JPH0147387B2 - - Google Patents

Description

[Detailed Description of the Invention] [Technical Field of the Invention] The present invention relates to a safety device for an elevator door that performs a safe closing operation by detecting the presence or absence of an obstacle when closing the elevator door. It is something.

[Prior art]

Elevator door safety devices are widely used in which a safety switch is provided at the tip of the door, and when someone prevents the door from closing, the safety switch is activated to reverse the door and open the door. However, this safety system shocks people through contact, so recently a system has been proposed that allows the door to be reversed without contact. In other words, an image of the area around the path of the door is detected by an image sensor and stored.
The image when there is no obstacle is compared with the image when the door is closed, and if a difference is found as a result of this comparison, it is assumed that there is an obstacle and the door is reversed.

By the way, there are two types of image sensors: one that detects one-dimensional images and one that detects two-dimensional images.In the latter case, it detects a wide flat area near the path of the door and detects when the door is closed. Even if the door is not a direct obstruction, it is superior to one-dimensional ones in that it is possible to open the door in advance in anticipation of people getting on and off. but,
The drawback is that a two-dimensional image must be stored, which increases memory capacity and is expensive.

[Summary of the invention]

This invention was made in view of the above-mentioned drawbacks, and uses a lens to convert a plane image including the moving path of an elevator door into a linear image, and an image sensor to convert this image into an electrical signal. , the object is to scan a two-dimensional image with a one-dimensional image sensor and to construct it at low cost.

[Embodiments of the invention]

Hereinafter, one embodiment of the present invention will be specifically described with reference to FIGS. 1 to 8.

First, in Figures 1 and 2, 1 is the landing area;
2 is a person using the elevator, 3 is a wall, 4 is a landing door that opens and closes the landing entrance 4a, 5 is a hoistway, 6
7 is a car door that goes up and down the hoistway 5; 8 is a car doorway that is opened and closed by the car door 7;
Reference numeral 9 denotes a one-dimensional scanning image sensor that is attached to the stile of the car 6 and scans the landing entrance 4a and the car entrance 8 in the running direction of the car door 7;
When there is an obstacle, a low level signal (hereinafter referred to as signal L) is output, and when there is no obstacle, a high level signal (hereinafter referred to as signal H) is output.The details are shown in FIG.

In Figures 3 and 4, 40 is the landing door 4.
and a plane including a travel path along which the car door 7 moves,
A scanning plane scanned by an image sensor 9 is shown. Reference numeral 91 denotes a convex lens of the image sensor 9, which photographs the scanning surface 40. 92a is a cylinder lens piece whose cut surface 92b is formed into a frosted glass shape, with a part cut out parallel to the cylinder axis, and 92 is a cylinder lens piece with a non-reflective partition plate 92c interposed so that the cut surface 92b is on the same plane. cylinder lens piece 92a
It is a cylinder lens formed by horizontally arranging a large number of
is configured to form a real image. 93
is a sensor disposed at a portion where the real image of the scanning plane 40 formed on the cut surface 92b is condensed by the cylinder lens 92 to form a straight line, and sensor pieces C ₁ to C are each composed of n charge-coupled devices. _o are arranged in a straight line, and the image of each section obtained by dividing the scanning surface 40 from the fully closed position to the fully open position into n equal parts is sequentially transferred from the fully closed position to the sensor pieces C ₁ , C ₂ . . . Detected by C _o ,
When the door is in the fully open position, it is detected by the sensor piece _Co.

5 and 6 show the control means. First, in FIG. 5, 11 is a door control device that controls the door closing motor 12 to open and close the car door 7, 13 is a pulse generator that emits a pulse signal in accordance with the rotation of the door closing motor 12, and 14 is a pulse generator for this device. This is a pulse counter that counts pulse signals, and outputs an output every time the doors 4 and 7 move through each section obtained by dividing the distance from the fully closed position to the fully open position into n equal parts. 15 is a microcomputer (hereinafter referred to as microcomputer), which basically consists of a CPU 16, a ROM 17, and a first RAM 1.
8, a second RAM 19 and a third RAM 20. 21 is an input port for inputting external signals to the microcomputer 15; 22 is the microcomputer 15;
This is an output port that outputs signals from to the outside.

Figure 6 shows the first RAM 18, second RAM 19 and
3RAM20 details are shown.

The memory A ₁ of the first RAM 18 and the memory B ₁ of the second RAM 19 are for storing the results detected by the sensor piece C ₁ . Similarly, memory A ₂ and memory B ₂ are for storing the results of sensor piece C ₂ .
Memory A _o and memory B _o correspond in this way.
is configured to store the results of sensor strip C _o . The third RAM 20 is a memory in which the value P is incremented by 1 each time a signal is issued from the pulse counter 14 and is stored therein.

7 and 8 are flowcharts showing the programs stored in the ROM 17.

The operation of the door safety device constructed as described above will now be described.

