JP4560068B2 - Elevator door safety control method and apparatus - Google Patents

Elevator door safety control method and apparatus Download PDF

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JP4560068B2
JP4560068B2 JP2007196013A JP2007196013A JP4560068B2 JP 4560068 B2 JP4560068 B2 JP 4560068B2 JP 2007196013 A JP2007196013 A JP 2007196013A JP 2007196013 A JP2007196013 A JP 2007196013A JP 4560068 B2 JP4560068 B2 JP 4560068B2
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door
door opening
obstacle
opening
elevator
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JP2009029583A (en
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智昭 峰尾
吉宏 徳永
達志 薮内
隆之 西堀
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Hitachi Ltd
Hitachi Mito Engineering Co Ltd
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Description

本発明は、エレベーターのドア制御に関し、特に、戸開時に戸袋に挟まれることを防止するドア安全制御方法および装置に関するものである。   The present invention relates to an elevator door control, and more particularly, to a door safety control method and apparatus for preventing a door from being pinched when the door is opened.

エレベーターが目的階に到着し、自動で戸開閉を行う制御装置では、利用者は乗り場戸またはかご戸が開くタイミングを把握出来ないため、利用者の手などがドアに接触している場合、戸袋へ引き込まれてしまうおそれがあった。   In a control device that automatically opens and closes the door when the elevator arrives at the destination floor, the user cannot grasp when the landing door or the car door opens. There was a risk of being drawn into.

これを防止するため、特許文献１では、エレベーターが停止する時に、かご内の戸開端近傍で障害物の存在を検出し、警告するとともに、戸開きを所定時間遅延させる方法が提案されている。   In order to prevent this, Patent Document 1 proposes a method of detecting the presence of an obstacle in the vicinity of the door opening end in the car and giving a warning when the elevator stops, and delaying the door opening for a predetermined time.

また、特許文献２では、エレベーターのかご戸開端付近に乗客が接近したことを検出し、警告するとともに、通常時とは異なる低速度にて戸開する方法が提案されている。   Patent Document 2 proposes a method for detecting that a passenger has approached the vicinity of the open end of the elevator car door, warning the passenger, and opening the door at a lower speed than normal.

特開２００６−１６８８４３号公報JP 2006-168843 A 特開平８−２６６３６号公報Japanese Patent Laid-Open No. 8-26636

特許文献１では、かご内扉への接近を検出し、戸開き開始を遅延させているが、戸開きを遅延させるだけでは、利用者にとっては、戸開き開始のタイミングが不明であるため、戸袋への引き込まれ回避策として十分ではない。   In Patent Document 1, the approach to the car door is detected and the start of the door opening is delayed, but the door opening start timing is unknown to the user by simply delaying the door opening. Is not enough as a workaround.

特許文献２では、かご戸開端付近に乗客が近接したとき、低速度にて戸開しているが、突然通常より遅い戸開速度になるため、引き込まれ回避効果よりも、降車する利用者のリズムの妨げとなり、運転効率が低下する可能性が考えられる。   In Patent Document 2, when a passenger approaches the car door opening end, the door opens at a low speed, but since the door opening speed suddenly becomes lower than usual, the pulling-in effect of the user who gets out of the car rather than being pulled in is reduced. It may interfere with the rhythm and possibly reduce driving efficiency.

本発明の目的は、自動戸開時の戸袋への引き込まれを効果的に防止できるエレベーターのドア安全制御方法および装置を提供することである。   The objective of this invention is providing the door safety control method and apparatus of an elevator which can prevent effectively drawing in to the door pocket at the time of automatic door opening.

本発明の望ましい実施態様においては、エレベーターが目的階に到着し戸開きする際、戸開き開始時に設けている微速走行領域を延長する。この微速走行領域とは、かご戸と乗り場戸を係合するために、戸開き開始時に設けられている微速走行領域を利用することが望ましい。   In a preferred embodiment of the present invention, when the elevator arrives at the destination floor and opens the door, the slow running region provided at the start of the door opening is extended. It is desirable to use the slow speed travel area provided at the start of the door opening in order to engage the car door and the landing door.

