阅读说明：本技术 断裂检测装置 (Fracture detection device ) 是由 中泽大辅 加藤利明 伊藤然一 山崎智史 于 2019-04-23 设计创作，主要内容包括：断裂检测装置例如具备传感器、提取部(24)、提取部(25)、检测部(26)以及判定部(27)。当电梯的绳索发生振动时,传感器的输出信号变动。提取部(24)从传感器的输出信号中提取特定频带的振动分量。提取部(25)从由提取部(24)提取出的振动分量中使取决于轿厢的速度的稳定振动分量以及渐增振动分量衰减而提取出判定信号。检测部(26)根据由提取部(25)提取出的判定信号,检测传感器的输出信号发生了异常的变动的情况。(The fracture detection device is provided with, for example, a sensor, an extraction unit (24), an extraction unit (25), a detection unit (26), and a determination unit (27). When the rope of the elevator vibrates, the output signal of the sensor fluctuates. An extraction unit (24) extracts a vibration component of a specific frequency band from the output signal of the sensor. An extraction unit (25) attenuates the steady vibration component and the increasing vibration component that depend on the speed of the car from the vibration components extracted by the extraction unit (24) to extract a determination signal. A detection unit (26) detects that the output signal of the sensor has abnormally changed, based on the determination signal extracted by the extraction unit (25).)

1. A fracture detection device, comprising:

a sensor whose output signal fluctuates when a rope of the elevator vibrates;

a 1 st extraction unit that extracts a vibration component of a specific frequency band from an output signal of the sensor;

a 2 nd extraction means for extracting a determination signal by attenuating a steady vibration component and a gradual vibration component depending on a speed of the elevator car from the vibration components extracted by the 1 st extraction means;

a detection unit that detects that abnormal fluctuation has occurred in the output signal of the sensor, based on the determination signal extracted by the 2 nd extraction unit; and

and a determination unit that determines whether or not a broken portion exists in the rope based on a position of the car at the time of the occurrence of the abnormal change, when the detection unit detects the occurrence of the abnormal change.

2. The fracture detection apparatus according to claim 1,

the 1 st extraction means includes a band-pass filter to which an output signal of the sensor is input,

the 2 nd extraction means includes:

a low-pass filter to which an output signal of the band-pass filter is input; and

and a subtractor that outputs a difference signal between the output signal of the band-pass filter and the output signal of the low-pass filter as a determination signal.

3. The breakage detection device according to claim 2,

the section of the speed that the car can realize when driving is virtually divided into a plurality of speed sections,

the low-pass filters are provided in correspondence with the speed sections, respectively.

4. The breakage detection device according to claim 3,

the 2 nd extraction means includes a 1 st filter, a 2 nd filter, and a 3 rd filter as the low-pass filter,

the plurality of speed sections include a 1 st speed section, a 2 nd speed section, and a 3 rd speed section,

the output signal of the band-pass filter when the car moves at a speed included in the 1 st speed zone is input to the 1 st filter,

the output signal of the band-pass filter when the car moves at a speed included in the 2 nd speed zone is input to the 2 nd filter,

the output signal of the band-pass filter when the car moves at a speed included in the 3 rd speed zone is input to the 3 rd filter,

the speed included in the 2 nd speed section is greater than the speed included in the 1 st speed section,

the speed included in the 3 rd speed section is greater than the speed included in the 2 nd speed section.

5. The breakage detection device according to claim 4,

the subtracter

Outputting a difference signal between an output signal of the band-pass filter and an output signal of the 1 st filter when the car moves at a speed included in the 1 st speed zone,

outputting a difference signal between an output signal of the band-pass filter and an output signal of the 2 nd filter when the car moves at a speed included in the 2 nd speed zone,

and outputting a difference signal between the output signal of the band-pass filter and the output signal of the 3 rd filter when the car moves at a speed included in the 3 rd speed zone.

6. The fracture detection apparatus according to claim 1,

the 1 st extraction means includes a band-pass filter to which an output signal of the sensor is input,

the 2 nd extraction unit is provided with a high-pass filter,

the high-pass filter is input with the output signal of the band-pass filter and outputs a determination signal.

7. The breakage detection device according to claim 6,

the section of the speed that the car can realize when driving is virtually divided into a plurality of speed sections,

the high-pass filters are provided in correspondence with the speed sections, respectively.

8. The fracture detection apparatus according to claim 1,

the 1 st extraction means includes a band-pass filter to which an output signal of the sensor is input,

the 2 nd extraction unit is provided with a notch filter,

the rope is wound around a drive sheave of a traction machine,

the notch filter has a blocking frequency for blocking a frequency of torque ripple resonance of the hoisting machine,

the notch filter is input with the output signal of the band-pass filter and outputs a determination signal.

9. The fracture detection apparatus according to claim 1,

the 1 st extraction means is provided with a high-pass filter to which the output signal of the sensor is input,

the 2 nd extraction means is provided with a low-pass filter with a variable cut-off frequency,

the rope is wound around a drive sheave of a traction machine,

the cut-off frequency of the low-pass filter is controlled to be lower than the frequency of the torque ripple of the traction machine,

the low-pass filter is input with an output signal of the high-pass filter, and outputs a determination signal.

10. The fracture detection apparatus according to any one of claims 1 to 7,

the 2 nd extraction means extracts the determination signal by attenuating, from among the vibration components extracted by the 1 st extraction means, the larger of the steady vibration component and the gradual vibration component that depend on the speed at which the car is accelerated and the steady vibration component and the gradual vibration component that depend on the speed at which the car is decelerated.

11. The fracture detection apparatus according to any one of claims 1 to 7,

the 2 nd extraction unit

A determination signal is extracted by attenuating a steady vibration component and a gradual vibration component depending on a speed at the time of acceleration of the car from among the vibration components extracted by the 1 st extraction means when the car is accelerated,

when the car decelerates, a determination signal is extracted by attenuating a steady vibration component and a gradual vibration component that depend on the speed at the time of deceleration of the car from among the vibration components extracted by the 1 st extraction means.

12. The fracture detection apparatus according to claim 1,

the 2 nd extraction unit attenuates a steady vibration component and a gradual vibration component depending on the speed and position of the car from among the vibration components extracted by the 1 st extraction unit, thereby extracting a determination signal.

13. The breakage detection device according to claim 12,

the 1 st extraction means includes a band-pass filter to which an output signal of the sensor is input,

the 2 nd extraction means includes:

a low-pass filter to which an output signal of the band-pass filter is input; and

and a subtractor that outputs a difference signal between the output signal of the band-pass filter and the output signal of the low-pass filter as a determination signal.

14. The breakage detection device according to claim 13,

the section of the speed that the car can realize when driving is virtually divided into a plurality of speed sections,

the section in which the car moves is virtually divided into a plurality of position sections,

the low-pass filter is provided corresponding to each combination of the velocity section and the position section.

15. A fracture detection device, comprising:

a sensor whose output signal fluctuates when a rope of the elevator vibrates;

a 1 st extraction unit that extracts a vibration component of a specific frequency band from an output signal of the sensor;

a 1 st damping unit for damping a steady vibration component and an increasing vibration component depending on a speed of an elevator car from among the vibration components extracted by the 1 st extracting unit;

a 2 nd damping unit for damping a steady vibration component and an increasing vibration component depending on a position of the car from the vibration components extracted by the 1 st extracting unit;

a 2 nd extraction unit that selects one of the 1 st attenuation unit and the 2 nd attenuation unit according to the speed and position of the car and extracts a determination signal;

a detection unit that detects that abnormal fluctuation has occurred in the output signal of the sensor, based on the determination signal extracted by the 2 nd extraction unit; and

and a determination unit that determines whether or not a broken portion exists in the rope based on a position of the car at the time of the occurrence of the abnormal change, when the detection unit detects the occurrence of the abnormal change.

16. The breakage detection device according to claim 15,

the 1 st extraction means includes a band-pass filter to which an output signal of the sensor is input,

the 1 st attenuation means includes a 1 st low-pass filter to which an output signal of the band-pass filter is input,

the 2 nd attenuation means includes a 2 nd low-pass filter to which an output signal of the band-pass filter is input,

the 2 nd extracting means includes a subtractor that outputs a difference signal between the output signal of the band-pass filter and the output signal of the 1 st low-pass filter or the output signal of the 2 nd low-pass filter as a determination signal.

17. The breakage detection device according to claim 16,

the section of the speed that the car can realize when driving is virtually divided into a plurality of speed sections,

the 1 st low-pass filters are provided corresponding to the speed sections,

the section in which the car moves is virtually divided into a plurality of position sections,

the 2 nd low-pass filters are provided in correspondence with the position sections, respectively.

18. The fracture detection apparatus according to claim 16 or 17,

the 2 nd extracting means subtracts the larger one of the value of the output signal of the 1 st low-pass filter determined according to the speed of the car and the value of the output signal of the 2 nd low-pass filter determined according to the position of the car from the value of the output signal of the band-pass filter.

19. The fracture detection apparatus according to claim 16 or 17,

the 2 nd extracting means subtracts a value of the output signal of the 1 st low-pass filter determined according to the speed of the car from a value of the output signal of the band-pass filter at the time of acceleration and deceleration of the car,

and subtracting the value of the output signal of the 2 nd low-pass filter determined according to the position of the car from the value of the output signal of the band-pass filter when the car is at a constant speed.

20. The fracture detection apparatus according to any one of claims 1 to 19,

the detection unit detects abnormal variation in the output signal of the sensor when the value of the determination signal extracted by the 2 nd extraction unit exceeds a 1 st threshold value.

21. The fracture detection device according to any one of claims 1 to 20, wherein the fracture detection device further comprises:

a storage means for storing a position of the car at the time of occurrence of the abnormal change in association with a determination score when the abnormal change is detected by the detection means; and

a calculation means for adding the determination score when the detection means detects that the abnormal change has occurred when the car passes the position stored in the storage means again, and for subtracting the determination score if the detection means does not detect that the abnormal change has occurred when the car passes the position again,

the determination means determines whether or not the rope has a broken portion based on the determination score.

22. The fracture detection apparatus according to any one of claims 1 to 21,

the output signal from the sensor is a torque signal from a hoisting machine having a drive sheave around which the rope is wound, a weighing signal from a weighing device that detects a load of the car, or a speed deviation signal corresponding to a difference between a command value and an actually measured value for a rotation speed of the hoisting machine.

Technical Field

The present invention relates to a fracture detection device.

Background

Patent document 1 describes a fracture detection device. In the breakage detection device described in patent document 1, an output signal from a sensor is stored in association with a car position. Whether or not a broken portion of the rope exists is determined based on the car position and the transition of the fluctuation of the output signal from the sensor.

Documents of the prior art

Patent document

Patent document 1: international publication No. 2017/203609

Disclosure of Invention

Problems to be solved by the invention

As a result of the applicant's investigation using the fracture detection device described in patent document 1, the applicant found a cause that is not described in patent document 1 as a cause of abnormal fluctuation in the output signal from the sensor. For example, in a conventional fracture detection device, there is a problem that detection accuracy is deteriorated due to erroneous detection caused by a vibration component depending on the speed of an elevator car.

The present invention has been made to solve the above problems. The invention aims to provide a breakage detection device capable of detecting the condition of a broken part of a rope with high precision.

Means for solving the problems

The fracture detection device of the present invention includes: a sensor whose output signal fluctuates when a rope of the elevator vibrates; a 1 st extraction unit that extracts a vibration component of a specific frequency band from an output signal of the sensor; a 2 nd extraction means for extracting a determination signal by attenuating a steady vibration component and a gradual vibration component, which depend on the speed of the elevator car, from the vibration components extracted by the 1 st extraction means; a detection unit that detects that abnormal variation has occurred in the output signal of the sensor based on the determination signal extracted by the 2 nd extraction unit; and a determination means for determining whether or not a broken portion of the rope exists, based on the position of the car at the time of occurrence of the abnormal change, when the detection means detects the occurrence of the abnormal change.

The fracture detection device of the present invention includes: a sensor whose output signal fluctuates when a rope of the elevator vibrates; a 1 st extraction unit that extracts a vibration component of a specific frequency band from an output signal of the sensor; a 1 st damping unit for damping a steady vibration component and an increasing vibration component depending on a speed of the elevator car from the vibration components extracted by the 1 st extracting unit; a 2 nd damping unit for damping a stable vibration component and an increasing vibration component depending on a position of the car from the vibration components extracted by the 1 st extracting unit; a 2 nd extraction means for selecting one of the 1 st attenuation means and the 2 nd attenuation means according to the speed and position of the car and extracting the determination signal; a detection unit that detects that abnormal variation has occurred in the output signal of the sensor based on the determination signal extracted by the 2 nd extraction unit; and a determination means for determining whether or not a broken portion of the rope exists, based on the position of the car at the time of the occurrence of the abnormal change, when the detection means detects the occurrence of the abnormal change.

