CN114249214A - ToF elevator light curtain device, elevator and operation method - Google Patents
ToF elevator light curtain device, elevator and operation method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
- B66B13/24—Safety devices in passenger lifts, not otherwise provided for, for preventing trapping of passengers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B11/00—Main component parts of lifts in, or associated with, buildings or other structures
- B66B11/02—Cages, i.e. cars
- B66B11/0226—Constructional features, e.g. walls assembly, decorative panels, comfort equipment, thermal or sound insulation
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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
- B66B5/0006—Monitoring devices or performance analysers
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Abstract
A ToF elevator light curtain device, an elevator using the same and an operation method of the device are disclosed. The device comprises: the first light source module is used for projecting linear light parallel to the car door to the measured space; the second light source module is used for projecting area array light to the measured space; the ToF light intensity sensor is used for receiving the return light of the linear light and generating a first induction signal, and receiving the return light of the area array light and generating a second induction signal; and the controller is used for controlling the first light source module and the second light source module to project linear light and area light to the measured space at different moments when the car door is opened, and generating a car door opening and closing control signal based on the first sensing signal and the second sensing signal. Therefore, according to the light curtain detection device, the first light source module for projecting linear light is introduced to be combined with the second light source module for projecting area array light, so that the light curtain detection accuracy can be improved, the failure rate can be reduced, and the efficiency can be improved.
Description
Technical Field
The present disclosure relates to the field of ToF (time of flight) measurement, and more particularly, to a ToF elevator light curtain device, an elevator using the same, and an operating method of the device.
Background
Modern elevator door system security performance constantly improves, and the sedan-chair door prevents pressing from both sides the function and evolves to the non-touching formula signal action mode of light curtain mode by the mechanical switch action mode of mechanical touch panel, but current infrared light curtain structure is complicated, easy trouble and the efficiency is low for elevator sedan-chair door presss from both sides the condition such as people and takes place occasionally.
For this reason, there is a need for an improved elevator light curtain solution.
Disclosure of Invention
One technical problem to be solved by the present disclosure is to provide an elevator light curtain scheme using the ToF principle, which can improve the light curtain detection accuracy, reduce the failure rate, and improve the efficacy by introducing a first light source module projecting linear light and a second light source module projecting area array light to work alternately.
According to a first aspect of the present disclosure, there is provided a ToF elevator light curtain device comprising: the first light source module is used for projecting linear light parallel to the car door to the measured space; the second light source module is used for projecting area array light to the measured space; the ToF light intensity sensor is used for receiving light returned by the measured space when the linear light is projected and generating a first induction signal, and receiving light returned by the measured space when the area array light is projected and generating a second induction signal; and the controller is used for controlling the first light source module and the second light source module to project linear light and area array light to a measured space at different moments when the car door is opened, and generating a car door opening and closing control signal based on the first sensing signal and the second sensing signal.
Optionally, the first light source module includes: a Horizontal Cavity Surface Emitting Laser (HCSEL) for projecting the linear light.
Optionally, the second light source module includes: a laser generator that generates infrared laser light, such as a Vertical Cavity Surface Emitting Laser (VCSEL), for projection onto the space under test; and a diffusion sheet disposed on a propagation path of the laser light to convert the laser light generated by the laser light generator into an area-array light source.
Optionally, the apparatus may further include a single housing arranged in parallel with the light exit direction of the light source module for enclosing the light source module, the ToF light intensity sensor and the controller. Alternatively, the apparatus may further comprise: light source housings for enclosing the individual light source modules, respectively; a main housing for enclosing the ToF light intensity sensor and the controller; and an external cable extending from the main housing for connecting a light source module in the light source housing, the light source module being detachably connected with the main housing via the external cable.
According to a second aspect of the present disclosure, there is provided an elevator comprising: a car; the ToF elevator light curtain device according to the first aspect mounted on a car housing located above the car door or on an upper portion of the car door; and the control module is connected with the ToF elevator light curtain device and used for controlling the opening and closing of the car door of the car based on a car door opening and closing control signal from the ToF elevator light curtain device.
According to a third aspect of the present disclosure, there is provided a method of operating a ToF elevator light curtain, comprising: linear light parallel to the car door is projected to a measured space; receiving returned light when the linear light is projected to the measured space by using a ToF light intensity sensor and generating a first sensing signal; projecting area array light to a measured space; receiving light returning when the area array light is projected to the measured space by using the ToF light intensity sensor and generating a second induction signal; and generating a car door opening and closing control signal based on the first sensing signal and the second sensing signal.
The ToF elevator light curtain scheme of the invention can improve the detection sensitivity of the elevator light curtain and reduce the failure rate by introducing high-performance HCSEL (hybrid control line select) projection linear light. Further, area-array light projection may be introduced to measure a larger range of space, as a compensation or replacement for linear light measurements.
