KR20110053462A - Slide door device and elevator - Google Patents

Abstract

In the slide door apparatus, the first case is provided in the first vertical frame of the doorway frame, and the second case is provided in the second vertical frame. The first case is provided with a first light emitter having a long length in the vertical direction and a continuous first light emitting surface. The second case is provided with a second light emitter having a long length in the vertical direction and a continuous second light emitting surface. In addition, the first case is provided with first imaging means for imaging the second light emitting surface. In addition, the second case is provided with second imaging means for imaging the first light emitting surface.

Description

SLIDE DOOR DEVICE AND ELEVATOR}

The present invention relates to a slide door device for automatically moving the door horizontally and an elevator using the same.

In the conventional slide door apparatus, a pair of light emitters having a long and continuous light emitting surface and a pair of cameras for photographing the light emitting surfaces of the opposing light emitters are provided on the left and right vertical frames of the entrance and exit. The whole of is covered as a monitoring area (for example, refer patent document 1).

[Patent Document 1] Japanese Patent Application Laid-Open No. 2004-338846

In the conventional slide door apparatus as described above, the openings for the light emitters and the openings for the cameras are provided in each of the left and right vertical frames of the doorway frame, and the light emitters and the cameras need to be mounted separately. Takes time to install the sensor in.

This invention is made | formed in order to solve the above subjects, and an object of this invention is to obtain the slide door apparatus which can facilitate installation of the sensor for detecting the obstacle of an entrance and an elevator using the same.

The slide door device according to the present invention is a door that opens and closes an entrance and exit by being moved horizontally, the first case being elongated in the vertical direction provided in the first vertical frame of the entrance frame, and the vertical door provided in the second vertical frame of the entrance frame. The first light emitter provided in the long second case, the first case and having a long first continuous light emitting surface in the vertical direction, and the second light emitter provided in the second case and long and continuous in the vertical direction A second light emitter having a surface, first imaging means provided in the first case and imaging the second light emitting surface, second imaging means provided in the second case and imaging the first light emitting surface, and first and second And an image processing unit for determining the presence or absence of an object at the entrance or exit based on the signal from the imaging means.

Moreover, the elevator which concerns on this invention is an elevator car which elevates the inside of a hoistway, and is moved horizontally, and is moved to the up-down direction provided in the elevator door which opens and closes the doorway provided between an elevator car and a boarding point, and the 1st vertical frame of an entrance frame. A first elongated first case, a second elongate case provided in a vertical direction provided in a second vertical frame of an entrance frame, a first light emitter provided in a first case and having a long and continuous first light emitting surface in an up and down direction, A second light emitter provided in the second case, the second light emitter having a long and continuous second light emitting surface in the vertical direction, provided in the first case, and provided in the first image pickup means for imaging the second light emitting surface, and in the second case; Image processing for determining the presence or absence of an object at the entrance and exit based on signals from the second imaging means and the first and second imaging means for imaging the first light emitting surface. Based on the information from the image processing unit and the car and a control unit for controlling the opening and closing of the elevator door.

According to the present invention, there is an effect of obtaining a slide door device capable of facilitating installation of a sensor for detecting an obstacle of an entrance and an elevator using the same.

BRIEF DESCRIPTION OF THE DRAWINGS It is the front view which looked at the car door apparatus of the elevator which concerns on Embodiment 1 of this invention from the inside of a car.
FIG. 2 is a block diagram illustrating a control circuit of the car door apparatus of FIG. 1.
3 is a perspective view illustrating a second case of FIG. 1.
4 is a longitudinal cross-sectional view of the light emitting chamber of the second case of FIG.
5 is a longitudinal sectional view of the imaging means chamber of the second case of FIG.
FIG. 6 is a cross-sectional view taken along line VI-VI of the second case of FIG. 5.
FIG. 7 is a cross-sectional view taken along the line VII-VII of the second case of FIG. 5.

EMBODIMENT OF THE INVENTION Hereinafter, preferred embodiment of this invention is described with reference to drawings.

Embodiment 1

BRIEF DESCRIPTION OF THE DRAWINGS It is the front view which looked at the car door apparatus (slide door apparatus) of the elevator which concerns on Embodiment 1 of this invention from the inside of a car. In the figure, a car entrance 1a is provided in a car 1 that moves up and down in a hoistway. The car doorway 1a is opened and closed by the first and second car doors 2a and 2b as horizontally moving elevator doors. The car doorway frame 3 is provided around the car doorway 1a.

