CN102159488B

CN102159488B - Slide door device and elevator

Info

Publication number: CN102159488B
Application number: CN200880131139.2A
Authority: CN
Inventors: 鹿井正博; 增田寿雄; 川荣祐贵
Original assignee: Mitsubishi Electric Corp
Current assignee: Mitsubishi Electric Corp
Priority date: 2008-12-26
Filing date: 2008-12-26
Publication date: 2014-06-25
Anticipated expiration: 2028-12-26
Also published as: WO2010073387A1; EP2371754A1; EP2371754B1; JP5289463B2; JPWO2010073387A1; EP2371754A4; CN102159488A; KR20110053462A; KR101210016B1

Abstract

In a slide door device, a first housing is provided to a first vertical frame of a doorway frame and a second housing is provided to a second vertical frame of the doorway frame. The first housing is provided with a first light emitter having a vertically elongated continuous first light emitting surface. The second housing is provided with a second light emitter having a vertically elongated continuous second light emitting surface. Further, the first housing is provided with a first imaging means for imaging the second light emitting surface, and the second housing is provided with a second imaging means for imaging the first light emitting surface.

Description

Sliding door device and elevator

Technical Field

The present invention relates to a sliding door device for automatically horizontally moving a door, and an elevator using the sliding door device.

Background

In a conventional sliding door apparatus, left and right vertical frames of an entrance are provided with: a pair of light emitters having a long and continuous light emitting surface; and a pair of cameras that capture images of the light emitting surfaces of the light emitters facing each other, whereby the entire entrance is taken into the monitoring area (see patent document 1, for example).

Patent document 1: japanese laid-open patent publication No. 2004-338846

In the conventional sliding door apparatus described above, the opening for the light emitter and the opening for the camera are provided in each of the left and right vertical frames of the entrance frame, and the light emitter and the camera need to be mounted separately, and the field mounting work of the sensor takes time and effort.

Disclosure of Invention

The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a sliding door device to which a sensor for detecting an obstacle at an entrance can be easily attached, and an elevator using the sliding door device.

The sliding door device of the present invention comprises: a door that opens and closes the doorway by moving horizontally; a 1 st frame body which is provided on a 1 st vertical frame of the entrance frame and is elongated in the vertical direction; a 2 nd frame body which is provided on the 2 nd vertical frame of the entrance frame and is elongated in the vertical direction; a 1 st light emitter provided on the 1 st frame body and having a 1 st light emitting surface which is long and continuous in the vertical direction; a 2 nd light emitter provided on the 2 nd frame body and having a 2 nd light emitting surface which is long and continuous in the vertical direction; a 1 st imaging unit provided on the 1 st frame body and configured to image a 2 nd light emitting surface; a 2 nd imaging unit provided on the 2 nd frame body and configured to image the 1 st light emitting surface; and an image processing unit that determines whether or not an object is present at the entrance based on signals from the 1 st image pickup unit and the 2 nd image pickup unit.

Further, an elevator of the present invention includes: a car that ascends and descends in a hoistway; an elevator door that opens and closes an entrance provided between the car and the landing by moving horizontally; a 1 st frame body which is provided on a 1 st vertical frame of the entrance frame and is elongated in the vertical direction; a 2 nd frame body which is provided on the 2 nd vertical frame of the entrance frame and is elongated in the vertical direction; a 1 st light emitter provided on the 1 st frame body and having a 1 st light emitting surface which is long and continuous in the vertical direction; a 2 nd light emitter provided on the 2 nd frame body and having a 2 nd light emitting surface which is long and continuous in the vertical direction; a 1 st imaging unit provided on the 1 st frame body and configured to image a 2 nd light emitting surface; a 2 nd imaging unit provided on the 2 nd frame body and configured to image the 1 st light emitting surface; an image processing unit that determines whether or not an object is present at the entrance based on signals from the 1 st and 2 nd imaging units; and a car control part for controlling the opening and closing of the elevator door according to the information from the image processing part.

Drawings

Fig. 1 is a front view of an elevator car door device according to embodiment 1 of the present invention as viewed from inside the car.

