WO2010073387A1 - スライドドア装置及びエレベータ - Google Patents

スライドドア装置及びエレベータ Download PDF

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Publication number
WO2010073387A1
WO2010073387A1 PCT/JP2008/073797 JP2008073797W WO2010073387A1 WO 2010073387 A1 WO2010073387 A1 WO 2010073387A1 JP 2008073797 W JP2008073797 W JP 2008073797W WO 2010073387 A1 WO2010073387 A1 WO 2010073387A1
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WO
WIPO (PCT)
Prior art keywords
light
imaging
housing
emitting surface
vertical direction
Prior art date
Application number
PCT/JP2008/073797
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
鹿井　正博
壽雄 増田
祐貴 川榮
Original Assignee
三菱電機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to CN200880131139.2A priority Critical patent/CN102159488B/zh
Priority to KR1020117006904A priority patent/KR101210016B1/ko
Priority to PCT/JP2008/073797 priority patent/WO2010073387A1/ja
Priority to JP2010543720A priority patent/JP5289463B2/ja
Priority to EP08879182.7A priority patent/EP2371754B1/de
Publication of WO2010073387A1 publication Critical patent/WO2010073387A1/ja

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
    • B66B13/24—Safety devices in passenger lifts, not otherwise provided for, for preventing trapping of passengers
    • B66B13/26—Safety devices in passenger lifts, not otherwise provided for, for preventing trapping of passengers between closing doors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
    • B66B13/02—Door or gate operation
    • B66B13/06—Door or gate operation of sliding doors
    • B66B13/08—Door or gate operation of sliding doors guided for horizontal movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
    • B66B13/30—Constructional features of doors or gates
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/40—Safety devices, e.g. detection of obstructions or end positions
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/40—Safety devices, e.g. detection of obstructions or end positions
    • E05F15/42—Detection using safety edges
    • E05F15/43—Detection using safety edges responsive to disruption of energy beams, e.g. light or sound
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/44—Sensors not directly associated with the wing movement
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/52—Safety arrangements associated with the wing motor
    • E05Y2400/53—Wing impact prevention or reduction
    • E05Y2400/54—Obstruction or resistance detection
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/10—Application of doors, windows, wings or fittings thereof for buildings or parts thereof
    • E05Y2900/104—Application of doors, windows, wings or fittings thereof for buildings or parts thereof for elevators

