoder output signal input from the encoder 5, and outputs the door movement distance to the door position calculation unit 12d.
The door speed calculator 12f calculates the door speeds of the car doors 2a and 2b based on the encoder output signal input from the encoder 5, and outputs the door speeds to the torque command calculator 12b.

<Operation Example of Elevator Device>
Next, an operation example of the elevator apparatus 1 will be described.
FIG. 4 is a flow chart showing an example of processing for the elevator control device 9 to detect the door closed state in a state where the door closed state detection switch 6 is invalidated.

  As shown in FIG. 1 described above, conventionally, in order to cope with the drift of the mechanical switch, correction is performed to reset the door position data to the reference data by the mechanical switch provided at the door open end position and the door closed end position. I was going. On the other hand, the elevator control device 9 according to the present embodiment does not have mechanical switches at the door open end position and the door closed end position. Therefore, the elevator control device 9 detects the fully closed state of the doors 2a and 2b by the door closed state detection signal output from the mechanical door closed state detection switch 6.

  However, in a state where the door closed state detection switch 6 for detecting the closed state of the doors 2a and 2b is forcibly turned on due to an on failure or maintenance etc., the elevator control device 9 is closed. Do not receive a detection signal. In this case, the elevator control device 9 can not detect the door fully closed state by the door closed state detection switch 6.

  Therefore, when the mode switch 7 is in the maintenance mode and the bypass switch 8 is switched to the bypass, the elevator control device 9 uses the door position determined from the door close state detection signal and the count value of the encoder pulses. It detects that 2a and 2b closed. For this reason, the elevator control device 9 determines in advance each mode set by the mode change switch 7 and the bypass switch 8. The determination process will be described below.

  First, the elevator control device 9 determines whether or not the normal mode is switched to the maintenance mode based on the input of the mode changeover switch 7 (S1). If the mode is not switched to the maintenance mode (NO in S1), the elevator control device 9 operates the door closed state detection switch 6 to detect the door closed state to the calculation unit 12 through the input / output unit 11 because it is the normal mode. An instruction to use is given (S4).

  If the maintenance mode is switched (YES in S1), the elevator control device 9 determines whether the non-bypass mode is switched to the bypass mode based on the input of the bypass switch 8 (S2). If not bypassed (NO in S2), the elevator control device 9 instructs the calculation unit 12 through the input / output unit 11 to use the door close condition detection switch 6 to detect the door close condition (S4).

  If it is switched to the bypass (YES in S2), the elevator control device 9 instructs the calculation unit 12 through the input / output unit 11 not to use the door close condition detection switch 6 to detect the door closed condition (S4) ).

  Thereafter, the elevator control device 9 estimates the position of the door open end position and the position of the door closed end position at the door position obtained by the calculation unit 12 from the encoder pulse. However, before the door opening is measured, or immediately after the elevator device 1 is powered on, the elevator control device 9 sets the door open end position and the door closed end position to the door position when the door position is not determined. It can not be estimated.

Here, the conventional door opening is determined by the integrated value of encoder pulses between the door open end position, the door open end position by the mechanical switch provided at the door closed end position, and the door closed end position.
However, in the present embodiment, the mechanical switch provided at the door open end position and the door closed end position is not used. Therefore, when the measurement of the door opening is not completed, the elevator control device 9 detects the door open end position and the door closed end position by another means in order to measure the door opening, and the integrated value of encoder pulses between them Needs to be measured. Thereafter, the door calculation unit 12 determines the door position. In the following FIG. 5, processing in which the calculation unit 12 detects and determines the door open end position and the door closed end position will be described.

<Detection of virtual door open end, virtual door closed end, and door position determination process>
FIG. 5 is a flowchart showing an example of processing in which the calculation unit 12 determines the door positions of the doors 2a and 2b. In this process, the computing unit 12 detects the virtual door open end and closed end positions of the doors 2a and 2b, thereby determining the door positions of the doors 2a and 2b.

  First, the calculation unit 12 refers to the memory 13, which is a ROM, and determines whether or not the door openings of the doors 2a and 2b have been measured (S11). If the door opening has been measured (YES in S11), the door opening data is stored in the memory 13. In this case, using the door opening data read from the memory 13, the operation unit 12 performs processing to detect the virtual door open end and closed end positions of the doors 2a and 2b by the following processing.

