CN113939469B

CN113939469B - Control device for elevator

Info

Publication number: CN113939469B
Application number: CN201980097301.1A
Authority: CN
Inventors: 山田一博
Original assignee: Mitsubishi Electric Corp
Current assignee: Mitsubishi Electric Corp
Priority date: 2019-06-20
Filing date: 2019-06-20
Publication date: 2023-06-02
Anticipated expiration: 2039-06-20
Also published as: WO2020255353A1; JPWO2020255353A1; CN113939469A; JP7136353B2

Abstract

The control device (100, 200, 300) of an elevator (1) of the present invention is provided with: an imaging device (21) which is arranged on the ceiling of the car of the elevator (1) and images the interior of the car; and a luminous body detection unit (101) that detects, as a luminous body, a position having a high illuminance within a predetermined range from a door (2) provided at a car entrance, based on an image captured by the imaging device (21). By detecting the light emitting body, it is possible to detect that a passenger operating a mobile phone or the like is present near the door (2) of the elevator (1).

Description

Control device for elevator

Technical Field

The present invention relates to an elevator control device.

Background

Conventionally, an elevator call attention system has been known that detects an object moving toward an elevator door and that gives attention when the detected object opens and closes the door. For example, japanese patent application laid-open No. 2016-222408 discloses the following attention-calling system: a distance between a landing door of an elevator and a user waiting for the elevator is measured, and a call attention message is displayed to the user of the landing based on the measured distance.

Prior art literature

Patent literature

Patent document 1: japanese patent laid-open publication 2016-222408

Disclosure of Invention

Problems to be solved by the invention

Recently, there is an increasing number of cases where a user moving while focusing on the operation of a mobile phone or the like and weakening the attention to the surrounding situation is in contact with an elevator door that is opened and closed. Therefore, although a countermeasure such as a warning of the user who is operating the mobile phone is desired, there is a possibility that the user who is operating the mobile phone cannot call sufficient attention even if the user calls attention in the same way as the user who is not operating the mobile phone. For example, even if an attention-calling message is displayed on the ground as in the related art, it is likely that a user who is operating a mobile phone or the like will not notice the message.

Therefore, a user who moves while operating a mobile phone or the like needs to be brought up with attention differently from a user who does not operate a mobile phone or the like, and for this reason, it is desirable to detect a user who is operating a mobile phone or the like independently of a user who does not operate a mobile phone or the like.

The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a door control device for an elevator, which is improved so as to be able to detect the presence of a passenger operating a mobile phone or the like in the vicinity of an elevator door.

Means for solving the problems

The elevator control device of the invention comprises: an imaging device which is arranged on a ceiling part of an elevator car and is used for shooting the inside of the car; and a light emitter detection unit that detects a light emitter located within a predetermined range from a door provided at a car entrance, based on an image captured by the imaging device.

Effects of the invention

According to the present invention, by detecting the light emitting body in the car within the predetermined range from the door, it is possible to detect that the passenger operating the mobile phone or the like is located near the door.

Drawings

Fig. 1 is a diagram schematically showing the overall structure of an elevator according to embodiment 1 of the present invention.

Fig. 2 is a block diagram for explaining the function of the door control device of the elevator according to embodiment 1 of the present invention.

Fig. 3 is a diagram showing an example of a speed command pattern at the time of a door closing operation of the elevator according to embodiment 1 of the present invention.

Fig. 4 is a flowchart showing control performed by the door control device of the elevator according to embodiment 1 of the present invention.

Fig. 5 is a block diagram for explaining the function of the door control device of the elevator according to embodiment 2 of the present invention.

Fig. 6 is a diagram showing an example of a speed command pattern at the time of a door closing operation of the elevator according to embodiment 2 of the present invention.

Fig. 7 is a flowchart showing control performed by the door control device of the elevator according to embodiment 2 of the present invention.

Fig. 8 is a block diagram for explaining the function of the door control device of the elevator according to embodiment 3 of the present invention.