Effects of the invention

The fracture detection device of the present invention includes, for example, a 1 st extraction means, a 2 nd extraction means, a detection means, and a determination means. A2 nd extraction means extracts a determination signal by attenuating a steady vibration component and a gradual vibration component depending on the speed of the elevator car from the vibration components extracted by the 1 st extraction means. The detection means detects that the output signal of the sensor has abnormally changed, based on the determination signal extracted by the 2 nd extraction means. The breakage detection device of the present invention can detect the presence of a broken portion in a rope with high accuracy.

Drawings

Fig. 1 is a diagram schematically showing an elevator apparatus.

Fig. 2 is a perspective view showing an example of the diverting sheave.

Fig. 3 is a cross-sectional view of the diverting pulley.

Fig. 4 is a diagram for explaining movement of the broken portion of the main rope.

Fig. 5 is a diagram for explaining movement of the broken portion of the main rope.

Fig. 6 is a diagram for explaining movement of the broken portion of the main rope.

Fig. 7 is a diagram showing an example of an output signal from the sensor.

Fig. 8 is a diagram showing an example of an output signal from the sensor.

Fig. 9 is a diagram for explaining an example of sensor signal fluctuation.

Fig. 10 is a diagram showing an example of the fracture detection device according to embodiment 1.

Fig. 11 is a flowchart showing an operation example of the fracture detection device according to embodiment 1.

Fig. 12 is a diagram illustrating an example of the function of the extraction unit.

Fig. 13 is a diagram showing an example of a transition of a fluctuation occurring in a sensor signal.

Fig. 14 is a diagram showing an example of a transition of a fluctuation occurring in a sensor signal.

Fig. 15 is a diagram showing an example of a transition of a fluctuation occurring in a sensor signal.

Fig. 16 is a diagram showing an example of a variation in sensor signal due to a fracture.

Fig. 17 is a diagram for explaining an example of variation in sensor signals due to resonance of torque ripple.

Fig. 18 is a diagram illustrating an example of the function of the extraction unit.

Fig. 19 is a diagram for explaining an example of mounting the extraction unit.

Fig. 20 is a diagram showing an example of a signal input to the subtractor.

Fig. 21 is a diagram showing an example of a signal input to the subtractor.

Fig. 22 is a diagram showing an example of a signal input to the subtractor.

Fig. 23 is a diagram showing another example of the function of the extraction unit.

Fig. 24 is a diagram for explaining an example of the reproducibility judgment function.

Fig. 25 is a diagram showing another example of the fracture detection device according to embodiment 1.

Fig. 26 is a diagram illustrating an example of the breaking portion.

Fig. 27 is a diagram showing an example of the breaking portion.

Fig. 28 is a diagram for explaining an example of functions of the arithmetic section and the determination section.

Fig. 29 is a diagram schematically showing an elevator apparatus.

Fig. 30 is a diagram for explaining an example of sensor signal fluctuation.

Fig. 31 is an enlarged cross-sectional view of the diverting pulley.

Fig. 32 is a diagram for explaining an example of sensor signal fluctuation.

Fig. 33 is a diagram showing an example of the fracture detection device according to embodiment 2.

Fig. 34 is a diagram for explaining an example of mounting the extraction unit.

Fig. 35 is a diagram showing an example of a signal input to the subtractor.

Fig. 36 is a diagram for explaining an example of the function of the extraction unit.

Fig. 37 is a diagram showing another example of the fracture detection device according to embodiment 2.

Fig. 38 is a diagram showing an example of the extraction unit.

Fig. 39 is a diagram showing an example of mounting of the low-pass filter.

Fig. 40 is a diagram for explaining another example of the extraction function.

Fig. 41 is a diagram showing an example of mounting the extraction unit.

Fig. 42 is a diagram showing another example of mounting of the extraction unit.

Fig. 43 is a diagram showing an example of hardware resources of the control device.

Fig. 44 is a diagram showing another example of hardware resources of the control device.

Detailed Description

The invention is described with reference to the accompanying drawings. Duplicate descriptions are appropriately simplified or omitted. In the drawings, the same reference numerals denote the same or equivalent parts.

Embodiment mode 1

Fig. 1 is a diagram schematically showing an elevator apparatus. The elevator apparatus includes a car 1 and a counterweight 2. The car 1 moves up and down in the hoistway 3. The counterweight 2 moves up and down in the hoistway 3. The car 1 and the counterweight 2 are suspended in the hoistway 3 by the main rope 4. Fig. 1 shows a car 1 and a counterweight 2 in a ratio of 2: 1 is suspended in a hoistway 3 by a rope winding method. The roping is not limited to the example shown in fig. 1. The car 1 and the counterweight 2 may be arranged in a ratio of 1: the rope 1 is suspended in the hoistway 3 by a rope winding method.

In the example shown in fig. 1, one end 4a of the main rope 4 is supported by a fixed body provided at the top of the hoistway 3. The main rope 4 extends downward from the end portion 4 a. The main rope 4 is looped around the hoisting sheave 5, the hoisting sheave 6, the diverting sheave 7, the drive sheave 8, the diverting sheave 9, and the hoisting sheave 10 from the end 4a side. The main rope 4 extends upward from a portion wound around the hoist 10. The other end 4b of the main rope 4 is supported by a fixed body provided at the ceiling of the hoistway 3.

The hanging wheels 5 and 6 are provided on the car 1. The hanging wheels 5 and 6 are provided to a member supporting the car floor, for example, so as to be rotatable. The diverting sheave 7 and the diverting sheave 9 are provided to a member disposed at the top of the hoistway 3, for example, so as to be rotatable. The drive sheave 8 is provided in the hoisting machine 11. The hoisting machine 11 is installed in a pit of the hoistway 3, for example. The hoisting wheel 10 is provided to the counterweight 2. The hoist 10 is provided to a frame supporting the adjustment weight so as to be rotatable, for example.

The arrangement of the pulleys around which the main ropes 4 are wound is not limited to the example shown in fig. 1. For example, the drive sheave 8 may be disposed at the top of the hoistway 3. The drive sheave 8 may be disposed in a machine room (not shown) above the hoistway 3. The elevator arrangement can also be provided with other pulleys not shown in fig. 1.

The weighing device 12 detects the load of the car 1. Fig. 1 shows an example in which the weighing device 12 detects the load of the car 1 from the load applied to the end 4a of the main rope 4. The weighing device 12 outputs a weighing signal corresponding to the detected load. The weighing signal output from the weighing device 12 is input to the control device 13.

The hoisting machine 11 has a function of detecting torque. The hoisting machine 11 outputs a torque signal corresponding to the detected torque. The torque signal output from the hoisting machine 11 is input to the control device 13.

The control device 13 controls the hoisting machine 11. The control device 13 calculates a command value for the rotation speed of the hoisting machine 11, that is, the rotation speed of the drive sheave 8. The car 1 moves when the drive sheave 8 rotates. In the example shown in the present embodiment, the rotation speed of the hoisting machine 11 and the speed of the car 1 have a corresponding relationship. The hoisting machine 11 is provided with an encoder 14 (not shown in fig. 1). The encoder 14 outputs a rotation signal corresponding to the rotation direction and the rotation angle of the drive sheave 8. The rotation signal output from the encoder 14 is input to the control device 13.

The speed governor 15 operates an emergency stop device (not shown) when the descending speed of the car 1 exceeds a reference speed. The emergency stop device is provided in the car 1. The emergency stop device forcibly stops the car 1 when operating. The speed governor 15 includes, for example, a governor rope 16, a governor sheave 17, and an encoder 18. The governor rope 16 is connected to the car 1. The governor rope 16 is suspended around a governor sheave 17. When the car 1 moves, the speed limiting rope 16 moves. When the governor rope 16 moves, the governor sheave 17 rotates. The encoder 18 outputs a rotation signal corresponding to the rotation direction and the rotation angle of the governor sheave 17. The rotation signal output from the encoder 18 is input to the control device 13.

The control device 13 includes, for example, a speed detection unit 21, a position detection unit 22, and a signal generation unit 23. The speed detection unit 21 detects the speed of the car 1. The speed detection unit 21 detects the speed of the car 1 based on, for example, a rotation signal from the encoder 14. The speed detection unit 21 may detect the speed of the car 1 based on the rotation signal from the encoder 18.

The position detection unit 22 detects the position of the car 1. In the example shown in the present embodiment, the car 1 moves only up and down. Thus, the position of the car 1 is synonymous with the height at which the car 1 is present. The position detection unit 22 detects the position of the car 1 based on, for example, a rotation signal from the encoder 14. The position detecting unit 22 may detect the position of the car 1 based on the rotation signal from the encoder 18. The encoder 14 is an example of a sensor that outputs a signal corresponding to the position of the car 1. Similarly, the encoder 18 is an example of a sensor that outputs a signal corresponding to the position of the car 1.

The signal generating unit 23 generates a speed deviation signal. The speed deviation signal is a signal corresponding to a difference between an actually measured value of the rotation speed of the hoisting machine 11 and a command value for the rotation speed of the hoisting machine 11. The signal generating unit 23 generates a speed deviation signal based on the rotation signal from the encoder 14 or the encoder 18 and the speed command for the hoisting machine 11. The signal generation unit 23 may use the value detected by the speed detection unit 21 to generate the speed deviation signal.

Fig. 2 is a perspective view showing an example of the diverting sheave 7. Fig. 3 is a cross-sectional view of the diverting pulley 7. The member supporting the return sheave 7 is provided with a retaining member 19. For example, the retaining member 19 is provided on the shaft 7a of the diverting pulley 7. The main ropes 4 are wound around grooves of the diverting pulley 7. The anti-drop member 19 prevents the main ropes 4 from dropping out of the grooves of the return sheave 7. The retaining member 19 faces the main rope 4 with a predetermined gap.

The retaining member 19 includes, for example, an opposing portion 19a and an opposing portion 19 b. The opposing portion 19a opposes a portion of the main rope 4 on the side where the main rope 4 is far from the return sheave 7. The opposing portion 19b opposes the other portion of the main ropes 4, which is far from the diverting sheave 7, of the main ropes 4. The diverting sheave 7 is disposed between the opposing portion 19a and the opposing portion 19 b. If no abnormality occurs in the main rope 4, the main rope 4 does not come into contact with the anti-slip member 19.

Fig. 2 and 3 show an example in which the breaking portion 4c protrudes from the surface of the main rope 4. The main ropes 4 are formed by twisting a plurality of strands. The strand is formed by twisting a plurality of wires. The breaking portion 4c is a portion where the wire is broken. The fracture 4c may be a portion where the strands are broken. When the car 1 moves, the broken portion 4c passes the diverting pulley 7. The breaking portion 4c can contact the retaining member 19 when passing through the diverting pulley 7.

Fig. 2 and 3 show an example of the diverting sheave 7 as a sheave around which the main rope 4 is wound. The other pulley such as the hoist 5 may be provided with a retaining member. The retaining member may be provided for other pulleys not shown in fig. 1.

Fig. 4 to 6 are diagrams for explaining the movement of the fracture portion 4c of the main rope 4. Fig. 4 shows a state where the car 1 is stopped at the lowermost landing. If the car 1 stops at the lowermost landing, a broken portion 4c exists in the main rope 4 from the end 4a to a portion wound around the hoist wheel 5.

Fig. 6 shows a state where the car 1 is stopped at the uppermost landing. When the car 1 stops at the uppermost landing, the broken portion 4c exists between the portion of the main rope 4 wound around the return sheave 7 and the portion wound around the drive sheave 8. That is, when the car 1 moves from the lowermost landing to the uppermost landing, the broken portion 4c passes over the hanging wheel 5, the hanging wheel 6, and the diverting pulley 7. Even if the car 1 moves from the lowermost landing to the uppermost landing, the broken portion 4c does not pass through the drive sheave 8, the return sheave 9, and the hanging sheave 10. Even if the broken portion 4c is generated, the broken portion 4c does not pass through all the pulleys around which the main rope 4 is wound. The combination of pulleys through which the breakage portion 4c passes is determined depending on the position where the breakage portion 4c is generated, and the like.

