JP2021070560A - Elevator control device, elevator system, and elevator control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To secure the safety of passengers by controlling the release of a brake from the outside of an elevator. SOLUTION: In the aspect of the present invention, a hoisting machine 4 for winding up a main rope connecting a car 2 and a counterweight 5, a brake 7 for suppressing the hoisting machine 4, a brake releasing device 33, and a car 2 are doors. Mounted on a robot 100 that moves an elevator 1 including a position detector 8 that detects being in an open / close permission zone, a door opening / closing device 10 that opens / closes a car door 11, and a control unit 31 that controls the operation of the car 2. When a failure signal of the elevator 1 is received from the control unit 31, the elevator control device outputs a brake release command to the brake release device 33 to release the brake 7, and the car 2 is a door open / close permission zone. The rescue operation control unit 124 that controls the opening and closing of the car door 11 after arriving at the vehicle is provided. [Selection diagram] Fig. 2

Description

The present invention relates to an elevator control device, an elevator system, and an elevator control method, and particularly to a technique for rescuing passengers trapped in a car in the event of an elevator failure.

In the conventional elevator, the electric motor is rotated from the power converter, and the rope is moved in the vertical direction via the sheave connected to the electric motor, so that the car connected to the rope can be raised and lowered. If a part of the drive system such as the power converter, the electric motor, or the rotary encoder connected to the electric motor breaks down, the elevator will stop. The elevator car is stopped between floors, and if passengers are in the car at this time, confinement will occur. Since the car does not move in the confined state, the safety of the passengers is guaranteed, but the passengers feel uncomfortable.

Rescue of passengers trapped due to such drive system failure is generally performed by maintenance personnel. In particular, if the weight inside the car is not balanced with the balance weight, the brakes are manually released to take advantage of the imbalance with the balance weight and move the car to the nearest floor to rescue passengers. To do. However, since the above method is performed after waiting for the arrival of maintenance workers, there is a waiting time for the rescue of passengers.

As a method for solving this, there is a method disclosed in Patent Document 1. Patent Document 1 discloses, in an elevator provided with a safety controller independent of the elevator controller, a method in which the elevator controller releases the brake to rescue passengers in the car when the elevator breaks down. At this time, the safety controller monitors the car speed with the rotary encoder and interrupts the brake release when an abnormality occurs, ensuring the safety of passengers in the car.

Japanese Unexamined Patent Publication No. 2016-159994

However, in the technique described in Patent Document 1, the case where the safety controller fails in addition to the elevator controller is not considered. In addition, since the safety controller monitors the car speed by the rotary encoder installed in the electric motor (winding machine), rescue operation cannot be performed when the rotary encoder fails.

From the above situation, there has been a demand for a method of controlling the release of the brake from the outside of the elevator to ensure the safety of passengers.

In order to solve the above problems, the elevator control device of one aspect of the present invention includes a hoisting machine that winds up a main rope connecting a cage and a counterweight, a brake that suppresses the drive of the hoisting machine, and the brake. A brake release device for opening, a position detector for detecting that the car is in the door opening / closing permission zone, a door opening / closing device for opening / closing the door provided in the car, and a control unit for controlling the operation of the car. It is mounted on a robot that moves the elevator. When this elevator control device receives a failure signal indicating that the elevator cannot be started from the control unit, it outputs a brake release command to the brake release device to release the brake, and after the car arrives at the door open / close permission zone, the car It is provided with a rescue operation control unit that controls the opening and closing of the door provided in.

According to at least one aspect of the present invention, it is possible to control the release of the brake from the elevator control device mounted on the robot and ensure the safety of passengers in the car.
Issues, configurations and effects other than those described above will be clarified by the description of the following embodiments.

It is a figure which shows the whole structure example of the elevator which concerns on 1st Embodiment of this invention, and the structure example of an elevator control device. It is a block diagram which shows the structural example of the robot which concerns on 1st Embodiment of this invention. It is a block diagram which shows the functional example of the rescue operation control part which concerns on 1st Embodiment of this invention. It is a flowchart which shows the procedure example of the rescue operation control at the time of an elevator failure which concerns on 1st Embodiment of this invention. It is a figure which shows the whole structure example of the elevator which concerns on 2nd Embodiment of this invention, and the structure example of an elevator control device. It is a flowchart which shows the procedure example of the rescue operation control at the time of an elevator failure which concerns on 2nd Embodiment of this invention.

Hereinafter, examples of embodiments for carrying out the present invention will be described with reference to the accompanying drawings. In the present specification and the accompanying drawings, components having substantially the same function or configuration are designated by the same reference numerals, and duplicate description will be omitted.

<1. First Embodiment>
[Overall configuration of elevator]
First, the elevator according to the first embodiment of the present invention will be described.
FIG. 1 shows an overall configuration example of the elevator 1 and a configuration example of the elevator control device 30 according to the first embodiment. The elevator 1 is provided in a hoistway formed in a building structure. Generally, a machine room is provided in the upper part of the hoistway, and the elevator control device 30 is stored in a control panel arranged in the machine room. FIG. 1 describes an example in which the robot 100 gets on the elevator 1 (car 2) and the robot 100 receives a failure signal of the elevator 1 by wire communication.

The elevator 1 is provided with a car 2 for carrying people and luggage, a main rope (main measure) 3, a balance weight 5 for balancing with the car 2, and a hoisting machine 4 which move up and down in the hoistway. ing. The car 2 is suspended by the main rope 3 and connected to the balance weight 5 via a sheave constituting the hoisting machine 4. The hoisting machine 4 rotates and drives the sheave by a motor. By controlling the rotational torque of the motor of the hoisting machine 4, the car 2 moves inside the hoistway along a guide rail (not shown). Further, the hoisting machine 4 includes a brake 7. When the passengers land on the floor where the passengers go up and down, or when the electronic safety device (not shown) in the hoistway operates, the brake 7 is activated to suppress the rotational movement of the hoisting machine 4, thereby suppressing the rotational movement of the hoisting machine 2. Braking.

