CN104555634B - The bar hook detection device of elevator - Google Patents
The bar hook detection device of elevator Download PDFInfo
- Publication number
- CN104555634B CN104555634B CN201410406642.1A CN201410406642A CN104555634B CN 104555634 B CN104555634 B CN 104555634B CN 201410406642 A CN201410406642 A CN 201410406642A CN 104555634 B CN104555634 B CN 104555634B
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- bar
- elevator
- hook
- rope
- detection device
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/02—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions
- B66B5/021—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions the abnormal operating conditions being independent of the system
- B66B5/022—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions the abnormal operating conditions being independent of the system where the abnormal operating condition is caused by a natural event, e.g. earthquake
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
- B66B5/0018—Devices monitoring the operating condition of the elevator system
- B66B5/0031—Devices monitoring the operating condition of the elevator system for safety reasons
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Environmental & Geological Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Remote Sensing (AREA)
- Maintenance And Inspection Apparatuses For Elevators (AREA)
- Operating, Guiding And Securing Of Roll- Type Closing Members (AREA)
Abstract
The present invention provides a kind of bar hook detection device that can reliably judge whether to there occurs after the end that earthquake etc. is shaken the elevator of the hook of the bar such as rope thrust in liftway.The bar hook detection device of this elevator possesses: image pickup part (5), it obtains the image in the liftway of elevator；Orientation measurement portion (28), image in its liftway got according to image pickup part (5), measure rope in liftway towards direction；Distance measuring portion (29), the distance between the thrust in liftway and rope is measured by it；And it is hooked with without judging part (30), its direction measured according to orientation measurement portion (28) or distance measuring portion (29) measure the distance between thrust and the rope arrived, and judge whether to there occurs the rope hook to thrust.
Description
Technical field
The present invention relates to a kind of utilize image to detect the elevator of the situation that the bar such as rope are hooked on lift facility
Bar hook detection device.
Background technology
The rope hook causing the elevator stopped because of earthquake etc. owing to significantly may shake hangs over setting in liftway
Standby upper, even if therefore can not automatically recover after shake terminates.To this, send maintenance person to scene after the end of shake
Just recover in the case of confirmation rope does not occurs hook.But, maintenance person after earthquake etc. terminates in order to ground, city
The all of elevator in district carries out inspection and requires a great deal of time, and therefore causes recovering to postpone.To this, it is known to a kind of automatic
Judge whether there occurs the technology of the hook of rope.
Such as, in the technology described in patent documentation 1, by the rope being arranged near the rope outlet of the building the superiors
Rope displacement detecting mechanism detects the rope position from earthquake generation after Time constant, with rope position phase time usual
Ratio, is judged as there occurs hook in the case of exceeding threshold value.
And, in the technology described in patent documentation 2, in order to detect the hook of speed controller rope, cut off, depart from, logical
Cross measure speed controller rope tension weight the position away from orlop ground to measure the position of speed controller rope tension sheave,
It is judged as in the case of being moved upward compared with reference position there occurs hook.
Citation
Patent documentation
Patent documentation 1: Japanese Unexamined Patent Publication 2008-184253 publication
Patent documentation 2: Japanese Unexamined Patent Publication 10-258976 publication
The problem that invention is to be solved
In the technology described in patent documentation 1, at the rope outlet of the building the superiors, measure from earthquake generation
Rope position after Time constant, compared with rope position time usual, vibrates exceeding the amplitude of regulation
In the case of be judged as there occurs hook.But the elevator for Super High mansion, it is difficult to measure according in the building the superiors
Rope position judge up to whether the rope of hundreds of meters there occurs hook.
In the technology described in patent documentation 2, detect the speed controller rope tension weight and speed governing produced because of hook
The displacement upward of device rope tension rope sheave.But, due in elevator use rope by multiple strand twisteds together, because of
This stretches as spring or ties tight because twisting thread and extend.Accordingly, it is difficult to according to being up to hundreds of meters as Super High mansion
The rising of the position of the bottom of rope detects hook.
Summary of the invention
To this, the present invention provides a kind of can reliably judging whether to there occurs that the bar such as rope are in liftway
The bar hook detection device of the elevator of the hook of thrust.
Solution
In order to solve above-mentioned problem, the bar hook detection device of the elevator of the present invention is according to the image in liftway
Detect the hook to thrust of the bar in the liftway of elevator, the bar hook detection device tool of described elevator
Standby: image pickup part, it is for obtaining the image in liftway；Measurement portion, it is measured according to the image accessed by image pickup part
Distance between thrust and bar or bar towards direction；And judging part, it is according to dashing forward measured by measurement portion
The spacing of thing and bar or bar towards direction judge whether to there occurs the bar hook to thrust.
Invention effect
According to the distance between the thrust gone out by the image measurement in liftway and bar or bar towards
Direction, it is possible to judge whether exactly to there occurs the bar hook to thrust.
The problem beyond foregoing, structure and effect is illustrated by the explanation of following embodiment.
Accompanying drawing explanation
Fig. 1 represents the state that rope is hooked on thrust in liftway.
Fig. 2 is that the bar hook of the elevator as the first embodiment of the present invention detects the image pickup part that device is possessed
Mounting means.
Fig. 3 is the example of the image being shot the inner side of liftway by the image pickup part 5-1 of Fig. 2 and obtaining.
Fig. 4 is the example of the image being shot the inner side of liftway by the image pickup part 5-2 of Fig. 2 and obtaining.
Fig. 5 is the example of the image being shot the inner side of liftway by the image pickup part 5-3 of Fig. 2 and obtaining.