また、本発明の望ましい実施態様においては、エレベーターかご側ドアの戸開端に、上下方向へ照射する光電式センサを設け、エレベーターが目的階に到着する直前に、このセンサが利用者を検出した場合、前記の如く戸開き開始時の微速走行領域を延長する。   In a preferred embodiment of the present invention, a photoelectric sensor for irradiating vertically is provided at the door opening end of the elevator car side door, and this sensor detects a user immediately before the elevator arrives at the destination floor. As described above, the slow running region at the start of door opening is extended.

同時に、ドア微速走行延長終了後の戸開き加速度を、通常時よりも低く抑制して戸開きを行うことが望ましい。   At the same time, it is desirable to perform the door opening while suppressing the door opening acceleration after the end of the slow door travel extension to a lower level than usual.

さらに、本発明の他の望ましい実施形態においては、既に戸開き動作が開始しており、戸が開き切っていない状態にて前記センサが利用者を検出した場合、ドアを一旦停止し、その後、センサの不作動を確認して戸開を再開する。   Furthermore, in another desirable embodiment of the present invention, when the door opening operation has already started and the sensor detects the user in a state where the door is not fully opened, the door is temporarily stopped, and then Confirm that the sensor is not working and restart the door.

このとき、人体が通り抜けられる所定の戸開間隔（６００ｍｍ程度）までドアが開いている場合は、前記センサによる利用者の検出を無効とし、そのまま戸開を続行させる。   At this time, when the door is opened to a predetermined door opening interval (about 600 mm) through which the human body can pass, the detection of the user by the sensor is invalidated and the door opening is continued as it is.

本発明の望ましい実施態様によれば、戸開き時の初期動作にて利用者に戸開き開始を示し、戸開き開始直後の微速走行領域が延長されていることにより、ドアへの引き込まれを容易に回避できる。   According to a preferred embodiment of the present invention, the door opening start is shown to the user in the initial operation at the time of opening the door, and the slow speed travel area immediately after the door opening starts is extended, so that it is easy to be pulled into the door. Can be avoided.

また、ドア微速走行領域、例えば、かご戸と乗り場戸の係合時のドア微速走行領域を延長することにより、かご側および乗り場側から出入りする双方の利用者の安全性を確保することができる。   Further, by extending the door slow speed travel area, for example, the door slow speed travel area when the car door and the landing door are engaged, it is possible to ensure the safety of both users entering and leaving the car side and the landing side. .

本発明の他の望ましい実施形態によれば、戸開途中で停止させることによって、ドアへの引き込まれを容易に回避できる。   According to another preferred embodiment of the present invention, it is possible to easily avoid being drawn into the door by stopping the door halfway.

本発明の他の望ましい実施形態によれば、利用者の接近を検出した場合、戸開き開始時の微速走行領域の延長に加え、戸開き時の加速度を下げることにより、利用者の引き込まれからの回避をより容易にすることができる。   According to another preferred embodiment of the present invention, when the approach of the user is detected, in addition to the extension of the slow running area at the start of the door opening, the acceleration at the time of the door opening is reduced, so that the user is not drawn. Can be more easily avoided.

また、ドアが途中まで開いている状態では、利用者がエレベーターから出入りを開始している可能性がある。そこで、人体が通り抜けられる戸開間隔まで開いている場合は、センサによる利用者の検出を無効とし、そのまま戸開させて、利用者のドアへの衝突を回避することが望ましい。   In addition, when the door is open halfway, there is a possibility that the user has started to enter and exit from the elevator. Therefore, when the door is opened to the opening interval through which the human body can pass, it is desirable that the detection of the user by the sensor is invalidated and the door is opened as it is to avoid a collision with the user's door.

本発明のその他の目的と特徴は、以下に述べる実施形態の中で明らかにする。   Other objects and features of the present invention will be clarified in the embodiments described below.

