JP4964300B2 - Sliding door device and elevator - Google Patents

Description

  The present invention relates to a sliding door device that automatically moves a door horizontally, and an elevator using the same.

  In a conventional sliding door device, a light emitter having a long and continuous light emitting surface is provided in one of the left and right vertical frames of the entrance and exit, and the light emitting surface is imaged in a vertical frame facing the light emitter. A camera is provided (see, for example, Patent Document 1).

JP 2004-338846 A

  In the conventional sliding door device as described above, since the light emitter and the camera are provided in the vertical frame, if a passenger or a part of the luggage approaches the door, it may be an obstacle even if it is not actually pinched by the door. It may be detected as an object. For this reason, when this sliding door device is applied to an elevator, the door may be reversed and opened many times when the door is closed, resulting in a reduction in operating efficiency.

  The present invention has been made to solve the above-described problems, and provides a sliding door device that can more reliably detect an obstacle actually caught between doors, and an elevator using the same. With the goal.

The sliding door device according to the present invention has a first door that opens and closes a first doorway by sliding horizontally, and a first door that faces the first doorway by sliding horizontally with the first door. A second door that opens and closes the doorway 2, and is disposed on the side of the space between the doorway, which is a space between the first doorway and the second doorway, and is long in the vertical direction facing the space between the doorways A side light emitter having a first light-emitting surface, an upper light-emitting device disposed above the space between the entrances and exits and having a second light-emitting surface that is opposed to the space between the entrances and is long in the width direction of the first entrance and exit, Based on the image data from the imaging means that is disposed on the opposite side of the side light emitter across the entrance / exit space and is located at the lower side of the entrance / exit space, and that images the first and second light emitting surfaces. An image processing determination unit that determines whether there is an obstacle in the space between the entrance and exit The elevator according to the present invention has a car doorway and is moved up and down in the hoistway, and includes a control device that controls the opening and closing of the first and second doors depending on the presence or absence of obstacles. A car door that opens and closes the car doorway by being slid horizontally, and is provided at the landing, and a door that opens and closes the hall door by sliding horizontally with the car door, the car doorway and the hall A side light-emitting device that is disposed on the side of the space between the entrances and exits that is a space between the entrances and exits and that has a first light emitting surface that is long in the vertical direction facing the space between the entrances and exits, and is disposed above the space between the entrances and exits And an upper light emitter having a second light emitting surface that is long only in the width direction of the entrance / exit, opposite to the entrance / exit space, and the side of the entrance / exit space on the side opposite to the side light emitter across the entrance / exit space Arranged at the bottom of the first and second An image pickup means for picking up an optical surface, and an image processing determination section for determining the presence or absence of an obstacle in the entrance / exit space based on image data from the image pickup means, and a car door and a landing door according to the presence or absence of the obstacle The control device which controls opening and closing of the is provided.

It is a top view which shows the principal part of the sliding door apparatus of the elevator by Embodiment 1 of this invention. It is the front view which looked at the car door apparatus of FIG. 1 from the landing side. It is a schematic block diagram which shows the control circuit of the sliding door apparatus of FIG. It is a flowchart which shows the operation | movement at the time of the door closing of the main-control part of FIG.

Preferred embodiments of the present invention will be described below with reference to the drawings.
Embodiment 1 FIG.
FIG. 1 is a plan view showing an essential part of a sliding door device for an elevator according to Embodiment 1 of the present invention, and FIG. 2 is a front view of the car door device of FIG. ing. In the figure, a car doorway 2 as a first doorway is provided on the front surface of the car 1. The hall 3 on each floor is provided with a hall entrance 4 as a second entrance.

  The car entrance 2 is opened and closed by car doors 5 and 6 which are first doors. The car doors 5 and 6 are driven by a door driving device (not shown) provided in the upper part of the car 1. The car doors 5 and 6 operate in opposite directions when opening and closing.

  Each landing entrance 4 is opened and closed by landing doors 7 and 8 which are second doors. The landing doors 7 and 8 are opened and closed together with the car doors 5 and 6 by engaging with the car doors 5 and 6 when the car 1 reaches the landing 3.