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The above and other objects, features and advantages of the present disclosure will become more apparent by describing in greater detail exemplary embodiments thereof with reference to the attached drawings, in which like reference numerals generally represent like parts throughout.
Fig. 1 shows a schematic composition diagram of a ToF elevator light curtain apparatus according to one embodiment of the present disclosure.
Figure 2 shows a graph comparing the performance of projecting line-shaped light using the HCSEL and VCSEL processes.
Fig. 3 shows a schematic composition diagram of a ToF elevator light curtain apparatus according to one embodiment of the present disclosure.
Fig. 4 illustrates a schematic composition diagram of a second light source module according to an embodiment of the present disclosure.
Fig. 5 shows a schematic composition diagram of a ToF elevator light curtain apparatus according to one embodiment of the present disclosure.
Fig. 6 shows a schematic view of an operating scenario of a ToF elevator light curtain device according to the present disclosure when mounted on an elevator car.
Fig. 7 shows a schematic flow diagram of a method of operating a ToF elevator light curtain according to an embodiment of the invention.
Detailed Description
Preferred embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Modern elevator door system security performance constantly improves, and the sedan-chair door prevents pressing from both sides the function and evolves to the non-touching formula signal action mode of light curtain mode by the mechanical switch action mode of mechanical touch panel, but current infrared light curtain structure is complicated, easy trouble and the efficiency is low for elevator sedan-chair door presss from both sides the condition such as people and takes place occasionally.
Therefore, the invention provides an elevator light curtain scheme utilizing the ToF principle, and the scheme can improve the detection accuracy of the light curtain, reduce the failure rate and improve the efficiency by introducing the light source module for projecting the linear light, particularly the HCSEL for projecting the linear light with extremely high directivity.
Fig. 1 shows a schematic composition diagram of a ToF elevator light curtain apparatus according to one embodiment of the present disclosure.
As shown in fig. 1, the ToF elevator light curtain device 100 includes a light source module 110, a ToF light intensity sensor 120, and a housing 130.
Here, the light source module 110 is used to project linear light parallel to the car door to the space to be measured. The ToF light intensity sensor 120 is used for receiving the light returned from the measured space and generating a sensing signal. A controller (not shown) is configured to control the light source module 110 to project the linear light to the measured space when the car door is opened, and generate a car door opening/closing control signal based on the sensing signal. The mount 130 may be used to fix the light source module 110, the ToF light intensity sensor 120, and the controller, not shown.
Here, the line-shaped light refers to light in which the shape of the projected spot is a straight line on an arbitrary plane perpendicular to the projection direction. In the present invention, it is preferable to use a Horizontal Cavity Surface Emitting Laser (HCSEL) to project the linear light. Projecting line-shaped light using HCSEL can have higher performance than a line-shaped light generator based on Vertical Cavity Surface Emitting Lasers (VCSELs).
Figure 2 shows a graph comparing the performance of projecting line-shaped light using the HCSEL and VCSEL processes. Fig. 2 shows a line-shaped light projection screen shot for the HCSEL and VCSEL on the left and a light intensity profile of the HCSEL and VCSEL in the 1 ° direction on the right. As shown on the left side of the figure, at the same power of 2.0w, the upper left HCSEL has a much better brightness and concentration in the 1 ° direction than the lower right VCSEL, as evidenced by the light intensity curve on the right.
Thus, linear light with better concentration can be realized with less power consumption by using the HCSEL. In the case where the ToF elevator light curtain apparatus 100 is disposed above the car door as shown in fig. 6 and irradiates downward in a direction perpendicular to the ground, the controller may control the light source module 110 to project a linear light parallel to the car door to the measured space when the car door is opened. When no person or object passes through the car door, the ToF light intensity sensor 120 does not capture the subject space with the linear light because no object blocks the linear light from traveling. The car doors will close when no person or object passes through the car doors for a given time and no user clicks the door open button. When a person or an object passes through the car door to enter or exit the elevator, the ToF light intensity sensor 120 receives the return light, so that the person or the object can be judged to pass through the elevator door, and an induction signal for keeping the elevator door open is generated. In addition, the ToF light intensity sensor 120 can also infer the height of a person or object passing through the elevator door from the time of flight of the returning light.
In addition to elevator switching control through sensing of linear light, the ToF elevator light curtain device of the present invention may further include a light source module emitting area array light.
Fig. 3 shows a schematic composition diagram of a ToF elevator light curtain apparatus according to one embodiment of the present disclosure. The ToF elevator light curtain device 300 of fig. 3 further includes a second light source module 310_2 for projecting an area array light to a measured space, in addition to the first light source module 310_1 (projecting a linear light), the ToF light intensity sensor 320, and the housing 330, which are similar to those of fig. 1.
