WO2009130762A1 - Slide door device and elevator - Google Patents

Abstract

A slide door device in which a first light emitter and first imaging means are arranged on one side of a doorway and a second light emitter and second imaging means are arranged on the other side. The first light emitter has a first light emission surface, and the second light emitter has a second light emission surface facing the first light emission surface. A control device controls the first and second light emitters and the first and second imaging means to detect an obstacle in the vicinity of the doorway, and the control device also controls opening and closing of a door depending on whether or not an obstacle is present. Further, the control device causes the first and second light emitters to emit light at timings offset from each other.

Description

Sliding door device and elevator

The present invention relates to a sliding door device that automatically moves a door horizontally, and an elevator using the same.

In the conventional sliding door device, a pair of light emitters having a long and continuous light emitting surface and a pair of cameras for imaging the light emitting surfaces of the opposed light emitters are provided in the left and right vertical frames of the entrance and exit, As a result, the entire entrance / exit is covered as a monitoring area (see, for example, Patent Document 1).

JP 2004-338846 A

In the conventional sliding door device as described above, since both the light emitters emit light at the same time, the light reflected by the obstacle is incident on the camera, and the light from the facing light emitter is blocked by the obstacle. May be difficult to detect, and the detection accuracy may be reduced.

The present invention has been made to solve the above-described problems, and provides a sliding door device that can detect an obstacle more reliably while covering a wide monitoring area, and an elevator using the same. The purpose is to obtain.

The sliding door device according to the present invention is a door that opens and closes an entrance by moving horizontally, provided on one side of the entrance, a first light emitter having a first light emitting surface, provided on the other side of the entrance, A second light-emitting device having a second light-emitting surface facing the first light-emitting surface, a first image-capturing means provided on one side of the doorway, and a second image-capturing means provided on the other side of the doorway And a control device that controls the first and second light emitters and the first and second imaging means to detect an obstacle near the entrance and the opening and closing of the door according to the presence or absence of the obstacle. And the controller turns on the first and second light emitters at different timings.
A sliding door device according to the present invention is provided on one side of a door that opens and closes an entrance by moving horizontally, a first light emitter having a first light emitting surface, and provided on the other side of the entrance. A second light emitting device having a second light emitting surface opposed to the first light emitting surface, provided on one side of the entrance and exit, a first imaging means for imaging the second light emitting surface, on the other side of the entrance and exit A second imaging means that images the first light emitting surface, and controls the first and second light emitters and the first and second imaging means to detect an obstacle near the entrance and exit; and A control device that controls the opening and closing of the door according to the presence or absence of an obstacle is provided, the first and second light emitters emit light of different wavelengths, and the first and second imaging means have corresponding wavelengths. To capture the light.
In addition, the elevator according to the present invention is provided on one side of the entrance door, an elevator door that opens and closes the entrance and exit provided between the car and the landing by moving horizontally in the hoistway, moving horizontally. A first light emitter having a first light emitting surface, provided on the other side of the entrance / exit, and a second light emitter having a second light emitting surface opposite to the first light emitting surface, provided on one side of the entrance / exit The first imaging means, the second imaging means provided on the other side of the entrance, and the obstacles near the entrance by controlling the first and second light emitters and the first and second imaging means. And a control device that controls the opening and closing of the elevator door according to the presence or absence of an obstacle, and the control device lights the first and second light emitters at different timings.
In addition, the elevator according to the present invention is provided on one side of the entrance door, an elevator door that opens and closes the entrance and exit provided between the car and the landing by moving horizontally in the hoistway, moving horizontally. A first light emitter having a first light emitting surface, provided on the other side of the entrance / exit, and a second light emitter having a second light emitting surface opposite to the first light emitting surface, provided on one side of the entrance / exit The first imaging means, the second imaging means provided on the other side of the entrance, and the obstacles near the entrance by controlling the first and second light emitters and the first and second imaging means. And a control device that controls opening and closing of the elevator door according to the presence or absence of an obstacle. The first and second light emitters emit light having different wavelengths, and the first and second imaging devices. The means images light of a corresponding wavelength.

