Safety management system, safety management method

Abstract

We provide technology that ensures safety around elevators with high precision. [Solution] Point cloud data is acquired in the detection area including the area around the elevator car door, and based on the point cloud data, it is determined whether the safety standards for elevator operation are met, and a signal is output based on the determination result of the determination unit.

Description

Technical Field

[0001] The present invention relates to an elevator safety management system and a safety management method.

Background Art

[0002] Regarding elevator safety management, various systems for elevator operation control and safety assurance have been developed in the prior art. A general elevator system is constructed mainly for controlling the up and down movement and boarding / alighting of the car efficiently, and ensuring the safety of users is particularly emphasized.

[0003] With the development of sensor technology and image recognition technology, the prior art has evolved into a technology for controlling the opening and closing of elevator doors according to the presence and movement of users. For example, a system has been developed that uses an infrared sensor or an ultrasonic sensor to detect the movement of passengers getting on and off, and prevents the elevator door from closing accidentally. Furthermore, in recent years, systems that utilize cameras and image processing technology to perform detection over a wider range and with higher accuracy have been used. Due to such technological advancements, the safety of users has been improved.

[0004] In Patent Document 1, an elevator boarding detection system that combines a camera and image processing technology has been proposed. In this system, a camera installed near the door of the car can capture the situation of the landing when the car arrives, and analyze the movement of users using consecutive images. The user detection unit of the image processing device detects the user closest to the door from these images and determines the presence or absence of the intention to board. Then, the door opening / closing control unit of the car control device controls the opening and closing operation of the door based on this detection result, thereby supporting smooth boarding and alighting of users.

[0005] Patent Document 2 proposes a new method for detecting foreign objects in elevators, utilizing a camera and data analysis technology. In this system, a camera installed on top of the elevator car captures images looking down at the entrance when the doors open and close. A data generation unit analyzes these images and generates door behavior data indicating the opening and closing of the doors. Then, a foreign object detection unit detects abnormal door operation based on the door behavior data and determines whether a foreign object is present on the hanger rail. This configuration makes it possible to appropriately detect foreign objects on the hanger rail, further improving safety in elevator operation. [Prior art documents] [Patent Documents]

[0006] [Patent Document 1] Japanese Patent Publication No. 2017-124897 [Patent Document 2] Japanese Patent Publication No. 2020-090361 [Overview of the project] [Problems that the invention aims to solve]

[0007] Patent documents 1 and 2 deal with 2D images, making it difficult to accurately process depth (distance), resulting in accuracy issues. Furthermore, while there are suggestions for measuring 3D information in elevator-related technologies, the specific processing of the measured information has not been thoroughly investigated. Therefore, there is a need for technology that accurately recognizes space and manages elevator safety.

[0008] The problem that this invention aims to solve is to provide a technology that can accurately ensure safety around elevators. [Means for solving the problem]

[0009] [1] An elevator safety management system, A detection unit that acquires point cloud data in a detection area including the area around the elevator car door, A determination unit that determines whether the safety standards for the operation of the elevator are met based on the point cloud data, A safety management system comprising an output unit that outputs a signal based on the determination result of the determination unit. [2] The safety standard is set to the safe opening and closing time of the elevator door, The determination unit determines whether the predicted arrival time of the object at the door meets the safety standard. The safety management system according to [1], wherein the output unit outputs an opening and closing signal for the door. [3] The safety management system according to [2], wherein the determination unit estimates the predicted arrival time based on the virtual origin of the measuring device that measures the point cloud data, a representative point of the object, and the speed of movement. [4] The safety standards are set at the normal entrance height of the elevator, The determination unit determines whether the measured value of the entrance height meets the safety standard. The output unit outputs a correction signal for the stopping position of the elevator, according to any one of [1] to [3]. [5] The safety standard is set to the size of the foreign object in the detection area, The determination unit determines whether the size of the foreign object in the detection area meets the safety standard. The safety management system according to any one of [1] to [4], wherein the output unit outputs a door opening / closing signal or an abnormality detection signal. [6] The safety standards are set in the door stop area of ​​the elevator door, The determination unit determines whether an object exists within the area excluding the door stop area. The output unit outputs a door opening / closing signal. (A safety management system according to any one of [1] to [5]) [7] The safety standards are set for the surface area of ​​the elevator door, The determination unit determines whether an object exists within the surface area, The output unit outputs a door opening / closing signal. (A safety management system according to any one of [1] to [6]) [8] The safety standard is set to a standard value for the closed plate area of ​​the elevator, The determination unit determines whether there is an abnormality in the closure plate region, The output unit outputs an abnormality detection signal. (Safety management system according to any one of [1] to [3]) [9] A method for managing the safety of elevators, A measurement process to acquire point cloud data in the detection area including the area around the elevator car door, A determination step of determining whether the safety standards for the operation of the elevator are met based on the point cloud data, A safety management method in which a computer performs an output step that outputs a signal based on the determination result of the aforementioned determination step.

