JP6784285B2 - Long object catching detector - Google Patents

Description

The present invention relates to a long object catching detection device, and more particularly to a device for detecting a main rope suspended in an elevator hoistway and other devices for detecting a long object being caught in a hoistway facility.

Due to the shaking of buildings due to long-period ground motion and strong winds, long objects such as elevator main ropes and governor ropes may cause large-amplitude horizontal runout (hereinafter, this runout is referred to as "lateral runout"). .). In this case, the level of the lateral vibration is estimated from the magnitude of the vibration of the building detected by the long-period vibration detector installed in the building, and the control operation according to the level is performed to set the car to a predetermined value. Stopping on the floor is done.

If the building shakes greatly, the long object may shake greatly and be caught in the equipment in the hoistway. For this reason, after the shaking of the building has subsided, maintenance personnel are dispatched to the site to confirm that there is no catch on long objects before recovery.

However, it takes a long time to complete all the inspections of the elevators installed in many buildings, which delays the restoration. On the other hand, a technique capable of detecting the hooking of a governor rope, which is one of long objects, without relying on maintenance personnel is disclosed in the fifth embodiment of Patent Document 1 (Patent Document 1). Paragraph [0059], FIG. 6).

In Patent Document 1, as shown in FIG. 6, the shape of the first optical sensor 10a in which the shape of the laser beam 17a emitted from the light emitter 16a is fan-shaped and the shape of the laser beam 17b emitted from the light emitter 16b are It is provided with a linear second optical sensor 10b.

The first optical sensor 10a is installed so that the stationary governor rope 9b penetrates the fan-shaped center (FIG. 6 of Reference 1). The second optical sensor 10b is installed so as to be parallel to the fan-shaped center and to irradiate the laser beam 17b at a predetermined distance from the center (FIG. 6 of Reference 1). In paragraph [0051] of Cited Document 1, "The normal detection range T by the first optical sensor 10a is the range of the angle α of the laser beam 17a (the range T circled), while the second optical sensor. In 10b, the other end side cord 9a touches the laser beam 17b, that is, the abnormal boundary line L is set on the laser beam 17b, and this is detected. ].

In the above configuration, the first optical sensor 10a outputs a detection on signal assuming that the governor rope 9b is within the detection range T (paragraph [0054] of Reference 1), or the first optical sensor 10a. When both the second optical sensor 10b and the second optical sensor 10b output an off signal, normal operation is performed (paragraph [0055] of Cited Document 1).

Further, when the first optical sensor 10a outputs an off signal and the second optical sensor 10b outputs an on signal, the governor rope 9b swings greatly and the equipment in the hoistway (in Cited Document 1, the floor of FIG. 6). Since there is a risk of getting caught in the level adjustment vanes 18, 19), the car is promptly stopped at the nearest floor as a control operation (paragraph [0056] of Cited Document 1).

Then, in paragraph [0059] of Cited Document 1, "The first optical sensor 10a outputs an off signal, the second optical sensor 10b also outputs an off signal, and each of these signals continues for a predetermined time. If the output is output, the governor rope 9 may be entangled with the equipment in the hoistway 1, so control is performed to promptly stop the drive of the car 3. ] Is also described.

That is, in Cited Document 1, it is determined that the governor rope is caught by detecting that the governor rope continues to swing to a level where the control operation is required.

Japanese Unexamined Patent Publication No. 2006-124102 Japanese Unexamined Patent Publication No. 2014-156298

As described above, Cited Document 1 detects the catching of a long object (governor rope) during the operation of the elevator, but the inspection of the presence or absence of the long object being caught is performed by the control operation. It is generally done after a lapse of time sufficient to determine that the shaking of the building has converged and the lateral vibration of the long object has also converged to some extent while the is stopped.

Further, in the detection position (detection area) of the sensor, even if the lateral vibration does not require a control operation (that is, even if the sensor described in Reference 1 determines that there is no catch), a long object May be caught in equipment in the hoistway. For example, when the detection position of the sensor is significantly separated in the vertical direction from the point where the long object is caught, the long object is tilted toward the detection area of the first optical sensor 10a from the point. This is because, at the installation position of the first optical sensor 10a, a detection on signal may be output as being within the detection range T.

Therefore, it can be said that the technique described in Cited Document 1 lacks accuracy in terms of catching detection because there is a risk of overlooking the catching of a long object.

In view of the above problems, it is an object of the present invention to provide a long object hooking detection device capable of detecting the presence or absence of hooking of a long object with higher accuracy than before.

In order to achieve the above object, the long object hook detection device according to the present invention hooks a long object suspended in the hoistway of an elevator installed in a building to the equipment in the hoistway. A long object catching detection device for detecting, which is a direction and distance from the installation position of an object including the long object in the hoistway which is installed in the hoistway and exists in a horizontal plane including the installation position. A detection that detects the position coordinates of the long object in the coordinate plane taken on the horizontal plane from the range sensor that measures and outputs the direction and distance as position information and the position information output from the range sensor. Means, a reference coordinate area storage means for storing a reference coordinate area in which a normal long object exists when there is no shaking of the building in the coordinate plane, and the length associated with the shaking of the building after the building shakes. When the detection means detects the long object outside the reference coordinate region when the runout of the long object is considered to have converged, it is a determination means for determining that the long object is caught. It is characterized by having.