Here, the area array light may refer to light having a certain width in both x and y directions of a plane in which a shape of a spot is projected, on an arbitrary plane perpendicular to a projection direction. Referring also to fig. 6, the second light source module can project light at a certain cone angle α, and the area array light, as viewed in the cross section perpendicular to the car door as shown in fig. 6, covers a partial area inside and outside the elevator, unlike the linear light traveling along a straight line, and therefore can measure height data in a wider range.
For this, the light intensity sensor 330 may receive light returned from the measured space and generate a second sensing signal when the second light source module 310_2 is operated.
Here, the first and second light source modules 310_1 and 310_2 are used to project light to a space to be measured. In an application scenario of the present disclosure, the two light source modules 310_1 and 310_2 do not project light at the same time. In other words, the two light source modules 310_1 and 310_2 may be switched to perform the projection of light under the control of a controller (not shown) of the apparatus 300.
In different embodiments, the first light source module 310_1 and the second light source module 310_2 may be switched into operation based on different rules. The controller may control the first light source module 310_1 and the second light source module 310_2 to be operated during at least a part of the time period when the car door is opened, wherein the linear light projected by the first light source module 310_1 is used for detecting the entrance and exit of people or articles, and the area array light projected by the second light source module 310_2 is mainly used for detecting the specific situations (e.g., number, height, article form, etc.) of people or articles in the elevator. In one embodiment, the controller may control the first light source module 310_1 and the second light source module 310_2 to be alternately operated during the car door opening period, for example, the first light source module 310_1 and the second light source module 310_2 alternately transmit pulses at intervals of 40ms, or the first light source module 310_1 continuously transmits N (for example, three) pulses at intervals of 40ms, and the second light source module 310_2 also continuously transmits M (for example, also three, more or less) pulses at intervals of 40ms, and so on. In other embodiments, the first light source module 310_1 may be mainly operated to assist with the second light source module 310_2 during the opening of the car door. For example, if the car door is set to be closed within 5 seconds without entering or exiting, the linear light may be continuously projected after the car door is opened to determine the entering or exiting, and when the sensing signal extracted from the image captured by the first light source module 310_1 indicates that no person enters or exits within 3 seconds, the planar light pulse may be selectively projected to detect the inside situation of the car.
The ToF light intensity sensor 320 is used for receiving the light returned from the measured space and generating a sensing signal. Since the first light source module 310_1 and the second light source module 310_2 are operated at different timings, the sensor 320 does not receive return light from the two light source modules at the same time. Further, the frame rate of the sensor 320 needs to be adjusted to be equivalent to the switching frequency or the pulse emission frequency of the first and second light source modules 310_1 and 310_2 and precisely synchronized. For example, when two light source modules are pulsed at 40ms switching, the frame rate of the sensor 320 may be set to 25 frames/s. A controller, not shown, for switching one of the two light source modules 310_1 and 310_2 to project light to the space to be measured, controlling the frame rate and the photographing time of the sensor 320, and generating a car door opening and closing control signal or a riding abnormality signal based on the sensing signal.
The housing 330 may be a single housing for enclosing and fixing the plurality of light source modules 310_1 and 310_2, the ToF light intensity sensor 320, and the controller. Therefore, the ToF elevator light curtain device 300 of the present disclosure can switch different light source modules to work at different times (and is precisely synchronized with the ToF light intensity sensor 320), so that the condition inside the car can be measured while the car of people or articles can be accurately measured, and various kinds of information for ensuring normal operation of the elevator can be accurately grasped. Further, the long working time of a certain light source module can be avoided, and the failure of the elevator light curtain caused by the failure of the certain light source module (the area array light also covers the position of the car door) can be avoided.
ToF is an abbreviation of Time of flight, which translates to Time of flight, and this technique obtains the target object distance by continuously sending light pulses to the target, then receiving light returning from the object with a sensor, and by detecting the Time of flight (round trip) of these sent and received light pulses.
The sensing chip of the ToF is divided into a single-point and a planar array type photosensitive chip according to the number of pixel units, in order to measure the surface position depth information of the whole three-dimensional object, a three-dimensional geometric structure of the detected object can be obtained by utilizing a single-point ToF ranging module in a point-by-point scanning mode, and the surface geometric structure information of the whole scene can be obtained in real time by shooting a scene picture through a planar array type ToF ranging module, but the technical difficulty is larger. The present disclosure preferably uses a planar array ToF ranging module as the ToF light intensity sensor 320 to realize instant shooting of the whole measured area.
The ToF irradiation unit (i.e., corresponding to the light source module of the present disclosure) modulates light at a high frequency and then emits the modulated light, and may use an LED or a laser (including a laser diode or a VCSEL or a HCSEL) to emit high-performance pulsed light, where the pulse may reach about 100MHz, and mainly uses infrared light. The ToF technology currently available on the market is mostly based on continuous wave (continuous wave) intensity modulation methods, and some are based on optical shutter methods.
