EP2266911B1 - Schiebetürvorrichtung und aufzug - Google Patents

Schiebetürvorrichtung und aufzug Download PDF

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Publication number
EP2266911B1
EP2266911B1 EP08751934.4A EP08751934A EP2266911B1 EP 2266911 B1 EP2266911 B1 EP 2266911B1 EP 08751934 A EP08751934 A EP 08751934A EP 2266911 B1 EP2266911 B1 EP 2266911B1
Authority
EP
European Patent Office
Prior art keywords
light
light emitter
doorway
emitting surface
imaging means
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP08751934.4A
Other languages
English (en)
French (fr)
Other versions
EP2266911A1 (de
EP2266911A4 (de
Inventor
Masahiro Shikai
Toshio Masuda
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Electric Corp
Original Assignee
Mitsubishi Electric Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Publication of EP2266911A1 publication Critical patent/EP2266911A1/de
Publication of EP2266911A4 publication Critical patent/EP2266911A4/de
Application granted granted Critical
Publication of EP2266911B1 publication Critical patent/EP2266911B1/de
Active legal-status Critical Current
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
    • B66B13/24—Safety devices in passenger lifts, not otherwise provided for, for preventing trapping of passengers
    • B66B13/26—Safety devices in passenger lifts, not otherwise provided for, for preventing trapping of passengers between closing doors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
    • B66B13/02—Door or gate operation
    • B66B13/14—Control systems or devices
    • B66B13/143—Control systems or devices electrical
    • B66B13/146—Control systems or devices electrical method or algorithm for controlling doors
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/60—Power-operated mechanisms for wings using electrical actuators
    • E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
    • E05F15/632—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for horizontally-sliding wings
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
    • E05F15/74—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects using photoelectric cells
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/52—Safety arrangements associated with the wing motor
    • E05Y2400/53—Wing impact prevention or reduction
    • E05Y2400/54—Obstruction or resistance detection
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/80—User interfaces
    • E05Y2400/81—Feedback to user, e.g. tactile
    • E05Y2400/818—Visual
    • E05Y2400/822—Light emitters, e.g. light emitting diodes [LED]

Definitions

  • the present invention relates to a sliding door device for automatically moving a door in a horizontal direction and to an elevator using the same.
  • a conventional sliding door device includes a pair of light emitters, each having an elongated and continuous light-emitting surface, and a pair of cameras, each being for imaging the light-emitting surface of the light emitter opposed thereto, in which sets of the light emitters and the cameras are respectively provided to right and left vertical frames of a doorway. In this manner, the entire doorway is covered as a monitored area (for example, see Patent Document 1).
  • Patent Document 1 JP 2004-338846 A
  • both the light emitters simultaneously emit light beams. Therefore, the light beam reflected by an obstacle is incident on one of the cameras, making it difficult to detect that the light beam emitted from the light emitter opposed thereto is blocked by the obstacle. As a result, there is a fear of lowering detection accuracy.
  • the present invention has been made to solve the problem described above, and it is an object of the present invention to provide a sliding door device capable of more reliably detecting an obstacle while covering a wide area to be monitored and an elevator using the same.
  • a sliding door device including: a door being horizontally moved to open and close a doorway; a first light emitter which is provided on a first side of the doorway and includes a first light-emitting surface; a second light emitter which is provided on a second side of the doorway and includes a second light-emitting surface opposing the first light-emitting surface; first imaging means provided on the first side of the doorway; second imaging means provided on the second side of the doorway; and a controller for controlling the first light emitter, the second light emitter, the first imaging means, and the second imaging means to detect an obstacle in vicinity of the doorway and for controlling opening and closure of the door according to presence and absence of the obstacle, in which the controller turns ON the first light emitter and the second light emitter at timings shifted from each other.