Further, the detection means assumes that only the long object exists in the coordinate plane among the position coordinates of the object in the coordinate plane determined based on the position information of the object output from the range sensor. It is characterized in that the position coordinates in the coordinate plane of the long object are detected by excluding the position coordinates belonging to the outside of the assumed coordinate area.

Further, in the elevator, the cage and the balancing weight are suspended by the main rope group in a hanging manner, and the balancing rope group is hung between the cage and the balancing weight, and the cage and the balancing weight are hung. The weight is an elevator configured to move up and down in the hoistway in the opposite direction, and the long object is a plurality of ropes constituting the main rope group or the balanced rope group, and the determination is made. When the detecting means detects a part of the plurality of ropes outside the reference coordinate area and the remaining rope is detected in the reference coordinate area, the means is detected outside the reference coordinate area. It is characterized in that it is determined that a part of the rope is caught.

Furthermore, when it is determined by the determination means that the part of the rope is caught, the position coordinates of the part of the rope detected by the detection means and the measurement in the vertical direction of the hoistway. It is characterized by having an estimation means for estimating the hooking position of the part of the rope in the vertical direction from the installation position of the area sensor and the stop position of the car.

Further, the elevator performs a control operation when the long object swings laterally due to the building shaking due to an earthquake or the like and the magnitude of the amplitude of the lateral shake in the coordinate plane exceeds a predetermined threshold value. The elevator is characterized in that the reference coordinate region is narrower than the region defining the predetermined threshold value.

According to the long object hooking device according to the present invention described above, the position information of an object in the hoistway existing in the horizontal plane including the installation position of the range sensor, which is output by the range sensor, is taken on the horizontal plane. The position coordinates of a long object suspended in the hoistway on the coordinate plane are detected.

After the building sways, when the sway of the long object due to the sway of the building is considered to have converged, it is outside the reference coordinate region where the normal long object exists in the coordinate plane when there is no sway of the building. When a long object is detected in, it is determined that the long object is caught.

As a result, the lateral vibration of a long object while the building is shaking is detected, and when the lateral vibration becomes a size that requires control operation, it is determined that the long object is caught. Compared to the above, even if the displacement is only the amplitude that stops at a level that does not require control operation, the catch is detected, so the presence or absence of catching a long object is more accurate than before. Can be detected.

It is a figure which shows the schematic structure of the elevator which has the long object catching detection apparatus which concerns on embodiment. It is a figure which shows an example of how to hang (roping) various ropes in the said elevator. It is a conceptual diagram for demonstrating an example of the arrangement of a plurality of main ropes constituting a main rope group. It is a top view which shows the inside of the hoistway cut in the vicinity of the upper part of the range sensor which is a component of the long object catching detection device, and is the figure which shows the state which the car is stopped under the range sensor. is there. (A) is a functional block diagram of the control circuit unit, and (b) is a detailed functional block diagram of the long object detection unit. (A) is a diagram in which the coordinates of the object detected in one scan of the range sensor are plotted, and (b) is the coordinates shown in (a) by the unnecessary coordinate exclusion unit of the control circuit unit. It is a figure which shows the result of removing unnecessary coordinates from. It is a figure which shows the result of monitoring the specific one coordinate among the plurality of coordinates shown in FIG. 6B for a predetermined time (the result of scanning a plurality of times during the predetermined time). (A) is a diagram showing the relationship between the reference coordinate region and the control operation unnecessary region, and (b) is a diagram in which the main rope (long object) is caught even if the displacement is within the control operation unnecessary region. It is a figure which shows the example which it is determined that there is, (c) is the figure for demonstrating the process of estimating the hooking position of a main rope (long object). It is a top view which shows the inside of the hoistway cut in the vicinity of the upper part of the range sensor which is a component of the long object catching detection device, and is the figure which shows the state which the car is stopped above the range sensor. is there.

Hereinafter, embodiments of the long object catching detection device according to the present invention will be described with reference to the drawings. In each figure, the scales among the components are not always unified.

FIG. 1 is a front view of the inside of the hoistway 12 in which the elevator 10 having the range sensors 54 and 56, which is a component of the long object catching detection device according to the embodiment, is housed, as viewed from the landing (not shown) side. (The range sensors 54 and 56 do not appear in FIG. 1), and FIG. 2 is a right side view of the elevator 10.

As shown in FIGS. 1 and 2, the elevator 10 is a rope type elevator that employs a traction system as a drive system. A machine room 16 is provided in a building 14 portion above the uppermost part of the hoistway 12. In the machine room 16, a hoisting machine 18 and a deflecting wheel 20 are installed. A plurality of main ropes are wound around the sheave 22 and the deflecting wheel 20 constituting the hoisting machine 18. The plurality of main ropes will be referred to as "main rope group 24" (note that the main rope group 24 is not shown in an accurate number in FIG. 1).

A basket 26 is connected to one end of the main rope group 24, a counterweight 28 is connected to the other end, and the cage 26 and the counterweight 28 are suspended by the main rope group 24 in a hanging manner. Has been done.