Fig. 6 is another mounting means of image pickup part.
Fig. 7 is the example of the image being shot the inner side of liftway by the image pickup part 5-4 of Fig. 6 and obtaining.
Fig. 8 is the frame of the structure of the bar hook detection device of the elevator being denoted as the first embodiment of the present invention
Figure.
Fig. 9 is the example of circumference Code Template and angular histogram.
Figure 10 is the bar hook detection of the elevator representing the embodiment shown in Fig. 8 image procossing performed by device
Flow chart.
Figure 11 is the image example photographed by image pickup part 5-1.
Figure 12 is the image example photographed by image pickup part 5-2.
Figure 13 is the block diagram of the bar hook detection device of the elevator being denoted as the second embodiment of the present invention.
Figure 14 is the block diagram of the bar hook detection device of the elevator being denoted as the third embodiment of the present invention.
Figure 15 is intended to indicate that the example of the elevator of the concrete example of the starting point of rope.
Description of reference numerals is as follows:
1 liftway
1-B, 1-C, 1-L, 1-R lifting channel wall
2,2-1,2-2,2-3,2-4,2-5,2-6,2-7 shutter
2-5R distance circle
3,6,7,8,11,14 rope (hook does not occurs)
4,9A, 9B, 10,12A, 12B, 13,15A, 15B, 16,17 rope (there occurs hook)
5,5-1,5-2,5-3,5-4 image pickup part
The boundary line of F1, F2, F3, F4 floor
20, the bar hook detection device of 50 elevators
21 setting means
22 display parts
23 instruction units
24 region reflection preparing department
25 region reflection maintaining parts
26 time averaged portions
27 rope test sections
28 orientation measurement portions
29 distance measuring portion
30 are hooked with without judging part
31 judged result output units
32 circumference templates
33,34 building strut
35,36,37,38,40,41,42,43 instruction point
39,44 end point
45 vibrating sensors
46 starting portions
47 lift cars stop floor judging part
48 comprehensive descision portions
49 elevator automatic recovery devices
51 three-dimensional distance sensors
100 elevator hall doors
101 hoist engines arrange ground
102 control cable
103 starting points controlling cable 102
104 main ropes
The starting point of 105 main ropes 104
The starting point of 106 main ropes 104
107 speed controller ropes
108 pulleys
The starting point of 109 speed controller ropes 107
The starting point of 110 speed controller ropes 107
111 compensate rope
112 lift cars
113 starting points compensating rope 111
114 weights
115 starting points compensating rope 111
Detailed description of the invention
Hereinafter, referring to the drawings embodiment is illustrated.
Embodiment 1
[principle explanation]
Fig. 1 represents the state that rope is hooked on thrust in liftway.Fig. 1 (a) is from elevator hall door 100
Side surface direction observes the figure in elevator lifting channel 1, and Fig. 1 (b) is that this lifting is observed in the face side direction from elevator hall door 100
Figure in passage 1.Be provided with stopping floor detection device (not shown) on the top of the lift car of elevator, this stopping floor being examined
Surveying device is Magnetic Sensor or photoelectric sensor.And, in liftway side, on the top of the door of each floor, shutter is installed
2 (not shown concrete structures).For shutter 2 (2-1～2-7), the lift car at elevator stops at any floor
In the case of, shutter 2 all blocks stopping floor detection device magnetically or optically, thus detects stopping or the stopping of lift car
Position.Therefore, shutter 2 is installed as, between the upper floor of liftway to lower floor along vertical direction i.e. gravity
Direction and be arranged in string.
It should be noted that in Fig. 1, for the ease of diagram, shutter 2 is drawn pattern, but this pattern not table
Show the structure (other accompanying drawings are the most identical) of the shutter of reality.
In liftway, the equipment become thrust is provided with the protector for preventing rope hook, but,
In order to realize above-mentioned functions, at shutter 2, protector is not installed.Therefore, shutter 2 is the projection that possible cause rope hook
Thing.
In FIG, the rope 3 being illustrated by the broken lines is in the state that hook does not occurs.Here, the S in accompanying drawing represents rope
Starting point.Such as, Figure 15 the concrete example of the starting point of rope is represented.Figure 15 is intended to indicate that the liter of the concrete example of the starting point of rope
The example of fall machine, controls the downside that cable (also referred to as running cable) 102 arranges ground 101 to hoist engine and hangs down, this part
Topmost is the starting point 103 controlling cable 102.In main rope 104, the portion hung down in the downside on ground 101 is set to hoist engine
The topmost divided is the starting point 105 and 106 of main rope 104.Speed controller rope 107 turns back at pulley 108, speed controller rope
The position away from pulley 108 of 107 is the starting point 109 and 110 of speed controller rope 107.Compensate rope 111 and lift car 112
Link with weight 114.The position compensating rope 111 and lift car 112 and weight 114 link is to compensate rope 111 respectively
Starting point 113 and 115.Even if it should be noted that rope 3 is not when occurring hook, the most also rocking from side to side, and scheme
This state not shown in 1.As rope 3, exist control cable 102 (its one also being able to be considered as rope), main rope 104,
The various ropes such as speed controller rope 107, compensation rope 111, they hang down on gravity direction along with slightly shaking.And,
These ropes are sometimes temporary transient close to shutter 2 because of shake, but are in the position separating constant distance from shutter 2 all the time
Hang down on gravity direction.It should be noted that these ropes can be turned back (reference with U-shaped by pulley descending most floor
Figure 15).