Fig. 5 shows a state in which the car 1 is moving from the lowermost landing to the uppermost landing. Fig. 5 shows a state where the breaking portion 4c is passing the hoist wheel 5. For example, the hanging wheel 5 is provided with a retaining member. The breaking portion 4c comes into contact with the retaining member when passing through the hoist 5.

Fig. 7 is a diagram showing an example of an output signal from the sensor. In the following description, a signal output from a sensor is also referred to as a sensor signal. Fig. 7A shows the position of the car 1. Fig. 7A shows a change in the car position when the car 1 moves from the lowermost floor to the position P and then returns to the lowermost floor. In fig. 7A, the car position of the lowermost floor is 0. The waveform shown in fig. 7A is obtained from, for example, a rotation signal from the encoder 14.

Fig. 7B shows an example of the sensor signal. Specifically, fig. 7B shows the torque of the hoisting machine 11. The waveform shown in fig. 7B is when the car 1 is at the lowestThe waveform of the torque signal output from the hoisting machine 11 when the floor is moved from the position P. In FIG. 7B, the maximum torque is Tq₁. In FIG. 7B, the minimum torque is-Tq₂。

Fig. 7C shows an example of the sensor signal. Specifically, fig. 7C shows a speed deviation with respect to the hoisting machine 11. The waveform shown in fig. 7C shows the waveform of the speed deviation signal generated by the signal generation unit 23 when the car 1 moves between the lowermost floor and the position P.

Fig. 7D shows an example of the sensor signal. Fig. 7D shows the load of the car 1. The waveform shown in fig. 7D is a waveform of the weighing signal output from the weighing device 12. Fig. 7D shows an example in which the load detected by the weighing device 12 is w [ kg ].

Fig. 7B, 7C, and 7D show waveforms of ideal sensor signals. However, the actual sensor signal fluctuates due to various factors. Hereinafter, the fluctuation generated in the sensor signal will be described.

Fig. 8 is a diagram showing an example of an output signal from the sensor. Fig. 8A is a diagram corresponding to fig. 7A. Fig. 8B is a diagram corresponding to fig. 7B. Fig. 8C is a diagram corresponding to fig. 7C. Fig. 8D is a diagram corresponding to fig. 7D. Fig. 8 shows an example of a waveform obtained when the main rope 4 has a broken portion 4 c.

The breaking portion 4c passes through the position P in the car 1₁Passing over a pulley. For example, the breaking portion 4c passes through the position P in the car 1₁Passing over the diverting pulley 7. The breaking portion 4c contacts the retaining member 19 when passing through the diverting pulley 7. Thereby, the car 1 passes through the position P₁At this time, the main ropes 4 vibrate. When the end 4a of the main rope 4 is displaced, the weighing signal output from the weighing device 12 is affected. That is, when the vibration generated in the main rope 4 reaches the end 4a, the weighing signal from the weighing device 12 fluctuates.

Similarly, when the portion of the main rope 4 wound around the drive sheave 8 is displaced, the displacement affects the rotation of the drive sheave 8. Therefore, when the vibration generated in the main rope 4 reaches this portion, the speed deviation signal generated by the signal generating unit 23 fluctuates. Further, when the portion of the main rope 4 wound around the drive sheave 8 is displaced, the torque signal output from the hoisting machine 11 is affected. Therefore, when the vibration generated in the main ropes 4 reaches this portion, the torque signal from the hoisting machine 11 fluctuates.

In this way, when the main rope 4 has the breaking portion 4c, the sensor signal may fluctuate. The variation in the sensor signal due to the broken portion 4c occurs repeatedly at the same car position. Further, the broken portion 4c may be suddenly generated due to the breakage of the wire rod. Therefore, the sensor signal fluctuation due to the fracture portion 4c occurs suddenly.

Fig. 9 is a diagram for explaining an example of sensor signal fluctuation. Fig. 9A shows the rotation speed of the hoisting machine 11. Fig. 9A shows the rotation speed of the hoisting machine 11 when the car 1 moves from the lowermost floor to the position P. In the example shown in fig. 9, by time t₄The car 1 is accelerated. At slave time t₄To time t₅While the car 1 is moving at a constant speed. From time t car 1₅The deceleration is started.

Fig. 9B shows the frequency of torque ripple of the hoisting machine 11. Assuming that the rotation speed of the hoisting machine 11 is v (t), the diameter of the drive sheave 8 is r, and the angular frequency of the hoisting machine 11 is ω₀When (t) is reached, the formula (1) is established.

ω₀(t)＝v(t)/r…(1)

When the angular frequency of the torque ripple of the hoisting machine 11 is ω (t) and the frequency of the torque ripple of the hoisting machine 11 is f (t), equations (2) and (3) are satisfied.

ω(t)＝αω₀(t)…(2)

f(t)＝ω(t)/(2π)…(3)

α is a constant. The formula (4) can be obtained from the formulae (1) and (2).

ω(t)＝αv(t)/r…(4)

The formula (5) can be obtained from the formulae (3) and (4).

f(t)＝αv(t)/(2πr)…(5)

As shown in equation (5), the angular frequency of the torque ripple of the hoisting machine 11 is proportional to the rotation speed of the hoisting machine 11. Therefore, if the rotation speed pattern of the hoisting machine 11 is trapezoidal as shown in fig. 9A, the frequency pattern of the torque ripple of the hoisting machine 11 is also trapezoidal as shown in fig. 9B.

The curve fn (t) shows the natural frequency of vibration of the secondary mode of the mechanical system of the elevator. Fig. 9B shows the frequency f (t) of the torque ripple of the hoisting machine 11 at time t₃And time t₆Example of crossing the natural frequency fn (t). When the frequency f (t) of the torque ripple crosses the natural frequency fn (t), resonance occurs.

Fig. 9C shows an example of the sensor signal. Specifically, fig. 9C shows the torque of the hoisting machine 11. The waveform shown in fig. 9C is a waveform of a torque signal output from the hoisting machine 11 when the car 1 moves from the lowermost floor to the position P. When at time t₃When resonance occurs, the torque signal from the hoisting machine 11 fluctuates. For example, when a specific vibration mode among vibration modes of an elevator machine system is excited by resonance, a torque signal and a speed deviation signal are likely to fluctuate. The specific vibration mode described above is, for example, the following mode: the car 1 and the counterweight 2 reach a node at which the main rope 4 vibrates, and vibrate in the rotational direction around each sheave around which the main rope 4 is wound.

Such a fluctuation of the sensor signal due to the resonance of the torque ripple depends on the rotation speed of the hoisting machine 11, that is, the speed of the car 1. That is, the variation of the sensor signal due to the resonance of the torque ripple is set to v every time the rotation speed of the hoisting machine 11 becomes v₁This happens repeatedly. Further, if control is not performed such that the acceleration of the car 1 is changed, for example, when the car 1 starts traveling from the lowermost floor, the rotation speed of the hoisting machine 11 always becomes v at the same car position₁. Therefore, the variation of the sensor signal due to the resonance of the torque ripple becomes v at the rotation speed of the hoisting machine 11₁Repeatedly at the car position. Further, the variation of the sensor signal due to the resonance of the torque ripple tends to increase with the passage of time.

The cause of the variation in the sensor signal is not limited to the above example. Since the main rope 4 is wound around the pulley, friction exists between the main rope 4 and the pulley. Further, friction is present between the guide members and the guide rails provided in the car 1. Therefore, even if only the car 1 moves, such a fluctuation due to friction occurs in the sensor signal. Further, if only a specific car speed is observed, fluctuation of the sensor signal due to friction is repeated. Similarly, if the user looks at a specific car position, the sensor signal changes due to friction repeatedly. The variation of the sensor signal due to friction does not increase with the passage of time, like the DC component.

Fig. 10 is a diagram showing an example of the fracture detection device according to embodiment 1. The control device 13 further includes, for example, a storage unit 20, an extraction unit 24, an extraction unit 25, a detection unit 26, a determination unit 27, an operation control unit 28, and a notification unit 29. Fig. 10 shows an example in which the control device 13 has a function of detecting the presence of the broken portion 4c of the main rope 4. A dedicated device for detecting the fracture portion 4c may be provided in the elevator apparatus. Hereinafter, the function and operation of the fracture detection device will be described in detail with reference to fig. 11 to 24. Fig. 11 is a flowchart showing an operation example of the fracture detection device according to embodiment 1.

The extraction unit 24 extracts a vibration component of a specific frequency band from the sensor signal (S101). In the example shown in the present embodiment, the weighing signal, the speed deviation signal, and the torque signal can be used as the sensor signals. As another example, an acceleration signal from an accelerometer (not shown) provided in the car 1 may be used as the sensor signal. In the following, an example of using a torque signal as a sensor signal will be described in detail. For example, the extraction unit 24 extracts a vibration component of a specific frequency band from the torque signal.

When the breaking portion 4c comes into contact with the retaining member 19, an abnormal fluctuation occurs in the torque signal from the hoisting machine 11. The abnormal fluctuation has a vibration component of a specific frequency band corresponding to the length of the breaking portion 4c and the speed of the main rope 4. As shown in FIG. 3, the length of the breaking portion 4c is d [ m ]]The speed of the main rope 4 is v_r[m/s]Time, frequency f [ Hz ] of abnormal variation]Represented by formula (6).

f＝v_r/d…(6)

FIG. 12 is a view showing the work of the extracting section 24An example of the energy. The extraction unit 24 includes, for example, a band-pass filter 40. For the sake of simplicity, the band pass filter is also referred to as a BPF in the drawings and the like. The band-pass filter 40 receives the torque signal from the hoisting machine 11. The band-pass filter 40 extracts a vibration component of a specific frequency band including the frequency f shown in expression (6) from the input torque signal. The length d of the breaking portion 4c is set in advance. For example, assuming that the breakage 4c is formed due to the strand unraveling by an amount of 0.5 pitch to several pitches, the length of the unraveled strand is set to the length d. Speed v of the main rope 4_rIs determined according to the speed of the car 1. The speed of the main rope 4 may also be calculated from the rated speed of the car 1.

As shown in fig. 12, the extraction unit 24 may further include an amplifier 41. The amplifier 41 for example squares the signal u. The extracting unit 24 may further obtain the signal u output from the amplifier 41²The square root of (a). The extraction unit 24 may obtain the absolute value of the signal u so that the sign of the output signal is positive. In the following description, the signal output from the extracting unit 24 will be referred to as an output signal Y. When the extracting unit 24 includes the band pass filter 40, the signal output from the extracting unit 24 is also referred to as an output signal Y of the band pass filter 40.

Fig. 12 shows an example in which the extraction unit 24 includes a band-pass filter 40 to perform filtering processing on an input torque signal. The extraction unit 24 may be provided with a nonlinear filter to extract a vibration component of a specific frequency band. The adaptive filter algorithm may be applied to the extraction unit 24 to extract the vibration component of a specific frequency band.

The extraction unit 25 extracts a determination signal from the vibration component extracted by the extraction unit 24 (S102). The determination signal is a signal necessary for determining that the sensor signal has suddenly changed. The extraction unit 25 obtains a determination signal by attenuating a trend component from the vibration components extracted by the extraction unit 24. The tendency component is a component indicating a tendency of secular change of the vibration during traveling of the car 1 of approximately 1000 times in the recent past, for example. The trend component includes, for example, a steady vibration component and an increasing vibration component.

Fig. 13 to 15 are diagrams showing examples of transitions of fluctuations occurring in sensor signals. In fig. 13 to 15, the vertical axis shows values corresponding to the amplitude of the fluctuation generated in the sensor signal. The horizontal axis shows the number of starts of the elevator. The horizontal axis may be the elapsed time from installation of the elevator. The horizontal axis may be the number of times the car 1 passes a specific position.

Fig. 13 shows the car 1 passing the position P₁The value of the resulting output signal Y. At the time when the number of starts is M1, the main rope 4 does not have the broken portion 4 c. Fig. 13 shows an example in which the main rope 4 has a broken portion 4c when the number of starts is M2. As described above, the breakage portion 4c is suddenly generated due to breakage of the wire rod. Therefore, the sensor signal fluctuation due to the fracture portion 4c occurs suddenly. When the breakage portion 4c is generated in the main rope 4, the value of the output signal Y suddenly increases compared to the previous value.

