Door control device for an elevator

Abstract

A door control device for an elevator realizes door opening and closing control in a state close to that when a rotation detector is normal even in a case where the rotation detector has an abnormality. The door control device (13) has: a first door position calculation section (15) that calculates a door position from a rotation angle of a motor (11) detected by a rotation detector (14); an abnormality detection section (17) that detects an abnormality of the rotation detector (14); a second door position calculation section (19) that calculates a door position based on an image captured by a camera (18); a door position information comparison section (20) that calculates and records a difference between a door position calculated by the first door position calculation section (15) and a door position calculated by the second door position calculation section (19) when the rotation detector (14) is normally operating; and a door position information correction section (21) that corrects a door position calculated by the second door position calculation section (19) using information recorded in advance by the door position information comparison section (20).

Description

Technical Field

[0001] This disclosure relates to door control devices for elevators. Background Technology

[0002] Conventionally, the following technology is used: a rotation detector detects the rotation angle of the motor that opens and closes the elevator car doors, the door position is calculated based on the detected rotation angle, and the opening and closing speed is controlled based on the calculated door position. In the event of a malfunction or other abnormality in the rotation detector, an alternative unit for obtaining door position information is needed. As an alternative unit to the aforementioned rotation detector, for example, Patent Document 1 discloses the following technology: a camera captures an image of the door, and the door's position is calculated based on the captured image to control the door's opening and closing.

[0003] Patent Document 1: Japanese Patent Publication No. 2011-522758

[0004] In prior art, such as Patent Document 1, where image processing takes time, the door position calculated from the image captured by the camera becomes a delayed position compared to the actual door position. For example, cameras installed in the car to prevent crime sometimes use wide-angle lenses, but the relationship between the distances captured in the image and the actual distances is not constant at the center and ends of the wide-angle lens. Therefore, the door position calculated from the captured image may sometimes deviate from the actual door position. Summary of the Invention

[0005] This disclosure is intended to solve the aforementioned problems. The object of this disclosure is to achieve door opening and closing control in elevator car door control that approximates the state when the existing rotary detector is functioning normally, even in the event of an malfunction in the existing rotary detector.

[0006] The elevator door control device disclosed herein includes: a motor control unit that controls a motor for opening and closing the doors of the elevator car; a first door position calculation unit that calculates the door position based on the rotation angle of the motor detected by a rotation detector; an anomaly detection unit that detects an anomaly in the rotation detector; a second door position calculation unit that calculates the door position based on an image captured by a camera that captures the entire opening and closing range of the door; a door position information comparison unit that, when the rotation detector is operating normally, calculates and records the difference between the door position calculated by the first door position calculation unit and the door position calculated by the second door position calculation unit; and a door position information correction unit that, when an anomaly in the rotation detector is detected by the anomaly detection unit, corrects the door position calculated by the second door position calculation unit using the difference information pre-recorded by the door position information comparison unit. When an anomaly in the rotation detector is detected by the anomaly detection unit, the motor control unit controls the motor based on the door position information corrected by the door position information correction unit.

[0007] According to the elevator door control device disclosed herein, even in the event of an abnormality in the rotation detector, door opening and closing control can be achieved in a state close to that when the rotation detector is normal. Attached Figure Description

[0008] Figure 1 This is a functional block diagram showing the structure of the elevator door control device according to Embodiment 1.

[0009] Figure 2 This is a schematic diagram showing the structure of a door control system that applies the door control device of Embodiment 1.

[0010] Figure 3 This is a diagram showing an example of the action waveform of the elevator door control device according to Embodiment 1 when it controls the opening and closing of the door.

[0011] Figure 4 This is a flowchart illustrating an example of the operation of the elevator door control device according to Embodiment 1.

[0012] Figure 5 This is a functional block diagram showing a first variation of the elevator door control device according to Embodiment 1.

[0013] Figure 6 This is a flowchart illustrating an operation example of a first variation of the elevator door control device according to Embodiment 1.

[0014] Figure 7 This is a functional block diagram showing a second variation of the elevator door control device according to Embodiment 1.

[0015] Figure 8This is a diagram illustrating an example of the action waveform during door opening and closing control in a second modification of the door control device of the elevator according to Embodiment 1.

[0016] Figure 9 This is a flowchart illustrating an operation example of a second variation of the elevator door control device according to Embodiment 1.