Assume that the car 6 has stopped and the landing door 4 and the car door 7 have begun to open. The process that has been waiting in step (70) in FIG. 7 moves to step (71). In step (71), the content P of the third RAM 20 is set to 0.
and move on to step (72). In step (72), the process waits until a signal is output from the pulse counter 14. Once output, the process moves to step (73) and the value P becomes 1.
is incremented and stored again in the third RAM 20, and the process moves to step (74). In step (74), the image sensor 9 scans and stores the contents of the sensor piece C _p in which the image of the P-th section from the fully closed position is detected in the memory A _p of the first RAM 18;
Move to step (75). In step (75), the value P is n
In other words, check to see if the door is fully opened. If the value P is smaller than n, proceed to step (72) and repeat steps (72)-(73)-(74)-(75).
)
repeat. When the door is fully opened, the value P becomes n, and the process ends.

In this way, each time the door passes through each section divided into n equal parts by following the opening of the door, an image of each section that has just been opened is stored in the first RAM 18 as an image when there are no obstacles. It is.

Next, a case in which the door is closed will be described with reference to FIG. 8 based on the image obtained as described above when there are no obstacles.

First, in step (101), the content P of the third RAM 20 is set to 0. In step (102),
The process waits until the door closing operation starts, and then moves to step (103). In step (103), the scan results by the image sensor 9 are stored in the second RAM 18. The door is still fully open, so step (104)
In this step, it is checked whether the contents of the corresponding memories match all of the memories A ₁ -A _o and the memories B ₁ -B _o . If there is a memory that does not match, the process moves to step (105), a door reversal signal is issued, and the process moves to step (102). If they all match, the process moves to step (106) and waits for the output from the pulse counter 14. Once output, move on to step (107),
The content P of the third RAM 20 is incremented.
In step (108), the scan results by the image sensor 9 are stored in the second RAM 19. In step (109), the memory of the opening part, that is, memory A ₁
It is checked whether the contents of the corresponding memories ~A _(op) and memories B ₁ ~ _{B (op)} match. If there is a memory that does not match, it is determined that there is an obstruction, and the process moves to step (105), where a door reversal signal is issued. This door reversal signal is input to the door control device 11 through the output port 22 to reverse the car door 7 and the landing door 4. Memory A ₁ ~
If A _(op) and the corresponding memories B ₁ to _{B (op)} all match, it is determined that there is no obstacle, and the process moves to step (110). In step (110), it is checked whether the door is fully closed, that is, whether the value P has reached (n-1). If not, the process moves to step (106), and steps (106) to (107) are checked. )−(108)−
Repeat (109)-(110). When the door is fully closed, the value P
becomes (n-1), and the process ends.

According to the above embodiment, a real image of the scanning plane is formed by a convex lens, this real image is further converted into a linear image by a cylinder lens, and this linear image is converted into an electric signal by an image sensor. Therefore, the image sensor can be one-dimensional and is inexpensive.

Furthermore, since the cylinder lens is partitioned by a partition plate, light incident obliquely is absorbed by the partition plate, so that only incident light rays that are almost perpendicular to the cylinder lens are detected by the sensor.

In the above embodiment, a single sliding door in which the door moves only in one direction has been described, but the intended purpose can also be achieved with a double sliding door in which two sliding doors open and close from the center.

〔Effect of the invention〕

As described above, this invention converts an image of a plane including the moving path of the door into an electrical signal using an image sensor, and compares the image when there are no obstacles with the image when the door is closing. In equipment that confirms the safety of vehicles, a convex lens forms a real plane image, this real image is transmitted through a cylinder lens and converted into a linear image, and this linear image is converted into an electrical signal by an image sensor. As a result, a plane can be detected by a one-dimensional image sensor, and the cost can be reduced.

[Brief explanation of drawings]

1 to 8 show an embodiment of the present invention,
Figure 1 is a vertical cross-sectional view of the car and landing area, Figure 2 is the 1st
3 is a structural diagram showing the entire sensor; FIG. 4 is a diagram showing the optical path in the sensor; FIG. 5 is a block diagram of the control circuit;
The figure is a memory map, and FIGS. 7 and 8 are program flowcharts. In the figure, 4 is a landing door, 7 is a car door, 9 is a sensor, 40 is a plane, 91 is a convex lens, and 92 is a cylinder lens. Note that the same reference numerals in the figures indicate the same or equivalent parts.

Claims (1)

[Claims] 1 Equipped with an image sensor that converts into an electrical signal the image of a plane that includes the elevator door movement path and whose width is in the direction of movement of the door and depth is in the direction in which people get on and off, and where there is no obstacle on the plane that interferes with closing the door. The image when there is no object is compared with the image of the plane when the door is closing, and the door is controlled based on the comparison result, and a real image of the plane is created using a convex lens. A cylinder lens is provided to form a real image, condense the spread of this real image in a direction corresponding to the depth, and convert it into a linear image in the width direction, and convert this linear image into an electrical signal. An elevator door safety device featuring: