WO2018220782A1 - Elevator device - Google Patents
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- WO2018220782A1 WO2018220782A1 PCT/JP2017/020424 JP2017020424W WO2018220782A1 WO 2018220782 A1 WO2018220782 A1 WO 2018220782A1 JP 2017020424 W JP2017020424 W JP 2017020424W WO 2018220782 A1 WO2018220782 A1 WO 2018220782A1
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- elevator
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- distance
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- 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
- B66B13/14—Control systems or devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B3/00—Applications of devices for indicating or signalling operating conditions of elevators
Definitions
- the present invention relates to an elevator apparatus, and more particularly to an elevator apparatus capable of detecting the shape of an object such as a person or an object getting on and off a car.
- Some conventional elevator devices calculate the occupancy rate of an object such as a person or an object with respect to the elevator car floor area, and cancel the landing call when the occupancy rate in the car exceeds a predetermined value. For example, in the invention described in Patent Document 1, an object passing through an elevator doorway is detected as a linear image, and the floor projection area of the object is calculated based on this, thereby calculating the occupation ratio in the car. Yes.
- Patent Document 1 since a fixed value set in advance is used as the width of the object, the shape of the object cannot be calculated with high accuracy. Therefore, there is a problem that the floor occupation area of the object cannot be accurately calculated, and the occupation ratio in the car becomes inaccurate.
- the present invention has been made to solve such a problem, and an object of the present invention is to provide an elevator apparatus that can detect the shape of an object that gets on and off the car with low cost and high accuracy.
- an elevator apparatus is provided with a first distance sensor group that is provided at either the left or right of an elevator entrance and acquires first distance data to an object that enters and exits a car.
- a second distance sensor group for obtaining second distance data to an object that is provided on either the left or right side of the elevator entrance and exits the car, and the first distance data, the second distance data, and Based on the distance in the width direction of the first and second distance sensor groups, a width calculation unit that calculates the width data of the object, first detection start time data of the object by the first distance sensor group, A moving speed calculating unit for calculating moving speed data of the object based on the second detection start time data of the object by the distance sensor group and the distance in the depth direction of the first and second distance sensor groups; Speed data In addition, the first detection start time data and the first detection end time data of the object by the first distance sensor group, or the second detection start time data and the second detection of the object by the second distance sensor group.
- a depth calculation unit that calculates the
- the elevator apparatus can detect the shape of an object that gets on and off the car with low cost and high accuracy.
- FIGS. 1A to 1C show the configuration of the entrance / exit of the elevator apparatus according to the embodiment of the present invention.
- the first distance sensor group 11 is provided on either the left or right wall surface of the elevator entrance 40.
- a second distance sensor group 12 is provided on the left or right wall surface of the elevator door 40.
- the first distance sensor group 11 includes one or a plurality of reflective distance sensors 11n having an optical axis parallel to the width direction of the elevator entrance 40 (the direction indicated by the arrow W in the drawing). Each reflective distance sensor 11n can detect a distance X 1n from itself to the object (person or object) 50, respectively.
- the second distance sensor group 12 includes one or more reflective distance sensors 12n having an optical axis parallel to the width direction of the elevator entrance 40. Each reflective distance sensor 12n can detect the distance X 2n from itself to the object 50, respectively.
- the first distance sensor group 11 and the second distance sensor group 12 are provided apart by a predetermined distance W in the width direction of the elevator entrance 40.
- the first distance sensor group 11 and the second distance sensor group 12 are provided apart from each other by a predetermined distance D in the depth direction of the elevator doorway 40 (the direction indicated by the arrow D in the drawing). .
- the moving direction of the object 50 can be determined. For example, when the object 50 is first detected by the first distance sensor group 11 and then detected by the second distance sensor group 12, the object 50 is moving in the direction of getting into the car. On the other hand, when the object 50 is first detected by the second distance sensor group 12 and then detected by the first distance sensor group 11, the object 50 moves in the direction of getting out of the car.
- FIG. 2 is a block diagram showing the configuration of the elevator apparatus according to the embodiment of the present invention.
- the elevator device includes a boarding / alighting detection device 10, a control device 20, and a weighing device 30.
- the boarding / alighting detection device 10 detects an object 50 that gets on and off the elevator car.
- the control device 20 controls the operation of the elevator based on the detection result of the getting on / off detection device 10.
- the scale device 30 detects the weight of an object that has entered the elevator car.
- the elevator boarding / alighting detection device 10 includes a first distance sensor group 11, a second distance sensor group 12, a shape calculation unit 13 that calculates a three-dimensional shape of an object 50 that gets on and off the car, and a calculated three-dimensional shape. And an information reading unit 14 for reading information.