Between the basket 26 and the balance weight 28, a plurality of balance ropes with a balance wheel 30 hung at the lowermost end are hung. The plurality of balanced ropes will be referred to as "balanced rope group 32". In this example, the number of main ropes constituting the main rope group 24 and the number of balancing ropes constituting the balanced rope group 32 are the same (8 in this example). The diameter of the main rope and the balancing rope is generally 10 mm to 20 mm. The number of main ropes constituting the main rope group 24 and the number of ropes constituting the balanced rope group 32 are not limited to the above numbers, and are arbitrarily selected according to the specifications of the elevator.

A traveling cable 34 hangs down from the lower end of the car 26, and the end of the traveling cable 34 opposite to the car 26 is a cable junction box installed on the middle side wall of the hoistway 12 in the vertical direction. It is connected to (not shown). That is, the traveling cable 34 is suspended in an elongated U shape between the lower end of the car 26 and the cable connection box. The traveling cable 34 is a cable that transmits electric power and signals between the car 26 and the control panel 50 described later, and is a cable that moves up and down according to the movement of the car 26. As the traveling cable 34, a flat cable is generally used, and for example, the thickness is 15 mm and the width is about 100 mm.

In the hoistway 12, a pair of car guide rails 36 and 38 and a pair of counterweight guide rails 40 and 42 are laid in the vertical direction (both not shown in FIGS. 1 and 2). See FIG. 4).

In the elevator 10 having the above configuration, when the sheave 22 is rotated forward or reversed by a hoisting motor (not shown), the main rope group 24 wound around the sheave 22 runs, and the main rope group 24 travels. The suspended basket 26 and the balancing weight 28 move up and down in opposite directions. Along with this, the balancing rope group 32 hanging between the car 26 and the balancing weight 28 travels back in the balancing vehicle 30. Further, as the car 26 moves up and down, the lower end portion (folded portion) of the traveling cable 34 suspended in a U shape is also displaced in the vertical direction.

As shown in FIG. 4, the car 26 is equipped with a known landing sensor 44 for detecting whether or not the car 26 has landed accurately on the target floor (not shown except for FIG. 4). .. As the landing sensor 44, for example, a transmissive photoelectric sensor in which a floodlight and a receiver are provided facing each other (both not shown) is used.

In addition, a light-shielding plate 46 is provided corresponding to each floor (not shown except for FIG. 4). The light-shielding plate 46 is made of an L-shaped elongated metal plate, for example, as shown in FIG. The light-shielding plate 46 is positioned so that the tip end is detected by the landing sensor 44 when the lower car 26 accurately lands on the target floor, and the base end portion is fixed to the car guide rail 36. ..

Returning to FIGS. 1 and 2, a long-period vibration detector 48 for detecting long-period shaking of the building 14 caused by an earthquake or a strong wind is installed in the machine room 16.

The machine room 16 also includes a power supply unit (not shown) that supplies electric power to various devices (not shown) installed in the hoisting machine 18 and the car 26, and a control circuit unit 52 (not shown) that controls these devices. A control panel 50 having FIG. 5) is installed.

The control circuit unit 52 has a configuration in which a ROM and a RAM are connected to a CPU (both are not shown). By executing various control programs stored in the ROM, the CPU comprehensively controls the hoisting machine 18 and the like to realize normal operation by smooth lifting and lowering of the car, while an earthquake or the like occurs. If it does occur, control operation will be realized to ensure the safety of passengers.

Here, as shown in FIG. 2, in the main rope group 24, the portion that suspends the car 26 is referred to as the cage side main rope portion 24A, and the portion that suspends the balance weight 28 is referred to as the balance weight side main rope portion 24B. It will be referred to. Further, in the balancing rope group 32, the portion hanging from the cage 26 (the portion of the balancing rope group 32 between the cage 26 and the balancing vehicle 30) is referred to as the cage side balancing rope portion 32A, and the balancing weight 28 The portion hanging from the balance (the portion 32 of the balance rope group between the balance weight 28 and the balance wheel 30) is referred to as the balance weight side balance rope portion 32B. According to the above definition, the length (range) of the car side main rope portion 24A and the balancing weight side main rope portion 24B occupying the main rope group 24, and the car side balancing rope portion occupying the balancing rope group 32. The length (range) of the balancing rope portion 32B on the balancing weight side with 32A expands and contracts (varies) depending on the elevating position of the cage 26 and the balancing weight 28.

The arrangement of the plurality of main ropes M1 to M8 constituting the main rope group 24 (8 in this example) will be described with reference to FIG. FIG. 3 is a conceptual diagram showing a main rope group 24 portion between the sheave 22 and the car 26, that is, a car side main rope portion 24A.

The upper view of FIG. 3 (a) is a front view of a part of the sheave 22 and the main rope portion 24A on the car side, and the lower view of FIG. 3 (a) is a view of the car 26 from above. is there. The lower figure of FIG. 3A is a diagram showing the correspondence between the connecting positions of the main ropes M1 to M8 constituting the main rope group 24 with respect to the car 26 in a plan view and the main ropes M1 to M8. FIG. 3B is a view of the sheave 22, the car-side main rope portion 24A, and a part of the car 26 as viewed from the right side.