[0017] Label Explanation

[0018] 1: Door control system

[0019] 2: Door

[0020] 3: Door opening and closing mechanism

[0021] 4: Door drive mechanism

[0022] 5: Suspension components

[0023] 6: Suspension rollers

[0024] 7: Track

[0025] 8: Pulley

[0026] 9: with

[0027] 10: Connecting components

[0028] 11: Electric motor

[0029] 12: Motor Control Department

[0030] 13: Door control device

[0031] 14: Rotation Detector

[0032] 15: Position Calculation Department of Gate 1

[0033] 16: Speed ​​Command Generation Department

[0034] 17: Anomaly Detection Department

[0035] 18: Camera

[0036] 19: Position Calculation Department of Gate 2

[0037] 20: Door position information comparison department

[0038] 21: Door Position Information Correction Department

[0039] 22: Door opening and closing speed selection unit

[0040] 23: Camera Selection Department

[0041] 24C: Object Position Calculation Department Detailed Implementation

[0042] The embodiments will now be described with reference to the accompanying drawings. In the drawings, the same or corresponding parts are labeled with the same reference numerals. In this disclosure, repeated descriptions have been appropriately simplified or omitted. Furthermore, this disclosure is not limited to the embodiments and variations thereof shown below. Any structural elements described in the following embodiments and variations can be freely combined, modified, or omitted without departing from the spirit of this disclosure.

[0043] Implementation Method 1

[0044] Figure 1 This is a functional block diagram showing the structure of the elevator door control device 13 according to Embodiment 1. Figure 2 This is a schematic diagram showing the structure of a door control system 1 that applies the door control device 13 of embodiment 1.

[0045] Door control system 1 is a system that controls the opening and closing of the elevator car doors 2. For example... Figure 2 As shown, the door control system 1 has a door 2 for opening and closing the entrance and exit of the elevator car, a door opening and closing mechanism 3 for opening and closing the door 2, and a door driving mechanism 4 for driving the door opening and closing mechanism 3.

[0046] like Figure 2 As shown, the door opening and closing mechanism 3 includes a suspension component 5, a suspension roller 6, a track 7, two pulleys 8, a belt 9, and a connecting component 10. The suspension component 5 is fixed to the upper part of the door 2. The suspension roller 6 is disposed above the suspension component 5. The track 7 is disposed above the door 2. The two pulleys 8 are horizontally separated above the track 7 at a predetermined interval. The belt 9 is arranged to wrap around the pulleys 8. One end of the connecting component 10 is fixed to a predetermined position of the belt 9, and the other end is fixed to the suspension component 5.

[0047] The belt 9 of the door opening and closing mechanism 3 reciprocates left and right via the door drive mechanism 4. The door drive mechanism 4 controls the reciprocating motion of the belt 9 by controlling the motor 11 used to open and close the door 2. When the belt 9 reciprocates left and right, the door 2 is guided by the suspension roller 6 traveling on the track 7 to reciprocate in the opposite direction. In this way, the door 2 opens and closes the entrance and exit of the elevator car.

[0048] The door drive mechanism 4 includes a door control device 13 that controls the opening and closing of the elevator car door 2 by controlling the motor 11. For example... Figure 1 As shown, the door control device 13 has a motor control unit 12 that controls the motor 11. The motor control unit 12 controls the operation of the motor 11 by outputting control signals, thereby controlling the opening and closing speed of the door 2.

[0049] like Figure 1As shown, the door control device 13 has a first door position calculation unit 15. The first door position calculation unit 15 calculates the position of the door 2 based on the rotation angle of the motor 11 detected by the rotation detector 14 such as the encoder.

[0050] The motor control unit 12 controls the motor 11, for example, based on information about the position of the door 2 calculated by the first door position calculation unit 15. As an example, the door control device 13 includes a speed command generation unit 16. The speed command generation unit 16 selects or generates an opening and closing speed, i.e., a speed command value, for the door 2 based on information about the position of the door 2 calculated by the first door position calculation unit 15. The speed command generation unit 16 generates a speed command containing information about this speed command value and outputs it to the motor control unit 12. The motor control unit 12 calculates the actual speed of the door 2 based on information about the rotation angle of the motor 11 detected by the rotation detector 14, and controls the motor 11 so that the actual speed follows the speed command value contained in the speed command output from the speed command generation unit 16.