- the shape calculation unit 13 includes a width calculation unit 131 that calculates the width data Wn of the object 50, a movement speed calculation unit 132 that calculates the movement speed data Vn of the object 50, and a depth calculation unit that calculates the depth data Dn of the object 50. 133 and a three-dimensional shape calculation unit 134 that calculates the three-dimensional shape Sh of the object 50.
- the width calculation unit 131 includes a first distance X 1n to the object 50 detected by the first distance sensor group 11 and a second distance X 2n to the object 50 detected by the second distance sensor group 12. Then, the width data Wn of the object 50 is calculated according to the following expression from the predetermined distance W in the width direction between the first distance sensor group 11 and the second distance sensor group 12.
- the moving speed calculation unit 132 has a first predetermined detection time TS 1n of the object 50 detected by the first distance sensor group 11 and a first detection time TS 2n of the object 50 detected by the second distance sensor group 12.
- the moving speed data Vn of the object 50 is calculated from the distance D in the depth direction between the distance sensor group 11 and the second distance sensor group 12 according to the following equation.
- the depth calculation unit 133 is based on the movement speed data Vn of the object 50 calculated by the movement speed calculation unit 132 and the detection start time TS 1n and detection end time TE 1n of the object 50 by the first distance sensor group 11.
- the depth data Dn of the object 50 is calculated according to the following formula.
- the depth calculation unit 133 uses the moving speed data Vn of the object 50 calculated by the moving speed calculation unit 132, the detection start time TS 2n of the object 50 by the second distance sensor group 12, and the detection end time TE. Based on 2n , the depth data Dn of the object 50 is calculated according to the following equation.
- the solid shape calculation unit 134 calculates the three-dimensional shape Sh of the object 50 from the width data Wn of the object 50 calculated by the width calculation unit 131 and the depth data Dn of the object 50 calculated by the depth calculation unit 133.
- FIGS. 3A and 3B show an example of the three-dimensional shape Sh of the object 50 calculated by the three-dimensional shape calculation unit 134.
- the information reading unit 14 includes a floor projection area calculation unit 141, an occupation rate calculation unit 142, and a height detection unit 143.
- the floor projection area calculation unit 141 calculates the floor projection area of the object 50 from the three-dimensional shape Sh of the object 50 calculated by the three-dimensional shape calculation unit 134.
- FIG. 3C shows an example of the floor projected area of the object 50 calculated by the floor projected area calculating unit 141.
- the occupancy rate calculation unit 142 calculates the occupancy rate in the elevator car based on the floor projection area of the object 50 calculated by the floor projection area calculation unit 141 and the floor area of the elevator car determined in advance. To do. Specifically, the occupancy rate calculation unit 142 adds the floor projected area when the object 50 gets into the car, and subtracts the floor projected area when the object 50 gets out of the car. The occupancy rate is calculated.
- the height detection unit 143 calculates the height of the object 50 from the three-dimensional shape Sh of the object 50 calculated by the three-dimensional shape calculation unit 134.
- the control device 20 controls the operation of the elevator based on the occupation ratio in the car calculated by the occupation ratio calculation unit 142 and the weight in the car detected by the scale device 30. Specifically, the control device 20 cancels the landing call when the occupation ratio in the car is a predetermined value or more, or when the weight in the car is more than the rated load. Thereby, when the car is full or more than the rated load, the operation of the elevator can be made efficient.
- control device 20 opens the door of the elevator when the height of the object 50 calculated by the height detection unit 143 is equal to or less than a predetermined value and the operation in the car is not performed for a predetermined time. Thereby, it is possible to prevent a short child or animal from being trapped in the cage.
- the control device 20 makes the opening / closing speed of the elevator door slower than normal. Thereby, it is possible to prevent an elderly person who is moving slowly or a person who is carrying a heavy object from being caught in the door. Note that the opening / closing time of the door may be changed more finely according to the actual moving speed of the object 50.
- control device 20 stops or reverses the opening / closing operation of the elevator door during a period in which at least one sensor included in the first and second distance sensor groups 11 and 12 is detecting the object 50.
- the 1st, 2nd distance sensor groups 11 and 12 can be utilized also as a safety device of a door.
- the elevator apparatus includes the first distance sensor group 11 that acquires the first distance data X 1n to the object 50 and the second distance data to the object 50.
