JPS60202074A - Safety device for door of elevator - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] (Technical Field of the Invention) This invention provides a safety system for an elevator door that performs a safe closing operation by detecting the presence or absence of an obstacle when closing an elevator door. It is related to the device.

[Prior art]

A widely used safety device for elevator doors is one in which a safety shoe is installed at the tip of one door, and when two people prevent the door from closing, the safety shoe is activated, flipping the door and opening the two doors. . but.

Since this safety tissue causes a shock to people when it comes in contact with it, we recently used an image sensor to detect images near the path of movement of two doors, and compared the images when there were no obstacles and when the door was closing. It has been proposed that if a difference is found as a result of the comparison, the door should be turned over as if there is an obstacle.

When it comes to comparing images like this.

The image of the obstacle must be exactly what it would look like without the obstacle.

By the way, the brightness of the elevator landings was different depending on the floor. The floor surface may have a different finish, and the image of the floor when there are no obstacles will be different depending on the floor.

It is normal for no two people to come in or out for a moment immediately after the two doors are fully opened, but passengers who are in a particular hurry tend to exit immediately after all eight doors are opened.

In this way, the image when there are no obstacles can be detected and K
If there is a device that detects an image near the path of movement of the door, it may determine that there is no obstacle even though there is an obstacle, or it may determine that there is an obstacle even though it is not there.

There were concerns that reliability would be low.

[Summary of the invention]

This invention was made in view of the above concerns.

This system detects the image of the area around the door movement path and compares the image when there are no obstacles and when the door is closing to confirm the safety of the door, and it reliably detects the image when there are no obstacles. The purpose of this system is to ensure safety when opening a door, and its configuration will be described based on Figure 1.

In other words, the surface containing the movement path of the two houses (the book is divided into multiple sections, and each of these sections is divided into a sensor piece (CI),
(C2),..., (C,) is equipped with a sensor (9) that performs shared detection, and each time two houses pass through each section and the door opens, the corresponding sensor piece (CI), (C2) ,・
....

The memory (AI), (A2), . . . corresponding to the section where the door has just been opened by detecting the image in (C,)
, (Afl) K is memorized and Senna (
9) detects the image and uses this image and memory (AI
), (A2)...Compare with the image of (A,),
When a difference is detected, it is configured to send a door reversal signal to the two-door control device αD.

[Embodiments of the invention]

Hereinafter, one embodiment of the present invention will be specifically described with reference to FIGS. 2 to 7.

First, in Figures 2 and 3, (1) is the landing area.

(2) is the person using the elevator, (3) is the wall, (4)
is the landing door that opens and closes the landing entrance (4a), (5) is the hoistway, (6) is the car that goes up and down this hoistway (5), (7
) is a basket door.

(8) is a car doorway that is opened and closed by this car door (7)K; 7) A one-dimensional scanning image sensor that scans in the running direction, outputs a low level signal (hereinafter referred to as signal) when there is an obstacle, and outputs a high level signal (hereinafter referred to as signal H) when there is no obstacle. The details are shown in Figure 4.

In Fig. 4, (4I is a plane including the path along which the landing door (4) and the car door (7) move, and the image sensor (
9) shows the scanning plane scanned by. (91) is a convex lens of the image sensor (9), which photographs the scanning plane. (No. 9 is a sensor in which sensor pieces (C1) to (C,) consisting of n charge-coupled devices are arranged in a straight line at the part where a real image of the scanning surface is formed by a convex lens (91). The image of each section obtained by dividing the area from the fully closed position to the fully open position in b) into n equal parts is divided into sensor pieces (CI), (C2),... from the section closest to the fully closed position.
.

(C,), and at the fully open position of 9 doors, the sensor piece (Cn
).