The method based on the optical shutter emits a beam of pulse light wave, the time difference t of the light wave reflected after irradiating the three-dimensional object is rapidly and accurately acquired through the optical shutter, and the distance between the light and the light can be represented as t/2 · c by the way that the light speed c is known, as long as the time difference between the irradiated light and the received light is known. In practical application, if the method is higher, the clock for controlling the optical shutter switch is required to have higher precision, short pulses with high precision and high repeatability are required to be generated, and the irradiation unit and the ToF sensing chip are required to be controlled by high-speed signals, so that the high depth measurement precision can be achieved. If the clock signal between the illumination light and the ToF sensor is shifted by 10ps, this corresponds to a displacement error of 1.5 mm.
A modulation method based on continuous waves emits a beam of illumination light, and distance measurement is carried out by utilizing the phase change of an emitted light wave signal and a reflected light wave signal. The wavelength of the lighting module is generally in the infrared band, and high frequency modulation is required. The ToF photosensitive module is similar to a common mobile phone camera module and comprises a chip, a lens, a circuit board and other components, each pixel of the ToF photosensitive module records the specific phase between a reciprocating camera emitting light waves and an object respectively, the phase difference is extracted through a data processing unit, and the depth information is calculated through a formula. The sensor structure is similar to a CMOS image sensor adopted by a common mobile phone camera module, but the size of the contained pixels is larger than that of the pixels of the common image sensor, and is generally about 20 um. An infrared bandpass filter is also required to be arranged to ensure that only light of the same wavelength as the illumination light source enters.
The most unique advantage of the ToF technology is that the depth data of the detected object can be directly output, while the binocular vision or structured light technology requires a corresponding algorithm for processing to obtain the corresponding depth data. The ToF technology is not influenced by surface gray scale and characteristics, and has strong anti-interference capability. On a ToF chip, each pixel corresponds to an actual position of the surface of an object, and depth information can be obtained by a phase-demodulation method only if the reflected light returns. On the other hand, since sunlight or an elevator lighting lamp is not modulated, it can be considered that there is no influence on the phase, so the ToF using a light source module that projects phase light (for example, the VCSEL and the HCSEL used in the present disclosure can project phase-modulated infrared laser light) also has a certain immunity to a strong light environment.
The ToF technology can directly output depth data of an object to be measured, so that the ToF technology is more sensitive to the condition that the object to be measured enters an elevator car. In addition, because the anti-interference capability is strong, the emission power required by the ToF ranging module is much smaller than that of the structured light, so that the light-emitting device of the ToF ranging module used as an elevator light curtain can not cause harm to human eyes.
In the example of fig. 3, the ToF elevator light curtain device 300 includes two light source modules disposed at both sides of the ToF light intensity sensor, one of which projects linear light and one of which projects area array light. In other embodiments, the ToF elevator light curtain apparatus can include more light source modules (e.g., 3, 4, or even more) for alternative use or as backup light sources. The light source modules may be arranged at different positions with respect to the ToF light intensity sensor. However, in order to facilitate the reception of the reflected light, the lens direction of the ToF light intensity sensor should be parallel to the light emitting direction of the light source module and arranged as close as possible.
In addition, the housing 330 is shown as being implemented, but in a broader application scenario, the housing 330 may be considered as a specific implementation of the device chassis. Here, the base may be arranged in parallel with a light emitting direction of the light source module, and serve to fix the plurality of light source modules, the ToF light intensity sensor, and the controller.
In the present disclosure, the second light source module 310_2 for projecting the area array light may include a laser generator generating infrared laser light for projection to the measured space; and a diffusion sheet disposed on a propagation path of the laser light to convert the laser light generated by the laser light generator into an area-array light source.
In order to improve light emission efficiency and reduce heat generation, a Vertical Cavity Surface Emitting Laser (VCSEL) is preferably used as the laser generator.
Further, in order to detect the operating state of each light source module and provide a basis for the light source module switching of the controller, the first light source module 310_1 and the second light source module 310_2 may further include: and the power detection element is used for detecting whether the HCSEL or the VCSEL works normally or not and generating a power detection signal.
Fig. 4 illustrates a schematic composition diagram of a second light source module according to an embodiment of the present disclosure. The light source module 410 shown in fig. 2 may correspond to the second light source module 310_2 shown in fig. 3, and subsequently the second light source module 510_2 in fig. 5, and is considered as a preferred implementation of these light source modules.
As shown, the light source module 410 includes a VCSEL411 as a laser generator and a diffusion sheet 412. The infrared laser light reflected by the VCSEL411 travels to the diffusion sheet 412 as indicated by the dashed arrow in the figure, and is diffused by the latter into floodlight indicated by the dashed line.
Further, a PD (power detection element) 413 may be disposed on the output light path of the VCSEL, for example, inside the light source module 410 as shown in the figure, or in other implementations, outside the light source module 410, for example, on a diffusion sheet.