  The car 1 is equipped with a side light emitter 9, an upper light emitter 10, and a camera 11 as an imaging means. The side light emitter 9 is disposed in the vicinity of the door pocket portion that houses the car door 6 when the door is opened. Further, the side light emitters 9 are arranged on the side of an entrance / exit space 12 that is a space between the car entrance 2 and the landing entrance 4. Further, the side light emitter 9 has a first light emitting surface 9a that faces the space 12 between the entrances and exits and is long in the vertical direction.

  The upper light emitter 10 is fixed to the upper frame of the car doorway 2. The upper light emitter 10 is disposed above the entrance / exit space 12. Furthermore, the upper light emitter 10 has a second light emitting surface 10a that is long in the width direction (left and right direction in FIGS. 1 and 2) of the car doorway 2 only facing the space 12 between the doorways. The second light emitting surface 10 a extends to the upper portion of the door portion of the car door 6, that is, to the upper side of the side light emitter 9. That is, one end portion of the upper light emitter 10 is disposed close to the upper end portion of the side light emitter 9.

  The camera 11 is disposed on the opposite side to the side light emitter 9 across the entrance / exit space 12 and at the lower side of the entrance / exit space 12 and images the first and second light emitting surfaces 9a and 10a. The monitoring area by the camera 11 is a triangular first monitoring area 11a with the camera 11 as a vertex and the first light emitting surface 9a as a base, and a triangular first area with the camera 11 as a vertex and the second light emitting surface 10a as a base. This is an area combined with two monitoring areas 11b.

  Further, the side light emitter 9, the upper light emitter 10, and the camera 11 are arranged so that the entire entrance / exit space 12 is covered by the first and second monitoring regions 11a and 11b. The field of view of the camera 11 includes from the lower end of the entrance / exit space 12 to the upper corner of the entrance / exit space 12 on the car door 5 side.

  FIG. 3 is a schematic block diagram showing a control circuit of the sliding door device of FIG. In the figure, the door driving device is controlled by an opening / closing control unit 21. That is, the opening / closing operation of the car doors 5, 6 and the landing doors 7, 8 is controlled by the opening / closing control unit 21. The opening / closing control unit 21 is mounted on the car 1.

  A signal from the camera 11 is sent to the image processing determination unit 22. Based on the signal from the camera 11, the image processing determination unit 22 determines whether the light from the side light emitter 9 and the upper light emitter 10 is blocked by an obstacle when the door is closed.

  The side light emitter 9, the upper light emitter 10, the open / close control unit 21, and the image processing determination unit 22 are controlled by the main control unit 23. The main controller 23 irradiates the entrance / exit space 12 with light by the side light emitter 9 and the upper light emitter 10 at least when the door is closed. Further, when the obstacle is detected by the image processing determination unit 22 during the door closing operation, the main control unit 23 reversely opens the car doors 5 and 6 and the landing doors 7 and 8.

  The open / close control unit 21, the image processing determination unit 22, and the main control unit 23 are each configured by a microcomputer. Further, at least two of the open / close control unit 21, the image processing determination unit 22, and the main control unit 23 can be configured by a common computer. The control device includes an open / close control unit 21, an image processing determination unit 22, and a main control unit 23.

  Next, an obstacle detection method by the image processing determination unit 22 will be described. First, image data α from the camera 11 when the light emitters 9 and 10 are not lit and image data β when the light emitters 9 and 10 are lit are taken into the image processing determination unit 22. Then, a difference image γ obtained by subtracting the image data α from the image data β is calculated. Such an operation is repeated when the obstacle is monitored.

  When such difference processing is performed, only the images of the light emitting surfaces 9a and 10a remain in the difference image γ. Therefore, when there is no obstacle in the first and second monitoring areas 11a and 11b, a substantially continuous linear light emitting surface image remains in the difference image γ.

  On the other hand, when there are obstacles in the monitoring area, a part of the light from the light emitting surfaces 9a and 10a is blocked, so that the light emitting surface image obtained as the difference image γ is divided into a plurality of parts and is not used. It becomes continuous or the length becomes shorter than usual. When the image processing determination unit 22 detects that the images of the light emitting surfaces 9a and 10a are discontinuous, shortened, or disappeared, it determines that there is an obstacle, and the main control signal is sent to that effect. Send to part 23.