Definitions

  • the present invention relates to a sliding door device that automatically moves a door horizontally, and an elevator using the same.
  • a pair of light emitters having a long and continuous light emitting surface and a pair of cameras for imaging the light emitting surfaces of the opposed light emitters are provided in the left and right vertical frames of the entrance and exit, As a result, the entire entrance / exit is covered as a monitoring area (see, for example, Patent Document 1).
  • an opening for the light emitter and an opening for the camera are provided in each of the left and right vertical frames of the entrance / exit frame, and the light emitter and the camera are mounted separately. Therefore, it takes time to install the sensor on site.
  • the present invention has been made in order to solve the above-described problems, and includes a sliding door device capable of easily installing a sensor for detecting an obstacle at an entrance and an elevator using the same. The purpose is to obtain.
  • the sliding door device includes a door that opens and closes an entrance when it is moved horizontally, a first casing that is provided in the first vertical frame of the entrance / exit frame and that is elongated in the vertical direction, and a second vertical portion of the entrance / exit frame.
  • a first light emitter and a second housing that are provided on the frame and have a first light emitting surface that is long and continuous in the vertical direction.
  • a second light emitter having a second light emitting surface that is long and continuous in the up-down direction, a first image pickup means provided in the first housing and picking up an image of the second light emitting surface; Provided with a second imaging unit that images the first light emitting surface, and an image processing unit that determines the presence / absence of an object at the entrance based on signals from the first and second imaging units.
  • An elevator includes a car that is raised and lowered in a hoistway, an elevator door that opens and closes an entrance / exit provided between a car and a landing by being moved horizontally, and a first vertical frame of an entrance / exit frame.
  • the first casing that is elongated in the vertical direction provided in the first, the second casing that is elongated in the vertical direction provided in the second vertical frame of the entrance / exit frame, and the first casing that is elongated in the vertical direction A first light emitter having a continuous first light emitting surface and a second housing provided in the second housing and having a second light emitting surface elongated in the vertical direction and continuous, the first housing.
  • a first imaging means provided on the body for imaging the second light emitting surface; a second imaging means provided on the second housing for imaging the first light emitting surface; and the first and second imaging means.
  • An image processing unit for determining the presence or absence of an entrance / exit object based on a signal from Or to control the opening and closing of the Betadoa has your control unit.
  • FIG. 6 is a cross-sectional view taken along line VI-VI of the second housing in FIG. 5.
  • FIG. 7 is a cross-sectional view taken along line VII-VII of the second housing in FIG. 5.
  • FIG. 1 is a front view of an elevator car door device (sliding door device) according to Embodiment 1 of the present invention as seen from inside the car.
  • a car doorway 1a is provided in a car 1 that is raised and lowered in a hoistway.
  • the car entrance 1a is opened and closed by first and second car doors 2a and 2b as elevator doors that are moved horizontally.
  • a car entrance / exit frame 3 is provided around the car entrance / exit 1a.
  • the car entrance / exit frame 3 includes first and second vertical frames 3a, 3b provided on the left and right sides of the car entrance 1a, and an upper horizontal frame provided between the upper ends of the first and second vertical frames 3a, 3b. 3c and a lower horizontal frame 3d provided on the floor of the car doorway 1a.
  • a car operation panel (not shown) is provided on the front surface of the second vertical frame 3b.
  • the first casing 4 is attached to the first vertical frame 3a.
  • a second casing 5 is attached to the second vertical frame 3b.
  • casing 4 and 5 has an elongate shape in the up-down direction, and is provided over the full height of the side surface which the 1st and 2nd vertical frames 3a and 3b mutually oppose.
  • the first and second housings 4 and 5 are installed facing the car doorway 1a so that the front surfaces thereof face each other. Further, the front surfaces of the first and second housings 4 and 5 are arranged so as not to protrude from the side surfaces of the first and second vertical frames 3a and 3b. It is the same.
  • first and second casings 4 and 5 are arranged 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 doorway 1a.
  • the first and second casings 4 and 5 are disposed at the ends of the vertical frames 3a and 3b on the side of the car doors 2a and 2b.
  • the first casing 4 contains a first light emitter 6 and a first camera 7 as a first imaging means.
  • the second casing 5 contains a second light emitter 8 and a second camera 9 as a second imaging means.
  • the first light emitter 6 has a first light emitting surface 6a that is long and continuous in the vertical direction.