[0010] [1] The invention described above allows for accurate measurement of the space around the elevator door using point cloud data, thereby improving elevator safety. The inventions described in [2] and [3] enable accurate measurement of an object's approach to a door and control of the door. [4] The invention described above makes it possible to accurately measure the deviation of the elevator's stopping position and correct that position. The invention described in [5] allows for accurate measurement of the size of foreign objects and facilitates the removal of foreign objects as needed. [6] The invention makes it possible to prevent over-detection and achieve smooth elevator operation by setting a non-detection area near the door stop. The invention described in [7] accurately measures objects near the door surface and controls the door as needed to prevent danger and ensure smooth operation. [8] The invention described above allows for accurate measurement of defects in the closure plate and early detection of abnormal conditions. [Effects of the Invention]

[0011] According to the present invention, it is possible to provide a technology that can accurately ensure safety around elevators. [Brief explanation of the drawing]

[0012] [Figure 1] System configuration diagram of this embodiment. [Figure 2] Processing sequence diagram of this embodiment. [Figure 3] General explanatory diagram of the detection area of this embodiment. [Figure 4] General explanatory diagram of the velocity vector of this embodiment. [Figure 5] General explanatory diagram of the boundary area set in the door contact area of this embodiment. [Figure 6] Relationship diagram of the boundary width and the door speed of this embodiment. [Figure 7] General explanatory diagram of the boundary area set in the surface area of the door of this embodiment. [Figure 8] General explanatory diagram of the detection area of an example of this embodiment. [Figure 9] General explanatory diagram of the step correction of this embodiment. [Figure 10] Side view around the threshold of this embodiment.

Mode for Carrying Out the Invention

[0013] Hereinafter, a safety management system and a safety management method according to an embodiment of the present invention will be described with reference to the drawings. Note that the embodiments shown below are examples of the present invention, and the present invention is not limited to the following embodiments, and various configurations can also be adopted.

[0014] <1. System Configuration> FIG. 1 shows a configuration diagram of a safety management system 1. The safety management system 1 includes a car 2, a safety management device 3, and an elevator control device 4, and each component is communicatively connected by wire or wirelessly. Although only one car 2 is shown in FIG. 1, a plurality of cars may exist.

[0015] The elevator car 2 includes a measuring device 21, a door section 22, a safety shoe 23, a return panel 24, a car sill section 25, and a blocking plate 26. The measuring device 21 can use LiDAR (Light Detection and Ranging), 4D imaging radar, ToF (Time of Flight) sensors, etc.

[0016] The elevator car 2 is equipped with a measuring device 21 located above the entrance or other location where the area around the door can be monitored. The area around the door monitored by the measuring device 21 includes both the door of elevator car 2 and the door of landing 5. When distinguishing between the two doors, the door of elevator car 2 is referred to as door section 22, and the door of landing 5 is referred to as landing door 51.

[0017] The measuring device 21 measures point cloud data in the detection area including the area around the door portion 22 of the elevator car 2 and transmits it to the safety management device 3. In this embodiment, the measuring device 21 measures point cloud data at least when the door portion 22 is opened or closed. When the door portion 22 is open, the measuring device 21 includes the landing 5, which is outside the elevator car 2, as part of the detection area and measures point cloud data.

