JP6638696B2 - Elevator control system - Google Patents

Description

  The present invention relates to a technique for controlling opening and closing of a door in an elevator.

  Elevators are equipped with contact sensors (for example, safety shoes) and non-contact sensors (for example, infrared sensors) on the door, and these sensors detect passengers at the entrance (for example, on the door movement path). There is something to do. Conventionally, in such an elevator, when a passenger is detected while the door is closed, the door is turned over and the door is moved to a fully opened position where the entrance is fully opened. That is, every time a passenger is detected, the door is opened to the fully open position. For this reason, the time until the door closing is completed becomes long, which causes a problem that the operating efficiency of the elevator is reduced. Such a problem is remarkable in a large elevator having a wide entrance.

  Therefore, when a passenger is detected while the door is closed, a technique for shortening the door movement amount by stopping the door at the position at that time or opening the reversing door and stopping at a predetermined position has been proposed. (For example, see Patent Document 1). According to this technique, the time until the door closing is completed is shortened, and the operating efficiency of the elevator can be improved.

JP 2006-225080 A

  However, the above-described conventional elevator cannot detect the passenger until immediately before the passenger passes through the entrance. That is, when a passenger is detected, the passenger is about to pass the entrance. For this reason, even if the door is stopped or the reversing door is opened, there is a possibility that the door may come into contact with the passenger or the passenger may be temporarily caught by the door.

  Therefore, an object of the present invention is to make an elevator compatible with both improvement of operation efficiency and safe getting on and off of passengers.

  An elevator control system according to the present invention includes a detection device and a door control device. The detection device detects a passenger at the landing of the elevator. The door control device controls opening and closing of an elevator door using a detection result of the detection device, and includes an extraction processing unit, an acquisition processing unit, and a control processing unit. The extraction processing unit extracts the operation of the passenger from the detection result of the detection device. The acquisition processing unit acquires the position of the door in the opening and closing direction of the door. The control processing unit controls opening and closing of the door based on the operation of the passenger extracted by the extraction processing unit and the position of the door acquired by the acquisition processing unit.

  According to the above control system, the operation of the door can be changed in accordance with the operation of the passenger, so that the operation efficiency of the elevator can be improved while considering the safety of the passenger.

  In the above control system, the detection device may have, as detection areas in the landing, a first detection area and a second detection area closer to the door than the first detection area. Also, when the extraction processing unit extracts a movement from the first detection region to the second detection region as a passenger's operation during the closing of the door, the control processing unit returns to the position of the door acquired by the acquisition processing unit. Accordingly, the door may be stopped or the reversing door may be opened.

  According to the above configuration, the extraction processing unit can extract the movement of the passenger from the first detection area to the second detection area as an operation indicating the intention of boarding (boarding operation). Then, by stopping the door or opening the reversing door when the operation of the passenger is the boarding operation, unnecessary control (for example, stopping or opening the door by detecting the passenger itself even though the passenger does not intend to board) Control to open the reversing door) can be reduced. Therefore, operation efficiency can be improved.

  As a specific example, the extraction processing unit extracts the movement of the passenger from the detection result of the detection device and calculates the travel time required for the passenger to move from the first detection area to the second detection area. Then, the control processing unit increases the reversal movement amount when the door is opened when the movement time calculated by the extraction processing unit is smaller than the first threshold value than when the movement time is greater than the first threshold value. .

  According to the above configuration, by comparing the travel time with the first threshold, whether the movement of the passenger is a “running operation” running from the first detection area toward the car (the travel time is smaller than the first threshold) Case), it can be determined whether the operation is a “walking operation” in which the user walks from the first detection area to the car (when the moving time is longer than the first threshold). Here, if the operation of the passenger is a “running operation”, it is difficult for the passenger to pay attention to the surroundings. Therefore, if the door opening amount is small, the passenger may contact the door during boarding. Therefore, by making the amount of reversal movement during the “running operation” larger than the amount of reversal movement during the “walking operation”, even when the passenger runs while closing the door and tries to get on the car, the passenger Can be safely boarded.

  As a more specific example, the control processing unit performs the same operation as when the movement time calculated by the extraction processing unit is smaller than a second threshold smaller than the first threshold, as when the movement time is larger than the first threshold. Let the door run. If the travel time is smaller than the second threshold, it can be determined that the movement of the passenger is a “walking movement” in which the user walks from the position near the boundary between the first detection area and the second detection area toward the car. . Therefore, the door can be controlled by the same operation as when the moving time is greater than the first threshold value (walking operation), thereby simplifying the control.

  As another specific example, the extraction processing unit calculates the moving speed of the passenger based on the extracted operation of the passenger, and the control processing unit determines that the moving speed calculated by the extraction processing unit is higher than the third threshold. Alternatively, the reversing movement amount when the door is opened by reversing the door may be larger than when the moving speed is smaller than the third threshold value.

  According to the above configuration, by comparing the traveling speed with the third threshold, whether the movement of the passenger is a “running operation” running from the first detection area toward the car (the traveling speed is higher than the third threshold) Case), it can be determined whether the operation is a “walking operation” in which the user walks from the first detection area to the car (when the moving speed is lower than the third threshold). By making the amount of reversal movement during the “running operation” larger than the amount of reversal movement during the “walking operation”, even when the passenger runs while closing the door and tries to get on the car, the passenger Can be safely boarded.

  ADVANTAGE OF THE INVENTION According to this invention, in an elevator, both the improvement of operation efficiency and the safe getting on and off of a passenger can be made compatible.