The PD 413 continuously detects the received power whenever the light source module 410 is switched to operate, and may generate a light source failure signal (corresponding to a power detection signal indicating a failure) when the power is lower than a predetermined threshold. The signal may be transmitted to a controller. The controller may include: and the switching device is used for switching other light source modules in the plurality of light source modules to work based on the power detection signal indicating that the laser generator cannot work normally.
It is understood that a power detection device may also be provided for the first light source module projecting linear light, such as the module 110 shown in fig. 1, the module 310_1 shown in fig. 3, and the first light source module 510_1 in the following fig. 5. For example, a PD (power detection element) may be provided on the light outgoing path of the HCSEL, for example, inside the light source module package, or outside the light source module.
Further, the ToF elevator light curtain device of the present invention may further include a malfunction alerting device for giving an alarm when the light source module thereof fails to operate normally. For example, the fault of the linear optical module may be alarmed based on a power detection signal indicating that the HCSEL cannot normally operate, or the fault of the area array optical module may be alarmed based on a power detection signal indicating that the VCSEL cannot normally operate. The alarm may be an alarm that is sensed by a service man when the service man is around the apparatus, for example, a trouble light blinks, or a buzzer sounds, or may be an alarm message transmitted via a network, for example, a trouble message directly transmitted to a maintenance department.
Since the area array light projected by the second light source module can cover a certain area inside and outside the car as shown in fig. 6, the second sensing signal generated based on the imaging of the return light when the ToF light intensity sensor projects the area array light includes the height information of the object for the irradiation area. Since the projection area of the area array light includes the car door area, the second sensing signal may reflect the situation where a person or an article enters the car door, although the accuracy is not as good as that of the linear light. For this reason, if the first light source module 310_1 that projects the linear light malfunctions, the second light source module 310_2 that projects the area array light may operate instead of the first light source module 310_1, for example, continuously emit pulses after the car door is opened, thereby enabling generation of the car door opening and closing signal based on the second sensing signal. Here, the "car door opening and closing signal" may refer to a signal that, after the car door is opened, remains open when the entry and exit of an object are sensed, and closes the car door when no object enters and exits for a prescribed period of time (for example, several seconds).
In one embodiment, in addition to the two light source modules 310_1 and 310_2, one or more other light sources may be included, for example, an additional linear light source module X1, an additional area array light source module M1, or both. When the light source for projecting a certain light includes two or more, one of them may be set as a main light source and the other may be set as a backup light source. For example, the first light source module 310_1 is set as a linear light main light source, and the light source module X1 is set as a linear light standby light source.
For this, the first light source module 310_1 is illuminated to project laser light to the measured space each time the car door is opened. At this time, the PD in the first light source module 310_1 continuously performs power detection while the HCSEL is operating, and outputs a power detection signal indicating that the laser generator is operating normally. And when the apparatus 300 operates for a certain period of time (e.g., after several years), the first light source module 310_1 is aged due to a long-time operation. And is extinguished during a certain lighting process or cannot be normally lighted when a lighting command is received. At this time, the PD generates a light source failure signal (corresponding to a power detection signal indicating a failure) when the power is lower than a predetermined threshold value, and transmits the signal to the controller. The controller can immediately switch the light source module X1 to work based on the fault signal, thereby ensuring the normal function of the elevator light curtain. A warning lamp may be provided on the apparatus 300, for example, the warning lamp may warn with a continuously flashing red light to facilitate elevator maintenance personnel to find a fault and replace the aged first light source module 310_ 1. Therefore, during the time period between the failure and the replacement of the first light source module 310_1, the standby light source X1 can maintain the normal operation of the elevator light curtain based on the linear light projection, ensuring the personal safety of the elevator user.
Alternatively, the main light source and the standby light source may not be provided, and the two light source modules 310_1 and X1 may be alternately used. Similarly, the PD included in each light source module can perform power detection when its laser generator operates to determine whether the corresponding module is operating normally, and when a failure occurs in one of the light source modules, the single light source module is used to implement the light curtain function until the elevator is repaired.
To facilitate replacement of a faulty light source, the ToF elevator light curtain apparatus of the present disclosure may also be implemented to include an external light source module. Fig. 5 shows a schematic composition diagram of a ToF elevator light curtain apparatus according to another embodiment of the present disclosure.