It is the front view which looked at the elevator car door apparatus by Embodiment 1 of this invention from the inside of a car. It is a schematic block diagram which shows the control circuit of the car door apparatus of FIG. It is explanatory drawing which shows the lighting timing of the 1st and 2nd light emitter by the main control part of FIG. 2, and the imaging timing of the 1st and 2nd camera. It is explanatory drawing which shows the difference image obtained by the image process determination part of FIG. 2 when an obstruction does not exist in the monitoring area | region. It is explanatory drawing which shows the 1st example of the difference image obtained by the image process determination part of FIG. 2 when an obstruction exists in the monitoring area | region. It is explanatory drawing which shows the 2nd example of the difference image obtained by the image process determination part of FIG. 2 when an obstruction exists in the monitoring area | region. It is a flowchart which shows the operation | movement at the time of the door opening of the main-control part of FIG. It is a flowchart which shows the operation | movement at the time of the door closing of the main-control part of FIG. It is explanatory drawing which shows the lighting timing of the 1st and 2nd light emitter by Embodiment 2 of this invention, and the imaging timing of a 1st and 2nd camera. It is the front view which looked at the landing door apparatus of the elevator by Embodiment 3 of this invention from the landing. It is the rear view which looked at the elevator car door apparatus by Embodiment 4 of this invention from the landing side. It is a top view which shows the car door apparatus and landing door apparatus of the elevator of FIG.

Preferred embodiments of the present invention will be described below with reference to the drawings.
Embodiment 1 FIG.
FIG. 1 is a front view of an elevator car door device (sliding door device) according to Embodiment 1 of the present invention as seen from inside a car. In the figure, a car doorway 1a is provided in a car 1 that is raised and lowered in a hoistway. The car entrance 1a is opened and closed by first and second car doors 2a and 2b as elevator doors that are moved horizontally. A car entrance / exit frame 3 is provided around the car entrance / exit 1a.

The car entrance / exit frame 3 includes first and second vertical frames 3a, 3b provided on the left and right sides of the car entrance 1a, and an upper horizontal frame provided between upper ends of the first and second vertical frames 3a, 3b. 3c and a lower horizontal frame 3d provided on the floor of the car doorway 1a.

A car operation panel 4 is provided on the front surface of the second vertical frame 3b. The car operation panel 4 is provided with a display device 5, an alarm device 6, a plurality of floor designation buttons 7, a door opening button 8, and a door closing button 9. An indicator lamp 10 is provided on the front surface of the upper horizontal frame 3c.

The first light emitter 11 is provided on the side surface of the first vertical frame 3a facing the second vertical frame 3b. The first light emitter 11 has a first light emitting surface 11a that is long and continuous in the vertical direction. A second light emitter 12 is provided on a side surface of the second vertical frame 3b facing the first vertical frame 3a. The second light emitter 12 has a second light emitting surface 12a that is long and continuous in the vertical direction. The first and second light emitting surfaces 11a and 12a are provided over almost the entire height of the car doorway 1a and face each other with the car doorway 1a interposed therebetween.

A first camera 13 serving as a first imaging unit that images the second light emitting surface 12a is provided at the upper end of the side surface of the first vertical frame 3a facing the second vertical frame 3b. The first camera 13 is disposed adjacent to the upper end portion of the first light emitting surface 11a. A second camera 14 serving as a second imaging unit that images the first light emitting surface 11a is provided at a lower end portion of a side surface of the second vertical frame 3b facing the first vertical frame 3a. The second camera 14 is provided adjacent to the lower end of the second light emitting surface 12a.

FIG. 2 is a schematic block diagram showing a control circuit of the car door device of FIG. In the figure, the opening / closing operation of the car doors 2a, 2b is controlled by the opening / closing control unit 15. The opening / closing control unit 15 is mounted on the car 1.

Signals from the first and second cameras 13 and 14 are sent to the image processing determination unit 16. The image processing determination unit 16 opens and closes the first and second car doors 2a and 2b based on signals from the first and second cameras 13 and 14 when the first and second car doors 2a and 2b are opened and closed. It is determined whether the light from is blocked by an obstacle.

The first and second light emitters 11 and 12, the first and second cameras 13 and 14, the open / close control unit 15 and the image processing determination unit 16 are controlled by the main control unit 17. The main controller 17 irradiates light from the first and second light emitters 11 and 12 when the car doors 2a and 2b are opened and closed, and monitors the presence or absence of an obstacle near the car doorway 1a. Further, the main control unit 17 sends an opening / closing command for the car doors 2a, 2b to the opening / closing control unit 15 according to the presence or absence of an obstacle.