In FIG, solid line the rope 4 represented is hooked on from upper several second shutter 2-2.Rope 4 because of hook from
Starting point S of the rope of building topmost is towards shutter 2-2.Represented by straight line in FIG, and actually there is also because of rope
The deadweight of 4 and become the situation of catenary curve.Rope 4 from the part with shutter 2-2 hook forward, further to lower floor
Shutter 2-3 to 2-7 and almost in the vertical direction hang down.
Fig. 2 is denoted as bar hook detection the possessed image pickup part of device of the elevator of the first embodiment of the present invention
Mounting means.As image pickup part, such as, use camera.Image pickup part is arranged on the lifting channel wall being provided with shutter 2, and sets
Put with in lifting channel wall same plane.Here, Fig. 2 (a) represents the liftway 1 residing for elevator hall door 100
Wall front, Fig. 2 (b) represents that the existence of liftway 1 has the section of wall of elevator hall door.Shown in Fig. 2 (a) and Fig. 2 (b)
Three examples of the set-up mode of image pickup part 5.Image pickup part (5-1,5-2,5-3) is all disposed within being provided with the lifting of shutter 2
On conduit wall.Thereby, it is possible to prevent rope to be easily hooked on image pickup part 5.Image pickup part 5-1 is with being vertically arranged from shutter 2
The mode of row deviation be arranged on the position moving predetermined distance from the position overlooking shutter 2 along horizontal direction, example
Such as the position of about 1 meter.Image pickup part 5-2 is arranged on the position that can overlook shutter 2 along obliquely downward.Image pickup part 5-3 is arranged
In the position that can shoot shutter 2 along horizontal direction.
Fig. 3 is the example of the image shooting the inner side of liftway 1 by the image pickup part 5-1 of Fig. 2 and obtaining.Below picture
The wall that white portion 1-C is liftway 1 and be to there are the wall of elevator hall door side.Describe in picture left to block
Plate 2-2.It should be noted that the rectangular white portion A connected with region 1-C and shutter 2-2 represents elevator hall door
Top or the door (threshold) in entrance hall.
As shown in Fig. 3 (a), in the image of the image pickup part 5-1 being arranged on the floor that there are shutter 2-2, shooting
There is shutter 2-2.In figure, stippled area 1-L is the liftway being positioned at left in liftway towards elevator hall door
Wall.Stippled area 1-R is the lifting channel wall being positioned at right in liftway towards elevator hall door.White portion 1-B
It is the lifting channel wall opposed with elevator hall door.
In Fig. 3 (a), it is labeled with line segment F1 to F4, to distinguish the boundary line of each floor from upper strata to lower floor.And,
Line segment as the border of each wall of liftway 1 extends downwards and converges.More described is vertical direction
End point, the rope declined under gravity is also towards this end point.Such as, the rope 6 to 8 being illustrated by the broken lines is all
It is directly toward end point, is the rope that hook does not occurs.On the other hand, solid line the rope 9 (9A, 9B) represented is to be hooked on screening
Rope on baffle plate 2-2.The especially direction of the part of rope 9A is the direction towards shutter 2-2, towards with there is not hook
The rope direction different towards the direction of end point hung.But, rope 9B is partially toward end point.Can interpolate that for, as
So hang over along the direction i.e. different towards the direction of end point from gravity direction towards the rope hook of shutter 2-2 and block
On plate 2-2.
Fig. 3 (b) is to block by being arranged on there are in the case of rope hook hangs on shutter 2-2 as Fig. 3 (a)
The image pickup part 5-1 shooting inner side of liftway 1 on the floor of plate 2-5 and the example of image that obtains.If here, with shutter
Set the distance circle 2-5R of the radius of regulation centered by the position of 2-5, then can interpolate that as, rope 10 as represented by a solid line
Rope such, by the inside of distance circle 2-5R is i.e. hooked on close to shutter 2-5 to the distance rope below of regulation
On shutter beyond shutter 2-5.
As described above, at each storey setting image pickup part 5-1 and include shutter 2 in the visual field and the image that photographs
In, at the rope towards the shutter photographed or clapped close to the shutter photographed to the distance rope below of regulation
In the case of taking the photograph, it is possible to be judged as that rope hook hangs on certain shutter.
Fig. 4 is the example that the image pickup part 5-2 by Fig. 2 shoots the image that the inner side of liftway 1 obtains.Under picture
The white portion 1-C of side is the lifting channel wall that there are elevator hall door side.In picture, describe there is multiple shutter 2,
But, wherein, shutter that the rightmost side is described, maximum is the shutter being arranged on the floor being provided with image pickup part 5-2.
As shown in Fig. 4 (a), in the image of the image pickup part 5-2 being arranged on the floor that there are shutter 2-2, shooting
There is shutter 2-2.In the accompanying drawings, stippled area 1-L is the lifting being positioned at left in liftway towards elevator hall door
Conduit wall.White portion 1-B is the lifting channel wall opposed with elevator hall door.Border as each wall of liftway 1
Line segment extends downwards and converges.More described is the end point of vertical direction, under gravity and under
The rope of fall is also towards this end point.Such as, the rope 11 being illustrated by the broken lines is directly toward end point, is the rope that hook does not occurs
Rope.On the other hand, solid line the rope 12 (12A, 12B) represented is the rope being hooked on shutter 2-2.Especially rope
The direction of the part of 12A is the direction towards shutter 2-2, towards with do not occur the rope of hook towards end point direction not
Same direction.But, rope 12B is partially toward end point.Can interpolate that for, like this along with gravity direction i.e. towards disappearing
Lose the different direction, direction of point and hang on shutter 2-2 towards the rope hook of shutter 2-2.