Fig. 9 is a diagram showing an example of a speed command pattern at the time of a door closing operation of an elevator according to embodiment 3 of the present invention.

Fig. 10 is a flowchart showing control performed by the door control device of the elevator according to embodiment 3 of the present invention.

Detailed Description

Hereinafter, embodiments will be described with reference to the drawings. In the drawings, common or corresponding elements are denoted by the same reference numerals, and repetitive description thereof will be simplified or omitted.

Embodiment 1

Fig. 1 is a diagram schematically showing the structure of an elevator 1 according to embodiment 1. The elevator 1 includes a door 2, a door opening/closing mechanism 3 that opens and closes the door 2, a door driving mechanism 4 that drives the door opening/closing mechanism 3, and a door control device 100.

The door 2 opens and closes the entrance of the car by sliding in opposite directions. Although not shown, landing doors for opening and closing the entrance/exit of the landing by sliding the landing doors toward opposite sides of the elevator are provided on the landing side of the elevator. The landing door is configured to perform an opening and closing operation in conjunction with an opening and closing operation of the door 2 on the car side when the car stops at the landing.

The door opening and closing mechanism 3 includes two suspension members 5, a plurality of hanger rollers 6, a rail 7, a pair of pulleys 8, a belt 9, and two coupling members 10. The two suspension members 5 are each fixed to an upper portion of the door 2 of the car. Two hanger rollers 6 are provided at the upper portions of the two hanger members 5, respectively. The rail 7 is provided in a horizontal direction, which is a direction parallel to the opening/closing direction of the door 2. The suspension members 5 are suspended from the rails 7 by hanger rollers 6, respectively.

The pair of pulleys 8 are disposed at a predetermined distance from the rail 7 and horizontally above the rail 7. The belt 9 is disposed so as to circulate between the pulleys 8. One end of each of the two coupling members 10 is fixed to a predetermined position of the belt 9, and the other end is fixed to the suspension member 5.

The door driving mechanism 4 includes: a motor 11 connected to the rotation shaft of one pulley 8 to rotate the one pulley 8; and a motor control unit 12 that outputs a control signal to the motor 11 to control the rotation of the motor 11. The door driving mechanism 4 rotates the motor 11 by a control signal from the motor control unit 12, thereby driving the pulley 8 to rotate. When the belt 9 moves to the left and right due to the rotation of the pulley 8, the hanger roller 6 runs on the rail 7, and the door 2 moves in the opposite direction to each other together with the hanger member 5. Thereby, the entrance of the car is opened and closed.

Fig. 2 is a block diagram showing the function of the gate control device 100 according to the present embodiment. The door control device 100 is a control device for an elevator applied to the elevator 1 described above, and has a function of controlling opening and closing of the door 2. As shown in fig. 2, the door control device 100 includes a light emitting body detection unit 101, a distance calculation unit 102, an input/output port 103, a speed command setting unit 104, a RAM (Random Access Memory: random access Memory) 111, a ROM (Read Only Memory) 112, and the motor control unit 12. The RAM111 is a volatile memory for temporarily storing the operation result, and the ROM112 is a nonvolatile memory for storing a speed instruction mode or the like.

The illuminant detecting unit 101 is connected to an imaging device 21 disposed in a ceiling portion in the car, and acquires images in the car continuously captured by the imaging device 21. The illuminant detecting unit 101 analyzes the acquired image data, and detects a portion of the car where illuminance is high as an illuminant.

More specifically, for example, the illuminant detecting unit 101 may determine a portion in the image where the luminance is higher than the threshold value as a portion in the car where the illuminance is high, and detect the portion as an illuminant. The threshold in this configuration is appropriately set to a value near the lower limit of the illuminance range of light emitted from a liquid crystal screen of a mobile phone or the like.

Alternatively, the illuminant detecting unit 101 may determine a portion in the image where the luminance is particularly higher than other portions as a portion in the car where the illuminance is high, and detect the portion as an illuminant. Here, whether or not the luminance of a certain portion is particularly higher than that of other portions can be determined, for example, based on whether or not the difference between the luminance of a certain portion and the average luminance of other portions exceeds a threshold value.