As shown in the upper figure of FIG. 3A, the eight main ropes M1 to M8 are wound around the sheave 22 in this order in the horizontal direction (the axial direction of the sheave 22) at equal intervals. There is. As shown in the lower figure of FIG. 3A, the lower ends of the main ropes M1 to M8 are 2 in the odd-numbered main ropes M1, M3, M5, M7 and the even-numbered main ropes M2, M4, M6, M8. It is sorted into rows and connected to the basket 26.

In this way, the two rows are distributed to the sheave 22 due to the influence of the size (outer diameter) of the fasteners (shackle rods) that connect the ends of the main ropes M1 to M8 to the car 26 when they are connected in one row. This is because the distance between the main ropes M1 to M8 is larger than that of the main ropes M1 to M8, which hinders effective use of the limited space above the car 26.

The distance between the main ropes M1, M3, M5, and M7 at the connection position to the car 26 and the distance between the main ropes M2, M4, M6, and M8 are equal, and the distance between the main ropes M1 to M8 in the horizontal direction is also equal. Is. Therefore, the main ropes M1, M3, M5, M7, the main ropes M2, M4, M6, M8, and the main ropes M1 to M8 of the main rope group 24 parts (car side main rope part 24A) from the rope wheel 22 to the car 26. The horizontal spacing of is equal at both the top and bottom positions.

The arrangement of the main ropes M1 to M8 in the balanced weight side main rope portion 24B is basically the same as that of the car side main rope portion 24A described above (FIG. 9). Further, with respect to the plurality of (8 in this example) balancing ropes C1 to C8 constituting the balancing rope group 32, the only difference is whether the folding position is the sheave 22 or the balancing rope 30. The arrangement of the plurality of ropes in the cage side balancing rope portion 32A and the balancing weight side balancing rope portion 32B (that is, only in the opposite directions) is as shown in FIGS. 9 and 4, respectively. Basically, it is the same as the car side main rope portion 24A and the balancing weight side main rope portion 24B, respectively.

When the building 14 in which the elevator 10 having the above configuration is installed is shaken by a long-period earthquake or strong wind, the main rope group 24 suspended in the hoistway 12, the balanced rope group 32, the traveling cable 34, and the like are long. Things sway. In addition to these, there is a governor rope (not shown) as a long object suspended in the hoistway 12. Needless to say, the governor rope is a rope stretched endlessly between the sheave of the speed governor installed in the machine room 16 and the tension wheel provided at the bottom of the hoistway 12. (Neither is shown).

In order to realize the control operation according to the degree of lateral vibration of the long object, for example, the main rope group 24 and the balanced rope group 32, the degree of the amplitude of the lateral vibration is detected.

As shown in FIG. 2, the range sensors 54 and 56 for detecting the amplitude of the lateral vibration are installed on the side wall of the hoistway 12. The range sensor 54 is installed at the center position of the hoistway 12 in the vertical direction, and the range sensor 56 is located at a height of 1/4 from the bottom of the hoistway 12 with respect to the total length of the hoistway 12. is set up. The range sensor 54 and the range sensor 56 are the same sensor except that they are installed at different positions in the vertical direction, and are used in the same way. Therefore, the range sensor 54 will be described as a representative below, and the details of the range sensor 56 will be omitted.

Here, as shown in FIG. 4, the hoistway 12 is a space surrounded by four side walls 58 in this example, and when it is necessary to distinguish the four side walls 58, the reference numeral “58” is used. The alphabets A, B, C and D will be added. The range sensor 54 is installed on the side wall 58A on the landing (not shown) side. Further, as shown in FIGS. 2 and 4, the range sensor 54 is installed outside the elevating path of the car 26 and the balance weight 28.

The range sensor 54 measures the direction and distance of an object (usually a plurality) in the hoistway 12 existing in the horizontal plane including the installation position from the installation position, and outputs the direction and distance as two-dimensional position information. .. The two-dimensional position information is in polar coordinate format.

The range finder 54, for example, emits laser light at predetermined angular intervals (for example, 0.125 degrees), scans the horizontal plane in a fan shape, and measures the time required for each emitted laser light to reciprocate to an object. , A known two-dimensional range finder (Laser Range Scanner) that measures the distance from the installation position of the range finder 54 to an object by the optical flight time distance measurement method (Time of Flight) that converts it into a distance. The time per scan (scanning time) is, for example, 25 msec. As shown in FIG. 4, the scanning angle α of the range sensor 54 has a size close to 180 degrees, and the scanning range covers almost the entire hoistway 12 in the horizontal plane including the installation position of the range sensor 54.

A method for detecting the amplitude of the car-side main rope portion 24A and the car-side balancing rope portion 32A that are swinging due to a long-period earthquake or strong wind in the horizontal plane will be described with reference to FIGS. 4 to 7 as appropriate. To do.

The two-dimensional position information from the range sensor 54 is input to the long object detection unit 60 shown in FIG. 5A of the control circuit unit 52. The control circuit unit 52 includes an operation control unit 62 in addition to the long object detection unit 60. As described above, the operation control unit 62 controls various devices to realize the normal operation and the control operation.