The open / close control unit 15, the image processing determination unit 16, and the main control unit 17 are each constituted by a microcomputer. In addition, at least two of the open / close control unit 15, the image processing determination unit 16, and the main control unit 17 can be configured by a common computer. The control device includes an open / close control unit 15, an image processing determination unit 16, and a main control unit 17.

Next, a specific method for detecting an obstacle will be described. FIG. 3 is an explanatory diagram showing the lighting timing of the first and second light emitters 11 and 12 and the imaging timing of the first and second cameras 13 and 14 by the main controller 17 of FIG. The main control unit 17 performs lighting and imaging in the order of steps 1, 2, and 3. Further, when the obstacle is continuously monitored, steps 1 to 3 are repeatedly performed at a predetermined cycle (for example, 30 msec).

First, in step 1, the first light emitter 11 is turned on, the first light emitting surface 11a is imaged by the second camera 14, and the acquired data, that is, the first lighting image is sent to the image processing determination unit 16. send. At this time, the second light emitter 12 is turned off.

Next, in step 2, the second light emitter 12 is turned on, the second light emitting surface 12 a is imaged by the first camera 13, and the acquired data, that is, the second lighting image is displayed in the image processing determination unit 16. Send to. At this time, the first light emitter 11 is turned off.

Thereafter, in step 3, both the first and second light emitters 11 and 12 are turned off, and the first and second light emitting surfaces 11a and 12a are imaged by the first and second cameras 13 and 14, respectively. The acquired data, that is, the first and second unlit images are sent to the image processing determination unit 16.

The image processing determination unit 16 obtains a difference image between the first lighting image and the first lighting image and obtains a difference image between the second lighting image and the second lighting image. When such difference processing is performed, only the images of the first and second light emitting surfaces 11a and 12a remain in the difference image. Therefore, when there are no obstacles in the two triangular monitoring areas with the light emitting surfaces 11a and 12a as the base with the cameras 13 and 14 as vertices, the difference image has a single continuous straight line as shown in FIG. A light-emitting surface image remains.

On the other hand, when there is an obstacle in the monitoring area, a part of the light from the light emitters 11 and 12 is blocked, so the difference image has a light emitting surface image as shown in FIG. Remains. That is, in the difference image of FIG. 5, the light emitting surface image is divided into a plurality of pieces and is discontinuous. Moreover, in the difference image of FIG. 6, the length of the light emission surface image is shorter than usual. When the image processing determination unit 16 detects that the light emitting surface image has become discontinuous, shortened, or has disappeared, the image processing determining unit 16 determines that an obstacle is present and controls the signal to that effect to the main control. Send to part 17.

Next, FIG. 7 is a flowchart showing the operation of the main control unit 17 of FIG. 2 when the door is opened. The main control unit 17 starts the obstacle detection operation as described above before a predetermined time (for example, several seconds before) when the car doors 2a and 2b actually start the door opening operation (step S1). Is determined (step S2). At this time, if no obstacle is detected, normal door opening is started (step S3).

On the other hand, when an obstacle is detected, a warning is issued by the alarm device 6 so that the passenger in the car 1 leaves the car doors 2a and 2b (step S4). Specifically, a voice stored in advance, for example, an announcement such as “The door opens. Please leave the door.” Is sent from the alarm device 6. Thereafter, the presence / absence of an obstacle is determined again (step S5), and if there is no obstacle, normal door opening is started (step S3).

When the normal door opening is started, the first and second light emitters 11 and 12 are turned off, and the obstacle detection operation is stopped (step S6). And normal door opening operation | movement is continued until all the doors open (step S7).

On the other hand, when an obstacle is detected again despite the warning being issued, a warning such as “The door opens” is issued again by the alarm device 6 (step S8), and at a lower speed than usual. The door opening operation is started (step S9).

When the low-speed door opening is started, the first and second light emitters 11 and 12 are turned off, and the obstacle detection operation is stopped (step S10). Then, the low-speed door opening operation is continued until all the doors are opened (step S11).