  • a sliding door device including: a door being horizontally moved to open and close a doorway; a first light emitter which is provided on a first side of the doorway and includes a first light-emitting surface; a second light emitter which is provided on a second side of the doorway and includes a second light-emitting surface opposing the first light-emitting surface; first imaging means which is provided on the first side of the doorway, for imaging the second light-emitting surface; second imaging means which is provided on the second side of the doorway, for imaging the first light-emitting surface; and a controller for controlling the first light emitter, the second light emitter, the first imaging means, and the second imaging means to detect an obstacle in vicinity of the doorway and for controlling opening and closure of the door according to presence and absence of the obstacle, in which: the first light emitter and the second light emitter emit light beams having wavelengths different from each other; and each of the first imaging means and the second imaging means images the light beam having
  • an elevator including: a car raised and lowered in a hoistway; an elevator door being horizontally moved to open and close a doorway provided between the car and a landing; a first light emitter which is provided on a first side of the doorway and includes a first light-emitting surface; a second light emitter which is provided on the second side of the doorway and includes a second light-emitting surface opposing the first light-emitting surface; first imaging means provided on the first side of the doorway; second imaging means provided on the second side of the doorway; and a controller for controlling the first light emitter, the second light emitter, the first imaging means, and the second imaging means to detect an obstacle in vicinity of the doorway and for controlling opening and closure of the elevator door according to presence and absence of the obstacle, in which the controller turns ON the first light emitter and the second light emitter at timings shifted from each other.
  • an elevator including: a car raised and lowered in a hoistway; an elevator door being horizontally moved to open and close a doorway provided between the car and a landing; a first light emitter which is provided on a first side of the doorway and includes a first light-emitting surface; a second light emitter which is provided on a second side of the doorway and includes a second light-emitting surface opposing the first light-emitting surface; first imaging means provided on the first side of the doorway; second imaging means provided on the second side of the doorway; and a controller for controlling the first light emitter, the second light emitter, the first imaging means, and the second imaging means to detect an obstacle in vicinity of the doorway and for controlling opening and closure of the elevator door according to presence and absence of the obstacle, in which: the first light emitter and the second light emitter emit light beams having wavelengths different from each other; and each of the first imaging and the second imaging means images the light beam having a corresponding one of the obstacle
  • FIG. 1 is a front view illustrating a car door device (sliding door device) for an elevator according to a first embodiment of the present invention, as viewed from the interior of a car.
  • a car 1 which is raised and lowered in a hoistway, is provided with a car doorway 1a.
  • the car doorway 1a is opened and closed by a first car door 2a and a second car door 2b corresponding to elevator doors which are horizontally moved.
  • a car doorway frame 3 is provided around the car doorway 1a.
  • the car doorway frame 3 includes: a first vertical frame 3a and a second vertical frame 3b, which are respectively provided on the left and the right of the car doorway 1a; an upper horizontal frame 3c provided between an upper end portion of the first vertical frame 3a and an upper end portion of the second vertical frame 3b; and a lower horizontal frame 3d provided to a floor portion of the car doorway 1a.
  • a car operating panel 4 is provided on a front surface of the second vertical frame 3b.
  • a display device 5 On the car operating panel 4, there are provided a display device 5, a warning device 6, a plurality of floor buttons 7, a door-open button 8, and a door-close button 9.
  • an indicator lamp 10 On a front surface of the upper horizontal frame 3c, an indicator lamp 10 is provided.
  • a first light emitter 11 is provided on a side surface of the first vertical frame 3a, which opposes the second vertical frame 3b.
  • the first light emitter 11 has a first light-emitting surface 11a which is vertically elongated and continuous.
  • a second light emitter 12 is provided on a side surface of the second vertical frame 3b, which opposes the first vertical frame 3a.
  • the second light emitter 12 has a second light-emitting surface 12a which is vertically elongated and continuous.
  • the first light-emitting surface 11a and the second light-emitting surface 12a are provided over almost the entire height of the car doorway 1a and oppose each other with the car doorway 1a interposed therebetween.
  • a first camera 13 serving as first imaging means for imaging the second light-emitting surface 12a is provided in an upper end portion of the side surface of the first vertical frame 3a, the side surface opposing the second vertical frame 3b.
  • the first camera 13 is provided so as to be adjacent to an upper end portion of the first light-emitting surface 11a.
  • a second camera 14 serving as second imaging means for imaging the first light-emitting surface 11a is provided in a lower end portion of the side surface of the second vertical frame 3b, the side surface opposing the first vertical frame 3a.
  • the second camera 14 is provided so as to be adjacent to a lower end portion of the second light-emitting surface 12a.
  • FIG. 2 is a schematic block diagram illustrating a control circuit of the car door device illustrated in FIG. 1 .
  • an operation of opening and closing the car doors 2a and 2b is controlled by an opening/closing control section 15.
