JP2002308552A - Door opening and closing controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To control the opening and closing of a door of a mobile body by detecting the presence or absence of a passenger riding on the mobile body. SOLUTION: The detection area of an obstacle detection sensor 20 is designated as an area 32, and the detection area of a temperature change detection sensor 22 is designated as an area 34. When the passenger C moves from the area 32 into the area 34 during the closing of the door 18, a door open instruction signal is outputted from an elevator controller 26 to a door drive device 28 for the passenger C to ride on a car 14 to forcibly open the door 18 so as to safely lead the passenger C into the car 14.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a door opening and closing control device, and more particularly to a door opening and closing control device suitable for controlling opening and closing of a door of a moving body.

[0002]

2. Description of the Related Art Conventionally, when controlling the opening and closing of an elevator door, as a sensor for detecting a passenger at each landing, a photoelectric sensor using a light-emitting element, a light-receiving element, and a supersonic sensor utilizing reflected waves of ultrasonic waves. A sound wave sensor (obstacle sensor) and a temperature change detection sensor that detects a temperature change by detecting infrared rays are employed. These sensors are non-contact type sensors, the former two sensors emit light or ultrasonic waves from the elevator car side to the landing side,
The presence or absence of a passenger is detected based on the reflected light or reflected wave. Further, the temperature change detection sensor detects a temperature change in response to infrared rays generated from the passenger, and generates a detection signal.

In a conventional door opening / closing control device, any one of the above sensors is used as a passenger detection sensor. After the elevator car arrives at the landing and opens the door, the passenger is detected by the sensor in the process of closing the door. When it is done, the door is forcibly opened.

[0004]

However, in the above-mentioned prior art, since the opening and closing of the door is controlled based on the detection output of a single sensor, the passengers entering the elevator are reliably detected. Can not do it. For example, when controlling the opening and closing of the door only by the temperature change detection sensor, when there is no passenger in the hall and the ambient temperature of the hall changes, the door is closed by the detection output of the temperature change detection sensor in the process of closing the door. May forcibly open. In addition, when controlling the opening and closing of the door only with an obstacle detection sensor that detects the presence or absence of a passenger using light or ultrasonic waves, if an obstacle is left near the entrance of the landing, the passenger may be in the process of closing the door. However, the door may be forcibly opened depending on the detection output of the obstacle detection sensor. That is, in the related art, since the opening / closing of the door is controlled based on the detection output of a single sensor, erroneous detection of the passenger by the sensor may deteriorate service or give discomfort to the passenger. is there.

On the other hand, as described in Japanese Patent Application Laid-Open No. 10-278788, a camera is arranged at each landing, an image of the area near the entrance is taken by the camera, and an image taken by the camera is processed. It is also possible to adopt a configuration for recognizing the situation near the landing. However, in this configuration, cameras must be installed at each landing,
The cost increases. Moreover, if image processing is performed to detect the presence or absence of a passenger entering the elevator, it takes time to perform the processing, and it is not possible to quickly detect the presence or absence of the passenger entering the elevator.

An object of the present invention is to provide a door opening / closing control device capable of controlling the opening / closing of a door of a moving body by detecting the presence or absence of a passenger entering the moving body.

[0007]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention provides a temperature change detection sensor for detecting a temperature change in a detection target in an external space of a door of a moving body, An obstacle detection sensor that detects an obstacle in the detection target with the external space of the door as a detection target; and the moving body based on a logic of a detection output of the temperature change detection sensor and a detection output of the obstacle detection sensor. And a door opening and closing control device for controlling the opening and closing of the door.

In the construction of the door opening / closing control device, as a door opening / closing control means, a logic of a detection output of the temperature change detection sensor and a detection output of the obstacle detection sensor in a process of closing the door of the moving body. A condition in which the obstacle is detected by the obstacle detection sensor during the process of closing the door of the moving object, or a device that executes control for forcibly opening the door of the moving object on the condition of the product is used. Alternatively, a device which executes a control for forcibly opening a door of the moving body when a temperature change is detected by the temperature change detection sensor may be used.

