JP5178125B2 - Elevator door open / close control device - Google Patents

Description

  The present invention relates to an elevator door open / close control device that determines whether or not an elevator door movement is continued or interrupted in accordance with an object detection state in the vicinity of the elevator door.

  In a conventional elevator door pull-in prevention device, a non-contact multi-optical axis sensor comprising a plurality of projectors provided at one side of an elevator entrance and a plurality of light receivers provided at the other side of the elevator entrance Accordingly, an object (obstacle) in the vicinity of the elevator door is detected during the opening / closing movement of the elevator door (moving in the opening direction or moving in the closing direction), and the opening / closing movement of the elevator door is interrupted (for example, Patent Document 1). reference).

  In addition, in a conventional elevator door device, it is possible to detect pinching of a small object when the elevator door is fully closed by a pressure sensor provided at an end of the door panel of the elevator door. (For example, refer to Patent Document 2).

JP 2003-335484 A JP 2006-248757 A

  In the conventional elevator door pull-in prevention device as shown in Patent Document 1, if the opening and closing movement of the elevator door is interrupted when dust or the like passing through the elevator doorway is detected, the operation efficiency of the elevator is significantly reduced. As a result, an object that is somewhat small (for example, a height dimension or a width dimension of 10 mm or less) is excluded from the effective detection objects for which the opening / closing movement of the elevator door should be interrupted.

  Here, in elevators installed in apartment buildings such as condominiums, when a user gets into a car with a pet such as a dog, or when a passenger is carrying a home appliance, the end of the cord extending from the home appliance is dragged. In some cases, passengers get into the car. In such a case, in the conventional elevator door retract-in prevention device as shown in Patent Document 1, a string-like object such as a pet rope connecting a pet and a passenger or a cord of a home appliance is somewhat small (for example, the diameter is 5). If the object is excluded from the effective detection target, the elevator opening / closing movement is continued. For this reason, the object may be drawn into the door bag side with the opening movement of the elevator door, or may be pinched by the elevator door with the closing movement of the elevator door.

  Moreover, in the conventional elevator door apparatus as shown in Patent Document 2, due to the characteristics of the pressure sensor, it is not possible to detect the object before a small object is caught between the elevator doors. In addition, since the elevator door is opened after an object is detected by being caught in the elevator door, the operation efficiency of the elevator is lowered.

  The present invention has been made to solve the above-described problems, and adds an object smaller than the conventional elevator door retract prevention device to the effective detection target while suppressing a decrease in the operation efficiency of the elevator. An object of the present invention is to provide an elevator door open / close control device capable of performing

In the elevator door opening / closing control apparatus according to the present invention, a detection area that is an area along the opening / closing area of the elevator door that opens and closes the elevator doorway is set, and a detection signal corresponding to the size of an object that has entered the detection area is generated. It is a non-contact type sensor unit and is connected to the sensor unit, and controls the opening / closing movement of the elevator door, and when the detection signal is received from the sensor unit during the movement of the elevator door, it is the time when the object is continuously detected. Measure the continuous detection time, and based on the measured continuous detection time and the size of the object included in the detection signal from the sensor unit, whether or not the object is an effective detection target for which the movement of the elevator door should be interrupted This is provided with a door opening / closing control unit that interrupts the movement of the elevator door if it is determined that the object is an effective detection target.

  In the elevator door opening / closing control device according to the present invention, the sensor unit generates a detection signal corresponding to the size of the object entering the detection area along the elevator door opening / closing area, and the size of the object included in the detection signal is measured. Since it is determined whether or not an object that has entered the detection area is an effective detection target for which the movement of the elevator door should be interrupted based on the continuous detection time that has been detected, dust or the like that instantaneously passes through the detection area By distinguishing between the object and the effective detection target, it is possible to add a smaller object to the effective detection target than the conventional elevator door pull-in prevention device while suppressing a decrease in the operation efficiency of the elevator.

The best mode for carrying out the present invention will be described below with reference to the drawings.
Embodiment 1 FIG.
FIG. 1 is a rear view (view of a car from a landing side) showing an elevator door according to Embodiment 1 of the present invention. FIG. 2 is an explanatory diagram for explaining an object detection state by the first photoelectric sensor unit 26 of FIG.
In the figure, a car doorway (elevator doorway) is opened and closed by a double-open car door (elevator door) having first and second car door panels 1 and 2. Car-side engagement members 3 are attached to the landing-side surfaces of the first and second car door panels 1 and 2, respectively.

  The landing doorway (elevator doorway) is opened and closed by a double-opening type landing door (elevator door) having first and second landing door panels 4 and 5. A landing-side engaging member 6 is attached to the car-side surfaces of the first and second landing door panels 4 and 5. When the car arrives at the landing, the car-side engaging member 3 and the landing-side engaging member 6 are engaged with each other. As the car side engaging member 3 and the landing side engaging member 6 are engaged, the first car door panel 1 and the first landing door panel 4, the second car door panel 2 and the second landing door panel 5 are respectively It moves in conjunction with opening and closing.

  A door opening / closing drive mechanism 7 that opens and closes the first and second car door panels 1 and 2 is provided at the top of the car. The door opening / closing drive mechanism 7 includes a girder 8, a motor 9, a first driving vehicle 10, a first driven vehicle 11, a first belt 12, a second driving vehicle 13, a second driven vehicle 14, a second belt 15, and a first grip. A member 16, a second gripping member 17, a hanger rail 18, a first hanger plate 19, a second hanger plate 20, and a plurality of hanger rollers 21 are provided.