- a second distance sensor group 12 that acquires X 2n , a width calculation unit 131 that calculates width data Wn of the object 50, a movement speed calculation unit 132 that calculates movement speed data Vn of the object 50, and the depth of the object 50
- a depth calculation unit 133 that calculates data Dn and a three-dimensional shape calculation unit 134 that calculates a three-dimensional shape Sh of the object 50 are provided.
- the shape of the object getting on and off the car can be calculated with low cost and high accuracy.
- the first and second distance sensor groups 11 and 12 are reflective distance sensors, but an optical scanning distance sensor or an ultrasonic distance sensor may be used.
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Indicating And Signalling Devices For Elevators (AREA)
- Elevator Door Apparatuses (AREA)
- Elevator Control (AREA)
Abstract
An elevator device provided with: a first distance sensor group for acquiring first distance data representing a first distance to an object; a second distance sensor group for acquiring second distance data representing a second distance to the object; a width calculation unit for calculating width data representing the width of the object; a travel speed calculation unit for calculating travel speed data representing the travel speed of the object; a depth calculation unit for calculating depth data representing the depth of the object; and a three-dimensional shape calculation unit for calculating the three-dimensional shape of the object.
Description
本発明は、エレベータ装置に係り、特にかごに乗り降りする人や物などの物体の形状を検出可能なエレベータ装置に関する。
The present invention relates to an elevator apparatus, and more particularly to an elevator apparatus capable of detecting the shape of an object such as a person or an object getting on and off a car.
従来のエレベータ装置として、エレベータのかご床面積に対する人や物などの物体の占有率を算出し、かご内の占有率が所定値以上である場合には、乗り場呼びをキャンセルするものがある。例えば、特許文献１に記載の発明では、エレベータの出入口を通過する物体を線状画像として検出し、これに基いて物体の床投影面積を算出することにより、かご内の占有率を算出している。
Some conventional elevator devices calculate the occupancy rate of an object such as a person or an object with respect to the elevator car floor area, and cancel the landing call when the occupancy rate in the car exceeds a predetermined value. For example, in the invention described in Patent Document 1, an object passing through an elevator doorway is detected as a linear image, and the floor projection area of the object is calculated based on this, thereby calculating the occupation ratio in the car. Yes.
しかしながら、特許文献１の記載の発明では、物体の幅として予め設定された固定値を用いるため、物体の形状を高精度に算出することができない。そのため、物体の床占有面積を正確に算出することができず、かご内の占有率も不正確になるという問題がある。
However, in the invention described in Patent Document 1, since a fixed value set in advance is used as the width of the object, the shape of the object cannot be calculated with high accuracy. Therefore, there is a problem that the floor occupation area of the object cannot be accurately calculated, and the occupation ratio in the car becomes inaccurate.
本発明は、このような問題を解決するためになされたものであり、かごに乗り降りする物体の形状を低コストかつ高精度に検出することができる、エレベータ装置を提供することを目的とする。
The present invention has been made to solve such a problem, and an object of the present invention is to provide an elevator apparatus that can detect the shape of an object that gets on and off the car with low cost and high accuracy.
上記の課題を解決するために、本発明に係るエレベータ装置は、エレベータの出入口の左右いずれか一方に設けられてかごを出入りする物体までの第１の距離データを取得する第１の距離センサ群と、エレベータの出入口の左右いずれか他方に設けられてかごを出入りする物体までの第２の距離データを取得する第２の距離センサ群と、第１の距離データ、第２の距離データ、および第１、第２の距離センサ群の幅方向の距離に基いて、物体の幅データを算出する幅算出部と、第１の距離センサ群による物体の第１の検出開始時刻データ、第２の距離センサ群による物体の第２の検出開始時刻データ、および第１、第２の距離センサ群の奥行方向の距離に基いて、物体の移動速度データを算出する移動速度算出部と、物体の移動速度データ、並びに、第１の距離センサ群による物体の第１の検出開始時刻データおよび第１の検出終了時刻データ、または、第２の距離センサ群による物体の第２の検出開始時刻データおよび第２の検出終了時刻データに基づいて、物体の奥行データを算出する奥行算出部と、物体の幅データおよび奥行データに基いて、物体の立体形状を算出する立体形状算出部とを備えている。
In order to solve the above problems, an elevator apparatus according to the present invention is provided with a first distance sensor group that is provided at either the left or right of an elevator entrance and acquires first distance data to an object that enters and exits a car. A second distance sensor group for obtaining second distance data to an object that is provided on either the left or right side of the elevator entrance and exits the car, and the first distance data, the second distance data, and Based on the distance in the width direction of the first and second distance sensor groups, a width calculation unit that calculates the width data of the object, first detection start time data of the object by the first distance sensor group, A moving speed calculating unit for calculating moving speed data of the object based on the second detection start time data of the object by the distance sensor group and the distance in the depth direction of the first and second distance sensor groups; Speed data In addition, the first detection start time data and the first detection end time data of the object by the first distance sensor group, or the second detection start time data and the second detection of the object by the second distance sensor group. A depth calculation unit that calculates the depth data of the object based on the end time data, and a solid shape calculation unit that calculates the solid shape of the object based on the width data and the depth data of the object.
本発明に係るエレベータ装置によれば、かごに乗り降りする物体の形状を低コストかつ高精度に検出することができる。
The elevator apparatus according to the present invention can detect the shape of an object that gets on and off the car with low cost and high accuracy.
以下、添付の図１～３を参照して、本発明の実施の形態を詳細に説明する。ただし、以下に示す実施の形態は一例であり、この実施の形態によって本発明が限定されるものではない。
Hereinafter, embodiments of the present invention will be described in detail with reference to FIGS. However, the embodiment described below is an example, and the present invention is not limited to the embodiment.
実施の形態．
図１（ａ）～（ｃ）には、本発明の実施の形態に係るエレベータ装置の出入口の構成が示されている。 Embodiment.
FIGS. 1A to 1C show the configuration of the entrance / exit of the elevator apparatus according to the embodiment of the present invention.
図１（ａ）～（ｃ）には、本発明の実施の形態に係るエレベータ装置の出入口の構成が示されている。 Embodiment.
FIGS. 1A to 1C show the configuration of the entrance / exit of the elevator apparatus according to the embodiment of the present invention.
エレベータの出入口４０の左右いずれか一方の壁面には、第１の距離センサ群１１が設けられている。また、エレベータの出入口４０の左右いずれか他方の壁面には、第２の距離センサ群１２が設けられている。
The first distance sensor group 11 is provided on either the left or right wall surface of the elevator entrance 40. A second distance sensor group 12 is provided on the left or right wall surface of the elevator door 40.
第１の距離センサ群１１は、エレベータの出入口４０の幅方向（図中に矢印Ｗで示される方向）と平行な光軸を有する１つまたは複数の反射式距離センサ１１ｎから構成されている。各反射式距離センサ１１ｎは、自身から物体（人または物）５０までの距離Ｘ1nをそれぞれ検出することができる。
The first distance sensor group 11 includes one or a plurality of reflective distance sensors 11n having an optical axis parallel to the width direction of the elevator entrance 40 (the direction indicated by the arrow W in the drawing). Each reflective distance sensor 11n can detect a distance X 1n from itself to the object (person or object) 50, respectively.
第２の距離センサ群１２は、エレベータの出入口４０の幅方向と平行な光軸を有する１つまたは複数の反射式距離センサ１２ｎから構成されている。各反射式距離センサ１２ｎは、自身から物体５０までの距離Ｘ2nをそれぞれ検出することができる。
The second distance sensor group 12 includes one or more reflective distance sensors 12n having an optical axis parallel to the width direction of the elevator entrance 40. Each reflective distance sensor 12n can detect the distance X 2n from itself to the object 50, respectively.
第１の距離センサ群１１と第２の距離センサ群１２とは、エレベータの出入口４０の幅方向について、所定距離Ｗだけ離れて設けられている。また、第１の距離センサ群１１と第２の距離センサ群１２とは、エレベータの出入口４０の奥行方向（図中で矢印Ｄで示される方向）について、所定距離Ｄだけ離れて設けられている。
The first distance sensor group 11 and the second distance sensor group 12 are provided apart by a predetermined distance W in the width direction of the elevator entrance 40. The first distance sensor group 11 and the second distance sensor group 12 are provided apart from each other by a predetermined distance D in the depth direction of the elevator doorway 40 (the direction indicated by the arrow D in the drawing). .
第１の距離センサ群１１と第２の距離センサ群１２とが出入口４０の奥行方向についてＤだけ離れて設けられていることにより、物体５０の移動方向を判定することができる。例えば、物体５０がはじめに第１の距離センサ群１１によって検出され、次に第２の距離センサ群１２によって検出された場合には、物体５０はかごに乗り込む方向に移動している。反対に、物体５０がはじめに第２の距離センサ群１２によって検出され、次に第１の距離センサ群１１によって検出された場合には、物体５０はかごから降りる方向に移動している。
Since the first distance sensor group 11 and the second distance sensor group 12 are provided apart by D in the depth direction of the entrance 40, the moving direction of the object 50 can be determined. For example, when the object 50 is first detected by the first distance sensor group 11 and then detected by the second distance sensor group 12, the object 50 is moving in the direction of getting into the car. On the other hand, when the object 50 is first detected by the second distance sensor group 12 and then detected by the first distance sensor group 11, the object 50 moves in the direction of getting out of the car.