Fig. 4 (b) is to block by being arranged on there are in the case of rope hook hangs on shutter 2-2 as Fig. 4 (a)
The image pickup part 5-2 shooting inner side of liftway 1 on the floor of plate 2-5 and the example of image that obtains.If here, with shutter
Set the distance circle 2-5R of the radius of regulation centered by the position of 2-5, then can interpolate that as, rope 13 as represented by a solid line
Rope such, by the inside of distance circle 2-5R is i.e. hooked on close to shutter 2-5 to the distance rope below of regulation
On shutter beyond shutter 2-5.
As described above, at each storey setting image pickup part 5-2 and include shutter 2 in the visual field and the image that photographs
In, at the rope towards the shutter photographed or clapped close to the shutter photographed to the distance rope below of regulation
In the case of taking the photograph, it is possible to be judged as that rope hook hangs on certain shutter.
Fig. 5 is that the image pickup part 5-3 by Fig. 2 shoots the inner side of liftway 1 and the example of image that obtains.At accompanying drawing
In, stippled area 1-L is the lifting channel wall being positioned at left in liftway towards elevator hall door.
As shown in Fig. 5 (a), in the image of the image pickup part 5-3 being arranged on the floor that there are shutter 2-2, shooting
There is shutter 2-2.In the case of this accompanying drawing, the direction of gravity is the lower section of image.In the accompanying drawings, the rope being illustrated by the broken lines
14 are directly toward the direction that lower section is i.e. parallel with gravity direction, are the ropes that hook does not occurs.On the other hand, solid line represent
Rope 15 (15A, 15B) is for be hooked on the rope on shutter 2-2.Especially the direction of the part of rope 15A is for towards blocking
The direction of plate 2-2, is directly toward, towards from the rope 14 that hook does not occurs, the direction that the direction below picture is different.But, rope
The part of rope 15B is the most downward.Can interpolate that for, like this along the direction different from gravity direction towards shutter
The rope hook of 2-2 hangs on shutter 2-2.
Fig. 5 (b) is to block by being arranged on there are in the case of rope hook hangs on shutter 2-2 as Fig. 5 (a)
The image pickup part 5-3 shooting inner side of liftway 1 on the floor of plate 2-5 and the example of image that obtains.If here, with shutter
Set the distance circle 2-5R of the radius of regulation centered by the position of 2-5, then can interpolate that as, rope 16 as represented by a solid line
Rope such, by the inside of distance circle 2-5R is i.e. hooked on close to shutter 2-5 to the distance rope below of regulation
On shutter beyond shutter 2-5.
As described above, at each storey setting image pickup part 5-3 and include shutter 2 in the visual field and the image that photographs
In, at the rope towards the shutter photographed or close to the shutter photographed to the feelings of the distance rope below of regulation
Under condition, it is possible to be judged as that rope hook hangs on certain shutter.
Fig. 6 represents another mounting means of image pickup part.Here, Fig. 6 (a) represents that the lifting residing for elevator hall door 100 is led to
The wall front in road 1, Fig. 6 (b) represents the section of wall having elevator hall door in the existence of liftway 1.In the present embodiment,
Image pickup part 5-4 is positioned at the surface of shutter 2.It should be noted that identically with the mode shown in Fig. 2, image pickup part 5-4 is arranged
On the lifting channel wall being provided with shutter 2, and be arranged on in this lifting channel wall same plane.
Hereto, the distance of the point-to-point transmission on " distance " this term image in expression plane.Hereinafter
Also maintain this usage, and to three-dimensional (three-dimensional) distance such as arrived by stereoscopic camera measurement, use " three-dimensional away from
From " such term.
Fig. 7 is the example that the image pickup part 5-4 by Fig. 6 shoots the image that the inner side of liftway 1 obtains.At this figure
In Xiang, shutter 2-2 is overlapping with end point, therefore rope 17 with whether there occurs that hook is unrelated, and towards shutter 2 and disappear
Point.In this case, as image pickup part 5-4, and using three-dimensional distance sensor, application can measure the solid of three-dimensional distance
Camera or Time of Flight camera etc..That is, measure shutter 2-2 and the three-dimensional distance of rope 17, do not send out with rope 17
The situation of raw hook is compared, in the case of in the range of the three-dimensional distance to regulation, it is possible to be judged as there occurs
Hook, if being not close to the three-dimensional distance of regulation, can interpolate that as there is not hook.Here, can be by described
The three-dimensional distance of regulation is defined as, such as, and ball centered by shutter 2-2 and its radius being set to and distance circle 2-5R
The inner side of the described ball in the case of identical ball.
[structure example]
Fig. 8 is the frame of the structure of the bar hook detection device of the elevator being denoted as the first embodiment of the present invention
Figure.The bar hook detection device 20 of elevator possesses image pickup part 5, setting means 21, region reflection maintaining part 25, time average
Change portion 26, rope test section 27, orientation measurement portion 28, distance measuring portion 29, it is hooked with without judging part 30, judged result output unit
31.And, setting means 21 possesses display part 22, instruction unit 23, region reflection preparing department 24.
Here, as image pickup part 5, display part 22, instruction unit 23, region reflection maintaining part 25, such as, use phase respectively
Machine, display equipment, instruction equipment, storage arrangement.And, such as, by the arithmetic processing apparatus root of microcomputer etc.