  The girder 8 is arranged at the upper part of the car doorway. The motor 9 is provided at the upper end of the beam 8. The motor 9 generates an opening / closing driving force for opening and closing the first and second car door panels 1 and 2. Furthermore, the drive of the motor 9 is controlled by a door control device 22 as an opening / closing drive unit provided at the upper part of a car (not shown). The first drive vehicle 10 is attached to the rotation shaft of the motor 9. The first driven vehicle 11 is provided in the upper part of the beam 8. The first belt 12 is stretched endlessly between the first driving vehicle 10 and the first driven vehicle 11.

  The second driving vehicle 13 is attached to the rotation shaft of the first driven vehicle 11 and rotates integrally with the first driven vehicle 11. The first driving vehicle 10, the first driven vehicle 11 and the first belt 12 constitute a first winding transmission mechanism. The second driven vehicle 14 is provided on the opposite side of the longitudinal direction of the beam 8 with respect to the first driven vehicle 11 and the second driving vehicle 13 with the center in the longitudinal direction of the beam 8 interposed therebetween. The second belt 15 is stretched endlessly between the second driving wheel 13 and the second driven wheel 14. The second belt 15 circulates between the second driving vehicle 13 and the second driven vehicle 14 to form an upper path and a lower path. The second driving wheel 13, the second driven wheel 14, and the second belt 15 constitute a second winding transmission mechanism.

  The first gripping member 16 is attached to the upper path of the second belt 15. The second gripping member 17 is attached to the lower path of the second belt 15. The hanger rail 18 is arranged along the opening / closing direction of the first and second car door panels 1 and 2 from one end portion to the other end portion in the longitudinal direction of the beam 8. The first hanger plate 19 is attached to the upper end portion of the first car door panel 1. The first hanger plate 19 is connected to the lower end of the first gripping member 16. The second hanger plate 20 is attached to the upper end portion of the second car door panel 2. The second hanger plate 20 is connected to the lower end of the second gripping member 17.

  The hanger roller 21 is rotatably attached to the upper ends of the first and second hanger plates 19 and 20. The hanger roller 21 is mounted on the hanger rail 18 so as to be able to roll. That is, the first and second car door panels 1 and 2 are suspended from the hanger rail 18 via the first and second hanger plates 19 and 20.

  A light projector 23 composed of a plurality of light emitting elements (for example, light emitting diodes, laser diodes, etc.) arranged at intervals in the vertical direction is provided on one side of the front / rear direction of the car entrance / exit. A light receiver 24 including a plurality of light receiving elements (for example, phototransistors and the like) arranged at intervals in the up-down direction is provided on the other side of the car entrance / exit. A sensor microcomputer 25 is connected to the light receiver 24. The light projector 23 is attached to one (one side portion) of a pair of vertical frames of a car entrance / exit frame surrounding the car entrance / exit via an attachment arm member (not shown). The light receiver 24 is attached to the other (other side portion) of the pair of vertical frames of the car entrance / exit frame through an attachment arm member.

  The projector 23 detects the detection light along the opening / closing direction of the first and second car door panels 1 and 2 through a gap between the first and second car door panels 1 and 2 and the pair of vertical frames of the car doorway frame. 23a is emitted. The light receiver 24 receives the detection light 23 a from the projector 23. That is, the projector 23 and the light receiver 24 constitute a non-contact sensor unit for detecting an object in the vicinity of the first and second car door panels 1 and 2. The light reception status of the detection light 23 a for each light receiving element of the light receiver 24 is monitored by the sensor microcomputer 25. The projector 23, the light receiver 24, and the sensor microcomputer 25 constitute a photoelectric sensor unit 26.

  In the photoelectric sensor unit 26, a detection area (detection surface) 26a along the open / close areas of the first and second car door panels 1 and 2 is set by the detection light 23a from the projector 23. The photoelectric sensor unit 26 can detect an object of 1 mm or more that has entered the detection area 26a, and measures the height dimension (size) of the detected object in units of 1 mm. More specifically, the sensor microcomputer 25 determines the height dimension of the object (the vertical dimension) based on the light receiving state of the detection light 23a of each light receiving element (that is, the number of light receiving elements not receiving the detection light 23a). , Size). Information on the height dimension of the object measured by the sensor microcomputer 25 is sent to the door control device 22 as object detection information (detection signal).

  For example, in FIG. 2, when the object D passes through the detection region 26a, four of the light receiving elements of the light receiver 24 are in a non-light receiving state (sensor detection state). Based on the number of light receiving elements in the non-light receiving state, the sensor microcomputer 25 measures the height dimension of the object D. When a plurality of objects are detected at the same time, information on the height dimension of the largest object is sent from the sensor microcomputer 25 to the door control device 22 as object detection information.

  The door control device 22 is attached to the rotating shaft of the motor 9 and generates a pulse signal corresponding to the rotation of the rotating shaft of the motor 9, or a first and second car door panel provided in the beam 8. The positions of the first and second car door panels 1 and 2 are monitored via limit switches (not shown) for detecting the fully closed positions and the fully opened positions of the first and second car door panels 1 and 2. , 2 are detected. The door control device 22 controls the opening and closing movements of the first and second car door panels 1 and 2 based on an opening / closing command from an operation control device (not shown) that controls the operation of the car.