  Next, the door position calculation unit 12d of the calculation unit 12 determines whether the door closed state detection switch 6 is turned on, that is, whether the doors 2a and 2b are closed (S12). When the door closed state detection switch 6 is not turned on (NO in S12), or when the bypass switch 8 is switched to bypass and the door closed state detection signal is treated as invalid, the door control device 10 operates the car door 2a. , 2b are controlled.

  At this time, the door control device 10 operates the car doors 2a and 2b in the fully closed state at the door speed lower than the reference speed in the door opening direction, the door speed becomes zero, and the state where the door motor 4 is saturated is detected. Position the door open position. Therefore, the operation unit 12 performs operation control to open the doors 2a and 2b at low speed (S13). At this time, the motor current command calculation unit 12 c sends a motor current command to the motor drive device 11 d, and the motor drive device 11 d drives the door motor 4.

  Next, the calculation unit 12 determines whether the door speed in the opening direction is zero and torque saturation has occurred (S14). That is, whether or not the door speed is zero is determined by the door speed calculated by the door speed calculator 12f. Whether or not the torque is saturated is determined by the motor current input to the motor current command calculation unit 12c.

  If it is determined that the door speed is not zero or that the torque is not saturated, the calculation unit 12 returns to step S13, and continues the operation control to open the doors 2a and 2b at a low speed. On the other hand, when it is determined that the door speed is zero and the torque is saturated, the calculation unit 12 detects the door position at this time as the virtual door open end (S15).

  Next, the calculation unit 12 performs operation control to close the doors 2a and 2b at low speed (S16). At this time, the door control device 10 operates the car doors 2a and 2b in a fully open state at a door speed lower than the reference speed in the door closing direction, the door speed becomes zero, and a position where the door motor 4 detects a torque saturation state As the door closed end position.

  Therefore, the calculation unit 12 determines whether the door speed in the closing direction is zero and the torque is saturated (S17). If it is determined that the door speed is not zero or that the torque is not saturated, the calculation unit 12 returns to step S16 and continues the operation control of closing the doors 2a and 2b at low speed. On the other hand, when determining that the door speed is zero and the torque is saturated, the calculation unit 12 detects the door position at this time as the virtual door closed end (S18).

  As described above, after the doors 2a and 2b are once opened to detect the virtual door open end, the doors 2a and 2b are closed to detect the virtual door closed end, so that the door closed state detection switch 6 does not operate. The exact door position can be determined.

  In step S11, when the door opening has not been measured, that is, when the door opening data is not stored in the memory 13 (NO in S11), the calculation unit 12 first performs processing of measuring the door opening.

  Therefore, the calculation unit 12 performs operation control to open the doors 2a and 2b at low speed (S21), and determines whether the door speed in the opening direction is zero and torque saturation is performed (S22). If the calculation unit 12 determines that the door speed is not zero or that the torque is not saturated, the processing returns to step S21, and continues the operation control of opening the doors 2a and 2b at low speed. On the other hand, when it is determined that the door speed is zero and the torque is saturated, the calculation unit 12 detects the door position at this time as a virtual door open end (S23).

  Next, the calculation unit 12 performs operation control to close the doors 2a and 2b at low speed (S24). Then, the calculation unit 12 determines whether the door speed in the closing direction is zero and the torque is saturated (S25). If it is determined that the door speed is not zero or that the torque is not saturated, the calculation unit 12 returns to step S24 and continues the operation control of closing the doors 2a and 2b at low speed. On the other hand, when it is determined that the door speed is zero and the torque is saturated, the calculation unit 12 detects the door position at this time as a virtual door closed end (S26).

  Then, the calculation unit 12 completes the measurement of the door opening based on the detected virtual door open end and closed end position (S27). Next, the operation unit 12 switches to the rewrite permission mode (S28), stores the door opening data in the memory 13 which is the ROM (S29), and switches to the rewrite prohibition mode (S30).

  As such, when the door opening data is not stored in the memory 13, the operation unit 12 once opens the doors 2a and 2b to detect the virtual door open end, and then closes the doors 2a and 2b to detect the virtual door closed end Measure the front of the door.

