JPWO2019130545A1 - Elevator door equipment - Google Patents

Abstract

An elevator door device has a door panel, an upper frame, and a camera. The door panel opens and closes the doorway between the car and the hall. The upper frame is provided above the entrance. The camera is provided on the upper frame. The center line of the angle of view of the camera is inclined toward the door pocket side with respect to the vertical direction.

Description

  The present invention relates to an elevator door device having a door panel that reciprocates in a horizontal direction.

  In a conventional elevator door system, a curtain plate is provided above a car entrance. A camera and a control board are provided on the curtain. The camera is installed at an angle to the landing in order to photograph the landing. In the center opening type door system, the camera is arranged at the center in the width direction of the car doorway. Further, in the single-door system, the camera is arranged so as to be biased toward the door stop (for example, see Patent Documents 1 to 3).

Japanese Patent No. 6046283 Japanese Patent No. 6046284 Japanese Patent No. 6046285

  In the conventional door system as described above, since the center line of the angle of view of the camera is inclined toward the hall, it is possible to detect a user of the hall. However, if a common camera is used to detect a foreign object being pulled into the door pocket during the door opening operation, it is necessary to use a camera having a considerably wide angle of view, which increases costs.

  The present invention has been made to solve the above-described problem, and it is possible to detect a foreign object being drawn into a door pocket during a door opening operation in a sufficient height range while suppressing the angle of view of the camera. An object is to obtain an elevator door device.

  An elevator door device according to the present invention includes a door panel that opens and closes an entrance between a car and a landing, an upper frame provided on an upper portion of the entrance, and a camera provided on the upper frame, and an angle of view of the camera. Are inclined toward the door pocket side with respect to the vertical direction.

  In the elevator door apparatus of the present invention, the center line of the angle of view of the camera is inclined toward the door pocket with respect to the vertical direction. For this reason, it is possible to detect a foreign object being drawn into the door pocket during the door opening operation in a sufficient height range while suppressing the angle of view of the camera.

FIG. 1 is a configuration diagram showing an elevator according to a first embodiment of the present invention. It is a front view which shows the car door apparatus of the elevator of FIG. It is a block diagram which shows the principal part of the car door apparatus of Embodiment 1. FIG. 3 is an explanatory diagram relating to a diagonal viewing plane of the camera in FIG. 2. It is a top view which shows the modification which rotated the camera of FIG. 2 around the Z-axis. It is a front view which shows the car door apparatus of the elevator by Embodiment 2 of this invention. It is a block diagram which shows the principal part of the car door apparatus of Embodiment 2.

Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.
Embodiment 1 FIG.
FIG. 1 is a configuration diagram showing an elevator according to Embodiment 1 of the present invention. In the figure, a machine room 2 is provided above a hoistway 1. In the machine room 2, a hoist 3, a deflector 4 and an elevator controller 5 are installed. The hoist 3 has a drive sheave 6, a hoist motor (not shown), and a hoist brake (not shown). The hoist motor rotates the drive sheave 6. The hoisting machine brake brakes the rotation of the drive sheave 6.

  A suspension 7 is wound around the drive sheave 6 and the deflector wheel 4. As the suspension body 7, a plurality of ropes or a plurality of belts are used. A car 8 is connected to the first end of the suspension 7. A counterweight 9 is connected to the second end of the suspension 7.

  The car 8 and the counterweight 9 are suspended in the hoistway 1 by the suspension body 7. The car 8 and the counterweight 9 move up and down in the hoistway 1 by rotating the drive sheave 6. The elevator control device 5 controls the operation of the car 8 by controlling the hoisting machine 3.

  A pair of car guide rails (not shown) and a pair of counterweight guide rails (not shown) are installed in the hoistway 1. The car guide rail guides the car 8 up and down. The counterweight guide rail guides the lifting and lowering of the counterweight 9.

  The car 8 has a car frame 10 and a car room 11. The suspension 7 is connected to the car frame 10. The car room 11 is supported by the car frame 10.

  On the front surface of the car room 11, first and second car door panels 12a and 12b are provided. On the cab 11, a door controller 13 is provided.

  First and second landing door panels 14a and 14b are provided in the landings on a plurality of floors, respectively. The first and second landing door panels 14a and 14b open and close in conjunction with the first and second car door panels 12a and 12b when the car 8 arrives on the floor.

  FIG. 2 is a front view showing the car door device of the elevator of FIG. 1, and is a view of the first and second car door panels 12a and 12b from inside the car room 11 of FIG. In the front of the car room 11, a car doorway 11a is provided. The car doorway 11a is opened and closed by first and second car door panels 12a and 12b.