Fig. 16 is a diagram showing an example of variation in sensor signal due to the fracture portion 4 c. Fig. 16 shows an example in which the car 1 makes two reciprocations between the lowermost layer and the position P after the main rope 4 has a broken portion 4 c. In the example shown in fig. 16, the car 1 is at time t₁Time t₂Time t₇And time t₈Passing through position P₁. Fig. 16B shows the torque of the hoisting machine 11. Fig. 16C shows the value of the output signal Y. When the main rope 4 has a broken portion 4c, the car 1 passes through the position P every time it passes through the position P₁In this case, the breaking portion 4c may come into contact with the coming-off preventing member 19. Therefore, as shown in fig. 13, when the breakage portion 4c is generated in the main rope 4, the position P is set₁The value of the output signal Y here also continues to show a larger value after that.

Fig. 14 shows the car 1 passing position P₂The value of the resulting output signal Y. Position P₂For example, the rotation speed of the hoisting machine 11 is v immediately after the car 1 starts traveling from the lowermost floor₁The position of (a). As described above, the fluctuation of the sensor signal due to the resonance of the torque ripple depends on the rotation speed of the hoisting machine 11, that is, the speed of the car 1. However, since the position at which the car 1 stops is determined, the position at which the sensor signal fluctuation due to the resonance of the torque ripple occurs has reproducibility.

Fig. 17 is a diagram for explaining an example of sensor signal fluctuation due to resonance of torque ripple. For example, when the car 1 starts traveling from the lowermost floor, the time t immediately after the start of traveling is₃The rotation speed of the hoist 11 is v₁. Thus, at time t₃The value of the output signal Y shows a larger value.

In FIG. 17, f₁(t) shows the frequency of the torque ripple when the car 1 stops at 4 floors. f. of₂(t) shows the frequency of the torque ripple when the car 1 stops at 6 floors. When the car 1 stops at the 4 th floor, it stops at time t₉The rotation speed of the hoist 11 is v₁. Therefore, when the car 1 stops at the 4 th floor, the time t is set to₉The value of the output signal Y shows a larger value. On the other hand, when the car 1 stops at the 6 th floor, it stops at time t₉Front and rear, the rotation speed of the hoist 11 is not v₁. Therefore, when the car 1 passes through 4 floors, the timing t is set to₉Before and after, the value of the output signal Y does not show a large value. That is, the sensor signal fluctuation caused by the resonance of the torque ripple depends on the speed of the car 1, not always on the position of the car 1. However, the position where the sensor signal fluctuation due to the resonance of the torque ripple occurs has reproducibility.

Fig. 14 shows an example of an output signal Y having a gradually increasing vibration component. The increasing vibration component is a vibration component that takes time to grow slowly among the vibration components extracted by the extraction unit 24. As shown in fig. 14, the sensor signal variation due to the resonance of the torque ripple tends to become larger with time. The extraction portion 25 attenuates such a gradual increase vibration component depending on the speed of the car 1.

Fig. 15 shows the value of the output signal Y obtained when the car 1 moves at a certain speed. As shown in fig. 15, the fluctuation of the sensor signal due to friction always shows the same value. Fig. 15 shows an example of the output signal Y having a stable vibration component. The steady vibration component is a vibration component that is generated in a steady manner, such as a DC component, among the vibration components extracted by the extraction unit 24. The steady vibration component may also include a vibration component that fluctuates more slowly than the increasing vibration component. The extraction portion 25 attenuates such a stable vibration component depending on the speed of the car 1.

Fig. 18 is a diagram illustrating an example of the function of the extraction unit 25. The extraction unit 25 includes, for example, a low-pass filter 42 and a subtractor 43. For the sake of simplicity, the low pass filter is also referred to as an LPF in the drawings and the like. The low-pass filter 42 is input with the output signal Y of the band-pass filter 40. The subtractor 43 is input with the output signal Y of the band-pass filter 40 and the output signal Z of the low-pass filter 42. The subtractor 43 outputs a difference signal Y-Z between the output signal Y of the band-pass filter 40 and the output signal Z of the low-pass filter 42 as a determination signal. The output signal Y-Z of the subtractor 43 is input to the detection unit 26.

Fig. 19 is a diagram for explaining an example of mounting the extraction units 24 and 25. Fig. 19A shows the torque of the hoisting machine 11. The horizontal axis of fig. 19A shows the speed of the car 1. For example, when the car 1 accelerates, a torque signal shown in fig. 19A is input to the band-pass filter 40. FIG. 19B shows the output signal u of the amplifier 41². Output signal u of amplifier 41²Is a continuous signal. The extracting unit 24 outputs the signal u to the amplifier 41 as shown in fig. 19C²Discretization is performed. The extraction unit 24 outputs the discretized signal shown in fig. 19C as the output signal Y of the band-pass filter 40.

For example, a speed section that the car 1 can realize during traveling is virtually divided into a plurality of speed sections. Fig. 19 shows an example in which the rated speed of the car 1 is 90[ m/min ], and speed sections are set every 15[ m/min ]. That is, the speed range that the car 1 can realize when driving is 0 to 90[ m/min ]. For example, the above-described intervals are equally divided. Setting the interval of 0-15 [ m/min ] of the car speed as the 1 st speed interval. Setting the interval of the car speed 15-30 [ m/min ] as the 2 nd speed interval. Setting the interval of the car speed of 30-45 [ m/min ] as the 3 rd speed interval. Setting the interval of the car speed of 45-60 [ m/min ] as the 4 th speed interval. Setting the interval of the car speed of 60-75 [ m/min ] as the 5 th speed interval. Setting the interval of the car speed of 75-90 [ m/min ] as the 6 th speed interval. In fig. 19C, for the sake of simplicity, the nth speed section is also referred to as a section n. The speed included in the (i +1) th speed section is greater than the speed included in the i-th speed section. Fig. 19 shows an example in which the maximum value n of i is 6. The value of n may be different from 6.

The extracting unit 24 extracts one signal for each speed interval, thereby applying the extracted signal to the continuous output signal u²Discretization is performed. For example, the extraction unit 24 extracts the signal u having the maximum value in one speed section²As an output signal Y of the speed interval.

The extraction unit 25 includes a low-pass filter 42 corresponding to each speed segment. For example, the low-pass filter 42 corresponding to the 1 st speed interval is referred to as a filter 42-1. Similarly, the low-pass filter 42 corresponding to the 2 nd speed interval is referred to as a filter 42-2. The low-pass filter 42 corresponding to the 3 rd velocity interval is referred to as a filter 42-3. The low-pass filter 42 corresponding to the ith velocity interval is referred to as filter 42-i.

The filter 42-1 is input to the output signal Y of the band-pass filter 40 when the car 1 moves at a speed included in the 1 st speed zone. The output signal Z from the filter 42-1 corresponds to the trend component in the 1 st velocity interval. The output signal Z from the filter 42-1 is input to the subtractor 43. The filter 42-2 is input to the output signal Y of the band-pass filter 40 when the car 1 moves at a speed included in the 2 nd speed zone. The output signal Z from the filter 42-2 corresponds to the trend component in the 2 nd velocity interval. The output signal Z from the filter 42-2 is input to the subtractor 43.

The filter 42-3 is input to the output signal Y of the band-pass filter 40 when the car 1 moves at a speed included in the 3 rd speed zone. The output signal Z from the filter 42-3 corresponds to the trend component in the 3 rd velocity interval. The output signal Z from the filter 42-3 is input to the subtractor 43. Similarly, the filter 42-i is input to the output signal Y of the band-pass filter 40 when the car 1 moves at a speed included in the i-th speed zone. The output signal Z from the filter 42-i corresponds to the trend component in the ith velocity interval. The output signal Z from the filter 42-i is input to a subtractor 43.

The subtractor 43 outputs a difference signal between the output signal Y of the band-pass filter 40 and the output signal Z of the filter 42-1 when the car 1 moves at a speed included in the 1 st speed zone as a determination signal in the 1 st speed zone. The subtractor 43 outputs, as a determination signal in the 2 nd speed zone, a difference signal between the output signal Y of the band-pass filter 40 and the output signal Z of the filter 42-2 when the car 1 moves at a speed included in the 2 nd speed zone. The subtractor 43 outputs a difference signal between the output signal Y of the band-pass filter 40 and the output signal Z of the filter 42-3 when the car 1 moves at a speed included in the 3 rd speed zone as a determination signal in the 3 rd speed zone. Similarly, the subtractor 43 outputs, as the determination signal in the i-th speed section, a difference signal between the output signal Y of the band-pass filter 40 and the output signal Z of the filter 42-i when the car 1 moves at a speed included in the i-th speed section.

Fig. 20 to 22 are diagrams showing examples of signals input to the subtractor 43. In fig. 20 to 22, the black dots show the output signal Y of the band-pass filter 40. The white quadrangle shows the output signal Z of the low-pass filter 42. Fig. 20 shows an example in which the output signal Y shown in fig. 13 is input to the subtractor 43. That is, the broken portion 4c is generated in the main rope 4 at the starting time M2. As described above, when the breakage portion 4c is generated in the main rope 4, the output signal Y suddenly increases. On the other hand, the output signal Z of the low-pass filter 42 does not follow a sharp change in the output signal Y. Therefore, the difference between the output signal Y and the output signal Z suddenly increases due to the occurrence of the broken portion 4c in the main rope 4. After the generation of the breaking portion 4c, the difference between the output signal Y and the output signal Z gradually decreases.

Fig. 21 shows an example in which the output signal Y shown in fig. 14 is input to the subtractor 43. As described above, the rotation speed v of the hoisting machine 11₁The value of the output signal Y at that time gradually increases. When the output signal Y changes slowly as shown in fig. 14, the output signal Z follows the change in the output signal Y. Therefore, in the example shown in fig. 21, the output signal Y and the output signal Z have the same value.

Fig. 22 shows an example in which the output signal Y shown in fig. 15 is input to the subtractor 43. When the output signal Y changes slowly as shown in fig. 15, the output signal Z follows the change in the output signal Y. Therefore, in the example shown in fig. 22, the output signal Y and the output signal Z also have the same value.

In order to prevent false detection, it is preferable to set a value other than 0 as the initial value of the low-pass filter 42. When 0 is output as the initial value of the output signal Z of the low-pass filter 42, for example, when the rotation speed of the car 1 passing through the traction machine 11 is v₁When a large value is output as the initial value of the output signal Y at the position of (a), the value of the determination signal Y-Z suddenly increases and false detection occurs. The determination signal Y-Z at this time is a difference between the initial value of the output signal Y and the initial value of the output signal Z. If a value other than 0 is set as the initial value of the output signal Z, the value of the determination signal Y-Z does not increase suddenly even if a large value is output as the initial value of the output signal Y. Therefore, false detection can be prevented. It is preferable that, for example, a value obtained by multiplying a threshold TH1 described later by a coefficient of 1 or more is set as an initial value of the low-pass filter 42.

Fig. 18 and 19 show an example in which the extraction unit 25 includes the low-pass filter 42. The extraction unit 25 may extract the determination signal without the low-pass filter 42. For example, the extraction unit 25 may calculate the tendency component of the vibration from the moving average value of the output signal Y of the band pass filter 40. The extraction unit 25 calculates a moving average value from the output signal Y of the last 20 times, for example. As another example, the extraction unit 25 may calculate the trend component of the vibration by using a machine learning algorithm such as a neural network. That is, the extraction unit 25 may have a learning function. The above is merely an example. The extraction unit 25 may calculate a moving average value from the output signal Y of any number of times most recent. The arbitrary number of times is, for example, a number included in 10 to 100 times.

Fig. 23 is a diagram showing another example of the function of the extraction unit 25. The extraction unit 25 includes, for example, a high-pass filter 44. In fig. 23, the high-pass filter is denoted as an HPF for simplicity of description. In the case where the low-pass filter 42 shown in fig. 18 is designed using the transfer function of the first-order delay system, the output signal Y-Z of the subtractor 43 is represented by expression (7).

Y-Z＝Y-Y/(sτ+1)＝Ysτ/(sτ+1)…(7)

In the formula (7), s is a laplacian operator. τ is the time constant. (7) The transfer function in the equation is that of a 1 st order high pass filter. That is, the extracting unit 25 can realize the same function as the example shown in fig. 18 also in the example shown in fig. 23. In the example shown in fig. 23, the output signal Y of the band-pass filter 40 is input to the high-pass filter 44. The high-pass filter 44 outputs a signal corresponding to the output signal Y-Z of the subtractor 43 as a determination signal.