Fig. 2 is a block diagram showing a control circuit of the car door apparatus shown in fig. 1.

Fig. 3 is a perspective view showing the 2 nd housing shown in fig. 1.

Fig. 4 is a longitudinal sectional view of the light emitter chamber of the 2 nd housing shown in fig. 3.

Fig. 5 is a vertical cross-sectional view of the imaging unit chamber of the 2 nd housing shown in fig. 3.

Fig. 6 is a sectional view taken along line VI-VI of the 2 nd frame body shown in fig. 5.

Fig. 7 is a sectional view taken along line VII-VII of the frame 2 shown in fig. 5.

Detailed Description

Preferred embodiments of the present invention will be described below with reference to the accompanying drawings.

Embodiment mode 1

Fig. 1 is a front view of an elevator car door device (sliding door device) according to embodiment 1 of the present invention as viewed from inside the car. In the figure, a car doorway 1a is provided in a car 1 that ascends and descends in a hoistway. The car doorway 1a is opened and closed by first and

second car doors

2a and 2b, which are horizontally moving elevator doors. A car entrance frame 3 is provided around the car entrance 1 a.

The car entrance frame 3 includes: 1 st and 2 nd

vertical frames

3a, 3b provided on the left and right of the car doorway 1 a; an upper horizontal frame 3c provided between upper end portions of the 1 st and 2 nd

vertical frames

3a and 3 b; and a lower horizontal frame 3d provided on the floor surface of the car doorway 1 a. A car operating panel (not shown) is provided on the front surface of the 2 nd vertical frame 3 b.

The 1 st frame 4 is attached to the 1 st vertical frame 3 a. The 2 nd frame 5 is attached to the 2 nd vertical frame 3 b. The 1 st and 2

nd frames

4 and 5 have a vertically elongated shape and are provided along the entire height of the side surfaces of the 1 st and 2 nd

vertical frames

3a and 3b facing each other. The 1 st and 2

nd frames

4 and 5 are provided so as to face the car doorway 1a with their front surfaces facing each other. The front surfaces of the 1 st and 2

nd frames

4 and 5 and the side surfaces of the 1 st and 2

nd frames

4 and 5 are flush with each other so that the front surfaces do not protrude from the side surfaces of the 1 st and 2 nd

vertical frames

3a and 3 b.

The 1 st and 2

nd frames

4 and 5 are disposed closer to the

car doors

2a and 2b than intermediate portions of the

vertical frames

3a and 3b in the depth direction of the car doorway 1 a. In particular, in this example, the 1 st and 2

nd frames

4 and 5 are disposed at the ends of the

vertical frames

3a and 3b on the

car doors

2a and 2b side.

The 1 st housing 4 incorporates a 1 st light emitter 6 and a 1 st camera 7 as a 1 st imaging unit. The 2 nd housing 5 incorporates a 2 nd light emitter 8 and a 2 nd camera 9 as a 2 nd imaging unit.

The 1 st light emitter 6 has a 1 st light emitting surface 6a which is long and continuous in the vertical direction. The 2 nd light emitter 8 has a 2 nd light emitting surface 8a which is long and continuous in the vertical direction. The 1 st and 2 nd

light emitting surfaces

6a and 8a are provided substantially over the entire height of the car doorway 1a, and face each other across the car doorway 1 a.

The 1 st camera 7 is provided at an upper end portion (near the upper horizontal frame 3 c) of the 1 st housing 4, is adjacent to an upper end portion of the 1 st light-emitting surface 6a, and photographs the 2 nd light-emitting surface 8 a. The 2 nd camera 9 is provided at the lower end portion (near the lower horizontal frame 3 d) of the 2 nd housing 5, is adjacent to the lower end portion of the 2 nd light emitting surface 8a, and photographs the 1 st light emitting surface 6 a.

Fig. 2 is a block diagram showing a control circuit of the car door apparatus shown in fig. 1. The 1 st housing 4 houses a 1 st light emitter 6, a 1 st camera 7, and a 1 st object detection control unit 11. The 1 st object detection control unit 11 controls lighting of the 1 st light emitter 6.