[0051] Figure 3 This is a diagram illustrating an example of the waveform of the elevator door control device 13 controlling the opening and closing of door 2 according to embodiment 1. Figure 3 In the example, when the rotary detector 14 is operating normally, the speed command generation unit 16 selects or generates W11 as the speed command value and outputs the speed command to the motor control unit 12. Figure 3 In the example, the actual speed of motor 11 when the speed command value is W11 is represented as W12.

[0052] In addition, such as Figure 1 As shown, the door control device 13 has an anomaly detection unit 17. The anomaly detection unit 17 detects anomalies such as malfunctions in the rotation detector 14. For example, if the motor control unit 12 outputs a control command to the motor 11 to move the door 2, but the rotation angle information of the motor 11 cannot be obtained from the rotation detector 14, the anomaly detection unit 17 determines that the rotation detector 14 has malfunctioned or is an anomaly and detects this situation.

[0053] In this embodiment, the speed command generation unit 16 selects or generates a speed command value based on the anomaly detection status of the rotation detector 14 by the anomaly detection unit 17. Detailed examples will be described later.

[0054] like Figure 1As shown, the door control device 13 includes a second door position calculation unit 19. The second door position calculation unit 19 calculates the current position of the door 2 based on images captured by a camera 18 that captures the entire opening and closing range of the door 2. The camera 18 can be, for example, a monitoring camera installed inside the car or a camera built into a person detection sensor. The second door position calculation unit 19 acquires and analyzes the images captured by the camera 18 in real time, and calculates the position of the door 2 through image processing. For example, the second door position calculation unit 19 analyzes the images acquired from the camera 18 and calculates the current position and speed of the door 2 based on the position of the door end identified as the fully closed side of the door 2. The camera 18 and the second door position calculation unit 19 function as replacements for the rotation detector 14 and the first door position calculation unit 15 in case of malfunctions or other abnormalities.

[0055] As a method for determining the position and velocity of door 2 based on images captured by camera 18, any conventionally used method can be used. As a general method for determining the position and velocity of door 2 based on images captured by camera 18, the following approach is considered. First, the dynamic images captured by camera 18 are converted into static image data at regular time intervals, and the door end captured in the static image is identified based on feature information of the door end prepared in advance through machine learning. Then, the position and velocity of door 2 are determined based on the change in the identified door end position in each time series and the acquisition time of each static image. For example, the calculation of the position of door 2 can be performed as follows: using the position of the door end at the start of opening or closing as a reference, the position of the door end during opening or closing is captured, the amount of movement within the image from the position of the door end at the start of opening or closing is calculated, and the ratio of the front width to the total width within the image is multiplied by the actual front width. Furthermore, the position information of door 2 during periods when information cannot be obtained due to sampling intervals of software or the image output interval from camera 18 can be supplemented by linear interpolation between the obtained data.

[0056] Due to factors such as the time spent on image processing or the specifications of the lens used in camera 18, the position of door 2 calculated from the image captured by camera 18 may deviate significantly from the actual position of door 2. For example, if the position of door 2 calculated from the image captured by camera 18 is delayed compared to the actual position of door 2, and the information about the position of door 2 calculated from the image captured by camera 18 is directly used for the opening and closing control of door 2, a door collision will occur at the fully open / closed position at a speed higher than intended.

[0057] To avoid such problems, in this embodiment, the door control device 13 performs correction processing on the position of the door 2 calculated based on the image captured by the camera 18. As a structure for performing this correction processing, such as… Figure 1 As shown, the door control device 13 includes a door position information comparison unit 20 and a door position information correction unit 21.

[0058] When the rotation detector 14 is operating normally, the door position information comparison unit 20 compares the position of door 2 calculated by the first door position calculation unit 15 with the position of door 2 calculated by the second door position calculation unit 19, calculates the difference, and records it. The door position information comparison unit 20 records the position of door 2 calculated by the second door position calculation unit 19, the aforementioned difference, and the actual speed information together. The recording destination at this time can be a recording medium inside the door control device 13 or an external recording medium. It is assumed that the position of door 2 calculated by the first door position calculation unit 15 based on the detection result of the normally operating rotation detector 14 is close to the actual position of door 2. By recording the difference between this position and the position of door 2 calculated based on the image captured by the camera 18 in advance, and using this difference for correction, the accuracy of the position of door 2 calculated based on the image captured by the camera 18 can be improved.