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

The Cartesian coordinates are, for example, xy Cartesian coordinates as shown in FIG. 6A with the installation position of the range sensor 54 (not shown in FIG. 6A) as the origin.

In FIG. 6A, the main rope portion 24A on the car side and the balancing rope portion 32B on the balancing weight side are detected in one scan when they are within the scanning range of the range sensor 54 (the state shown in FIG. 4). The coordinates of the object (hereinafter referred to as "position coordinates") are plotted.

In FIG. 6 (a), the symbols of the objects corresponding to the plotted coordinates are shown in parentheses (the same applies to FIGS. 6 (b), 8 (b), and 8 (c)).

As understood from the detection principle of the range sensor 54 described above, when the first object is detected, the second object (or the second object) hidden behind the first object as viewed from the range sensor 54. That part) is not detected. For example, a part of the side wall 58B is not detected because the part is hidden behind the guide rail 36 when viewed from the range sensor 54, and the balancing ropes C1 to C8 are not detected. This is because the balancing ropes C1 to C8 are hidden behind the main ropes M1 to M8.

In this example, among the position coordinates shown in FIG. 6A, the required position coordinates are the position coordinates of the main ropes M1 to M8 related to the car side main rope portion 24A, and the position coordinates of other objects are It is an obstacle to identify the main ropes M1 to M8. When the car 26 is located above the range sensor 54, the balance ropes C1 to C8 related to the car side balance rope portion 32A are required to be detected by the range sensor 54. ..

Therefore, in consideration of the assumed range of lateral vibration that may occur in the car-side main rope portion 24A and the car-side balancing rope portion 32A, the car-side main rope portion 24A and the car are placed on the scanning surface (horizontal plane) of the range sensor 54. The assumed coordinate area R1 (the area surrounded by the alternate long and short dash line in FIG. 6) on which only the side balancing rope portion 32A is assumed to exist is set in advance. In this example, as shown in FIG. 6A, the assumed coordinate region R1 is the coordinates (X1, Y1), (X2, Y2), (X3, Y3), (X4, Y4) of the four points P1 to P4. Is defined by. The set of coordinates of P1 to P4 is stored in the assumed coordinate area storage unit 6006 (FIG. 5B) of the long object detection unit 60 "as R1 demarcation information".

As described above, the two-dimensional position information output from the range sensor 54 is input to the coordinate conversion unit 6002, and the coordinate conversion unit 6002 converts the polar coordinates to the orthogonal coordinates. The converted coordinates (positional coordinates) are output from the coordinate conversion unit 6002 and input to the unnecessary coordinate exclusion unit 6004.

The unnecessary coordinate exclusion unit 6004 refers to the R1 demarcation information stored in the assumed coordinate area storage unit 6006, and among the position coordinates of the object from the coordinate conversion unit 6002, only the position coordinates belonging to the assumed coordinate area R1 are selected. The output is output, and the output position coordinates are input to the amplitude indexing unit 6008. In other words, the unnecessary coordinate exclusion unit 6004 excludes the position coordinates belonging to the outside of the assumed coordinate area R1 from the position coordinates of the object from the coordinate conversion unit 6002 and outputs the output, and the output position coordinates are the amplitude indexing unit. It is input to 6008.

FIG. 6B is a diagram in which the position coordinates input to the amplitude indexing unit 6008 are plotted on the Cartesian coordinates. As shown in FIG. 6B, the position coordinates input to the amplitude indexing unit 6008 are only for the object existing in the assumed coordinate region R1, that is, for the main ropes M1 to M8.

Here, when the car-side main rope portion 24A swings laterally due to the shaking of the building 14 due to a long-period earthquake or strong wind, each of the main ropes M1 to M8 constituting the car-side main rope portion 24A becomes independent. However, when there are no obstacles, the rope basically behaves in the same way. That is, it swings sideways while maintaining the arrangement shown in FIG.

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

Specifically, for example, the amplitude is calculated from the displacement of the main rope (M1) shown in FIG. 6 (b). Further, the displacement of the main rope M1 is specified by the leftmost position coordinates (Xm1, Ym1) with respect to the paper surface of FIG. 6B among the position coordinates corresponding to the main rope M1. The position coordinates are specified as the position coordinates having the smallest X coordinate value among the position coordinates corresponding to the main ropes M1 to M8. Hereinafter, the position coordinates (Xm1, Ym1) used for determining the amplitude of the entire car-side main rope portion 24A will be referred to as "specific coordinates".

The amplitude indexing unit 6008 monitors specific coordinates (Xm1, Ym1) for a predetermined time (over a plurality of scans) from the position coordinates input from the unnecessary coordinate exclusion unit 6004 for each scan of the range sensor 54. The predetermined time is, for example, the maximum expected period of lateral vibration (for example, 10 seconds). This predetermined time is hereinafter referred to as "observation time".

The result of one monitoring is shown in FIG. As shown in FIG. 7, a plurality of specific coordinates (Xm1, Ym1) in one monitoring form a linear row (hereinafter, this row is referred to as a "coordinate sequence"). The amplitude indexing unit 6008 extracts the coordinates (Xe1, Ye1) and (Xe2, Ye2) located at both ends of the coordinate sequence, and calculates the distance SX between the two points. The SX is considered to be the maximum amplitude SX generated during the observation time of one monitoring.