  • the opening/closing control section 15 is provided on the car 1.
  • Signals from the first camera 13 and the second camera 14 are transmitted to an image processing determination section 16.
  • the image processing determination section 16 determines, based on the signals from the first camera 13 and the second camera 14, whether or not the light beams emitted from the first light emitter 11 and the second light emitter 12 are blocked by an obstacle at the time of opening/closure of the first car door 2a and the second car door 2b.
  • the first light emitter 11, the second light emitter 12, the first camera 13, the second camera 14, the opening/closing control section 15, and the image processing determination section 16 are controlled by a main control section 17.
  • the main control section 17 controls the first light emitter 11 and the second light emitter 12 to emit the light beams so as to monitor whether or not the obstacle is present in the vicinity of the car doorway 1a at the time of opening/closure of the car doors 2a and 2b.
  • the main control section 17 also transmits a command of opening or closing the car doors 2a and 2b to the opening/closing control section 15 according to the presence or absence of the obstacle.
  • Each of the opening/closing control section 15, the image processing determination section 16, and the main control section 17 consists of a microcomputer. At least two of the opening/closing control section 15, the image processing determination section 16, and the main control section 17 may consist of the same computer.
  • a controller includes the opening/closing control section 15, the image processing determination section 16, and the main control section 17.
  • FIG. 3 is an explanatory view illustrating turn-ON timing of the first light emitter 11, that of the second light emitter 12, imaging timing of the first camera 13, and that of the second camera 14 by the main control section 17 illustrated in FIG. 2 .
  • the main control section 17 performs turn-ON and imaging in the order of Steps 1, 2, and 3.
  • Steps 1 to 3 are repeatedly carried out in a predetermined cycle (for example, 30 msec).
  • Step 1 the first light emitter 11 is turned ON.
  • the first light-emitting surface 11a is imaged by the second camera 14.
  • acquired data specifically, a first ON-time image is transmitted to the image processing determination section 16.
  • the second light emitter 12 is left in an OFF state.
  • Step 2 the second light emitter 12 is turned ON.
  • the second light-emitting surface 12a is imaged by the first camera 13.
  • acquired data specifically, a second ON-time image is transmitted to the image processing determination section 16.
  • the first light emitter 11 is left in an OFF state.
  • Step 3 both the first light emitter 11 and the second light emitter 12 are turned OFF. Then, the first light-emitting surface 11a and the second light-emitting surface 12a are respectively imaged by the second camera 14 and the first camera 13. Then, acquired data, specifically, a first OFF-time image and a second OFF-time image are transmitted to the image processing determination section 16.
  • the image processing determination section 16 obtains a differential image between the first ON-time image and the first OFF-time image and a differential image between the second ON-time image and the second OFF-time image. After the differential processing described above, an image of the first light-emitting surface 11a and an image of the second light-emitting surface 12a remain as the differential images. Therefore, when no obstacle is present in two triangular areas to be monitored, that is, one having the camera 14 as a top and the light-emitting surface 11a as a base and the other having the camera 13 as a top and the light-emitting surface 12a as a base, one linear continuous light-emitting surface image as illustrated in FIG. 4 remains as each of the differential images.
  • a light-emitting surface as illustrated in FIG. 5 or 6 remains as the differential image because the light beam emitted from the light emitter 11 or 12 is partially blocked.
  • the light-emitting surface image is divided into a plurality of discontinuous images.
  • a length of the light-emitting surface image is shorter than a normal length.
  • FIG. 7 is a flowchart showing an operation of the main control section 17 illustrated in FIG. 2 at the time of opening of the doors.
  • the main control section 17 starts the operation of detecting the obstacle as described above a predetermined time before (for example, several seconds before) the start of the actual door-opening operation of the car doors 2a and 2b (Step S1) so as to determine whether or not the obstacle is present (Step S2). If no obstacle is detected at this time, a normal door-opening is started (Step S3).
  • a warning is issued by the warning device 6 so that a passenger inside the car 1 steps away from the car doors 2a and 2b.
  • a prestored voice for example, an announcement such as "Doors will open. Please step away from the doors” is made by the warning device 6.
  • Step S5 whether or not the obstacle is present is determined again. If the obstacle is not present any longer, the normal door-opening is started (Step S3).