Next, FIG. 8 is a flowchart showing the operation of the main control unit 17 of FIG. 2 when the door is closed. The main control unit 17 starts the obstacle detection operation as described above before a predetermined time (for example, one second before) when the car doors 2a and 2b actually start the door closing operation (step S12). The presence or absence is determined (step S13). If no obstacle is detected, door closing is started (step S14). When an obstacle is detected, the process waits until no obstacle is detected, and starts closing when no obstacle is detected.

During the door closing operation, the determination of the presence or absence of an obstacle is continued (step S15). If no obstacle is detected, the door closing operation is continued (step S16), and the car doors 2a and 2b have reached the fully closed position. Whether or not (step S17). That is, during the door closing operation, the presence / absence of an obstacle is repeatedly determined until all doors are closed.

If an obstacle is detected during the door closing operation, the car doors 2a and 2b are reversed and opened (step S18), and the operation returns to the initial operation. While the reversing door is open, the first and second light emitters 11 and 12 are turned off, and the obstacle detection operation is stopped. If all the doors are closed with no obstacle detected, the first and second light emitters 11 and 12 are turned off, the obstacle detection operation is stopped (step S19), and the operation of FIG.

In such a car door device, since the lighting timings of the first and second light emitters 11 and 12 are shifted from each other, the first and second light emitters 11 and 12 and the first and second cameras 13, 14 on both sides of the car doorway 1a to cover a wide monitoring area while eliminating the influence of light from the other when one of the first and second light emitters 11 and 12 is lit. Obstacles can be detected more reliably.

Further, when the first light emitter 11 is turned on, the second light emitter 12 is turned off, the first light emitting surface 11a is imaged by the second camera 14, and the second light emitter 12 is turned on. In addition, since the second light emitting surface 12a is imaged by the first camera 13 while the first light emitter 11 is turned off, the influence of the light reflected by the obstacle is eliminated and the obstacle can be detected more reliably. Can do.

Furthermore, since the first and second light emitters 11 and 12 have the first and second light emitting surfaces 11a and 12a that are long and continuous in the vertical direction, obstacles can be detected without gaps over a wide range. can do.

Furthermore, if an obstacle is detected before the door is opened, a warning is issued or the door is opened at a low speed. When the door is opened, the clothes and luggage of the passenger are Can be more reliably prevented from being pulled in between.
Further, when an obstacle is detected when the door is closed, the vehicle waits in the fully open state or reverses the door, so that it is possible to more reliably prevent passengers and luggage from being caught between the car doors 2a and 2b.

Embodiment 2. FIG.
Next, FIG. 9 is an explanatory diagram showing lighting timings of the first and second light emitters and imaging timings of the first and second cameras according to Embodiment 2 of the present invention. In the second embodiment, step 2 and step 3 in the first embodiment (FIG. 3) are interchanged, and other configurations and control methods are the same as those in the first embodiment.

In this way, even if the first and second extinguishing images are acquired before acquiring the second lighting image, the influence of the light reflected by the obstacle is eliminated as in the first embodiment. Obstacles can be detected more reliably.

Embodiment 3 FIG.
Next, FIG. 10 is a front view of an elevator landing door device (sliding door device) according to Embodiment 3 of the present invention as seen from the landing. In the figure, a landing entrance 21 is provided at the landing. The landing entrance 21 is opened and closed by first and second landing doors 22a and 22b as elevator doors that are moved horizontally in conjunction with the car doors 2a and 2b. A landing entrance frame 23 is provided around the landing entrance 21.

The hall entrance / exit frame 23 includes first and second vertical frames 23a, 23b provided on the left and right sides of the hall entrance / exit 21, and an upper horizontal frame provided between upper ends of the first and second vertical frames 23a, 23b. 23c and a lower horizontal frame 23d provided on the floor of the hall entrance 21.

A display device 24, an alarm device 25, an upper call button 26, and a lower call button 27 are provided on the front surface of the first vertical frame 23a. An indicator lamp 28 is provided on the front surface of the upper horizontal frame 23c.

The first light emitter 11 is provided on the side surface of the first vertical frame 23a facing the second vertical frame 23b. The second light emitter 12 is provided on the side surface of the second vertical frame 23b facing the first vertical frame 23a. A first camera 13 that captures an image of the second light emitting surface 12a is provided at the upper end of the side surface of the first vertical frame 23a that faces the second vertical frame 23b. A second camera 14 that captures an image of the first light emitting surface 11a is provided at the lower end of the side surface of the second vertical frame 23b that faces the first vertical frame 23a. Other configurations and control methods are the same as those in the first embodiment.

