EP2371754B1 - Slide door device and elevator - Google Patents

Slide door device and elevator Download PDF

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Publication number
EP2371754B1
EP2371754B1 EP08879182.7A EP08879182A EP2371754B1 EP 2371754 B1 EP2371754 B1 EP 2371754B1 EP 08879182 A EP08879182 A EP 08879182A EP 2371754 B1 EP2371754 B1 EP 2371754B1
Authority
EP
European Patent Office
Prior art keywords
light
disposed
housing
imaging means
light emitter
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
EP08879182.7A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP2371754A1 (en
EP2371754A4 (en
Inventor
Masahiro Shikai
Toshio Masuda
Yuki Kawae
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
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Publication date
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Publication of EP2371754A1 publication Critical patent/EP2371754A1/en
Publication of EP2371754A4 publication Critical patent/EP2371754A4/en
Application granted granted Critical
Publication of EP2371754B1 publication Critical patent/EP2371754B1/en
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Anticipated expiration legal-status Critical

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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

Definitions

  • the present invention relates to a sliding door apparatus that automatically moves a door horizontally, and to an elevator that makes use thereof.
  • a pair of light emitters that have long and continuous light-emitting surfaces, and a pair of cameras that capture images of the light-emitting surfaces of facing light emitters are disposed in left and right vertical frames of a doorway, and the entire doorway is thereby covered as a monitored region (see Patent Literature 1, for example).
  • WO 2007 142 074 discloses a sliding door apparatus according to the preamble of claim 1.
  • the present invention aims to solve the above problems and an object of the present invention is to provide a sliding door apparatus that can facilitate sensor installation for detecting doorway obstructions, and an elevator that uses the same.
  • a sliding door apparatus includes the features of claim 1 and in particular: a door that opens and closes a doorway by being moved horizontally; a vertically elongated first housing that is disposed on a first vertical frame of a doorway frame; a vertically elongated second housing that is disposed on a second vertical frame of the doorway frame; a first light emitter that is disposed in the first housing, and that includes a vertically long and continuous first light-emitting surface; a second light emitter that is disposed in the second housing, and that includes a vertically long and continuous second light-emitting surface; a first imaging means that is disposed in the first housing, and that captures an image of the second light-emitting surface; a second imaging means that is disposed in the second housing, and that captures an image of the first light-emitting surface; and an image processing portion that determines presence or absence of an object in the doorway based on a signal from the first and second imaging means.
  • An elevator includes the features of claim 5 and in particular: a car that is raised and lowered inside a hoistway; an elevator door that opens and closes a doorway that is disposed between the car and a landing by being moved horizontally; a vertically elongated first housing that is disposed on a first vertical frame of a doorway frame; a vertically elongated second housing that is disposed on a second vertical frame of the doorway frame; a first light emitter that is disposed in the first housing, and that includes a vertically long and continuous first light-emitting surface; a second light emitter that is disposed in the second housing, and that includes a vertically long and continuous second light-emitting surface; a first imaging means that is disposed in the first housing, and that captures an image of the second light-emitting surface; a second imaging means that is disposed in the second housing, and that captures an image of the first light-emitting surface; an image processing portion that determines presence or absence of an object in
  • Figure 1 is a front elevation that shows an elevator car door apparatus (a sliding door apparatus) according to Embodiment 1 of the present invention from inside a car.
  • a car doorway 1 a is disposed on a car 1 that can be raised and lowered inside a hoistway.
  • the car doorway 1 a can be opened and closed by first and second car doors 2a and 2b that function as an elevator door that can be moved horizontally.
