CN103663033A - Safety system of elevator - Google Patents
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Abstract
本发明提供一种电梯的安全系统，在整个升降通道区域检测电梯轿厢的超速，使得能够尽早使电梯轿厢减速。电梯的安全系统检测与轿厢位置相对应的轿厢速度，在轿厢速度超出了允许速度时，判断为超速而对电梯轿厢的移动进行制动，其具有：设置在特定位置上的多块检测板；设置在电梯轿厢上的用于检测检测板的轿厢位置传感器；安全用控制器，其根据轿厢位置传感器的输出来检测轿厢位置是否位于特定位置；位置和速度关联信息数据库，其存储表示检测板的特定位置以及间隔的距离信息，安全用控制器根据各个间隔的经过时间和距离信息计算每一个间隔的轿厢速度，将与轿厢位置相对应的计算出的轿厢速度与超速判断曲线进行比较，以判断是否出现了超速。
The present invention provides a safety system for an elevator that detects overspeeding of the elevator car in the entire hoistway area so that the elevator car can be decelerated as early as possible. The safety system of the elevator detects the car speed corresponding to the position of the car. When the car speed exceeds the allowable speed, it is judged as overspeed and brakes the movement of the elevator car. It has: A detection board; a car position sensor installed on the elevator car for detecting the detection board; a controller for safety, which detects whether the car position is at a specific position according to the output of the car position sensor; position and speed related information The database stores the distance information indicating the specific position of the detection board and the interval, and the safety controller calculates the car speed of each interval based on the elapsed time and distance information of each interval, and calculates the car speed corresponding to the position of the car. The car speed is compared with the overspeed judgment curve to judge whether overspeed occurs.
Description
Technical field
The present invention relates to a kind of safety system of guaranteeing safe elevator by being arranged on safety device in hoist trunk.
Background technology
In the safety device of existing elevator device, be provided with terminal floor forced reduction apparatus, when there is hypervelocity in the speed that lift car detected according to car position, lift car is implemented to braking, lift car is decelerated to be arranged on, below the permission collision velocity of energy disperser of hoist trunk bottom, to guarantee thus safety.
In express elevator, if the energy disperser that can allow command speed collision is set, the length of energy disperser can become very long, need to excavate the dark elevator pit of tens of rice.The object of terminal floor forced reduction apparatus is in order to dwindle the degree of depth of elevator pit, is mainly used in the long elevator of stroke.
As terminal floor forced reduction apparatus, a kind of device is for example disclosed in patent documentation 1, it is in order to detect car speed, and the sensor that approach body and for detection of this approach body suitable with overspeed detection length of an interval degree by length calculates car speed.
In addition, for example, in patent documentation 2, disclose a kind of device, it take the cam that can detect absolute location is benchmaring car position, and according to this car position, uses coder to calculate continuous car position and car speed.
Technical literature formerly
Patent documentation
Patent documentation 1: the open patent 2007-137554 of Japan communique
Patent documentation 2: International Publication WO2006/090470 booklet
In above-mentioned prior art, when elevator has occurred momentary when stopping or sharply accelerating in overspeed detection region, the car speed of calculating when elevator rolls overspeed detection region away from may be lower than actual speed or than the speed on high apparent of actual speed, so the judgement that likely can do to make mistake.In addition, in patent documentation 2, when position probing and speed detection, use cam and coder, when fault has appearred in certain sensor, need to make elevator device stop, thereby can cause the external operation ratio of elevator device to decline.
Summary of the invention
The object of the invention is in the situation that not increasing sensor setting quantity, in whole hoist trunk region, detect the hypervelocity of lift car, make it possible to make as early as possible lift car to slow down to guarantee safety, improve the accuracy of detection of car speed simultaneously, prevent from aspect the forced deceleration of terminal floor, occurring wrong judgement, even if make when fault has appearred in certain sensor, also can make elevator continue operation and can not cause the external operation ratio of elevator device to decline.
Solution
In order to solve above-mentioned problem, the invention provides a kind of safety system of elevator, it detects the corresponding car speed in position of the lift car in the short transverse with hoist trunk, when car speed has exceeded permissible velocity, be judged as hypervelocity and the movement of lift car is braked, the safety system of described elevator has: be arranged on the polylith check-out console on the ad-hoc location of short transverse of described hoist trunk; Be arranged on the car position sensor for detection of described check-out console on described lift car; Safety controller, described safety detects car position with controller according to the output of described car position sensor and whether is positioned at described ad-hoc location; And position and velocity correlation information database, described position and the storage of velocity correlation information database represent the ad-hoc location of described check-out console and the range information at interval, described safety is calculated the described car speed at interval described in each according to the elapsed time at interval described in each and range information with controller, the described car speed that calculate corresponding with described car position and hypervelocity judgment curves are compared, to judge whether to have occurred hypervelocity, described hypervelocity judgment curves is made stipulations to be judged as the speed of hypervelocity according to described car position.