[0018] Point cloud data is a collection of measurement results for each point, and includes at least distance and angle. Point cloud data may also include spatial coordinates linked to distance and angle. Furthermore, point cloud data may also include reflectance, color information, and velocity.

[0019] The safety management device 3 includes, as functional components, a detection unit 31 that acquires point cloud data measured by the measuring device 21, a determination unit 32 that determines whether the safety standards for elevator operation are met based on the point cloud data, and an output unit 33 that outputs a signal based on the determination result of the determination unit 32.

[0020] The elevator control device 4 includes, as functional components, a door control unit 41 that controls the opening and closing of the doors 22 and landing doors 51 of the elevator car 2, a lifting control unit 42 that controls the raising and lowering of the elevator car 2, and a notification unit 43 that outputs notifications based on signals.

[0021] The safety management device 3 and the elevator control device 4 are configured as computer devices equipped with a control device, a storage device, and a communication device. The control device is a processor such as a CPU (Central Processing Unit) and controls the overall processing of each device by executing programs stored in the storage device. The storage device is an HDD (Hard Disk Drive), SSD (Solid State Drive), flash memory, RAM (Random Access Memory), etc., and stores programs and various data. The communication device is a communication interface such as wired communication or wireless communication and controls data communication with external devices.

[0022] In Figure 1, the safety management device 3 and the elevator control device 4 are shown as separate devices, but they may be configured as a single device. Furthermore, the safety management device 3 and the elevator control device 4 may be composed of multiple computer devices, and as long as the overall system can realize the above-described functional components (31-33, 41-43), the configuration is not limited to the illustrated example.

[0023] Figure 2 shows the processing sequence of the safety management system 1. The elevator car 2 measures point cloud data around the door using the measuring device 21 and transmits it to the safety management device 3 (S101). The safety management device 3 determines whether the acquired point cloud data meets the safety standards (S102). The safety management device 3 outputs a signal based on the determination result to the elevator control device 4 (S103). The elevator control device 4 outputs a control instruction to the elevator car 2 based on the signal (S104). As a result, the elevator car 2 operates safely according to the control instruction.

[0024] In this embodiment, the safety standards are criteria established for the purpose of ensuring the safe operation of the elevator. The safety standards are set for multiple items, and the scope of safety management differs for each item.

[0025] Safety standards include dynamic safety standards set for moving objects to ensure the safety of elevator users, and abnormal safety standards set for abnormalities occurring in the elevator car. Dynamic safety standards are set for at least one selected from the door opening and closing time, the door contact area, and the door surface area. Abnormal safety standards are set for at least one selected from the elevator car entrance height, the size of foreign objects in the detection area, and the blocking plate area.

[0026] Figure 3 is a schematic diagram illustrating the detection area, including the elevator car 2 and the landing 5. In this embodiment, the elevator doors are described as double doors, but they may also be single doors.

[0027] Figure 3(a) shows a plan view of the elevator car 2 and the landing 5. In Figure 3(a), the measuring device 21 is installed around the door 22 of the elevator car 2 and measures point cloud data in detection areas R1 to R3. Detection area R1 is the area where objects O, etc., are detected at the landing 5. Detection area R2 is the area where objects O are detected between the elevator car 2 and the landing 5. Detection area R3 is the area where objects O are detected in the elevator car 2.

[0028] Figure 3(b) shows a side view of the elevator car 2 and the landing 5. In Figure 3(b), object O is a user who is moving from the landing 5 to the elevator car 2. In Figure 3(b), the vertical line VL from the measuring device 21 to the floor is shown.

[0029] The in-plane distance L is defined as the length between the virtual origin P1 of the vertical line VL and the representative point P2 of the object O. The representative point P2 is the point on object O closest to the vertical line VL. The virtual origin P1 is the intersection point of the vertical line VL and the perpendicular line from the representative point P2 to the vertical line VL. The in-plane distance L can be calculated based on the measured distance and measured angle from the measuring device 21 to the representative point P2.

[0030] The following description shows specific examples of each safety standard. The safety management system 1 according to this embodiment can selectively set at least one or more safety standards.

[0031] <Example 1> In Example 1, the risk of users being caught in the elevator doors when boarding or alighting is reduced. In Example 1, point cloud data around the doors of the elevator car 2 is monitored, and when movement of a user who is presumed to intend to board or alight is detected, the doors are opened to prevent entrapment.