Power for driving is supplied to the motor of the hoisting machine 4 by a power converter (not shown). The power converter outputs electric power for controlling the motor according to the car position control command of the elevator control device 30. Further, a pulse generator such as the rotary encoder 6 is attached to the motor of the hoisting machine 4. The elevator control device 30 calculates the traveling speed of the car 2, the hoistway moving direction, the position, the moving distance, and the like of the car 2 by counting the output signals (pulses) generated in response to the rotational drive of the motor. Further, the rotary encoder 6 outputs a signal indicating its normality or abnormality to the elevator control device 30. Hereinafter, the output signal of the rotary encoder 6 may be referred to as a “RE signal”.

When the elevator control device 30 wants to brake the car 2, it outputs a brake power supply stop command and a power power supply cutoff command. In response to these commands, the brake power supply operates the brake 7, the power power supply cuts the power supply to the power converter, and brakes the car 2. The brake power supply and the power power supply are circuits composed of an electromagnetic contactor called a contactor.

The car 2 is provided with a car-side door (abbreviated as "car door") 11 that engages and opens and closes the landing-side door. A door opening / closing device 10 that controls the opening / closing drive of the car door 11 is installed behind the ceiling of the car 2. The door opening / closing device 10 drives the car door 11 to open / close in accordance with a control command from the elevator control device 30 or the robot 100.

Further, a door zone detector 8 and an end floor detector 9 are installed behind the ceiling of the car 2. The door zone detector 8 is an example of a position detector, and the car 2 of the elevator 1 can be opened by detecting the door zone shielding plate 15 (detection plate) arranged for each stop floor on the wall surface in the hoistway. Detects that it has arrived at a suitable position (inside the door open / close permission zone). When the car 2 is in the door opening / closing permission zone, the door opening of the car 2 is permitted. The range of the door opening / closing permission zone is determined by the length of the door zone shielding plate 15 in the car traveling direction. For example, the door zone detector 8 emits light, detects the reflected light from the door zone shielding plate 15, and outputs an output signal according to the detection result to the elevator control device 30. The door zone detector 8 outputs a signal indicating its normality or abnormality to the elevator control device 30.

The end floor detector 9 is an example of a position detector, and detects that the position of the car 2 is the end floor. The end floor shielding plate 16 (detection plate) is arranged at predetermined positions near the bottom floor and the top floor of the wall surface in the hoistway. The end floor detector 9 detects that the car 2 of the elevator 1 has arrived at the end floor by detecting the end floor shielding plate 16. For example, the end floor detector 9 emits light, detects the reflected light from the end floor shielding plate 16, and outputs an output signal according to the detection result to the elevator control device 30. Generally, the positional relationship between the door zone shielding plate 15 and the end floor shielding plate 16 is set so that the end floor shielding plate 16 is detected when the car 2 is in the door opening / closing permission zone on the end floor.

A display device 12 and a speaker 13 are arranged in the car 2. Information is displayed on the display device 12 and sound is output (announced) from the speaker 13 during normal operation and rescue operation control of the elevator 1. Further, in the car 2, a connector 14 (car side connector) that is electrically connected to the tail cord 17 via wiring is provided.

The door zone detector 8, the end floor detector 9, the door opening / closing device 10, the display device 12, and the speaker 13 are electrically connected to the elevator control device 30 via the tail cord 17. The tail code 17 is composed of a plurality of electric wires for communication and a plurality of electric wires for electric power. Further, the door zone detector 8, the end floor detector 9, the door opening / closing device 10, the display device 12, and the speaker 13 can be electrically connected to the robot 100.

Further, the elevator 1 is provided with a speed governor 20 (also called a governor). The speed governor 20 has an endless speed control rope 21 stretched over the entire traveling stroke (elevating stroke) of the car 2 in the hoistway. The speed governor rope 21 is wound around a sheave 23 installed at the upper part and a sheave (not shown) of the governor weight installed at the lower part. The speed governor rope 21 is connected to the car 2 by a connecting member 22. The movement of the car 2 is transmitted to the sheave 23 by the speed governor rope 21, and the sheave 23 rotates in conjunction with the running of the car 2. The speed governor 20 operates when the traveling speed of the car 2 exceeds a specified value (in this example, the car speed reference value), and controls the speed control rope 21 in the fixing direction. When the speed control rope 21 is controlled in the direction of being fixed, an emergency stop device (not shown) provided in the car 2 is activated, and the car 2 is stopped.

A rotary encoder 24 is provided on the sheave 23, and the output signal of the rotary encoder 24 is input to the elevator control device 30. Hereinafter, the output signal of the rotary encoder 24 may be referred to as a “governor RE signal”.

Generally, the elevator control device 30 and the hoisting machine 4 are installed in a machine room provided at the top of the building structure, but the present invention is not limited to this example. The elevator control device 30 includes a microcomputer 31 (denoted as “microcomputer” in the figure), a brake control device 32, and a brake release device 33.

The microcomputer 31 is an example of a control unit that includes a processor 311 and a memory 312, and performs elevator speed control, operation management control, power supply management, and the like. For example, the memory 312 records a threshold value (hereinafter referred to as "governor operating speed") of the traveling speed at which the speed governor 20 starts operating. The microcomputer 31 includes a communication interface (not shown) for communicating with an external device (for example, each device of the car 2 or the robot 100) via a transmission line such as a tail code 17.