  • Step S6 When the normal door-opening is started, the first light emitter 11 and the second light emitter 12 are turned OFF to stop the operation of detecting the obstacle (Step S6). Then, the normal door-opening operation is continued until the doors are fully opened (Step S7).
  • Step S8 a warning such as "Doors will open” is issued again by the warning device 6 (Step S8). Then, the door-opening operation at a speed lower than normal is started (Step S9).
  • Step S10 When the normal door-opening is started, the first light emitter 11 and the second light emitter 12 are turned OFF to stop the operation of detecting the obstacle (Step S10). Then, the lower door-opening operation is continued until the doors are fully opened (Step S11).
  • FIG. 8 is a flowchart showing an operation of the main control section 17 illustrated in FIG. 2 at the time of closure of the doors.
  • the main control section 17 starts the operation of detecting the obstacle as described above a predetermined time before (for example, one second before) the start of the actual door-opening operation of the car doors 2a and 2b (Step S12) so as to determine whether or not the obstacle is present (Step S13). If no obstacle is detected, a door-closing is started (Step S14). If the obstacle is detected, a standby state is maintained until the obstacle is not present any longer. When the obstacle is not present any longer, the door-closing is started.
  • Step S15 the determination for the presence of the obstacle is continued. If the obstacle is not detected, the door-closing operation is continued (Step S16). Then, it is confirmed whether or not each of the car doors 2a and 2b has reached a fully-closed position (Step S17). Specifically, during the door-closing operation, whether or not the obstacle is present is repeatedly determined until the doors are brought into a fully-closed state.
  • Step S18 If the obstacle is detected during the door-closing operation, the movement of the doors is reversed so that the car doors 2a and 2b are opened (Step S18). Then, the processing returns to the first operation. During the reverse movement for opening the doors, the first light emitter 11 and the second light emitter 12 are turned OFF to stop the operation of detecting the obstacle. If the fully-closed state of the doors is achieved while the obstacle remains undetectable, the first light emitter 11 and the second light emitter 12 are turned OFF to stop the operation of detecting the obstacle (Step S19). Then, the operation shown in FIG. 8 is terminated.
  • the turn-ON timing of the first light emitter 11 and that of the second light emitter 12 are shifted from each other.
  • the wide area to be monitored is covered through arranging the first light emitter 11 and the first camera 13, and the second light emitter 12, and the second camera 14 respectively on the two sides of the car doorway 1a.
  • the effects of the light beam emitted from the other are eliminated so as to more reliably detect the obstacle.
  • the first light emitter 11 when the first light emitter 11 is turned ON, the first light-emitting surface 11a is imaged by the second camera 14 while the second light emitter 12 is brought into the OFF state.
  • the second light emitter 12 is turned ON, the second light-emitting surface 12a is imaged by the first camera 13 while the first light emitter 11 is brought into the OFF state. Therefore, the effects of the light beam reflected by the obstacle are eliminated to more reliably detect the obstacle.
  • first light emitter 11 and the second light emitter respectively have the first light-emitting surface 11a and the second light-emitting surface 12a, each being vertically elongated and continuous.
  • the obstacle can be detected completely over a wide range.
  • the warning is issued or the doors are opened at a lower speed. Therefore, the clothes or luggage of a passenger can be more reliably prevented from getting stuck between the car doors 2a and 2b and the vertical frames 3a and 3b during the door-opening.
  • the doors are brought into a standby state while being fully opened or the movement of the doors is reversed so that the doors are opened. Therefore, the passenger or luggage can be more reliably prevented from being caught between the car doors 2a and 2b.
  • FIG. 9 is an explanatory view illustrating the turn-ON timing of the first light emitter, that of the second light emitter, the imaging timing of the first camera, and that of the second camera according to a second embodiment of the present invention.
  • Steps 2 and 3 in the first embodiment FIG. 3
  • the remaining configuration and controlling method are the same as those of the first embodiment.
  • the effects of the light beam reflected by the obstacle can be eliminated to more reliably detect the obstacle as in the case of the first embodiment.
  • FIG. 10 is a front view of a landing door device (sliding door device) for the elevator according to a third embodiment of the present invention as viewed from a landing.
  • a landing doorway 21 is provided to the landing.
  • the landing doorway 21 is opened and closed by a first landing door 22a and a second landing door 22b corresponding to elevator doors which are horizontally moved in conjunction with the car doors 2a and 2b.