[0059] Furthermore, it is conceivable that when the door 2 undergoes a reversing action or other action that differs from normal door opening and closing, it would be difficult to accurately calculate the position of the door 2. Therefore, it is more preferable that the comparison and difference calculation of the position of the door 2 performed by the door position information comparison unit 20 is performed during normal door opening and closing actions, rather than during reversing actions or other actions that differ from normal door opening and closing.

[0060] When an abnormality is detected by the abnormality detection unit 17 due to an actual malfunction or other abnormality in the rotation detector 14, the door position information correction unit 21 performs correction processing in the opening and closing control of the door 2. When the abnormality detection unit 17 detects an abnormality in the rotation detector 14, the door position information correction unit 21 uses the aforementioned difference information pre-recorded by the door position information comparison unit 20 to correct the position of the door 2 calculated by the second door position calculation unit 19.

[0061] For example, correction is performed by adding a delay amount corresponding to the position of the door 2 calculated from the image captured by camera 18. The added delay amount can be obtained by multiplying the actual speed at the current moment of actual application by the actual speed when the delay amount was recorded (Equation 1).

[0062] (Equation 1) Corrected position = Position A of door 2 calculated from the image captured by camera 18 + (Delay corresponding to position A × (Actual speed at the current moment of actual application / Actual speed when the delay was recorded))

[0063] As described above, by correcting the delay amount, the error caused by the difference between the measured speed and the actual speed at the current moment can be eliminated. The speed command generation unit 16 generates and outputs a speed command based on the calculated correction position. The motor control unit 12 controls the motor 11 based on the speed command output by the speed command generation unit 16.

[0064] For example, the door control device 13 may also include a door opening / closing speed selection unit 22. In the event of an abnormality such as a malfunction of the rotation detector 14, the door opening / closing speed selection unit 22 selects a low and constant speed as the opening / closing speed of the door 2. The motor control unit 12 may also control the motor 11 so that the door 2 opens and closes at the low and constant speed selected by the door opening / closing speed selection unit 22. However, such control would result in a longer opening and closing time for the door 2, and therefore is not preferred in emergencies such as earthquakes or fires where the door 2 needs to be opened and closed quickly. Furthermore, compared to normal door opening and closing, it is also considered that the impact and noise would be greater because the door 2 hits the fully open / closed position at a constant speed.

[0065] In this embodiment, instead of controlling the opening and closing of the door 2 at such a low and constant speed, control is performed based on the corrected position of the door 2. This allows for door 2 opening and closing control that is close to the normal state of the rotation detector 14. This shortens the opening and closing time of the door 2 and also avoids increased impact and noise. Furthermore, the door control device 13 of this embodiment does not require additional special equipment; a camera 18, typically installed in an elevator, can be used as a replacement unit for the rotation detector 14.

[0066] Here, refer to Figure 3 The example of selecting the speed command value in case of an abnormality such as a malfunction of the rotary detector 14 is explained using the action waveform. As described above, during normal operation of the rotary detector 14, the door 2 is opened and closed according to the speed command shown in W11. When the rotary detector 14 malfunctions, the position of the door 2 is determined based on the image captured by the camera 18. Therefore, considering the possibility of output delay due to image processing, a lower speed than usual, as shown in W31, is also possible for opening and closing the door at a medium speed. When it is detected that the door 2 has closed to the predetermined deceleration start position T21 (P21), the speed command is set based on the position of the door 2 up to the fully closed position T22 (P22) to control the door, so that the speed is zero until it is fully closed. Figure 3 As shown, compared with the time T3 for the door 2 to be fully closed at a low and constant speed, the time spent for the door 2 to be fully closed can be shortened.

[0067] Figure 4This is a flowchart illustrating an example of the operation of the elevator door control device 13 according to Embodiment 1. First, the rotation angle information of the motor 11 is input from the rotation detector 14 (step S101). Then, an image of the door 2 is acquired from the camera 18, and the current position of the door 2 is calculated by capturing the door end from the image (step S102). Next, in step S103, it is determined whether a control command has been issued to the motor 11 that moves the door 2, and the rotation angle information is obtained from the rotation detector 14 (step S103).