  When the door closed state detection switch 6 is turned on (YES in S12), the virtual door closed end is detected in step S18, or after the mode is switched to the rewrite prohibition mode in step S30. The door position calculation unit 12d determines the door position (S19). Thereafter, the door control device 10 can control opening and closing of the doors 2a and 2b at an appropriate door position as usual.

  As described above, the door position due to the encoder pulse needs to be corrected at an absolute position as a drift response. Therefore, the calculation unit 12 uses the installation position of the mechanical door close state detection switch 6 as an absolute position, and the door open state position and the door close end position according to the door close state detection signal input from the door close state detection switch 6 Correct the For example, when the mode changeover switch 7 is switched to the normal mode or when the bypass switch 8 is switched to the non-bypass, the door position calculation unit 12 d closes the door input from the door closed state detection switch 6 The door open end position and the door closed end position are corrected based on the detection signal. Thereby, the reliability of the door position calculated by the calculation unit 12 can be enhanced.

  The elevator control device 9 according to the first embodiment described above is a switch (open end detection switch) for detecting a fully open position of a door or a switch for detecting a fully closed position of a door (closed end), which was conventionally essential. There is no need for a detection switch, and only the door closed state detection switch 6 is used. Then, when the door closed state detection signal indicating the fully closed state from the door closed state detection switch 6 is input, the fully closed state of the doors 2a and 2b can be determined. If the fully closed state of the doors 2a and 2b can be determined, the elevator control device 9 can raise and lower the car 20 safely.

  Further, the elevator control device 9 is switched to the maintenance mode or the bypass even when the door closed state detection switch 6 has an on failure, or when the door closed state detection switch 6 is forcibly turned on by maintenance or the like. Thus, it is possible to detect the closed state of the doors 2a and 2b without the door closed state detection signal. Therefore, when moving the doors 2a and 2b in the maintenance mode, the elevator control device 9 can accurately grasp the door positions of the doors 2a and 2b and detect that the doors 2a and 2b are in the closed state. .

  In FIG. 4, when the maintenance mode (YES in S1) and the bypass (YES in S2) are switched, the door closed state detection switch is not used to detect the door closed state (S3). . However, in the maintenance mode, the door closed state detection may be performed without using the door closed state detection switch. Similarly, in the case of bypass, processing may be performed without using the door close state detection switch to detect the door close state.

Second Embodiment Example
Next, an elevator apparatus 1 according to a second embodiment of the present invention will be described.
In the first embodiment described above, the door speed is zero, and the torque saturated position is detected as the door open end position and the door closed end position.
On the other hand, the calculation unit 12 according to the present embodiment determines the virtual door open end and the virtual door closed end from the doors 2a and 2b manually moved by the worker. At this time, the calculation unit 12 determines the door open end position and the door closed end position from the relationship between the door movement distance based on the count value from the encoder output signal and the door clearance obtained from the door clearance data stored in advance in the memory 13. For this reason, in the present embodiment, it is premised that the door opening data is stored in advance in the memory 13.

  First, variations of the movement of the doors 2a and 2b will be described with reference to FIGS. White arrows in the drawing represent the transition of the door state, and solid arrows represent the moving direction of the doors 2a and 2b.

  FIG. 6 is an explanatory view showing an example of movement of the doors 2a and 2b when the elevator control device 9 is powered on with the doors 2a and 2b fully closed.

  As shown in FIG. 6A, the doors 2a and 2b are fully closed. At this time, since the elevator control device 9 is just after the power is turned on, the door position is undecided. That is, the elevator control device 9 can not determine whether the doors 2a and 2b are fully closed or whether the doors 2a and 2b are in the process of closing. Since the doors 2a and 2b in the fully closed state can not be further closed, a worker must manually operate the doors 2a and 2b in the opening direction.

  Therefore, as shown in FIG. 6B, the operator manually opens the doors 2a and 2b until the fully open state is reached. At this time, the calculation unit 12 measures the door movement distance of the doors 2a and 2b. The door movement distance can be measured, for example, based on an encoder output signal output from the encoder output signal input circuit 11b. And the door movement distance from the fully closed state to the fully open state coincides with the door opening. Therefore, the calculation unit 12 determines the door position of the doors 2a and 2b in the fully open state as the door open end position.

  FIG. 7 is an explanatory view showing an example of movement of the doors 2a and 2b when the elevator control device 9 is powered on with the doors 2a and 2b fully open.

