WO2010073387A1

WO2010073387A1 - Slide door device and elevator

Info

Publication number: WO2010073387A1
Application number: PCT/JP2008/073797
Authority: WO
Inventors: 鹿井　正博; 壽雄増田; 祐貴川榮
Original assignee: 三菱電機株式会社
Priority date: 2008-12-26
Filing date: 2008-12-26
Publication date: 2010-07-01
Also published as: JPWO2010073387A1; CN102159488B; CN102159488A; KR20110053462A; JP5289463B2; EP2371754B1; KR101210016B1; EP2371754A4; EP2371754A1

Abstract

In a slide door device, a first housing is provided to a first vertical frame of a doorway frame and a second housing is provided to a second vertical frame of the doorway frame. The first housing is provided with a first light emitter having a vertically elongated continuous first light emitting surface. The second housing is provided with a second light emitter having a vertically elongated continuous second light emitting surface. Further, the first housing is provided with a first imaging means for imaging the second light emitting surface, and the second housing is provided with a second imaging means for imaging the first light emitting surface.

Description

Sliding door device and elevator

The present invention relates to a sliding door device that automatically moves a door horizontally, and an elevator using the same.

In the conventional sliding door device, 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).

JP 2004-338846 A

In the conventional sliding door device as described above, 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 according to the present invention 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. Yes.
An elevator according to the present invention 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.

It is the front view which looked at the elevator car door apparatus by Embodiment 1 of this invention from the inside of a car. It is a block diagram which shows the control circuit of the car door apparatus of FIG. It is a perspective view which shows the 2nd housing | casing of FIG. It is a longitudinal cross-sectional view of the light emitter chamber of the second casing in FIG. It is a longitudinal cross-sectional view of the imaging means chamber of the 2nd housing | casing of FIG. 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.

Preferred embodiments of the present invention will be described below with reference to the drawings.
Embodiment 1 FIG.
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. In the figure, 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. The 1st and 2nd housing |

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.

Furthermore, the 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. In particular, in this example, 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. To do. 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. When 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.

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. When 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.

Further, 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. With such a configuration, 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. As 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. In other words, as an optical filter, the filter cover 26 blocks light having a wavelength unnecessary for object detection and selectively transmits light from the first light emitter 6. Further, as the filter cover 26, for example, a resin plate or a glass plate is used.

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, and FIG. FIG. 7 is a cross-sectional view of the second housing 5 taken along line VI-VI, and 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.

As 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. In the first housing 4, 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. Similar to the second light emitter 8, 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.

Further, 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.

Next, an object detection method will be described. First, image data α from the

cameras

7 and 9 when the

light emitters

6 and 8 are not lit and image data β when the

light emitters

6 and 8 are lit are taken into the

image processing units

11a and 12a. . Then, a difference image γ obtained by subtracting the image data α from the image data β is calculated. Such operations are repeated when monitoring the object.

When such difference processing is performed, only the images of the

light emitting surfaces

6a and 8a from which ambient light has been removed remain in the difference image γ. Therefore, when there is no object that blocks light in the two triangular monitoring areas having the

light emitting surfaces

6a and 8a as the bases with the

cameras

7 and 9 as vertices, the difference image γ has one continuous linear light emission. The face image remains.

On the other hand, when there is an object that blocks light in the monitoring area, a part of the light is blocked, so that the light emitting surface image of the difference image γ is divided into a plurality of parts and becomes discontinuous, or the light emitting surface image May be shorter than usual. When detecting that the light-emitting surface image is discontinuous, shortened, or the light-emitting surface image disappears, 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.

In such an elevator car door device, 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.

Further, 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.

Further, since 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.
In the above example, the object is detected by being blocked by the object and the light emitting surface image is interrupted or shortened. However, the object detection method is not limited to this. For example, 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. In this method, if there is no object, the time difference image has a value of almost 0 on the entire surface. Further, if there is a moving object, 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.

Furthermore, in the above example, the double-opening type sliding door device has been described. However, the present invention can be applied to a single-opening type, and the number of car doors and landing doors is not particularly limited.
Furthermore, in the above example, the present invention is applied to an elevator car door device, but it can also be applied to a landing door device. Further, 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.

Claims

A door that opens and closes the doorway by being moved horizontally,
A first casing elongated in the vertical direction provided in the first vertical frame of the doorway frame;
A second casing elongated in the vertical direction provided in the second vertical frame of the entrance / exit frame;
A first light-emitting device provided in the first housing and having a first light-emitting surface that is long and continuous in the vertical direction;
A second light-emitting device provided in the second casing and having a second light-emitting surface that is long and continuous in the vertical direction;
A first imaging means provided in the first housing for imaging the second light emitting surface;
A second imaging unit provided in the second casing for imaging the first light emitting surface; and a presence / absence of an object at the entrance / exit based on a signal from the first and second imaging units. A sliding door device equipped with an image processing unit.
Each of the first and second housings includes a housing body having an open front surface and a partition plate provided at a middle portion in the width direction in the housing body.
The inside of the housing body is divided into a light emitter chamber and an imaging means chamber by the partition plate,
The first and second light emitters are disposed in the light emitter chamber,
The sliding door device according to claim 1, wherein the first and second imaging means are disposed in the imaging means chamber.
A filter cover that transmits light from the opposed light emitters of the first and second light emitters and blocks at least part of light other than the wavelength of the light is provided on the front surface of the imaging means chamber. The sliding door device according to claim 2.
The first and second light emitters are provided on the front surface of the light emitter chamber and a plurality of light sources that are spaced apart from each other in the vertical direction in the light emitter chamber, and transmit light from the light source. The sliding door device according to claim 2, further comprising a transmissive diffusion plate that diffuses.
The image processing unit includes a first image processing unit that processes a signal from the first imaging unit, and a second image processing unit that processes a signal from the second imaging unit,
The sliding door device according to claim 2, wherein the first and second image processing units are arranged in the imaging unit chamber.
A car that is raised and lowered in the hoistway,
An elevator door that opens and closes an entrance / exit provided between the car and the landing by being moved horizontally,
A first casing elongated in the vertical direction provided in the first vertical frame of the doorway frame;
A second casing elongated in the vertical direction provided in the second vertical frame of the entrance / exit frame;
A first light-emitting device provided in the first housing and having a first light-emitting surface that is long and continuous in the vertical direction;
A second light-emitting device provided in the second casing and having a second light-emitting surface that is long and continuous in the vertical direction;
A first imaging means provided in the first housing for imaging the second light emitting surface;
A second imaging means provided in the second housing for imaging the first light emitting surface;
An image processing unit that determines the presence or absence of an object at the entrance based on signals from the first and second imaging means, and a car control unit that controls opening and closing of the elevator door based on information from the image processing unit Elevator equipped with.