The amplitude indexing unit 6008 outputs the SX to the swing level determination unit 6010. The runout level determination unit 6010 determines the level of the magnitude of the lateral runout based on the SX input from the amplitude indexing unit 6008.

The runout level determination unit 6010 compares the amplitude SX with the predetermined amplitude reference values S1, S2, S3, S4 (S1 <S2 <S3 <S4) as follows, and the amplitude SX is the runout level L0 (control). It is determined which of L1 (extra-low level), L2 (low level), L3 (high level), and L4 (extremely high level) is applicable.

SX <S1 → L0
S1 ≤ SX <S2 → L1
S2 ≤ SX <S3 → L2
S3 ≤ SX <S4 → L3
S4 ≤ SX → L4

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

The operation control unit 62 performs control operation according to the runout level input from the runout level determination unit 6010. The contents of control operation that differ for each level will be omitted.

As described above, in the embodiment, the rope runout is detected by the range sensor 54, the coordinate conversion unit 6002 of the long object detection unit 60, the unnecessary coordinate exclusion unit 6004, the assumed coordinate area storage unit 6006, and the amplitude indexing unit 6008. The device is configured (Fig. 5). According to the rope runout detection device, as described above, the range sensor 54 outputs the direction and distance of the object existing on the horizontal plane including the installation position from the installation position as two-dimensional position information, and outputs the two-dimensional position. From the information, the position coordinates in the horizontal plane of any of the rope portion of the main rope portion 24A on the car side for suspending the car 26 and the balanced rope portion 32A on the car side hanging from the car 26 are detected, and the detected rope. From the position coordinates of the portion, the amplitude of the lateral vibration in the horizontal plane when the rope portion swings laterally is calculated.

When it is determined that the shaking of the building 14 due to long-period ground motion and strong wind has subsided and the lateral vibration of the long object has converged, it is inspected whether the long object is caught in the equipment in the hoistway 12. The determination of the convergence of the lateral vibration of a long object may refer to the magnitude of the amplitude detected by the amplitude indexing unit 6008, or the vibration of the building 14 detected by the long-period vibration detector 48. It may be considered that the lateral vibration of a long object converges to the normal range from the time when the size becomes within the normal range before the occurrence of an earthquake or the like. Absent.

Among the equipment in the hoistway 12, the light-shielding plate 46 (FIG. 4) is most likely to be caught by the main rope or the balancing rope. In addition, as equipment in the hoistway 12 where long objects may be caught, an engagement mechanism on the landing side (not) that constitutes an engagement device for opening and closing the door of the car and the door of the landing in conjunction with each other. (Illustrated) and so on. The engagement mechanism is provided for each landing on each floor.

Hereinafter, a method of detecting the catch of the main rope or the balancing rope will be described. A reference coordinate region R2 in which only the normal car-side main rope portion 24A and the car-side balancing rope portion 32A exist when the building 14 does not shake is set in advance. In this example, as shown in FIG. 6A, the reference coordinate region R2 has the coordinates (X5, Y5), (X6, Y6), (X7, Y7), (X8, Y8) of the four points P5 to P8. Defined by.

The reference coordinate region R2 is a plurality of ropes constituting the main rope group 24 or the balanced rope group 32 when it is determined that the shaking of the building 14 due to long-period ground motion or strong wind has subsided and the lateral vibration of a long object has converged. It is a region where it is judged that there is no abnormality when all of the ropes of the above are detected in the reference coordinate region R2. In other words, when the reference coordinate region R2 is detected outside the reference coordinate region R2 even if a part of the plurality of ropes is detected, the detected part of the rope is caught in the equipment in the hoistway 12. It is an area that is judged to be.

The reference coordinate region R2 has, for example, a rectangle as shown in FIG. 6A, and the position coordinates of the entire main rope group 24 and the entire balanced rope group 32 in a state where the center (intersection of diagonal lines) is normal. It is a rectangular area that coincides with the center of the rope (hereinafter referred to as the "center of the rope group"). The center of the rope group is the arithmetic average of the X and Y coordinates of the center of each rope in a plan view at the connection position with the cage 26 of a plurality of ropes constituting the main rope group 24 or the balanced rope group 32. It is the coordinates obtained by. Let the center of the rope group be (Xc, Yc) (FIG. 8 (a)).

As shown in FIG. 8A, for example, the reference coordinate region R2 is set to a region narrower than the lateral swing range of the main rope group 24 and the balanced rope group 32 that laterally swing at the runout level L1. The shaded area in FIG. 8A is the area where the amplitude SX is determined to be the runout level L1, and if the amplitude is within the range of L0, it is the area where the control operation is not required.

The reference coordinate region R2 is set to a region narrower than this L0. That is, even if the rope is displaced only by the amplitude that stops at a level that does not require control operation, the main rope or the balancing rope may be caught in the equipment in the hoistway 12, so this is to detect it. is there.

The set of coordinates of P5 to P8 that defines the reference coordinate area R2 is stored in the reference coordinate area storage unit 6012 (FIG. 5B) of the long object detection unit 60 as “R2 definition information”. ..