Region reflection preparing department 24, time averaged portion 26, rope test section is obtained according to the processing routine action corresponding with each function
27, orientation measurement portion 28, distance measuring portion 29, be hooked with without judging part 30, each function of judged result output unit 31.Need
Bright is, it is judged that result output unit 31 possesses the display device for reporting judged result and sound generating apparatus etc..
Setting means 21 when arranging image pickup part 5, make in the image that imported by image pickup part 5 with liftway within
The region reflection that structure is corresponding.The region reflection being fabricated to is maintained at region reflection maintaining part 25.In videoing in region, pass through
Coordinate figure and numerical value and record just like the position of shutter 2 in the image in Fig. 3 to the liftway 1 shown in 5, rope hook
In the case of on shutter 2 as the distance range (from the threshold value of the distance of shutter) between shutter and rope away from
From circle 2-5R, the position of end point or gravity direction.Region reflection makes, therefore when the angle of visibility of image pickup part 5 regulates
Bar hook at elevator detects in device 20 and can be connected removably by setting means 21.
Image pickup part 5 gradually obtains the image in liftway.Region reflection maintaining part 25 keeps region to video.Need explanation
, the A in Fig. 8 only represents that connection has signal.
Time averaged portion 26, rope test section 27, orientation measurement portion 28, distance measuring portion 29 can be made to respectively refer to district
Territory reflection and only to required region real-time image processing.It should be noted that the bar hook detection dress of elevator can be made
Put 20 dynamic after the end of the shake caused because of earthquake etc. by confirmations such as the vibrating sensors (not shown) being arranged on building
Make.In the case of can substantially judging that rope does not occurs shake or moves in shake terminates and elevator is also at stopping,
The process in time averaged portion 26 can be saved, and directly utilize the image obtained by image pickup part 5 and detect whether rope
Hook.
And, carrying out image procossing with videoing by referring to region can only process required region.Thus, energy
Enough cut down the treating capacity of the arithmetic processing apparatus that execution processes, and also be able to the mistake that suppression causes because of the image of unnecessary interference
Error detection.As an example, can only in Fig. 3, comprise shutter 2-2 or shutter 2-5 region 1-R (Fig. 3 (a),
The point of the respective left of Fig. 3 (b) represents region) enforcement process.Can only in Fig. 4 and Fig. 5, comprise shutter 2-2 or
Shutter 2-5 processes in interior region 1-L (point represents region) enforcement.It should be noted that rope is not occurred hook and sentences
Break and be denoted as error detection or wrong report for hook situation about exporting.
Time averaged process portion 26 performs to connect on the time of a series of snippet image (frame) obtained by image pickup part 5
The number of frames of near regulation is added average process.By this process, the rope that amplitude is big obscures and contrast distortion.The opposing party
Face, rope amplitude being tailed off the rope normally hung down on gravity direction, generation hook, will not be because addition be average
Contrast distortion.Conversely, because eliminate the variation of illumination or insects cross the interference such as picture, it is thus advantageous to lower floor's rope inspection
The process in survey portion 27.
Rope is detected by rope test section 27.To being input to the image of rope test section 27 to apply known rope shellfish
The emphasizing contour of your wave filter etc. is implemented binaryzation after processing and is detected the profile in image.Now, exist and also detect that rope
The probability of interference profile in addition.In order to suppress this situation, such as, for the lens used in image pickup part 5, select focus deep
Spend shallow lens, and be only adjusted with focusing near shutter 2.So, for the probability without hook
Rope i.e. separate the rope of more than constant distance with shutter 2 and be difficult to be examined as profile by utilize that focus deviates fuzzy
Measure.And, it is also possible to take following manner, i.e. to implementing the image of binaryzation after emphasizing contour, carry out known
The detection of Hough transform isoline component processes, and only the candidate obtaining ticket value obtaining regulation is considered as rope, and by beyond it
Part is discharged as interference.Furthermore, it is possible to the state that hook does not occurs and the shooting when shaking little will ensure that
Image as benchmark image, carry out the input picture to rope test section 27 input and the difference processing of benchmark image, to difference
Image after divisional processing implements to utilize the emphasizing contour of Sobel wave filter, it is also possible to implements Hough after binary conversion treatment and becomes
Change.In the benchmark image obtained when rope shake is little, rope does not appears in the vicinity of shutter 2, is therefore depositing
Close to shutter 2 or towards in the case of the rope of shutter 2, it is possible to be readily detected their difference.Rope test section 27
The image like this with the threshold value of regulation, the profile of rope candidate having been carried out binaryzation exports.
Shown in (a) of orientation measurement portion 28 such as Fig. 9, according to the circumference code (circle centered by shutter 2
Cord) the circumference template 32 of shape, the pixel mark code of the rope candidate in the bianry image that rope test section 27 is exported.
Such as, if certain pixel of rope candidate is in the frame of the substantially fan-shaped of code C01, this pixel is marked code C01.Right
After the whole pixel mark code of rope candidate, each code is calculated pixel count, as shown in (b) of Fig. 9, make angle code
Rectangular histogram, judges the angle code that whether there is the pixel count with the threshold value exceeding regulation, in case of presence,
By the code number that exceedes the angle code of the threshold value of described regulation, (" code number " said here refers to, such as " C01 "
" C02 " ... " C09 " ... " C18 " etc., determines it is the information of which code) as the output in orientation measurement portion 28.Exist and exceed institute
The situation of the angle code stating the threshold value of regulation refers to there is the rope towards shutter 2.On the contrary, at rope towards different directions
In the case of, the pixel of rope candidate will not concentrate on the code determined, therefore less than the threshold value of described regulation.In this situation
Under, do not export or export the code number (such as C00) of the meaning representing the most corresponding.Thereby, it is possible to measure rope towards side
To.