It is a conceptual diagram showing the elevator to which the control system concerning a 1st embodiment was applied. It is the conceptual diagram which showed the entrance / exit as seen from the car side. FIG. 2 is a block diagram conceptually showing a configuration of a door control device provided in the control system. 4 is a flowchart illustrating a series of processes executed by the door control device in the first embodiment. (A)-(C) It is the figure which showed the operation | movement change of the passenger reflected in the photography image. 5 is a flowchart illustrating an example of a first opening / closing control process according to the first embodiment. It is the flowchart which showed an example of the 2nd opening / closing control processing. It is a flow chart which showed an example of the 1st opening and closing control processing in a 2nd embodiment. It is a key map showing the elevator to which the control system concerning a 3rd embodiment was applied. It is a flow chart which showed an example of the 1st opening and closing control processing in a 3rd embodiment.

[1] First Embodiment [1-1] Configuration of Elevator FIG. 1 is a conceptual diagram showing an elevator to which a control system according to a first embodiment is applied. As shown in FIG. 1, the elevator includes a car 10 that moves up and down in a hoistway. The car 10 is provided with a door 1, a drive device 2, a detection device 3 (see FIG. 2), and a door control device 4. The control system is configured by the detection device 3 and the door control device 4. FIG. 2 is a conceptual diagram showing the entrance 10a of the elevator as viewed from the car 10 side.

  The door 1 is for opening and closing the entrance 10a of the car 10. In the present embodiment, one door 1 is provided on each of the left and right sides of the entrance 10a, and each door 1 is composed of two doors. In FIG. 1, the left and right doors 1 are distinguished by reference numerals A and B. In FIG. 1, the components (for example, the door stop edge 11, the door 5 on the landing H side, the safety shoe 31, and the like) corresponding to the left and right doors 1 are similarly distinguished by reference numerals A and B. Have been.

  In the car 10, the configuration of the door 1 can be appropriately changed according to the width of the entrance 10a. For example, the car 10 may be configured such that each door 1 is formed of a single door. Further, the car 10 is not limited to the one in which the door 1 is a double door, and may be a single door in which one door 1 is provided on one side (that is, the left side or the right side) of the entrance 10a. In this case, the description of one of the left and right doors 1 described later can be applied to the one-sided door 1 as it is.

  The driving device 2 gives a driving force for opening and closing the door 1 to the door 1 in response to a command from the door control device 4. Then, when the door closing is started, the drive device 2 brings the respective door stop edges 11A and 11B of the doors 1A and 1B closer to each other, and divides the entrance 10a into two parts, the virtual center line C ( (See FIG. 2) or at a position in the vicinity thereof to complete the door closing. On the other hand, when the door opening is started, the driving device 2 moves the door stop edges 11A and 11B away from each other and moves to the fully opened position where the entrance 10a is fully opened to complete the door opening.

  A door 5 that opens and closes in conjunction with the door 1 of the car 10 is provided at the landing H on the stop floor where the car 10 stops. In the present embodiment, one door 5 is provided on the left and right corresponding to each of the doors 1A and 1B.

  The detection device 3 is for detecting a passenger. As shown in FIGS. 1 and 2, the detection device 3 according to the present embodiment includes a safety shoe 31, an optical sensor 32, and an imaging device 33.

  The safety shoe 31 is a contact-type sensor that mechanically detects a passenger at the entrance 10a (ie, a passenger between the door stop edges 11A and 11B). The safety shoe 31 is provided on the outer surface of each door 1 between a first position protruding from the door stop edge 11 (see FIGS. 1 and 2) and a second position where the entirety overlaps the outer surface of the door 1. It is provided so that advance and retreat are possible. When the door 1 is open, the safety shoe 31 is protruding to the first position. For example, when the passenger is sandwiched between the left and right doors 1 and the safety shoe 31 retreats to the second position, the safety shoe 31 The passenger is detected by retreating to the two positions.

  The optical sensor 32 is a non-contact type sensor that optically detects a passenger at the entrance 10a (that is, a passenger between the door stop edges 11A and 11B). In the present embodiment, the optical sensor 32 is a transmission type optical sensor, and includes a light projecting unit 321 and a light receiving unit 322 that are disposed to face the door stop edges 11A and 11B (or the safety shoes 31A and 31B), respectively. Have been. Then, when light traveling from the light projecting unit 321 to the light receiving unit 322 is blocked, a passenger is detected by blocking the light. The optical sensor 32 is not limited to the transmission type, but may be a reflection type optical sensor.

  The imaging device 33 is installed so as to be able to photograph a passenger in the hall H. In the present embodiment, the imaging device 33 is installed in the car 10 and is arranged so that the hall H can be photographed through the entrance 10a when the door 1 is opened. As an example, the imaging device 33 is attached to an upper portion of the frame 12 that forms the entrance 10a. The imaging device 33 is not limited to being installed on the car 10 but may be installed on each stop floor.

  More specifically, the imaging device 33 is arranged as follows. That is, in the captured image of the hall H by the imaging device 33 (that is, a captured image composed of a plurality of imaging frames acquired in chronological order by the imaging device 33), as a detection area for detecting a passenger, the landing H The imaging device 33 is configured to include a first detection region R1 (see FIG. 1) away from the door 1 and a second detection region R2 (see FIG. 1) closer to the door 1 than the first detection region R1. Be placed. The size and shape of the first detection region R1 and the second detection region R2 can be appropriately changed in consideration of what kind of control is performed according to the width of the entrance 10a.

  The door control device 4 controls the opening and closing of the door 1 by controlling the driving device 2 using the detection result of the detection device 3. Here, the detection result includes a first detection signal S1 output when the safety shoe 31 retreats to the second position, and a second detection signal S2 output when light is blocked by the optical sensor 32. , And an image S3 of the hall H captured by the imaging device 33.