The car entrance frame 3 has an upper portion provided between the first and second vertical frames 3a and 3b provided on the left and right sides of the car entrance 1a and the upper ends of the first and second vertical frames 3a and 3b. It has the horizontal frame 3c and the lower horizontal frame 3d provided in the bottom part of the cage | basket | car entrance 1a. A car operating panel (not shown) is provided on the front surface of the second vertical frame 3b.

The first case 4 is attached to the first vertical frame 3a. The second case 5 is attached to the second vertical frame 3b. The first and second cases 4 and 5 have an elongated shape in the vertical direction and are provided over the entire heights of the side surfaces of the first and second vertical frames 3a and 3b that face each other. Moreover, the 1st and 2nd cases 4 and 5 are provided facing the car entrance 1a so that the front surface may mutually face each other. In addition, the front surfaces of the first and second cases 4 and 5 are flush with the side surfaces of the first and second cases 4 and 5 so as not to protrude from the side surfaces of the first and second vertical frames 3a and 3b. It is.

Further, the first and second cases 4 and 5 are disposed closer to the car doors 2a and 2b than the middle portions of the vertical frames 3a and 3b in the depth direction of the car entrance and exit 1a. have. In particular, in this example, the first and second casings 4 and 5 are disposed at the ends of the car doors 2a and 2b of the vertical frames 3a and 3b.

A first light emitter 6 and a first camera 7 as first imaging means are incorporated in the first case 4. A second light emitter 8 and a second camera 9 as second imaging means are incorporated in the second case 5.

The first light emitter 6 has a long and continuous first light emitting surface 6a in the vertical direction. The second light emitter 8 has a long, continuous second light emitting surface 8a in the vertical direction. The first and second light emitting surfaces 6a and 8a are provided over approximately the entire height of the car doorway 1a and face each other with the car doorway 1a interposed therebetween.

The first camera 7 is provided near the upper end of the first light emitting surface 6a at the upper end of the first case 4 (near the upper horizontal frame 3c), and captures the second light emitting surface 8a. . The second camera 9 is provided at the lower end of the second case 5 (near the lower horizontal frame 3d) adjacent to the lower end of the second light emitting surface 8a and captures the first light emitting surface 6a. .

FIG. 2 is a block diagram illustrating a control circuit of the car door apparatus of FIG. 1. The first light emitter 6, the first camera 7, and the first object detection control unit 11 are accommodated in the first case 4. The first object detection control unit 11 controls lighting of the first light emitter 6.

In addition, the first object detection control unit 11 has a first image processing unit 11a. The first image processing unit 11a performs image processing based on the image signal captured by the first camera 7 and output, and an object (obstacle) is placed between the second light emitter 8 and the first camera 7. Determine if it exists. When the first image processing unit 11a determines that an object exists, the first object detection control unit 11 outputs a detection signal to the car control unit 10.

The second light emitter 8, the second camera 9, and the second object detection control unit 12 are accommodated in the second case 5. The second object detection control unit 12 controls the second light emitter 8 to light up.

In addition, the second object detection control unit 12 has a second image processing unit 12a. The second image processing unit 12a performs image processing based on the image signal captured by the second camera 9 and output, and whether an object exists between the first light emitter 6 and the second camera 9. Determine. When the second image processing unit 12a determines that an object exists, the second object detecting control unit 12 outputs a detection signal to the car control unit 10.

The first and second object detection control units 11 and 12 transmit and receive signals to and from each other via the car control unit 10, so that the timings of lighting and turning off of the second and first light emitters 8 and 6 can be known. .

An alarm device 13 is provided on the car operating panel. The alarm device 13 is controlled by the car control unit 10 and emits a warning announce or warning sound or displays a warning to the passengers in the car 1.

The car control unit 10 also outputs an open / close command to the open / close control unit 14 that controls the opening and closing of the car doors 2a and 2b. By such a configuration, the car control unit 10 operates the alarm device 13 or controls the opening and closing of the car doors 2a and 2b according to the detection signals from the object detection control units 11 and 12. do.

In addition, the car control unit 10, the first object detection control unit 11, the second object detection control unit 12, and the opening and closing control unit 14 each have a microcomputer, and each is based on a program stored in the microcomputer. You can run the function of.

3 is a perspective view illustrating the second case 5 of FIG. 1. The second case 5 has a case main body (structural body) 21 with an open front surface and a partition plate 22 provided in the width direction middle part in the case main body 21. Moreover, the upper cap 23 is provided in the upper end part of the case main body 21, and the lower cap 24 is provided in the lower end part of the case main body 21. As shown in FIG.