5 and 6 show the control means. First, in Fig. 4, I controls the door closing motor (17J) to control the car door (7
), a door control device that opens and closes (1m is a pulse generator that emits a pulse signal according to the rotation of the door closing motor α2,
B4) is a pulse counter that counts this pulse signal, and one door (4) and (7) count n from the fully closed position to the fully open position.
It outputs an output each time it moves through each section obtained by dividing it into equal parts. C9 is a microcomputer (hereinafter referred to as microcomputer), which basically consists of a CPU (161, ROM (
17), first RAM (18), second RAM (19)
) and a third RAM (a). +2
Reference numeral 11 denotes an output port that outputs a signal to the outside from an input boat α9 that inputs an external signal to the microcomputer u9.

FIG. 6 shows details of the first RAM (181), the second RAM (191), and the third RAM (2).

Memo from the 1st RAMα group! j (Al) and the second RAM (I
The memory (B1) of ll stores the results detected by the sensor piece (c.'). Similarly, memory (
A2) and memory (B2) are for storing the results of the sensor piece (C2).

Corresponding in this way, memory (An) and memory (B
,) is configured to store the results of the sensor strip (CD). The third RAM (2) is a memory in which the value P is incremented by one each time a signal is issued from the pulse counter αa.

FIGS. 7 and 8 are flowcharts of programs stored in the ROMα, and will describe the operation of the door safety device configured as described above.

The car (6) stops and the landing door (4) and the car door (7)
) begins to open. The process that has been waiting in step Q1 of FIG. 7 moves to step 2 (71). procedure(
In 7I), the content P of the third RAM (A) is set to 0 and the process moves to 1 step 02. In step (7), the process waits until a signal is output from the pulse counter circle. When it is output, it moves to step (7), the value P is incremented by 1, and it is stored in the third RAM (
21, and the process moves to step 2 (74). Procedure (74
Now, scan with the image sensor (9) and store the contents of the sensor piece (Cp) whose image corresponding to the second section from the fully closed position is detected in the first RAM (memory A of 181, and proceed to step 2). Move to. In step (2), it is checked whether the value P has become equal to or greater than n, that is, whether two houses have been opened.

If the value P is smaller than n, step 2 (move to 7, 1 and repeat steps (2) - (c) - (74 - (c)) again. When the door is fully opened, the value P becomes n. C, end.

In this way, as the two doors open, each time the door passes through each section divided into n equal parts, the image of each section that has just been opened is used as the image when there are no obstacles in the first RA.
It is stored in MaFj.

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

First, in step 9 (101), the content P of the 3rd RAM (21) is set to OK. In step (102), the system waits until the opening operation of the two doors starts, and when it starts, step (10
Move on to 3). In step (103), the image sensor (9)
The scan result is stored in the second RAM (1!JK. Since the door is still fully open, 1 move) @C104),
Memo! j (Ax) ~ (An) and memo! J (Bl)～(
Bn), it is checked whether the contents of each corresponding memory match. If there is a memory that does not match, the process moves to 2-move J[(105), a 2-door reversal signal is issued, and the process moves to step (102). If all match, perform 2 steps (10
Move to step 6) and wait for the output from the pulse counter circle. Once output, the process moves to step (107) and the content P in the third RAM is incremented. In step (108), the scanning result by the image sensor (9) is sent to the second RAbiQ9.
). In step (109), the contents of the corresponding memories of the opening portions, that is, memories (A1) to (A(n-pi)) and memories (Bt) to (B(n-p)), match. If there is a memory that does not match, it is determined that there is an obstacle, and the process moves to step (105), where a two-door reversal signal is issued.

This door reversal signal is input to the door control device (111) via the output boat @, and is input to the car door (7) and the landing door (
4) Invert. If the corresponding memory (A1) to (A(n-pυ) and memo!J(Bl) to (B(n-pl)) all match, it is determined that there is no obstacle.9
Proceed to step (11). In step (110), it is determined whether one door is completely closed or not.

That is, it is checked whether the value P has become (n-1>).

If not, move to step (106) and proceed to step 9 (10).
6) -(107) -(10B) -(109) -
Repeat (110). When the door is fully closed, the value P becomes (n-1
)tonashi, end.