In this case, when there is a cut position detecting sensor for detecting that the door of the moving body is closed from the fully open position to the cut position, the door opening / closing control means includes:
In the process of closing the door of the moving body, when the cut position is detected by the cut position detection sensor, the door of the moving body is moved regardless of the detection output of the obstacle detection sensor and the detection output of the temperature change detection sensor. A device that executes the closing control can be used.

In configuring each of the door opening and closing control devices, the following elements can be added.

(1) The obstacle detection sensor irradiates light to the object to be detected and detects the presence or absence of an obstacle by the reflected wave.

(2) The obstacle detection sensor irradiates an ultrasonic wave toward the object to be detected and detects the presence or absence of an obstacle by the reflected wave.

(3) The temperature change detection sensor is an infrared sensor for detecting a temperature change by inputting infrared light from the detection target.

(4) The range relating to the detection target of the temperature change detection sensor is set equal to or narrower than the range relating to the detection target of the obstacle detection sensor.

(5) The door opening / closing control means controls opening / closing of an elevator door.

According to the above-described means, the opening and closing of the door of the moving body is controlled based on the logic of the detection output of the temperature change detection sensor and the detection output of the obstacle detection sensor, so that the user gets on the moving body. The presence or absence of a passenger can be detected to control the opening and closing of the door of the moving body. In particular, in the process of closing the door of the moving body, the detection output of the temperature change detection sensor,
Under the condition of the logical product with the detection output of the obstacle detection sensor, control to forcibly open the door of the moving object is executed, or
In the process of closing the door of the moving body, on condition that an obstacle is detected by the obstacle sensor, control is performed to forcibly open the door of the moving body when a temperature change is detected by the temperature change detection sensor. This makes it possible to quickly and reliably detect a passenger who gets on the moving body, reliably guide the passenger who gets on the moving body into the moving body, and contribute to an improvement in service.

[0017]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is an overall configuration diagram of a door opening / closing control device according to an embodiment of the present invention. In FIG.
An elevator 12 is installed on a hoistway of a building 10 which is a multi-story structure, and a car 14 of the elevator 12 is driven up and down along the hoistway as a moving body. The car 14 is provided with a door 18 that opens and closes in conjunction with a door of each landing 16, and has an obstacle detection sensor 20, a temperature change detection sensor 22, a logic circuit 24,
An elevator control device 26, a door drive device 28, and a position detector 30 are provided.

The obstacle detection sensor 20 detects the outer space of the door 18 as an object to be detected, for example, a circular area 32 near the entrance of the door 18 in the landing 16 as an obstacle detection range, and is shown in FIGS. 2 and 3. As described above, light or ultrasonic waves are irradiated from the upper side of the cage 14 toward the region 32, the reflected light or the reflected wave is input, and the reflected light or the reflected wave returns from the time when the light or the ultrasonic wave is irradiated. The presence or absence of an obstacle is detected based on the time until it comes. For example, when passengers A, B, C, and D are waiting at the landing 16 and the passenger E is in the car 14, the passengers B, C, and
D is detected by the obstacle detection sensor 20, and an obstacle detection signal of “1” is output from the obstacle detection sensor 20.

On the other hand, as shown in FIG. 2, the temperature change detection sensor 22 detects the outside space of the door 18 as a detection target and, for example, a circular area 34 in the vicinity of the entrance of the door 18 at the landing 16 as a temperature change detection range. And an infrared sensor that detects a change in the ambient temperature in the area 34 by inputting infrared rays generated from the area 34. For example, when the passengers C and D are in the area 34, the passengers C and D
An infrared ray generated from D is input, and a temperature change detection signal of logic "1" is output assuming that there is a temperature change in the area 34. The region 34 is set to be smaller than the region 32, and the temperature change detection sensor 22 is connected to the logic circuit 24 together with the obstacle detection sensor 20.