[1-2] Elevator Control FIG. 3 is a block diagram conceptually showing the configuration of the door control device 4 in the first embodiment. As shown in FIG. 3, the door control device 4 includes an extraction processing unit 41, an acquisition processing unit 42, and a control processing unit 43.

  FIG. 4 is a flowchart showing a series of processes executed by the door control device 4. A series of processes performed by the door control device 4 can be performed by a processing device such as a CPU (Central Processing Unit) or a microcomputer. The series of processes may be realized by causing the door control device 4 to execute a corresponding program. Such a program may be stored in a readable state on a storage medium such as a flash memory, or may be stored in a storage unit (not shown) provided in the control system. The same applies to an embodiment described later.

  When door closing is started, detection of a passenger by various sensors (the safety shoe 31, the optical sensor 32, and the imaging device 33 in the present embodiment) included in the detection device 3 is started. The detection of the passenger by the detection device 3 may be started at the timing when the door opening is started.

  Then, in the door control device 4, first, the extraction processing unit 41 processes the photographed image S3 (detection result) obtained by photographing by the image pickup device 33, thereby extracting the passenger's operation from the photographed image S3 (extraction process) Step S11 in FIG. As an example, the extraction processing unit 41 extracts a region corresponding to a passenger from an imaging frame included in the captured image S3, and detects a change in the position of this region, thereby extracting a movement of the passenger. 5 (A) to 5 (C) are diagrams showing changes in the movement of the passenger shown in the photographed image S3, and the passenger is indicated by a symbol X in these figures.

  Specifically, the extraction processing unit 41 extracts an operation from the first detection region R1 to the second detection region R2 as an operation indicating that the passenger intends to board (hereinafter, referred to as “boarding operation”). . For example, in the process of processing a series of imaging frames, the extraction processing unit 41 extracts a passenger from the first detection region R1 in a certain imaging frame F1 (see FIG. 5A), and then extracts another imaging frame F2 (see FIG. 5A). 5 (A), when the same passenger is extracted from the second detection region R2, the operation of the passenger is extracted as the boarding operation (that is, the operation toward the car 10). For such a passenger operation, it is preferable to stop the door 1 or open the inverted door.

  On the other hand, when the extracted passenger remains in the first detection region R1 or the second detection region R2 (see FIG. 5B), or when the extracted passenger is in the first detection region R1 or the second detection region R2. When the vehicle crosses the second detection region R2 (see FIG. 5C), the operation of the passenger is determined to be an operation in which the passenger does not indicate the intention to board (i.e., an operation in which the passenger does not head toward the car 10; Non-boarding operation "). It is not necessary to stop the door 1 or open the reversing door for such a passenger operation.

  Next, the control processing unit 43 determines whether the operation of the passenger extracted by the extraction processing unit 41 is “boarding operation” or “non-boarding operation” (Step S12 in FIG. 4). Then, when the control processing unit 43 determines in step S12 that the operation is a “boarding operation”, the control processing unit 43 executes a first opening / closing control process (step S13 in FIG. 4; see FIG. 6) described later. After execution of step S13, the control processing unit 43 determines whether or not the door closing is completed (step S17 in FIG. 4).

  When the control processing unit 43 determines that the operation is “non-boarding operation” in step S12, the control processing unit 43 determines whether the second detection signal S2 is received from the optical sensor 32 while the door is closed (step in FIG. 4). S14). Then, when the control processing unit 43 determines that “received (Yes)” in step S14, it executes a second opening / closing control process (step S15 in FIG. 4; see FIG. 7) described later. After execution of step S15, the control processing unit 43 proceeds to step S17, and determines whether the door closing is completed.

  When the control processing unit 43 determines that “not received (No)” in step S14, the control processing unit 43 determines whether the first detection signal S1 is received from the safety shoe 31 while continuing to close the door ( Step S16 in FIG. 4). Then, when the control processing unit 43 determines that “received (Yes)” in step S16, it executes the second opening / closing control process (step S15 in FIG. 4; see FIG. 7). At this time, the control processing unit 43 may execute a control process different from the second opening / closing control process. On the other hand, when the control processing unit 43 determines that “not received (No)” in step S16, the control processing unit 43 proceeds to step S17 while continuing the door closing, and determines whether the door closing is completed. I do.

  When the control processing unit 43 determines in step S17 that “door closing is completed (Yes)”, the control of the door closing is ended. On the other hand, when the control processing unit 43 determines that “the door closing is not completed (No)” in step S17, the processing of steps S11 to S17 is performed and “the door closing is completed (Yes)” in step S17. It is repeatedly executed until it is determined.

  In the present embodiment, as described above, the safety shoe 31, the optical sensor 32, and the imaging device 33 are used as means for detecting a passenger, and the detection results thereof are a captured image S3, a second detection signal S2, The first detection signal S1 is used for opening / closing control of the door 1 with priority in the order (in the order of the flowchart). For example, when the door control device 4 is performing the opening / closing control of the door 1 (in this embodiment, the first opening / closing control process or the second opening / closing control process) using any of these detection results, Even if another detection result is input, it is ignored. Note that the priority order is not limited to this, and can be changed as appropriate.

<First open / close control process>
In the present embodiment, the extraction processing unit 41 extracts a passenger in the process of processing a series of imaging frames, and extracts an interval time required for the passenger to move from the first detection region R1 to the second detection region R2. T (corresponding to “moving time” described in the claims) is calculated. Specifically, the extraction processing unit 41 corresponds to the time t1 corresponding to the imaging frame F1 when the passenger is extracted from the first detection region R1, and the imaging frame F2 when the passenger is extracted from the second detection region R2. The interval time T is obtained from T = t2−t1 using the time t2. Then, when it is determined in step S12 of FIG. 4 that the boarding operation is performed, the first opening / closing control process is executed using the interval time T calculated by the extraction processing unit 41.