[0068] Having obtained the rotation angle information, the rotation detector 14 is determined to be normal (step S104). Based on the rotation angle information from the rotation detector 14, the current position and speed of the door 2 are calculated (step S105). Next, the position of the door 2 calculated based on the image captured by the camera 18 is compared with the position of the door 2 based on the rotation angle from the rotation detector 14, and the delay amount of the position of the door 2 calculated based on the image captured by the camera 18 is calculated. The calculated delay amount is recorded for each position point calculated based on the image captured by the camera 18 (step S106). Then, the normal speed is selected as the speed command (step S110).

[0069] If, in step S103, it is determined that the rotation angle information from the rotation detector 14 is not normally obtained, the rotation detector 14 is deemed abnormal (step S107). The position of the door 2 calculated based on the image captured by the camera 18 is corrected by adding a delay amount pre-calculated and recorded when the rotation detector 14 is functioning normally (step S108). Then, the current speed is calculated based on the corrected position of the door 2 (step S109), and a medium speed is selected as the speed command (step S111). After the processing in step S110 or step S111, a speed command is generated based on the current position of the door 2, and a control command to move the door 2 is output to the motor 11 (step S112). In actual elevator control, the above processes from steps S101 to S112 are repeated.

[0070] As described above, the elevator door control device 13 according to this embodiment can achieve door 2 opening and closing control in a state close to that when the rotation detector 14 is normal, even if the rotation detector 14 malfunctions.

[0071] Figure 5 This is a functional block diagram showing a first modification of the elevator door control device 13 according to Embodiment 1. In this first modification, the door control device 13 includes a second door position calculation unit 19B, a door position information comparison unit 20B, and a camera selection unit 23.

[0072] The second door position calculation unit 19B calculates the position of door 2 based on images captured by multiple cameras 18B, including camera 18 and other cameras. For example, the second door position calculation unit 19B calculates the current position and speed of door 2 based on the position of the door end identified as the fully closed side of door 2 in each image from each camera 18B.

[0073] The door position information comparison unit 20B compares the position of the door 2 calculated based on the images captured by each camera 18B with the position of the door 2 based on the rotation angle from the rotation detector 14. For each camera 18B, it calculates and records the delay amount of the door 2 position calculated based on the images captured by the camera 18B. For each position point calculated based on the images captured by each camera 18B, the calculated delay amount is recorded.

[0074] According to this first modification, for example, if it is impossible to correctly obtain information about the position of the door 2 from the image captured by camera 18, information about the position of the door 2 can be obtained using images captured by other cameras. According to the first modification, for example, it is possible to compensate for the weakness of fixed-point cameras that cannot capture the angle and position of objects.

[0075] Furthermore, in this first variation, if the door end cannot be captured in the image taken by camera 18B, the position that cannot be captured is also recorded. The camera selection unit 23 arranges multiple cameras 18B in ascending order of the proportion of positions where the door end cannot be captured, and determines the camera 18 with the smaller proportion of positions where the door end cannot be captured as the camera capable of obtaining an image of the door 2's position that is closer to its actual position. For example, for multiple cameras 18B, following the order described above, it is determined whether the door end can be captured in the image taken at the current moment; if it can be captured, the corresponding camera 18 is selected. When controlling motor 11 when the rotation detector 14 malfunctions, the second door position calculation unit 19B calculates the position of door 2 based on the image taken by the camera 18 selected by the camera selection unit 23. This enables more stable door opening and closing control.

[0076] Alternatively, the camera selection unit 23 can select the camera 18 based on the difference between the position of the door 2 calculated from the image captured by the camera 18B and the position of the door 2 calculated from the rotation angle from the rotation detector 14 (specifically, the cumulative value of the difference for each time series) during the last comparison and calculation by the door position information comparison unit 20B. For example, the camera selection unit 23 arranges multiple cameras 18B in ascending order of the cumulative value of the difference, and determines the camera 18 with the smaller cumulative value of the difference as the camera that can obtain an image of the position of the door 2 that is closer to the actual position, and selects it.

[0077] Furthermore, the camera selection unit 23 can select the camera 18B based on the proportion of the door end position that was not captured, as described above; it can also select the camera 18B based on the comparison result of the previous door position information comparison unit 20B; or it can select the camera 18B by arbitrarily weighting both of these factors.