As shown in FIG. 7A, the doors 2a and 2b are fully open. At this time, since the elevator control device 9 is just after the power is turned on, the door position is undecided. Since the doors 2a and 2b which are fully open can not be opened further, the worker must operate the doors 2a and 2b in the closing direction.
Therefore, as shown in FIG. 7B, the worker manually closes the doors 2a and 2b until the fully closed state is achieved. In this case, the door travel distance coincides with the door opening. Therefore, the calculation unit 12 determines the door position of the doors 2a and 2b in the fully closed state as the door closed end position.

  FIG. 8 is an explanatory view showing an example of movement for closing the doors 2a and 2b after the doors 2a and 2b are once opened when the doors 2a and 2b are powered on to the elevator control device 9 at the intermediate position.

  As shown in FIG. 8A, the doors 2a and 2b are stopped at an intermediate position that is neither fully open nor fully closed. Here, as shown in FIG. 8B, the doors 2a and 2b are manually opened until the doors 2a and 2b are fully opened, and even if the doors 2a and 2b move to the open end position, the door movement distance is not the door opening. That is, the door travel distance does not match the door opening.

  For this reason, after the operator manually opens the car doors 2a and 2b fully, the operation unit 12 sets the car doors 2a and 2b fully closed based on the encoder output signal input from the encoder 5 Calculate the travel distance of the door. For example, after the doors 2a and 2b are fully opened as shown in FIG. 8B, the doors 2a and 2b are manually closed until the doors 2a and 2b are fully closed as shown in FIG. 8C. In this case, the door movement distance coincides with the door opening based on the door opening data stored in the memory 13. Therefore, the calculation unit 12 determines a position at which the calculated door movement distance is the door opening stored in the memory 14 as the door closed end position.

  FIG. 9 is an explanatory view showing an example of movement to open the doors 2a and 2b after the doors 2a and 2b are once closed when the doors 2a and 2b are powered on to the elevator control device 9 at an intermediate position.

  As shown in FIG. 9A, the doors 2a and 2b are stopped at an intermediate position. Here, as shown in FIG. 9B, the doors 2a and 2b are manually closed until they are fully closed, and even if the doors 2a and 2b move to the closed end position, the door movement distance is not the door opening. That is, the door travel distance does not match the door opening.

  For this reason, after the operator manually brings the car doors 2a and 2b into the fully closed state, the computing unit 12 is based on the encoder output signal input from the encoder 5 when the car doors 2a and 2b are brought into the fully open state. Calculate the travel distance of the door. For example, after the doors 2a and 2b are fully closed as shown in FIG. 9B, the doors 2a and 2b are opened manually until the doors 2a and 2b are fully open as shown in FIG. 9C. In this case, the door movement distance coincides with the door opening based on the door opening data stored in the memory 13. Therefore, the calculation unit 12 determines the door position of the doors 2a and 2b in the fully open state as the door open end position.

  Thus, in the second embodiment, the doors 2a and 2b are manually opened and closed. Therefore, the calculation unit 12 enables only the door position calculation unit 12d and the door movement distance calculation unit 12e. Then, when calculating the door position, the door position calculation unit 12d does not need to input the torque command and the door closed state detection signal, and calculates the door position from the door movement distance input from the door movement distance calculation unit 12e. And outputs the door position to the elevator control unit 9. Even if the doors 2a and 2b are opened and closed manually, the door motor 4 rotates with the movement of the doors 2a and 2b, so the encoder 5 can output an encoder output signal to the door movement distance calculation unit 12e. Thus, the door movement distance calculation unit 12e can calculate the door movement distance based on the input encoder output signal.

Next, an operation example of the calculation unit 12 according to the present embodiment will be described.
FIG. 10 is a flowchart showing an example of processing in which the calculation unit 12 determines the door positions of the doors 2a and 2b. In the following processing, when the operation unit 12 is referred to, the door position operation unit 12d is mainly responsible for processing.

  First, the calculation unit 12 refers to the memory 13, which is a ROM, and determines whether or not the door openings of the doors 2a and 2b have been measured (S31). If the door opening has not been measured, that is, if the door opening data is not stored in the memory 13 (NO in S31), the processing after step S21 of the operation flow of the calculation unit 12 according to the first embodiment is Do and measure the doorway.