Instead of a plurality of light source modules, ToF light intensity sensors and controllers being included in a single housing, the apparatus 500 shown in fig. 5 includes a main housing for enclosing the ToF light intensity sensors 520 and controllers (not shown), and light source housings each enclosing one light source module (510_1 and 510_2, projecting linear light and area array light, respectively). The apparatus 500 may further include external cables extending from the main housing for connecting the light source modules within the light source housing, such as a cable 540_1 connected to the light source module 510_1 and a cable 540_2 connected to the light source module 510_ 2. The light source module may be detachably connected with the main housing via the external cable. Thus, upon failure of the light source module 510_1, for example, troubleshooting can be achieved simply by detaching a separate light source housing and replacing a new light source housing containing the light source module. The discrete light source arrangement of fig. 5 is particularly suitable for use in an arrangement of backup light sources. For example, in addition to the illustrated light source modules 510_1 and 510_2, an additional linear light source module X1 and an additional area array light source module M1 may be connected via external cables at the same time, thereby being switched to be put into use when the main module light source module 510_1 or 510_2 fails.
To achieve the light curtain function, the ToF elevator light curtain apparatus of the present disclosure is preferably mounted on a car housing located above (e.g., directly above) the car door. Fig. 6 shows a schematic view of an operating scenario of a ToF elevator light curtain device according to the present disclosure when mounted on an elevator car. Fig. 6 is a side view perpendicular to the direction of the car door, for which purpose linear light parallel to the car door is shown in the figure as a vertically downward propagating dense-dashed line, while area-array light is shown as a sparse-dashed line that exhibits one emission angle in a vertical car door cross-section. In a different implementation, the emission angle of the area array light (i.e., the projection angle of the second light source module 310_2 or 510_2, for example) α may be a conical emission angle, i.e., the projection section of the area array light is circular; it is also possible to project area arrays of light with rectangular or square cross-sections to better cover the elevator area.
As shown in fig. 6, the left side of the figure is a corridor and the right side is an elevator car. After the hoistway doors and car doors are simultaneously opened, the rider walks into the car from left to right across the doors. As shown in fig. 6, the ToF elevator light curtain device (ToF in the figure) of the present disclosure is installed outside the elevator car, directly above the car door. Therefore, linear light pulses projected by the first light source module can conveniently pass through narrow gaps in the hoistway door and the car door as shown by a dense dotted line in the figure, and therefore objects entering and exiting the car can be well detected. Further, the area array light projected by the second light source module covers the two-door area, as well as the corridor and the area inside the elevator as shown by the dotted line. If the ToF light intensity sensor also has a corresponding viewing angle, the image it takes (corresponding to the generated sensing signal) may comprise depth information in the elevator, in addition to depth information in the light curtain zone (car door zone). For this purpose, the controller can infer the situation in the elevator from the image, thereby generating the second sensing signal. For example, the controller can calculate the number of people in the elevator from the images, and even distinguish whether people are adults or children, whether people are things, and the current condition of people or things in the elevator (e.g., whether an illegal oversized article is loaded, etc.) according to the height. At this time, the ToF elevator light curtain device of the present disclosure may include: and an occupancy alarm device for generating an occupancy alarm signal when the controller determines an abnormal occupancy based on the second sensing signal. For example, the riding alarm device may be implemented as an overload alarm device for generating an overload alarm signal when the number of people is overloaded based on the sensing signal calculated by the controller.
For installation on the car, the housing or base of the ToF elevator light curtain device may further include a connection structure for fixing to the car, for example, an adsorption connection mechanism using a magnet, a screw connection mechanism, or a glue connection mechanism. The mechanism described above can be used to secure to the car housing above the car door as shown in fig. 6, but can also be secured to other suitable locations, such as the upper portion of the car door.
In other embodiments, the ToF elevator light curtain apparatus of the present disclosure can further include a separate attachment mechanism for mounting on the car housing above the car door or on an upper portion of the car door and securing the mount.
Additionally, it should be understood that the ToF elevator light curtain apparatus may further include a mechanism in communication with the elevator control system for sending generated car door opening and closing control signals to the elevator control system to facilitate mechanical control of the latter's opening and closing of the car doors. In one embodiment, the transmission of the car door opening and closing control signal and the reception of the elevator door opening signal may be realized by physical wired connection or short-distance wireless communication.
In some embodiments, the operating signal of the car can be read to determine whether the ToF elevator light curtain device enters a sleep state or a triggered state. In other embodiments, the ToF elevator light curtain device itself can be provided with the function of determining the operating state of the elevator. To this end, the ToF elevator light curtain device of the present invention may further include: a proximity sensor for sensing opening and closing of the car door and generating a proximity sensing signal, the apparatus switching the sleep state and the trigger state based on the proximity sensing signal. In particular, a proximity sensor can be added to the side of the device, so that when the car door of the elevator is closed (for example, when the car door is in ascending or descending operation), the ToF elevator light curtain device can be made to enter a dormant state by detecting that the distance is 0 (or is sufficiently smaller than a certain threshold), or at least the light source module can be made to enter the dormant state, for example, a light curtain system composed of HCSEL and ToF can be made dormant; otherwise, if the distance is greater than a certain threshold, it indicates that the elevator door is opened, and the light curtain systems of the HCSEL and the TOF are automatically started to enter the trigger state. Because the proximity sensor can be in the operating condition all the time, but the luminous power consumption of the proximity sensor is not as big as the first and second light source modules, therefore avoid the light curtain system to be in the operating condition all the time through introducing the proximity sensor, thereby can prolong the operating life of ToF elevator light curtain device by a wide margin.