Invention effect
According to the present invention, owing to calculating car speed according to the elapsed time at each check-out console interval and range information, so can detect the hypervelocity of lift car in whole hoist trunk region, can make as early as possible lift car slow down to guarantee safety.
Accompanying drawing explanation
Fig. 1 means the integral structure figure of one embodiment of the present invention.
Fig. 2 means the diagram of block of the processing of controller of the safety in an embodiment.
Fig. 3 means the signal waveforms of the action of controller of the safety in an embodiment.
Fig. 4 is the form example of using in the processing with controller safely of an embodiment.
Fig. 5 is the diagram of curves that the safety in explanation one embodiment is used the processing of controller.
Fig. 6 is the diagram of curves of the action of the terminal floor forced deceleration in explanation one embodiment.
Fig. 7 means the integral structure figure of other embodiments.
Fig. 8 means the diagram of block of the processing of controller of the safety in other embodiments.
The diagram of curves that action when Fig. 9 is usual in other embodiments of explanation and during fault is switched.
Nomenclature
1 uses safely controller
2 car position sensors
3 check-out consoles
100 lift cars
101 hoist cables
102 drgs
103 rope sheaves
105 electrical motors
106 impulse devisers
108 electric life controllers
The specific embodiment
Fig. 1 represents integral structure figure, and as shown in Figure 1, elevator is formed with hoist trunk in building, moves, and be connected with counterbalanced weight 111 by hoist cable 101 between a plurality of floors of lift car 100 in hoist trunk.Moving through by electrical motor 105 of lift car 100 drives rope sheave 103 to carry out.Electrical motor 105 is accepted to drive the supply with electric power from power inverter 107, when lift car is stopped, by 102 pairs of lift cars of drg, being braked.In addition, coder isopulse producer 106 is installed on electrical motor 105, the pulse producing during by the rotation of the 108 pairs of electrical motors of electric life controller is counted, the equivalent locations of the speed, the lift car in hoist trunk 100 of calculating thus drive motor 105 on moving direction and miles of relative movement etc.On lift car 100, be provided with the cage side elevator door 110 that engages with entrance hall side elevator door 109 and open and close.
Safety is the controller that forms safety system with controller 1, and it is independent of electric life controller 108 settings, by making drg action and cutting off the electricity supply lift car 100 is braked.Safety is to carry out CPU (the Central Processing Unit processing with the core of controller 1, central processing unit), except CPU, safety also has the circuit that detects the WatchDog Timer that CPU is abnormal and monitor abnormity of power supply with controller 1.Abnormal in order to detect the processing of CPU, also can be configured to make CPU dual to mutually compare between CPU.
The output of car position sensor 2 is input to safety with in controller 1, and car position sensor 2 is arranged on by detection the car position that check-out console 3 in hoist trunk detects the discreteness in hoist trunk.In addition, car position sensor 2 can also be determined the car position of the discreteness in hoist trunk.Preferably adopt such as to having that the opto-electronic pickup of a plurality of optical axises and check-out console combine to identify the method for ad-hoc location or to by detecting the method for position that the mutually different sensor of principle detects classifying etc.
Length L and the installation interval Ld that also can be arranged to check-out console can change according to installation site, for example, also can open and close region with floor position or elevator door and synchronize and arrange.The length L of check-out console and installation interval Ld are stored in safety with in controller 1 as data bank.As car position sensor 2, can use the non-contact type detecting sensor of electro-optical pickoff, magnetic pickup device (using magnet and high frequency magnetic field etc.) or electrostatic capacitive.
Safety consists of drg braking output and supply disconnecton output with the output of controller 1.Drg braking output is for making the output of drg 102 actions, by cut-out, is supplied to the power supply of drg to make drg produce braking force, thus lift car 100 is braked.Equally, electrical source of power is cut off output and by cutting off electrical source of power 3, is carried out the electric power of rupturing capacity changer 107, and electrical motor 103 is stopped, and thus lift car 100 is braked.When the operation of carrying out at ordinary times, 108 pairs of power inverters 107 of electric life controller and drg 102 are controlled so that elevator moves, and when emergency braking, make the action of drg braking and the action of cutting off the electricity supply simultaneously, thus lift car 100 is braked.