  The X-axis direction in FIG. 2 is the width direction of the car doorway 11a. The Y-axis direction in FIG. 2 is a depth direction of the car room 11 and is a direction orthogonal to the car doorway 11a. The Z-axis direction in FIG. 2 is a vertical direction.

  A car doorway frame 15 is provided on both sides and an upper part of the car doorway 11a in the width direction. The car doorway frame 15 has a first vertical frame 16a, a second vertical frame 16b, and an upper frame 17.

  The first vertical frame 16a is installed vertically on one side in the width direction of the car doorway 11a. The second vertical frame 16b is installed vertically on the other side in the width direction of the car entrance 11a. The upper frame 17 is provided above the car doorway 11a.

  A car operation panel 18 is provided on a sleeve wall beside the second vertical frame 16b. The car operation panel 18 is provided with a plurality of destination floor buttons 19, a door open button 20 and a door close button 21. A display device 22 and an announcement device 23 are provided above the car operation panel 18.

  A door pocket 11b is formed on the back side of the first car doorway 11a and the car operation panel 18. The first and second car door panels 12a and 12b are accommodated in the door pocket 11b when the car entrance 11a is fully opened.

  The car door panel of the first embodiment is of a single-door type. That is, the first and second car door panels 12a and 12b move in the same direction during the opening and closing operation.

  The first car door panel 12a, which is a high-speed door panel, is disposed farther from the door pocket 11b when the car entrance 11a is fully closed. The second car door panel 12b, which is a low-speed door panel, is arranged on the side close to the door pocket 11b when the car doorway 11a is fully closed. The first car door panel 12a moves faster than the second car door panel 12b during the opening and closing operation. The first vertical frame 16a is a door stop pillar.

  A camera 31 is provided in the upper frame 17. As the camera 31, for example, a distance measuring image camera of a TOF system, that is, a time-of-flight system can be used. Further, the camera 31 is arranged inside the upper frame 17. Further, the camera 31 is arranged on the door stop side, that is, on the first vertical frame 16a side of the width direction center of the car entrance 11a.

  The center line C of the angle of view θ of the camera 31 is inclined toward the door pocket 11b with respect to the vertical direction. Further, the center line C of the angle of view θ of the camera 31 is not inclined in a direction orthogonal to the car entrance 11a. That is, the center line C is parallel to the XZ plane in FIG.

  The shooting range of the camera 31 includes a portion adjacent to the first vertical frame 16a on the floor surface 11d of the car entrance 11a. The photographing range h of the camera 31 at the entrance 11c of the door pocket 11b preferably includes a range of 1 m or less from the floor 11d, and includes a range of 1.5 m or less from the floor d. It is even more preferred.

  FIG. 3 is a block diagram illustrating a main part of the car door device according to the first embodiment. The camera 31 is connected to the door controller 13. The car room 11 is provided with a door motor 24 for moving the first and second car door panels 12a and 12b.

  The door controller 13 controls the door motor 24 based on a signal from the camera 31. That is, the door controller 13 controls the opening and closing operation of the first and second car door panels 12a and 12b. The door controller 13 is configured by, for example, a microcomputer.

  The door controller 13 processes a signal from the camera 31 to determine whether or not there is a foreign object in the shooting range. The foreign substance may be, for example, a part of a user's body, a user's luggage, or a part of a user's clothes.

  Specifically, the door controller 13 determines whether there is any foreign matter in front of the entrance 11c of the door pocket 11b during the door opening operation. In addition, the door controller 13 determines whether there is a foreign substance in the car entrance 11a and the landing entrance during the door closing operation. Further, the door controller 13 determines whether or not there is a user near the landing entrance during the door closing operation.

  If the door controller 13 determines that there is a foreign substance in front of the entrance 11c of the door pocket 11b immediately before the door opening operation starts, a warning message urging the user to leave the first and second car door panels 12a and 12b. Generate.

  Thereafter, when the foreign matter is no longer detected, the door controller 13 starts the opening operation of the first and second car door panels 12a and 12b.

  The door controller 13 stops the first and second car door panels 12a and 12b when determining that there is a foreign substance in front of the entrance 11c of the door pocket 11b during the door opening operation. Then, a warning sound or a warning message is generated in the car room 11.

  Thereafter, when no foreign matter is detected, the door controller 13 restarts the opening operation of the first and second car door panels 12a and 12b at the normal speed or at a speed lower than the normal speed.

  When the door controller 13 determines that there is a foreign substance in the car entrance 11a and the landing entrance during the door closing operation, the door controller 13 reverses the first and second car door panels 12a and 12b to perform the door opening operation.

