JPH0742059B2 - Floor position detector for elevator - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a floor position detecting device for an elevator, which counts pulses generated according to traveling of an elevator and detects position data of each floor. Is.

[Prior Art] In recent years, a digital position control method has been proposed in which the car position is detected and the elevator is controlled by counting the pulses generated in synchronization with the running of the car.

In this digital position control system, it is necessary to have position data of a predetermined position in the control device for comparison with the detected digital car position data. As these predetermined positions, there are deceleration command points for each floor, switching points for position display, etc., which are obtained based on the floor position data for each floor.

As a method of knowing the digital position data of each floor, it is possible to read it from the drawing of the building or to actually measure it with a scale etc., but it is difficult for the former to obtain the accurate data required for elevator control. The latter is accurate but difficult to implement and can be dangerous in some cases. In addition, the position of the floor of the building changes slightly with the passage of time, and the difference between winter and summer also changes. For elevators that adjust landing accuracy in millimeters, these small changes will also affect control accuracy.

On the other hand, for example, as in JP-A-56-12283, a writable / readable memory (hereinafter referred to as RAM) for storing each floor position data and a floor for detecting that the elevator has matched each floor level A detector is installed, the elevator is stopped at the bottom floor, and the output value of the pulse counter that detects the car position by counting the pulses generated according to the running of the car is used as the bottom floor position data. Write to the floor RAM, then perform the UP operation, and before the floor detector outputs, write the output value of the pulse counter sequentially to the RAM as position data of each floor, detect all floor data, and store in the RAM. There is one that is used for the normal traveling control of the elevator after performing the operation of holding the memory.

[Problems to be Solved by the Invention] A conventional floor position detecting device for an elevator is to perform a re-measurement operation of each floor position in response to a temporal change in a building or a temporal change in a pulse generator for detecting a car position. However, in general, this measurement operation is performed when the above-mentioned changes over time interfere with normal running, and the elevator is forced to the terminal floor. After returning, it is necessary to continuously drive to the opposite end floor. Further, if it is attempted to carry out at a level where the above-mentioned change with time does not hinder normal traveling, this driving frequency becomes high, and this driving gives a strange feeling to passengers, deteriorates normal elevator service, etc. There's a problem.

In consideration of this problem, there are techniques disclosed in JP-A-56-122777 and JP-A-60-228370. This technique includes counting means, storage means, and floor detection means, and corrects each floor position data. However, it is difficult for this type of technology to accurately correct each floor position data when there is a floor where the number of times of driving is extremely small compared to a floor where the floor is not actually driven or other floors.

Therefore, the present invention was made in order to solve the above problems, and compared with a floor or another floor where the building or the car position detection mechanism changes with time and does not actually drive. Even if there is a floor with extremely few driving times, it is possible to correct each floor position data without performing the floor measurement operation again, and to obtain an elevator floor position detection device that does not deteriorate normal elevator service. With the goal.

[Means for Solving Problems] In the elevator floor position detecting apparatus according to the present invention, the counting means for counting the pulses generated according to the traveling of the car and the car has reached the position corresponding to each floor. A floor detecting means for outputting a time output, and a storage means comprising a writable and readable non-volatile memory for storing and holding the output value of the counting means when the output of the floor detecting means is issued as each floor position data. A means for calculating a change rate obtained from a difference between a change amount of the counting means traveling between two predetermined floors and floor position data of the storage means corresponding to the two floors, , The correction means for calculating new floor position data by multiplying each floor position data by the change rate, and the change rate obtained by the change rate calculating means are predetermined. And means for validating each new floor position data of the correction means when it is outside the predetermined range.

[Operation] In the present invention, the output value of the counting means when the output of the floor detecting means for emitting the output when the car reaches the position corresponding to each floor is written and read as the floor position data. Possible non-volatile memory is stored and held, and pulses generated according to the traveling of a car traveling between two predetermined floors are counted, and the amount of change and the non-volatility corresponding to the two floors are counted. Calculate the change rate obtained from the difference between the floor position data of the memory, calculate each new floor position data by multiplying each floor position data and the change rate, the change rate obtained by calculating the change rate When it is outside the predetermined range defined in advance, the obtained new floor position data is used for control.

[Embodiment] An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram of an elevator system of an elevator floor position detecting apparatus according to an embodiment of the present invention.