以下に、本発明の実施形態を図面を参照して説明する。   Embodiments of the present invention will be described below with reference to the drawings.

図１は、エレベーターかご内から出口ドアを見た図である。   FIG. 1 is a view of the exit door as seen from the elevator car.

利用者が引き込まれる可能性がある戸開端の上部に、反射型光電式センサ１を設置し、光電式センサビーム２を上下方向に照射する。３はかご側ドア、４はエレベーターかご床、５はエレベーター操作盤である。   The reflective photoelectric sensor 1 is installed on the upper part of the open door end where the user may be drawn, and the photoelectric sensor beam 2 is irradiated in the vertical direction. 3 is a car side door, 4 is an elevator car floor, and 5 is an elevator operation panel.

戸開き開始前に、前記センサ１が障害物を検出した場合、乗客が戸開端付近に寄りかかっていたり、手を戸開端付近へ伸ばしていたり、戸開の開始とともに、乗客の衣服や手先などが、戸袋に引き込まれる可能性がある。そこで、センサ１が障害物を検出した場合には、戸開き開始時の微速走行距離を通常よりも延長し、ゆっくりと開くようにする。これにより、乗客は、衣服や手先などをいきなり戸袋に引き込まれることがなく、気づいてこれを回避する余裕を持たせることができる。   If the sensor 1 detects an obstacle before the door is opened, the passenger is leaning near the door open end, the hand is extended near the door open end, the passenger's clothes and hands, etc. May be drawn into the door pocket. Therefore, when the sensor 1 detects an obstacle, the slow traveling distance at the start of the door opening is extended more than usual and is opened slowly. Thus, the passenger is not suddenly drawn into the door pocket, and can afford to be aware and avoid it.

また、同時に、その後の戸開き加速度を下げた場合には、より、安全に、引き込まれを防止することができる。   At the same time, when the subsequent door opening acceleration is lowered, the pull-in can be prevented more safely.

図２は、本発明の一実施例によるエレベーターのドア安全制御装置における制御処理フロー図である。ここに示す戸開き開始時の微速走行距離可変制御、戸開き時の加速度可変制御、戸開き中における反射型光電式センサ検出時のゼロ速度制御によるドア停止制御は、エレベーターを制御する制御盤マイコンにて処理される。また、これらの各種機能の選択および組合せは任意に実現可能であり、顧客の要望および用途に合わせ、ドアの安全制御を決定することができる。   FIG. 2 is a control processing flowchart in the elevator door safety control device according to the embodiment of the present invention. The control panel microcomputer that controls the elevator is shown in this figure. The variable speed control at the start of the door opening, the variable acceleration control at the door opening, and the door stop control by the zero speed control when the reflection type photoelectric sensor is detected during the door opening. Is processed. Further, selection and combination of these various functions can be realized arbitrarily, and the safety control of the door can be determined according to the customer's request and application.

図３は、本発明の一実施例によるエレベーターのドア安全制御装置における戸開速度のパターン例図である。   FIG. 3 is a pattern diagram of the door opening speed in the elevator door safety control device according to the embodiment of the present invention.

以下、図１〜図３を参照しながら、本発明の一実施例について、その動作を説明する。   The operation of one embodiment of the present invention will be described below with reference to FIGS.

図２のステップ２０１において、エレベーターが目的階に到着し、着床するとき、ステップ２０２において、反射型光電式センサ１が作動したかを判定する。利用者が、ドアに接近しすぎておらず、センサ１が不作動であれば、ステップ２０３にて、通常の戸開きを開始する。この通常の戸開時の速度パターンは、図３の実線３１で示す通り、戸開開始時に、若干の微速期間を有する。これは、かご戸と乗り場戸を係合させるために、通常設けられている微速走行領域である。   In step 201 of FIG. 2, when the elevator arrives at the destination floor and arrives at the floor, it is determined in step 202 whether the reflective photoelectric sensor 1 has been activated. If the user is not too close to the door and the sensor 1 is inoperative, in step 203, a normal door opening is started. This normal door opening speed pattern has a slight slow period at the start of door opening as shown by the solid line 31 in FIG. This is a slow running region that is usually provided to engage the car door and the landing door.