  Further, when the door controller 13 determines that there is a user near the landing entrance during the door closing operation, the door controller 13 obtains landing user information. The hall user information includes at least one of the user's position, the user's moving direction, and the user's moving speed. The door controller 13 controls opening and closing operations of the first and second car door panels 12a and 12b based on the hall user information.

  The car door device of the first embodiment includes a car doorway frame 15, a first car door panel 12a, a second car door panel 12b, a door motor 24, and a camera 31.

  In such an elevator door device, the center line C of the angle of view θ of the camera 31 is inclined toward the door pocket 11b with respect to the vertical direction. For this reason, it is possible to detect a foreign object being drawn into the door pocket 11b during the door opening operation in a sufficient height range while suppressing the angle of view θ of the camera 31.

  The first and second car door panels 12a and 12b are of a single-opening type. The camera 31 is arranged closer to the door stop than the center in the width direction of the car doorway 11a. For this reason, it is possible to detect not only a foreign object being pulled in at the time of the door opening operation but also a person near the landing entrance. In addition, it is possible to detect the foreign substance being caught between the first vertical frame 16a and the first car door panel 12a during the door closing operation.

  Further, by reducing the angle of view θ, it is possible to shoot with higher definition in the case of the camera 31 having the same pixel as compared with the case where the angle of view θ is large. Thereby, the detection ability when a thin foreign object such as a string is caught can also be improved.

  Furthermore, the shooting range of the camera 31 includes a portion of the floor surface 11d adjacent to the first vertical frame 16a. Therefore, a foreign substance such as a string sandwiched between the first vertical frame 16a and the first car door panel 12a can be more reliably detected.

  Further, the photographing range h of the camera 31 at the entrance 11c of the door pocket 11b includes a range of a height of 1 m or less from the floor surface 11d. Therefore, it is possible to more reliably detect and prevent the child's body or part of the clothes from being pulled into the door pocket 11b during the door opening operation.

  Furthermore, by setting the shooting range h of the camera 31 at the entrance 11c of the door pocket 11b to include a range of 1.5 m or less from the floor surface 11d, the body or clothes of the child held by the adult can be obtained. It is possible to more reliably detect that a part is pulled into the door pocket 11b and prevent it from occurring.

  Here, FIG. 4 is an explanatory diagram relating to a diagonal viewing plane of the camera 31 of FIG. In FIG. 4, the illustration of the car doorway frame 15 is omitted. In the figure, the point O indicates the position of the camera 31. P1, P2, P3, and P4 indicate the positions of the ends of the visual field on an arbitrary plane orthogonal to the center line C of the angle of view of the camera 31.

  The diagonal viewing plane is a plane including the point O, the points P1 and P3, and a plane including the points O, P2 and P4.

  FIG. 5 is a plan view showing a modification in which the camera 31 of FIG. 2 is rotated around the Z axis. In FIG. 5, the camera 31 is oriented such that one diagonal viewing plane of the camera 31 is parallel to the car entrance / exit plane. That is, one diagonal view surface of the camera 31 is parallel and vertical to the opening and closing operation direction of the first and second car door panels 12a and 12b.

  The orientation of the camera 31 can be adjusted by rotating the camera 31. Further, the orientation of the camera 31 may be adjusted by rotating an image element built in the camera 31.

  By orienting the camera 31 in this manner, the angle of view θ of the camera 31 when the car entrance 11a is viewed from the front is the diagonal angle of view. Therefore, as compared with the case where the camera 31 is oriented so that the angle of view θ of the camera 31 becomes the horizontal angle of view or the vertical angle of view, the foreign object pulling into the door pocket during the door opening operation is detected in a wider height range. be able to.

Embodiment 2 FIG.
Next, FIG. 6 is a front view showing an elevator car door device according to a second embodiment of the present invention, and is a diagram corresponding to FIG. 2 of the first embodiment. The first and second car door panels 12a and 12b of the second embodiment are of a center opening type. That is, the first car door panels 12a and 12b move in opposite directions at the same speed during the opening and closing operations.

  The door pocket includes a first door pocket 11b1 that houses the first car door panel 12a, and a second door pocket 11b2 that houses the second car door panel 12b. Further, first and second cameras 31a and 31b are used as cameras.

  The first and second cameras 31a and 31b are arranged inside the upper frame 17. The first camera 31a is disposed closer to the widthwise center of the car doorway 11a than to the middle between the widthwise center of the car doorway 11a and the first vertical frame 16a. The second camera 31b is disposed closer to the widthwise center of the car doorway 11a than to the middle between the widthwise center of the car doorway 11a and the second vertical frame 16b.