  Further, when the door control device 22 receives object detection information from the sensor microcomputer 25 while the first and second car door panels 1 and 2 are opened and closed, the door control device 22 confirms the height dimension of the object included in the object detection information. . At the same time, the door control device 22 measures a continuous detection time that is a time during which the object is continuously detected. Further, the door control device 22 determines that the object of the first and second car door panels 1 and 2 is based on the measured continuous detection time and the height dimension of the object included in the object detection information from the sensor microcomputer 25. It is determined whether or not the object is an effective detection object whose opening / closing movement should be interrupted. When the door control device 22 determines that the object is an effective detection target, the door control device 22 interrupts the opening and closing movements of the first and second car door panels 1 and 2. On the other hand, if the door control device 22 determines that the object is an effective detection target, the door control device 22 continues to open and close the first and second car door panels 1 and 2.

  Here, in the door control device 22, reference dimensions A and B corresponding to the height dimension of the object and reference times X and Y corresponding to the continuous detection time are registered in advance. The reference dimension A is, for example, 5 mm, and the reference dimension B is, for example, 10 mm. The reference time X is, for example, 1.0 seconds, and the reference time Y is, for example, 0.2 seconds.

  Furthermore, when the height dimension of the object is less than the reference dimension A, the door control device 22 determines that the object is not an effective detection target, and opens and closes the first and second car door panels 1 and 2. The first and second car door panels 1 and 2 are fully opened or fully closed. Further, the door control device 22 confirms whether or not the continuous detection time becomes the reference time X or more when the height dimension of the object is the reference dimension A or more and less than the reference dimension B.

  Then, when the continuous detection time is equal to or longer than the reference time X, the door control device 22 determines that the object is an effective detection target, interrupts the opening and closing movement of the first and second car door panels 1 and 2, The opening and closing directions of the first and second car door panels 1 and 2 are reversed and moved to open and close (that is, reverse movement). On the other hand, if the height dimension of the object is greater than or equal to the reference dimension A and less than the reference dimension B, the door controller 22 determines that the object is not an effective detection target if the continuous detection time is less than the reference time X. The first and second car door panels 1 and 2 are opened and closed as they are, and the first and second car door panels 1 and 2 are fully opened or fully closed.

  Further, the door control device 22 confirms whether or not the continuous detection time is equal to or greater than the reference time Y when the height dimension of the object is equal to or greater than the reference dimension B. Judging that the object is an effective detection target, the opening and closing movements of the first and second car door panels 1 and 2 are interrupted, and the opening and closing movements of the first and second car door panels 1 and 2 are reversed. (That is, reverse movement). On the other hand, if the height dimension of the object is greater than or equal to the reference dimension B, the door control device 22 determines that the object is not an effective detection target if the continuous detection time is less than the reference time Y, and the first The opening / closing movement of the second car door panels 1 and 2 is continued as it is, and the first and second car door panels 1 and 2 are fully opened or fully closed.

  Here, the door control device 22 can be configured by a computer (not shown) having an arithmetic processing unit (CPU), a storage unit (ROM, RAM, hard disk, etc.) and a signal input / output unit. A program for realizing the operation of FIG. 3 is stored in the storage unit of the computer of the door control device 22. The sensor microcomputer 25 has an arithmetic processing unit (CPU), a storage unit (ROM, RAM, etc.) and a signal input / output unit. The storage unit of the sensor microcomputer 25 is for realizing the function of the sensor microcomputer 25. The program is stored.

  Next, the operation will be described. FIG. 3 is a flowchart showing the opening / closing control operation of the first and second car door panels 1 and 2 by the door control device 22 of FIG. First, when the door control device 22 receives an open / close command (open command or close command) from the operation control device, the door control device 22 starts opening or closing the first and second car door panels 1 and 2 (step S1). Then, the door control device 22 detects an object until the first and second car door panels 1 and 2 are fully opened or fully closed (when the first and second car door panels 1 and 2 are opened and closed). (Steps S2 and S3). If the first and second car door panels 1 and 2 are not detected until the first and second car door panels 1 and 2 are fully opened or fully closed, the door control device 22 directly controls the opening and closing of the first and second car door panels 1 and 2. Ends.

  On the other hand, when the object is detected when the first and second car door panels 1 and 2 are moved open or closed, the door control device 22 determines whether the detected height dimension is less than the reference dimension A. Is confirmed (step S4). If the height dimension of the object is less than the reference dimension A, the door control device 22 determines that the object is not an effective detection target, and continues to open or close the first and second car door panels 1 and 2. (Step S5), it is confirmed whether another object is detected before the first and second car door panels 1 and 2 are fully opened or fully closed (Steps S2 and S3). If the first and second car door panels 1 and 2 are not detected until the first and second car door panels 1 and 2 are fully opened or fully closed, the door control device 22 directly controls the opening and closing of the first and second car door panels 1 and 2. Ends.

  If the detected height of the object is equal to or greater than the reference dimension A, the door control device 22 starts measuring the continuous detection time of the object (step S6), and the height of the object is the reference dimension B. It is confirmed whether it is less than (step S7). When the height dimension of the object is less than the reference dimension B, the door control device 22 confirms whether or not the continuous detection time is equal to or longer than the reference time X (step S8). When the continuous detection time is equal to or longer than the reference time X, the door control device 22 determines that the object is an effective detection target, and reverses the moving direction of the first and second car door panels 1 and 2 (step S10). ) And waits until an object non-detection state is reached (step S11), the opening and closing movements of the first and second car door panels 1 and 2 are started again, and the same operation is repeated.

  On the other hand, if the continuous detection time is less than the reference time X, the door control device 22 determines that the object is not an effective detection target, and continues the opening or closing movement of the first and second car door panels 1 and 2. (Step S5), it is confirmed whether another object is detected before the first and second car door panels 1 and 2 are fully opened or fully closed (Steps S2 and S3). If the first and second car door panels 1 and 2 are not detected until the first and second car door panels 1 and 2 are fully opened or fully closed, the door control device 22 directly controls the opening and closing of the first and second car door panels 1 and 2. Ends.

