JPH0147389B2 - - Google Patents

Description

[Detailed Description of the Invention] [Technical Field of the Invention] The present invention relates to a safety device for an elevator door, which performs a safe closing operation by detecting the presence or absence of an obstacle when closing an elevator door. be.

[Prior art]

As a safety device for elevator doors, a safety shoe is installed at the tip of the door, and if someone interferes with the door closing operation, the safety device touches the safety shoe and flips the door.
It was configured to open again.

However, since door safety devices such as safety locks are contact-type, they have the problem of causing shocks to people. For this reason, a non-contact device has been desired.

[Summary of the invention]

This invention was devised in view of the above-mentioned drawbacks, and its purpose is to check the safety of a door without contacting it.The configuration will be described based on FIG. 1.

A sensor a converts an image near the movement path of the door into an electrical signal, and a signal corresponding to the image when there is no obstacle interfering with opening and closing the door is stored in the first storage means b, and the door is closed during the door closing operation. storing the electric signal from the sensor a in a second storage means c, comparing the contents of the first storage means b and the second storage means c with a comparison means d;
As a result of this comparison, when a difference is found, a reversal command means e is provided to reverse the door.

[Embodiments of the invention]

Hereinafter, one embodiment of the present invention will be specifically described with reference to FIGS. 2 to 6.

First, in Figures 2 and 3, 1 is the landing area;
2 is the person transferring the elevator, 3 is the wall, 4 is the landing door that opens and closes the landing entrance 4a, 5 is the hoistway, 6
is the car that goes up and down this hoistway 5, 7 is the door of the car,
Reference numeral 8 denotes a car doorway which is opened and closed by the car door 7, and 9 a one-dimensional scanning type door which is attached to the stile portion of the car 6 and scans the landing doorway 4a and the car doorway 8 in the traveling direction of the car door 7. The image sensor outputs a low level signal (hereinafter referred to as signal L) when there is an obstacle, and outputs a high level signal (hereinafter referred to as signal H) when there is no obstacle.

4 and 5 show the control means. First, in FIG. 4, 11 is a door control device that controls the door closing motor 12 to open and close the car door 7, 13 is a pulse generator that emits a pulse signal according to the rotation of the door closing motor, and 14 is this pulse signal. It is a pulse counter that counts , and outputs an output every time the doors 4 and 7 move through a small section divided into n equal parts from the fully closed position to the fully open position. 15 is a microcomputer (hereinafter referred to as a microcomputer), which basically consists of
CPU16, ROM17, 1st RAM18, 2nd RAM
19 and a third RAM 20. 2
1 is an input port for inputting an external signal to the microcomputer 15, and 22 is an output port for outputting a signal from the microcomputer 15 to the outside.

Figure 5 shows the first RAM 18, second RAM 19 and
3RAM20 details are shown. Small sections created by dividing the door 4, 7 from the fully closed position to the fully open position into n equal parts are made to correspond to the memories of the first RAM 18 and the second RAM 19, respectively. That is, the first section counting from the fully closed position of doors 4 and 7 is memory A ₁ of the first RAM 18.
and corresponds to memory _B1 of the second RAM 19. Similarly, the second section corresponds to memory A ₂ and memory B ₂ , and the third section corresponds to memory A ₃ and memory B ₃ . Correspondingly, the n-th section, which is the last section immediately before the fully open position, corresponds to memory A _o and memory B _o . And these memories A ₁ ~ _{A o} and
The results of each section scanned by the one-dimensional scanning image sensor 9 are stored in B ₁ to B _o . The third RAM 20 has a value P which is incremented by 1 each time a signal is issued from the pulse counter 14.
This is the memory where is stored.

FIG. 6 is a flowchart showing the program stored in the ROM 17.

The operation of the door safety device constructed as described above will now be described.

Car 6 stops, landing door 4 and car door 7
Suppose that it opens. For microcontroller 15, step (100)
It is checked whether a full open signal is output through the input port 21 as shown in FIG. Pause when there is no output. Once output, the process moves to step (101), where the scanning result by the image sensor 9 is taken in via the input port 21 and stored in the first RAM.
18. Immediately after the door is fully opened, there is no one in the moving part of the door yet, so all the stored contents of the first RAM 18 are signal H. Then step (102)
Next, it is checked whether a door closing start signal has been output from the door control device 11. When it is not output, it pauses, and when it is output, it moves to step (103).
In step (103), the scan results by the image sensor 9 are stored in the second RAM 19. Next, the process moves to step (104), and the corresponding memories of the first RAM 18 and the second RAM 19, that is, the memories A ₁ , B ₁ , and A ₂
and B ₂ , ..., compare A _o and B _o . the result,
If even one difference exists, the process moves to step (105) and a door reversal signal is transmitted to the door control device via the output port 22. In response to this signal, the door control device 11 reverses the car door 7 and the landing door 4.
When an inverted signal is issued, the process moves from step (105) to step (102), and the above steps are repeated again. If the corresponding memories of the first RAM 18 and the second RAM 19 all match, the process moves to step (106). In step (106), there is a pause until the pulse counter 14 outputs an output. Once the output is output, the process moves to step (107). In step (107), the third RAM 20
The value P is increased by 1 and the process moves to step (108).
In step (108), the result of scanning by the image sensor 9 is stored in the second RAM 18, and the process moves to step (109). In step (109), among the corresponding memories of the first RAM 18 and the second RAM 19, the memory
Compare A ₁ and B ₁ , A ₂ and B ₂ , ..., A _op and B _op . That is, since the door is closed from the fully open position to the Pth section, that section is not compared, and the sections that are still open are compared in the same manner as in step (104). the result,
If even one difference exists, proceed to step (105). When all of the memories A ₁ and B ₁ , A ₂ and B ₂ , . . . , A _op and B _op match, the process moves to step (110). In step (110), it is checked whether there are two or more memories to be compared. If there are two or more, the process moves to step (106) and the above steps are repeated again.
When the number of memories to be compared is one, the process ends.