  FIG. 6 is a flowchart illustrating an example of the first opening / closing control process. When the first opening / closing control process is started, first, in the door control device 4, the acquisition processing unit 42 acquires the position of the door 1 in the opening / closing direction of the door 1 (Step S21 in FIG. 6). In the present embodiment, the acquisition processing unit 42 acquires the position of the door stop edge 11 in the opening and closing direction of the door 1. Note that the acquisition processing unit 42 may acquire the position of the door 1 based on the rotation amount of the motor provided in the driving device 2 or may acquire the position of the door 1 using a detection sensor or the like.

  Then, the control processing unit 43 controls the opening and closing of the door 1 based on the passenger's operation (here, the interval time T) extracted by the extraction processing unit 41 and the position of the door 1 acquired by the acquisition processing unit 42. I do. Specifically, it is as follows.

  First, the control processing unit 43 compares the interval time T with the first threshold value T0a and the second threshold value T0b (T0a> T0b) (Step S22 in FIG. 6). Here, if the first threshold value T0a is a value larger than the first threshold value T0a, it is a time when it can be determined that the passenger is walking. If the second threshold value T0b is a smaller value, the passenger walks from a position near the boundary B (see FIG. 5A) between the first detection region R1 and the second detection region R2, and the second detection region This is the time when it can be determined that the camera has moved to R2.

  Therefore, according to the interval time T, the boarding operation of the passenger can be determined as follows. That is, when the interval time T satisfies “T0a> T> T0b”, it can be determined that the boarding operation of the passenger is a “running operation” running from the first detection region R1 toward the car 10. When the interval time T satisfies “T ≧ T0a”, it can be determined that the boarding operation of the passenger is a “walking operation” in which the passenger walks from the first detection region R1 to the car 10. When the interval time T satisfies “T ≦ T0b”, it can be determined that the boarding operation of the passenger is a “walking operation” in which the passenger walks from the position near the boundary B to the car 10.

  When determining that “T ≧ T0a (walking motion)” or “T ≦ T0b (walking motion)” in step S22, the control processing unit 43 determines the door 1 based on the position of the door 1 acquired by the acquisition processing unit 42. Is determined (step S23 in FIG. 6). Specifically, the control processing unit 43 determines in which of the three zones Z1 to Z3 (see FIG. 2) the door stop edge 11 of the door 1 is located.

  Here, the zones Z <b> 1 to Z <b> 3 are used as criteria for determining where the door stop edge 11 of the door 1 is located in the opening / closing direction. Specifically, the entrance / exit 10a is virtually divided into three sections on the left and right sides of the virtual center line C in correspondence with the left and right doors 1, respectively. Z1 to Z3 are set. When the door 1 is one-sided, the entrance / exit 10a of the frame 12 constituting the entrance / exit 10a is virtually set based on a position where the door stop edge 11 of the door 1 contacts when the door is completely closed. , Three zones Z1 to Z3 can be set. In addition, the number of zones used as a criterion is not limited to three, but may be two or four or more.

  As an example, the zones Z1 to Z3 can be set as follows. The zone Z1 is an area where the door stop edge 11 moves during a period from when the door is completely closed to when about 50% of the entrance 10a is opened. The zone Z2 is an area in which the door stop edge 11 moves from a state where about 50% of the entrance 10a is opened to a state where about 75% is further opened. The zone Z3 is an area where the door stop edge 11 moves from a state where about 75% of the entrance 10a is opened to a time when the entrance 10a is fully opened. The setting of the zone can be appropriately changed in consideration of what kind of control is performed according to the width of the entrance 10a.

  Then, the control processing unit 43 controls the operation (door opening, door closing, stop, etc.) of the door 1 in accordance with the operation pattern Pa1 described below according to the determination result in step S23. Specifically, when the control processing unit 43 determines that the zone is “Zone Z1” in step S23, the control processing unit 43 controls the operation of the door 1 in the operation pattern Pa1-1 (step S24 in FIG. 6). When the control processing unit 43 determines “zone Z2” or “zone Z3” in step S23, the control processing unit 43 controls the operation of the door 1 in the operation pattern Pa1-2 (step S25 in FIG. 6).

[Operation pattern Pa1]
Operation pattern Pa1-1:
The door 1 is turned upside down until the door stop edge 11 reaches the boundary position Bp1 between the zone Z1 and the zone Z2, and is temporarily stopped at that position.
Operation pattern Pa1-2:
The door 1 is temporarily stopped without opening the reversing door.

  The operation pattern Pa1 is an example, and can be changed as appropriate. For example, in the operation pattern Pa1-1, the position at which the door 1 is stopped by opening the reversing door is not limited to the boundary position Bp1, and may be appropriately changed to another position. Further, in the operation pattern Pa1-2, the door 1 may be opened in a reversing manner. Further, the operation pattern may be different between “Zone Z2” and “Zone Z3”.

  When the boarding operation of the passenger is a “walking operation”, the passenger can pay attention to the surroundings, and thus the door opening amount D (in the present embodiment, the distance between the door stop edges 11A and 11B is separated from each other). Even in a relatively small case, it is possible to safely move into the car 10 without touching the door 1. Therefore, in the operation pattern Pa1 executed when the boarding operation of the passenger is the “walking operation”, the reversing movement amount when the door 1 is opened by reversing the door (this embodiment includes the case where the moving amount is zero). Is set small.

  Therefore, even when the passenger is detected during the door closing and the opening and closing of the door 1 is controlled, the moving amount of the door 1 until the door closing is completed can be reduced. As a result, the time required for closing the door is shortened, and the operation efficiency of the elevator can be improved. Note that different opening / closing control is performed on the door 1 depending on whether it is determined that “T ≧ T0a (walking operation)” or “T ≦ T0b (walking operation)” in step S22. Is also good. However, in these determinations, it is determined that the passenger's motions are all the same “walking motions”. Therefore, it is preferable to control the door 1 by the same motions in order to simplify the control.