[0032] In Example 1, the detection unit 31 detects the position and movement speed of the representative point P2 of object O based on the acquired point cloud data. The determination unit 32 estimates the predicted arrival time of object O to the virtual origin P1 based on the virtual origin P1, the representative point P2 of object O, and the movement speed.

[0033] The virtual origin P1 indicates the target location of object O. When it is detected that object O is moving towards the elevator car 2 or the landing button 52 as its destination, the doors are opened to prevent entrapment and ensure smooth elevator operation. As shown in Figure 3, the virtual origin P1 can be the planar coordinates of the measuring device 21. Alternatively, the virtual origin P1 may be the planar coordinates of the landing button 52.

[0034] In Example 1, the safety standard is set to the safe opening and closing time of the elevator door. The opening and closing time refers to the time from the start of opening the door 22 to the end of opening, or from the start of closing the door to the end of closing. For example, if there is an object O that is attempting to board or alight the elevator within the opening and closing time at the start of closing, it is determined that the object O may be caught in the door 22.

[0035] In Embodiment 1, the detection unit 31 acquires point cloud data in the detection area where a moving object O exists. The determination unit 32 determines whether the predicted arrival time of object O to the virtual origin P1 meets the safety criteria. If the predicted arrival time is shorter than the set opening / closing time, the determination unit 32 determines that the safety criteria are not met. If the safety criteria are not met, the output unit 33 outputs an opening / closing signal to open the door section 22. The door control unit 41 opens the door section 22 according to the opening / closing signal to prevent object O from being trapped.

[0036] The determination unit 32 determines that the safety standard is met if the predicted arrival time is longer than the set opening / closing time. The output unit 33 may output an opening / closing signal to close the door section 22 if the safety standard is met, or it may not output an opening / closing signal. The door control unit 41 closes the door section 22 according to the opening / closing signal or without an opening / closing signal.

[0037] Figure 4 is a schematic diagram illustrating velocity vectors. In Figure 4, the virtual origin P1 and the representative point P2 are located at an in-plane distance L. The representative point P2 is moving with velocity vector V1. Here, velocity vector V1 is a component of velocity vector V2 in the direction of the virtual origin P1. Therefore, the predicted arrival time is estimated by calculating in-plane distance L / velocity vector V2.

[0038] <Example 2> In Example 2, a predetermined boundary area is set within the elevator space, and objects exceeding this boundary area are monitored to prevent hazards and ensure safety. In this embodiment, multiple boundary areas can be set, and each area is used for different control purposes. Specifically, in the door opening and closing area, it is necessary to exclude the door itself from detection when it opens or closes in order to suppress false detections. In Example 2, while the elevator door opening and closing area is used as the detection area, the boundary area is set to exclude the area around the door stop from the detection area, thereby ensuring smooth operation of the elevator.

[0039] Figure 5 is a schematic diagram illustrating the boundary area set in the door stop area of ​​an elevator door. In Figure 5, the elevator door is shown in a plan view. The elevator door consists of a door section 22 on the car side, a safety shoe 23, and a landing door 51. In Figure 5, the door stop area refers to the area at the left end of the door section 22, the safety shoe 23, and the landing door 51.

[0040] In Figure 5, as indicated by the diagonal lines, the door opening and closing area is set as the detection area R2. If an object is present within this detection area R2, it is determined that there is a risk of entrapment. In Figure 5, boundary area B is set with a boundary width d in the door stop area. This door stop area is excluded from the detection area R2, and objects in this area are not determined to pose a risk of entrapment or other dangers. Boundary area B is defined by the boundary width d from the ends of the door section 22, the safety shoe 23, and the landing door 51. Boundary area B is set so that the detection area R2 is maximized along the protrusion of the safety shoe 23.

[0041] The boundary width d is variable depending on the open / closed state of the door, from open to closed. For example, if the boundary widths d for each open / closed state are represented as width d1 for the open state, width d2 for the intermediate state, and width d3 for the state just before closing, then the magnitude of the boundary widths is d2 > d1 > d3. The boundary width d corresponds to the door speed v, and if the door speed v is large, there is a risk of over-detection of the door's stopping point, so the boundary width d is set to be large.