As shown in FIG. 5B, the long object detecting unit 60 has a catching determination unit 6014. The catching determination unit 6014 determines whether or not the main rope or the balancing rope is caught by referring to the R2 demarcation information.

When it is determined that the shaking of the building 14 due to long-period ground motion or strong wind has subsided and the lateral vibration of a long object has converged, the catching determination unit 6014 refers to the R2 demarcation information and outputs it from the unnecessary coordinate exclusion unit 6004. It is determined whether or not there is a coordinate outside the reference coordinate area R2. When it is determined that there is something outside the reference coordinate region R2, it is determined that the main rope or the balancing rope is caught. It is highly unlikely that all of the plurality of ropes constituting the main rope group 24 or the balanced rope group 32 will be caught at the same time, and usually one or two ropes are caught even if they are caught.

Therefore, a part (1 to 2) of the plurality of ropes is detected outside the reference coordinate area R2, and the remaining ropes (most of the plurality of ropes) are detected inside the reference coordinate area R2. ..

The long object detection unit 60 has a hooking position estimation unit 6016. The hooking position estimation unit 6016 estimates the hooking position of the rope detected outside the reference coordinate region R2, that is, the hooked rope in the vertical direction of the hoistway 12.

Further, the long object detection unit 60 has an equipment position information storage unit 6018. The equipment position information storage unit 6018 stores position information for specifying the position in the hoistway 12 of the equipment where a long object may be caught.

The position information is specified by the xyz orthogonal coordinates obtained by adding the z axis to the xy orthogonal coordinates shown in FIG. 6A. The z-axis is an axis extending in the vertical direction, with the bottom of the hoistway 12 being z = 0, and passing through the origin of the xy orthogonal coordinates in FIG. 6A.

The equipment position information storage unit 6018 stores the position information (xyz orthogonal coordinates) for each of the light-shielding plate 46 (FIG. 4) and the engagement mechanism (not shown) on the landing side.

The hooking position estimation process by the hooking position estimation unit 1016 will be described with reference to FIG. 8C and the like. It is assumed that the position coordinates output from the unnecessary coordinate exclusion unit 6004 to the hook determination unit 6014 are the results as shown in FIG. 8 (c).

Since a long object (main rope M1 in this example) is detected outside the reference coordinate region R2, the catching determination unit 6014 determines that the long object is caught. When a long object is not detected outside the reference coordinate region R2, the catching determination unit 6014 notifies the operation control unit 62 that no catching has occurred.

When it is determined that a hook has occurred, the hook determination unit 6014 estimates the hook position by using that fact and the position coordinates detected outside the reference coordinate area R2 (hereinafter, referred to as "non-reference coordinates"). Notify department 6016.

The hooking position estimation unit 6016 acquires the stop position information of the car 26 at that time from the operation control unit 62, and from the stop position of the car 26 and the non-reference coordinates, of a long object (main rope in this example). The hooking position of the hoistway 12 in the vertical direction is estimated.

Specifically, the coordinates (Xc, Yc, Zc) of the rope group center (Xc, Yc) in the xyz coordinate system are obtained from the stop position information of the car 16. In addition, a long object (in this example, the main rope M1) determined to be caught from the arithmetic average of the X and Y coordinates of the Cartesian coordinates and the installation position of the range sensor 54 on the z axis. The coordinates (Xh, Yh, Zh) of the position of the range sensor 54 on the scanning plane in the xyz coordinate system are obtained.

The hooked main rope (here, the main rope M1) usually forms a substantially straight line from the connection position with the car 26 to the equipment in the hoistway 12 caught. The hooking position estimation unit 6016 moves the line segment connecting the coordinates (Xc, Yc, Zc) and the coordinates (Xh, Yh, Zh) to the coordinates (Xh, Yh, Zh) side up to the vicinity of the side wall 58 of the hoistway 12. Extend. The hooking position estimation unit 6016 estimates that the main rope is hooked on the equipment in the hoistway 12 closest to the extended straight line in the vicinity of the side wall 58.

The estimation result (that is, the equipment in the hoistway 12 presumed to be caught) is notified to the operation control unit 62.

Upon receiving the notification, the operation control unit 62 indicates that a long object (main rope in this example) is caught on the central monitoring panel 64 (FIG. 5) installed in the central control room (not shown) and is caught. Notify the equipment in the hoistway 12 that is presumed to be. Upon receiving the notification, the central monitoring board 64 displays the notification content on the monitor in the same room.

As described above, in the embodiment, the range sensor 54, the coordinate conversion unit 6002 of the long object detection unit 60, the unnecessary coordinate exclusion unit 6004, the hook determination unit 6014, the reference coordinate area storage unit 6012, and the hook position estimation A long object catching detection device is configured by the unit 6016 and the equipment position information storage unit 6018 (FIG. 5).