なお、図１では第１の距離センサ群１１と第２の距離センサ群１２とは、それぞれｎ＝１～１５の反射式距離センサ１１ｎ、１２ｎから構成されているが、反射式距離センサの数はこれに限定されるものではない。
In FIG. 1, the first distance sensor group 11 and the second distance sensor group 12 are each composed of reflective distance sensors 11n and 12n with n = 1 to 15, but the number of reflective distance sensors Is not limited to this.
図２には、本発明の実施の形態に係るエレベータ装置の構成を示すブロック図が示されている。
FIG. 2 is a block diagram showing the configuration of the elevator apparatus according to the embodiment of the present invention.
エレベータ装置は、乗降検出装置１０と、制御装置２０と、秤装置３０とを備えている。乗降検出装置１０は、エレベータのかごに乗降する物体５０を検出する。制御装置２０は、乗降検出装置１０の検出結果に基いてエレベータの運転を制御する。秤装置３０は、エレベータのかご内に乗り込んだ物体の重量を検出する。
The elevator device includes a boarding / alighting detection device 10, a control device 20, and a weighing device 30. The boarding / alighting detection device 10 detects an object 50 that gets on and off the elevator car. The control device 20 controls the operation of the elevator based on the detection result of the getting on / off detection device 10. The scale device 30 detects the weight of an object that has entered the elevator car.
エレベータの乗降検出装置１０は、第１の距離センサ群１１と、第２の距離センサ群１２と、かごに乗り降りする物体５０の立体形状を算出する形状算出部１３と、算出された立体形状から情報を読み取る情報読取部１４とを備えている。
The elevator boarding / alighting detection device 10 includes a first distance sensor group 11, a second distance sensor group 12, a shape calculation unit 13 that calculates a three-dimensional shape of an object 50 that gets on and off the car, and a calculated three-dimensional shape. And an information reading unit 14 for reading information.
形状算出部１３は、物体５０の幅データＷｎを算出する幅算出部１３１と、物体５０の移動速度データＶｎを算出する移動速度算出部１３２と、物体５０の奥行データＤｎを算出する奥行算出部１３３と、物体５０の立体形状Ｓｈを算出する立体形状算出部１３４とを備えている。
The shape calculation unit 13 includes a width calculation unit 131 that calculates the width data Wn of the object 50, a movement speed calculation unit 132 that calculates the movement speed data Vn of the object 50, and a depth calculation unit that calculates the depth data Dn of the object 50. 133 and a three-dimensional shape calculation unit 134 that calculates the three-dimensional shape Sh of the object 50.
幅算出部１３１は、第１の距離センサ群１１によって検出される物体５０までの第１の距離Ｘ1nと、第２の距離センサ群１２によって検出される物体５０までの第２の距離Ｘ2nと、予め決定されている第１の距離センサ群１１と第２の距離センサ群１２との幅方向の距離Ｗとから、物体５０の幅データＷｎを以下の式に従って算出する。
The width calculation unit 131 includes a first distance X 1n to the object 50 detected by the first distance sensor group 11 and a second distance X 2n to the object 50 detected by the second distance sensor group 12. Then, the width data Wn of the object 50 is calculated according to the following expression from the predetermined distance W in the width direction between the first distance sensor group 11 and the second distance sensor group 12.
移動速度算出部１３２は、第１の距離センサ群１１による物体５０の検出開始時刻ＴＳ1nと、第２の距離センサ群１２による物体５０の検出開始時刻ＴＳ2nと、予め決定されている第１の距離センサ群１１と第２の距離センサ群１２との奥行方向の距離Ｄとから、物体５０の移動速度データＶｎを以下の式に従って算出する。
The moving speed calculation unit 132 has a first predetermined detection time TS 1n of the object 50 detected by the first distance sensor group 11 and a first detection time TS 2n of the object 50 detected by the second distance sensor group 12. The moving speed data Vn of the object 50 is calculated from the distance D in the depth direction between the distance sensor group 11 and the second distance sensor group 12 according to the following equation.