In the present embodiment, the power of an electric motor (not shown) is transmitted to the rope 2, the car 3 and the counterweight 4 via the main sheave 1. 5 is a deflecting sheave. Tape 6 on basket 3
Is attached, the tape 6 also travels as the car 3 travels, and the disk 7 on which the tape 6 is wound rotates. Holes are formed at regular intervals on the circumference of the disk 7, and the optical switch 8
Detects the hole and generates a pulse. Further, 9 is a tension vehicle.

The optical switch 8 gives a pulse to the counter 10 according to the traveling direction of the car 3, and the counter 10 counts the number of the pulses and outputs a car position signal. Reference numeral 11 denotes a microcomputer circuit, which includes an arithmetic processing unit (hereinafter referred to as CPU) 11a and a non-volatile writable / readable memory (hereinafter referred to as RAM (1)) 11b that can retain stored contents even when power is not supplied. RAM (hereinafter referred to as RAM (2)) 11c, read-only memory (hereinafter referred to as ROM) 11d, and input circuit 11
e, an output circuit 11f, a memory control circuit 11g for setting and controlling the RAM (1) 11b in a write mode, and a signal bus circuit 11h for connecting them. 12 is a detector to be attached to the car 3, and the car 3 has floors 13-1, 13-2, 13-3, 13-
When the floor position is 4, the floor detectors 14-1, 14-2, 14-3, and 14-4 attached to the respective floors face each other so that the respective floor detectors have a microcomputer circuit.
The signal is output to the input circuit 11e of 11.

Reference numeral 18 is a measurement operation command generator that outputs a floor position measurement operation command signal 18a to the input circuit 11e. FIG. 2 is a flow chart showing a schematic operation of the microcomputer circuit 11.
It is stored in M11d. The procedure in them is shown in Fig. 3 and Fig. 4.
The detailed flowchart of 300,400 is shown.

The operation of the embodiment of the present invention will be described below.

2 is a schematic flowchart of a program stored in the ROM 11d of FIG. 1 and showing the floor position data detecting and correcting operation of this embodiment, FIG. 3 is a detailed flowchart of the procedure 300 of FIG. 2, and FIG. Is a detailed flowchart of the procedure 400 in FIG. 2, and FIG. 5 is RAM (1), RAM in FIG.
(2) and a part of the data structure stored in the ROM.

That is, upon power-on, in step 100, the flags and data in the RAM (2) 11c are cleared to 0, and initial values and the like necessary for program execution are set. In the next step 200, the output state of the measurement operation command generator 18 is checked, and if a command is issued, go to step 300, otherwise go to step 400 and then step 500.
Go to. Step 300 is a program for detecting each floor position by forced low-speed operation, writing floor position data to RAM (1) 11b, and then writing those data to RAM (2) 11c. ) 11c is a program for correcting floor position data, step 500 is a normal elevator traveling control program.

FIG. 5 shows a data structure stored in the RAM (1), RAM (2) and ROM in FIG. 1, that is, a structure of data stored in each memory of the microcomputer circuit 11. In the figure, FIG. 5a shows the structure of the write data of the RAM (1) 11b, FIG. 5b shows the data structure of the RAM (2) 11c, and FIG.
The data structure of ROM11d is shown.

First, a case where a car is installed in a building and starts operation will be described.

In order to properly service the car, it is necessary to know the car position and the position of each floor to be serviced.

Therefore, when the switch of the measurement operation command generator 18 is turned on and the power is turned on, the initialization of step 100 is executed, then the floor position measurement operation command signal 18a is detected in step 200, and the process proceeds to step 300. RAM (2) 11c in step 301 (Fig. 3)
It is determined whether or not the write flag FLAG1 of 1 is set. In this case, since it is cleared to 0 in step 100, the process proceeds to the next step 302. In step 302, it is determined whether the car is on the lowest floor, that is, if the floor detector 13-1 on the first floor does not output, the output circuit 11f issues a DOWN operation command 20 to the first floor. When the vehicle travels and reaches the floor on the first floor, when the floor detector 13-1 on the first floor outputs, the bottom floor position fixed data of the ROM 11d is preset in the counter 10 via the output circuit 11f. At the same time, a stop command is issued, and as a result, the car stops at a position slightly below the first floor.

Next, in step 303, the writing mode of the RAM (1) 11b is set, the RAM (1) 11b is set in a writable state by the memory control circuit 11g, and the UP operation command 22 is output to measure the floor position. The car is output from 11f and starts to run UP.

In the next step 304, since the floor detectors 14-1 to 14-4 sequentially output each time the floor is passed to the top floor, the address of the RAM (1) 11b of the floor corresponding to each detection signal. , The output data of the counter 10 is written, and when the floor detector 14-4 on the uppermost floor outputs an output, the stop command is heated and the car is stopped.