  Moreover, when the height dimension of the object is equal to or larger than the reference dimension B, the door control device 22 confirms whether or not the continuous detection time is equal to or longer than the reference time Y (step S9). When the continuous detection time is equal to or longer than the reference time Y, the door control device 22 determines that the object is an effective detection target, and reverses the moving direction of the first and second car door panels 1 and 2 (step S10). ) And waits until an object non-detection state is reached (step S11), and the opening and closing movements of the first and second car door panels 1 and 2 are started again. The same operation is repeated until the closed state is reached.

  On the other hand, when the continuous detection time is less than the reference time Y, the door control device 22 determines that the object is not an effective detection target, and continues the opening or closing movement of the first and second car door panels 1 and 2. (Step S5), it is confirmed whether another object is detected before the first and second car door panels 1 and 2 are fully opened or fully closed (Steps S2 and S3). If the first and second car door panels 1 and 2 are not detected until the first and second car door panels 1 and 2 are fully opened or fully closed, the door control device 22 directly controls the opening and closing of the first and second car door panels 1 and 2. Ends.

  In the elevator door opening / closing control apparatus as described above, the object detection information corresponding to the height dimension (size) of the object entering the detection area 26a along the opening / closing area of the first and second car door panels 1, 2 is photoelectrically detected. Based on the height dimension of the object generated by the sensor unit 26 and included in the object detection information, and the measured continuous detection time, the object that has entered the detection area 26a is the first and second car door panels 1 and 2. Therefore, it is determined whether or not the object is an effective detection object to be interrupted, so that an object such as dust that instantaneously passes through the detection region 26a is distinguished from an effective detection object, thereby An object smaller than a conventional elevator door pull-in prevention device can be added to the effective detection target while suppressing a decrease in operation efficiency.

  Further, the door control device 22 extracts a reference time corresponding to the height dimension of the object detected by the photoelectric sensor unit 26, and enters the detection region 26a depending on whether or not the continuous detection time exceeds the extracted reference time. Since it is determined whether or not the object that has entered is an effective detection target part, when an object that is large to some extent enters the detection area 26a, it can be determined that the object is an effective detection target part relatively early. And the reversal / interruption of the opening / closing movement of the second car door panels 1 and 2 can be appropriately executed. More specifically, when the object is large to some extent, the opening and closing movements of the first and second car door panels 1 and 2 can be reversed after the lapse of the reference time Y, and when the object is small to some extent, the first and second cars. The opening and closing movement of the door panels 1 and 2 can be continued, and even if the object is small to some extent, the opening and closing movement of the first and second car door panels 1 and 2 can be reversed by the continuous detection time being equal to or longer than the reference time Y. it can.

  Here, in the conventional elevator door device as shown in Patent Document 2, a string-like object passed between the car and the landing is detected when the elevator door is fully closed. When a user with a pet moves from one of the car and the landing to the other, the elevator door closes immediately after the pet or the user has moved from one of the car and the landing to the other. There is a problem that the user and the pet are momentarily isolated by the door panel. On the other hand, in the elevator door opening / closing control apparatus as described above, a string-like object having a small diameter can be set as a detection target of the photoelectric sensor unit 26. The passed pet rope can be detected, and the above phenomenon can be avoided.

  In the first embodiment, the sensor microcomputer 25 constitutes a part of the photoelectric sensor unit 26. However, the sensor microcomputer 25 is not limited to this example, and the function of the sensor microcomputer 25 is realized by the hardware of the door control device 22. May be.

  In the first embodiment, the photoelectric sensor unit 26 is arranged so as to detect an object between the first and second car door panels 1 and 2 and the pair of vertical frames of the car doorway frame. The photoelectric sensor unit 26 may be arranged so as to detect an object between the first and second car door panels 1 and 2 and the first and second landing door panels 4 and 5. Further, the photoelectric sensor unit 26 may be arranged to detect an object between the first and second landing door panels 4 and 5 and the pair of vertical frames of the landing doorway frame.

  Furthermore, in the first embodiment, there are two reference dimensions of the reference dimension A and the reference dimension B as the reference of the height dimension, and two reference times of the reference time X and the reference time Y as the reference of the continuous detection time. Although the door control device 22 is set, the reference time and the reference time are not limited to two, and three or more reference times and reference times may be set in the door opening / closing control unit. As a result, finer opening / closing control of the elevator door can be performed.

Embodiment 2. FIG.
Next, a second embodiment of the present invention will be described. FIG. 4 is a plan view showing a part of the elevator door opening / closing control apparatus according to the second embodiment. FIG. 4 shows a plan view of each door panel 1, 2, 4, 5. In the second embodiment, the photoelectric sensor unit 26 in the first embodiment is used as the first photoelectric sensor unit 26. The first photoelectric sensor unit 26 is arranged to detect an object between the first and second car door panels 1 and 2 and the first and second landing door panels 4 and 5. That is, the first detection area 26 a of the first photoelectric sensor unit 26 is an area set between the first and second car door panels 1 and 2 and the first and second landing door panels 4 and 5. And it is an area along the open / close area of the second car door panels 1 and 2.