  • a car doorway frame 3 is disposed around the car doorway 1a.
  • the car doorway frame 3 has: first and second vertical frames 3a and 3b that are disposed to the left and right of the car doorway 1a; an upper portion horizontal frame 3c that is disposed between upper end portions of the first and second vertical frames 3a and 3b; and a lower portion horizontal frame 3d that is disposed on a floor portion of the car doorway 1a.
  • a car control panel (not shown) is disposed on a front surface of the second vertical frame 3b.
  • a first housing 4 is mounted to the first vertical frame 3a.
  • a second housing 5 is mounted to the second vertical frame 3b.
  • the first and second housings 4 and 5 have vertically elongated shapes, and are disposed over entire heights of side surfaces of the first and second vertical frames 3a and 3b that face each other.
  • the first and second housings 4 and 5 are installed so as to face the car doorway 1a such that front surfaces thereof are positioned opposite each other.
  • the front surfaces of the first and second housings 4 and 5 are coplanar with the side surfaces of the first and second housings 4 and 5 so as not to protrude from the side surfaces of the first and second vertical frames 3a and 3b.
  • first and second housings 4 and 5 are disposed so as to be 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 1a.
  • first and second housings 4 and 5 are disposed on end portions of the vertical frames 3a and 3b near the car doors 2a and 2b.
  • a first light emitter 6 and a first camera 7 that functions as a first imaging means are mounted internally into the first housing 4.
  • a second light emitter 8 and a second camera 9 that functions as a second imaging means are mounted internally into the second housing 5.
  • the first light emitter 6 has a vertically long and continuous first light-emitting surface 6a.
  • the second light emitter 8 has a vertically long and continuous second light-emitting surface 8a.
  • the first and second light-emitting surfaces 6a and 8a are disposed over approximately an entire height of the car doorway 1 a, and face each other from opposite sides of the car doorway 1 a.
  • the first camera 7 is disposed in an upper end portion of the first housing 4 (in a vicinity of the upper portion horizontal frame 3c) so as to be adjacent to the upper end portion of the first light-emitting surface 6a, and captures images of the second light-emitting surface 8a.
  • the second camera 9 is disposed in an lower end portion of the second housing 5 (in a vicinity of the lower portion horizontal frame 3d) so as to be adjacent to the lower end portion of the second light-emitting surface 8a, and captures images of the first light-emitting surface 6a.
  • Figure 2 is a block diagram that shows a controlling circuit of the car door apparatus from Figure 1 .
  • the first light emitter 6, the first camera 7, and a first object sensing controlling portion 11 are accommodated inside the first housing 4.
  • the first object sensing controlling portion 11 controls switching on of the first light emitter 6.
  • the first object sensing controlling portion 11 has a first image processing portion 11a.
  • the first image processing portion 11a performs image processing based on image signals that are captured and output by the first camera 7, and determines whether or not an object (an obstruction) is present between the second light emitter 8 and the first camera 7. If it is determined by the first image processing portion 11 a that an object is present, the first object sensing controlling portion 11 outputs a detection signal to a car controlling portion 10.
  • the second light emitter 8, the second camera 9, and a second object sensing controlling portion 12 are accommodated inside the second housing 5.
  • the second object sensing controlling portion 12 controls switching on of the second light emitter 8.
  • the second object sensing controlling portion 12 has a second image processing portion 12a.
  • the second image processing portion 12a performs image processing based on image signals that are captured and output by the second camera 9, and determines whether or not an object is present between the first light emitter 6 and the second camera 9. If it is determined by the second image processing portion 12a that an object is present, the second object sensing controlling portion 12 outputs a detection signal to the car controlling portion 10.