  The center line C1 of the angle of view θ1 of the first camera 31a is inclined toward the first door pocket 11b1 with respect to the vertical direction. The center line C2 of the angle of view θ2 of the second camera 31b is inclined toward the second door pocket 11b2 with respect to the vertical direction.

  The center lines C1 and C2 are not inclined in a direction orthogonal to the car doorway 11a. That is, the center lines C1 and C2 are parallel to the XZ plane in FIG.

  Each of the photographing ranges of the first and second cameras 31a and 31b includes the floor surface 11d at the center in the width direction of the car entrance 11a. Further, the photographing range of the first camera 31a at the entrance 11c1 of the first door pocket 11b1 preferably includes a range of 1 m or less from the floor 11d, and a height of 1.5 m from the floor d. More preferably, the following range is included.

  Similarly, the photographing range of the second camera 31b at the entrance 11c2 of the second door pocket 11b2 preferably includes a range of 1 m or less from the floor 11d, and a height of 1.5 m from the floor d. It is more preferable to include the following range.

  FIG. 7 is a block diagram illustrating a main part of the car door device according to the second embodiment. The first and second cameras 31a and 31b are connected to the door controller 13. The door controller 13 controls the door motor 24 based on signals from the first and second cameras 31a and 31b. Other configurations and operations are the same as those of the first embodiment.

  Even with such a car door device, the same effect as in the first embodiment can be obtained.

  In the door device of the present invention, it is possible to photograph an area as wide as possible near the car door panel in the car with a limited angle of view. For this reason, the door controller determines whether there is a person in front of the car door panel in the car based on information from the camera, and when it is determined that there is no person in front of the car door panel, the door controller May be shorter than the case where it is determined that there is a person in the room. Thereby, operation efficiency can be improved.

  Further, the cameras 31a and 31b according to the second embodiment may be oriented so that the diagonal viewing plane is parallel to the car entrance / exit plane.

  Further, the shooting range of the camera at the entrance of the door pocket is not necessarily limited to the above range.

  The present invention can also be applied to a single-opening door device having one or three or more door panels.

  The present invention can also be applied to a center opening type door device having four or more door panels.

  The present invention is also applicable to a landing door device.

  In the above example, the door controller is provided in the cab, but the position of the door controller is not particularly limited.

  Further, the control method at the time of detecting a foreign substance is not limited to the above example.

  Further, the layout of the entire elevator apparatus is not limited to the layout of FIG. For example, the present invention can be applied to a 2: 1 roping type elevator apparatus.

  Further, the present invention can be applied to various types of elevators. For example, the invention can be applied to a machine room-less elevator, a double deck elevator, or a one-shaft multi-car system. The one-shaft multi-car system is a system in which an upper car and a lower car disposed directly below an upper car independently move up and down a common hoistway.

  8 car, 11a car doorway, 11b door pocket, 11b1 first door pocket, 11b2 second door pocket, 11d floor surface, 12a first car door panel, 12b second car door panel, 13 door controller, 17 upper frame, 31 camera , 31a first camera, 31b second camera.

Claims (7)

A door panel that opens and closes the entrance between the car and the landing,
An upper frame provided on the upper part of the entrance, and a camera provided on the upper frame,
An elevator door device wherein a center line of an angle of view of the camera is inclined toward a door pocket with respect to a vertical direction. The door panel is a single-opening type,
The elevator door device according to claim 1, wherein the camera is disposed closer to a door stop than a center in a width direction of the entrance.   The elevator door apparatus according to claim 2, wherein the photographing range of the camera includes a portion of the floor surface of the entrance that is adjacent to the door stop. The door panel is a center-opening type including first and second door panels,
The door pocket includes a first door pocket that houses the first door panel, and a second door pocket that houses the second door panel.
The camera includes first and second cameras,
The center line of the angle of view of the first camera is inclined toward the first door pocket with respect to the vertical direction,
2. The elevator door apparatus according to claim 1, wherein a center line of an angle of view of the second camera is inclined toward the second door pocket with respect to a vertical direction. 3.   The elevator door device according to any one of claims 1 to 4, wherein a photographing range of the camera at an entrance of the door pocket includes a range of a height of 1 m or less from a floor surface.   The elevator door apparatus according to any one of claims 1 to 5, wherein a diagonal view surface of the camera is parallel to and perpendicular to the opening and closing direction of the door panel. Further comprising a door controller for controlling the opening and closing operation of the door panel,
The doorway is a car doorway,
The door panel is a car door panel,
The door controller determines, based on information from the camera, whether there is a person in front of the car door panel in the car. The elevator door device according to any one of claims 1 to 6, wherein a time for maintaining the fully open state is shorter than when it is determined that a person is present in front of the door panel.

Images