  Further, the second photoelectric sensor unit 27 is provided in the hall entrance / exit frame of the second embodiment so as to detect an object between the first and second hall door panels 4 and 5 and a pair of vertical frames of the hall entrance / exit frame. Is provided. The configuration of the second photoelectric sensor unit 27 is the same as that of the photoelectric sensor unit 26 in the first embodiment, and includes a projector, a light receiver, and a sensor microcomputer. In the second photoelectric sensor unit 27, a second detection region 27 a is set along the open / close regions of the first and second car door panels 1 and 2 by the detection light from the projector of the second photoelectric sensor unit 27. The second detection region 27a is a region whose position is shifted to the landing side in the depth direction of the elevator doorway with respect to the first detection region 26a. The second photoelectric sensor unit 27 detects an object that has entered the second detection area 27a and measures the height of the detected object.

  The door control device 22 receives object detection information (detection signal) from the sensor microcomputers of the first and second photoelectric sensor units 26 and 27. Further, when the door control device 22 starts the closing movement of the first and second car door panels 1 and 2 in response to the closing command from the operation control device, the door control device 22 passes through the first and second photoelectric sensor units 26 and 27. When the object is detected, the number of photoelectric sensor units 26 and 27 that detected the object is counted, and based on the number, the object that has entered at least one of the first and second detection areas 26a and 27a is effective. It is determined whether or not the object is a detection object. When the door control device 22 determines that the object is an effective detection target, the door control device 22 interrupts the closing movement of the first and second car door panels 1 and 2, and causes the first and second car door panels 1 and 2 to move. Move in reverse. On the other hand, when the door control device 22 determines that the object is an effective detection target, the door control device 22 continues the closing movement of the first and second car door panels 1 and 2.

  More specifically, when both the first and second photoelectric sensor units 26 and 27 detect an object, the door control device 22 determines that the object is an effective detection target, and the first and second The closing movement of the car door panels 1 and 2 is interrupted, and the first and second car door panels 1 and 2 are reversed. On the other hand, when only one of the first and second photoelectric sensor units 26 and 27 detects an object, the door control device 22 confirms the height dimension of the detected object, and the height dimension of the object is If it is equal to or larger than the reference dimension B, it is determined that the object is an effective detection target, and the closing movement of the first and second car door panels 1 and 2 is reversed. In addition, when only one of the first and second photoelectric sensor units 26 and 27 detects an object and the height dimension of the object is less than the reference dimension B, the door control device 22 It judges that it is not an effective detection target object, and the closing movement of the 1st and 2nd car door panels 1 and 2 is continued. Other configurations are the same as those in the first embodiment.

  Next, the operation will be described. FIG. 5 is a flowchart showing a closing control operation of the first and second car door panels 1 and 2 by the door control device 22 according to the second embodiment. First, when receiving a closing command from the operation control device, the door control device 22 starts closing the first and second car door panels 1 and 2 (step S21). Then, the door control device 22 determines whether or not to detect an object until the first and second car door panels 1 and 2 are fully closed (while the first and second car door panels 1 and 2 are closed). Confirmation (steps S22 and S23). If no object is detected before the first and second car door panels 1 and 2 are fully closed, the closing control operation of the first and second car door panels 1 and 2 by the door control device 22 is finished. Become.

  On the other hand, when an object is detected when the first and second car door panels 1 and 2 are closed and moved, the door control device 22 detects that both the first and second photoelectric sensor units 26 and 27 detect the object. (Step S24). At this time, when only one of the first and second photoelectric sensor units 26 and 27 detects an object, the door control device 22 checks whether the height dimension of the object is less than the reference dimension B. (Step S25). When the detected height dimension of the object is less than the reference dimension B, the door control device 22 determines that the object is not an effective detection target and continues the closing movement of the first and second car door panels 1 and 2. Whether or not another object is detected until the first and second car door panels 1 and 2 are fully closed (while the first and second car door panels 1 and 2 are closed) (step S26). Is confirmed (steps S22 and S23). If no object is detected before the first and second car door panels 1 and 2 are fully closed, the closing control operation of the first and second car door panels 1 and 2 by the door control device 22 is finished. Become.

  On the other hand, when both the first and second photoelectric sensor units 26 and 27 detect an object (YES direction in step S24), or only one of the first and second photoelectric sensor units 26 and 27 detects an object. When the height dimension of the object is greater than or equal to the reference dimension B (step S25: NO direction), the door control device 22 determines that the detected object is an effective detection target, and the first and first Reverse the direction of movement of the two car door panels 1 and 2 (step S27), wait until an object non-detection state is reached (step S28), start the closing movement of the first and second car door panels 1 and 2 again, The same operation is repeated until the first and second car door panels 1 and 2 are fully closed.

  In the elevator door opening / closing control apparatus as described above, the closing movement of the first and second car door panels 1 and 2 is interrupted when both the first and second photoelectric sensor units 26 and 27 detect an object. Therefore, the closing movement of the first and second car door panels 1 and 2 can be interrupted regardless of the detected height (size) of the object, and a string-like object is passed to the elevator doorway. In this case, the detection accuracy of the string-like object can be improved.

Embodiment 3 FIG.
Next, a third embodiment of the present invention will be described. FIG. 6 is a plan view showing a part of the elevator door opening / closing control apparatus according to the third embodiment. The car of the third embodiment is provided with a third photoelectric sensor unit 28 so as to detect an object between the first and second car door panels 1, 2 and the first and second landing door panels 4, 5. ing. Similar to the photoelectric sensor unit 26 in the first embodiment, the third photoelectric sensor unit 28 has a projector, a light receiver, and a sensor microcomputer. In the third photoelectric sensor unit 28, a third detection area 28 a is set along the open / close areas of the first and second landing door panels 4, 5 by the detection light from the projector of the third photoelectric sensor unit 28. The third detection region 28a is a region whose position is shifted to the car side in the depth direction of the elevator doorway with respect to the first detection region 26a. The third photoelectric sensor unit 28 detects an object that has entered the third detection region 28a, and measures the height dimension of the detected object.