The logic circuit 24 includes, as shown in FIG.
D gates 36, 38, and 40 are provided. A
The ND gate 36 outputs a signal of “1” when an obstacle detection signal of “1” is input from the obstacle detection sensor 20 on condition that the signal of “1” is output from the position detector 30. The data is output to an AND gate 40. A
The ND gate 38 controls the temperature change detection sensor 22 on the condition that the signal “1” is output from the position detector 30.
When a temperature change detection signal of “1” is inputted from the input terminal, a signal of “1” is output to the AND gate 40. The AND gate 40 includes AND gates 36 and 38.
Output the passenger detection signal of "1" to the elevator control device 26 only when the signal of "1" is output from the respective devices, that is, only when the condition of the logical product is satisfied.

Here, the output of the position detector 30 becomes "1" between the fully opened position of the door 18 and the cut position (the position where the opposing door 18 is closed to a range of several tens cm). This is a condition, and the position detector 30 is configured by, for example, an encoder. The position detector 30 detects a rotation position or a rotation angle of a motor constituting the door driving device 28 and outputs a signal of “1” until the door 18 changes from the fully open position to the cut position. Is also output when it is closed.

That is, in the process of closing the door 18 from the fully opened position, a signal of "1" is output from the position detector 30 until the door 18 reaches the cut position, during which the obstacle detection sensor 20 and the temperature change detection are performed. The passenger detection signal of "1" is output only when the signal of "1" is output from the sensor 22, and when the door 18 is closed from the cut position, the position detector 30 outputs the signal. Even if a signal of “0” is output, and thereafter, a signal of “1” is output from each of the obstacle detection sensor 20 and the temperature change detection sensor 22, the condition of the logical product is not satisfied, and the AND gate 40 outputs “0”. Is output.

The elevator control unit 26 includes a fully open detection sensor (not shown) for detecting that the door 18 has been fully opened, and a landing detection sensor (not shown) for detecting that the car 14 has arrived at each landing 16. A detection signal is input, a signal from the AND gate 40 is input, and a door opening command signal or a door closing command signal for controlling opening and closing of the door 18 is generated based on each input signal, and the generated door opening command is generated. Signal or door closing command signal to the motor voltage generator 4
2 is output.

When a door open command signal is input from the elevator control device 26, the motor voltage generator 42 generates a motor drive signal for driving the motor of the door drive device 28 to rotate in the forward direction. A drive signal is output to the door drive device 28, while the elevator control device 2
When a door closing command signal is input from the controller 6, a motor drive signal for reversely driving the motor is generated, and the motor drive signal is output to the door drive device 28. The door driving device 28 is configured to open the door 28 by forward rotation of the motor and close the door 18 by reverse rotation of the motor.

The elevator control device 26 generates a door open command signal and a door close command signal each time the car 14 reaches each landing 16, outputs the door open command signal, and outputs the door close command signal after a predetermined time. In the process of outputting and closing the door,
That is, during the process of outputting the door closing command signal,
When a passenger detection signal of "1" is input from the D gate 40, the output of the door close command signal is canceled and the door open command signal is output.

That is, the logic circuit 24, the elevator control device 26, the motor voltage generator 42, and the door drive device 28 are configured as one element of the door opening / closing control means. The forcible opening of the door 18 is performed under the condition of the logical product of the obstacle signal generated by the output of the temperature change detection sensor 22 and the obstacle signal generated by the output of the temperature change detection sensor 22. Specifically, in the process of closing the door 18, the temperature change detection sensor 22 outputs a temperature change detection signal of “1” on the condition that the obstacle detection signal is output from the obstacle detection sensor 20. At this time, control for forcibly opening the door 18 is performed. In this case, when the output of the position detector 30 changes from "1" to "0" in the process of closing the door 18, the door 18 is opened without opening the door 18 even if a passenger detection signal is generated thereafter. Close control is performed.