According to the above embodiment, each time the door passes through each section divided into n equal parts, following the opening of nine doors, an image of the section that has just been opened can be stored.

Since there are usually no obstacles in the Bakashi section where two houses are opened, the image obtained by the above example is as follows.

It is highly reliable as an image free of obstacles.

And when the 9th door opens, we will compare it with this image, so
Obstacles can be reliably detected and the door reversed, allowing safe door closing.

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

Further, the sensor does not need to continuously detect the moving floor surfaces of the two houses. That is, even if the detection is discontinuous at intervals smaller than the obstacles, the intended purpose can be achieved.

〔Effect of the invention〕

As described above, this invention uses a sensor that captures an image of the vicinity of the moving path of the car and the landing door and converts it into an electrical signal. The elevator door is detected by a sensor and stored in a storage means, and the image taken by the sensor when the two doors are closing is compared with the image in the storage means, and the door that is in the closing operation is reversed based on the comparison result. In the safety device, the sensor is composed of a plurality of sensor pieces that divide the travel path into a plurality of sections and perform shared detection.

The storage means is composed of a plurality of memories corresponding to these sensor pieces, and the sensor pieces follow the movement of opening a door, detecting each door opening with the sensor pieces, and storing the obtained image when there are no obstacles. The image is stored in the corresponding memory. Since there are no obstacles in the section where the door has just been opened, the image stored in the storage means is highly reliable as an image when there are no obstacles.

This image is compared with the image of the door being closed. If there is no difference between the two, it is determined that there is no obstacle, and the door closing operation continues. If there is a difference, it is determined that there is an obstacle. A highly reliable elevator door safety device is obtained by determining and inverting the two doors.

[Brief explanation of the drawing]

, FIG. 1 is an overall configuration diagram of this invention, FIGS. 2 to 8 are examples of the invention, FIG. 2 is a vertical sectional view of the heel and landing, and FIG. Cross section indicated by arrow ■-■ -2
゛The fourth figure is a detailed diagram of the sensor, the fifth figure is a block diagram of the control circuit, and the sixth figure is a memory map. FIGS. 7 and 8 are flowcharts of the program. , In the figure, (1) is the landing, '(41 is the door of the 0th landing, (6) is the car, (7) is the car door, (9) is the sensor, (17a
) is a comparison means, (18) and (191 are storage means,
(At) ~ (An), (Bt) ~ (BJ is memory,
(C1) to (C,) are sensor pieces. Note that the same reference numerals in Figure 9 indicate the same or equivalent parts. . Raft Buried Daiwaka Soo No. 2 Rinrin-1 ■-H Figure 3 Figure 4 Figure 61゛η fi', 7 Figure 8r'4 Procedural amendment (spontaneous) 1. Indication of the case Patent application 1987 -054812 No. 2, Name of the invention: Elevator door safety device 3, Representative: Hitoshi Katayama Department. 6. Contents of amendment (1) In the first line of page 6 of the specification, "Figure 4" is corrected to "Figure 5." (2) In the drawings, ``rAJ'' in Figure 1 has been changed to ``A1'' by adding the attached ``1'' (3) In the drawings, Figures 4 and 8 have been changed to ``A1'' in the attached appendix. Tooshi correction. Figure 4 above

Claims (1)

[Claims] It is equipped with a sensor that detects an image of the vicinity of the moving path of the car and the landing door and converts it into an electrical signal, and the sensor detects and stores the image when there are no obstacles in the moving path that would obstruct the door closing operation. The image taken by the sensor during the closing operation of two doors is compared with the image stored in the storage means, and the door during the closing operation is reversed based on the comparison result. The above-mentioned sensor is constituted by a plurality of sensor pieces that are divided into sections to perform detection, and the above-mentioned storage means is constituted by a plurality of memories corresponding to these sensor pieces, so that each section is opened in accordance with the door opening operation. A safety device for an elevator door, characterized in that when the elevator door is opened, an image of that section is stored in the corresponding memory as an image of the area when there are no obstacles.