[0042] Figure 6 is a graph showing the relationship between boundary width d and door velocity v. In Figure 6, boundary width d (solid line) and door velocity v (dotted line) are represented on the vertical axis, and time t is represented on the horizontal axis. Figure 6 shows the time change of boundary width d and door velocity v when a door closes from a fully open state to a fully closed state.

[0043] When the closing operation begins from a fully open position, the door speed v is small, so the boundary width d is set to a small value, width d1. The boundary width d is dynamically set to a larger value as the door speed v increases. When the door speed v reaches its maximum, the boundary width d is set to its maximum value, width d2. The door speed v gradually decreases as it approaches full closure. The boundary width d is dynamically set to a smaller value as the door speed v decreases. The boundary width d is set to approximately zero just before the door is fully closed. In Example 2, for example, width d1 is set to 3 mm, width d2 to 10 mm, and width d3 to 1-2 mm, but the values ​​are not limited to these numbers.

[0044] In Embodiment 2, the safety standard is set to the door stop area (boundary area B) of the elevator door. The detection unit 31 acquires point cloud data including the detection area (including the door stop area). The determination unit 32 determines whether an object O exists within the detection area excluding the boundary area B set as the door stop area. If the output unit 33 determines that an object O exists within the detection area, it outputs an open / close signal to open the door. The door control unit 41 acquires the open / close signal and opens the door unit 22.

[0045] <Example 3> In Example 3, similar to Example 2, a predetermined boundary area is set within the elevator space to prevent the risk of objects being caught in the door pocket. Specifically, in Example 3, point cloud data around the surface of the elevator door is monitored, and when an object approaching or in contact with the door surface is detected, the opening operation of the door section 22 is stopped to prevent objects from being caught in the door pocket.

[0046] Figure 7 is a schematic diagram illustrating the boundary area B set on the surface area of ​​the door section 22. A gap (door pocket) exists between the door section 22 of the elevator car 2 and the return panel 24, and there is a risk that an object in contact with the surface area of ​​the door section 22 will be pulled into the door pocket when the door section 22 opens.

[0047] In Figure 7, boundary area B is defined on the door surface with a boundary width d, as indicated by the diagonal lines. If an object is present within this boundary area B, it is determined that there is a risk of the door being pulled into the pocket. Boundary area B is defined along the surface of the door section 22 and is not defined on the side of the return panel 24 (the leftmost part in Figure 7). Since there is no risk of the door being pulled into the pocket on the side of the return panel 24, not defining boundary area B on this side prevents unnecessary determinations.

[0048] In Embodiment 3, the safety standard is set for the surface area (boundary area B) of the elevator door. The detection unit 31 acquires point cloud data including the area around the door surface. The determination unit 32 determines whether an object O exists within the boundary area B set for the surface area. If the output unit 33 determines that an object O exists within the boundary area B, it outputs a door open / close signal or a warning signal. Here, the door open / close signal includes at least one selected from a signal to slow down the door opening, a signal to stop the door opening, and a signal to close the door. The door control unit 41 acquires the open / close signal and controls the opening and closing operation of the door unit 22. The warning signal indicates a signal to output a notification to warn against contact with the door unit 22. The notification unit 43 acquires the warning signal and outputs a notification to the occupant. The notification can be, but is not limited to, voice guidance, warning sounds, display, etc., and various notification methods can be used.

[0049] <Example 4> In Example 4, thin objects such as pet leashes are accurately identified to prevent accidents. Point cloud data detects objects by reflecting laser light, so even thin objects like strings or stationary objects can be detected with high accuracy. In Example 4, thin objects such as strings are prevented from getting caught when elevator doors are closed.

[0050] Figure 8 is a side view of the elevator car 2 and landing 5, illustrating the schematic of the detection area R in Embodiment 4. In Figure 8, the object includes the user O1, the string O2, and the pet O3. In Embodiment 4, the detection area R is set in the opening and closing area of ​​the door section 22 and the landing door 51, as indicated by the diagonal lines. In Figure 8, the string O2 is present in the detection area R and is determined to be a foreign object.