In addition, the illuminant detection unit 101 may be configured to determine a whitened part as a part with high illuminance in the car and detect the same as an illuminant when the part is a so-called whitened part (Bai) in the image. In this case, the exposure of the imaging device 21 may be further set so that the object is whitened when the object is imaged with illuminance equivalent to the liquid crystal screen of a mobile phone or the like.

The distance calculating unit 102 calculates the distance between the position of the light emitter detected by the light emitter detecting unit 101 and the door 2. The input/output port 103 transmits and receives information to and from the other control device 22 of the elevator 1. The speed command setting unit 104 calculates a speed command value of the door opening/closing speed under a specific condition, and transmits the speed command value to the motor control unit 12.

The motor control unit 12 sends out a control signal to the motor 11 based on the speed command value to control the rotation of the motor 11. Thereby, the door 2 is controlled to open and close at a speed corresponding to the speed command value. The motor control unit 12 generates a control signal for the motor 11 based on the speed command pattern stored in the ROM112 or the speed command value transmitted from the speed command setting unit 104.

Fig. 3 shows an example of the speed command pattern W11 used in embodiment 1. The speed command mode W11 in fig. 3 is a mode at the time of normal closing operation of the door 2. According to the speed command mode W11, after the door 2 starts the closing operation, the operation speed of the door 2 gradually accelerates, and when the speed of the door 2 reaches the speed V11, the speed V11 is maintained. When the door 2 is closed after the speed V11 reaches the predetermined position for a predetermined time, the speed of the door 2 is reduced to a low speed V12 and maintained at the speed V12, and thereafter the door 2 is stopped.

In fig. 3, only the speed command pattern W11 at the time of the closing operation of the door 2 is shown, but at the time of the opening operation of the door 2, the opening and closing of the door 2 are controlled based on the same speed command value as the speed command pattern W11. However, the opening operation of the door 2 is opposite to the closing operation, that is, the opening and closing of the door 2 is controlled by a speed command value obtained by reversing the sign of the speed command pattern W11.

Fig. 4 is a flowchart showing control performed by the gate control device 100 according to embodiment 1. The control of fig. 4 is repeatedly executed at predetermined execution intervals during the operation of the elevator. In fig. 4, control of detecting the light emitting body in the vicinity of the door 2 is described.

Specifically, in the control of fig. 4, first, in step S101, image data in the car, which is captured from above in the car, is acquired by the imaging device 21 disposed on the ceiling of the car. Next, in step S102, a region with high illuminance is extracted from the acquired image data. Next, in step S103, a portion having a high illuminance within a predetermined range from the door 2 is specified. Here, the predetermined range is a range that serves as a reference for determining the position near the door 2, and is a range that is set in advance and stored in the ROM 112. For example, the range can be set to a range in which contact with the door 2 is possible when a person is stretching his or her hand. Alternatively, the range may be set to a range in which the light emitting body may contact the door 2 after a predetermined execution interval. Further, a wider range may be set as a predetermined range, and a light emitting body in a wider area near the door 2 may be detected.

As described above, the light emitting body in the vicinity of the door 2 is detected from the image data of the image pickup device 21 provided in the ceiling portion of the elevator car, and the presence of the passenger operating the mobile phone or the like in the vicinity of the door 2 can be detected. Thus, countermeasures for calling attention or avoiding danger can be taken in a manner suitable for the passenger who is operating the mobile phone or the like.

Embodiment 2

Fig. 5 is a block diagram schematically showing the function of the gate control device 200 according to embodiment 2. The elevator to which the door control apparatus 200 is applied is similar to the elevator 1 of embodiment 1 except that the buzzer 25 is provided.