  If the door opening has been measured (YES in S31), the door opening data is stored in the memory 13. In this case, using the door opening data read from the memory 13, the operation unit 12 performs processing to detect the virtual door open end or closed end position of the doors 2a and 2b by the following processing.

  That is, the worker determines whether the opening operation of the doors 2a and 2b is possible (S32). When the opening operation of the doors 2a and 2b is possible (YES in S32), the worker performs the opening operation of the doors 2a and 2b (S33). Then, the calculation unit 12 determines whether the doors 2a and 2b have moved in the opening direction by the frontage (S34).

  When the doors 2a and 2b move in the opening direction by the amount corresponding to the front (YES in S34), the doors 2a and 2b which have been fully closed as shown in FIG. 6 are fully open. Therefore, the calculation unit 12 detects the door positions of the doors 2a and 2b as the virtual door open end (S35).

  When the door opening operation is not possible in step S32 (NO in S32), the worker performs the closing operation of the doors 2a and 2b (S36). Then, the calculation unit 12 determines whether the doors 2a and 2b have moved in the closing direction by the frontage (S37).

  When the doors 2a and 2b move in the closing direction by the amount corresponding to the front (YES in S37), the doors 2a and 2b which are fully open as shown in FIG. 7 are fully closed. Therefore, the calculation unit 12 detects the door positions of the doors 2a and 2b as the virtual door closed end (S38).

  In step S34, when the doors 2a and 2b have not moved in the opening direction by the frontage (NO in S34), the doors 2a and 2b in the intermediate state are fully open as shown in FIG. . Therefore, the door positions of the doors 2a and 2b can not be determined as the virtual door open end. In this case, the worker performs the closing operation of the doors 2a and 2b which are fully open (S36). When the doors 2a and 2b move in the closing direction by the amount corresponding to the front (YES in S37), the calculation unit 12 detects the door position of the doors 2a and 2b as a virtual door closed end (S38).

  In step S37, when the doors 2a and 2b are not moved by the front in the closing direction (NO in S37), the doors 2a and 2b in the intermediate state are fully closed as shown in FIG. There is. Therefore, the door positions of the doors 2a and 2b can not be determined as the virtual door closed end. In this case, the worker performs the opening operation of the doors 2a and 2b in the fully closed state (S33). When the doors 2a and 2b move in the opening direction by the amount corresponding to the front (YES in S34), the calculation unit 12 detects the door position of the doors 2a and 2b as a virtual door open end (S35).

  If the virtual door open end is detected in step S35, or if the virtual door closed end is detected in step S38, operation unit 12 determines the virtual door open end or virtual door closed end as the door position (S39) . Thereafter, the door control device 10 can control the doors 2a and 2b in the normal opening and closing operation.

  In the door control device 9 according to the second embodiment described above, when the power is turned on again with the doors 2a and 2b stopped in the intermediate state, and the door position is indeterminate, the doors 2a and 2b are fully opened. After the state is made, the door 2a or 2b is fully closed and then fully opened. When the door movement distance at this time coincides with the frontage stored in the memory 13, the calculation unit 12 determines the calculated door position as a virtual door open end and a virtual door closed end. Thus, since the virtual door open end and the virtual door closed end are determined, the elevator control device 9 can detect the fully closed state of the doors 2a and 2b in the subsequent processing.

  In the second embodiment, the operator manually opens and closes the doors 2a and 2b. However, as in the first embodiment, the door motor 4 performs control to open and close the doors 2a and 2b at low speed. You may go. In this case, the calculation unit 12 needs to validate the functions of the speed command calculation unit 12a, the torque command calculation unit 12b, the motor current command calculation unit 12c, and the door speed calculation unit 12f.

Further, the present invention is not limited to the embodiment described above, and it is needless to say that various other applications and modifications can be taken without departing from the scope of the present invention described in the claims.
For example, the embodiment described above specifically and specifically describes the configuration of the device in order to explain the present invention in an easy-to-understand manner, and is not necessarily limited to one having all the configurations described. Moreover, it is possible to replace a part of the configuration of the embodiment described here with the configuration of another embodiment, and furthermore, the configuration of another embodiment according to the configuration of one embodiment. It is also possible to add In addition, it is also possible to add, delete, and replace other configurations for part of the configuration of each embodiment.
Further, control lines and information lines indicate what is considered to be necessary for the description, and not all control lines and information lines in the product are necessarily shown. In practice, almost all configurations may be considered to be mutually connected.