The ToF elevator light curtain device according to the present disclosure has been described above in connection with the accompanying drawings. In another aspect of the disclosure, can also be implemented as an elevator, comprising: a car; the ToF elevator light curtain apparatus as described above mounted on a car housing located above the car door or on an upper portion of the car door; and the control module is connected with the ToF elevator light curtain device and used for controlling the opening and closing of the car door of the car based on a car door opening and closing control signal from the ToF elevator light curtain device.
Further, the elevator may further include an occupancy alarm device for generating an occupancy alarm signal when the controller determines an abnormal occupancy based on the second sensing signal. For example, the riding alarm device may be implemented as an overload alarm device for generating an overload alarm signal when the number of people is overloaded based on the sensing signal calculated by the controller.
The ToF light curtain scheme of the present invention can also be implemented as a method of operation. Fig. 7 shows a schematic flow diagram of a method of operating a ToF elevator light curtain according to an embodiment of the invention. The method can be implemented by the ToF elevator light curtain device of the invention as described above.
In step S710, linear light parallel to the car door is projected to the measured space. In step S720, a ToF light intensity sensor is used to receive light returning when the linear light is projected to the measured space and generate a first sensing signal. In step S730, an area array light is projected to the measured space. In step S740, the ToF intensity sensor is used to receive the light returned when the area array is projected to the measured space and generate a second sensing signal. Subsequently, in step S750, a car door opening/closing control signal is generated based on the first sensing signal and the second sensing signal.
It should be understood that steps S730 and S740 may be performed alternately with steps S710 and S720 depending on the specific projection rule of the linear light pulse and the area light pulse.
Further, the method may further include: acquiring a car door opening signal, wherein the first light source module and the second light source module are controlled to project the linear light and the area array light to the measured space at different moments during the car door opening.
Further, the method may further include: detecting whether a light emitting element of the first light source module normally operates and generating a first power detection signal when the linear light is projected; and detecting whether the light emitting element of the second light source module works normally and generating a second power detection signal when the area array light is projected.
Further, the method may further include: a fault alarm is issued based on the first and/or second power detection signals indicating that the light emitting element is not operating properly.
Further, the method may further include: and switching the other light source module to continuously work based on the first or second power detection signal indicating that the first light source module or the second light source module cannot normally work.
Further, the method may further include: and generating an occupancy alarm signal when the abnormal occupancy is judged based on the second induction signal.
Further, the method may further include: switching a first standby light source module to replace the first light source module to work based on a first power detection signal indicating that the first light source module cannot work normally; and/or switching a second standby light source module to replace the second light source module to work based on a second power detection signal indicating that the second light source module cannot work normally.
Further, the method may further include: sensing the opening and closing of the car door and generating a proximity sensing signal; and switching the dormant state and the trigger state of the ToF elevator light curtain based on the proximity sensing signal.
The ToF elevator light curtain device, the elevator and the method of operation according to the invention have been described in detail above with reference to the accompanying drawings. The elevator light curtain scheme based on the ToF principle is introduced, and the light source module for projecting linear light, which is realized by high-performance HCSEL, can realize accurate judgment of an object entering and exiting the car door and improve the sensitivity of the elevator light curtain. Further, the scheme can also comprise a second light source module which is implemented by a VCSEL and projects area array light, and is used for measuring the internal or ambient conditions of the elevator and can be used for carrying out auxiliary judgment on the object entering or exiting the car door. The two light source modules can be put into operation in turn, and a planar array type ToF sensor acquires return light and generates corresponding induction signals. In addition, the problem of light curtain failure caused by light source faults can be avoided by introducing a standby light source module and switching in time. Whether the light source in work is in fault can be judged through the power detection element, and the standby light source is switched in time, so that the normal realization of the elevator light curtain function can be still ensured under the condition that part of the light sources are in failure.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (22)
1. A ToF elevator light curtain device comprising:
the first light source module is used for projecting linear light parallel to the car door to the measured space;
the second light source module is used for projecting area array light to the measured space;
the ToF light intensity sensor is used for receiving light returned by the measured space when the linear light is projected and generating a first induction signal, and receiving light returned by the measured space when the area array light is projected and generating a second induction signal;
and the controller is used for controlling the first light source module and the second light source module to project linear light and area array light to a measured space at different moments when the car door is opened, and generating a car door opening and closing control signal based on the first sensing signal and the second sensing signal.
2. The apparatus of claim 1, wherein the first light source module comprises:
a Horizontal Cavity Surface Emitting Laser (HCSEL) for projecting the linear light.