  When determining that “T0a> T> T0b (running operation)” in step S22, the control processing unit 43 closes the door 1 based on the position of the door 1 acquired by the acquisition processing unit 42, as in step S23. The state is determined (step S26 in FIG. 6).

  Then, the control processing unit 43 controls the operation (door opening, door closing, stop, etc.) of the door 1 in accordance with the operation pattern Pa2 described below according to the determination result in step S26. Specifically, when the control processing section 43 determines that the zone is “Zone Z1” in step S26, the control processing section 43 controls the operation of the door 1 in the operation pattern Pa2-1 (step S27 in FIG. 6). When the control processing unit 43 determines that the zone is “Zone Z2” in step S26, the control processing unit 43 controls the operation of the door 1 in the operation pattern Pa2-2 (step S28 in FIG. 6). When the control processing unit 43 determines “zone Z3” in step S26, it controls the operation of the door 1 in the operation pattern Pa2-3 (step S29 in FIG. 6).

[Operation pattern Pa2]
Operation pattern Pa2-1:
The door 1 is turned upside down until the door stop edge 11 reaches an intermediate position of the zone Z2 (for example, a position where about 63% of the entrance 10a is opened), and temporarily stopped at that position.
Operation pattern Pa2-2:
The door 1 is turned upside down until the door stop edge 11 reaches an intermediate position of the zone Z3 (for example, a position where about 87% of the entrance 10a is opened), and temporarily stopped at that position.
Operation pattern Pa2-3:
The door 1 is moved until the door stop edge 11 reaches the fully open position.

  The operation pattern Pa2 is an example, and can be changed as appropriate. For example, the position at which the door 1 is stopped by opening the reversing door is not limited to the intermediate position or the fully open position, and may be changed to another position as appropriate.

  When the boarding operation of the passenger is a “running operation”, it is difficult for the passenger to pay attention to the surroundings. Therefore, if the door opening amount D is small, the passenger may come into contact with the door 1 at the time of boarding. Therefore, in the operation pattern Pa2 executed when the boarding operation of the passenger is the “running operation”, the reversing movement amount when the door 1 is opened by the reversing door (this embodiment includes the case where the moving amount is zero). Is set large. Specifically, the reversing movement amount in the “running operation” is set to be larger than the reversing movement amount in the “walking operation”.

  Therefore, even if a passenger runs and tries to board the car 10 while the door is closed, the passenger can be safely boarded. Further, in the operation patterns Pa2-1 and Pa2-2, the door 1 is opened but not fully opened, so that the improvement of the operation efficiency of the elevator is not hindered.

  As described above, according to the control system of the present embodiment, the operation of the door 1 can be changed in accordance with the operation of the passenger, so that the operation efficiency of the elevator can be improved while considering the safety of the passenger. it can. Therefore, in the elevator, it is possible to realize both improvement of the operation efficiency and safe getting on and off of the passenger.

  Further, in the control system of the present embodiment, when it is determined that the operation of the passenger is “non-boarding operation” (Step S12 in FIG. 4), the door is closed without stopping the door 1 or opening the reversing door. You. Therefore, it is possible to reduce unnecessary control such as stopping the door 1 or opening the reversing door by detecting the passenger even though the passenger does not intend to board, and as a result, improving the operation efficiency. Can be.

<Second open / close control process>
FIG. 7 is a flowchart illustrating an example of the second opening / closing control process. When the second opening / closing control process is started, first, in the door control device 4, the acquisition processing unit 42 acquires the position of the door 1 in the opening / closing direction of the door 1 (Step S31 in FIG. 7). Note that the specific processing executed in step S31 is the same as step S21 (FIG. 6) described above, and a description thereof will not be repeated.

  Then, the control processing unit 43 controls the opening and closing of the door 1 based on the position of the door 1 acquired by the acquisition processing unit 42. Specifically, it is as follows.

  First, the control processing unit 43 determines the closed state of the door 1 based on the position of the door 1 acquired by the acquisition processing unit 42 (Step S32 in FIG. 7). Specifically, the control processing unit 43 determines in which of the three zones Z1 to Z3 (see FIG. 2) the door stop edge 11 of the door 1 is located.

  Then, the control processing unit 43 controls the operation of the door 1 (door opening, door closing, stop, etc.) in accordance with the following operation pattern Pb1 according to the determination result in step S32. Specifically, when the control processing unit 43 determines that the zone is “Zone Z1” in step S32, the control processing unit 43 controls the operation of the door 1 with the operation pattern Pb1-1 (step S33 in FIG. 7). When the control processing unit 43 determines that the zone is “Z2” in step S32, the control processing unit 43 controls the operation of the door 1 using the operation pattern Pb1-2 (step S34 in FIG. 7). When the control processing unit 43 determines “zone Z3” in step S32, it controls the operation of the door 1 in the operation pattern Pb1-3 (step S35 in FIG. 7).

[Operation pattern Pb1]
Operation pattern Pb1-1:
The door 1 is turned over until the door stop edge 11 reaches the boundary position Bp1 between the zone Z1 and the zone Z2, and is temporarily stopped at that position.
Operation pattern Pb1-2:
The door 1 is turned upside down until the door stop edge 11 reaches the boundary position Bp2 between the zone Z2 and the zone Z3, and is temporarily stopped at that position.
Operation pattern Pb1-3:
The door 1 is temporarily stopped without opening the reversing door.