Next, the operation of the apparatus according to this embodiment will be described with reference to the flowchart of FIG. When the car 14 of the elevator 12 arrives at the landing 16 while the car 14 is being driven up and down according to a command from the elevator control device 26 (step S1), the elevator control device responds to the detection output of the landing detection sensor. The door opening command signal is output from 26 (step S2), and the door 18 is opened by the forward rotation of the motor. And door 18
Is at the fully open position, the detection output of the fully open detection sensor is turned on (step S3), and the measurement of the door open time is started. In this case, the determination of the output of the obstacle detection sensor 20 and the output of the temperature change detection sensor 22 has been stopped.
4, for example, passengers C and D,
Will ride. When the door 18 is in the fully opened state, the measurement of the door fully opened state is started.
6, a door closing command signal is output, and the operation of closing the door 18 by the reverse rotation of the motor is started (step S).
4). At this time, a process for determining the outputs of the obstacle detection sensor 20 and the temperature change detection sensor 22 is started at the same time.

In the process of closing the door 18, the obstacle detection sensor 20 is turned on, that is, it is determined whether or not the output of the obstacle detection sensor 20 is "1" (Step S).
5) The temperature change detection sensor 22 is turned on, that is, it is determined whether the output of the temperature change detection sensor 22 is "1" (step S6). At this time, if one of them is on, the process proceeds to step S9, and the doors 18 are sequentially closed.

On the other hand, when both the output of the obstacle detection sensor 20 and the output of the temperature change detection sensor 22 become “1”, for example, the passenger C enters the area 34 from the area 32 in order to get into the car 14 of the elevator 12. If it has moved, the passenger C is detected as a passenger who gets into the car 14, and the passenger C is detected in step S7.
And thereafter. In step S7, the position detector 30
Is "1", that is, whether the door 18 has reached the cut position. When the door 18 has not reached the cut position, the output of the door close command signal is released, the motor is forcibly driven forward by the door open command signal (step S8), and the process returns to step S3.

On the other hand, when it is determined in step S7 that the door 18 is closed from the cut position, the door close command signal is output as it is (step S9), and it is determined whether or not the door is fully closed. (Step S
10) A door close command signal is output until the door 18 is fully opened, and when the door 18 is fully closed (step S11), the processing in this routine is ended.

As described above, in the present embodiment, during the process of closing the door 18, the obstacle detection sensor 20 and the temperature change detection sensor 22 detect whether or not there is a passenger getting on the car 14, and get on the car 14. When a passenger is present, the door 18 is forcibly opened, so that even with a simple configuration, a passenger entering the car 14 is quickly and accurately detected, and a passenger entering the car 14 is detected.
Can lead inside.

In the present embodiment, the temperature change range (area 34) to be detected by the temperature change detection sensor 22 is made narrower than the obstacle detection range (area 32) to be detected by the obstacle detection sensor 20. Detects that the passenger gets into the car 14, but it is possible to detect that the passenger gets into the car 14 even if the detection ranges of the two are equal.

In this embodiment, when the door 18 is closed from the cut position in the process of closing the door 18, the door 18 is closed irrespective of the outputs of the obstacle detection sensor 20 and the temperature change detection sensor 22. Like that. This is because if the outputs of the obstacle detection sensor 20 and the temperature change detection sensor 22 are enabled even when the door 18 is closed from the cut position, the door 18 is forcibly opened by detecting the door 18 by each sensor. This is for preventing such a malfunction. Furthermore, when the door 18 is closed from the cut position, the door 18 is closed before the passenger gets in, so that the passenger cannot get on.

When there is a passenger in the area 34 before the door 18 is opened, for example, when there is a passenger D in the area 34, the passenger D gets in immediately after the door 18 is opened.
The passenger D can also be guided into the car 14 by a normal opening / closing operation.

Further, in the present embodiment, since the boarding passenger is detected, even when an object other than the passenger such as a flower pot is placed in the area 34, only the obstacle detecting sensor 20 detects the obstacle. Only because the temperature change detection sensor 22 does not detect a temperature change, it is possible to prevent the door 18 from being forcibly opened due to an obstacle in the process of closing the door 18.

In the above embodiment, the number of times the door 18 is forcibly opened by the output of the obstacle detection sensor 20 and the temperature change detection sensor 22 in the process of closing the door 18 or the time when the car 14 is stopped at the landing 16 is determined. When a set value is provided and the number of times the door 18 is opened or the time during which the car 14 is stopped reaches the set value, the door 18 is opened.
Can be prevented from being repeated by the door 18.