The microcomputer 31 transmits information indicating the control state of the elevator 1 to the car 11 via the tail code 17. For example, the information indicating the control state of the elevator 1 includes a failure signal of the elevator 1, a RE signal, a door zone detection signal, and the like. The output signal of the acceleration sensor 133 of the robot 100, which will be described later, is also one of the information indicating the control state of the elevator 1. The failure signal is a signal indicating that the elevator 1 cannot be started. The state in which the elevator 1 cannot be started includes a failure of each device (drive system) constituting the elevator 1 and an abnormality of the elevator control device 30 that controls the operation of the elevator 1.

In the present embodiment, it is assumed that communication with the robot 100 is possible even when the elevator control device 30 is abnormal. However, if the microcomputer 31 is abnormal, the reliability of the microcomputer 31 is low. Therefore, as will be described later, the robot 100 controls the release of the brake 7 without going through the microcomputer 31. The microcomputer 31 receives a brake release command from the robot 100 in the car 11 via the tail code 17.

The brake control device 32 operates the brake 7 in accordance with a command from the microcomputer 31 to control the braking of the car 2. The brake 7 operates when the power supply is cut off. It should be noted that the function of the brake control device 32 (for example, an electronic safety device) may be provided independently of the elevator control device 30, and the brake 7 may be operated at the discretion of the microcomputer in the electronic safety device when the elevator 1 is abnormal. ..

When the brake power supply is cut off and the brake 7 is in the operating state, the brake release device 33 turns on the contactor of the brake power supply in accordance with the brake release command to supply power to the brake 7 and release the brake 7. When the weight in the car 2 is not balanced with the counterweight 5, by releasing the brake 7, the car 2 can be moved to the nearest floor by utilizing the imbalance with the counterweight 5.

In the present embodiment, the elevator control device 30 supplies elevator power to each device of the car 11 via the tail code 17 under the control of the microcomputer 31. Further, the elevator control device 30 can receive battery power from the robot 100 via the tail code 17.

[Robot configuration]
FIG. 2 is a block diagram showing a configuration example of the robot 100. The robot 100 includes a CPU (Central Processing Unit) 110, a storage device 120 (a storage device including a main storage device and an auxiliary storage device), an input / output device 130, and a communication interface 140. Further, the robot 100 includes a battery 150 such as a storage battery and a battery control unit 151.

The CPU 110 is an example of a processor (arithmetic control device) that controls each part of the robot 100. Various software modules (programs) and data are stored in the storage device 120. The CPU 110 realizes various control functions (drive control unit 121, conversation control unit 122, input / output unit 123, rescue operation control unit 124, etc.) by reading and executing a program stored in the storage device 120. ..

As the control function, the storage device 120 includes a drive control unit 121 that controls the drive mechanism, a conversation control unit 122 that controls conversation, and an input / output unit 123 that inputs / outputs data to / from the input / output device 130. Further, the storage device 120 includes a rescue operation control unit 124 that performs rescue operation control for rescuing passengers trapped in the car 2 in the event of an elevator failure as the control function. That is, in an emergency such as an elevator failure, the robot 100 functions as an "elevator control device" by the cooperation of the CPU 110 and the storage device 120 (rescue operation control unit 124). A car speed reference value, which will be described later, is recorded in the program of the rescue operation control unit 124 or in the storage device 120.

The input / output device 130 includes a camera 131 that photographs the surroundings of the robot 100, and a microphone (“microphone”) 132 that collects ambient sounds. Further, the input / output device 130 moves the robot 100, the acceleration sensor 133 that detects the acceleration of the three axes of the robot 100, the range sensor 134 that measures the distance to the surrounding object, the speaker 135 that emits sound, and the robot 100. It is provided with a drive mechanism 136 for moving and moving joints. A gyro sensor may be provided in addition to the acceleration sensor 133 to detect postures such as tilt and rotation of the robot 100. The robot 100 recognizes a user or an obstacle by using the image of the camera 131 and the sensor data of the range sensor 134.

The communication interface 140 acquires the video from the camera 131 of the input / output device 130 and the audio from the microphone 132, and transmits the video and audio to an external robot control device (not shown) via a wireless LAN or the like. Further, the communication interface 140 receives a control command from the robot control device. According to an instruction from the robot control device, a route for moving from the standby position to the destination is set in the robot 100.

Further, the communication interface 140 communicates with the elevator control device 30 via the connector 141 (robot side connector) provided in the robot 100, the connector 14 in the car 2, and the tail code 17. In the following, the description of the connector will be omitted when communicating between the elevator control device 30 and the robot 100. In the present embodiment, the communication interface 140 is capable of supporting wireless communication and wired communication, but the communication interface may be separated for wireless communication and wired communication.

The robot 100 controls the drive control unit 121, the conversation control unit 122, and the input / output unit 123 based on the control command from the robot control device (not shown) received by the communication interface 140, and implements the guidance service. Further, when the robot 100 receives a movement command from the robot control device, the robot 100 moves in the building structure by the drive mechanism 136. Then, the robot 100 detects an obstacle based on the signal from the range sensor 134 during movement, and the drive control unit 121 autonomously stops the movement or avoids the obstacle.

The robot 100 of the present embodiment is configured to move autonomously. Here, the autonomous movement means that the robot itself moves and moves, and does not mean that the robot itself autonomously makes all the judgments necessary for movement (such as the judgment of the route). That is, the route on which the robot 100 moves is set by an instruction from the robot control device as described above. However, the robot 100 may make all the judgments necessary for movement including the route judgment.

The battery control unit 151 controls charging and discharging of the battery 150. The battery control unit 151 can receive and transmit electric power to and from the elevator control device 30 via the connector 141, the connector 14 in the car 2, and the tail cord 17.