3. The apparatus of claim 1, wherein the second light source module comprises:
a laser generator for generating infrared laser projected to the measured space; and
and the diffusion sheet is arranged on the propagation path of the laser to convert the laser generated by the laser generator into an area array light source.
4. The apparatus of claim 3, wherein the laser generator comprises:
vertical Cavity Surface Emitting Lasers (VCSELs).
5. The apparatus of claim 1, wherein the first light source module comprises:
a first power detection element for detecting whether the light emitting element of the first light source module is normally operated and generating a first power detection signal,
the second light source module includes:
and the second power detection element is used for detecting whether the light-emitting element of the second light source module works normally or not and generating a second power detection signal.
6. The apparatus of claim 5, comprising:
and a malfunction warning device for issuing an alarm based on the first and/or second power detection signal indicating that the light emitting element does not operate normally.
7. The apparatus of claim 5, wherein the controller comprises:
and the switching device is used for switching the other light source module to continuously work based on the first or second power detection signal indicating that the first light source module or the second light source module cannot normally work.
8. The apparatus of claim 1, comprising:
and an occupancy alarm device for generating an occupancy alarm signal when the controller determines an abnormal occupancy based on the second sensing signal.
9. The apparatus of claim 1, comprising:
the first standby light source module is used for switching to replace the first light source module to work based on a first power detection signal indicating that the first light source module cannot work normally; and/or
And the second standby light source module is used for switching to replace the second light source module to work based on a second power detection signal indicating that the second light source module cannot work normally.
10. The apparatus of claim 1, further comprising:
a single housing arranged in parallel with a light emitting direction of the light source module for enclosing the light source module, the ToF light intensity sensor and the controller.
11. The apparatus of claim 1, further comprising:
light source housings for enclosing the individual light source modules, respectively;
a main housing for enclosing the ToF light intensity sensor and the controller; and
an external cable for connecting a light source module within the light source housing is extended from the main housing, and the light source module is detachably connected with the main housing via the external cable.
12. The apparatus of claim 1, further comprising:
a proximity sensor for sensing opening and closing of the car door and generating a proximity sensing signal, the apparatus switching the sleep state and the trigger state based on the proximity sensing signal.
13. An elevator, comprising:
a car;
the ToF elevator light curtain apparatus of any one of claims 1-12 mounted on a car housing above a car door or on an upper portion of a car door; and
and the control module is connected with the ToF elevator light curtain device and used for controlling the opening and closing of the car door of the car based on a car door opening and closing control signal from the ToF elevator light curtain device.
14. The elevator of claim 13, comprising:
and an occupancy alarm device for generating an occupancy alarm signal when the controller determines an abnormal occupancy based on the second sensing signal.
15. A method of operating a ToF elevator light curtain comprising:
linear light parallel to the car door is projected to a measured space;
receiving returned light when the linear light is projected to the measured space by using a ToF light intensity sensor and generating a first sensing signal;
projecting area array light to a measured space;
receiving light returning when the area array light is projected to the measured space by using the ToF light intensity sensor and generating a second induction signal; and
and generating a car door opening and closing control signal based on the first induction signal and the second induction signal.
16. The method of claim 15, comprising:
acquiring a car door opening signal, wherein the first light source module and the second light source module are controlled to project the linear light and the area array light to the measured space at different moments during the car door opening.
17. The method of claim 16, comprising:
detecting whether a light emitting element of the first light source module normally operates and generating a first power detection signal when the linear light is projected; and
and detecting whether the light-emitting element of the second light source module works normally or not when the area array light is projected and generating a second power detection signal.
18. The method of claim 17, comprising:
a fault alarm is issued based on the first and/or second power detection signals indicating that the light emitting element is not operating properly.
19. The method of claim 16, comprising:
and switching the other light source module to continuously work based on the first or second power detection signal indicating that the first light source module or the second light source module cannot normally work.
20. The method of claim 16, comprising:
and generating an occupancy alarm signal when the abnormal occupancy is judged based on the second induction signal.
21. The method of claim 16, comprising:
switching a first standby light source module to replace the first light source module to work based on a first power detection signal indicating that the first light source module cannot work normally; and/or
And switching a second standby light source module to replace the second light source module to work based on a second power detection signal indicating that the second light source module cannot work normally.
22. The method of claim 16, comprising:
sensing the opening and closing of the car door and generating a proximity sensing signal; and
and switching the dormant state and the trigger state of the ToF elevator light curtain based on the proximity sensing signal.
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| CN202010996053.9A CN114249214A (en) | 2020-09-21 | 2020-09-21 | ToF elevator light curtain device, elevator and operation method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010996053.9A CN114249214A (en) | 2020-09-21 | 2020-09-21 | ToF elevator light curtain device, elevator and operation method |
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