  The operation pattern Pb1 is an example and can be changed as appropriate. For example, in the operation patterns Pb1-1 and Pb1-2, the position where the door 1 is opened and stopped after being turned over is not limited to the boundary position, and can be appropriately changed to another position. Further, in the above-described operation pattern Pb1-3, the door 1 may be opened with the reversing door.

  When the control processing unit 43 receives the first detection signal S1 or the second detection signal S2, the passenger is about to pass through the entrance 10a. Therefore, it is sufficient for the passenger to have the door opening amount D that allows the passenger to board the car 10. Therefore, in the above-described operation pattern Pb1, the reversing movement amount when the door 1 is opened by reversing the door is small. Is set.

  Therefore, even when the passenger is detected by the safety shoe 31 or the optical sensor 32 while the door is closed and the opening and closing of the door 1 is controlled, the amount of movement of the door 1 until the door is closed can be reduced. As a result, the time required for closing the door is shortened, and the operation efficiency of the elevator can be improved.

[2] Second Embodiment In the first embodiment described above, in the process of processing a series of imaging frames, instead of calculating the interval time T, the extraction processing unit 41 is based on the extracted passenger's operation. The traveling speed V of the passenger may be calculated. Specifically, the extraction processing unit 41 calculates a moving speed V when the passenger moves from the first detection region R1 to the second detection region R2. As an example, the extraction processing unit 41 determines the time t1 corresponding to the imaging frame F1 when the passenger is extracted from the first detection area R1, the coordinates p1 of the passenger in the imaging frame F1, and the passenger from the second detection area R2. Using the time t2 corresponding to the imaging frame F2 at the time of extraction and the coordinates p2 of the passenger in the imaging frame F2, the moving speed V is calculated as follows: V = (linear distance between coordinates p1 and p2) / (t2 −t1). Then, when it is determined in step S12 of FIG. 4 that the “boarding operation” is performed, the first opening / closing control process may be performed using the moving speed V calculated by the extraction processing unit 41.

  FIG. 8 is a flowchart illustrating an example of the first opening / closing control process according to the second embodiment. When the first opening / closing control processing is started, first, in the door control device 4, the acquisition processing section 42 acquires the position of the door 1 in the opening / closing direction of the door 1 (acquisition processing; step S41 in FIG. 8). Note that the specific processing executed in step S41 is the same as step S21 (FIG. 6) described above, and a description thereof will not be repeated.

  The control processing unit 43 controls the opening and closing of the door 1 based on the passenger's operation (here, the moving speed V) extracted by the extraction processing unit 41 and the position of the door 1 acquired by the acquisition processing unit 42. I do. Specifically, it is as follows.

  First, the control processing unit 43 compares the moving speed V with a third threshold value V0 (Step S42 in FIG. 8). Here, if the third threshold value V0 is a value smaller than the third threshold value V0, it is a time during which it can be determined that the passenger is walking.

  Therefore, the boarding operation of the passenger can be determined as follows according to the moving speed V. That is, when the traveling speed V satisfies “V> V0”, it can be determined that the passenger's boarding operation is a “running operation” running from the first detection region R1 toward the car 10. When the moving speed V satisfies “V ≦ V0”, it can be determined that the boarding operation of the passenger is a “walking operation” of walking from the first detection region R1 to the car 10.

  When determining that “V ≦ V0 (walking motion)” in step S42, the control processing unit 43 determines the door closed state of the door 1 based on the position of the door 1 acquired by the acquisition processing unit 42 (FIG. 8). Step S43). Specifically, the control processing unit 43 determines in which of the three zones Z1 to Z3 (see FIG. 2) the door stop edge 11 of the door 1 is located. The details of the zone are the same as in the first embodiment, and a description thereof will be omitted.

  Then, the control processing unit 43 controls the operation (door opening, door closing, stop, etc.) of the door 1 in the operation pattern Pa1 according to the determination result in step S43 (steps S44 and S45 in FIG. 8). Note that the details of the operation pattern Pa1 and the selection of the operation pattern Pa1 according to the result of the determination in step S43 are the same as in the first embodiment, and a description thereof will be omitted.

  When the passenger's boarding operation is a "walking operation", the passenger can pay attention to the surroundings. Therefore, even if the door opening amount D is relatively small, the passenger can safely enter the car 10 without touching the door 1. Can be moved to Then, in this case, by controlling the operation of the door 1 with the operation pattern Pa1, the time until the door closing is completed is shortened and the operation efficiency of the elevator can be improved as in the first embodiment. .

  When determining that “V> V0 (running operation)” in step S42, the control processing unit 43 changes the door closed state of the door 1 based on the position of the door 1 acquired by the acquisition processing unit 42, as in step S43. A determination is made (step S46 in FIG. 6).

  Then, the control processing unit 43 controls the operation of the door 1 (door opening, door closing, stop, etc.) according to the operation pattern Pa2 according to the determination result in step S46 (steps S47 to S49 in FIG. 8). Note that the details of the operation pattern Pa2 and the selection of the operation pattern Pa2 according to the result of the determination in step S46 are the same as in the first embodiment, and a description thereof will be omitted.

  When the boarding operation of the passenger is a “running operation”, it is difficult for the passenger to pay attention to the surroundings. Therefore, if the door opening amount D is small, the passenger may come into contact with the door 1 at the time of boarding. Therefore, in this case, by controlling the operation of the door 1 with the operation pattern Pa2, even when a passenger runs and tries to get on the car 10 while the door is closed, the passenger can be safely handled as in the first embodiment. Can be boarded. Further, in the operation patterns Pa2-1 and Pa2-2, the door 1 is opened but not fully opened, so that the improvement of the operation efficiency of the elevator is not hindered.