  Further, the door control device 22 of the third embodiment activates at least one of the first to third photoelectric sensor units 26 to 28 when starting the closing movement of the first and second car door panels 1 and 2. When an object passing through the elevator doorway is detected, whether or not two or more of the first to third photoelectric sensor units 26 to 28 have detected the object is confirmed. Then, when two or more of them detect an object, the door control device 22 determines that the object is an effective detection target, and interrupts the closing movement of the first and second car door panels 1 and 2. Let On the other hand, when only one of them detects an object, the door control device 22 determines whether or not the object is an effective detection target based on the height dimension (size) of the detected object. to decide. Other configurations and operations are the same as those in the second embodiment.

  In the elevator door opening / closing control apparatus as described above, an object that has entered at least one of the first to third detection regions 26a to 28a is an effective detection target based on the detection status of the three photoelectric sensor units 26 to 28. Therefore, the string-like object detection accuracy can be improved as compared with the second embodiment.

  In the third embodiment, three photoelectric sensor units 26 to 28, that is, three sensor units are used. However, the present invention is not limited to this example, and four or more sensor units may be used. In this case, when the open / close control unit counts the number of sensor units generating detection signals, if the number of sensor units is a majority of the total number, the open / close control unit is detected by each sensor unit. If it is determined that the object is an effective detection target and the number of sensor units is less than half of the total number, the open / close control unit is detected by each sensor unit based on the size of the detected object. It may be determined whether the detected object is an effective detection target.

Embodiment 4 FIG.
Next, a fourth embodiment of the present invention will be described. FIG. 7 is an explanatory diagram for explaining a passing history storing operation of the door control device 22 according to the fourth embodiment. FIG. 8 is a graph showing an example of a passage history stored in the door control device 22 according to the fourth embodiment. In the fourth embodiment, when the pet E is connected to the passenger G by the pet rope F, the passage history of the door control device 22 when passing through the elevator entrance in the order of the pet E, the pet rope F, and the passenger G is shown. The storage operation will be described.

  The door control device 22 according to the fourth embodiment is based on object detection information from the photoelectric sensor unit 26 during the period from when the first and second car door panels 1 and 2 are fully opened to when they are fully closed. Information on the height dimension of the object passing through the elevator doorway is stored as passage history (time series data) in time series. Further, the door control device 22 resets the passage history at the start of raising and lowering (raising or lowering) of the car, and stores the passage history every time the first and second car door panels 1 and 2 are opened and closed.

  Here, when passing through the elevator entrance in the order of the pet E, the pet rope F, and the passenger G, the door control device 22 stores the passage history in the order of the E ′ section, the F ′ section, and the G ′ section. . Furthermore, the door control device 22 measures the length dimension of the object (the length dimension of the elevator doorway in the depth direction) by assuming that the moving speed of the object passing through the elevator doorway is substantially constant. And the door control apparatus 22 specifies the shape of the object which passed the elevator doorway based on the measured length dimension and height dimension. Accordingly, the door control device 22 determines that the shape of the object that has passed through the elevator entrance is a string based on the height dimension of the F ′ section in FIG. 8 and the length dimension of the object calculated from the passage history. Judging and receiving the closing command from the operation control device, the first and second car door panels 1 and 2 are kept fully open, or the first and second car door panels 1 and 2 are started to move. In this case, the first and second car door panels 1 and 2 are reversed. Other configurations and operations are the same as those in the first embodiment.

  In the elevator door opening / closing control device as described above, the door control device 22 stores information on the height dimension of the object passing through the elevator doorway in time series as the passage history, and the height dimension and passage history of the object. Since the shape of the object is grasped based on the length dimension of the object calculated from the above, the detection accuracy of the string-like object can be improved.

Embodiment 5 FIG.
Next, a fifth embodiment of the present invention will be described. FIG. 9 is a graph showing an example of the passage history stored in the door control device 22 according to the fifth embodiment. In the door control device 22 of the fifth embodiment, the reference dimension A in the first embodiment is set in advance as an excluded reference size that is a reference dimension for continuing the closing movement of the first and second car door panels 1 and 2. Has been. Further, when the door control device 22 detects an object having a height dimension less than the reference dimension B via the photoelectric sensor unit 26, the first and second car door panels 1 and 2 are fully opened. , Reference is made to the passage history before the object is detected, and it is confirmed whether or not an object having a height dimension equal to or higher than the standard dimension B has passed through the elevator doorway.

  When the door control device 22 confirms that an object having a height dimension equal to or greater than the reference size A has passed through the elevator doorway, the first and second car door panels 1 and 2 are received when a closing command is received from the operation control device. When the first and second car door panels 1 and 2 are started to be closed, the first and second car door panels 1 and 2 are reversed and moved. On the other hand, if the door control device 22 cannot confirm that an object having a height greater than or equal to the reference size A has passed through the elevator doorway, the first and second car door panels 1 when receiving a closing command from the operation control device. , 2 is started, or when the first and second car door panels 1, 2 are started to move, the first and second car door panels 1, 2 are kept closed. Other configurations are the same as those in the fourth embodiment.