Fig. 2 represents the diagram of block of controller for safety.Below the contents processing of each function block is described.Each detailed action of processing partly describes in aftermentioned.Sensor Check processing 21 detects from the signal of car position sensor 2 inputs, and implements input processing that sensor information is encoded etc.
Length L and the installation interval Ld of the edge of the sensor information that basis is inputted from sensor Check processing 21 in base speed computing 22 and the check-out console obtaining by reference position and velocity correlation information database (DB) calculate car speed, and result of calculation is outputed in speed correcting process 24.The sensor information that position probing processing 23 bases are inputted from sensor Check processing 21 and position and velocity correlation database D B determine the car position of the discreteness in hoist trunk, and judge that to hypervelocity processing 26 and position and velocity correlation database D B send current car position.Speed correcting process 24 is revised or infers according to the car speed obtaining from base speed Check processing 22, and processes the less car speed of 26 output error impact to hypervelocity judgement.
Hypervelocity judgement is processed 26 and according to the car speed being obtained by speed correcting process with by position probing, is processed the car position obtaining, and with reference to hypervelocity Detection curve 27, judge elevator in current location whether in overspeed condition.When being judged as in overspeed condition, in order to carry out emergency braking, output brake braking output and supply disconnecton output, implement the processing that lift car is braked.
Referring to Fig. 3, base speed computing 22 is described.Fig. 3 represents the output of car position sensor and the relation between the time meter timing of the microcomputer in controller for safety.Wherein, the output of car position sensor consists of the output of a plurality of sensors, by combining a plurality of output, can identify the discreteness position of the lift car in hoist trunk.The waveform of car position sensor in figure output represents that lift car moves in hoist trunk and waveform during by check-out console.Base speed computing 22 is at the output detections of car position sensor during to any check-out console, or while position being detected between check-out console, the time meter of microcomputer resetted, and to the variation of the Next output of generation, makes time meter carry out timing.By above-mentioned action, measure the elapsed time between check-out console or check-out console.In addition, the output of the length between check-out console or check-out console and car position sensor is recorded in position and velocity correlation information database DB25 explicitly.By the length setting between check-out console or check-out console, be L, the check-out console being measured by microcomputer or the elapsed time between check-out console are while being set as t, as the check-out console of check point or the car speed v between check-out console
detectbe expressed from the next.
v
detect＝L/t ......(1)
Car speed v
detectowing to not considering the velocity variations being caused by acceleration/accel, so in fact there is error.Now, by the Speed Setting before detecting, be v
0, degree of will speed up is set as a, and when the actual speed after detecting is set as to v, above-mentioned relation represents with following formula.
v＝v
0+at ......(2)
Owing to formula (2) being carried out to the value that integration obtains, equate with the length L between check-out console or check-out console, so
L＝v
0t+at
2/2 ......(3)
L to formula (1) solves, and after substitution formula (3), obtains
v
detect＝v
0+at/2 ......(4)
According to formula (2) and formula (4), the detection error delta v between car speed and actual speed is
Δv＝v-v
detect＝at/2 ......(5)。
Below speed correcting process 24 is described.As the basic processing method of speed correcting process 24, according to (5), implement following processing.Carry out correcting process, make acceleration measurement be set as a
detect, will the elapsed time be set as t, and be v by revised Speed Setting
offsettime,
v
offset＝v
detect+a
detect·t/2 ......(6)
When computation and measurement acceleration/accel, can calculate according to the variable quantity between current detection speed and previous detection speed, but owing to comprising error in detection speed, thus directly using it when correction is used, may make erroneous judgement because of revised speed.Therefore, when revising, according to check-out console length or floor gap length, check point is divided into groups, calculate the acceleration measurement in identical check point group, and acceleration measurement is now used for revising.
As shown in Figure 4, Fig. 4 represents position and velocity correlation information database DB to the example of grouping.Position and velocity correlation information database DB consist of the length of the position of the check-out console of starting at from elevator pit (and between check-out console), the pattern being detected by car position sensor, check-out console (and length) between check-out console, group technology and detection speed.Carry out after speed detection at every turn, the detection speed in this position and velocity correlation information database DB is upgraded.As group technology, the example of being divided into groups by pattern and the length of car position sensor exemplified with basis, for example, while belonging to Gr2, the pattern of car position sensor is that A and length are 300mm.As group technology, can divide into groups according to length, also can divide into groups by the minute when check-out console being detected.At computation and measurement acceleration/accel a
detecttime, in identical check point group, calculate.