The 1 st object detection control unit 11 includes a 1 st image processing unit 11 a. The 1 st image processing unit 11a performs image processing based on the image signal captured and output by the 1 st camera 7, and determines whether or not an object (obstacle) is present between the 2 nd light emitter 8 and the 1 st camera 7. When the 1 st image processing unit 11a determines that an object is present, the 1 st object detection control unit 11 outputs a detection signal to the car control unit 10.

The 2 nd housing 5 houses a 2 nd light emitter 8, a 2 nd camera 9, and a 2 nd object detection control unit 12. The 2 nd object detection control unit 12 controls lighting of the 2 nd light emitter 8.

The 2 nd object detection control unit 12 includes a 2 nd image processing unit 12 a. The 2 nd image processing unit 12a performs image processing based on the image signal captured and output by the 2 nd camera 9, and determines whether or not an object is present between the 1 st light emitter 6 and the 2 nd camera 9. When the 2 nd image processing unit 12a determines that an object is present, the 2 nd object detection control unit 12 outputs a detection signal to the car control unit 10.

The 1 st and 2 nd object detection control sections 11 and 12 can know the lighting/lighting off timings of the 2 nd and 1

st light emitters

8 and 6 by transmitting and receiving signals to and from each other through the car control section 10.

The car operation panel is provided with an alarm device 13. The alarm device 13 is controlled by the car control unit 10, and gives a warning report and/or a warning sound to passengers in the car 1 to display a warning.

The car control unit 10 outputs an opening/closing command to an opening/closing control unit 14 that controls the opening/closing of the

car doors

2a and 2 b. With this configuration, the car control section 10 operates the alarm device 13 based on the detection signals from the object detection control sections 11 and 12, and controls the opening and closing of the

car doors

2a and 2 b.

The car control unit 10, the 1 st object detection control unit 11, the 2 nd object detection control unit 12, and the opening/closing control unit 14 each have a microcomputer, and can execute their functions in accordance with a program stored in the microcomputer.

Fig. 3 is a perspective view showing the 2 nd housing 5 shown in fig. 1. The 2 nd housing 5 has a housing main body (structural body) 21 having an opening on the front surface, and a partition plate 22 provided at a widthwise intermediate portion in the housing main body 21. An upper cover 23 is provided at the upper end of the housing main body 21, and a lower cover 24 is provided at the lower end of the housing main body 21.

The space inside the housing main body 21 is divided into two spaces, i.e., a light emitter chamber 21a and an imaging unit chamber 21b, by a partition plate 22. The 2 nd light emitter 8 is disposed in the light emitter chamber 21 a. The 2 nd camera 9 is disposed at the lower end of the imaging unit chamber 21 b. The partition plate 22 is a member for not transmitting the light emitted from the 2 nd light emitter 8 so that the light does not leak between the light emitter chamber 21a and the imaging unit chamber 21 b.

A transmission diffusion plate 25 that transmits/diffuses light is provided on the front surface of the light emitter chamber 21 a. The front surface opening of the light emitter chamber 21a is blocked by the transmission diffusion plate 25. The transmission/diffusion plate 25 can be, for example, a translucent milky-white resin plate, or a transparent resin plate or a glass plate whose surface is subjected to diffusion treatment. The 2 nd light emitting surface 8a is formed by the transmission diffusion plate 25.

A filter mask 26 is provided on the front surface of the imaging unit chamber 21 b. The filter cover 26 transmits light from the 1 st light emitter 6, which is a light emitter opposed thereto, and blocks at least a part of light having a wavelength other than the wavelength of the light. That is, the filter cover 26 functions as an optical filter for blocking light of a wavelength unnecessary for object detection and selectively transmitting light from the 1 st light emitter 6. For example, a resin plate or a glass plate can be used as the filter cover 26.

Fig. 4 is a vertical sectional view of the light emitter chamber 21a of the 2 nd housing 5 shown in fig. 3, fig. 5 is a vertical sectional view of the imaging unit chamber 21b of the 2 nd housing 5 shown in fig. 3, fig. 6 is a sectional view taken along the line VI-VI of the 2 nd housing 5 shown in fig. 5, and fig. 7 is a sectional view taken along the line VII-VII of the 2 nd housing 5 shown in fig. 5.