  • the second light emitter 8 has a second light emitting surface 8a that is long and continuous in the vertical direction.
  • the first and second light emitting surfaces 6a and 8a are provided over almost the entire height of the car doorway 1a and face each other across the car doorway 1a.
  • the first camera 7 is provided adjacent to the upper end of the first light emitting surface 6a at the upper end of the first housing 4 (near the upper horizontal frame 3c), and images the second light emitting surface 8a.
  • the second camera 9 is provided adjacent to the lower end of the second light emitting surface 8a at the lower end of the second housing 5 (near the lower horizontal frame 3d), and images the first light emitting surface 6a. To do.
  • FIG. 2 is a block diagram showing a control circuit of the car door device of FIG.
  • a first light emitter 6, a first camera 7, and a first object detection control unit 11 are accommodated in the first housing 4.
  • the first object detection control unit 11 controls the lighting of the first light emitter 6.
  • 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 an image signal that is captured and output by the first camera 7, and an object (disturbance) is provided between the second light emitter 8 and the first camera 7. It is determined whether or not the object is present.
  • the first image processing unit 11 a determines that an object exists, the first object detection control unit 11 outputs a detection signal to the car control unit 10.
  • a second light emitter 8 In the second housing 5, a second light emitter 8, a second camera 9, and a second object detection control unit 12 are accommodated.
  • the second object detection control unit 12 controls the lighting of the second light emitter 8.
  • the second object detection control unit 12 includes a second image processing unit 12a.
  • the second image processing unit 12 a performs image processing based on the image signal output by imaging with the second camera 9, and an object exists between the first light emitter 6 and the second camera 9. Determine whether to do.
  • the second image processing unit 12 a determines that an object is present, the second object detection control unit 12 outputs a detection signal to the car control unit 10.
  • the first and second object detection controllers 11 and 12 know the timing of turning on and off the second and first light emitters 8 and 6 by transmitting and receiving signals to and from each other via the car controller 10. be able to.
  • An alarm device 13 is provided on the car operation panel.
  • the alarm device 13 is controlled by the car control unit 10, and issues a warning announcement, a warning sound, and a warning display to passengers in the car 1.
  • the car control unit 10 outputs an opening / closing command to the opening / closing control unit 14 that controls opening / closing of the car doors 2a, 2b.
  • the car control unit 10 operates the alarm device 13 or controls the opening / closing of the car doors 2a and 2b in accordance with detection signals from the object detection control units 11 and 12.
  • Each of the car control unit 10, the first object detection control unit 11, the second object detection control unit 12, and the opening / closing control unit 14 includes a microcomputer, and is based on a program stored in the microcomputer. Each function can be executed.
  • FIG. 3 is a perspective view showing the second casing 5 of FIG.
  • the second housing 5 includes a housing main body (structure) 21 whose front surface is opened, and a partition plate 22 provided in a middle portion in the width direction in the housing main body 21.
  • An upper cap 23 is provided at the upper end portion of the housing body 21, and a lower cap 24 is provided at the lower end portion of the housing body 21.
  • the space in the housing body 21 is divided into two left and right spaces by a partition plate 22, that is, a light emitter chamber 21a and an imaging means chamber 21b.
  • the second light emitter 8 is disposed in the light emitter chamber 21a.
  • the second camera 9 is disposed at the lower end of the imaging means chamber 21b.
  • the partition plate 22 does not transmit the light emitted from the second light emitter 8, and prevents light from leaking between the light emitter chamber 21a and the imaging means chamber 21b.
  • a transmission diffusion plate 25 that transmits and diffuses light is provided on the front surface of the light emitter chamber 21a.
  • the front opening of the light emitter chamber 21 a is closed by a transmission diffusion plate 25.
  • the transmissive diffusion plate 25 for example, a translucent milky white resin plate or a transparent resin plate or glass plate whose surface has been subjected to diffusion treatment is used. Further, the second light emitting surface 8 a is formed by the transmission diffusion plate 25.
  • a filter cover 26 is provided in front of the imaging means chamber 21b.
  • the filter cover 26 transmits the light from the first light emitter 6 that is the opposing light emitter, and blocks at least a part of the light other than the wavelength of the light.
  • the filter cover 26 blocks light having a wavelength unnecessary for object detection and selectively transmits light from the first light emitter 6.
  • a resin plate or a glass plate is used as the filter cover 26 for example.