Distance measuring portion 29 is adjusted the distance round 2-R with the pixel of rope candidate in the output bianry image of rope test section 27
The pixel count being contained within counts, and will be hooked with the pixel count output counted out without judging part 30.Make thereby, it is possible to measure
For the shutter of thrust with as the distance between the rope of bar.In this case, " measurement distance " refers to, measures rope
Whether rope is present in distance circle (distance between shutter and rope is whether below the distance of regulation).
It is hooked with the code number that there is the threshold value exceeding described regulation without judging part 30 in the output in orientation measurement portion 28
Time, it is judged that for there is the rope towards shutter 2.And, it is hooked with and deposits in the output of distance measuring portion 29 without judging part 30
When exceeding the pixel count of threshold value of regulation, it is judged that for there is the rope close to shutter 2.Here, the threshold value comparing regulation is
In order to suppress the false judgment caused because of interference etc..Then, be hooked with without judging part 30 be judged as exist towards shutter 2
Rope or during close to the rope of shutter 2, it is judged that for there is the hook of rope, will determine that result is defeated to judged result output unit 31
Go out.The information that there is the hook of rope, when receiving judged result, is shown or sound by judged result output unit 31 by image
Sounds etc. are reported.
It should be noted that as the additive method being measured distance by distance measuring portion 29, it is also possible to take following method,
That is, utilize image procossing, obtain the immediate distance between shutter and rope on image, and this distance is exported.At this
In the case of, it is also possible in being hooked with without judging part 30 using distance circle 2-R radius as threshold value with by distance measuring portion 29
Measure to distance compare, below threshold value in the case of, it is judged that for there is hook.
[action specification]
Figure 10 is at the bar hook detection of the elevator being denoted as the embodiment shown in Fig. 8 image performed by device
The flow chart of reason.
First, after the beginning processed, it is immediately performed pre-treatment (step s1).It comprises calculation process needed for storage
Device initializes, reads above-mentioned region reflection from the source of preservation and store process in memory.It follows that obtained by image pickup part 5
Take the image (step s2) in liftway, whenever obtaining, perform step s2 to a series of process of step s8.?
Step s8 is checked with or without termination interruption, terminates a series of process when existing and interrupting.On the other hand, in without terminating
Time disconnected, return step s2, again obtain image, and repeat the process that step s2 is later.
After Image Acquisition, perform time averaged and process (step s3).It follows that perform rope detection to process (step
s4).Then, according to the rope image detected, measure rope towards direction and rope and shutter distance both sides or
Either one (step s5).It follows that according to the measurement of step s5 to the direction of rope and distance judge whether hook
(step s6).Then, the judged result in step s6 is exported (step s7).
It should be noted that concrete mechanism's constructed as above example of the respective process for performing step s2～s7
Described.
[setting means]
It follows that the making of the region reflection of the setting means 21 shown in explanatory diagram 8.Setting means 21 is by such as individual's electricity
Brains etc. are constituted.
First, the image that input is got by image pickup part 5, and show at display part 22 such as display equipment.It follows that
Instruction unit 23 is by such as indicating equipment, on display part 22, and the such as necessary item of instruction on the picture of display equipment.Example
As, Figure 11 is the image example photographed by image pickup part 5-1 (with reference to Fig. 2), for wall intersection each other and building strut 33,34 etc.
The line segment extended on gravity direction, by being indicated the point of on these intersections and line segment more than 2 to set by instruction unit 23
Fixed.In this case, such as, group and the group of instruction point 37,38 of instruction point 35,36 are indicated.Thus, point 35 to 38 is indicated
Coordinate is transfused to region reflection preparing department 24, and the coordinate of the intersection point of line segment 33 and line segment 34 is calculated as end point 39.
It is the direction that rope hangs down along with gravity in the input image towards the direction of this end point.It follows that set by instruction unit 23
Determine the coordinate of shutter 2, the center of distance circle 2-5R and radius.As required, specify as the subject area of image procossing
The region of wall 1-R.
Figure 12 represents the image example photographed by image pickup part 5-2, according to instruction point 40 to 43, and sets end point 44.
It should be noted that for the image in the case of being shot by image pickup part 5-3 as shown in Figure 5, it is not necessary to ask
Go out end point, and set position and the distance circle of shutter.
From the description above, as the first embodiment of the present invention elevator bar hook detection device, it is possible to
Reliably judge to be hooked with the situation of rope and at the upper floor of this floor to the shutter of the floor being provided with image pickup part 5
Whether layer or lower floor there occurs hook.
Embodiment 2
Figure 13 is the block diagram of the bar hook detection device of the elevator being denoted as the second embodiment of the present invention.
In the present embodiment, as the bar hook test section 20-1 shown in this figure, 20-2 ..., (n is more than 2 to 20-n
Integer), and possess the elevator shown in multiple Fig. 8 bar hook detection device 20.Bar hook test section 20-1,
Each image pickup part that 20-2 ..., 20-n are possessed is arranged respectively in the way of being included in the visual field by the shutter 2 of different floors
(with reference to Fig. 2).The most whether sent out by comprehensive descision portion 48 integration bar hook test section 20-1,20-2 ..., each output of 20-n
Give birth to the judged result of rope hook and input elevator automatic recovery device 49.And, when the output of vibrating sensor 45 is transfused to
During to starting portion 46, starting portion 46 starts bar hook test section 20-1,20-2 ..., 20-n and lift car and stops floor
Judging part 47.