Thus, even when the obstacle detection device is provided in the landing door device, the obstacle can be detected more reliably by eliminating the influence of the light reflected by the obstacle.

Embodiment 4 FIG.
11 is a rear view of the elevator car door device according to Embodiment 4 of the present invention as seen from the landing side, and FIG. 12 is a plan view showing the elevator car door device and the landing door device of FIG. In the figure, the first light emitter 11 and the first camera 13 are provided in the vicinity of the door of the first car door 2a of the car 1 (on the landing side of the first car door 2a). Further, the second light emitter 12 and the second camera 14 are provided in the vicinity of the door pocket of the second car door 2b of the car 1 (on the landing side with respect to the second car door 2b). The first and second light emitters 11 and 12 irradiate light in the space between the car doors 2a and 2b and the landing doors 22a and 22b in parallel with the opening / closing direction of the car doors 2a and 2b. Other configurations and control methods are the same as those in the first embodiment.

As described above, even when the light from the first and second light emitters 11 and 12 is irradiated to the space between the car doors 2a and 2b and the landing doors 22a and 22b, the light reflected by the obstacles. It is possible to more reliably detect obstacles by eliminating the influence of.
Moreover, the obstacle actually pinched | interposed into door 2a, 2b, 22a, 22b can be detected more reliably.

Embodiment 5. FIG.
Next, a fifth embodiment of the present invention will be described. In this example, the first and second light emitters 11 and 12 emit light having different wavelengths. And the 1st and 2nd cameras 13 and 14 image the light of a corresponding wavelength. The lighting timings of the first and second light emitters 11 and 12 may or may not be shifted as in the first embodiment.

Specifically, the first light emitter 11 emits light having a wavelength λ1, and the second light emitter 12 emits light having a wavelength λ2. And the 2nd camera 14 which images the 1st light emission surface 11a has an optical filter which permeate | transmits the light of wavelength (lambda) 1, and shields the light of wavelength (lambda) 2. In addition, the first camera 13 that images the second light emitting surface 12a has an optical filter that transmits light of wavelength λ2 and blocks light of wavelength λ1. Thereby, the 1st and 2nd cameras 13 and 14 image only the light from the corresponding light emitters 11 and 12. Other configurations and control methods are the same as those in the first embodiment.

Such a car door device can more reliably detect an obstacle by eliminating the influence of light reflected by the obstacle.

In the above example, the obstacle is detected by being blocked by the obstacle and the light emitting surface image is interrupted or shortened. However, the obstacle detection method is not limited to this. For example, a time difference image that is a difference between the latest difference image and a difference image before a predetermined time may be obtained, and it may be determined whether or not a value greater than a predetermined value exists in the time difference image. In this method, if there is no obstacle, the time difference image has a value of almost 0 on the entire surface. Further, if there is a moving obstacle, a portion greater than a predetermined value appears in the time difference image. For this reason, if there exists a part more than predetermined value, it can determine with the obstacle existing. According to such a method, it is possible to prevent erroneous detection of dust that adheres to the light emitting surfaces 11a and 12a and does not move as an obstacle, and can efficiently detect only moving obstacles such as passengers.

The light emitted from the light emitters 11 and 12 may be visible light. In this case, the passengers in the car 1 or the hall can visually recognize the light emitting surfaces 11a and 12a, and the operations of the doors 2a, 2b, 22a and 22b can be visually shown to the passengers. For example, in the flowchart of FIG. 7, since the obstacle detection operation is started before the door opening is started and the light emitters 11 and 12 are blinked, it is possible to notify the passenger in advance of the door opening start. Further, in the flowchart of FIG. 8, since the obstacle detection operation is started before the door closing starts and the light emitters 11 and 12 are blinked, the passenger can be informed in advance of the door closing start.