  • a landing doorway frame 23 is provided around the landing doorway 21, a landing doorway frame 23 is provided.
  • the landing doorway frame 23 includes: a first vertical frame 23a and a second vertical frame 23b which are respectively provided on the right and left of the landing doorway 21; an upper horizontal frame 23c provided between an upper end portion of the first vertical frame 23a and an upper end portion of the second vertical frame 23b; and a lower horizontal frame 23d provided to a floor portion of the landing doorway 21.
  • a display device 24 On a front surface of the first vertical frame 23a, a display device 24, a warning device 25, an up-call button 26, and a down-call button 27 are provided. On a front surface of the upper horizontal frame 23c, an indicator lamp 28 is provided.
  • the first light emitter 11 On a side surface of the first vertical frame 23a, which opposes the second vertical frame 23b, the first light emitter 11 is provided.
  • the second light emitter 12 On a side surface of the second vertical frame 23b, which opposes the first vertical frame 23a, the second light emitter 12 is provided.
  • the first camera 13 for imaging the second light-emitting surface 12a is provided in a lower end portion of the side surface of the first vertical frame 23a, the side surface opposing the second vertical frame 23b.
  • the second camera 14 for imaging the first light-emitting surface 11a is provided in an upper end portion of the side surface of the second vertical frame 23b, the side surface opposing the first vertical frame 23a.
  • the obstacles detecting device is provided to the landing door device as described above, the effects of the light beam reflected by the obstacle can be eliminated to more reliably detect the obstacle.
  • FIG. 11 is a rear view illustrating the car door device for the elevator according to a fourth embodiment of the present invention, as viewed from a landing side
  • FIG. 12 is a plan view illustrating the car door device and the landing door device for the elevator, which are illustrated in FIG. 11 .
  • the first light emitter 11 and the first camera 13 are provided in the vicinity of a door pocket of the first car door 2a of the car 1 (on the landing side of the first car door 2a).
  • the second light emitter 12 and the second camera 14 is provided in the vicinity of a door pocket of the second car door 2b of the car 1 (on the landing side of the second car door 2b).
  • the first light emitter 11 and the second light emitter 12 radiate light beams into a space between the car doors 2a and 2b and the landing doors 22a and 22b so that the light beams are parallel to the direction in which the car doors 2a and 2b are opened and closed.
  • the remaining configuration and controlling method are the same as those of the first embodiment.
  • the obstacle which may actually be caught between the doors 2a and 2b or 22a and 22b, can be more reliably detected.
  • a fifth embodiment of the present invention is described.
  • light beams having wavelengths different from each other are emitted from the first light emitter 11 and the second light emitter 12.
  • each of the first camera 13 and the second camera 14 images the light beam having the corresponding wavelength.
  • the turn-ON timing of the first light emitter 11 and the turn-ON timing of the second light emitter 12 may be shifted from each other as in the case of the first embodiment or may not be shifted from each other.
  • the first light emitter 11 emits a light beam having a wavelength ⁇ 1
  • the second light emitter 12 emits a light beam having a wavelength ⁇ 2.
  • the second camera 14 for imaging the first light-emitting surface 11a has an optical filter for transmitting the light beam having the wavelength ⁇ 1 therethrough and blocking the light beam having the wavelength ⁇ 2.
  • the first camera 13 for imaging the second light-emitting surface 12a has an optical filter for transmitting the light beam having the wavelength ⁇ 2 therethrough and blocking the light beam having the wavelength ⁇ 1.
  • each of the first camera 13 and the second camera 14 images the light beam from the corresponding one of the light emitters 11 and 12.
  • the remaining configuration and controlling method are the same as those of the first embodiment.
  • the method of detecting the obstacle is not limited thereto.
  • a time-differential image corresponding to a difference between the latest differential image and a differential image obtained a predetermined time before may be obtained so as to determine whether or not a value equal to or larger than a predetermined value is present in the time-differential image.
  • the time-differential image has a value of approximately zero over the entire image when the obstacle is not present.
  • a moving obstacle is present, a portion having the predetermined value or larger appears in the time-differential image.
  • the presence of the portion having the predetermined value or larger allows the determination of the presence of the obstacle.
  • an immovable dust adhering to the light-emitting surfaces 11a and 12a can be prevented from being erroneously determined as the obstacle.