In the above embodiment, a single sliding door in which the door moves to one side has been described, but the intended purpose can also be achieved when the present invention is applied to a double sliding door in which a two-panel door opens and closes from the center.

Further, in the above embodiment, each time the door is fully opened, the scanning result by the image sensor 9 is stored in the first RAM 18.
However, the condition with no obstacles is stored in the ROM as a fixed pattern, and this
The desired purpose can also be achieved by comparing the scan results of the ROM and the image sensor 9.

Furthermore, the memory _A1 shown in FIG. 5 is composed of a plurality of memories. Similarly, memories A ₂ , A ₃ , ~,
A _o , B ₁ , B ₂ ~, B _o are also composed of multiple memories of the same number as memory A ₁ , and the memory stores the numerical value obtained by A/D converting the analog output from the image sensor, and this numerical value is stored in the memory. The desired purpose can also be achieved by comparing the values and determining that there is no obstacle if the difference value is within a predetermined range.

7 to 9 show other embodiments of the invention.

In Figures 7 and 8, 30 is the cage door 7.
This is a two-dimensional scanning image sensor that scans the area from the moving part of the board to the part slightly protruding toward the landing 1 side from the door 4 of the landing. 31 is a two-dimensional structure
1 RAM, similar to the memory map shown in Figure 5,
The entrances and exits 4a and 8 are divided into n equal parts in the frontage direction, and then divided into 5 equal parts in the depth direction, each resulting in a small section.
1RAM31 memory A ₁₁ , A ₁₂ , ~, A ₁₅ , A ₂₁ ~
Assigned to A ₂₅ , ~A _o1 , ~A _o5 , and memory A ₁₂ ,
A _{22 , A 23 , .} Then, the scan results from the image sensor 30 are sent to the first RAM 31.
is stored in the memories A ₁ to A _o . 32
is a second RAM configured similarly to the first RAM 31.

Next, the operation will be described according to FIG. 9. In step (200), the state is scanned by the image sensor 30 immediately after the door opening is completed, and is stored in the first RAM 31 as the state when there is no obstacle. In step (201), a pulse is generated in response to the closing of the door;
The value P in the third RAM 20 is incremented, and at the same time, it is scanned by the image sensor 30 in step (202) and stored in the second RAM 32. Procedure (203)
In, among the first RAM 31 and the second RAM 32,
A ₁ ~A _(op) and B ₁ ~B _(op) are compared, and if there is a mismatch, it is reversed. If they match, the door closing operation continues.

According to the embodiment shown in FIGS. 7 to 9, it is possible to detect not only an obstacle in the open/closed position of the door, but also an object between the landing door 4 and the car door 7. Further, even if a person comes near the door 4 of the landing to board the car 6, it can be detected and the door is reversed, so that the elevator can provide good service.

〔Effect of the invention〕

As described above, the present invention is provided with a sensor that converts an image near the moving path of the door into an electrical signal, and stores a signal corresponding to the image when there is no obstacle interfering with opening and closing the door in the first storage means. The electric signal from the sensor during the door closing operation is stored in the second storage means, the contents of the first storage means and the second storage means are compared by the comparison means, and as a result of this comparison, it is determined that there is a difference. Since a reversal command means for reversing the door when it is recognized is provided, the safety of closing the door can be detected without contact.

[Brief explanation of drawings]

Figure 1 is an overall configuration diagram of this invention, Figures 2 to 6
The figures show one embodiment of the present invention, FIG. 2 is a longitudinal sectional view of the car and the landing, and FIG. 3 is an arrow shown in FIG. 2.
4 is a block diagram of the control circuit.
FIG. 5 is a memory map, FIG. 6 is a program flowchart, and FIGS. 7 to 9 are diagrams showing other embodiments of the present invention. In the figure, 1 is the landing, 4 is the landing door, 4a is the landing entrance, 6 is the car, 7 is the car door, 8 is the car entrance, 9 is the image sensor (sensor), and 18 is the car entrance.
1RAM (first storage means), 19 is 2nd RAM (second
(storage means), d is a comparison means, and e is a reversal command means. Note that the same reference numerals in the figures indicate the same or equivalent parts.

Claims (1)

[Scope of Claims] 1. A sensor that converts an image near the moving path of a door that opens and closes the doorway of a car and a landing into an electrical signal, and corresponds to the image when there is no obstacle in the moving path that would obstruct the opening and closing of the door. a first storage means for storing a signal to
a second storage means for storing the electrical signal from the sensor while the door is closed; a comparison means for comparing the contents of the first storage means and the second storage means; and a comparison result by the comparison means. Therefore, a safety device for an elevator door is provided with a reversal command means for reversing the door. 2. The elevator door safety device according to claim 1, wherein the first storage means stores an electric signal from a sensor immediately after the door is fully opened. 3. The elevator door safety device according to claim 1, wherein the first storage means stores a preset signal. 4. The elevator door safety device according to claim 1, wherein the image sensor is of a one-dimensional scanning type. 5. The elevator door safety device according to claim 1, wherein the image sensor is of a two-dimensional scanning type.