  • the first and second object sensing controlling portions 11 and 12 can access the respective timings of the switching on and off of the second and first light emitters 8 and 6 by transmitting and receiving signals to and from each other via the car controlling portion 10.
  • An alarm device 13 is disposed on the car control panel.
  • the alarm device 13 is controlled by the car controlling portion 10, and issues warning announcements and warning sounds to the passengers inside the car 1, and performs warning displays, etc.
  • the car controlling portion 10 outputs opening and closing commands to an opening and closing controlling portion 14 that controls opening and closing of the car doors 2a and 2b. According to this kind of configuration, the car controlling portion 10 operates the alarm device 13, and controls the opening and closing of the car doors 2a and 2b, etc., in response to detection signals from the object sensing controlling portions 11 and 12.
  • the car controlling portion 10, the first object sensing controlling portion 11, the second object sensing controlling portion 12, and the opening and closing controlling portion 14 each have microcomputers, and can execute their respective functions based on programs that are stored in the microcomputers.
  • FIG 3 is a perspective that shows the second housing 5 from Figure 1 .
  • the second housing 5 has: a housing main body (a structural body) 21 that has an opening on a front surface; and a partitioning plate 22 that is disposed at an intermediate portion in a width direction inside the housing main body 21.
  • An upper portion cap 23 is disposed on an upper end portion of the housing main body 21, and a lower portion cap 24 is disposed on a lower end portion of the housing main body 21.
  • the space inside the housing main body 21 is divided by the partitioning plate 22 left and right into two spaces, i.e., a light emitter chamber 21 a and an imaging means chamber 21b.
  • the second light emitter 8 is disposed in the light emitter chamber 21a.
  • the second camera 9 is disposed in a lower end portion of the imaging means chamber 21 b.
  • the partitioning plate 22 does not transmit the light that the second light emitter 8 emits, and is configured such that light does not leak between the light emitter chamber 21 a and the imaging means chamber 21b.
  • a transmitting diffusing plate 25 that transmits and diffuses light is disposed on a front surface of the light emitter chamber 21a.
  • a front surface opening of the light emitter chamber 21a is covered by the transmitting diffusing plate 25.
  • a semitransparent opalescent resin plate or a transparent resin plate or glass plate in which a surface has been diffusion treated can be used as the transmitting diffusing plate 25, for example.
  • the second light-emitting surface 8a is formed by the transmitting diffusing plate 25.
  • a filter cover 26 is disposed on the front surface of the imaging means chamber 21 b.
  • the filter cover 26 transmits light from the first light emitter 6 which is the facing light emitter, and blocks at least a portion of light other than that wavelength of light.
  • the filter cover 26 functions as an optical filter to block light at wavelengths that are not required for object sensing, and selectively transmit the light from the first light emitter 6.
  • a resin plate or a glass plate can be used as the filter cover 26, for example.
  • Figure 4 is a longitudinal cross section of the light emitter chamber 21a of the second housing 5 from Figure 3
  • Figure 5 is a longitudinal cross section of the imaging means chamber 21 b of the second housing 5 from Figure 3
  • Figure 6 is a cross section of the second housing 5 that is taken along Line VI - VI in Figure 5
  • Figure 7 is a cross section of the second housing 5 that is taken along Line VII - VII in Figure 5 .
  • the second light emitter 8 includes: a circuit board 27 that is disposed inside the light emitter chamber 21a so as to face the transmitting diffusing plate 25; a plurality of light sources (point light sources) 28 that are mounted to the circuit board 27 so as to be spaced apart from each other vertically; and the transmitting diffusing plate 25. All of the light sources 28 face the transmitting diffusing plate 25 so as to have a predetermined spacing from the transmitting diffusing plate 25.
  • Light-emitting diodes, semiconductor lasers, lamps, or electroluminescent elements, for example, can be used as the light sources 28. It is desirable for the light sources 28 to emit single-frequency visible light or infrared light.