さて、前記ステップ２０２において、センサ１が作動していた場合には、ステップ２０４に進んで、「ドアが開きます。ドアから離れて下さい。」等の注意喚起アナウンスを行う。同時に、同様の趣旨の表示を行う。そして、ステップ２０５で戸開きを開始し、ステップ２０６では、図３の破線３２で示すように、戸開時の微速走行時間を延長する。人がドアの動きを察知するのに１秒弱程度掛かることから（モニタ試験による検証結果）、戸開き開始時の微速走行時間を１秒強程度とし、利用者のドアへの引き込まれを防止する。本方式を採ることにより、ドアが開くことを察知しにくい乗り場側の利用者にも、戸開き状態を知らせることができる。   In step 202, if the sensor 1 has been activated, the process proceeds to step 204 where a warning announcement such as "Door opens. Please leave the door." At the same time, the same purpose is displayed. Then, the door opening is started in step 205, and in step 206, the slow traveling time when the door is opened is extended as shown by the broken line 32 in FIG. Since it takes less than 1 second for a person to detect the movement of the door (verification result from a monitor test), the slow running time at the start of door opening is set to just over 1 second to prevent the user from being pulled into the door. To do. By adopting this method, it is possible to notify the user on the landing side who is difficult to detect that the door is opened, to the door open state.

戸開き開始前に本センサが利用者を検出した場合、ステップ２０６のように戸開き開始時の微速走行距離を延長すると共に、ステップ２０７では、図３の点線３３で示すように、その後の戸開き加速度を下げる。例えば、通常時の１／３程度とすることが望ましい。これにより、利用者が、戸袋に引き込まれかかった状態から、より脱出し易くなる。戸開き加速度を下げることにより、ドアの動きだしの感知が遅い幼少者にも回避が容易となる。   When this sensor detects a user before the door opens, the slow travel distance at the start of the door opening is extended as in step 206, and in step 207, the subsequent door is moved as shown by the dotted line 33 in FIG. Reduce the opening acceleration. For example, it is desirable to set it to about 1/3 of the normal time. This makes it easier for the user to escape from the state in which the user has been drawn into the door pocket. By reducing the door opening acceleration, it is easy to avoid even young children who are slow to detect door movement.

次に、戸開き開始後に、前記光電式センサ１が障害物を検出した場合には、利用者の衣服や手などがドアに引き込まれる可能性が極めて高いと言える。そこで、ステップ２０８で光電式センサ１が障害物を検出した場合、ステップ２０９において、戸開開始直後で戸開間隔が６００ｍｍに達していないことを確認し、ステップ２１０−２１１で放送／表示による注意喚起とともに、戸開を一旦停止させる。すなわち、図３の鎖線３４で示すように、ドア制御装置によりゼロ速度制御を行い、ドアを一旦停止させ戸開きを中断する。その後、利用者がドアから離れ、ステップ２１３でセンサ１の作動が無くなった場合に、ステップ２１４にて戸開きを再開する。   Next, when the photoelectric sensor 1 detects an obstacle after the door is opened, it can be said that there is a very high possibility that the user's clothes, hands, etc. will be drawn into the door. Therefore, when the photoelectric sensor 1 detects an obstacle in step 208, in step 209, it is confirmed that the door opening interval has not reached 600 mm immediately after the door opening starts, and in steps 210-211, a notice by broadcast / display At the same time, the door opening is temporarily stopped. That is, as indicated by a chain line 34 in FIG. 3, zero speed control is performed by the door control device, the door is temporarily stopped, and the door opening is interrupted. Thereafter, when the user leaves the door and the sensor 1 is deactivated in step 213, the door opening is resumed in step 214.

これにより、戸開き中の利用者の衣服や手などのドア引き込まれを回避できる。   Thereby, it is possible to avoid the user's clothes, hands, and the like from being pulled in.