  • only the moving obstacle such as the passenger can be efficiently detected.
  • the light beams emitted from the light emitters 11 and 12 may be visible light beams.
  • the passenger inside the car 1 or in the landing can visually perceive the light-emitting surfaces 11a and 12a.
  • the operations of the doors 2a, 2b, 22a, and 22b can be visually presented to the passenger.
  • the operation of detecting the obstacle is started before the start of the door-opening, and the light emitters 11 and 12 flash. Therefore, the passenger can be informed of the start of the door-opening in advance.
  • the operation of detecting the obstacle is started before the start of the door-closing, and the light emitters 11 and 12 flash. Therefore, the passenger can be informed of the start of the door-closing in advance.
  • the turn-ON timing and the imaging timing are not limited to those described in the aforementioned examples.
  • the first camera 13 may perform imaging while the second light emitter 12 is brought into the OFF state when the first light emitter 11 is turned ON
  • the second camera 14 may perform imaging while the first light emitter 11 is brought into the OFF state when the second light emitter 12 is turned ON.
  • the light beam reflected by the obstacle is detected by the first camera 13 and the second camera 14 when the obstacle is present.
  • the effects of the light beam from the other can be eliminated. As a result, the obstacle can be more reliably detected.
  • the present invention is also applicable to a single-side sliding door device.
  • the number of the car door and the landing door is not particularly limited.
  • the sliding door device of the present invention is also applicable to, for example, a doorway provided to a building, a doorway of a vehicle such as a train, or a doorway of a train to/from a platform.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Elevator Door Apparatuses (AREA)

Claims (10)

  1. Schiebetürvorrichtung, aufweisend:
    eine Tür (2a, 2b, 22a, 22b), die zum Öffnen und Schließen eines Durchgangs (1a, 21) horizontal bewegt wird;
    einen ersten Lichtgeber (11), der an einer ersten Seite des Durchgangs (1a, 21) vorgesehen ist und eine erste lichtgebende Oberfläche (11a) beinhaltet;
    einen zweiten Lichtgeber (12), der an einer zweiten Seite des Durchgangs (1a, 21) vorgehsehen ist und eine zweite lichtgebende Oberfläche (12a), die gegenüber der ersten lichtgebenden Oberfläche (11a) liegt, beinhaltet;
    ein erstes bildgebendes Mittel (13), das an der ersten Seite des Durchgangs (1a, 21) vorgesehen ist;
    ein zweites bildgebendes Mittel (14), das an der zweiten Seite des Durchgangs (1a, 21) vorgesehen ist; und
    eine Steuerung zum Steuern des ersten Lichtgebers (11), des zweiten Lichtgebers (12), des ersten bildgebenden Mittels (13) und des zweiten bildgebenden Mittels (14) zum Detektieren eines Hindernisses in der Nähe des Durchgangs (1a, 21) und zum Steuern des Öffnens und Schließens der Tür (2a, 2b, 22a, 22b) entsprechend der Anwesenheit und
    Abwesenheit des Hindernisses, wobei,
    die Steuerung den ersten Lichtgeber (11) und den zweiten Lichtgeber (12) zu voneinander verschobenen Zeitpunkten einschaltet.
  2. Schiebetürvorrichtung nach Anspruch 1, wobei die Steuerung das zweite bildgebende Mittel (14) zur Abbildung der ersten lichtgebenden Oberfläche (11a) steuert, während der zweite Lichtgeber (12) in einen Aus-Zustand versetzt wird, wenn der erste Lichtgeber (11) angeschaltet ist, und das erste bildgebende Mittel (13) zur Abbildung die zweite lichtgebende Oberfläche (12a) steuert, während der erste Lichtgeber (11) in einen Aus-Zustand versetzt wird, wenn der zweite Lichtgeber (12) eingeschaltet ist.
  3. Schiebetürvorrichtung nach Anspruch 1, wobei die Steuerung das erste bildgebende Mittel (13) zum Durchführen einer Abbildung steuert, während der zweite Lichtgeber (12) in einen Aus-Zustand versetzt wird, wenn der erste Lichtgeber (11) eingeschaltet ist, und das zweite bildgebende Mittel (14) zum Durchführen einer Abbildung steuert, während der erste Lichtgeber (11) in einen Aus-Zustand versetzt wird, wenn der zweite Lichtgeber (12) eingeschaltet ist.