奥行算出部１３３は、移動速度算出部１３２によって算出された物体５０の移動速度データＶｎと、第１の距離センサ群１１による物体５０の検出開始時刻ＴＳ1nおよび検出終了時刻ＴＥ1nとに基いて、物体５０の奥行データＤｎを以下の式に従って算出する。
The depth calculation unit 133 is based on the movement speed data Vn of the object 50 calculated by the movement speed calculation unit 132 and the detection start time TS 1n and detection end time TE 1n of the object 50 by the first distance sensor group 11. The depth data Dn of the object 50 is calculated according to the following formula.
代替的には、奥行算出部１３３は、移動速度算出部１３２によって算出された物体５０の移動速度データＶｎと、第２の距離センサ群１２による物体５０の検出開始時刻ＴＳ2nおよび検出終了時刻ＴＥ2nとに基いて、物体５０の奥行データＤｎを以下の式に従って算出する。
Alternatively, the depth calculation unit 133 uses the moving speed data Vn of the object 50 calculated by the moving speed calculation unit 132, the detection start time TS 2n of the object 50 by the second distance sensor group 12, and the detection end time TE. Based on 2n , the depth data Dn of the object 50 is calculated according to the following equation.
立体形状算出部１３４は、幅算出部１３１によって算出された物体５０の幅データＷｎと、奥行算出部１３３によって算出された物体５０の奥行データＤｎとから、物体５０の立体形状Ｓｈを算出する。図３（ａ）（ｂ）には、立体形状算出部１３４によって算出された物体５０の立体形状Ｓｈの一例が示されている。
The solid shape calculation unit 134 calculates the three-dimensional shape Sh of the object 50 from the width data Wn of the object 50 calculated by the width calculation unit 131 and the depth data Dn of the object 50 calculated by the depth calculation unit 133. FIGS. 3A and 3B show an example of the three-dimensional shape Sh of the object 50 calculated by the three-dimensional shape calculation unit 134.
情報読取部１４は、床投影面積算出部１４１と、占有率算出部１４２と、高さ検出部１４３とを備えている。
The information reading unit 14 includes a floor projection area calculation unit 141, an occupation rate calculation unit 142, and a height detection unit 143.
床投影面積算出部１４１は、立体形状算出部１３４によって算出された物体５０の立体形状Ｓｈから、物体５０の床投影面積を算出する。図３（ｃ）には、床投影面積算出部１４１によって算出された物体５０の床投影面積の一例が示されている。
The floor projection area calculation unit 141 calculates the floor projection area of the object 50 from the three-dimensional shape Sh of the object 50 calculated by the three-dimensional shape calculation unit 134. FIG. 3C shows an example of the floor projected area of the object 50 calculated by the floor projected area calculating unit 141.
占有率算出部１４２は、床投影面積算出部１４１によって算出された物体５０の床投影面積と、予め決定されているエレベータのかごの床面積とに基いて、エレベータのかご内の占有率を算出する。詳細には、占有率算出部１４２は、物体５０がかごに乗り込んだ場合にはその床投影面積を加算し、物体５０がかごから降りた場合にはその床投影面積を減算することによって、かご内の占有率を算出する。
The occupancy rate calculation unit 142 calculates the occupancy rate in the elevator car based on the floor projection area of the object 50 calculated by the floor projection area calculation unit 141 and the floor area of the elevator car determined in advance. To do. Specifically, the occupancy rate calculation unit 142 adds the floor projected area when the object 50 gets into the car, and subtracts the floor projected area when the object 50 gets out of the car. The occupancy rate is calculated.
高さ検出部１４３は、立体形状算出部１３４によって算出された物体５０の立体形状Ｓｈから、物体５０の高さを算出する。
The height detection unit 143 calculates the height of the object 50 from the three-dimensional shape Sh of the object 50 calculated by the three-dimensional shape calculation unit 134.
制御装置２０は、占有率算出部１４２によって算出されたかご内の占有率と、秤装置３０によって検出されるかご内の重量とに基いて、エレベータの運転を制御する。詳細には、制御装置２０は、かご内の占有率が所定値以上の場合、またはかご内の重量が定格荷重以上の場合には、乗り場呼びをキャンセルする。これにより、かごが満員の場合または定格荷重以上の場合に、エレベータの運転を効率化することができる。
The control device 20 controls the operation of the elevator based on the occupation ratio in the car calculated by the occupation ratio calculation unit 142 and the weight in the car detected by the scale device 30. Specifically, the control device 20 cancels the landing call when the occupation ratio in the car is a predetermined value or more, or when the weight in the car is more than the rated load. Thereby, when the car is full or more than the rated load, the operation of the elevator can be made efficient.