The mounting example in the case where the extracting unit 25 includes the high-pass filter 44 is the same as the example shown in fig. 19. The low-pass filter 42-i shown in FIG. 19 is a high-pass filter 44-i. That is, the extraction unit 25 includes high-pass filters 44 corresponding to the respective speed sections. Furthermore, the output of the high pass filter 44-i is not Z but Y-Z.

The detection unit 26 detects that the sensor signal has abnormally changed based on the determination signal extracted by the extraction unit 25 (S103). The detection unit 26 detects sudden fluctuations occurring in the sensor signal as abnormal fluctuations. For example, the detection unit 26 determines whether or not the value of the determination signal extracted by the extraction unit 25 exceeds a threshold TH 1. When the value of the determination signal extracted by the extraction unit 25 exceeds the threshold TH1, the detection unit 26 detects that the sensor signal has abnormally changed. The threshold TH1 is stored in the storage unit 20 in advance.

The control device 13 may set the threshold TH1 by performing a specific operation for actually moving the car 1. For example, when the installation of the elevator is completed, a setting operation for setting the threshold TH1 is performed. In the setting operation, the speed of the car 1 is accelerated to the rated speed and then decelerated to 0. Then, the signal Y output from the extracting unit 24 is stored in the storage unit 20 during the setting operation. Further, a value obtained by multiplying the maximum value of the output signal Y stored in the storage unit 20 by a coefficient is set as the threshold TH 1. The coefficient is a value of 1 or more. The coefficient may also be 2. The control device 13 may periodically perform the refresh operation for refreshing the threshold TH 1. The contents of the update operation may be the same as those of the set operation. For example, the update operation is performed every month.

The lower limit of the threshold TH1 may be stored in the storage unit 20 in advance. For example, when the threshold TH1 obtained by the set operation does not reach the lower limit, the lower limit is set to the threshold TH 1. When the threshold TH1 obtained by the update operation does not reach the lower limit value, the lower limit value is set to the threshold TH 1. This can prevent an extremely small value from being set as the threshold TH 1.

When the detection unit 26 detects that the sensor signal has abnormally changed, the car position at the time of the change is stored in the storage unit 20. For example, the section in which the car 1 moves is virtually divided into a plurality of position sections that are continuous in the vertical direction. When the detection unit 26 detects an abnormal variation, information for specifying a position section in which the variation occurs is stored in the storage unit 20.

When the detection unit 26 detects that the sensor signal has abnormally changed, the determination unit 27 determines whether or not the broken portion 4c is present in the main rope 4 (S104). The determination unit 27 performs the above determination based on the car position when the abnormal fluctuation occurs. For example, the determination unit 27 includes a reproducibility determination function 27-1 and a fracture determination function 27-2. The reproducibility judgment function 27-1 judges whether or not the car position where the abnormal fluctuation has occurred has reproducibility (S104-1). The breakage determination function 27-2 determines whether or not the main rope 4 has the breakage portion 4c based on the determination result of the reproducibility determination function 27-1 (S104-2).

Fig. 24 is a diagram for explaining an example of the reproducibility judgment function 27-1. Fig. 24A shows the latest determination signal obtained when the car 1 moves from the position 0 to the position P. In the example shown in FIG. 24A, at position P₁And position P₄At this point, the value of the determination signal exceeds the threshold TH 1. Fig. 24B shows a determination signal obtained when the car 1 has moved the same section the last time. That is, the determination signal shown in fig. 24A is a signal obtained by moving the car 1 again in the same section immediately after the determination signal shown in fig. 24B is obtained. In the example shown in FIG. 24B, at position P₁Position P₄And position P₅At this point, the value of the determination signal exceeds the threshold TH 1.

The reproducibility judgment function 27-1 judges that there is reproducibility when the value of the judgment signal exceeds the threshold TH1 two consecutive times when the car 1 passes the same position a plurality of times, for example. In the example shown in FIG. 24, at position P₁At this point, the value of the determination signal exceeds the threshold TH1 twice. Therefore, the reproducibility judgment function 27-1 judges that the position is P₁There is reproducibility. Similarly, the reproducibility judgment function 27-1 judges that the position P is the position P₄There is reproducibility.

On the other hand, at position P₅At this point, the latest value of the determination signal does not exceed the threshold TH 1. Therefore, the reproducibility judgment function 27-1 judges that the position is P₅Has no reproducibility. Is judged as the position P₅The last value of (c) is generated due to a phenomenon of no reproducibility. For example, it is determined as the position P₅The last value of (c) is due to the passenger jumping inside the car 1.

When the section in which the car 1 moves is divided into a plurality of position sections, the determination is performed as follows, for example. The reproducibility judgment function 27-1 judges that there is reproducibility if the value of the judgment signal exceeds the threshold TH1 two consecutive times when the car 1 passes the same position section a plurality of times. For example, when the value of the determination signal obtained when the car 1 passes through the 5 TH position section exceeds the threshold TH1 twice in succession, the reproducibility judgment function 27-1 judges that there is reproducibility in the 5 TH position section.

The reproducibility judgment function 27-1 may judge that there is reproducibility when the value of the judgment signal exceeds the threshold TH 13 consecutive times. The number of times for determining that there is reproducibility is arbitrarily set.

When the reproducibility judgment function 27-1 judges that the varied car position in which the abnormality has occurred has reproducibility, the breakage judgment function 27-2 judges that the broken portion 4c has occurred in the main rope 4. When the fracture determination function 27-2 determines that the fracture 4c has occurred, the operation control unit 28 stops the car 1 at the nearest floor (S105). The notification unit 29 notifies the management company of the elevator (S106).

In the breakage detection device shown in the present embodiment, the presence of the breakage portion 4c is detected by a sensor whose output signal fluctuates when the main rope 4 vibrates. Examples of sensor signals that can be used include a weighing signal, a speed deviation signal, and a torque signal. Therefore, it is not necessary to provide a dedicated sensor for determining the presence or absence of the fracture 4 c. Further, the presence of the breaking portion 4c can be detected as long as at least one sensor is present. It is not necessary to provide many sensors to determine the presence or absence of the fracture portion 4 c.

In the fracture detection device shown in the present embodiment, the trend component is attenuated from the vibration component extracted by the extraction unit 24, and the determination signal is extracted. Specifically, the extraction unit 25 attenuates the steady vibration component and the gradual vibration component depending on the speed of the car 1 from the vibration components extracted by the extraction unit 24, and extracts the determination signal. Therefore, even if the sensor signal includes a fluctuation due to resonance of the torque ripple, for example, the detection accuracy is not deteriorated. With the breakage detection device of the present embodiment, it is possible to detect with high accuracy the presence of the broken portion 4c in the main rope 4.

In the present embodiment, an example in which the fracture detection device always performs the same operation from the start of movement of the car 1 to the stop thereof is described. This is only one example. For example, in an elevator apparatus, when the car 1 starts moving, a transient response of speed control is generated due to a difference between the mass of the car 1 and the mass of the counterweight 2. Therefore, the torque signal from the hoisting machine 11 and the like are likely to fluctuate immediately after the car 1 starts moving. In order to prevent deterioration of the detection accuracy due to such a variation, the function of the extraction portion 24 may be stopped immediately after the car 1 starts moving. Alternatively, the output signal Y of the band-pass filter 40 may be forcibly set to 0 immediately after the car 1 starts moving. As another example, the function of the extraction portion 25 may be stopped immediately after the car 1 starts moving. As another example, the output signal Y-Z of the subtractor 43 may be forcibly set to 0 immediately after the car 1 starts moving.

As another example of preventing the deterioration of the detection accuracy, the detection may be performed immediately after the car 1 starts movingWhen the value of the determination signal exceeds the threshold TH2, the measurement unit 26 detects that the sensor signal has abnormally changed. The threshold TH2 is a value greater than the threshold TH 1. The beginning of the movement of the car 1 means, for example, the time from the beginning of the movement of the car 1 until the speed of the car 1 reaches the speed v₂The period until then. Velocity v₂Is stored in the storage unit 20 in advance. Immediately after the car 1 starts moving, the period from the start of movement of the car 1 until the acceleration of the car 1 becomes constant may be referred to.

Similarly, the torque signal from the hoisting machine 11 and the like are likely to fluctuate immediately before the car 1 stops. In order to prevent deterioration of the detection accuracy due to such variations, the function of the extraction portion 24 may be stopped immediately before the car 1 stops. As another example, the output signal Y of the band-pass filter 40 may be forcibly set to 0 immediately before the car 1 stops. As another example, the function of the extraction portion 25 may be stopped immediately before the car 1 stops. As another example, the output signal Y-Z of the subtractor 43 may be forcibly set to 0 immediately before the car 1 stops. Immediately before the car 1 stops, the detection unit 26 may detect that the sensor signal has abnormally varied when the value of the determination signal exceeds the threshold TH 3. The threshold TH3 is a value greater than the threshold TH 1. The car 1 is just before a stop, for example, the speed-specific speed v of the car 1₃A slow period. Velocity v₃Is stored in the storage unit 20 in advance.

The above control for preventing deterioration of the detection accuracy may be performed both immediately after the car 1 starts moving and immediately before the car 1 stops. The term "immediately after the car 1 starts moving" and "immediately before the car 1 stops" means, for example, a specific velocity v of the car 1₃A slow period.

In the example shown in the present embodiment, an example of mounting the extraction unit 24 and the extraction unit 25 is described with reference to fig. 19. As described above, the torque signal shown in fig. 19A is input to the band-pass filter 40 when the car 1 accelerates. On the other hand, when the car 1 moves from a certain floor to another floor, a torque signal as shown in fig. 19A is input to the band pass filter 40 even when the car 1 decelerates. The example shown in the present embodiment corresponds to an example in which a common storage area is set for each speed zone without distinguishing between the acceleration and deceleration of the car 1. That is, the extraction unit 25 extracts the determination signal by attenuating the average tendency component at the time of acceleration and at the time of deceleration from the vibration components extracted by the extraction unit 24.

As another example, the extraction unit 25 may compare the tendency component at the time of acceleration with the tendency component at the time of deceleration, and attenuate the larger tendency component from the vibration component extracted by the extraction unit 24. During one travel of the car 1, there are a section in which the car 1 accelerates and a section in which the car 1 decelerates. For example, the extraction unit 25 compares the output signal Y of the band-pass filter 40 when the car 1 moves at a speed included in the 1 st speed section during acceleration_aAnd an output signal Y of the band-pass filter 40 when the car 1 moves at a speed included in the 1 st speed section at the time of deceleration_d. The extracting section 25 compares the output signal Y_aAnd output signal Y_dThe larger one is used as the output signal Y in the 1 st speed interval and is input to the filter 42-1.

As another example, the storage area for acceleration and the storage area for deceleration may be set for each speed zone by distinguishing between the acceleration and deceleration of the car 1. That is, the extracting unit 25 extracts the determination signal by attenuating the steady vibration component and the gradual vibration component, which depend on the speed at the time of acceleration of the car 1, from the vibration components extracted by the extracting unit 24 when the car 1 is accelerated. The extraction unit 25 extracts a determination signal by attenuating a steady vibration component and a gradual vibration component, which depend on the speed at the time of deceleration of the car 1, from among the vibration components extracted by the extraction unit 24 when the car 1 decelerates. This can further improve the detection accuracy.

In the present embodiment, an example of detecting the presence of the fracture portion 4c without considering the moving direction of the car 1 is described. This is only one example. The presence of the broken portion 4c may be detected in a case where the car 1 moves upward and a case where the car 1 moves downward. For example, when the detection unit 26 detects that the sensor signal has abnormally changed, the position of the car and the moving direction of the car 1 at the time of the change are stored in the storage unit 20. The reproducibility judgment function 27-1 also judges whether or not the car position where the abnormal fluctuation has occurred has reproducibility, taking into account the moving direction of the car 1.

In the present embodiment, an example of determining that there is reproducibility when the value of the determination signal exceeds the threshold TH 1a plurality of times in succession at a certain car position is described. This is only one example. The determination unit 27 may determine whether or not the broken portion 4c exists in the main rope 4 based on the frequency of occurrence of abnormal fluctuation when the detection unit 26 detects that the car 1 passes through the same position.

Fig. 25 is a diagram showing another example of the fracture detection device according to embodiment 1. The example shown in fig. 25 is different from the example shown in fig. 10 in that the control device 13 includes an arithmetic unit 30.