しかし、戸開きを開始し、戸開間隔が利用者の通過可能な間隔（６００ｍｍ程度）となると、利用者のエレベーター出入り始まる。そこで、ステップ２０９に示すように、センサ検出による障害物検知の有効性を、人が出入り可能な戸開間隔（６００ｍｍ程度）未満までとし、それ以降の戸開き中のドア停止制御は行わないようにする。   However, when the door opening is started and the door opening interval becomes an interval (about 600 mm) through which the user can pass, the user begins to enter and exit the elevator. Therefore, as shown in step 209, the effectiveness of obstacle detection by sensor detection is set to less than the door opening interval (about 600 mm) where people can go in and out, and door stop control during subsequent door opening is not performed. To.

その後、ステップ２１５でドアが開き切ったことを確認し、ステップ２１６で戸開きを完了する。   Thereafter, it is confirmed in step 215 that the door has been fully opened, and in step 216, the door opening is completed.

エレベーターかご内から出口ドアを見た本発明の一実施例によるドア安全制御装置の外観構成図である。It is the external appearance block diagram of the door safety control apparatus by one Example of this invention which looked at the exit door from the inside of an elevator car. 本発明の一実施例によるエレベーターのドア安全制御装置における制御処理フロー図である。It is a control processing flowchart in the door safety control apparatus of the elevator by one Example of this invention. 本発明の一実施例によるエレベーターのドア安全制御装置における戸開速度のパターン例図である。It is a pattern example figure of the door opening speed in the door safety control apparatus of the elevator by one Example of this invention.

符号の説明Explanation of symbols

１…反射型光電式センサ、２…光電式センサビーム、３…かご側ドア、４…エレベーターかご床、５…エレベーター操作盤。   DESCRIPTION OF SYMBOLS 1 ... Reflection type photoelectric sensor, 2 ... Photoelectric sensor beam, 3 ... Car side door, 4 ... Elevator car floor, 5 ... Elevator operation panel.

Claims (6)