  • FIG. 4 is a longitudinal sectional view of the light emitter chamber 21a of the second casing 5 of FIG. 3
  • FIG. 5 is a longitudinal sectional view of the imaging means chamber 21b of the second casing 5 of FIG. 3
  • FIG. FIG. 7 is a cross-sectional view of the second housing 5 taken along line VI-VI
  • FIG. 7 is a cross-sectional view of the second housing 5 taken along line VII-VII of FIG.
  • the second light emitter 8 includes a substrate 27 provided in the light emitter chamber 21a so as to face the transmission diffusion plate 25, and a plurality of light sources (point light sources) mounted on the substrate 27 at intervals in the vertical direction. 28 and a transmissive diffusion plate 25. All the light sources 28 face the transmissive diffusion plate 25 at a predetermined interval from the transmissive diffusion plate 25.
  • the light source 28 for example, a light emitting diode, a semiconductor laser, a lamp, or an electroluminescence element is used.
  • the light source 28 preferably emits a single wavelength of visible light or infrared light.
  • the second camera 9 is disposed obliquely upward at the lower end of the imaging means chamber 21b.
  • the second object detection control unit 12 is accommodated in the vicinity of the second camera 9 above the second camera 9 in the imaging means chamber 21b.
  • the structure of the first housing 4 is the same as that of the second housing 5.
  • the filter cover 26 transmits light from the second light emitter 8 that is an opposing light emitter, and blocks at least part of light other than the wavelength of the light.
  • the first light emitter 6 includes a substrate 27, a light source 28, and a transmission diffusion plate 25, and is disposed in the light emitter chamber 21a.
  • the first camera 7 is disposed obliquely downward at the upper end of the imaging means chamber 21b.
  • the first object detection control unit 11 is accommodated in the vicinity of the first camera 7 below the first camera 7 in the imaging means chamber 21b.
  • image data ⁇ from the cameras 7 and 9 when the light emitters 6 and 8 are not lit and image data ⁇ when the light emitters 6 and 8 are lit are taken into the image processing units 11a and 12a. . Then, a difference image ⁇ obtained by subtracting the image data ⁇ from the image data ⁇ is calculated. Such operations are repeated when monitoring the object.
  • the difference image ⁇ has one continuous linear light emission. The face image remains.
  • the image processing units 11a and 12a determine that an object exists between the vertical frames 3a and 3b. A signal to that effect is sent to the car control unit 10.
  • the first light emitter 6 and the first camera 7 are provided in a common first housing 4, and the second light emitter 8 and the second camera 9 are provided. Since the sensor is installed in the common second casing 5, the installation work of the sensor in the field only needs to be attached to the vertical frames 3a and 3b, and the sensor installation work can be facilitated. it can.
  • the inside of the housing body 21 is divided into the light emitter chamber 21a and the imaging means chamber 21b by the partition plate 22, and the light emitters 6 and 8 and the cameras 7 and 9 are arranged separately, which is unnecessary for the cameras 7 and 9. It is possible to prevent light from entering and improve detection accuracy.
  • the filter cover 26 is provided on the front surface of the imaging means chamber 21b, it is possible to prevent light having an unnecessary wavelength from entering the cameras 7 and 9 and improve detection accuracy. Furthermore, since the first and second one-object detection control units 11 and 12 are accommodated in the imaging means chamber 21b, the space can be used effectively, and the cameras 7 and 9 and the object detection control units 11 and 12 are close together. The reliability can be improved by arranging in the above.
  • the first and second object detection control units may be integrated.
  • the object is detected by being blocked by the object and the light emitting surface image is interrupted or shortened.
  • the object detection method is not limited to this.
  • a time difference image that is a difference between the latest difference image and a difference image before a predetermined time may be obtained, and it may be determined whether or not a value greater than a predetermined value exists in the time difference image.
  • the time difference image has a value of almost 0 on the entire surface.
  • a portion greater than a predetermined value appears in the time difference image. For this reason, if there exists a part more than predetermined value, it can determine with an object existing. According to such a method, it is possible to eliminate dust that does not move and adhere to the light emitting surfaces 6a and 8a, and efficiently detect only moving objects such as passengers.
  • the double-opening type sliding door device has been described.
  • the present invention can be applied to a single-opening type, and the number of car doors and landing doors is not particularly limited.
  • the present invention is applied to an elevator car door device, but it can also be applied to a landing door device.
  • the sliding door device of the present invention can be applied to, for example, an entrance / exit provided in a building, an entrance / exit of a vehicle such as a train, or an entrance / exit of a train platform.