According to the long object hooking device detection device, as described above, the range sensor 54 outputs the direction and distance of the object existing in the horizontal plane including the installation position from the installation position as two-dimensional position information. From the two-dimensional position information, the position coordinates of any of the rope portion of the main rope portion 24A on the car side for suspending the car 26 and the balancing rope portion 32A on the car side suspended from the car 26 in the horizontal plane are detected. Of the position coordinates detected when the runout of long objects (main rope and balancing rope) due to the shake of the building 14 is considered to have converged after the shake of the building 14, those outside the reference coordinate region R2. If there is, it is judged that there is a rope caught.
As a result, even if the displacement is only the amplitude that stops at a level that does not require control operation, the catch is detected, so it is possible to detect the presence or absence of catching a long object more accurately than before. Can be done.

In the above, only one of the plurality of ropes is caught, but even if there are a plurality of ropes that are caught, the hooking position of each rope (hoistway 12). (Internal equipment) can be estimated as follows.

The hooked rope is detected as a plurality of coordinates outside the reference coordinate region R2. By grouping the plurality of coordinates into groups of coordinates based on their continuity and treating each group as one rope, it is possible to estimate the hooking position of each rope by the above-mentioned method. it can.

In the above, the main rope portion 24A on the car side or the balanced rope portion 32A on the car side is targeted for catch detection, but the main rope portion 24B on the balanced weight side and the balanced rope portion 32B on the balanced weight side are caught and detected. It may be the target.

In this case, the range sensors 54 and 56 may be installed on the side wall 58C (FIG. 4) in order to facilitate the detection of the balanced weight side main rope portion 24B and the balanced weight side balanced rope portion 32B.

Alternatively, in order to facilitate detection of the car side main rope portion 24A and the car side balancing rope portion 32A, and the balancing weight side main rope portion 24B and the balancing weight side balancing rope portion 32B, the range sensors 54 and 56 May be installed on the side wall 58B or the side wall 58D (FIG. 4).

Further, when the car 26 is stopped above the range sensor 54, the traveling cable 34 appears on the scanning surface of the range sensor 54 as shown in FIG. 9, so that the traveling cable 34 is also a target of catching detection. It doesn't matter.

That is, the assumed coordinate area and the reference coordinate area are determined for each long object to be caught and detected, and the above-mentioned processing of the hook detection is performed on the car side main rope portion 24A and the car side balancing rope portion 32A. It should be the same as.

Further, in the present embodiment, since the sensor 56 is installed in addition to the sensor 54, when the car 26 stops between the sensor 54 and the sensor 56 in the vertical direction, for example, in the sensor 54, the car side main rope portion 24A The sensor 56 can detect the hooking of the car side balancing rope portion 32A, respectively.

The long object catching detection device according to the present invention is, for example, in an elevator having a long lifting process installed in a high-rise building, to a main rope or other equipment in the hoistway of a long object caused by long-period ground motion or the like. It can be suitably used as a device for detecting the presence or absence of catching.

54,56 Range sensor 60 Long object detection unit 6002 Coordinate conversion unit 6006 Estimated coordinate area storage unit 6012 Reference coordinate area storage unit 6014 Catch judgment unit

Claims (5)

It is a long object catching detection device that detects the catching of a long object suspended in the hoistway of an elevator installed in a building on the equipment in the hoistway.
Measures the direction and distance of an object including the long object from the installation position in the hoistway that is installed in the hoistway and exists in the horizontal plane including the installation position, and outputs the direction and distance as position information. With the range sensor
A detection means for detecting the position coordinates of the long object in the coordinate plane taken on the horizontal plane from the position information output from the range sensor.
In the coordinate plane, a reference coordinate area storage means for storing a reference coordinate area in which a normal long object exists when there is no shaking of the building, and
When the detection means detects the long object outside the reference coordinate region when the vibration of the long object due to the shaking of the building is considered to have converged after the building sways, the long object is said to be detected. A means of determining that a long object is caught,
A long object catching detection device characterized by having. It is assumed that the detection means has only the long object in the coordinate plane among the position coordinates of the object in the coordinate plane determined based on the position information of the object output from the range sensor. The long object catching detection device according to claim 1, wherein the position coordinates in the coordinate plane of the long object are detected by excluding the position coordinates belonging to the outside of the assumed coordinate area. In the elevator, the basket and the balancing weight are suspended by the main rope group, and the balancing rope group is hung between the basket and the balancing weight, and the basket and the balancing weight are hung. Is an elevator configured to move up and down in the hoistway in the opposite direction.
The long object is a plurality of ropes constituting the main rope group or the balanced rope group.
When a part of the plurality of ropes is detected outside the reference coordinate area by the detection means and the remaining rope is detected in the reference coordinate area, the determination means is outside the reference coordinate area. The long object catching detection device according to claim 1 or 2, wherein it is determined that the detected part of the rope is caught. When it is determined by the determination means that the part of the rope is caught,
From the position coordinates of the part of the rope detected by the detection means, the installation position of the range sensor in the vertical direction of the hoistway, and the stop position of the car, the part of the rope is hooked in the vertical direction. The long object catching detection device according to claim 3, further comprising an estimation means for estimating a rope position. The elevator is an elevator that performs control operation when the long object swings laterally due to the building shaking due to an earthquake or the like and the magnitude of the amplitude of the lateral shake in the coordinate plane exceeds a predetermined threshold value. There,
The long object catching detection device according to any one of claims 1 to 4, wherein the reference coordinate region is narrower than a region defining the predetermined threshold value.