エレベータードアの戸開端近傍への障害物の接近を検出する障害物検出ステップと、前記障害物検出ステップからの出力に応じて戸開の安全を図るエレベーターのドア安全制御方法において、
戸開き開始前に前記障害物検出ステップにより障害物を検出したとき、戸開き開始時の微速走行時間を１秒強とする微速戸開延長ステップと、
戸開途中に前記障害物検出ステップにより障害物を検出したとき、人が出入り可能な戸開間隔未満である所定戸開間隔ならば、戸開を一旦停止させる一旦停止ステップと、
前記一旦停止中に、障害物検出ステップによる障害物の検出が途絶えたことを確認する確認ステップと、
この確認に基いて戸開動作を再開させる戸開再開ステップと、
戸開途中に前記障害物検出ステップにより障害物を検出したとき、人が出入り可能な戸開間隔（６００ｍｍ）を超えていれば、そのまま戸開を継続させる戸開継続ステップを備えたことを特徴とするエレベーターのドア安全制御方法。 In an obstacle detection step for detecting the approach of an obstacle to the vicinity of the door opening end of the elevator door, and a door safety control method for an elevator that makes door opening safe according to the output from the obstacle detection step,
When detecting an obstacle by the obstacle detection step before starting the door opening , a slow door opening extension step in which the slow traveling time at the start of the door opening is a little over 1 second ;
When the obstacle is detected during the door opening by the obstacle detection step, if the predetermined door opening interval is less than the door opening interval at which a person can enter and exit, a temporary stopping step of temporarily stopping the door opening,
Confirmation step for confirming that the detection of the obstacle by the obstacle detection step is stopped during the temporary stop,
A door opening restart step for restarting the door opening operation based on this confirmation;
When an obstacle is detected in the middle of the door opening by the obstacle detecting step, a door opening continuation step is provided for continuing the door opening as long as a door opening interval (600 mm) at which a person can go in and out is exceeded. Elevator door safety control method. 請求項１において、前記障害物検出ステップにより障害物を検出し、前記微速戸開延長ステップにより戸開き始めの微速走行領域を通常の戸開時よりも延長したあとの戸開き時の加速度を、通常時の１／３程度に低くする低加速度戸開ステップを備えたことを特徴とするエレベーターのドア安全制御方法。 In Claim 1, the obstacle is detected by the obstacle detection step, the acceleration at the time of opening the door after extending the slow running region at the start of the door opening by the slow speed door opening extension step than at the time of normal door opening , Elevator door safety control method comprising the low acceleration door open steps to as low as one-third of normal. 請求項１または２において、前記障害物検出ステップは、センサビームを戸開端の上下方向に照射するステップと、このセンサビームの受信の有無を判定するステップを備えたことを特徴とするエレベーターのドア安全制御方法。 3. The elevator door according to claim 1, wherein the obstacle detection step includes a step of irradiating a sensor beam in a vertical direction of a door open end and a step of determining whether or not the sensor beam is received. Safety control method. エレベータードアの戸開端近傍への障害物の接近を検出する障害物検出装置と、前記障害物検出装置からの出力に応じて戸開の安全を図るエレベーターのドア安全制御装置において、
戸開き開始前に前記障害物検出装置により障害物を検出したとき、戸開き開始時の微速走行時間を１秒強とする微速戸開延長手段と、
戸開途中に前記障害物検出装置により障害物を検出したとき、人が出入り可能な戸開間隔未満である所定戸開間隔ならば、戸開を一旦停止させる一旦停止手段と、
前記一旦停止中に、障害物検出装置による障害物の検出が途絶えたことを確認する確認手段と、
この確認に基いて戸開動作を再開させる戸開再開手段と、
戸開途中に前記障害物検出装置により障害物を検出したとき、人が出入り可能な戸開間隔（６００ｍｍ）を超えていれば、そのまま戸開を継続させる戸開継続手段を備えたことを特徴とするエレベーターのドア安全制御装置。 In the obstacle detection device for detecting the approach of the obstacle near the door opening end of the elevator door, and the door safety control device for the elevator that makes door opening safe according to the output from the obstacle detection device,
When detecting an obstacle by the obstacle detection device before starting the door opening , the slow door opening extension means for setting the slow traveling time at the start of the door opening to a little over 1 second ,
When the obstacle detection device detects an obstacle in the middle of opening the door, if it is a predetermined door opening interval that is less than the door opening interval at which a person can go in and out, a temporarily stopping means for temporarily stopping the door opening,
Confirming means for confirming that the detection of the obstacle by the obstacle detection device has stopped during the temporary stop,
A door opening restart means for restarting the door opening operation based on the confirmation;
When an obstacle is detected by the obstacle detection device in the middle of opening the door, it is provided with a door opening continuation means for continuing the door opening as long as a door opening interval (600 mm) at which a person can go in and out is exceeded. Elevator door safety control device. 請求項４において、前記障害物検出装置により障害物を検出し、前記微速戸開延長手段により戸開き始めの微速走行領域を通常の戸開時よりも延長したあとの戸開き時の加速度を、通常時の１／３程度に低くする低加速度戸開手段を備えたことを特徴とするエレベーターのドア安全制御装置。 In Claim 4 , the obstacle is detected by the obstacle detection device, the acceleration at the time of opening the door after extending the slow running region at the start of the door opening by the slow door opening extension means than at the time of normal door opening , Elevator door safety control apparatus characterized by having a low acceleration door open means to low as one-third of normal. 請求項４または５において、前記障害物検出装置は、センサビームを戸開端の上下方向に照射する照射器と、このセンサビームを受信する受信器とを備えたことを特徴とするエレベーターのドア安全制御装置。 6. The elevator door safety according to claim 4 , wherein the obstacle detection device includes an irradiator that irradiates a sensor beam in a vertical direction of a door open end and a receiver that receives the sensor beam. Control device.
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