[Function of rescue operation control unit]
Next, the function of the rescue operation control unit 124 included in the robot 100 will be described.
FIG. 3 is a block diagram showing a functional example of the rescue operation control unit 124 included in the robot 100. The rescue operation control unit 124 includes a failure signal reception unit 201, an equipment state determination unit 202, a brake release command unit 203, a door open / close command unit 204, and an output processing unit 205.

The failure signal receiving unit 201 receives the failure signal of the elevator 1 from the elevator control device 30 via the tail code 17, and notifies the device state determination unit 202 of the reception result.

The device state determination unit 202 determines whether each device provided in the elevator 1 is normal or abnormal, and notifies the brake release command unit 203 of the determination result. For example, the device status determination unit 202 receives a signal indicating normality / abnormality of the door zone detector 8 and a signal indicating normality / abnormality of the rotary encoder 6, and determines the normality / abnormality of each device as a brake release command unit 203. Notify to.

The brake release command unit 203 calculates the traveling speed of the car 2 via the tail code 17, and controls to output the brake release command to the brake release device 33 according to the traveling speed of the car 2. Specifically, the brake release command unit 203 periodically compares the traveling speed of the car 2 with the car speed reference value 203a. Then, when the traveling speed of the car 2 is equal to or less than the car speed reference value, the brake 7 is continuously released, and when the traveling speed of the car 2 exceeds the car speed reference value, the release of the brake 7 is stopped. To control.

In this way, the brake release command unit 203 controls the release of the brake 7 within the range in which the car speed does not exceed the car speed reference value 203a, so that the car 2 can be quickly operated to the nearest floor without stopping during the rescue operation. can do.

In the present embodiment, the elevator 1 has a speed governing rope 21 that transmits the movement of the car 2, and detects that the traveling speed of the car 2 exceeds the car speed reference value 203a to reduce the traveling speed of the car 2. The speed governor 20 is provided. The car speed reference value 203a can be set as, for example, the car speed (governor operating speed) at which the speed governor 20 starts operating.

In this case, the traveling speed of the car 2 can be controlled so that the car 2 is accelerated and emergency braking is not performed by the action of the speed governor 20. Therefore, passengers do not feel strong discomfort due to emergency braking.

Further, when the door zone detector 8 detects that the car 2 has arrived at the door open / close permission zone, the brake release command unit 203 outputs a brake release command to stop the release of the brake 7.

When the door opening / closing device 10 is normal, the door opening / closing command unit 204 outputs a door opening command or a door closing command to the door opening / closing device 10. Further, the door opening / closing command unit 204 shuts off the power supply of the door opening / closing device 10 when the door opening / closing device 10 is abnormal (malfunction). Further, the door opening / closing command unit 204 notifies the output processing unit 205 that the power supply of the door opening / closing device 10 has been cut off.

When the door opening / closing device 10 is abnormal (malfunction), the output processing unit 205 notifies the passengers in the car 2 that the door 11 needs to be manually opened by display or voice.

[Rescue operation control in case of elevator failure]
Next, the rescue operation control at the time of elevator failure according to the first embodiment will be described.
FIG. 4 is a flowchart showing a procedure example of rescue operation control at the time of elevator failure according to the first embodiment. This flowchart is based on the premise that when the elevator 1 fails, the microcomputer 31 outputs a failure signal indicating that the elevator cannot be started, and the car 1 is in a stopped state. In this flowchart, the main body of most processing steps is the robot 100 (CPU 110). When the CPU 110 executes the program stored in the storage device 120, the processing of each step of the flowchart shown in FIG. 4 is executed.

First, the drive control unit 121 of the robot 100 puts the robot 100 in a car 2 stopped on an arbitrary floor (S1). Next, the rescue operation control unit 124 controls the operation of the robot 100 by the drive control unit 121, and connects the connector 141 to the connector 14 (terminal) in the car 2 (S2). As a result, the robot 100 connects to the elevator 1 via the connector 141, the connector 14, and the tail cord 17. The connection destinations are the microcomputer 31 in the elevator control device 30, the brake release device 33, the door opening / closing device 10, and the door zone detector 8.

As described above, the rescue operation control unit 124 drives the robot 100 after the robot 100 gets into the car 2, connects the robot side connector (connector 141) to the car side connector (connector 14), and connects the electric wire (tail cord 17). ) Is electrically connected to the control unit (macro computer 31) and the brake release device 33. As a result, the robot 100 is ready to receive the failure signal of the elevator 1 immediately after getting into the car 2, so that the rescue operation can be smoothly performed when the elevator fails.

The rescue operation control unit 124 drives the robot 100 to change the robot side connector (connector 141) to the car side connector (connector 14) when the robot 100 receives a failure signal through wireless communication after getting into the car 2. It may be connected to. By connecting the robot 100 to the elevator 1 after receiving the failure signal in this way, the robot 100 can concentrate on the service instructed until the failure of the elevator occurs.

Next, the failure signal receiving unit 201 determines whether or not a failure signal indicating that the elevator cannot be started has been received from the elevator control device 30 via the tail code 17 (S3). When the failure signal receiving unit 201 has not received the failure signal (NO in S3), since the elevator 1 is normal, the elevator control device 30 performs normal operation and moves the car 2 to the destination floor (S24). After the process of step S24, the process of this flowchart ends.

On the other hand, when the failure signal receiving unit 201 receives the failure signal (YES in S3), the elevator 1 cannot be started, that is, the brake 7 is activated and the elevator 1 is stopped. Here, the device state determination unit 202 determines whether or not the door zone detector 8 is normal (S4), and if the door zone detector 8 is abnormal (NO in S4), the detection of the door open / close permission zone is not possible. Since it is possible, it is determined that the rescue operation is not possible (S25), and the processing of this flowchart is terminated.