The door control apparatus 200 of embodiment 2 includes a movement speed calculation unit 201, a door approach determination unit 202, and a buzzer sound instruction unit 203, in addition to the same configuration as the door control apparatus 100 of fig. 2. However, the door control apparatus 200 has a speed command setting section 204 instead of the speed command setting section 104 of the door control apparatus 100 of fig. 2. The same reference numerals are given to the same parts as those of fig. 2, and the description thereof is omitted.

The movement speed calculation unit 201 calculates the movement speed of the light emitter by evaluating the distance information of the light emitter from the door 2 obtained by the distance calculation unit 102 in time series. The information of the calculated moving speed is sent to the door approach determination unit 202 and the speed command setting unit 204.

The door approach determination unit 202 evaluates the distance information of the light emitter and the door 2 obtained by the distance calculation unit 102 in time series, and obtains the movement speed information of the light emitter calculated by the movement speed calculation unit 201. When the distance between the light emitter and the door 2 is short enough to be touched by a human hand, or when the distance between the light emitter and the door 2 is long enough to be touched by a human hand, but when the distance between the door 2 and the light emitter is predicted to be short enough to be touched by a human hand at the time of executing the next control routine based on the moving speed of the light emitter, the approaching state of the light emitter and the door 2 is detected.

The buzzer sound instruction unit 203 is an alarm instruction unit. When the door approach determination unit 202 detects the approach state of the light emitting body to the door 2, the buzzer sound instruction unit 203 inputs the detection information. The buzzer sound instruction unit 203 is connected to the buzzer 25 as an alarm device. When detecting the approaching state of the light emitting body to the door 2, the buzzer sound instruction unit 203 outputs a sound instruction to the buzzer 25. Thus, the buzzer 25 sounds to call the attention of the passenger in the car.

The speed command setting unit 204 is a function that is arranged in place of the speed command setting unit 104 of embodiment 1. When the door approach determination unit 202 detects the approach state of the light emitting body to the door 2, the speed command setting unit 204 generates a speed command signal for decelerating the opening/closing speed of the door 2. The speed command value indicated by the speed command signal is a speed at which the influence of a light approaching the door 2, that is, a passenger operating a mobile phone or the like, can be reduced even if the passenger collides with the opened and closed door 2. The speed command signal is sent to the motor control unit 12.

Fig. 6 is a diagram showing a speed command pattern selected by the speed command setting unit 204 when the approaching state of the light emitting body to the door 2 is detected. In fig. 6, for comparison, a normal speed command pattern W11 similar to that in fig. 3 is shown by a broken line. As shown in fig. 6, at time T1, when the approaching state of the light emitting body to the door 2 is detected, the speed command mode W21 is switched. When the speed command mode W21 is switched, the opening/closing speed of the door is reduced to a speed V21 slower than the highest speed V11 of the normal speed command mode W11. The speed V21 is a speed at which the influence of a person can be reduced even if the person is sandwiched between the doors 2. After that, the door is closed to a predetermined position while maintaining the speed V21, and then the speed is reduced to the speed V12, and thereafter, the door 2 is stopped.

In fig. 6, only the speed command pattern W21 at the time of the closing operation of the door 2 is shown, but when the approaching state of the light emitting body to the door 2 is detected at the time of the opening operation of the door 2, the opening and closing of the door 2 can be controlled at the same operation speed as the speed command pattern W21. However, the opening operation of the door 2 is controlled by a speed command value obtained by reversing the sign of the speed command pattern W21, in the opposite direction to the closing operation.

Fig. 7 is a flowchart showing control performed by the door control apparatus 200. The processing in steps S101 to S103 of the control of fig. 7 is the same as that of the control of fig. 4, and therefore, the description thereof is omitted. The control of fig. 7 is repeatedly executed at predetermined execution intervals. In the control of fig. 7, after step S103, the process of step S201 is performed.

In step S201, it is determined whether or not the distance between the light-emitting body detected in step S103 and the door 2 is in a state of proximity. More specifically, when the distance between the light emitter and the door 2 is shortened to the extent that the person can reach the door, or when the distance between the light emitter and the door 2 is predicted to be shortened to the extent that the person can reach the door when the control routine of fig. 7 is executed next based on the moving speed of the light emitter, although the distance between the light emitter and the door 2 is larger than the distance that the person can reach the door, the approaching state of the light emitter and the door 2 is detected. If it is determined in step S201 that the light emitter and the door 2 are not in the approaching state, the present process is directly terminated.