The space in the case body 21 is divided into two spaces left and right, that is, the light emitting chamber 21a and the imaging means chamber 21b by the partition plate 22. The second light emitter 8 is disposed in the light emitter chamber 21a. The 2nd camera 9 is arrange | positioned at the lower end part of the imaging means chamber 21b. The intervening partition plate 22 does not transmit light emitted by the second light emitter 8 and prevents light from leaking between the light emitter chamber 21a and the imaging means chamber 21b.

A transmissive diffusion plate 25 for transmitting and diffusing light is provided on the entire surface of the light emitting chamber 21a. The front opening of the light emitting chamber 21a is closed by the transmission diffusion plate 25. As the permeation diffusion plate 25, for example, a translucent milky white resin plate or a transparent resin plate or glass plate on which the surface is diffused is used. In addition, the second light emitting surface 8a is formed by the transmission diffusion plate 25.

The filter cover 26 is provided in the front surface of the imaging means chamber 21b. The filter cover 26 transmits light from the first light emitter 6, which is the opposing light emitter, and blocks at least part of light other than the wavelength of the light. That is, the filter cover 26 blocks the light of a wavelength unnecessary for object detection as an optical filter, and selectively transmits the light from the first light emitter 6. Moreover, as the filter cover 26, a resin plate or a glass plate is used, for example.

4 is a longitudinal cross-sectional view of the light emitting chamber 21a of the second case 5 of FIG. 3, FIG. 5 is a longitudinal cross-sectional view of the imaging means chamber 21b of the second case 5 of FIG. 3, and FIG. 6 is FIG. 5. Sectional drawing along the VI-VI line of the 2nd case 5 of FIG. 7: is sectional drawing along the line VII-VII of the 2nd case 5 of FIG.

The second light emitter 8 faces a substrate 27 provided in the light emitting chamber 21a opposite to the transmission diffusion plate 25 and a plurality of light sources (point light sources) mounted on the substrate 27 at intervals from each other in the vertical direction. (28) and the transmission diffusion plate 25 is provided. All light sources 28 oppose the transmission diffuser plate 25 at a predetermined interval from the transmission diffusion plate 25.

As the light source 28, for example, a light emitting diode, a semiconductor laser, a lamp or an electroluminescent element is used. In addition, the light source 28 preferably emits visible light or infrared light of a single wavelength.

The 2nd camera 9 is arrange | positioned at the lower end part of the imaging means chamber 21b, inclined upward. The 2nd object detection control part 12 is accommodated in the vicinity of the 2nd camera 9 above the 2nd camera 9 in the imaging means chamber 21b.

The structure of the first case 4 is the same as that of the second case 5. With respect to the first case 4, the filter cover 26 transmits light from the second light emitter 8, which is an opposing light emitter, and blocks at least part of light other than the wavelength of the light. Like the second light emitter 8, the first light emitter 6 has a substrate 27, a light source 28, and a transmission diffusion plate 25, and is disposed in the light emitter chamber 21a.

Moreover, the 1st camera 7 is arrange | positioned inclined toward the slope downward in the upper end part of the imaging means chamber 21b. The 1st object detection control part 11 is accommodated in the vicinity of the 1st camera 7 in the lower part of the 1st camera 7 in the imaging means chamber 21b.

Next, the detection method of an object is demonstrated. First, the image data? From the cameras 7 and 9 when the light emitters 6 and 8 are not turned on and the image data? When the light emitters 6 and 8 are turned on are image processing units. Blown into (11a, 12a). Then, the difference image γ obtained by subtracting the image data α from the image data β is calculated. When the monitoring of the object is executed, the above operation is repeated.

When the difference processing is performed, only the images of the light emitting surfaces 6a and 8a from which ambient light is removed are left in the differential image γ. Therefore, when there is no object blocking the light in the two triangular monitoring areas with the cameras 7 and 9 as the vertices and the light emitting surfaces 6a and 8a as the base, the differential image? One continuous straight light emitting surface remains.

On the other hand, when an object blocking light exists in the monitoring area, part of the light is blocked, so that the light emitting surface image of the differential image γ is divided into a plurality of parts and discontinuous, or the length of the light emitting surface is shorter than usual. Or lose. The image processing units 11a and 12a determine that an object exists between the vertical frames 3a and 3b when detecting that the light emitting surface is discontinuous, shortened, or missing. It sends to the car control part 10.