  4. Schiebetürvorrichtung, aufweisend:
    eine Tür (2a, 2b, 22a, 22b), die zum Öffnen und Schließen eines Durchgangs (1a, 21) horizontal bewegt wird;
    einen ersten Lichtgeber (11), der an einer ersten Seite des Durchgangs (1a, 21) vorgesehen ist und eine erste lichtgebende Oberfläche (11a) beinhaltet;
    einen zweiten Lichtgeber (12), der an einer zweiten Seite des Durchgangs (1a, 21) vorgehsehen ist und eine zweite lichtgebende Oberfläche (12a), die gegenüber der ersten lichtgebenden Oberfläche (11a) liegt, beinhaltet;
    ein erstes bildgebendes Mittel (13) zum Abbilden der zweiten lichtgebenden Oberfläche (12a), das an der ersten Seite des Durchgangs (1a, 21) vorgesehen ist;
    ein zweites bildgebendes Mittel (14) zum Abbilden der ersten lichtgebenden Oberfläche (11a), das an der zweiten Seite des Durchgangs (1a, 21) vorgesehen ist; und
    eine Steuerung zum Steuern des ersten Lichtgebers (11), des zweiten Lichtgebers (12), des ersten bildgebenden Mittels (13) und des zweiten bildgebenden Mittels (14) zum Detektieren eines Hindernisses in der Nähe des Durchgangs (1a, 21) und zum Steuern des Öffnens und Schließens der Tür (2a, 2b, 22a, 22b) entsprechend der Anwesenheit und
    Abwesenheit des Hindernisses, wobei:
    der erste Lichtgeber (11) und der zweite Lichtgeber (12) Lichtstrahlen abgeben, die voneinander unterschiedliche Wellenlängen haben; und jedes der ersten bildgebenden Mittel (13) und der zweiten bildgebenden Mittel (14) den Lichtstrahl, der eine korrespondierende Wellenlänge hat, abbildet.
  5. Schiebetürvorrichtung nach Anspruch 1 oder 4, wobei die erste lichtgebende Oberfläche (11a) und die zweite lichtgebende Oberfläche (12a) am ersten Lichtgeber (11) bzw. am zweiten Lichtgeber (12) vorgesehen ist, so dass jede der ersten lichtgebenden Oberflächen und der zweiten lichtgebenden Oberflächen (12a) vertikal verlängert und durchgehend ist.
  6. Schiebetürvorrichtung nach Anspruch 1 oder 4, wobei die die vom ersten Lichtgeber (11) und vom zweiten Lichtgeber (12) abgegebenen Lichtstrahlen sichtbare Lichtstrahlen sind.
  7. Schiebetürvorrichtung nach Anspruch 6, wobei die Steuerung eine Operation zum Detektieren eines Hindernisses beginnt, bevor die Türöffnung beginnt.
  8. Schiebetürvorrichtung nach Anspruch 6, wobei die Steuerung eine Operation zum Detektieren eines Hindernisses beginnt, bevor die Türschließung beginnt.
  9. Aufzug, aufweisend:
    eine Kabine (1), die in einem Schacht auf- und abgelassen wird;
    eine Aufzugtür (2a, 2b, 22a, 22b), die zum Öffnen und Schließen eines Durchgangs (1a, 21) horizontal bewegt wird,
    vorgesehen zwischen der Kabine (1) und einem Stockwerkflur;
    einen ersten Lichtgeber (11), der an einer ersten Seite des Durchgangs (1a, 21) vorgesehen ist und eine erste lichtgebende Oberfläche (11a) beinhaltet;
    einen zweiten Lichtgeber (12), der an einer zweiten Seite des Durchgangs (1a, 21) vorgehsehen ist und eine zweite lichtgebende Oberfläche (12a), die gegenüber der ersten lichtgebenden Oberfläche (11a) liegt, beinhaltet;
    ein erstes bildgebendes Mittel (13), das an der ersten Seite des Durchgangs (1a, 21) vorgesehen ist;
    ein zweites bildgebendes Mittel (14), das an der zweiten Seite des Durchgangs (1a, 21) vorgesehen ist; und
    eine Steuerung zum Steuern des ersten Lichtgebers (11), des zweiten Lichtgebers (12), des ersten bildgebenden Mittels (13) und des zweiten bildgebenden Mittels (14) zum Detektieren eines Hindernisses in der Nähe des Durchgangs (1a, 21) und zum Steuern des Öffnens und Schließens der Aufzugtür (2a, 2b, 22a, 22b) entsprechend der Anwesenheit und
    Abwesenheit des Hindernisses, wobei,
    die Steuerung den ersten Lichtgeber (11) und den zweiten Lichtgeber (12) zu zueinander verschobenen Zeitpunkten einschaltet.