The 2 nd light emitter 8 has: a substrate 27 provided in the light emitter chamber 21a and opposed to the transmission diffusion plate 25; a plurality of light sources (point light sources) 28 mounted on the substrate 27 at intervals in the up-down direction; and a transmission diffusion plate 25. All the light sources 28 are opposed to the transmission diffusion plate 25 and spaced apart from the transmission diffusion plate 25 by a predetermined interval.

The light source 28 can employ, for example, a light emitting diode, a semiconductor laser, a lamp, or an electroluminescence element. Also, preferably, the light source 28 emits a single wavelength of visible or infrared light.

The 2 nd camera 9 is disposed at the lower end of the imaging unit chamber 21b and is inclined obliquely upward. The 2 nd object detection control unit 12 is housed above the 2 nd camera 9 in the imaging unit chamber 21b and in the vicinity of the 2 nd camera 9.

The 1 st frame 4 has the same structure as the 2 nd frame 5. In the 1 st housing 4, the filter cover 26 transmits light from the 2 nd light emitter 8 which is a light emitter opposed thereto, and blocks at least a part of light having a wavelength other than the wavelength of the light. The 1 st light emitter 6 is disposed in the light emitter chamber 21a similarly to the 2 nd light emitter 8, and has a substrate 27, a light source 28, and a transmission diffusion plate 25.

The 1 st camera 7 is disposed at an upper end portion of the imaging unit chamber 21b, and is inclined obliquely downward. The 1 st object detection control unit 11 is housed below the 1 st camera 7 in the imaging unit chamber 21b and in the vicinity of the 1 st camera 7.

Next, a method of detecting an object will be described. First, image data α from the cameras 7 and 9 when the

light emitters

6 and 8 are not lit and image data β when the

light emitters

6 and 8 are lit are taken into the image processing units 11a and 12 a. Then, a difference image γ is calculated by subtracting the image data α from the image data β. Such an operation is repeated when monitoring of the object is performed.

By performing such difference processing, only the images of the light-emitting

surfaces

6a and 8a from which the ambient external light is removed remain in the difference image γ. Therefore, if there is no light-blocking object in the two triangular surveillance areas having the cameras 7 and 9 as vertexes and the light-emitting

surfaces

6a and 8a as bases, an image of one continuous linear light-emitting surface remains in the difference image γ.

On the other hand, when an object for blocking light is present in the monitored area, since part of the light is blocked, the image on the light emitting surface of the difference image γ is cut into a plurality of discontinuous images, or the length of the image on the light emitting surface is shorter than that in the normal case. When the image processing units 11a and 12a detect that the image on the light emitting surface is discontinuous, the image on the light emitting surface is shortened, or the image on the light emitting surface is lost, it is determined that an object is present between the

vertical frames

3a and 3b, and a signal indicating the determination is transmitted to the car control unit 10.

In the car door device of the elevator, the 1 st light emitter 6 and the 1 st camera 7 are provided on the 1 st common frame 4, and the 2 nd light emitter 8 and the 2 nd camera 9 are provided on the 2 nd common frame 5, so that the sensor can be easily mounted only by mounting the

frames

4 and 5 on the

vertical frames

3a and 3b in the sensor mounting work on site.

Further, since the inside of the housing main body 21 is divided into the light emitter chamber 21a and the imaging unit chamber 21b by the partition plate 22 and the

light emitters

6 and 8 and the cameras 7 and 9 are disposed separately, it is possible to prevent unnecessary light from entering the cameras 7 and 9 and improve detection accuracy.

Further, since the filter cover 26 is provided on the front surface of the imaging unit chamber 21b, light of an unnecessary wavelength can be prevented from entering the cameras 7 and 9, and the detection accuracy can be improved.

Further, since the 1 st and 2 nd object detection control units 11 and 12 are housed in the imaging unit chamber 21b, the cameras 7 and 9 and the object detection control units 11 and 12 can be disposed close to each other while making effective use of space, and reliability can be improved.