  • the second camera 9 is disposed in a lower end portion of the imaging means chamber 21 b so as to be inclined obliquely upward.
  • the second object sensing controlling portion 12 is accommodated in a vicinity of the second camera 9 above the second camera 9 inside the imaging means chamber 21 b.
  • the construction of the first housing 4 is similar to that of the second housing 5.
  • the filter cover 26 transmits light from the second light emitter 8 which is the facing light emitter, and blocks at least a portion of light other than that wavelength of light.
  • the first light emitter 6 includes a circuit board 27, light sources 28, and a transmitting diffusing plate 25, and is disposed in the light emitter chamber 21a.
  • the first camera 7 is disposed in an upper end portion of the imaging means chamber 21b so as to be inclined obliquely downward.
  • the first object sensing controlling portion 11 is accommodated in a vicinity of the first camera 7 below the first camera 7 inside the imaging means chamber 21 b.
  • image data ⁇ from the cameras 7 and 9 when the light emitters 6 and 8 are not switched on, and image data ⁇ when the light emitters 6 and 8 are switched on are imported into the image processing portions 11 a and 12a.
  • a differential image ⁇ is calculated by subtracting the image data ⁇ from the image data ⁇ . An operation of this kind is repeated whenever executing object monitoring.
  • differential processing of this kind When differential processing of this kind is performed, only an image of the light-emitting surfaces 6a and 8a from which ambient external light has been removed remains in the differential image ⁇ . Consequently, if no object that blocks light is present inside two triangular monitored regions that have the cameras 7 and 9 as apexes and the light-emitting surfaces 6a and 8a as base sides, a single continuous rectilinear light-emitting surface image will remain in the differential image ⁇ .
  • light-emitting surface images in the differential image ⁇ will be divided plurally and be discontinuous, or the length of the light-emitting surface image will be shorter than normal. If the image processing portions 11 a and 12a detect that the light-emitting surface image has become discontinuous or has become shorter or that the light-emitting surface image has disappeared, then they determine that an object is present between the vertical frames 3a and 3b and send a signal to that effect to the car controlling portion 10.
  • the housing main bodies 21 are divided internally into light emitter chambers 21 a and imaging means chambers 21b by the partitioning plates 22, and the light emitter 6 and 8 and the cameras 7 and 9 are disposed separately, light that is not required by the cameras 7 and 9 is prevented from entering, enabling detecting precision to be improved.
  • the filter covers 26 are disposed on the front surfaces of the imaging means chambers 21 b, wavelengths of light that are not required by the cameras 7 and 9 are prevented from entering, enabling detecting precision to be improved.
  • first and second object sensing controlling portions 11 and 12 are accommodated in the imaging means chambers 21b, space can be used effectively, and the cameras 7 and 9 and the object sensing controlling portions 11 and 12 are also disposed close to each other, enabling reliability to be improved.
  • first and second object sensing controlling portions may also be integrated.
  • objects are detected by light being blocked by an object and a light-emitting surface image being interrupted, or becoming shorter, etc., but are not limited to this method for detecting objects.
  • a time differential image that is a difference between a newest differential image and a differential image from a predetermined amount of time before may also be found, and a determination made as to whether or not a value that is greater than or equal to a predetermined value is present in the time differential image. In such methods, if no object is present, the time differential image has a value of approximately zero over an entire surface. If a moving object is present, portions that are greater than or equal to the predetermined value appear in the time differential image.
  • the present invention has been applied to an elevator car door apparatus, but can also be applied to landing door apparatuses.
  • a sliding door apparatus according to the present invention can also be applied to a doorway that is disposed in a building, a boarding gate for a passenger vehicle such as a train, etc., or a boarding gate on a train platform, for example.