Furthermore, the lighting timing and imaging timing are not limited to the above examples. For example, when the first light emitter 11 is turned on, the first light emitter 12 is turned off, the first camera 13 is imaged while the second light emitter 12 is turned off, and the second light emitter 12 is turned on. The second camera 14 may take an image while turning off 11. In this case, the first and second cameras 13 and 14 detect reflected light from the obstacle when there is an obstacle. Even in such a method, when one of the first and second light emitters 11 and 12 is lit, the influence of the light from the other can be eliminated, and an obstacle can be detected more reliably. it can.

Furthermore, in the above example, the double-opening type sliding door device has been described. However, the present invention can also be applied to a single-opening type, and the number of car doors and landing doors is not particularly limited.
In the above example, the present invention is applied to an elevator door device. However, the sliding door of the present invention is also applied to, for example, an entrance / exit provided in a building, a vehicle entrance / exit of a train, or a train platform entrance / exit. Applicable equipment.

Claims (10)

A door that opens and closes the doorway by being moved horizontally,
A first light emitter provided on one side of the doorway and having a first light emitting surface;
A second light emitting device provided on the other side of the doorway and having a second light emitting surface facing the first light emitting surface;
A first imaging means provided on one side of the doorway;
The second imaging means provided on the other side of the entrance / exit and the first and second light emitters and the first and second imaging means are controlled to detect an obstacle near the entrance / exit And a control device for controlling the opening and closing of the door according to the presence or absence of obstacles
The control device is a slide door device that lights the first and second light emitters at different timings. When the first light emitter is turned on, the control device causes the second imager to image the first light emitting surface while turning off the second light emitter, and the second light emitter. The sliding door device according to claim 1, wherein when the light is turned on, the second light emitting surface is imaged by the first imaging means while the first light emitter is turned off. When the first light emitter is turned on, the control device causes the first imager to take an image while turning off the second light emitter, and when turning on the second light emitter, The slide door device according to claim 1, wherein the second light-emitting device causes the first light-emitting device to turn off and the second light-emitting device captures an image. A door that opens and closes the doorway by being moved horizontally,
A first light emitting device provided on one side of the doorway and having a first light emitting surface;
A second light emitting device provided on the other side of the doorway and having a second light emitting surface facing the first light emitting surface;
A first imaging means provided on one side of the doorway for imaging the second light emitting surface;
A second imaging unit that is provided on the other side of the entrance and that images the first light emitting surface; and controls the first and second light emitters and the first and second imaging units to A control device that detects an obstacle near the entrance and controls the opening and closing of the door according to the presence or absence of the obstacle,
The first and second light emitters emit light having different wavelengths,
Said 1st and 2nd imaging means is a slide door apparatus which images the light of a corresponding wavelength. The sliding door device according to claim 1 or 4, wherein the first and second light emitting surfaces are provided in the first and second light emitters in a vertically long and continuous manner. The slide door device according to claim 1 or 4, wherein the light emitted from the first and second light emitters is visible light. The sliding door device according to claim 6, wherein the control device starts an obstacle detection operation before the door is opened. The sliding door device according to claim 6, wherein the control device starts an obstacle detection operation before starting the door closing. A car that is raised and lowered in the hoistway,
An elevator door that opens and closes the entrance / exit provided between the car and the landing by moving horizontally,
A first light emitter provided on one side of the doorway and having a first light emitting surface;
A second light emitting device provided on the other side of the doorway and having a second light emitting surface facing the first light emitting surface;
A first imaging means provided on one side of the doorway;
The second imaging means provided on the other side of the entrance and exit, and the first and second light emitters and the first and second imaging means are controlled to detect an obstacle near the entrance and exit. And a control device for controlling the opening and closing of the elevator door according to the presence or absence of obstacles,
The control device is an elevator that lights the first and second light emitters at different timings. A car that is raised and lowered in the hoistway,
An elevator door that opens and closes an entrance / exit provided between the car and the landing by being moved horizontally,
A first light emitter provided on one side of the doorway and having a first light emitting surface;
A second light emitting device provided on the other side of the doorway and having a second light emitting surface facing the first light emitting surface;
A first imaging means provided on one side of the doorway;
The second imaging means provided on the other side of the entrance / exit and the first and second light emitters and the first and second imaging means are controlled to detect an obstacle near the entrance / exit And a control device for controlling the opening and closing of the elevator door according to the presence or absence of an obstacle,
The first and second light emitters emit light having different wavelengths,
The first and second imaging means are elevators that image light of corresponding wavelengths.

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