In the example shown in fig. 25, the storage unit 20 stores a determination score for determining whether or not the fracture 4c is present. The calculation unit 30 calculates a determination score based on the result detected by the detection unit 26. For example, when the detection unit 26 detects that the sensor signal has abnormally changed, the car position at the time of the change is stored in the storage unit 20 in association with the determination score. The determination unit 27 determines whether or not the broken portion 4c exists in the main rope 4 based on the determination score stored in the storage unit 20. When the section in which the car 1 moves is divided into a plurality of position sections, the determination scores corresponding to the respective position sections are stored in the storage unit 20.

Fig. 26 and 27 are diagrams illustrating examples of the breaking portion 4 c. Fig. 26 and 27 are views corresponding to the section a-a in fig. 3. Fig. 26 shows an example in which the broken portion 4c is farther from the diverting pulley 7 as it gets closer to the end. When the breaking portion 4c protrudes from the surface of the main rope 4 as shown in fig. 26, the breaking portion 4c comes into contact with the stopper 19 when passing through the diverting pulley 7. Fig. 27 shows an example in which the breaking portion 4c is arranged along the surface of the diverting pulley 7. When the breaking portion 4c protrudes from the surface of the main rope 4 as shown in fig. 27, the breaking portion 4c does not contact the stopper 19 when passing through the diverting pulley 7. Therefore, even if the breaking portion 4c passes through the diverting sheave 7, the main rope 4 does not vibrate.

The direction of the fracture portion 4c may change due to contact with the retaining member 19. When the direction of the breaking portion 4c is changed from the direction shown in fig. 26 to the direction shown in fig. 27, the main ropes 4 do not vibrate even if the breaking portion 4c passes through the diverting sheave 7. On the other hand, the fracture part 4c may be pressed by the surface of the groove and change its orientation when passing through the diverting pulley 7. The direction of the fracture 4c may be changed due to further loosening of the wire or strand. When the direction of the breaking portion 4c changes from the direction shown in fig. 27 to the direction shown in fig. 26, the main ropes 4 vibrate when the breaking portion 4c passes through the diverting sheave 7.

Fig. 28 is a diagram for explaining an example of the functions of the calculation unit 30 and the determination unit 27. Fig. 28A shows the position of the car 1. Fig. 28B shows the torque of the hoisting machine 11. Fig. 28C shows the determination signal. Fig. 28D shows an example of transition of the determination score.

Fig. 28 shows an example in which the car 1 makes two round trips between the lowermost floor and the position P. Car 1 at time t₁Time t₂Time t₇And time t₈Passing through position P₁. Fig. 28 shows an example in which the main rope 4 has a breaking portion 4 c. The breaking portion 4c at time t₁Time t₂Time t₇And time t₈Passing over the diverting pulley 7. As described above, even if the main rope 4 has the breaking portion 4c, the breaking portion 4c does not always contact the anti-slip member 19. In the example shown in fig. 28, at time t₁Time t₇And time t₈The breaking portion 4c contacts the stopper member 19. The breaking portion 4c at time t₂And does not contact the coming-off preventing member 19.

For example, when the breaking portion 4c is at time t₁When the contact with the separation preventing member 19 is made, the value of the determination signal exceeds the threshold TH 1. Thus, the detection unit 26 detects that the sensor signal has abnormally changed. For example, consider position P₁Included in the 8 th position interval. At time t₁The determination score of the 8 th position section is set as an initial value. The initial value is, for example, 0. The operation unit 30 is detected by the detection unit 26When the abnormal change of the car 1 is detected when the 8 th position section is passed, a predetermined value is added to the judgment score of the 8 th position section. Fig. 28D shows an example in which the specified value added is 5.

The determination unit 27 determines whether or not the determination score stored in the storage unit 20 exceeds a threshold TH 4. The threshold TH4 is stored in the storage unit 20 in advance. Fig. 28D shows an example in which the threshold TH4 is 10. At time t₁The determination score of the 8 TH position interval does not exceed the threshold TH 4. The determination unit 27 determines that the broken portion 4c does not exist in the main rope 4 if the determination score does not exceed the threshold TH 4.

Car 1 at time t₂Passes the position P again₁. At time t₂The breaking portion 4c does not contact the stopper member 19. If the detection unit 26 does not detect the occurrence of the abnormal variation when the position where the determination score is not 0 passes, the calculation unit 30 performs the subtraction of the determination score at the position. At time t₂The determination score of the 8 th position interval is not 0. The arithmetic unit 30 performs a calculation at time t₂The predetermined value is subtracted from the determination score of the 8 th position section. Fig. 28D shows an example in which the reduced predetermined value is 1.

Car 1 at time t₇Passes the position P again₁. The detection unit 26 at time t₇Abnormal variation of the sensor signal is detected. Therefore, the arithmetic unit 30 adds 5 to the determination score of the 8 th position section stored in the storage unit 20. At time t₇The determination score of the 8 TH position interval does not exceed the threshold TH 4. Therefore, the determination unit 27 determines that the broken portion 4c does not exist in the main rope 4.

After that, the car 1 is at time t₈Passes the position P again₁. The detection unit 26 detects that the time t is reached₈The sensor signal abnormally fluctuates. Therefore, the calculation unit 30 adds 5 to the determination score of the 8 th position section stored in the storage unit 20. The determination score of the 8 th position section stored in the storage unit 20 at time t₈Becomes 14. At time t₈The determination score of the 8 TH position interval exceeds the threshold TH 4. Thus, the determination unit 27 determines that the time t is reached₈The main rope 4 has a breaking portion 4 c.

In the example shown in fig. 28, even if a time period in which the breaking portion 4c does not contact the stopper member 19 occurs, the presence of the breaking portion 4c can be detected with high accuracy.

When the section in which the car 1 does not move is divided into a plurality of position sections, when the detection unit 26 detects a change in abnormality when the car 1 passes the car position stored in the storage unit 20 again, a predetermined value is added to the determination score of the position. If the detection unit 26 does not detect the abnormal change when the car 1 passes the position again, the predetermined value is subtracted from the determination score at the position. In such a case, the car position may be regarded as the same as long as the car position stored in the storage unit 20 is within the reference distance. The reference distance is set, for example, based on the distance that the main rope 4 moves from the time the breaking portion 4c contacts the opposing portion 19a to the time the breaking portion contacts the opposing portion 19 b.

The threshold TH4 is preferably a value that is 2 times or more the value added to the determination score. If the threshold TH4 is a value that is 2 times or more the value added to the determination score, erroneous detection due to a phenomenon of non-reproducibility can be suppressed. In consideration of the possibility that the fracture portion 4c will not continuously contact the retaining member 19, the value subtracted from the determination score is preferably a value equal to or less than 1/2 of the added value.

The threshold TH4 may be variable according to the magnitude of the determination signal. For example, the 1 st and 2 nd values are set as the threshold TH4 in advance. The 2 nd value is a value greater than the 1 st value. When the magnitude of the determination signal is equal to or less than the reference value, the 2 nd value is used as the threshold TH 4. That is, when the sensor signal varies such that the magnitude of the determination signal exceeds the reference value, the presence of the fracture portion 4c can be detected as soon as possible. For example, when the following condition 1 is satisfied, the threshold TH4 is set to 15. When the following condition 2 is satisfied, the threshold TH4 is set to 10.

Condition 1: [ threshold TH1] ≦ 2 × [ decision signal ] ≦ threshold TH1]

Condition 2: 2 x [ threshold TH1] < [ decision signal ]

Embodiment mode 2

In embodiment 1, an example in which a determination signal is extracted by attenuating a steady vibration component and a gradual vibration component that depend on the speed of the car 1 from among vibration components in a specific frequency band has been described. In the present embodiment, an example will be described in which a steady vibration component and an increasing vibration component depending on the position of the car 1 are also considered. Among the functions provided in the fracture detection device, functions not described in the present embodiment can be any of the functions disclosed in embodiment 1.

First, an example of the fluctuation generated in the sensor signal will be described. Fig. 29 is a diagram schematically showing an elevator apparatus. In fig. 29, the control device 13 and the governor 15 are omitted. A guide rail for guiding movement of the car 1 is provided in the hoistway 3. The guide rail is provided with a plurality of rail members 45. A plurality of rail members 45 are connected vertically so that guide rails can be disposed within the moving range of the car 1. Thus, the rail presents a seam of the rail part 45.

The guide rails are supplied with oil. When the oil supplied to the guide rail becomes exhausted, the car 1 slightly shakes when the car 1 passes through the joint of the rail member 45. The main rope 4 is wound around a hoist wheel 5 and a hoist wheel 6. Therefore, when the car 1 sways, the main rope 4 vibrates. When the oil supplied to the guide rail runs out, the sensor signal fluctuates when the car 1 passes through the joint of the rail member 45. When the joint of the rail member 45 has a step difference, the variation generated in the sensor signal increases.

Fig. 30 is a diagram for explaining an example of sensor signal fluctuation. Fig. 30A is a diagram corresponding to fig. 7A. Fig. 30B is a diagram corresponding to fig. 7B. Fig. 30C is a diagram corresponding to fig. 7C. Fig. 30D is a diagram corresponding to fig. 7D. Fig. 30 shows an example of a waveform obtained when the oil supplied to the guide rail is exhausted.

Car 1 in position P₃Passes over a seam of the rail member 45. When the car 1 passes through the joint, the car 1 slightly sways. This causes the main ropes 4 to vibrate, and the weighing signal from the weighing device 12 fluctuates. Similarly, at the car 1 passing position P₃In time, the speed deviation signal generated by the signal generation unit 23 fluctuates. At a position P where the car 1 passes₃In this case, the torque signal from the hoisting machine 11 fluctuates.

When the supply amount of the oil supplied to the guide rail is reduced, the sensor signal may fluctuate when the car 1 passes through the joint of the rail member 45. The variation of the sensor signal caused by the seam of the rail member 45 occurs repeatedly at the same car position. Further, since the amount of oil on the surface of the guide rail gradually decreases, the variation of the sensor signal due to the joint of the rail member 45 increases with the passage of time.

Fig. 31 is an enlarged cross-sectional view of the diverting pulley 7. Fig. 31 corresponds to an enlarged view of a part of fig. 26. Fig. 31 shows an example in which the grooves formed in the diverting pulley 7 are worn. In fig. 31, the center of the main rope 4 before the groove is worn is denoted by reference numeral O. The reference symbol O' indicates the center of the main rope 4 when the groove is worn. As shown in fig. 31, when the grooves formed in the diverting sheave 7 are worn, the passing position of the main ropes 4 is shifted. The deviation of the passing position of the main ropes 4 also occurs due to the deviation of the shaft 7a of the diverting sheave 7. When the passing position of the main ropes 4 is shifted, the main ropes 4 vibrate each time the diverting sheave 7 rotates. That is, the sensor signal fluctuates due to the movement of the car 1.

Fig. 32 is a diagram for explaining an example of sensor signal fluctuation. Fig. 32A is a diagram corresponding to fig. 7A. Fig. 32B is a diagram corresponding to fig. 7B. Fig. 32C is a diagram corresponding to fig. 7C. Fig. 32D is a diagram corresponding to fig. 7D. Fig. 32 shows an example of a waveform obtained when the grooves formed in the diverting pulley 7 are worn.

When the grooves formed in the diverting sheave 7 are worn, the main ropes 4 vibrate due to the movement of the car 1. This causes the weighing signal from the weighing device 12 to fluctuate. Similarly, when the car 1 moves, the speed deviation signal generated by the signal generation unit 23 fluctuates. When the car 1 moves, the torque signal from the hoisting machine 11 fluctuates.

In this way, when an abnormality occurs in the sheave, the sensor signal may vibrate due to the movement of the car 1. Such a variation in sensor signal due to the sheave abnormality occurs regardless of the car position. Fig. 32 shows only the variation that occurs in the sensor signal when the car 1 moves in a certain section. Further, if the operator looks at only a specific car position, the variation of the sensor signal due to the sheave abnormality is repeated. Further, since the wear of the groove is gradually progressing, the variation of the sensor signal caused by the abnormality of the pulley increases with the passage of time.

Fig. 33 is a diagram showing an example of the fracture detection device according to embodiment 2. The control device 13 includes a storage unit 20, an extraction unit 24, an extraction unit 25, a detection unit 26, a determination unit 27, an operation control unit 28, and a notification unit 29, in addition to the speed detection unit 21, the position detection unit 22, and the signal generation unit 23. The operation example of the fracture detection device of the present embodiment is the same as the example shown in fig. 11.