Landscapes

  • Elevator Door Apparatuses (AREA)
  • Cage And Drive Apparatuses For Elevators (AREA)
  • Indicating And Signalling Devices For Elevators (AREA)
EP08879182.7A 2008-12-26 2008-12-26 Slide door device and elevator Active EP2371754B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2008/073797 WO2010073387A1 (ja) 2008-12-26 2008-12-26 スライドドア装置及びエレベータ

Publications (3)

Publication Number Publication Date
EP2371754A1 EP2371754A1 (en) 2011-10-05
EP2371754A4 EP2371754A4 (en) 2014-08-06
EP2371754B1 true EP2371754B1 (en) 2016-10-26

Family

ID=42287054

Family Applications (1)

Application Number Title Priority Date Filing Date
EP08879182.7A Active EP2371754B1 (en) 2008-12-26 2008-12-26 Slide door device and elevator

Country Status (5)

Country Link
EP (1) EP2371754B1 (ja)
JP (1) JP5289463B2 (ja)
KR (1) KR101210016B1 (ja)
CN (1) CN102159488B (ja)
WO (1) WO2010073387A1 (ja)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20230051817A1 (en) * 2020-01-23 2023-02-16 Nec Corporation Object recognition device
US20230048407A1 (en) * 2020-01-23 2023-02-16 Nec Corporation Housing device

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101354209B1 (ko) * 2012-05-31 2014-01-23 조승원 정전용량 장애물 감지장치를 포함하는 슬라이딩 도어 시스템 및 그 제어방법
KR101838847B1 (ko) * 2017-05-01 2018-03-14 윤일식 카메라를 이용한 엘리베이터의 손끼임 방지용 안전장치
CN110526058B (zh) 2018-05-23 2022-06-03 奥的斯电梯公司 电梯门监控系统、电梯系统和电梯门监控方法

Family Cites Families (13)

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Publication number Priority date Publication date Assignee Title
JPH11228060A (ja) * 1998-02-09 1999-08-24 Hitachi Building Systems Co Ltd エレベータ出入口の安全装置
JPH11228059A (ja) * 1998-02-09 1999-08-24 Hitachi Building Systems Co Ltd エレベータ出入口部の安全装置
JPH11278778A (ja) * 1998-03-24 1999-10-12 Hitachi Building Systems Co Ltd エレベータ出入口の安全装置
CN2329643Y (zh) * 1998-06-29 1999-07-21 黄正义 电梯门的安全触板
JP4917203B2 (ja) * 2000-12-27 2012-04-18 オーチス エレベータ カンパニー 検知ゾーン内にある物体を検知する方法およびシステム
JP4280713B2 (ja) * 2002-12-30 2009-06-17 オーチス エレベータ カンパニー エレベータスライドドア用光学的同期性安全検出システム
GB2400905A (en) * 2003-04-24 2004-10-27 Memco Ltd Edge device for a powered door with infra-red and visible elements
JP4204896B2 (ja) 2003-05-14 2009-01-07 三菱電機株式会社 スライドドア装置およびエレベータ装置
JP2005194085A (ja) * 2004-01-09 2005-07-21 Mitsubishi Hitachi Home Elevator Corp エレベータの戸閉用光電装置
WO2007129402A1 (ja) 2006-05-09 2007-11-15 Mitsubishi Denki Kabushiki Kaisha エレベータのドア装置
WO2007138688A1 (ja) * 2006-05-31 2007-12-06 Mitsubishi Electric Corporation スライドドア装置及びエレベータ
JP5542661B2 (ja) * 2008-04-22 2014-07-09 三菱電機株式会社 スライドドア装置及びエレベータ
WO2010007670A1 (ja) * 2008-07-16 2010-01-21 三菱電機株式会社 スライドドア装置及びエレベータ

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20230051817A1 (en) * 2020-01-23 2023-02-16 Nec Corporation Object recognition device
US20230048407A1 (en) * 2020-01-23 2023-02-16 Nec Corporation Housing device
US11941858B2 (en) * 2020-01-23 2024-03-26 Nec Corporation Object recognition device
US11947070B2 (en) * 2020-01-23 2024-04-02 Nec Corporation Housing device

Also Published As

Publication number Publication date
CN102159488A (zh) 2011-08-17
KR101210016B1 (ko) 2012-12-07
EP2371754A1 (en) 2011-10-05
JPWO2010073387A1 (ja) 2012-05-31
CN102159488B (zh) 2014-06-25
KR20110053462A (ko) 2011-05-23
WO2010073387A1 (ja) 2010-07-01
EP2371754A4 (en) 2014-08-06
JP5289463B2 (ja) 2013-09-11

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