  10. Aufzug, aufweisend:
    eine Kabine (1), die in einem Schacht auf- und abgelassen wird;
    eine Aufzugtür (2a, 2b, 22a, 22b), die zum Öffnen und Schließen eines Durchgangs (1a, 21) horizontal bewegt wird,
    vorgesehen zwischen der Kabine (1) und einem Stockwerkflur;
    einen ersten Lichtgeber (11), der an einer ersten Seite des Durchgangs (1a, 21) vorgesehen ist und eine erste lichtgebende Oberfläche (11a) beinhaltet;
    einen zweiten Lichtgeber (12), der an einer zweiten Seite des Durchgangs (1a, 21) vorgehsehen ist und eine zweite lichtgebende Oberfläche (12a), die gegenüber der ersten lichtgebenden Oberfläche (11a) liegt, beinhaltet;
    ein erstes bildgebendes Mittel (13), das an der ersten Seite des Durchgangs (1a, 21) vorgesehen ist;
    ein zweites bildgebendes Mittel (14), das an der zweiten Seite des Durchgangs (1a, 21) vorgesehen ist; und
    eine Steuerung zum Steuern des ersten Lichtgebers (11), des zweiten Lichtgebers (12), des ersten bildgebenden Mittels (13) und des zweiten bildgebenden Mittels (14) zum Detektieren eines Hindernisses in der Nähe des Durchgangs (1a, 21) und zum Steuern des Öffnens und Schließens der Aufzugtür (2a, 2b, 22a, 22b) entsprechend der Anwesenheit und
    Abwesenheit des Hindernisses, wobei:
    der erste Lichtgeber (11) und der zweite Lichtgeber (12) Lichtstrahlen abgeben, die voneinander unterschiedliche Wellenlängen haben; und jedes der ersten bildgebenden Mittel (13) und der zweiten bildgebenden Mittel (14) den Lichtstrahl, der eine korrespondierende Wellenlänge hat, abbildet.
EP08751934.4A 2008-04-22 2008-04-22 Schiebetürvorrichtung und aufzug Active EP2266911B1 (de)

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JP2011132032A (ja) * 2009-12-25 2011-07-07 Hitachi Ltd エレベーター装置
CN102235732B (zh) * 2010-04-26 2013-08-28 宁波奥克斯空调有限公司 一种空调器滑动门的控制装置及方法
CN103291169B (zh) * 2012-02-29 2016-03-09 深圳光启智能光子技术有限公司 一种自动门
CN106014077B (zh) * 2016-07-04 2018-04-17 珠海格力电器股份有限公司 滑动门的控制方法和装置
CN106081776B (zh) * 2016-08-22 2018-09-21 日立楼宇技术（广州）有限公司 电梯安全监控的方法、装置及系统
JP6584686B2 (ja) * 2016-10-13 2019-10-02 三菱電機株式会社 エレベータ制御回路
CN107285173B (zh) * 2017-07-13 2020-01-31 日立楼宇技术（广州）有限公司 电梯门控制方法、装置和系统
JP7062930B2 (ja) * 2017-12-01 2022-05-09 株式会社アイシン 制御装置およびプログラム
CN111747273A (zh) * 2020-05-29 2020-10-09 广州华欣电子科技有限公司 电梯控制方法、装置、设备和系统
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KR20100098435A (ko) 2010-09-06
CN101932522A (zh) 2010-12-29
KR101208764B1 (ko) 2012-12-05
CN101932522B (zh) 2014-01-29
WO2009130762A1 (ja) 2009-10-29
JPWO2009130762A1 (ja) 2011-08-11
EP2266911A1 (de) 2010-12-29
JP5542661B2 (ja) 2014-07-09
EP2266911A4 (de) 2014-04-30

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