  As described above, according to the control system of the second embodiment, similarly to the first embodiment, the operation of the door 1 can be changed according to the operation of the passenger, so that the elevator can be considered while taking the safety of the passenger into consideration. Operation efficiency can be improved. Therefore, in the elevator, it is possible to achieve both improvement of the operation efficiency and safe getting on and off of the passenger.

[3] Third Embodiment FIG. 9 is a conceptual diagram showing an elevator to which a control system according to a third embodiment is applied. As shown in FIG. 9, in the above-described first embodiment, the whole or a part (at least the area near the door 1) of the imaging region of the imaging device 33 is set as the first detection region R <b> 1, and the detection region of the optical sensor 32 is set as the first detection region R <b> 1. An operation (boarding) from the first detection region R1 to the second detection region R2 by combining the detection of the passenger using the captured image S3 and the detection of the passenger with the optical sensor 32 after setting the second detection region R2. Operation) may be extracted.

  In the present embodiment, when the door closing is started, in step S11 of FIG. 4, the extraction processing unit 41 outputs the captured image S3 obtained by the imaging device 33 and the second detection signal output from the optical sensor 32. Using S2, the operation of the passenger is extracted (extraction process). Specifically, the extraction processing unit 41 extracts a region corresponding to a passenger from the first detection region R1 in the imaging frame forming the captured image S3, and thereafter receives the second detection signal S2 within a predetermined time. At this time, the operation of the passenger is extracted as an operation (riding operation) from the first detection region R1 to the second detection region R2. For such a passenger operation, it is preferable to stop the door 1 or open the inverted door.

  On the other hand, even when the passenger can be extracted from the first detection region R1, the extraction processing unit 41 does not receive the second detection signal S2 within a predetermined time thereafter (for example, if the extracted passenger is the first detection region R1). If the passenger stays in R1), the operation of the passenger is extracted as a non-boarding operation. It is not necessary to stop the door 1 or open the reversing door for such a passenger operation.

  Then, when the control processing unit 43 determines that the boarding operation is performed in step S12 of FIG. 4, the control processing unit 43 executes a first opening / closing control process (see FIG. 10) described later. The other processes in FIG. 4 are the same as those in the first embodiment, and a description thereof will not be repeated.

<First open / close control process>
In the present embodiment, the extraction processing unit 41 extracts the interval time T required for the passenger to move from the first detection region R1 to the second detection region R2 in the process of extracting the passenger's motion (in the claims). (Corresponding to the described “moving time”). Specifically, the extraction processing unit 41 uses the time t3 when the passenger is extracted from the first detection region R1 and the time t4 when the second detection signal S2 is received to calculate the interval time T as T = It is determined by t4−t3. Note that the extraction processing unit 41 may measure an elapsed time from when the passenger is extracted to when the second detection signal S2 is received, and use the elapsed time as the interval time T. Then, when it is determined in step S12 of FIG. 4 that the boarding operation is performed, the first opening / closing control process is executed using the interval time T calculated by the extraction processing unit 41.

  FIG. 10 is a flowchart illustrating an example of the first opening / closing control process according to the third embodiment. The first opening / closing control process in the present embodiment differs from the first opening / closing control process in the first embodiment in the following points. The other processing is the same as in the first embodiment, and a description thereof will not be repeated.

  In the third embodiment, in step S62 (corresponding to step S22 in FIG. 6), if the second threshold value T0b to be compared with the interval time T is smaller than the second threshold value T0b, the second threshold value T0b is walked from the position near the entrance / exit 10a. This is the time when it can be determined that the movement has been made to the detection region R2. Note that, as in the first embodiment, if the first threshold value T0a is a value larger than the first threshold value T0a, it is a time when it can be determined that the passenger is walking.

  Therefore, similarly to the first embodiment, the boarding operation of the passenger can be determined as follows according to the interval time T. That is, when the interval time T satisfies “T0a> T> T0b”, it can be determined that the boarding operation of the passenger is a “running operation” running from the first detection region R1 toward the car 10. When the interval time T satisfies “T ≧ T0a”, it can be determined that the boarding operation of the passenger is a “walking operation” in which the passenger walks from the first detection region R1 to the car 10. If the interval time T satisfies “T ≦ T0b”, it can be determined that the boarding operation of the passenger is a “walking operation” in which the passenger walks toward the car 10 from a position near the entrance 10a.

  Further, in the third embodiment, when the control processing unit 43 determines that “T ≧ T0a (walking operation)” or “T ≦ T0b (walking operation)” in step S62, the control processing unit 43 responds according to the door-closed state of the door 1. The operation of the door 1 (door opening, door closing, stop, etc.) is controlled by the operation pattern Pa3 described below. Specifically, when the control processing unit 43 determines that the zone is “Zone Z1” in step S63, the control processing unit 43 controls the operation of the door 1 in the operation pattern Pa3-1 (step S67 in FIG. 10). When determining that the zone is “Zone Z2” in step S63, the control processing unit 43 controls the operation of the door 1 in the operation pattern Pa3-2 (step S68 in FIG. 10). When determining that the zone is “Zone Z3” in step S63, the control processing unit 43 controls the operation of the door 1 in the operation pattern Pa3-3 (step S69 in FIG. 10).

[Operation pattern Pa3]
Operation pattern Pa3-1:
The door 1 is turned upside down until the door stop edge 11 reaches the boundary position Bp1 between the zone Z1 and the zone Z2, and is temporarily stopped at that position.
Operation pattern Pa3-2:
The door 1 is turned open until the door stop edge 11 reaches the boundary position Bp2 between the zone Z2 and the zone Z3, and is temporarily stopped at that position.
Operation pattern Pa3-3:
The door 1 is temporarily stopped without opening the reversing door.