  FIG. 4 is a flowchart showing the operation of the main control unit 23 in FIG. 3 when the door is closed. When a predetermined time has elapsed since the door opening, the main control unit 23 checks whether there is an obstacle in the monitoring area (step S1). If there is no obstacle, the door closing operation is started (step S2). When there is an obstacle, it waits until the obstacle disappears, and starts the door closing operation after the obstacle disappears.

  After the start of the door closing operation, it is confirmed whether there is an obstacle in the monitoring area (step S3). If there is no obstacle, the door closing operation is continued (step S4), and the car doors 5, 6 And it is confirmed whether or not the landing doors 7 and 8 have reached all the door closing positions (step S5). That is, during the door closing operation, the presence or absence of an obstacle is repeatedly confirmed until the door is fully closed.

  When an obstacle is detected during the door closing operation, the car doors 5 and 6 and the landing doors 7 and 8 are reversed and opened (step S6), and the operation returns to the initial operation. If all the doors are closed with no obstacle detected, the operation in FIG. 4 ends.

In such a sliding door device and an elevator, the side light emitter 9 is arranged on the side of the entrance / exit space 12, the upper light emitter 10 is arranged above the entrance / exit space 12, and the camera 11 is located in the entrance / exit space 12. Since it is arrange | positioned at the side lower part, the obstruction actually pinched | interposed into the doors 5, 6, 7, and 8 can be detected more reliably.
In addition, frequent occurrence of the reversing operation due to erroneous detection can be prevented, so that the driving efficiency can be improved when applied to an elevator.
Furthermore, when applied to an elevator, the side light emitter 9, the upper light emitter 10, and the camera 11 need only be mounted on the car 1, so that the cost can be reduced as compared with the case where all the halls 3 are provided.

  Furthermore, since the first light emitting surface 9a of the side light emitter 9 and the second light emitting surface 10a of the upper light emitter 10 are used, an obstacle in the entire entrance / exit space 12 is detected by one camera 11. And cost can be reduced. Also, since only one camera 11 is required, the failure rate of the product can be reduced.

In the above example, the double-opening type sliding door device has been described. However, the present invention can be applied to a single-opening type, and the number of car doors and landing doors is not particularly limited.
Further, in the above example, the side light emitter 9 and the upper light emitter 10 are provided in the car 1, but it is also possible to provide them on the landing 3 side.
Further, in the above example, the present invention is applied to an elevator. However, for example, a double door type door device provided in a building, a door device including a train door and a platform door, or the like, a sliding door other than an elevator. The present invention can also be applied to an apparatus.

Claims (2)

A first door that opens and closes the first doorway by being slid horizontally;
A second door that opens and closes a second doorway facing the first doorway by sliding horizontally with the first door;
The side which is arrange | positioned in the side of the space between the entrances and exits which is the space between the said 1st entrance and said 2nd entrance and exits, and has the 1st light emission surface elongate in the up-down direction facing the said space between entrances and exits Partial light emitter,
An upper light-emitting device that is disposed above the space between the entrances and exits and has a second light emitting surface that faces the space between the entrances and exits and is long in the width direction of the first entrance and exits;
From the imaging means, which is disposed on the opposite side to the side light emitter across the entrance / exit space and below the entrance / exit space and images the first and second light emitting surfaces. A control device for controlling the opening and closing of the first and second doors according to the presence or absence of an obstacle, having an image processing determination unit for determining the presence or absence of an obstacle in the space between the entrances and exits based on the image data of Equipped with sliding door device. A car having a car doorway and being lifted and lowered in the hoistway;
A car door which is provided in the car and opens and closes the car doorway by being slid horizontally;
A landing door that opens and closes the landing doorway by being slid horizontally with the car door provided on the landing,
A side light emitter having a first light emitting surface which is disposed on the side of an entrance / exit space, which is a space between the car entrance and the landing entrance, and which is opposed to the entrance / exit space and is long in the vertical direction;
An upper light-emitting device that is disposed above the space between the entrances and exits and has a second light emitting surface that faces the space between the entrances and exits and is long in the width direction of the car entrance and exit;
From the imaging means, which is disposed on the opposite side to the side light emitter across the entrance / exit space and below the entrance / exit space and images the first and second light emitting surfaces. And a control device that controls the opening and closing of the car door and the landing door according to the presence or absence of an obstacle. Elevator.

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