That is, the output value of the counter 10 is the RAM (1) 11b in order from the first floor.
Addresses A1 to A4 are written as position data for each floor.

In the next step 305, each floor position data of the addresses A1 to A4 of the RAM (1) 11b is transferred to the addresses B1 to B4 of the RAM (2) 11c, and thereafter the floor of the RAM (2) 11c is used for the elevator operation control. The location data will be used.

In the next step 306, the write flag FLAG1 stored in the RAM (2) 11c is set, and the process returns to the first step 200. Therefore, since the write flag FLAG1 is set in the procedure 301 of the next cycle, the measurement operation is prevented from being repeated without proceeding to the procedure 302 and thereafter. Next, the measurement operation command generator
When the switch of 18 is turned off, the process proceeds from step 200 to step 400 and step 500, and normal elevator operation control is performed. In step 400, as shown in FIG. 4, it is determined whether or not the floor is the lowest floor in the first step 401, and when the floor detector 14-1 of the lowest floor issues an output when the car is at the lowest floor. In step 402, ROM
The flag data FLAG2 of the RAM (2) 11c is set at the same time as being set in the lowermost position fixed data counter 10 of 11d, and the process proceeds to the next step 500.

On the other hand, when there is no car 3 on the bottom floor, it is determined in step 403 whether or not the car has stopped at the top floor.
In step 404, the flag FLAG2 is reset and the process proceeds to the next step 500. When stopped on the top floor, it is determined in step 405 whether the flag FLAG2 is set.
Then, the flag FLAG2 is reset, and the process proceeds to the next step 407. If the flag FLAG2 is not set, the process proceeds to step 500.

That is, only when the direct operation from the lowermost floor to the uppermost floor is performed, the procedure 407 and thereafter are executed, and when the vehicle stops at the middle floor, the flag FLAG is reset, so that the procedure 407 and thereafter are not executed. In step 407, when the floor detector 14-4 at the top floor outputs an output after stopping at the top floor, the absolute value of the difference between the output data of the counter 10 and the bottom floor fixed position data of the ROM 11d and the RAM (2 ) A ratio R of the difference between the fourth floor position data of 11c and the lowest floor fixed data of the ROM 11d is calculated as the change rate of the floor data. In the next step 408, it is determined whether the check count data CCA stored in the RAM (2) 11c has reached a predetermined value. If the check value has not reached the predetermined value, in step 409 the RAM (2) corresponding to the value of the check count data CCA ( 2) Write the change rate R to the address 11c, increment the check count data CCA in the next step 410, and
Go to.

That is, since CCA is 0 in the first cycle after the initialization, the change rate R calculated in the Ro data of RAM (2) 11c
Is written and CCA is incremented to 1 in the next cycle, so the change rate R is written to the data of R ₁ of RAM (2) 11c, and CCA is 1 less than the specified value.
= _N−1, the change rate data Ro to R _{n−1 of the} RAM (2) 11c are sequentially written.

On the other hand, when the check count data CCA reaches the predetermined value in step 408, the average value Ra of the change rates of Ro to R _n−1 stored and held in the RAM n times in the past is calculated in step 411. In the next step 412, it is determined whether the average value Ra of the change rates is within the range between the maximum and minimum change rate values Rmin and Rmax stored in advance in the ROM 11d. If it is within the range, proceed to step 500. If it is out of the range, in step 413 the position data of each floor of RAM (2) 11c is multiplied by the average change rate Ra, the position data of each floor is corrected, and the data is rewritten. In step 414, the check count data CCA is cleared to 0 and the process proceeds to step 500. Step 50
After 0 is executed, the program is repeatedly executed in the order of steps 200, 400 and 500 to control the operation of the elevator unless a floor position measurement operation command is generated. Step 500 is a program for normal publicly known operation control of an elevator,
The description of the operation is omitted because it is not the main point of the present invention.

In this way, in step 400, it is detected that the car has directly operated from the bottom floor to the top floor, and the counter 10
Value and the position data of the uppermost floor stored in advance in the RAM (2) 11c and the fixed data of the lowermost floor position of the ROM 11d, the temporal change of the car position detecting mechanism due to the pulse generation is detected as the change rate R. On the other hand, this change rate detection includes position detection deviation factors due to calculation errors of the car position detection circuit including pulse generation and pulse count and noise, so it is possible to reduce the influence of these detection error factors by performing it multiple times. There is.