また、制御装置２０は、高さ検出部１４３によって算出された物体５０の高さが所定値以下であり、かつかご内における操作が一定時間行われない場合には、エレベータの扉を開放する。これにより、背の低い子供や動物がかご内に閉じ込められることを防止することができる。
Further, the control device 20 opens the door of the elevator when the height of the object 50 calculated by the height detection unit 143 is equal to or less than a predetermined value and the operation in the car is not performed for a predetermined time. Thereby, it is possible to prevent a short child or animal from being trapped in the cage.
また、制御装置２０は、移動速度算出部１３２によって算出された物体５０の移動速度データＶｎの平均が所定値以下の場合には、エレベータの扉の開閉速度を通常時よりも遅くする。これにより、ゆっくりと移動している高齢者や重い物を運搬している人などが扉に挟まれるのを防止することができる。なお、物体５０の実際の移動速度に応じて扉の開閉時間をさらに細かく変化させてもよい。
Further, when the average of the moving speed data Vn of the object 50 calculated by the moving speed calculating unit 132 is equal to or less than a predetermined value, the control device 20 makes the opening / closing speed of the elevator door slower than normal. Thereby, it is possible to prevent an elderly person who is moving slowly or a person who is carrying a heavy object from being caught in the door. Note that the opening / closing time of the door may be changed more finely according to the actual moving speed of the object 50.
また、制御装置２０は、第１、第２の距離センサ群１１、１２に含まれる少なくとも１つのセンサが物体５０を検出している期間中は、エレベータの扉の開閉動作を停止または反転させる。これにより、第１、第２の距離センサ群１１、１２を扉の安全装置としても活用することができる。
Further, the control device 20 stops or reverses the opening / closing operation of the elevator door during a period in which at least one sensor included in the first and second distance sensor groups 11 and 12 is detecting the object 50. Thereby, the 1st, 2nd distance sensor groups 11 and 12 can be utilized also as a safety device of a door.
以上説明したように、本発明の実施の形態に係るエレベータ装置は、物体５０までの第１の距離データＸ1nを取得する第１の距離センサ群１１と、物体５０までの第２の距離データＸ2nを取得する第２の距離センサ群１２と、物体５０の幅データＷｎを算出する幅算出部１３１と、物体５０の移動速度データＶｎを算出する移動速度算出部１３２と、物体５０の奥行データＤｎを算出する奥行算出部１３３と、物体５０の立体形状Ｓｈを算出する立体形状算出部１３４とを備えている。これにより、かごに乗り降りする物体の形状を低コストかつ高精度に算出することができる。
As described above, the elevator apparatus according to the embodiment of the present invention includes the first distance sensor group 11 that acquires the first distance data X 1n to the object 50 and the second distance data to the object 50. A second distance sensor group 12 that acquires X 2n , a width calculation unit 131 that calculates width data Wn of the object 50, a movement speed calculation unit 132 that calculates movement speed data Vn of the object 50, and the depth of the object 50 A depth calculation unit 133 that calculates data Dn and a three-dimensional shape calculation unit 134 that calculates a three-dimensional shape Sh of the object 50 are provided. Thereby, the shape of the object getting on and off the car can be calculated with low cost and high accuracy.
なお、上記の実施の形態では、第１、第２の距離センサ群１１、１２は反射式距離センサであったが、光走査式距離センサや超音波式距離センサを用いることもできる。
In the above embodiment, the first and second distance sensor groups 11 and 12 are reflective distance sensors, but an optical scanning distance sensor or an ultrasonic distance sensor may be used.