In such an elevator car door apparatus, the first light emitter 6 and the first camera 7 are provided in a common first case 4, and the second light emitter 8 and the second camera 9 are common. Since the second case 5 is provided in the second case 5, the installation work of the sensor in the field only needs to attach the cases 4 and 5 to the vertical frames 3a and 3b, thereby facilitating the installation work of the sensor. .

In addition, by dividing the inside of the case body 21 into the light emitting chamber 21a and the imaging means chamber 21b by the partition plate 22, the light emitting members 6, 8 and the cameras 7, 9 are divided and arranged. Unnecessary light can be prevented from entering the cameras 7 and 9, and the detection accuracy can be improved.

In addition, by providing the filter cover 26 on the front surface of the imaging means chamber 21b, it is possible to prevent the light of unnecessary wavelengths from entering the cameras 7 and 9, thereby improving the detection accuracy.

Furthermore, by accommodating the first and second object detection control units 11 and 12 in the imaging means chamber 21b, the space can be effectively used, and the cameras 7 and 9 and the object detection control unit 11, 12) can be placed close to improve reliability.

In addition, you may integrate the 1st and 2nd object detection control part.

In the above example, the object is detected by being blocked by the object and interrupted or shortened on the light emitting surface, but the detection method of the object is not limited to this. For example, a time difference image that is a difference between the latest difference image and the difference image before a predetermined time may be obtained, and it may be determined whether a value equal to or greater than a predetermined value exists in the time difference image. In this method, if no object is present, the time difference image is almost zero in the foreground. In addition, when a moving object exists, a portion having a predetermined value or more appears in the time difference image. For this reason, if there exists a part more than predetermined value, it can be determined that an object exists. According to this method, it is possible to efficiently detect only moving objects such as passengers, without removing dust which is attached to the light emitting surfaces 6a and 8a and which does not move.

In addition, although the above-mentioned example demonstrated the slide door apparatus of both opening types, this invention can be applied even if it is one opening type, and the number of cage doors and landing doors is not specifically limited, either.

Furthermore, in the above example, the present invention is applied to an elevator car door apparatus, but can also be applied to a landing door apparatus. In addition, the slide door apparatus of the present invention can be applied to, for example, an entrance and exit of a train or a platform of a train platform provided in a building.

Claims (6)

Door to open and close the doorway by moving horizontally,
A first case elongated in a vertical direction provided in the first vertical frame of the doorway frame;
A second case elongated in the vertical direction provided in the second vertical frame of the doorway frame;
A first light emitter provided in the first case and having a long and continuous first light emitting surface in a vertical direction;
A second light emitter provided in the second case and having a long and continuous second light emitting surface in a vertical direction;
First imaging means provided in the first case and configured to image the second light emitting surface;
Second imaging means provided in the second case and imaging the first light emitting surface;
And an image processing unit for determining the presence or absence of an object at the entrance and exit based on the signals from the first and second imaging means. The method according to claim 1,
The first and second cases each have a case body with an open front face and a partition plate provided in a widthwise middle part in the case body.
The case body is divided into a light emitting chamber and an imaging means chamber by the partition plate therebetween,
The first and second light emitters are disposed in the light emitting chamber,
And the first and second imaging means are arranged in the imaging means chamber. The method according to claim 2,
And a filter cover on a front surface of the imaging means chamber, the filter cover being configured to transmit light from an opposing light emitter among the first and second light emitters and to block at least some of light other than the wavelength of the light. The method according to claim 2,
The first and second light emitters have a plurality of light sources arranged in the light emitting chamber at intervals in the vertical direction, and a transmission diffuser plate provided on the front surface of the light emitting chamber and transmitting and diffusing light from the light sources. Slide door unit. The method according to claim 2,
The image processing unit has a first image processing unit for processing a signal from the first imaging unit, and a second image processing unit for processing a signal from the second imaging unit,
And the first and second image processing units are arranged in the imaging means chamber. An elevator car in the hoistway,
By moving horizontally, the elevator door for opening and closing the doorway provided between the car and the platform,
A first case elongated in a vertical direction provided in the first vertical frame of the doorway frame;
A second case elongated in the vertical direction provided in the second vertical frame of the doorway frame;
A first light emitter provided in the first case and having a long and continuous first light emitting surface in a vertical direction;
A second light emitter provided in the second case and having a long and continuous second light emitting surface in a vertical direction;
First imaging means provided in the first case and configured to image the second light emitting surface;
Second imaging means provided in the second case and configured to image the first light emitting surface;
An image processing unit which determines the presence or absence of an object at the entrance and exit based on the signals from the first and second imaging means;
And an elevator control unit for controlling opening and closing of the elevator door based on information from the image processing unit.

Images