The extraction unit 24 extracts a vibration component of a specific frequency band from the sensor signal (S101). The function of the extraction unit 24 is the same as that disclosed in embodiment 1. The extraction unit 24 includes, for example, a band-pass filter 40. The band-pass filter 40 receives a torque signal from the hoisting machine 11, for example. The band-pass filter 40 extracts a vibration component of a specific frequency band including the frequency f expressed by the expression (6) from the input torque signal.

The extraction unit 25 extracts a determination signal from the vibration component extracted by the extraction unit 24 (S102). In the example shown in the present embodiment, the extraction unit 25 extracts the determination signal by attenuating the steady vibration component and the increasing vibration component, which depend on the speed and the position of the car 1, from the vibration components extracted by the extraction unit 24.

As shown in fig. 18, the extraction unit 25 includes, for example, a low-pass filter 42 and a subtractor 43. The low-pass filter 42 is input with the output signal Y of the band-pass filter 40. The subtractor 43 is input with the output signal Y of the band-pass filter 40 and the output signal Z of the low-pass filter 42. The subtractor 43 outputs a difference signal Y-Z between the output signal Y of the band-pass filter 40 and the output signal Z of the low-pass filter 42 as a determination signal. The output signal Y-Z of the subtractor 43 is input to the detection unit 26.

Fig. 34 is a diagram for explaining an example of mounting the extraction units 24 and 25.Fig. 34A shows the torque of the hoisting machine 11. The horizontal axis of fig. 34A shows the position of the car 1, unlike the example shown in fig. 19A. The torque signal shown in fig. 34A is input to the band-pass filter 40. FIG. 34B shows the output signal u of the amplifier 41². The extracting unit 24 outputs the signal u to the amplifier 41²Discretization is performed as shown in fig. 34C. The extraction unit 24 outputs the discretized signal shown in fig. 34C as the output signal Y of the band-pass filter 40.

As described above, the speed section that the car 1 can realize during traveling is virtually divided into a plurality of speed sections. For example, the interval is equally divided into the 1 st speed interval to the n-th speed interval. In the example shown in the present embodiment, the zone in which the car 1 moves is further virtually divided into a plurality of position zones that are continuous in the vertical direction. For example, the section is equally divided into the 1 st position section to the m th position section.

Fig. 34 shows an example in which position sections are set at predetermined heights. For example, the interval of 0-0.3 [ m ] of the car position is set as the 1 st position interval. Setting the interval of 0.3-0.6 [ m ] of the car position as the 2 nd position interval. The 2 nd position section is a section directly above the 1 st position section. Setting the interval of 0.6-0.9 [ m ] of the car position as the 3 rd position interval. The 3 rd position section is a section directly above the 2 nd position section. The same applies to the section above the 3 rd position section. The height included in the (j +1) th position section is higher than the height included in the j-th position section. Fig. 34 shows an example in which the maximum value m of j is 6. The value of m may not be 46.

In the example shown in the present embodiment, as shown in fig. 34C, the position section and the speed section are referred to as a section (j, i). For example, the description of the section (11, 5) refers to the following section: the car 1 moves at a speed included in the 5 th speed zone at a position included in the 11 th position zone.

The extracting unit 24 extracts one signal for each position section, thereby applying the extracted signal to the continuous output signal u²Discretization is performed. For example, the extraction unit 24 extracts the signal u having the maximum value in one position section²As an output signal Y of the position section.

The extraction unit 25 includes a low-pass filter 42 corresponding to each combination of the position section and the velocity section. For example, the low-pass filter 42 corresponding to the 1 st position section is referred to as a filter 42(1, i). The low-pass filter 42 corresponding to the 1 st speed interval is referred to as a filter 42(j, 1). The low-pass filter 42 corresponding to the 2 nd position section is referred to as a filter 42(2, i). The low-pass filter 42 corresponding to the 2 nd speed interval is referred to as a filter 42(j, 2). Similarly, the low-pass filter 42 corresponding to the m-th position section and the n-th velocity section is referred to as a filter 42(j, i).

The output signal Y of the band pass filter 40 when the car 1 moves in the 1 st position zone is input to any one of the filters 42(1, 1) to 42(1, n). For example, if the car 1 is moving at a speed included in the 1 st speed zone, the output signal Y of the band-pass filter 40 is input to the filter 42(1, 1). If the car 1 is moving at a speed included in the 5 th speed zone, the output signal Y of the band-pass filter 40 is input to the filter 42(1, 5). The output signal Z from the filter 42(1, i) corresponds to a trend component in a section that is the 1 st position section and is the i-th velocity section. The output signal Z from the filter 42(1, i) is input to the subtractor 43.

Similarly, the output signal Y of the band-pass filter 40 when the car 1 moves in the j-th position section is input to any one of the filters 42(j, 1) to 42(j, n). For example, if the car 1 is moving at a speed included in the 1 st speed zone, the output signal Y of the band-pass filter 40 is input to the filter 42(j, 1). If the car 1 is moving at a speed included in the 5 th speed zone, the output signal Y of the band-pass filter 40 is input to the filter 42(j, 5). The output signal Z from the filter 42(j, i) corresponds to a trend component in a section that is the j-th position section and is the i-th velocity section. The output signal Z from the filter 42(j, i) is input to the subtractor 43.

The subtractor 43 outputs, as the determination signal in the section (1, 1), a difference signal between the output signal Y of the band-pass filter 40 and the output signal Z from the filter 42(1, 1) when the car 1 moves in the 1 st position section at a speed included in the 1 st speed section. Similarly, the subtractor 43 outputs a difference signal between the output signal Y of the band-pass filter 40 when the car 1 moves in the j-th position section at a speed included in the i-th speed section and the output signal Z from the filter 42(j, i) as the determination signal in the section (j, i). The hatched portion shown in fig. 34C shows an example of a section in which the determination signal is output when the car 1 moves from a certain floor to another floor.

The detection unit 26 detects that the sensor signal has abnormally changed based on the determination signal extracted by the extraction unit 25 (S103). The detection unit 26 detects sudden changes occurring in the sensor signal as abnormal changes. For example, the detection unit 26 detects that the sensor signal abnormally changes when the value of the determination signal extracted by the extraction unit 25 exceeds the threshold TH 1. When the detection unit 26 detects that the sensor signal has abnormally changed, the car position at the time of the change is stored in the storage unit 20. For example, when the detection unit 26 detects an abnormal change, information for specifying the position section in which the change has occurred is stored in the storage unit 20.

In the present embodiment, the same processing as that shown in S104 to S106 disclosed in embodiment 1 is also performed.

Fig. 35 is a diagram showing an example of a signal input to the subtractor 43. In fig. 35, a broken line shows an output signal u of the amplifier 41². That is, the dotted line shows the output signal Y before discretization. The white circles show the discretized output signal Y. The solid line shows the output signal Z of the low-pass filter 42. In fig. 35, the horizontal axis represents the car position. Fig. 35 shows signals obtained when the car 1 passes through the j-1 th position section, the j-th position section, and the j +1 th position section. In the description relating to fig. 35, only the position section is considered.

Fig. 35A shows an example in which the output signal y (j) exceeding the threshold TH1 exists in the j-TH position section. When the output signal y (j) is generated due to the joint of the rail member 45, the output signal z (j) of the j-th position section follows the output signal y (j). The value of the output signal z (j) becomes the same value as the value of the output signal y (j). Therefore, the output signal y (j) -z (j) which is the determination signal of the j-TH speed section becomes a value smaller than the threshold TH 1. In the example shown in fig. 35A, the detection unit 26 does not detect abnormal variation in the sensor signal in each of the j-1 th position section, the j-th position section, and the j +1 th position section.

Fig. 35B shows signals when the car 1 passes through the j-1 th position section, the j-th position section, and the j +1 th position section again immediately after the signals shown in fig. 35A are acquired. In the example shown in FIG. 35B, the output signal Y (j-1) exceeding the threshold TH1 exists in the j-1 TH position section. The output signal Y (j-1) shown in fig. 35B is a signal in which the output signal Y (j) shown in fig. 35A is shifted into the j-1 th speed section. Such a phenomenon occurs, for example, due to elongation of the main ropes 4.

In the example shown in FIG. 35B, the output signal Z (j-1) in the j-1 th position section does not follow the rapid change of the output signal Y (j-1). Therefore, if the output signal Y (j-1) -Z (j-1) as the determination signal of the j-1 TH position section is greater than the threshold TH1, the fracture determination function 27-2 may determine that the fracture section 4c is present.

On the other hand, in the j-th position section, the output signal y (j) becomes rapidly smaller. The output signal z (j) does not follow the abrupt change of the output signal y (j). Therefore, the output signal y (j) -z (j) as the determination signal of the j-th position section becomes a negative value. In the j-TH position section, the threshold TH1 equivalently rises, and the detection sensitivity decreases.

The above description has been made for the position section, but the same phenomenon may occur for the speed section. Hereinafter, a function for preventing such false detection will be described. The example of the control device 13 having this function is the same as the example shown in fig. 33. The control device 13 may further include a calculation unit 30.

Fig. 36 is a diagram for explaining an example of the function of the extracting unit 25. The extraction unit 25 outputs the signal Y-Z as a determination signal in consideration of the value of the adjacent position section and the value of the adjacent velocity section with respect to the output signal Z of the low-pass filter 42. For example, the extraction unit 25 outputs the determination signal as follows.

Si (k) is a determination signal in the k-th position section. x is the car position. Bpf (x) is the output of band-pass filter 40. v (x) is the speed of the car 1. TF (k, l) is a trend component in the kth position interval and the l velocity interval. Δ p is the length of the divided position section. Δ v is the length of the divided velocity interval.

For example, an example in which the car 1 is moved in the traveling mode shown in fig. 36 is considered. In the example shown in fig. 36, the speed of the car 1 when passing through the 7 th position zone is included in the 4 th speed zone and the 5 th speed zone. Since the 7 th position section is a passing section, the extraction unit 25 considers not only the value of the 7 th position section but also the value of the 6 th position section and the value of the 8 th position section with respect to the output signal Z. Regarding the speed section, since the 4 th speed section and the 5 th speed section are the passing sections, the extraction unit 25 considers not only the value of the 4 th speed section and the value of the 5 th speed section but also the value of the 3 rd speed section and the value of the 6 th speed section with respect to the output signal Z. That is, the extraction unit 25 adopts, as a value to be subtracted from the value of the output signal Y of the band-pass filter 40, the value that is the largest of the values in any of the 6 th to 8 th position sections and that is the value in any of the 3 rd to 6 th speed sections.

As another example, the extraction unit 25 may consider only the section where the car 1 passes through when considering the value of the adjacent position section and the value of the adjacent speed section. That is, in the example shown in fig. 36, the speed at which the car 1 passes through the 6 th position zone is included in the 3 rd speed zone and the 4 th speed zone. The speed of the car 1 passing through the 7 th position zone is included in the 4 th speed zone and the 5 th speed zone. The speed of the car 1 passing through the 8 th position zone is included in the 5 th speed zone and the 6 th speed zone. The extraction unit 25 may adopt the maximum value among the values of the white-asterisked section in fig. 36 as the value to be subtracted from the value of the output signal Y of the band-pass filter 40 when the car 1 passes through the 7 th position section.

Similarly, in the example shown in fig. 36, the speed at which the car 1 passes through the 17 th position section is a speed included in the 6 th speed section. Since the 17 th position section is a passing section, the extraction unit 25 considers not only the value of the 17 th position section but also the value of the 16 th position section and the value of the 18 th position section with respect to the output signal Z. Regarding the speed section, since the 6 th speed section is a passing section, the extraction unit 25 considers not only the value of the 6 th speed section but also the value of the 5 th speed section with respect to the output signal Z. That is, the extraction unit 25 adopts, as a value to be subtracted from the value of the output signal Y of the band-pass filter 40, the value that is the largest of the values in any of the 16 th to 18 th position sections and that is in any of the 5 th to 6 th speed sections.

As another example, the extraction unit 25 may consider only the section where the car 1 passes through when considering the value of the adjacent position section and the value of the adjacent speed section. That is, in the example shown in fig. 36, the speed at which the car 1 passes through the 16 th position zone is included in the 6 th speed zone. The speed of the car 1 passing through the 17 th position zone is included in the 6 th speed zone. The speed of the car 1 passing through the 18 th position zone is included in the 6 th speed zone. The extraction unit 25 may adopt the maximum value among the values of the sections marked with black stars in fig. 36 as the value to be subtracted from the value of the output signal Y of the band pass filter 40 when the car 1 passes through the 17 th position section.