Subsequently, when the door zone detector 8 is normal (YES in S4), the device state determination unit 202 determines whether the rotary encoder 6 provided in the hoisting machine 4 is normal (S5). Then, the device state determination unit 202 shifts to the process of step S6 when the rotary encoder 6 is normal (YES in S5), and proceeds to the process of step S11 when the rotary encoder 6 is abnormal (NO in S5). Move to processing.

Next, when the rotary encoder 6 is normal (YES in S5), the brake release command unit 203 outputs a brake release command to the brake release device 33 via the tail code 17 (S6). Next, the brake release command unit 203 calculates the traveling speed (car speed) of the car 2 based on the RE signal of the rotary encoder 6 of the hoisting machine 4 after the elapse of a predetermined time, and the car speed is the car speed reference value 203a. It is determined whether or not it is equal to or less than (for example, governor operating speed) (S7).

Next, when the car speed is equal to or less than the car speed reference value 203a (YES in S7), the brake release command unit 203 continues to release the brake 7 (S8). Then, the brake release command unit 203 determines whether or not the car 2 is in the door open / close permission zone (“door zone” in the figure) (S9). The brake release command unit 203 shifts to the process of step S17 when the car 2 is in the door open / close permission zone (YES in S9), and when the car 2 is not in the door open / close permission zone (NO in S9). Moves to the determination process of the car speed in step S7.

On the other hand, if the car speed is not equal to or less than the car speed reference value 203a in step S7 (NO in S7), the brake release command unit 203 stops the brake release command and stops the release of the brake 7 (S10). Then, after a certain period of time has elapsed, the brake release command unit 203 shifts to the process of step S6 (brake release).

Next, if the rotary encoder 6 is abnormal in step S5 (NO in S5), a brake release command is output to the brake release device 33 via the tail code 17 (S11). The brake release command unit 203 estimates the car speed based on the output signal of the acceleration sensor 133 (S12). By differentiating the output signal in the vertical direction of the acceleration sensor 133, the speed in the vertical direction of the robot 100, that is, the car speed can be estimated.

Next, the brake release command unit 203 determines, after the lapse of a predetermined time, whether or not the car speed estimated by using the acceleration sensor 133 is equal to or less than the car speed reference value 203a (S13).

Next, when the car speed is equal to or less than the car speed reference value 203a (YES in S13), the brake release command unit 203 continues to release the brake 7 (S14). Then, the brake release command unit 203 determines whether or not the car 2 is in the door open / close permission zone (S15). The brake release command unit 203 shifts to the process of step S17 when the car 2 is in the door open / close permission zone (YES in S15), and when the car 2 is not in the door open / close permission zone (NO in S15). Moves to the car speed estimation process in step S12.

On the other hand, if the estimated car speed is not less than or equal to the car speed reference value 203a in step S13 (NO in S13), the brake release command unit 203 stops the brake release command and stops the release of the brake 7 (S16). .. Then, after a certain period of time has elapsed, the brake release command unit 203 shifts to the process of step S11 (brake release).

Next, in the case of YES in step S9 or YES in step S15, the brake release command unit 203 stops the brake release because the car 1 has arrived at the door open / close permission zone (S17).

Next, the door opening / closing command unit 204 determines whether the door opening / closing device 10 is normal (S18), and if the door opening / closing device 10 is normal (YES in S18), issues a door opening command to the door opening / closing device 10. Output to open the door 11 (S19). Next, the door opening / closing command unit 204 determines whether or not a certain time has elapsed (S20), and if a certain time has elapsed (YES in S20), outputs a door closing command to the door opening / closing device 10 to output the door. 11 is closed (S21), and the processing of this flowchart is completed. On the other hand, if the fixed time has not elapsed (NO in S20), the process proceeds to step S19, and the output of the door open command to the door opening / closing device 10 is continued.

Further, when the door opening / closing device 10 is abnormal (NO in S18), the door opening / closing command unit 204 shuts off the power supply of the door opening / closing device 10 (S22). Then, the output processing unit 205 notifies the passengers in the car 2 that the door is manually opened (the door 11 needs to be manually opened) (S23). For example, the output processing unit 205 controls the speaker 135 of the robot 100 to announce to passengers and display a message on the display device 12 in the car 2. After the process of step S23, the process of this flowchart ends.

As described above, the elevator control device (CPU 110, storage device 120) according to the present embodiment suppresses the drive of the hoisting machine 4 for hoisting the main rope 3 connecting the car 2 and the counterweight 5 and the hoisting machine 4. The brake 7 and the brake release device 33 for releasing the brake 7, a position detector (door zone detector 8, end floor detector 9) for detecting that the car 2 is in the door open / close permission zone, and the car 2 are provided. It is mounted on a robot 100 that moves an elevator 1 including a door opening / closing device 10 that opens / closes the door 11 and a control unit (microcomputer 31) that controls the operation of the car 2. When this elevator control device receives a failure signal indicating that the elevator cannot be started from the control unit, it outputs a brake release command to release the brake 7 by the brake release device 33, and the car 2 arrives at the door open / close permission zone. A rescue operation control unit 124, which controls the opening and closing of the door 11 provided in the car 2 later, is provided.

According to the first embodiment configured as described above, in the event of an elevator failure, the release of the brake 7 is controlled from the elevator control device mounted on the robot 100 to ensure the safety of passengers in the car 2. it can. Further, when the elevator breaks down, the passengers in the car 2 can be rescued without waiting for the arrival of the maintenance staff, and the confinement time can be shortened.

Further, according to the present embodiment, by controlling the door 11 by the robot 100, the door 11 can be opened and closed even when the microcomputer 31 of the elevator control device 30 is abnormal.

Further, in the elevator control device (CPU 110, storage device 120) according to the present embodiment described above, the rescue operation control unit 124 has a rotation detection device (rotary encoder 6) that outputs a signal corresponding to the rotation of the hoisting machine 4. If it is normal, the traveling speed of the car 2 is calculated based on the output signal of the rotation detection device.