  DESCRIPTION OF SYMBOLS 1 ... Elevator apparatus, 2a, 2b ... Door, 4 ... Door motor, 5 ... Encoder, 6 ... Door closed state detection switch, 7: ... Switch, 8 ... Bypass switch, 9 ... Elevator control apparatus, 10 ... Door control apparatus, 11 ... I / O unit 12 operation unit 12a speed command operation unit 12b torque command operation unit 12c motor current command operation unit 12d door position operation unit 12e door movement distance operation unit 12f door Speed calculation unit, 20 ... car

Claims (3)

A car having a car door, a door drive unit for opening and closing the car door, and one door closed state detection unit for detecting a closed state of the car door and outputting a door closed state detection signal,
A drive detection unit that detects a drive of the door drive unit and outputs a drive detection signal;
A bypass switching unit that switches bypass or non-bypass of the door closed state detection signal input from the door closed state detection unit;
A mode switching unit for switching between the normal mode and the maintenance mode;
The vehicle movement distance of the car door is measured based on the drive detection signal, and an arithmetic unit that outputs the door position of the car door, and a storage unit are provided , and the drive of the door drive unit is controlled. A car door control device for controlling the operation of the car door;
The car door is operated in a closed state with respect to the car door control device, and the closed state of the car door is determined based on the door closed state detection signal input from the door closed state detection unit, and the mode is switched The car door based on the door position input from the computing unit when the normal mode is switched to the maintenance mode by the unit and / or the non-bypass is switched to the bypass by the bypass switching unit And an elevator controller for determining the closed state of the
The arithmetic unit is
A movement distance calculation unit that calculates the door movement distance based on the drive detection signal input from the drive detection unit when the door close state detection signal in the on state is input;
A door speed calculation unit that calculates the door speed of the car door based on the drive detection signal input from the drive detection unit when the door closed state detection signal in the on state is input;
A speed command calculation unit that calculates a speed command of the door speed;
A torque command calculation unit that calculates a torque command for causing the door speed to follow the speed command;
A drive current command calculation unit which calculates a drive current command of the door drive unit based on the torque command and the drive current returned from the door drive unit, and outputs the drive current command to the door drive unit;
A door position calculation unit that calculates the door position based on the door movement distance and the torque command, outputs the door position to the elevator control device, and stores the door position and the door opening in the storage unit; Have
In the case where at least one of the state in which the mode switching unit is switched to the maintenance mode and the state in which the bypass switching unit is switched to the bypass,
The car door control device operates the car door in the fully open state at the door speed lower than the reference speed in the door opening direction, the door speed becomes zero, and the door drive unit is torque saturated The position is stored in the storage unit as a door open end position when the car door is fully opened,
The car door control device operates the car door in the door closing direction at the door speed lower than the reference speed with the car door control device being fully open, the door speed becomes zero, and the door drive unit is torque saturated The position is stored in the storage unit as a door closed end position when the car door is fully closed,
When the door movement distance between the door open end position and the door closed end position matches the door opening stored in the storage unit, the door of the car door that has become fully closed from fully open. The position is determined as the door closed end position, and the door position of the car door which has been fully opened from the fully closed state is determined as the door open end position,
The car door control device controls the operation of the car door between the door open end position and the door closed end position stored in the storage unit based on the door movement distance calculated by the calculation unit. Elevator equipment. In the state where the bypass switching unit is switched to the non-bypass,
The computing unit is configured to set the car door fully open immediately after the elevator control device is powered on and the car door is not fully open or fully closed. When the door movement distance calculated based on the drive detection signal input from the drive detection unit when the door is fully closed is the door opening stored in the storage unit as the door open end position When the car door is fully opened after the car door is fully closed, the door movement distance calculated based on the drive detection signal input from the drive detection unit is stored in the storage unit. The elevator apparatus according to claim 1 , wherein a position which is the stored door opening is the door closed end position. The door position calculating unit, the door position at the time the door closed state detection signal from the door closed state detection section is entered as an absolute position according to claim 1 for correcting the door open end position and the door closed position or The elevator apparatus as described in 2 .

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