Claims (7)
- エレベータの出入口の左右いずれか一方に設けられてかごを出入りする物体までの第１の距離データを取得する第１の距離センサ群と、
前記エレベータの前記出入口の左右いずれか他方に設けられて前記かごを出入りする前記物体までの第２の距離データを取得する第２の距離センサ群と、
前記第１の距離データ、前記第２の距離データ、および前記第１、第２の距離センサ群の幅方向の距離に基いて、前記物体の幅データを算出する幅算出部と、
前記第１の距離センサ群による前記物体の第１の検出開始時刻データ、前記第２の距離センサ群による前記物体の第２の検出開始時刻データ、および前記第１、第２の距離センサ群の奥行方向の距離に基いて、前記物体の移動速度データを算出する移動速度算出部と、
前記物体の前記移動速度データ、並びに、前記第１の距離センサ群による前記物体の前記第１の検出開始時刻データおよび第１の検出終了時刻データ、または、前記第２の距離センサ群による前記物体の前記第２の検出開始時刻データおよび第２の検出終了時刻データに基づいて、前記物体の奥行データを算出する奥行算出部と、
前記物体の前記幅データおよび前記奥行データに基いて、前記物体の立体形状を算出する立体形状算出部と
を備える、エレベータ装置。 A first distance sensor group for acquiring first distance data to an object that is provided on either the left or right of the elevator entrance and exits the car;
A second distance sensor group that is provided on either the left or right side of the doorway of the elevator and acquires second distance data to the object that enters and exits the car;
A width calculation unit that calculates width data of the object based on a distance in a width direction of the first distance data, the second distance data, and the first and second distance sensor groups;
First detection start time data of the object by the first distance sensor group, second detection start time data of the object by the second distance sensor group, and the first and second distance sensor groups A moving speed calculation unit that calculates moving speed data of the object based on a distance in the depth direction;
The moving speed data of the object, and the first detection start time data and first detection end time data of the object by the first distance sensor group, or the object by the second distance sensor group. A depth calculation unit that calculates depth data of the object based on the second detection start time data and the second detection end time data;
An elevator apparatus comprising: a solid shape calculation unit that calculates a solid shape of the object based on the width data and the depth data of the object. - 前記物体の前記立体形状に基いて、前記物体の床投影面積を算出する床投影面積算出部と、
前記物体の前記床投影面積および前記かごの床面積に基づいて、前記かご内の占有率を算出する占有率算出部と
をさらに備える、請求項１に記載のエレベータ装置。 A floor projected area calculating unit that calculates a floor projected area of the object based on the three-dimensional shape of the object;
The elevator apparatus according to claim 1, further comprising: an occupancy ratio calculation unit that calculates an occupancy ratio in the car based on the floor projected area of the object and the floor area of the car. - 前記かご内の重量を検出する秤部と、
前記かご内の占有率および前記かご内の重量に基いて、前記エレベータの運転を制御する制御部と
をさらに備える、請求項２に記載のエレベータ装置。 A scale for detecting the weight in the cage;
The elevator apparatus according to claim 2, further comprising: a control unit that controls operation of the elevator based on an occupation ratio in the car and a weight in the car. - 前記制御部は、前記かご内の占有率が所定値以上の場合、または前記かご内の重量が定格荷重以上の場合には、乗り場呼びをキャンセルする、請求項３に記載のエレベータ装置。 The elevator device according to claim 3, wherein the control unit cancels the landing call when the occupation ratio in the car is a predetermined value or more, or when the weight in the car is more than a rated load.
- 前記物体の前記立体形状に基いて前記物体の高さを算出する高さ算出部をさらに備え、
前記制御部は、前記物体の前記高さが所定値以下であり、かつ前記かご内における操作が一定時間行われない場合に、前記エレベータの扉を開放する、請求項３または４に記載のエレベータ装置。 A height calculator that calculates the height of the object based on the three-dimensional shape of the object;
The elevator according to claim 3 or 4, wherein the control unit opens the door of the elevator when the height of the object is equal to or smaller than a predetermined value and the operation in the car is not performed for a predetermined time. apparatus. - 前記制御部は、前記物体の前記移動速度データの平均が所定値以下の場合に、前記エレベータの扉の開閉速度を通常時よりも遅くする、請求項３～５のいずれか一項に記載のエレベータ装置。 The control unit according to any one of claims 3 to 5, wherein when the average of the moving speed data of the object is equal to or less than a predetermined value, the opening / closing speed of the door of the elevator is made slower than normal. Elevator device.
- 前記制御部は、前記第１、第２のセンサ群に含まれる少なくとも１つのセンサが前記物体を検出している期間中は、前記エレベータの扉の開閉動作を停止または反転させる、請求項３～６のいずれか一項に記載のエレベータ装置。 The control unit stops or reverses the opening / closing operation of the elevator door during a period in which at least one sensor included in the first and second sensor groups detects the object. The elevator apparatus as described in any one of Claims 6.
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| PCT/JP2017/020424 WO2018220782A1 (en) | 2017-06-01 | 2017-06-01 | Elevator device |
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| JP2019521632A JP6704519B2 (en) | 2017-06-01 | 2017-06-01 | Elevator equipment |
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| CN112623893B (en) * | 2020-12-03 | 2023-04-14 | 深圳市普渡科技有限公司 | Elevator floor determining method and device, computer equipment and storage medium |
| CN113003340B (en) * | 2021-02-22 | 2022-12-16 | 上海三菱电梯有限公司 | Elevator identification method and device and elevator |
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