According to the above configuration, the traveling speed of the car 2 is usually calculated by using the rotation detector installed in the hoisting machine 4, and the rescue operation by the robot 100 is possible.

Further, the robot 100 (an example of a moving body) equipped with the elevator control device (CPU 110, storage device 120) according to the above-described embodiment includes an acceleration sensor 133. Then, in the above-mentioned elevator control device (robot 100), the rescue operation control unit 124 estimates the traveling speed of the car 2 based on the output signal of the acceleration sensor 133 when the acceleration sensor 133 is normal. It is configured.

According to the above configuration, even when the rotary encoder 6 of the hoisting machine 4 fails, the robot 100 can perform rescue operation by using the acceleration sensor 133 provided in the robot 100.

Further, in the elevator control device (CPU 110, storage device 120) according to the present embodiment described above, the rescue operation control unit 124 allows the door opening / closing permission of the car 2 by the position detector (door zone detector 8 or end floor detector 9). When it is detected that it has arrived at the zone, the opening of the brake 7 is stopped, and then, if the door opening / closing device 10 is normal, a door opening command is output to the door opening / closing device 10 to automatically open the door 11. It is configured to control or, when the door opening / closing device 10 is out of order, shut off the power supply of the door opening / closing device 10 to control the door 11 so that the passenger can manually open the door 11.

According to the above configuration, when the car 2 arrives at the brake open / close permission zone, the car 2 can be stopped in the brake open / close permission zone by stopping the opening of the brake 7. Further, by controlling the door 11 by the robot 100, the door 11 can be opened and closed even when the microcomputer 31 of the elevator control device 30 is abnormal. Further, even when the door 11 fails, the risk of confinement can be reduced by shutting off the brake power supply and allowing passengers to manually open and close the door 11.

Further, in the elevator control device (CPU 110, storage device 120) according to the present embodiment described above, the rescue operation control unit 124 manually opens the door 11 to the passenger when the door opening / closing device 10 is out of order. It is configured to inform you that there is a need.

According to the above configuration, by reliably informing the passenger that the door 11 can be opened and closed manually by display and voice, it is possible to promptly prompt the passenger to open and close the door 11 manually, and thereby the door opening / closing device 10 fails. Even if it is done, the safety of passengers can be ensured.

Further, in the above-described embodiment, the elevator 1 has a connector (connector 14 in the car 2 and connector 42 on the hole side) connected to an electric wire (tail cord 17) for communicating and transmitting power with the robot 100. The robot 100 includes a robot-side connector (connector 141) for connecting to the connector. Then, the rescue operation control unit 142 drives the robot 100 to connect the robot side connector to the connector, and electrically connects the control unit (microcomputer 31) and the brake release device 33 via the electric wire.

With the above configuration, the robot 100 is connected to the control unit (microcomputer 31) of the elevator 1 and the brake release device 33 via the connector, the robot side connector, and the electric wire, receives a failure signal from the control unit, and releases the brake. It is possible to output a brake release command to the device.

<2. Second embodiment>
In the second embodiment, an example will be described in which the robot 100 stands by in the elevator hall of the elevator 1 and the robot 100 receives the failure signal of the elevator 1 by wireless communication.

FIG. 5 shows an overall configuration example of the elevator 1 and a configuration example of the elevator control device 30 according to the second embodiment. The difference between the elevator 1 and the robot 100 in FIG. 5 and the elevator 1 and the robot 100 in FIG. 1 is that the robot 100 is waiting in the elevator hall of the elevator 1 in FIG. Further, since the robot 100 is connected to the connector 42 (hole side connector) in the elevator hall, the connector 14 (see FIG. 1) is not installed in the car 2.

As shown in FIG. 5, a hall call button 40 is provided in an elevator hall (in front of the platform) of an arbitrary floor FL. The hall call button 40 is connected to the elevator control device 30 via the hall power supply / signal line 41 (an example of an electric wire), and can perform communication and power transmission with the elevator control device 30. Further, the elevator hall is provided with a connector 42 (hole-side connector) to which the connector 141 of the robot 100 is connected.

The elevator control device 30 is provided with a wireless communication interface 34 (denoted as "wireless communication I / F" in the figure) in order to transmit a failure signal of the elevator 1 to the robot 100 by wireless communication.

Next, the rescue operation control at the time of elevator failure according to the second embodiment will be described.
FIG. 6 is a flowchart showing a procedure example of rescue operation control at the time of elevator failure according to the second embodiment. The flowchart of FIG. 6 will be described focusing on the differences from the flowchart of FIG.

First, the drive control unit 121 of the robot 100 causes the robot 100 to stand by in an elevator hall on an arbitrary floor FL in order to cause the robot 100 to perform a predetermined service (S31). Next, the failure signal receiving unit 201 of the rescue operation control unit 124 determines whether or not a failure signal indicating that the elevator cannot be started has been received wirelessly from the elevator control device 30 (S32).

The microcomputer 31 of the elevator control device 30 transmits a failure signal indicating that the elevator cannot be started through the wireless communication interface 34. At this time, the microcomputer 31 may specify the other party (robot 100) and transmit the failure signal, or may transmit the failure signal to a plurality of robots existing in the building structure. In this case, the robot closest to the failed elevator (Unit) should perform the rescue operation.

Here, when the failure signal receiving unit 201 has not received the failure signal (NO in S32), since the elevator 1 is normal, the elevator control device 30 performs normal operation and moves the car 2 to the target floor (NO). S48). After the process of step S48, the process of this flowchart ends.