Fig. 37 is a diagram showing another example of the fracture detection device according to embodiment 2. The example shown in fig. 37 is different from the example shown in fig. 33 in that the extraction unit 25 includes an attenuation function 31, an attenuation function 32, and an extraction function 33.

For example, the extraction unit 24 extracts a vibration component of a specific frequency band from the sensor signal (S101). When the extraction unit 24 includes the band pass filter 40, the band pass filter 40 extracts a vibration component of a specific frequency band including the frequency f shown in expression (6) from the input torque signal.

In the example shown in fig. 37, the attenuation function 31 has the following functions: the steady vibration component and the gradual vibration component depending on the speed of the car 1 are attenuated from the vibration components extracted by the extraction portion 24. The attenuation function 32 has the following functions: the steady vibration component and the gradual vibration component depending on the position of the car 1 are attenuated from the vibration components extracted by the extraction portion 24. The extraction function 33 selects either the attenuation by the attenuation function 31 or the attenuation by the attenuation function 32. The extraction function 33 makes the above-described selection, for example, according to the speed of the car 1 and the position of the car 1. The extraction function 33 extracts the determination signal using the attenuation function 31 if the attenuation by the attenuation function 31 is selected. The extraction function 33 extracts the determination signal using the attenuation function 32 if the attenuation by the attenuation function 32 is selected (S102).

Fig. 38 is a diagram showing an example of the extraction unit 25. As shown in fig. 38, the extracting unit 25 includes, for example, a low-pass filter 42v, a low-pass filter 42p, and a subtractor 43. The low-pass filter 42v realizes the function of the attenuation function 31. The low pass filter 42p performs the function of the attenuation function 32. Subtractor 43 implements a part of extraction function 33.

The low-pass filter 42v is input to the output signal Y of the band-pass filter 40. The low-pass filter 42p is input with the output signal Y of the band-pass filter 40. The subtractor 43 is input with the output signal Y of the band-pass filter 40. The subtractor 43 is also input to the output signal Z of the low-pass filter 42v or the output signal Z of the low-pass filter 42 p. The subtractor 43 outputs a difference signal Y-Z between the output signal Y and the output signal Z as a determination signal. The output signal Y-Z of the subtractor 43 is input to the detection unit 26.

The example of installation of the low-pass filter 42v is the same as that shown in fig. 19. For example, a speed section that the car 1 can realize during traveling is virtually divided into a plurality of speed sections. The extraction unit 25 includes low-pass filters 42v corresponding to the velocity sections. The low-pass filter 42v corresponding to the ith velocity interval is referred to as a filter 42 v-i. The filter 42v-i is input to the output signal Y of the band-pass filter 40 when the car 1 moves at a speed included in the i-th speed section. The output signal Z from the filter 42v-i corresponds to the trend component in the ith velocity interval.

Fig. 39 is a diagram showing an example of mounting of the low-pass filter 42 p. Fig. 39A shows the torque of the hoisting machine 11. The horizontal axis of fig. 39A shows the position of the car 1. For example, the torque signal shown in fig. 39A is input to the band-pass filter 40. FIG. 39B shows the output signal u of the amplifier 41². The extracting unit 24 outputs the signal u to the amplifier 41²Discretization is performed as shown in fig. 39C. The extraction unit 24 outputs the discretized signal shown in fig. 39C as the output signal Y of the band-pass filter 40.

For example, the zone in which the car 1 can move is virtually divided into a plurality of position zones which are continuous up and down. For example, the section is equally divided into the 1 st position section to the m th position section. In fig. 39, for the sake of simplicity, the j-th position section is referred to as a section j. Fig. 39 shows an example in which the maximum value m of j is 25.

The extraction unit 25 includes low-pass filters 42p corresponding to the position sections. The low-pass filter 42p corresponding to the j-th position section is referred to as a filter 42 p-j. The output signal Y of the band-pass filter 40 when the car 1 moves in the 1 st position zone is input to the filter 42 p-1. The output signal Z from the filter 42p-1 corresponds to the trend component in the 1 st position interval. The filter 42p-j is inputted with the output signal Y of the band pass filter 40 when the car 1 moves in the j-th position section. The output signal Z from the filter 42p-j corresponds to the trend component in the j-th position interval.

The extraction function 33 compares the value of the output signal Zv of the low-pass filter 42v determined according to the speed of the car 1 with the value of the output signal Zp of the low-pass filter 42p determined according to the position of the car 1. For example, the extraction function 33 outputs the larger value of the values of the output signal Zv and the output signal Zp to the subtractor 43 as the output signal Z. For example, if the car 1 moves at the j-th position section at a speed included in the i-th speed section, the extraction function 33 compares the value of the signal output from the filter 42v-i with the value of the signal output from the filter 42p-j, and outputs the larger one as the output signal Z.

Fig. 40 is a diagram for explaining another example of the extraction function 33. Fig. 40 shows an example in which the extraction function 33 determines the output signal Z in consideration of the value of the adjacent position section and the value of the adjacent speed section. For example, as indicated by the asterisks in fig. 40, an example is considered in which the car 1 moves in the 3 rd position zone at a speed included in the 4 th speed zone. In such a case, the extraction function 33 considers not only the value of the 4 th speed section but also the value of the 3 rd speed section and the value of the 5 th speed section. The extraction function 33 considers not only the value of the 3 rd position section but also the value of the 2 nd position section and the value of the 4 th position section. That is, the extraction function 33 outputs the largest value among the value of the 3 rd velocity section, the value of the 4 th velocity section, the value of the 5 th velocity section, the value of the 2 nd position section, the value of the 3 rd position section, and the value of the 4 th position section as the output signal Z.

As another example, the extraction function 33 may output the output signal Zv of the low-pass filter 42v determined according to the speed of the car 1 as the output signal Z at the time of acceleration or deceleration of the car 1. In this case, the extraction function 33 outputs the output signal Zp of the low-pass filter 42p determined according to the position of the car 1 as the output signal Z when the car 1 is at a constant speed.

The subtractor 43 outputs a difference signal between the input output signal Y and the input output signal Z as a determination signal.

The detection unit 26 detects that the sensor signal has abnormally changed based on the determination signal extracted by the extraction unit 25 (S103). For example, the detection unit 26 detects that the sensor signal abnormally changes when the value of the determination signal extracted by the extraction unit 25 exceeds the threshold TH 1. When the detection unit 26 detects that the sensor signal has abnormally changed, the car position at the time of the change is stored in the storage unit 20. For example, when the detection unit 26 detects an abnormal change, information for specifying the position section in which the change has occurred is stored in the storage unit 20. After that, the same processing as that shown in S104 to S106 disclosed in embodiment 1 is performed.

Embodiment 3

In the present embodiment, another example of mounting that the extraction unit 24 and the extraction unit 25 can adopt in the example shown in embodiment 1 will be described.

Fig. 41 is a diagram showing an example of mounting the extraction unit 25. As shown in fig. 9, the torque ripple of the traction machine 11 and the mechanical system of the elevator resonate at a frequency F1. In the example shown in fig. 41, the extraction unit 24 includes a band-pass filter 40. The extraction unit 25 includes, for example, a notch filter 46. The notch filter 46 is input to the output signal Y of the band-pass filter 40. The notch filter 46 outputs a signal corresponding to the output signal Y-Z of the subtractor 43 as a determination signal.

Fig. 41A shows an example in which notch filter 46 has frequency characteristics of a blocking frequency F1. Fig. 41B shows an example in which notch filter 46 has a plurality of blocking frequencies. For example, the notch filter 46 has a frequency characteristic of blocking not only the frequency F1 but also the frequency F2. The example shown in fig. 41B is applied to a case where torque ripple of the hoisting machine 11 and a mechanical system of the elevator resonate at a plurality of frequencies.

Fig. 41C shows an example in which the blocking frequency of the notch filter 46 is variable. For example, the blocking frequency of notch filter 46 is controlled in accordance with the frequency f (t) of the torque ripple of hoisting machine 11. The example shown in fig. 41C is applicable to a case where the frequencies F1 and F2 shown in fig. 41B are not known at the design stage, for example.

Fig. 42 is a diagram showing another example of mounting the extraction unit 24 and the extraction unit 25. In the example shown in fig. 42A, the extraction unit 24 includes a high-pass filter 47. The high-pass filter 47 receives a torque signal from the hoisting machine 11, for example. The extraction unit 25 includes a low-pass filter 48 having a variable cutoff frequency FL. The low-pass filter 48 is controlled so that the cutoff frequency FL is always lower than the frequency f (t) of the torque ripple of the hoisting machine 11. The output signal Y of the high-pass filter 47 is input to the low-pass filter 48. The low-pass filter 48 outputs a signal corresponding to the output signal Y-Z of the subtractor 43 as a determination signal.

By combining the high-pass filter 47 and the low-pass filter 48, the same function as that of a band-pass filter having the frequency characteristics as shown in fig. 42B can be achieved. The frequency f (t) of the torque ripple of the hoisting machine 11 is arranged outside the pass band of the band pass filter shown in fig. 42B. Therefore, the variation of the sensor signal due to the resonance of the torque ripple can be suppressed.

In embodiments 1 to 3, an example of detecting the presence of the broken portion c of the main rope 4 is described. In the elevator, various ropes are used in addition to the main rope 4. The presence of a broken portion in a rope other than the main rope 4 may be detected by the breakage detection device. The main rope 4 may be a belt.

In embodiments 1 to 3, the respective parts shown by reference numerals 20 to 30 show functions of the control device 13. Fig. 43 is a diagram showing an example of hardware resources of the control device 13. The control device 13 includes, as hardware resources, a processing circuit 50 including a processor 51 and a memory 52. The function of the storage unit 20 is realized by the memory 52, for example. The control device 13 realizes the functions of the respective parts shown by reference numerals 21 to 30 by executing a program stored in the memory 52 by the processor 51.

The processor 51 is also referred to as a CPU (central processing unit), a central processing unit, a processing device, an arithmetic device, a microprocessor, a microcomputer, or a DSP. As the memory 52, a semiconductor memory, a magnetic Disk, a flexible Disk, an optical Disk, a CD (compact Disk), a mini Disk (mini Disk), or a DVD (Digital Versatile Disk) may be used. Semiconductor memories that can be used include RAM (Random Access Memory), ROM (Read Only Memory), flash Memory, EPROM (Erasable Programmable Read Only Memory), and EEPROM (Electrically Erasable Programmable Read Only Memory).

Fig. 44 is a diagram showing another example of the hardware resources of the control device 13. In the example shown in fig. 44, the control device 13 includes a processing circuit 50 including, for example, a processor 51, a memory 52, and dedicated hardware 53. Fig. 44 shows an example in which a part of the functions of the control device 13 is realized by dedicated hardware 53. All of the functions of the control device 13 may be realized by dedicated hardware 53. The dedicated hardware 53 may be a single Circuit, a composite Circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof.

The function of the control device 13 may be installed in a computer on the cloud connected to the control device of the elevator apparatus via a network.

Industrial applicability

The breakage detection device of the present invention can be used to detect a broken portion that occurs in a rope.

Description of the reference symbols

1: a car; 2: a counterweight; 3: a hoistway; 4: a main rope; 4 a: an end portion; 4 b: an end portion; 4 c: a breaking portion; 5: a hoisting wheel; 6: a hoisting wheel; 7: a diverting pulley; 7 a: a shaft; 8: a drive sheave; 9: a diverting pulley; 10: a hoisting wheel; 11: a traction machine; 12: a weighing device; 13: a control device; 14: an encoder; 15: a speed limiter; 16: a speed limiting rope; 17: a speed-limiting rope wheel; 18: an encoder; 19: an anti-drop component; 19 a: an opposite part; 19 b: an opposite part; 20: a storage unit; 21: a speed detection unit; 22: a position detection unit; 23: a signal generation unit; 24: an extraction unit; 25: an extraction unit; 26: a detection unit; 27: a determination unit; 28: an operation control unit; 29: a notification unit; 30: a calculation unit; 31: an attenuation function; 32: an attenuation function; 33: an extraction function; 40: a band-pass filter; 41: an amplifier; 42: a low-pass filter; 43: a subtractor; 44: a high-pass filter; 45: a rail member; 46: a notch filter; 47: a high-pass filter; 48: a low-pass filter; 50: a processing circuit; 51: a processor; 52: a memory; 53: dedicated hardware.