Landscapes

  • Elevator Door Apparatuses (AREA)
  • Indicating And Signalling Devices For Elevators (AREA)
  • Cage And Drive Apparatuses For Elevators (AREA)
PCT/JP2008/073797 2008-12-26 2008-12-26 スライドドア装置及びエレベータ WO2010073387A1 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
CN200880131139.2A CN102159488B (zh) 2008-12-26 2008-12-26 滑动门装置及电梯
KR1020117006904A KR101210016B1 (ko) 2008-12-26 2008-12-26 슬라이드 도어장치 및 엘리베이터
PCT/JP2008/073797 WO2010073387A1 (ja) 2008-12-26 2008-12-26 スライドドア装置及びエレベータ
JP2010543720A JP5289463B2 (ja) 2008-12-26 2008-12-26 スライドドア装置及びエレベータ
EP08879182.7A EP2371754B1 (de) 2008-12-26 2008-12-26 Schiebetürvorrichtung und aufzug

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2008/073797 WO2010073387A1 (ja) 2008-12-26 2008-12-26 スライドドア装置及びエレベータ

Publications (1)

Publication Number Publication Date
WO2010073387A1 true WO2010073387A1 (ja) 2010-07-01

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ID=42287054

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/073797 WO2010073387A1 (ja) 2008-12-26 2008-12-26 スライドドア装置及びエレベータ

Country Status (5)

Country Link
EP (1) EP2371754B1 (de)
JP (1) JP5289463B2 (de)
KR (1) KR101210016B1 (de)
CN (1) CN102159488B (de)
WO (1) WO2010073387A1 (de)

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CN110526058A (zh) * 2018-05-23 2019-12-03 奥的斯电梯公司 电梯门监控系统、电梯系统和电梯门监控方法
JPWO2021149218A1 (de) * 2020-01-23 2021-07-29
JPWO2021149219A1 (de) * 2020-01-23 2021-07-29

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KR101354209B1 (ko) * 2012-05-31 2014-01-23 조승원 정전용량 장애물 감지장치를 포함하는 슬라이딩 도어 시스템 및 그 제어방법
KR101838847B1 (ko) * 2017-05-01 2018-03-14 윤일식 카메라를 이용한 엘리베이터의 손끼임 방지용 안전장치

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JP2002193573A (ja) * 2000-12-27 2002-07-10 Otis Elevator Co 検知ゾーン内にある物体を検知する方法およびシステム
JP2004338846A (ja) 2003-05-14 2004-12-02 Mitsubishi Electric Corp スライドドア装置およびエレベータ装置
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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110526058A (zh) * 2018-05-23 2019-12-03 奥的斯电梯公司 电梯门监控系统、电梯系统和电梯门监控方法
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JPWO2021149218A1 (de) * 2020-01-23 2021-07-29
JPWO2021149219A1 (de) * 2020-01-23 2021-07-29
WO2021149218A1 (ja) * 2020-01-23 2021-07-29 日本電気株式会社 物体認識装置
WO2021149219A1 (ja) * 2020-01-23 2021-07-29 日本電気株式会社 収容装置
US11941858B2 (en) 2020-01-23 2024-03-26 Nec Corporation Object recognition device
US11947070B2 (en) 2020-01-23 2024-04-02 Nec Corporation Housing device

Also Published As

Publication number Publication date
KR101210016B1 (ko) 2012-12-07
EP2371754A1 (de) 2011-10-05
CN102159488B (zh) 2014-06-25
JP5289463B2 (ja) 2013-09-11
EP2371754B1 (de) 2016-10-26
KR20110053462A (ko) 2011-05-23
EP2371754A4 (de) 2014-08-06
JPWO2010073387A1 (ja) 2012-05-31
CN102159488A (zh) 2011-08-17

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