On the other hand, when the failure signal receiving unit 201 receives the failure signal (YES in S32), the rescue operation control unit 124 controls the operation of the robot 100 by the drive control unit 121, and connects the connector 141 to the connector of the elevator hall. Connect to 42 (terminal) (S33). Next, the device state determination unit 202 determines whether the door zone detector 8 is normal (S34), and if the door zone detector 8 is abnormal (NO in S34), determines that rescue operation is not possible (S49). ) End the processing of this flowchart.

Subsequently, the device state determination unit 202 determines whether the rotary encoder 6 of the hoisting machine 4 is normal or not (S35) when the door zone detector 8 is normal (YES in S34). Then, the device state determination unit 202 shifts to the process of step S36 when the rotary encoder 6 is normal (YES in S35), and proceeds to the process of step S49 when the rotary encoder 6 is abnormal (NO in S35). Move to processing.

In FIG. 4, even if the rotary encoder 6 is abnormal, the rescue operation is performed using the acceleration sensor 133 of the robot 100, but in FIG. 6, since the robot 100 is in the elevator hall, the car speed cannot be detected. Therefore, in FIG. 6, if the rotary encoder 6 is abnormal, the rescue operation is disabled.

Next, the rescue operation control unit 124 appropriately executes the processes of steps S36 to S47. Steps S36 to S40 and S41 to S47 correspond to steps S6 to S10 and S17 to S23 in FIG. In step S47, the output processing unit 205 announces to the passengers by the speaker 13 in the car 2 when notifying the passengers in the car 2 that the door is manually opened (the door 11 needs to be opened manually). Controls such as displaying a message on the display device 12 in the car 2.

According to the second embodiment configured as described above, the same effect as that of the first embodiment can be obtained. That is, according to the second embodiment, when the elevator fails, the release of the brake 7 can be controlled from the elevator control device mounted on the robot 100, and the safety of passengers in the car can be ensured. Further, when the elevator breaks down, the passengers in the car 2 can be rescued without waiting for the arrival of the maintenance staff, and the confinement time can be shortened.

Further, according to the present embodiment, by controlling the door 11 by the robot 100, the door 11 can be opened and closed even when the microcomputer 31 of the elevator control device 30 is abnormal. Further, even when the door 11 fails, the risk of confinement can be reduced by shutting off the brake power supply and allowing passengers to manually open and close the door 11.

<3. Modification example>
In the first and second embodiments described above, an example in which the robot 100 releases the brake when the robot 100 receives a failure signal of the elevator 1 has been described, but the present invention is not limited to this example. For example, when a signal cannot be obtained from the microcomputer 31 due to a power failure or the like, the robot 100 may immediately determine that a failure or a power failure has occurred in the microcomputer 31 and output a brake release command.

Further, in the first and second embodiments, when the door zone detector 8 detects that the car 2 has reached the door opening / closing permission zone, the door opening / closing is permitted, but instead of the door opening / closing permission zone detection, the end floor Door opening and closing may be permitted by detection. Normally, the edge-floor shielding plate 16 is arranged so as to be detected when the car 2 is in the door open / close permission zone. Therefore, it is possible to determine whether or not to permit the opening and closing of the door by detecting the end floor. As a result, even if the door zone detector 8 fails, the rescue operation can be performed using the end floor detector 9.

Further, if the rotary encoder 6 of the hoisting machine 4 fails or the error is large, the rotary encoder 24 of the speed governor 20 may be substituted. This improves the availability of rescue operation control. Furthermore, the rescue operation may be controlled by using the logical product of the output signals of both the rotary encoder 6 and the rotary encoder 24.

Further, the function of the elevator control device included in the robot 100 may be incorporated into a portable information terminal device (an example of a mobile body) such as a tablet terminal or a notebook PC. For example, when the information terminal device receives the failure signal of the elevator 1, the manager of the structural building connects the information terminal device to the connector 42 of the elevator hall and executes rescue operation control, so that when the elevator fails, The passengers in the car 2 can be rescued without waiting for the maintenance personnel and the arrival of the robot 100, and the confinement time can be shortened.

The present invention is also applicable to a type of elevator that does not have a tail code 17.

Further, in the first and second embodiments described above, there is a possibility that the power supply of the elevator is cut off when the elevator fails. Therefore, the rescue operation control unit 124 of the robot 100 confirms the power level of the elevator 1 when receiving the failure signal of the elevator 1 from the elevator control device 30. Then, when the rescue operation control unit 124 determines that the power level of the elevator 1 has not reached the power level required to release the brake, the battery control unit 151 determines that the tail cord 17 or the hall power supply / signal line is used. The electric power of the battery is transmitted from the battery 150 to the elevator 1 via 41. As a result, even when the power supply of the elevator 1 is cut off, the brake can be released and the rescue operation can be performed.

Furthermore, the present invention is not limited to the above-described embodiments, and it goes without saying that various other application examples and modifications can be taken as long as the gist of the present invention described in the claims is not deviated. ..

For example, each of the above-described embodiments describes in detail and concretely the configurations of the elevator and the elevator control device in order to assist the understanding of the present invention, and is not necessarily limited to those including all the components described. It is also possible to add, replace, or delete other components with respect to a part of the components of each embodiment.

Further, each of the above configurations, functions, processing units and the like may be realized by hardware by designing a part or all of them by, for example, an integrated circuit. As hardware, FPGA (Field Programmable Gate Array), ASIC (Application Specific Integrated Circuit), or the like may be used. Further, each of the above components, functions, and the like may be realized by software by interpreting and executing a program in which a processor (processor 311 and CPU 110) provided in the computer realizes each function. Information such as programs, tables, and files that realize each function can be recorded in semiconductor memory, hard disk, recording device (memory 312, storage device 120) such as SSD (Solid State Drive), or recording in IC card, SD card, optical disk, etc. Can be placed on the medium.

Further, in the flowcharts shown in FIGS. 4 and 6, a plurality of processes may be executed in parallel or the processing order may be changed as long as the final processing result is not affected.