  The operation pattern Pa3 is an example and can be changed as appropriate. For example, in the operation patterns Pa3-1 and Pa3-2, the position where the door 1 is opened and stopped by turning over the door 1 is not limited to the boundary position, and can be appropriately changed to another position. Further, in the above-described operation pattern Pa3-3, the door 1 may be turned over. Further, the operation pattern Pa3 of the present embodiment is the same as the operation pattern Pb1 described in the first embodiment, but may be different from each other.

  In the control system of the third embodiment as well, as in the first embodiment, the operation of the door 1 can be changed according to the operation of the passenger, so that the operation of the elevator can be performed while considering the safety of the passenger. Efficiency can be improved. Therefore, in the elevator, it is possible to achieve both improvement of the operation efficiency and safe getting on and off of the passenger.

  In the third embodiment, in the process of detecting the movement of the passenger, the extraction processing unit 41 also calculates the moving speed V of the passenger based on the extracted movement of the passenger instead of calculating the interval time T. It may be calculated. The control processing unit 43 controls the opening and closing of the door 1 based on the passenger's operation (here, the moving speed V) extracted by the extraction processing unit 41 and the position of the door 1 acquired by the acquisition processing unit 42. May be.

[4] Other Embodiments In the above-described first to third embodiments, when it is determined in step S12 of FIG. The opening and closing of the door 1 (mainly, stopping and reversing door opening) may be controlled based only on the position of the door 1 acquired by the user.

  In the first and third embodiments, in step S22 of FIG. 6 and step S62 of FIG. 10, the control processing unit 43 compares the interval time T only with the first threshold value T0a and uses the result of the comparison. The opening and closing of the door 1 may be controlled.

  In the first to third embodiments, a reflection-type optical sensor that emits a plurality of beams may be used instead of the imaging device 33 in order to detect the movement of the passenger. Note that the detection device 3 is not limited to the imaging device 33 and the reflection-type optical sensor, and may include various sensors capable of detecting the operation of the passenger.

  Furthermore, in the above-described first to third embodiments, the door 1 is closed (the zone where the door stop edge 11 is located) when the passenger itself is detected by some means without detecting the operation of the passenger. Opening and closing (mainly stopping and opening the reversing door) of the door 1 may be controlled accordingly. That is, the control system may execute the second opening / closing control process but not execute the first opening / closing control process.

  The description of the above embodiment is illustrative in all aspects and should not be construed as limiting. The scope of the present invention is defined by the terms of the claims, rather than the embodiments described above. Furthermore, the scope of the present invention is intended to include all modifications within the meaning and scope equivalent to the claims.

1, 5 Door 2 Drive 3 Detector 4 Door controller 10 Car 10a Door 11 Door edge 12 Frame 31 Safety shoe 32 Optical sensor 33 Imaging device 41 Extraction processor 42 Acquisition processor 43 Control processor 321 Lighting part 322 Light receiving part B Boundary Bp1, Bp2 Boundary position C Virtual center line D Door opening F1, F2 Imaging frame H Landing Pa1, Pa2, Pa3 Operation pattern Pb1 Operation pattern p1, p2 Coordinate R1 First detection area R2 Second detection Area S1 First detection signal S2 Second detection signal S3 Photographed image T Interval time T0a First threshold T0b Second threshold t1, t2, t3, t4 Time V Moving speed V0 Third threshold Z1, Z2, Z3 Zone

Claims (4)

A detection device for detecting a passenger at a landing of an elevator , comprising a first detection region and a second detection region closer to the elevator door than the first detection region as a detection region at the landing. When,
Using the detection result of the detecting device, and a front door control device for controlling the opening and closing of Kido A,
With
The door control device,
An extraction processing unit that extracts a passenger's motion from the detection result ,
A control processing unit that stops the door or opens the reversing door when the extraction processing unit extracts an operation from the first detection area toward the second detection area as an operation of the passenger during the closing of the door. When,
Only including,
When the control processing unit is in the process of closing the door, the extraction processing unit extracts, as the operation of the passenger, an operation from the first detection area to the second detection area.
The extraction processing unit calculates a travel time required for the passenger to move from the first detection area to the second detection area,
The control processing unit is configured to: when the movement time calculated by the extraction processing unit is smaller than a first threshold value, when the movement time is greater than the first threshold value than when the door is turned over. the larger, the elevator control system. When the movement time calculated by the extraction processing unit is further smaller than a second threshold value smaller than the first threshold value, the control processing unit performs the same operation as when the movement time is larger than the first threshold value. The elevator control system according to claim 1 , wherein the control system is executed. A detection device for detecting a passenger at a landing of an elevator, comprising a first detection region and a second detection region closer to the elevator door than the first detection region as a detection region at the landing. When,
Using a detection result of the detection device, a door control device that controls opening and closing of the door,
With
The door control device,
An extraction processing unit that extracts a passenger's motion from the detection result,
A control processing unit that stops the door or opens the reversing door when the extraction processing unit extracts an operation from the first detection area toward the second detection area as an operation of the passenger during the closing of the door. When,
Including
When the control processing unit is in the process of closing the door, the extraction processing unit extracts, as the operation of the passenger, an operation from the first detection area to the second detection area.
The extraction processing unit calculates a moving speed of the passenger based on the extracted operation of the passenger,
The control processing unit is configured such that, when the moving speed calculated by the extraction processing unit is higher than a third threshold, the reversing movement amount when the door is opened more than when the moving speed is lower than the third threshold. the larger, elevators control system. The door control device further includes an acquisition processing unit that acquires a position of the door in the opening and closing direction of the door,
While the control processing unit is closing the door, when the extraction processing unit extracts an operation from the first detection area to the second detection area as the passenger's operation, the control processing unit The elevator control system according to any one of claims 1 to 3, wherein the door is stopped or the inverted door is opened according to the position of the door acquired by the acquisition processing unit.

Images