First, vibrating sensor 45 is detecting that output is used in the case of earthquake etc. is applied with the shake of regulation to building
In the original signal making elevator stop.Now, the stopping floor of lift car is examined by lift car stopping floor judging part 47
Survey.At the end of vibrating sensor 45 detects the shake of building, starting portion 46 makes bar hook test section 20-1,20-
2 ..., 20-n start, whether the information of rope hook will be occurred to export to comprehensive descision portion 48.Meanwhile, lift car stops
Only floor judging part 47 notifies the stopping floor of lift car to comprehensive descision portion 48.Comprehensive descision portion 48 gets rid of lift car and stops
The floor that only floor judging part 47 is notified, the rope hook detection that the bar hook test section of each floor of computing is exported is sentenced
According to this logic sum, the logic sum of disconnected result, is being judged as that rope does not occurs the situation of hook (that is, to use in the computing of logic sum
All of bar hook test section 20-1,20-2 ..., 20-n indicate the situation without rope hook) under, starting elevator is automatic
Recovery device 49.Elevator automatic recovery device 49 performs automatically to diagnose operating, and after confirming that elevator is without exception, automatically recovering can
Elevator is made to be operated the state of operating.It should be noted that after automatically recovering, until maintenance man implements to confirm operation,
Can to operate less than common work time speed operating.
For first embodiment, as it has been described above, the bar hook detection device of elevator is except to being provided with this image pickup part
The shutter of floor exists beyond the situation of rope hook, it is also possible to judge whether floor layer or lower floor there occurs thereon
Hook.Therefore, even if being not for each storey setting bar hook test section, it is also possible to whether the rope of detection building entirety
There occurs hook.For instance, it is possible to every one to several storey setting bar hook test sections.And, the building that lift car stops
The judged result of the strip parts hook test section on layer is not included in the judged result of comprehensive descision portion 48 arithmetic logic sum, because of
This can suppress the error detection caused because of the image of lift car.
Embodiment 3
Figure 14 is the block diagram of the bar hook detection device of the elevator being denoted as the third embodiment of the present invention.
The bar hook detection device 50 of the elevator of the present embodiment possesses image pickup part 5, three-dimensional distance sensor 51, sets
Instrument 21, region reflection maintaining part 25, time averaged portion 26, rope test section 27, orientation measurement portion 28, distance measuring portion
29, it is hooked with without judging part 30 and judged result output unit 31.It should be noted that the bar hook at elevator detects device
In 50, the most identical with the process function of the frame of the processing block same-sign of the bar hook of the elevator of Fig. 8 detection device 20.
Three-dimensional distance sensor 51 can apply stereoscopic camera or Time of Flight (TOF) camera etc., it is possible to inspection
Survey the equipment of the distance of depth direction.In three-dimensional distance sensor 51 measured zone reflection (A) shutter that contains and three-dimensional away from
Three-dimensional distance between sensor 51, and detect be present in from this shutter regulation three-dimensional distance within lifting
Object in passage, the object in liftway within the most three-dimensional about 1m, read with from region reflection maintaining part 25
Region reflection (A) taken carries out overlap.Then, video in (A) for region, the region beyond overlapping region, i.e. belong to detection
To the object from shutter within regulation three-dimensional distance residing for 3D region beyond part image on region,
Three-dimensional distance sensor 51 is implemented to cover process as inactive area.Region reflection (A) after implementing and covering process,
Export from three-dimensional distance sensor 51 as region reflection (B).Here, setting because of image pickup part 5 and three-dimensional distance sensor 51
The difference of seated position, the angle of visibility causing both is different.To this, the departure of two angle of visibilities is logged in advance three-dimensional distance and passes
In sensor 51, three-dimensional distance sensor 51 according to this departure, by detect from shutter regulation three-dimensional distance with
The position of interior object is corrected into the position in region reflection (A).Then, orientation measurement portion 28 and distance measuring portion 29 utilize district
Territory reflection (B), to the region being only through on the image residing for the object that three-dimensional distance sensor 51 detects to measure projection
Thing and the distance of bar or direction.
According to the present embodiment, only by close to distance within predetermined distance from shutter, rope within such as 1 meter
The object of Suo Zuowei hook detection, therefore, it is possible to suppression error detection or wrong report.
It should be noted that the present invention is not limited to aforesaid each embodiment, also comprise various variation.Such as, front
The each embodiment stated is for the ease of understanding that the present invention has been described in detail, but may not be defined in and possess the institute illustrated
Some structures.And, it is possible to a part for the structure of certain embodiment is replaced as the structure of other embodiments, additionally, also can
Enough the structure of other embodiments is added in the structure of certain embodiment.And, it is possible to the structure of each embodiment
Point carry out the adding of other structures, delete, replace.
Such as, the various embodiments described above are in addition to main rope, the compensation rope such as rope or speed controller rope, it is also possible to apply
Comprise the detection of the hook of the bar of compensated chain, operation cable or control cable etc..In this case, Figure 15 institute is replaced
The starting point of the rope shown and consider to control the starting point of cable.And, as the thrust of these bar institute hooks, except shutter
In addition, it is also possible to application is for the bracket class etc. being fixed in liftway by lift facility.It should be noted that in Fig. 1
Rope starting point S is in addition to the component represented by Figure 15, it is also possible to for rope retainer.Additionally, the embodiment of Fig. 8,14 can be only
Possess either one in orientation measurement portion 28 and distance measuring portion 29.