1 ... Elevator, 2 ... Basket, 3 ... Main rope, 4 ... Hoisting machine (motor), 5 ... Balance weight, 6 ... Rotary encoder, 7 ... Brake, 8 ... Door zone detector, 9 ... End floor detector, 10 … Door opening / closing device, 11… Cage door, 12… Display device, 13… Speaker, 14… Connector (car side connector), 15… Door zone shield plate, 16… End floor shield plate, 17… Tail cord (electric wire), 20 ... speed control machine, 21 ... speed control rope, 22 ... connector, 23 ... rope wheel, 24 ... rotary encoder, 30 ... elevator control device, 31 ... microcomputer, 311 ... processor, 312 ... memory, 32 ... brake control Device, 33 ... Brake release device, 34 ... Wireless communication interface, 41 ... Hall power supply / signal line, 42 ... Connector (Hall side connector), 100 ... Robot, 110 ... CPU, 120 ... Storage device, 121 ... Drive control unit, 124 ... Rescue operation control unit, 133 ... Acceleration sensor, 135 ... Speaker, 136 ... Drive mechanism, 140 ... Communication interface, 141 ... Connector (robot side connector), 150 ... Battery, 151 ... Battery control unit

Claims (13)

Detects that the hoist that winds up the main rope that connects the car and the counterweight, the brake that suppresses the drive of the hoist, the brake release device that releases the brake, and the car are in the door open / close permission zone. An elevator control device mounted on a robot that moves an elevator, comprising a position detector for opening and closing a door provided in the car, and a control unit for controlling the operation of the car. ,
When a failure signal indicating that the elevator cannot be started is received from the control unit, a brake release command is output to the brake release device to release the brake, and the car is provided in the car after arriving at the door open / close permission zone. An elevator control device equipped with a rescue operation control unit that controls the opening and closing of the door. The rescue operation control unit periodically compares the traveling speed of the car with the car speed reference value, and if the running speed of the car is equal to or less than the car speed reference value, the rescue operation control unit continues to release the brake. The elevator control device according to claim 1, wherein when the traveling speed of the car exceeds the car speed reference value, the release of the brake is controlled to be stopped. When the rotation detection device that outputs a signal corresponding to the rotation of the hoisting machine is normal, the rescue operation control unit calculates the traveling speed of the car based on the output signal of the rotation detection device. Item 2. The elevator control device according to item 2. The robot is equipped with an acceleration sensor.
The elevator control device according to claim 2, wherein the rescue operation control unit estimates the traveling speed of the car based on the output signal of the acceleration sensor when the acceleration sensor is normal. The rescue operation control unit stops the release of the brake when the position detector detects that the car has arrived at the door opening / closing permission zone, and then, if the door opening / closing device is normal, the rescue operation control unit stops the opening of the brake. A door opening command is output to the door opening / closing device to control the door to be automatically opened, or when the door opening / closing device is out of order, the power supply of the door opening / closing device is cut off and the passenger can use the door. The elevator control device according to claim 2, which controls the door so that it can be opened manually. The elevator control device according to claim 5, wherein the rescue operation control unit notifies the passenger that the door needs to be opened manually when the door opening / closing device is out of order. A claim that the elevator has a rope that transmits the movement of the car, and includes a speed governor that detects that the running speed of the car exceeds the car speed reference value and reduces the running speed of the car. 2. The elevator control device according to 2. The elevator comprises a connector, which is connected to an electric wire for communicating and transmitting power with the robot.
The robot includes a robot-side connector for connecting to the connector.
The rescue operation control unit according to claim 1, wherein the rescue operation control unit drives the robot to connect the robot-side connector to the connector, and electrically connects the control unit and the brake release device via the electric wire. Elevator control device. As the connector, a car-side connector is provided in the car.
After the robot gets into the car, the rescue operation control unit drives the robot to connect the robot-side connector to the car-side connector, and the control unit, the brake release device, and electricity via the electric wire. The elevator control device according to claim 8, which is connected to the robot. According to claim 9, when the robot receives the failure signal through wireless communication after getting into the car, the rescue operation control unit drives the robot to connect the robot-side connector to the car-side connector. Elevator control device described. As the connector, the elevator hall is provided with a hole-side connector.
The elevator control device according to claim 9, wherein the rescue operation control unit drives the robot to connect the robot-side connector to the hall-side connector when the failure signal is received through wireless communication. Detects that the hoist that winds up the main rope that connects the car and the counterweight, the brake that suppresses the drive of the hoist, the brake release device that releases the brake, and the car are in the door open / close permission zone. An elevator including a position detector, a door opening / closing device for opening / closing a door provided in the car, a control unit for controlling the operation of the car, and a robot for moving the elevator. It ’s a system,
When the robot receives a failure signal indicating that the elevator cannot be started from the control unit, it outputs a brake release command to the brake release device to release the brake, and after the car arrives at the door open / close permission zone. An elevator system including an elevator control device having a rescue operation control unit for controlling the opening and closing of a door provided in the car. Detects that the hoist that winds up the main rope that connects the car and the counterweight, the brake that suppresses the drive of the hoist, the brake release device that releases the brake, and the car are in the door open / close permission zone. Elevator control by an elevator control device mounted on a robot that moves an elevator, including a position detector, a door opening / closing device for opening / closing a door provided in the car, and a control unit for controlling the operation of the car. It ’s a method,
The elevator control device is
The process of receiving a failure signal indicating that the elevator cannot be started from the control unit, and
When the failure signal is received, a process of outputting a brake release command to the brake release device to control the release of the brake, and a process of controlling the release of the brake.
An elevator control method that executes a process of controlling the opening and closing of a door provided in the car after the car arrives at the door opening / closing permission zone.

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