On the other hand, when it is determined in step S201 that the light emitting body is in a state of being close to the door 2, the flow proceeds to step S202. In step S202, the buzzer 25 that has attracted attention is sounded in the car.

Next, the flow advances to step S203, where a speed command value is sent to the motor control unit 12 to cause the door 2 to open and close at a decelerated speed. The motor control unit 12 controls the motor 11 in accordance with the received speed command value, and operates the door 2 at a speed reduced from that in the normal state. Thereafter, the present process ends.

As described above, according to the present embodiment, when the approaching of the light emitting body to the door 2 is detected, it is determined that there is a passenger approaching the door 2 while operating a mobile phone or the like, and a buzzer that draws attention is sounded. This makes it possible to call attention by sound to the passenger who is attentive to the screen of the mobile phone or the like, and to more reliably notify the approach to the opened/closed door 2.

Further, according to the present embodiment, when the approach is detected, the operation speed of the door 2 is reduced. Thus, even when a passenger operating a mobile phone or the like collides with the door 2 by mistake, the impact of the collision can be reduced.

In the present embodiment, a configuration in which the buzzer 25 is provided in the car as an alarm device, and the buzzer 25 sounds in order to call attention has been described. However, the alarm device may be a device other than the buzzer 25 as long as it is a device that draws attention by sound. Specifically, for example, the alarm device may also flow a voice-based reminder note from the speaker.

Embodiment 3

Fig. 8 is a block diagram schematically showing the function of the gate control device of embodiment 3. The door control apparatus 300 according to embodiment 3 is similar to the door control apparatus 200 of fig. 5, except that the door control apparatus 300 includes a speed command setting unit 301 instead of the speed command setting unit 204, and does not include the buzzer sound command unit 203. The same reference numerals are given to the same functions as those of fig. 5, and the description thereof is omitted.

When the extracted light emitting body moves, the speed command setting unit 301 of the door control device 300 calculates the arrival time of the light emitting body at the door 2 when the light emitting body moves in the direction of the door 2 at the current movement speed. Then, the speed command value of the opening/closing speed of the door 2 is reset so that the door 2 can be stopped within the calculated arrival time.

Fig. 9 shows an example of the speed command pattern set by the speed command setting unit 301. For example, fig. 9 shows an example in which the movement of the light emitting body in the direction of the door 2 is detected at time T1, and then the light emitting body is detected to leave the door 2 at time T2.

At time T1, when the movement of the light emitting body in the direction of the door 2 is detected, the speed command setting unit 301 calculates the arrival time T1 of the light emitting body at the door 2 when the light emitting body moves in the direction of the door 2 at the current movement speed, based on the movement speed of the light emitting body and the distance of the light emitting body from the door 2, as shown by "door speed command determination data" in fig. 9.

Then, as shown by a "door speed command" in fig. 9, the speed command setting unit 301 sets the speed command pattern W31 such that the opening/closing speed of the door 2 becomes a speed that can be stopped before the calculated arrival time t1 elapses. The set speed command pattern W31 is transmitted to the motor control unit 12, and the motor control unit 12 controls the motor 11 so that the door 2 opens and closes at a speed based on the speed command pattern W31.

Then, at time T2, when it is detected that the light emitting body is away from the door 2, as shown in "door speed instruction determination data" in fig. 9, an arrival time T2 at which the light emitting body arrives at the door 2 when the light emitting body moves in the direction of the door 2 at the current speed is calculated.

As shown by the "door speed command" in fig. 9, the speed command setting unit 301 sets the speed command pattern W32 so that the opening/closing speed of the door 2 can be stopped before the elapsed time t2 elapses. The set speed command pattern W32 is transmitted to the motor control unit 12, and the motor control unit 12 controls the motor 11 so that the door 2 is opened and closed at a speed of a speed command value of the speed command pattern W32.