Then, when the direct operation from the lowest floor to the top floor is performed a predetermined number of times, the average change rate R calculated in step 412 is calculated.
It is determined whether or not a is within a predetermined value range, that is, whether or not the change with time of the car position detection mechanism is at a level that interferes with elevator service. That is, RAM
(2) When the difference between the floor position data of 11c and the output value of the counter 10 becomes large, the floor position measurement should be carried out again because the aging of the car position detection mechanism became large. RAM (2) 11c for the average change rate Ra
If is multiplied by each floor position data, it means that the measurement operation is equivalently performed without performing the measurement. Therefore, in step 413, the floor position data is corrected. The value to be compared with the average change rate Ra of the car position detecting mechanism may be determined by the allowable change level over time that does not hinder the service of the elevator, and may be stored in the ROM 11d in advance.

In this embodiment, a plurality of detection change rates R are averaged and used, but a large detection shift element due to the noise or the like is further influenced by a method of averaging the ones excluding the maximum and the minimum. Can be reduced.

In addition, in this embodiment (FIG. 1), one detection device 14-1 to 14-4 is provided for each floor. However, the detection device is attached to the car side and the detected object is provided on the floor side for all floors. It is also possible to obtain the data by discriminating the floor by comparing the number with the detection signal. In this case, it is sufficient to add detection devices for detecting absolute positions on the bottom floor and the top floor.

In this embodiment, since the measured floor position data is stored and stored in the non-volatile memory which is the first RAM (1), if there is an abnormality in the second RAM (2), this is stored. The elevator operation control may be performed by using the data of the first RAM (1) provisionally as detected. In this case, it is needless to say that if the floor position measurement operation command is automatically generated, the floor position data writing program of step 200 is executed and the remeasurement of each floor position is automatically performed. .

The second RAM used to control the operation of the elevator
If it is not necessary to adopt the dual RAM configuration that backs up in the first RAM (1) when there is an abnormality in (2), the floor position data stored in the non-volatile RAM is directly corrected. It goes without saying that the same effect of the present invention can be obtained by using this data for operation control.

[Effects of the Invention] As described above, the floor position detecting apparatus for an elevator according to the present invention corresponds to the change amount of the counting means running between two predetermined floors and the two floors. By calculating the change rate obtained by the difference between the floor position data of the storage means to calculate the new floor position data by multiplying each floor position data and the change rate, by means of calculating the change rate When the obtained change rate is out of a predetermined range, the new floor position data of the correction means is validated.
When the number of running pulses in a specific section is different from the stored value due to secular change or the like, the stored value is corrected according to the change rate. Therefore, even if there are floors that are not actually driven or floors that have extremely few times of driving compared to other floors, if the floor position data of each floor changes with time, it is automatically regarded as the floor data. It is possible to perform elevator control with good riding comfort with little positional deviation, without compromising the normal service of the elevator due to remeasurement of the floor position.

[Brief description of drawings]

1 is a block diagram of an elevator system of an elevator floor position detecting apparatus according to an embodiment of the present invention, and FIG.
FIG. 3 is a schematic flowchart of a program showing the detection and correction operation of the floor position data stored in the ROM 11d of FIG. 3, FIG. 3 is a detailed flowchart of the procedure 300 of FIG. 2, and FIG.
FIG. 5 is a detailed flowchart of the procedure 400 in the figure, and FIG. 5 shows a part of the data structure stored in the RAM (1), RAM (2) and ROM in FIG. In the figure, 1: Main sheave, 2: Rope 3: Basket, 4: Counterweight 6: Tape, 7: Disc 8: Optical switch, 12: Detected device 14: Floor detectors Same symbols and symbols Indicates the same or corresponding components.

Claims (2)

[Claims] 1. A counting means for counting pulses generated according to the running of a car, a floor detecting means for outputting an output when the car reaches a position corresponding to each floor, and an output of the floor detecting means. Storage means comprising a writable and readable non-volatile memory for storing and holding the output value of the counting means at the time of being emitted as each floor position data; and the counting means running between two predetermined floors Means for calculating the change rate obtained by the difference between the change amount of the floor position data and the floor position data of the storage means corresponding to the two floors, and each floor position data new by multiplying each floor position data by the change rate. And a new floor position data of the correction means when the change rate obtained by the change rate calculation means is outside a predetermined range. Floor position detecting device for an elevator, characterized in that a means to enable the data. 2. The correction means for calculating each new floor position data stores and holds a plurality of change rates obtained by the change rate calculation means, and performs the correction operation by the average rate thereof. The floor position detecting device for an elevator according to claim 1.