In addition, measuring point group consists of at least more than one measuring point group, and makes not only have the project of a length or minute in measuring point group.Therefore, from hardware configuration, check-out console consists of at least one above paired check-out console with equal length, and the interval that arranges of check-out console also consists of at least one above paired interval.
The reason that adopts said structure is described referring to Fig. 5.In Fig. 5, according to the actual speed line of lift car, for example, in a plurality of check points (A check point and B check point) computation speed, and carry out computation and measurement acceleration/accel according to the speed calculating.At this, for the correction of implementing speed at check point B, obtain acceleration measurement a
detect.Acceleration measurement a
detectcalculating formula as follows:
a
detect＝(v
b_detect-v
a_detect)/t
b ......(7)
About check point A and check point B, formula (5) is set up, and after substitution formula (7), obtains formula (8):
a
detect＝{v
b-v
a+a·(t
a-t
b)/2}/t
b ......(8)
In addition v,
band v
arelational expression as follows:
v
b＝v
a+a·t
b ......(9)
After formula (9) substitution formula (8) is arranged, obtain formula (10):
a
detect＝(t
a+t
b)·a/2t
b ......(10)
In formula (10), at t
a=t
btime, a
detect=a can detect acceleration/accel thus zero-error.
As mentioned above, according to minute, divide into groups, and in identical check point group computation and measurement acceleration/accel, can dwindle thus the impact of error.In addition,, when dividing into groups according to the length between the length of check-out console and check-out console, as long as speed recruitment does not significantly surpass length, also can dwindle error and detect.
Below position Check processing 23 is described.In position Check processing 23, according to signal and position and the velocity correlation information database DB from 2 inputs of car position sensor, the car position of the discreteness in identification hoist trunk.As the concrete example of recognition methods, can list the method that detects as shown in Figure 4 the car position of discreteness according to the pattern of car position sensor 2.In addition,, as further inferring in detail the method for the car position in hoist trunk, preferably adopt following method.
By between check-out console or check-out console during position, in speed correcting process 24, calculate acceleration measurement and the revised car speed of lift car.The cycle of carrying out the position calculation in this calculating and microcomputer is set as to t
sampletime, t
sampleafter car position x can infer by following formula.
x＝v
detect·t
sample+a
detect·t
2 sample/2 ......(11)
In addition, for speed, also can carry out identical supposition.As mentioned above, by detailed supposition car position and car speed, compare with detecting the car position of discreteness and the situation of speed, can earlier detect velocity anomaly, can more safely make lift car stop.
Referring to Fig. 6, hypervelocity judgement processing 26 is described.In hypervelocity judgement processes 26, from speed correcting process 24, obtain revised car speed, from position probing, process 23 and obtain car position, with reference to hypervelocity judgment curves 27, and judge that according to position whether lift car is in overspeed condition.Due to the specification of hypervelocity judgment curves because of the difference of the braking force of the stroke of elevator and speed, weight, drg etc. different, so hypervelocity judgment curves is stored in the safe ROM (Read Only Memory, read-only memory (ROM)) with controller or nonvolatile memory (flash RAM) etc.As shown in Figure 6, the speed that is lift car in a certain position judgment is when than the high overspeed condition of judgment curves that exceeds the speed limit (region above hypervelocity judgment curves), output brake braking output and supply disconnecton output, brake lift car thus.
As mentioned above, owing to also can carrying out high-precision speed supposition when the velocity anomaly of acceleration change, so can normally implement the hypervelocity judgement of terminal floor forced deceleration, can improve the reliability of safety system.
Fig. 7 means the integral structure figure of other embodiments.Movement for can direct-detection lift car 100, is provided with governor 10, and is provided with coder 11 on the axle of governor, and the output of coder 11 is input to safety with in controller 1.Coder 11 can adopt increment type coder or absolute value type coder, and can carry out dual setting.
Fig. 8 is the diagram of block of controller for safety.In Fig. 8, set up the system of using coder 11.In coder input processing 80, for Negotiation speed Check processing 81 and position probing, process 82 and detect from the waveform of coder 11 inputs, implement waveform processing.Speed Check processing 81 is according to the interval calculation car speed of the pulse from coder input, and position probing is processed 82 and calculated the car position in hoist trunk according to car position sensor and coder.
By car position sensor, determine after the car position of the discreteness in hoist trunk, according to the car position of this discreteness, the pulse of coder is counted, detect the continuous position of the lift car in hoist trunk.In fault detection processes 83, by group speed, detect information and position probing information judges that the step-by-step counting of coder has or not extremely.In the situation that coder has been carried out to dual, by positional data, speed data, check respectively detection failure.When fault not detected, car position and speed are outputed to hypervelocity judgement and process in 84, when fault being detected, fault is informed to hypervelocity judgement processes 26.Hypervelocity judgement processes 84 according to the overspeed condition of hypervelocity curve detection lift car.