The 1 st and 2 nd object detection control units may be integrated.

In the above example, the object is detected by blocking the object and cutting off or shortening the image on the light-emitting surface, but the method of detecting the object is not limited to this method. For example, a time difference image that is a difference between the latest difference image and a difference image that is a predetermined time before may be obtained, and it may be determined whether or not a value that is equal to or greater than a predetermined value is present in the time difference image. In this method, if no object is present, the time difference image is a value of almost zero over the entire face. In addition, if there is a moving object, a portion above a predetermined value appears in the time difference image. Therefore, if there is a portion equal to or larger than the predetermined value, it can be determined that an object is present. According to this method, only moving objects such as passengers can be efficiently detected by removing static dust adhering to the light-emitting

surfaces

6a and 8 a.

Further, although the slide door device of the side-by-side door opening type is described in the above example, the present invention is also applicable to the single door 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 a car door apparatus of an elevator, but can also be applied to a landing door apparatus. The sliding door apparatus according to the present invention can be applied to, for example, an entrance of a building, an entrance of a vehicle such as a train, or an entrance of a platform of a train.

Claims

1. A sliding door device includes:

a door that opens and closes the doorway by moving horizontally;

a 1 st frame body which is provided on a 1 st vertical frame of the entrance frame and is elongated in the vertical direction;

a 2 nd frame body provided on the 2 nd vertical frame of the entrance frame and elongated in the vertical direction;

a 1 st light emitter provided on the 1 st frame body and having a 1 st light emitting surface which is long and continuous in the vertical direction;

a 2 nd light emitter provided on the 2 nd frame body and having a 2 nd light emitting surface which is long and continuous in the vertical direction;

a 1 st imaging unit provided in the 1 st frame body and configured to image the 2 nd light emitting surface;

a 2 nd imaging unit provided in the 2 nd housing and configured to image the 1 st light emitting surface; and

an image processing unit that determines whether or not an object is present at the doorway based on signals from the 1 st and 2 nd imaging means;

wherein,

the 1 st frame and the 2 nd frame each have a frame body with an opening on the front surface and a partition plate provided in the middle part in the width direction in the frame body,

the inside of the frame body is divided into a light emitter chamber and an imaging unit chamber by the partition plate,

the 1 st light emitter and the 2 nd light emitter are arranged in the light emitter chamber,

the 1 st and 2 nd imaging units are arranged in the imaging unit chamber;

the 1 st imaging unit is disposed at an upper end portion of the imaging unit chamber of the 1 st frame, and the 2 nd imaging unit is disposed at a lower end portion of the imaging unit chamber of the 2 nd frame.

2. The sliding door apparatus according to claim 1,

a filter cover that transmits light from the light emitter of the 1 st light emitter and the 2 nd light emitter that is opposite to the filter cover and blocks at least a part of light other than the wavelength of the light is provided on the front surface of the imaging unit chamber.

3. The sliding door apparatus according to claim 1,

the 1 st and 2 nd light emitters have: a plurality of light sources arranged in the light emitting chamber at intervals in a vertical direction; and a transmission diffusion plate provided at a front surface of the light emitter chamber to transmit/diffuse light from the light source.

4. The sliding door apparatus according to claim 1,

the image processing unit includes: a 1 st image processing unit that processes a signal from the 1 st image pickup unit; and a 2 nd image processing section that processes a signal from the 2 nd imaging unit,

the 1 st and 2 nd image processing units are disposed in the imaging unit chamber.

5. An elevator, comprising:

a car that ascends and descends in a hoistway;

an elevator door that opens and closes an entrance provided between the car and a landing by moving horizontally;

a 2 nd imaging unit provided in the 2 nd housing and configured to image the 1 st light emitting surface;

an image processing unit that determines whether or not an object is present at the doorway based on signals from the 1 st and 2 nd imaging means; and

a car control unit for controlling opening and closing of the elevator door based on information from the image processing unit;

wherein,

the 1 st and 2 nd imaging units are arranged in the imaging unit chamber;