  Next, the operation will be described. FIG. 10 is a flowchart showing the closing control operation of the first and second car door panels 1 and 2 by the door control device 22 of the fifth embodiment. First, when receiving a closing command from the operation control device, the door control device 22 starts closing the first and second car door panels 1 and 2 (step S31). Then, the door control device 22 determines whether or not to detect an object until the first and second car door panels 1 and 2 are fully closed (while the first and second car door panels 1 and 2 are closed). Confirm (steps S32 and S33). If no object is detected before the first and second car door panels 1 and 2 are fully closed, the closing control operation of the first and second car door panels 1 and 2 by the door control device 22 is finished. Become.

  On the other hand, when an object is detected when the first and second car door panels 1 and 2 are closed and moved, the door control device 22 checks whether the height dimension of the object is less than the reference dimension A (step S34). ). When the detected height dimension of the object is less than the reference dimension A, the door control device 22 refers to the passage history before the object passes (step S35), and before detecting the object, the reference dimension A. It is confirmed whether or not the above object has been detected (step S36). At this time, if the object of the reference dimension A or larger is not detected, the door control device 22 determines that the object is not an effective detection target, and continues the closing movement of the first and second car door panels 1 and 2. (Step S37) and confirm whether or not an object is detected until the first and second car door panels 1 and 2 are fully closed (while the first and second car door panels 1 and 2 are closed). (Steps S32 and S33). If no object is detected before the first and second car door panels 1 and 2 are fully closed, the closing control operation of the first and second car door panels 1 and 2 by the door control device 22 is finished. Become.

  In addition, when an object larger than the reference dimension A is detected when the first and second car door panels 1 and 2 are closed and moved (NO direction in step S34), or before an object smaller than the reference dimension A is detected. When the object of the reference dimension A or larger is detected (YES direction of step S36), the door control device 22 determines that the object is an effective detection target, and the first and second car door panels 1 and 2 are detected. The moving direction is reversed (step S38), and the process waits until the object is not detected (step S39). Then, the first and second car door panels 1 and 2 are closed again, and the first and second car door panels are started. The same operation is repeated until 1 and 2 are fully closed.

  In the elevator door opening / closing control apparatus as described above, when the door control apparatus 22 detects an object having a height less than the reference dimension A, it refers to the passage history before detecting the object, and the reference dimension A Since it is determined whether or not an object having a height less than the reference dimension A is an effective detection target depending on whether or not the object having the above height has passed through the elevator doorway, the string-like object is usually somewhat By connecting to a large object and not passing through the elevator doorway alone, it is possible to detect a string-like object having a smaller diameter than in the first embodiment, and further improve the detection accuracy for the string-like object. Can be made.

  In the fourth and fifth embodiments, the information on the height dimension of the object detected by the photoelectric sensor unit 26 is stored as the passage history. However, the present invention is not limited to this example, and the second embodiment in the second embodiment. Information on the height dimension of the object detected by the photoelectric sensor unit 27 or the third photoelectric sensor unit 28 in Embodiment 3 may be stored as a passage history. In addition to this, passage histories based on object detection information from the first to third photoelectric sensor units 26 to 28 may be combined and stored.

Embodiment 6 FIG.
Next, a sixth embodiment of the present invention will be described. FIG. 11 is a rear view showing part of the elevator door opening / closing control apparatus according to the sixth embodiment. In the first to fifth embodiments, the first to third photoelectric sensor units 26 to 28 are used as the sensor unit. However, in the sixth embodiment, a plurality of the photoelectric sensors provided in the cage and arranged in the vertical direction are spaced apart. The camera 29 is used as a sensor unit. The door control device 22 according to the sixth embodiment scans an acquired image from the camera 29 and extracts an object from the acquired image. At the same time, the door control device 22 measures the height dimension of the object extracted from the acquired image. Other configurations are the same as those in the first embodiment.

  In the elevator door opening / closing control apparatus as described above, even when the camera 29 is used as a sensor unit, the same effect as the elevator door opening / closing control apparatus of the first embodiment can be obtained.

  As in the second embodiment or the third embodiment, a plurality of sets of cameras 29 are arranged at intervals in the depth direction of the elevator doorway, and the door control device 22 scans an acquired image of each camera 29. The object is extracted from the acquired image and the closed movement of the first and second car door panels 1 and 2 is continued based on the height of the extracted object and the number of cameras 29 that photographed the object. By determining the interruption, it is possible to obtain the same effect as the elevator door opening / closing control device according to the second or third embodiment.

  Moreover, although Embodiment 1-6 demonstrated the opening / closing control apparatus of the double opening type elevator door, this invention is applicable also to the opening / closing control apparatus of a single opening type elevator door.

  Furthermore, in Embodiments 1 to 6, an object that passes through the elevator doorway is detected by the projector emitting detection light along the frontage direction of the elevator doorway or by the camera photographing, but this is limited to this example. Instead of this, an object passing through the elevator doorway may be detected by the projector emitting detection light along the height direction of the elevator doorway or by taking a picture with a camera. That is, the projector may be provided at one of the upper and lower portions of the elevator entrance and the light receiver may be provided at the other of the upper and lower portions of the elevator entrance. Or you may provide a camera in one of the upper part and the lower part of an elevator doorway. In these cases, the opening / closing control unit may measure the width dimension of the object near the elevator door and determine whether the opening / closing control unit is an effective detection target based on the width dimension.

  Furthermore, in the first to sixth embodiments, when the opening / closing movement of the elevator door is interrupted, the moving direction of the elevator door is reversed. However, the present invention is not limited to this example, and the opening / closing movement of the elevator door is interrupted. In this case, the opening / closing movement of the elevator door may be stopped. Such an operation is caused by the object being pulled between the elevator door and the entrance / exit frame as the elevator door is moved, and the object being caught between the elevator door and the entrance / exit frame. This is effective when it is difficult to open and close the elevator door in the direction.