Referring to Fig. 9, feature is described.Use the terminal floor forced deceleration function of coder in action at ordinary times.Now, due to the continuous car position detecting by coder in hoist trunk, so the operating space of terminal floor forced deceleration function is to represent the region of the upper figure of Fig. 9 of operating space at ordinary times.On the other hand, when there is fault in coder, in the prior art, owing to cannot detecting car position and speed (especially cannot detect speed), so no matter elevator all makes lift car emergent stopping in what state.On the other hand, in the present embodiment, when fault has occurred coder, be switched to the terminal floor forced deceleration function of only having car position detecting sensor, so although operating space narrows down, elevator also can move when fault has occurred coder.
In addition,, in the situation that being only provided with a coder, after the fault of coder being detected, notify maintainer to make elevator parking open elevator door after nearest floor.In addition, in the situation that coder has been carried out to dual, when fault has occurred a coder, owing to forming duplex system by car position sensor and a coder, so can make elevator proceed usual operation.
As mentioned above, even if there is fault in other car position, the speed detection sensor such as coder, owing to being switched to, only have the terminal floor forced deceleration function of car position detecting sensor to make elevator continue action, so do not need elevator to carry out emergency braking, can improve the reliability of elevator device.
In addition, not only utilize each check-out console to carry out speed calculating, and also enforcement speed is calculated between check-out console, so while there is speedup sharply between each check-out console, can detect as early as possible hypervelocity, can more safely make elevator stop.In addition, owing to utilizing the trend of velocity information in the past to calculate when calculating car speed, so elevator speedup and while reaching overspeed condition, also can detect as early as possible hypervelocity under steam for example can more safely make elevator stop.
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| JP2012195659A JP5932577B2 (en) | 2012-09-06 | 2012-09-06 | Elevator safety system |
| JP2012-195659 | 2012-09-06 |
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| JP4907097B2 (en) * | 2005-04-19 | 2012-03-28 | 三菱電機株式会社 | Elevator equipment |
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| JP2007137554A (en) * | 2005-11-16 | 2007-06-07 | Nippon Otis Elevator Co | Forcible reduction gear for end terminal floor of elevator |
| JP5196914B2 (en) * | 2007-08-29 | 2013-05-15 | 三菱電機株式会社 | Elevator control device |
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| CN106573755A (en) * | 2014-09-09 | 2017-04-19 | 三菱电机株式会社 | Elevator device |
| CN106573755B (en) * | 2014-09-09 | 2019-03-01 | 三菱电机株式会社 | Lift appliance |
| CN109476450A (en) * | 2016-07-29 | 2019-03-15 | 三菱电机株式会社 | The control device of elevator |
| CN106429697A (en) * | 2016-09-13 | 2017-02-22 | 江苏旭云物联信息科技有限公司 | Elevator safety pre-warning system |
| CN108639892A (en) * | 2018-07-25 | 2018-10-12 | 厦门乃尔电子有限公司 | A kind of elevator car speed detecting system and method |
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| US11708242B2 (en) * | 2018-10-30 | 2023-07-25 | Hitachi, Ltd. | Control system for elevator |
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| CN113396117A (en) * | 2019-02-27 | 2021-09-14 | 株式会社日立制作所 | Multi-car elevator |
| WO2020238079A1 (en) * | 2019-05-28 | 2020-12-03 | 苏州台菱电梯有限公司 | Elevator fault rescue system and elevator |
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| CN111731959A (en) * | 2020-07-30 | 2020-10-02 | 菱王电梯股份有限公司 | An elevator terminal detection and protection device and detection and protection method thereof |
| CN112985282A (en) * | 2021-03-25 | 2021-06-18 | 广东省特种设备检测研究院惠州检测院 | Elevator shaft wall distance measuring device |
| CN113415689A (en) * | 2021-06-24 | 2021-09-21 | 北京房地天宇特种设备安装工程有限公司 | Elevator control system and method and elevator |
| CN115872253A (en) * | 2022-10-27 | 2023-03-31 | 中邮科通信技术股份有限公司 | Method of safety detection and early warning of lifting system operation based on Internet of things perception |
| CN119551523A (en) * | 2025-01-24 | 2025-03-04 | 常熟理工学院 | Elevator operation health state monitoring method and elevator safety system |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2014051344A (en) | 2014-03-20 |
| JP5932577B2 (en) | 2016-06-08 |
| CN103663033B (en) | 2016-05-18 |
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