Claims (9)
1. a bar hook detection device for elevator, the bar hook detection device of this elevator is according in liftway
Image detects the bar in the described liftway of elevator to the hook of thrust, it is characterised in that
The bar hook detection device of described elevator possesses:
Image pickup part, it is used for obtaining described image；
Measurement portion, its described image got according to described image pickup part is measured between described thrust and described bar
Distance or described bar towards direction；
Judging part, its according to described measurement portion measurement to described distance or described direction judge whether to there occurs described strip
Thing is to the hook of described thrust；And
Three-dimensional distance sensor, its detection is present in has the object in the range of the three-dimensional distance of regulation away from described thrust.
2. the bar hook detection device of elevator as claimed in claim 1, it is characterised in that
Described image pickup part is arranged on the lifting channel wall residing for thrust in described liftway, described.
3. the bar hook detection device of elevator as claimed in claim 1, it is characterised in that
Described distance or described direction are measured according to by the described image after time average by described measurement portion.
4. the bar hook detection device of elevator as claimed in claim 1, it is characterised in that
Described measurement portion is only for the region on the image residing for the described object detected by described three-dimensional distance sensor
Measure the described distance between described thrust and described bar or described bar towards described direction.
5. the bar hook detection device of elevator as claimed in claim 1, it is characterised in that
The described judging part described distance between described thrust and described bar regulation distance in the case of sentence
Break the hook for there occurs described bar.
6. the bar hook detection device of elevator as claimed in claim 1, it is characterised in that
Described judging part described bar towards direction be judged as in the case of the direction of described thrust occur
The hook of described bar.
7. the bar hook detection device of the elevator as described in any one in claim 1 to 6, it is characterised in that
The bar hook detection device of described elevator possesses region reflection maintaining part, and this region reflection maintaining part is in advance to record
The position having described thrust and the described bar that hook does not occurs towards the region reflection in direction keep,
Described measurement portion reads described region reflection from described region reflection maintaining part, and the described region reflection according to being read comes
Measure the described distance between described thrust and described bar or described bar towards described direction.
8. a bar hook detection device for elevator, the bar hook detection device of this elevator is according in liftway
Image detects the bar in the described liftway of elevator to the hook of thrust, it is characterised in that
The bar hook detection device of described elevator possesses:
Vibrating sensor, it is arranged on the building being provided with described elevator；
Multiple hook test sections, it is in the case of described vibrating sensor detects the shake of described building, it is judged that in institute
State the hook that whether there occurs described bar on multiple floors of building；And
Comprehensive descision portion, the logic sum of its multiple judged results exported according to the plurality of hook test section judges whether to send out
Give birth to the hook of described bar,
The plurality of hook test section possesses respectively:
Image pickup part, it is used for obtaining described image；
Measurement portion, its described image got according to described image pickup part is measured between described thrust and described bar
Distance or described bar towards direction；And
Judging part, its according to described measurement portion measurement to described distance or described direction judge whether to there occurs described strip
Thing is to the hook of described thrust.
9. the bar hook detection device of elevator as claimed in claim 8, it is characterised in that
The bar hook detection device of described elevator possesses elevator automatic recovery device, institute detected at described vibrating sensor
State the terminating and in the case of described comprehensive descision portion is judged as not occurring the hook of described bar of shake of building, described
Elevator automatic recovery device recovers described elevator automatically.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2013215997A JP6205234B2 (en) | 2013-10-17 | 2013-10-17 | Elevator long object catch detection device |
| JP2013-215997 | 2013-10-17 |
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| Publication Number | Publication Date |
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| CN104555634A CN104555634A (en) | 2015-04-29 |
| CN104555634B true CN104555634B (en) | 2016-09-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410406642.1A Active CN104555634B (en) | 2013-10-17 | 2014-08-18 | The bar hook detection device of elevator |
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| JP (1) | JP6205234B2 (en) |
| CN (1) | CN104555634B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109879129B (en) * | 2017-12-06 | 2022-06-21 | 富士达株式会社 | Rope swing detection device |
| CN108375414B (en) * | 2018-01-23 | 2020-03-31 | 西安理工大学 | Printing paper tape transverse vibration testing device and testing method |
| JP6784285B2 (en) * | 2018-10-17 | 2020-11-11 | フジテック株式会社 | Long object catching detector |
| JP6744453B1 (en) * | 2019-05-09 | 2020-08-19 | 東芝エレベータ株式会社 | Abnormality diagnosis system |
| JP7363294B2 (en) * | 2019-09-30 | 2023-10-18 | 株式会社タダノ | Rope entanglement detection device |
| WO2022195858A1 (en) * | 2021-03-19 | 2022-09-22 | 三菱電機ビルテクノサービス株式会社 | Elevator device |
| JP7388600B2 (en) * | 2021-07-19 | 2023-11-29 | 三菱電機ビルソリューションズ株式会社 | Posture confirmation components, posture confirmation systems, and elevator systems |
| JP7147943B1 (en) | 2021-09-07 | 2022-10-05 | フジテック株式会社 | elevator system |
| WO2023238217A1 (en) * | 2022-06-07 | 2023-12-14 | 三菱電機株式会社 | Long-object inspection device for elevator |
| WO2024057445A1 (en) * | 2022-09-14 | 2024-03-21 | 三菱電機ビルソリューションズ株式会社 | Elevator |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP2015078043A (en) | 2015-04-23 |
| JP6205234B2 (en) | 2017-09-27 |
| CN104555634A (en) | 2015-04-29 |
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