[0037]

As described above, according to the present invention,
Since the opening and closing of the door of the moving body is controlled based on the logic of the detection output of the temperature change detection sensor and the detection output of the obstacle detection sensor, the presence or absence of a passenger getting on the moving body is detected and the The opening and closing of the door can be controlled.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram of an apparatus according to an embodiment of the present invention.

FIG. 2 is a diagram for explaining detection ranges of an obstacle detection sensor and a temperature change detection sensor.

FIG. 3 is a diagram for explaining a relationship between a detection range of an obstacle detection sensor and a temperature change detection sensor and a passenger.

FIG. 4 is a block diagram of a door opening / closing control device.

FIG. 5 is a flowchart for explaining the operation of the device shown in FIG. 1;

[Explanation of symbols]

 Reference Signs List 10 building 12 elevator 14 car 16 landing 18 door 20 obstacle detection sensor 22 temperature change detection sensor 24 logic circuit 26 elevator control device 28 door drive device 30 position detector 36, 38, 40 AND gate 42 motor voltage generator

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor, Fumio Watanabe 1070 Ma, Hitachinaka-shi, Ibaraki F-term in Mito Building Systems Division, Hitachi, Ltd. Building Systems Group F-term (reference) 3F307 DA11 DA13 DA14 EA18 EA36 EA39

Claims (9)

[Claims] 1. A temperature change detection sensor for detecting a temperature change in the detection target by using an external space of a door of a moving body as a detection target, and an obstacle in the detection target by detecting an external space of the door of the moving body in a detection target. An obstacle detection sensor for detecting, and door opening / closing control means for controlling opening / closing of the door of the moving body based on a logic of a detection output of the temperature change detection sensor and a detection output of the obstacle detection sensor. Door opening and closing control device. 2. The door opening / closing control device according to claim 1, wherein the door opening / closing control means detects a detection output of the temperature change detection sensor and a detection of the obstacle detection sensor in a process of closing a door of the moving body. A door opening / closing control device for executing a control for forcibly opening a door of the moving body on condition of a logical product with an output. 3. The door opening / closing control device according to claim 1, wherein the door opening / closing control means is provided on the condition that an obstacle is detected by the obstacle detection sensor in a process of closing the door of the moving body. A door opening / closing control device for executing a control for forcibly opening a door of the moving body when a temperature change is detected by the temperature change detection sensor. 4. The door opening / closing control device according to claim 2, further comprising a cut position detection sensor for detecting that a door of the movable body is closed from a fully open position to a cut position, and wherein the door open / close control means is provided. In the process of closing the door of the moving body, when the cut position is detected by the cut position detection sensor, the door of the moving body is closed regardless of the detection output of the obstacle detection sensor and the detection output of the temperature change detection sensor. A door opening / closing control device characterized by executing closing control. 5. The door opening / closing control device according to claim 1, wherein the obstacle detection sensor irradiates light to the detection target and uses a reflected wave thereof. A door opening / closing control device characterized by detecting the presence or absence of an obstacle. 6. The door opening / closing control device according to claim 1, wherein the obstacle detection sensor irradiates an ultrasonic wave toward the detection target and reflects the ultrasonic wave. A door opening / closing control device characterized by detecting the presence or absence of an obstacle with the use of a door. 7. The door opening / closing control device according to claim 1, wherein the temperature change detection sensor inputs an infrared ray from the detection target. A door opening / closing control device, which is an infrared sensor for detecting a temperature change. 8. The method of claim 1, 2, 3, 4, 5, 6, or 7.
The door opening and closing control device according to any one of the preceding claims, wherein a range related to a detection target of the temperature change detection sensor is set to be equal to or narrower than a range related to a detection target of the obstacle detection sensor. Opening and closing control device. 9. The door opening / closing control device according to claim 1, wherein the door opening / closing control means opens and closes an elevator door. A door opening / closing control device characterized by being controlled.