[0078] Figure 6 This is a flowchart illustrating an operational example of a first variation of the elevator door control device 13 according to Embodiment 1. In this flowchart, as described above, a camera 18 is selected from a plurality of cameras 18B that has a high probability of capturing the position of the door 2 more closely to its actual position, and door opening and closing control is performed based on the correction value of that camera 18. In the processes of steps S201 to S213, in addition to the above-described... Figure 4 In addition to the different processes of steps S202, S206, and S208 in steps S101 to S112, the process of step S213, which is added in the first modified example, will also be explained. Other processes are omitted from the description.

[0079] Regarding steps S202, S206, and S208, the point about treating multiple cameras 18B as objects is consistent with... Figure 4 The processing examples differ. In step S202, images of the door 2 are acquired from multiple cameras 18B that capture the entire opening and closing range of the door 2. The door 2 is captured from each image, and the current position of the door 2 is calculated for each image. In step S206, the position of the door 2 calculated based on the images captured by the cameras 18B is compared with the position of the door 2 based on the rotation angle from the rotation detector 14. The delay amount of the door 2 position calculated based on the images captured by the cameras 18B is calculated for each camera 18B. The calculated delay amount is recorded for each position point calculated based on the images captured by the cameras 18B.

[0080] In step S213, multiple cameras 18B are selected based on two criteria: first, they are arranged in ascending order of the cumulative total delay calculated previously; second, they are arranged in ascending order of the proportion of times the images captured by camera 18B during a single door opening and closing event fail to capture the door's edge. For example, following the order of arrangement, it is determined whether the image captured at the current moment captures the door's edge. If it does, the position of door 2 calculated from the image captured by that camera 18B and the delay at that position are used as the target. In step S208, the position and delay of door 2 selected in step S213 are used as the target for correction.

[0081] Figure 7 This is a functional block diagram showing a second modification of the elevator door control device 13 according to Embodiment 1. The difference between this second modification and the first modification is that the door control device 13 has a door opening / closing speed selection unit 22C, a camera selection unit 23C, and an object position calculation unit 24C.

[0082] In the second variation, the camera selection unit 23C functions as a determination unit that determines whether there is a camera 18 capable of capturing the end of the door 2, based on the plurality of cameras 18B. The camera selection unit 23C obtains information on whether the end of the door has been captured from the second door position calculation unit 19B, which calculates based on images from each camera 18B, and determines whether a camera 18 has been captured.

[0083] For example, if it is determined that none of the cameras 18 capable of capturing the door end are present, the position of the door 2 is calculated based on the corrected position calculated from the images captured by the cameras 18 selected at a time when the door end can no longer be captured. From that moment, the position of the door 2 is calculated by adding the speed information of the door 2 and the position of the door 2 calculated based on the elapsed time. The current position of the door 2 is then calculated by the object position estimation unit 24C. The opening and closing control of the door 2 can also be performed based on this estimation result. As a result, the opening and closing operation of the door 2 can continue until it is fully open or fully closed.

[0084] However, when performing an opening or closing action at the same speed as actually capturing the state at the door end, the response, such as reversal upon contact with a person, may be delayed. Therefore, the door opening / closing speed selection unit 22C can switch the speed to a constant low speed midway through the opening or closing of the door 2, at the moment when it is detected that the state at the door end cannot be captured.

[0085] Figure 8 This is a diagram showing an example of the action waveform of the door 2 during opening and closing control in a second variation of the door control device 13 of the elevator according to Embodiment 1. Figure 8 Waveform W41 represents an example of the speed command when the rotation detector 14 malfunctions. It indicates that in the closing of the gate based on the speed command at medium speed shown in waveform W31, the speed switches from the moment T41 (P41) when the gate end becomes unable to capture the positioning object.

[0086] Figure 9 This is a flowchart illustrating an operational example of a second variation of the elevator door control device 13 according to Embodiment 1. The processes in steps S301 to S315 are related to the above... Figure 6 The different processing steps S314 and S315 are explained below.

[0087] If the rotation angle from the rotation detector 14 is not obtained, in step S314, it is determined whether there is a camera 18 capable of capturing the door end. If there is a camera 18 capable of capturing the door end, the process in steps S308 to S311 is compared with that in the first modified example. Figure 6 The flowchart is processed in the same way, and medium speed is selected as the speed command.