In fig. 9, only the speed command patterns W31 and W32 at the time of the closing operation of the door 2 are shown, but when the approaching state of the light emitting body to the door 2 is detected at the time of the opening operation of the door 2, the opening and closing of the door 2 are controlled at the same operation speed as the speed command patterns W31 and W32. However, the opening operation of the door 2 is opposite to the closing operation, that is, the speed command value at the time of the opening operation is a value obtained by inverting the positive and negative signs of the speed command values of the speed command patterns W31 and W32.

Fig. 10 is a flowchart showing control performed by the door control apparatus 300. The processing in steps S101 to S103 and S201 in the control of fig. 10 is the same as that in the control of fig. 7, and therefore, the description thereof is omitted. The control of fig. 10 may be repeatedly executed at predetermined execution intervals during the operation of the elevator. In the control of fig. 10, when it is determined that the light emitter is in the proximity state with the door 2 in the process of step S201, the process of step S301 is executed.

In step S301, as described above, the arrival time of the light emitting body at the door 2 is calculated based on the distance of the door 2 from the light emitting body and the moving speed of the light emitting body. Then, the opening/closing speed of the door 2 is set so that the opening/closing speed of the door becomes a speed that can be stopped within the calculated arrival time, and the opening/closing speed of the door is controlled in accordance therewith. In addition, during this period, the operation of the light emitting body is continuously monitored, and when the movement of the light emitting body in the direction away from the door 2 is detected, the speed command pattern of the opening/closing speed of the door 2 is reset in accordance with the position and the movement speed of the light emitting body after the movement as described above.

As described above, according to the present embodiment, when detecting that the light emitting body is near the door 2, the distance from the position closest to the door 2 in the light emitting body to the door 2 is calculated, and the speed command value of the door 2 is set so that the speed of the door 2 can be zero before the light emitting body moves to the position in contact with the door 2. This can avoid a situation where a passenger approaching the door 2 collides with the door 2 or is pinched by the door 2 while operating the mobile phone or the like.

Description of the reference numerals

1: an elevator; 2: a door; 3: a door opening and closing mechanism; 4: a door driving mechanism; 5: a suspension member; a hanger roller; 7: a track; 8: a belt wheel; 9: a belt; 10: a connecting member; 11: a motor; 12: a motor control unit; 21: an image pickup device; 22: a control device; 25: a buzzer; 100: a door control device; 101: a light emitter detection unit; 102: a distance calculating unit; 103: an input/output port; 104: a speed instruction setting unit; 111: a RAM;112: a ROM;200: a door control device; 201: a movement speed calculation unit; 202: a door approach judgment unit; 203: a buzzer sounding instruction part; 204: a speed instruction setting unit; 300: a door control device; 301: a speed command setting unit.

Claims

1. An elevator control device, wherein the elevator control device comprises:

an imaging device which is arranged on a ceiling part of a car of an elevator and is used for shooting the inside of the car;

a light emitter detection unit that detects a light emitter located within a predetermined range from a door provided at an entrance of the car, based on an image captured by the imaging device;

an alarm device provided in the car; and

and an alarm instruction unit configured to issue an alarm by the alarm device when the light-emitting body detected by the light-emitting body detection unit is detected to be moving in the door direction.

2. The control device for an elevator according to claim 1, wherein the control device for an elevator comprises:

a door driving mechanism for driving the door to open and close according to the opening and closing speed command value of the door; and

and a speed command setting unit that sets the opening/closing speed command value so that the closing speed of the door is reduced from the closing speed of the door set at normal time when the movement of the light emitting body in the direction of the door is detected.

3. The control device for an elevator according to claim 1, wherein the control device for an elevator comprises:

and a speed command setting unit that sets a closing speed at which the closing speed of the door can be zero within a time period from the current position to a position where the light emitting body contacts the door, as the opening/closing speed command value.