It is a rear view which shows the elevator door by Embodiment 1 of this invention. It is explanatory drawing for demonstrating the detection condition of the object by the 1st photoelectric sensor unit of FIG. It is a flowchart which shows the opening / closing control operation | movement of the 1st and 2nd car door panel of the door control apparatus of FIG. It is a top view which shows a part of opening / closing control apparatus of the elevator door by Embodiment 2 of this invention. It is a flowchart which shows the closing control operation | movement of the 1st and 2nd car door panel of the door control apparatus of Embodiment 2 of this invention. It is a top view which shows a part of opening / closing control apparatus of the elevator door of Embodiment 3 of this invention. It is explanatory drawing for demonstrating the memory | storage operation | movement of the passage history of the door control apparatus by Embodiment 4 of this invention. It is a graph which shows an example of the passage history memorized by the door control device by Embodiment 4 of this invention. It is a graph which shows an example of the passage history memorized by the door control device by Embodiment 5 of this invention. It is a flowchart which shows the closing control operation | movement of the 1st and 2nd car door panel by the door control apparatus of Embodiment 5 of this invention. It is a rear view which shows a part of elevator door opening / closing control apparatus according to Embodiment 6 of the present invention.

Explanation of symbols

  1 first car door panel, 2 second car door panel, 4 first landing door panel, 5 second landing door panel, 22 door control device (door opening / closing control unit), 26 photoelectric sensor unit, first photoelectric sensor unit (sensor unit), 26a 1st detection area, 27 2nd photoelectric sensor unit (sensor part), 27a 2nd detection area, 28 3rd photoelectric sensor unit (sensor part), 28a 3rd detection area, 29 Camera (sensor part).

Claims (9)

A non-contact type sensor unit that generates a detection signal corresponding to the size of an object that has entered a detection area, in which a detection area that is an area along the opening / closing area of an elevator door that opens and closes the elevator door is set, and the sensor unit And controlling the opening and closing movement of the elevator door, and upon receiving a detection signal from the sensor unit during the movement of the elevator door, measure a continuous detection time that is a time when the object is continuously detected, Based on the measured continuous detection time and the size of the object included in the detection signal from the sensor unit, it is determined whether or not the object is an effective detection target that should interrupt the movement of the elevator door, An elevator door opening / closing control system comprising a door opening / closing control unit that interrupts movement of the elevator door when it is determined that the object is an effective detection target. Apparatus. In the door opening and closing control unit, information on a plurality of reference times is registered in advance in association with information on the size of the object,
The door opening / closing control unit extracts a reference time corresponding to the size of the detected object, and determines that the detected object is an effective detection target when the continuous detection time exceeds the reference time. The elevator door opening / closing control device according to claim 1. A plurality of detection areas, which are areas shifted from each other in the depth direction of the elevator doorway and along the opening / closing area of the elevator door, are set, respectively, and detected according to the object entering the corresponding detection area. A plurality of non-contact type sensor units for generating a signal, and connected to the sensor unit to control the opening and closing movement of the elevator door, and at least of the plurality of sensor units during the closing movement of the elevator door When the detection signal is received from one, the number of the sensor parts generating the detection signal is counted, and based on the number, the effective detection that the object that has entered the detection area should interrupt the movement of the elevator door A door opening / closing control unit that determines whether or not the object is an object and interrupts the closing movement of the elevator door if the object is determined to be an effective detection object An elevator door opening / closing control device comprising:   When the door opening / closing control unit receives a detection signal from at least one of the plurality of sensor units and counts the number of the sensor units generating the detection signal during the closing movement of the elevator door The opening / closing control of an elevator door according to claim 3, wherein when the number of sensor parts is a majority of the total number, the object entering the detection area is determined to be an effective detection target. apparatus. The sensor unit generates a detection signal corresponding to the size of an object that has entered the corresponding detection area,
When the door opening / closing control unit receives a detection signal from at least one of the plurality of sensor units and counts the number of the sensor units generating the detection signal during the closing movement of the elevator door In addition, when the number of sensor units is less than half of the total number, the object that has entered the detection area is an effective detection target based on the size of the object included in the detection signal from the sensor unit. The elevator door opening / closing control apparatus according to claim 3 or 4, wherein it is determined whether or not there is an elevator door.   The door opening / closing control unit stores information on the size of an object passing through the elevator doorway as a passing history in a time series from when the elevator door is fully opened to when the elevator door is fully closed. The opening / closing control device for an elevator door according to any one of claims 1, 2, and 5. The door opening / closing control unit is preset with an exclusion reference size for continuing the closing movement of the elevator door,
When the door opening / closing control unit detects an object smaller than the exclusion reference size during the closing movement of the elevator door, the door opening / closing control unit refers to a passage history before detecting the object, and has an object larger than the exclusion reference size. When it is confirmed that the vehicle has passed through the elevator doorway, it is determined that an object smaller than the exclusion reference size detected during the closing movement of the elevator door is an effective detection target. The elevator door opening / closing control apparatus described.   The sensor unit is a photoelectric sensor unit having a projector disposed on one side of the elevator entrance and exiting detection light and a light receiver disposed on the other side of the elevator entrance and receiving detection light from the projector. The elevator door opening / closing control device according to claim 1, wherein the elevator door opening / closing control device is provided.   The said sensor part is a camera for image | photographing the object which is arrange | positioned at the side part of the said elevator exit / entrance and passes the said elevator entrance / exit continuously, The any one of Claim 1-7 characterized by the above-mentioned. The elevator door opening / closing control device described in 1.

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