[0088] If, in step S314, it is determined that none of the cameras 18 capable of capturing the door end are present, in step S315, the current position of the door 2 is calculated from that moment by adding a delay to the position of the door 2 obtained by adding the position of the door 2 based on the image captured by the camera 18 selected at the time when the door end can no longer be captured. Then, a low speed is selected as the speed command.

[0089] Thus, by having a unit that detects the state where the door end can no longer be captured based on the image captured by camera 18B, and a unit that switches the speed command to a low speed when the door end can no longer be captured, for example, door opening and closing control can be performed without door collision at the end of the door opening and closing, even if the position of door 2 cannot be obtained based on the image captured by camera 18B. Furthermore, the unit that detects the state where the door end can no longer be captured and the unit that switches the speed command to a low speed when the door end can no longer be captured can also be applied to, for example... Figure 1 The structure is like that of a single camera with 18 cameras.

Claims

1. A door control device for an elevator, comprising: The motor control unit controls the motors used to open and close the elevator car doors; The first door position calculation unit calculates the position of the door based on the rotation angle of the motor detected by the rotation detector; An anomaly detection unit detects anomalies in the rotating detector; The second door position calculation unit calculates the position of the door based on images captured by a camera that captures the entire area of ​​the door's opening and closing range. The door position information comparison unit, when the rotation detector is operating normally, calculates and records the difference between the door position calculated by the first door position calculation unit and the door position calculated by the second door position calculation unit; and The door position information correction unit corrects the door position calculated by the second door position calculation unit by using the difference information pre-recorded by the door position information comparison unit when the anomaly detection unit detects an anomaly in the rotation detector. When the anomaly detection unit detects an anomaly in the rotation detector, the motor control unit controls the motor based on the door position information corrected by the door position information correction unit.

2. The elevator door control device according to claim 1, characterized in that, The second door position calculation unit calculates the position of the door based on images captured by multiple cameras, including the aforementioned camera and other cameras.

3. The elevator door control device according to claim 2, characterized in that, The elevator's door control device includes a camera selection unit that selects from a plurality of cameras based on the proportion of the door's edge that was not captured. When the anomaly detection unit detects an anomaly in the rotation detector, the second door position calculation unit calculates the position of the door based on the image captured by the camera selected by the camera selection unit.

4. The elevator door control device according to claim 2, characterized in that, The elevator's door control device includes a camera selection unit that selects from a plurality of cameras based on the difference between the door position calculated by the first door position calculation unit and the door position calculated by the second door position calculation unit at the time of the last calculation by the door position information comparison unit. When the anomaly detection unit detects an anomaly in the rotation detector, the second door position calculation unit calculates the position of the door based on the image captured by the camera selected by the camera selection unit.

5. The elevator door control device according to claim 3, wherein, The camera selection unit selects from the plurality of cameras based on the difference between the position of the door calculated by the first door position calculation unit and the position of the door calculated by the second door position calculation unit at the time of the last calculation by the door position information comparison unit.

6. The elevator door control device according to any one of claims 3 to 5, wherein, The elevator door control device has: The determination unit, taking the plurality of cameras as objects, determines whether there is a camera capable of capturing the door end of the door; as well as The object position estimation unit, when the determination unit determines that no camera at the door end can capture the door, uses the door position calculated by the door position information correction unit (which corrects the door position calculated by the second door position calculation unit based on the image captured by the camera selected by the camera selection unit at the time when the door end can no longer be captured) as a reference, and adds the door position calculated based on the door speed information and the elapsed time to estimate the current position of the door. The motor control unit controls the motor based on the calculation results of the object position calculation unit.

7. The elevator door control device according to claim 6, wherein, The elevator door control device has a door opening and closing speed selection unit. When the door opening and closing speed selection unit determines that the door end cannot be captured by the multiple cameras, it issues a command to switch the door opening and closing speed to a constant low speed.

8. The elevator door control device according to any one of claims 3 to 5, wherein, The elevator door control device has: The determination unit, targeting the plurality of cameras, determines whether there is a camera capable of capturing the door's end; and The door opening and closing speed selection unit, when the determination unit determines that no camera at the door end can capture the door, issues a command to switch the door opening and closing speed to a constant low speed.

9. The elevator door control device according to claim 1, wherein, The elevator door control device has: The determination unit determines whether the camera can capture the end of the door; and The door opening and closing speed selection unit issues a command to switch the door opening and closing speed to a constant low speed when the determination unit determines that the door end cannot be detected.

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