[0051] In Example 4, the safety criterion is set to the size of an object such as a string in the detection area R. The size of the object is defined by at least one selected from perimeter, area, height, and maximum diameter. In Example 4, the size of the object is set to the perimeter, and objects with a perimeter greater than or equal to a predetermined length are judged as foreign objects. The width of the detection area R in Figure 8 is approximately 20 cm to 30 cm. The safety criterion is set, for example, to a perimeter of 10 cm.

[0052] The detection unit 31 acquires point cloud data including the detection area R. The determination unit 32 determines whether the size of the foreign object meets the safety standard. If the safety standard is the perimeter length as described above, the determination unit 32 determines whether the size of the foreign object is greater than or equal to the set perimeter length. If the output unit 33 determines that the foreign object is large, it outputs an open / close signal or an abnormality determination signal to open the door. The door control unit 41 acquires the open / close signal and opens the door unit 22. The notification unit 43 acquires the abnormality determination signal and outputs a notification that a foreign object is present, either by voice or display.

[0053] <Example 5> In Example 5, the difference in height between the elevator car 2 and the landing 5 is determined, and the stopping position of the elevator car 2 is corrected to eliminate the height difference, thereby eliminating danger during boarding and alighting. Conventionally, there is a known technology that uses position sensors etc. on elevators to detect the stopping position of the elevator car at each landing, but if the sensor malfunctions, there is a risk that the stopping position will be inaccurate. In Example 5, point cloud data is used to correct the deviation in the stopping position, thereby achieving safer elevator management.

[0054] Figure 9 is a side view of the elevator car 2 and landing 5, illustrating the overview of the step difference correction. The height of the elevator entrance is set as the reference height H0. In Figure 9, the reference height H0 is the height from the measuring device 21 (above the entrance) to the floor surface under normal conditions, but the height adopted as the reference height is not limited to this. In Figure 9, the stopping position of the elevator car 2 is higher than the landing 5, creating a step difference. In this case, the height from the measuring device 21 to the floor surface of landing 5 is defined as the measured height H1. Note that the measured height H1 may be greater than or less than the reference height H0.

[0055] In Example 5, the safety standard is set to the reference height H0, which is the normal entrance / exit height of the elevator. The safety standard determines that the stopping position of the elevator car 2 is normal if the difference between the reference height H0 and the measured height H1 is within a predetermined range, and abnormal if the difference is outside the predetermined range. The reference height H0 is set to the entrance / exit height measured in advance. Alternatively, the reference height H0 may be set to the distance measured by the measuring device 21 to the floor directly below. In Example 5, for example, the difference between the reference height H0 and the measured height H1 is set to a predetermined range of 10 mm or less.

[0056] The measured height H1 is calculated at each landing 5 based on point cloud data from the measuring device 21. In Figure 9, the floor surface of landing 5 is defined in the XY plane. The measuring device 21 measures multiple point cloud data points on the floor surface of landing 5. The point cloud data is measured with a predetermined distance shifted in the X-axis direction and / or the Y-axis direction. For example, the point cloud data is measured at a total of 9 points, 3 points in the X-axis direction and 3 points in the Y-axis direction, with a distance of 10 cm between each point in the X and Y axes. The number of point cloud data points and the distance between them used to calculate the measured height H1 are not particularly limited.

[0057] The measured height H1 is determined by using the average or median of multiple heights derived from the angles and distances of each measured point cloud data. Alternatively, the measured height H1 may be calculated by excluding the maximum and minimum values ​​of the multiple heights and averaging the remaining heights. This allows for accurate determination of the measured height H1 by eliminating measurement errors caused by foreign objects on the floor surface or damage to the floor.

[0058] The detection unit 31 acquires point cloud data that includes the landing 5 as the detection area. The determination unit 32 derives the measured height H1 at the landing 5 based on the point cloud data and determines whether the measured height H1 is within a predetermined range of the difference from the standard height H0 set as the safety standard. If the measured height H1 is outside the range of the safety standard, the output unit 33 outputs a correction signal to correct the elevator's stopping position. When the lifting control unit 42 receives the correction signal, it corrects the stopping position of the elevator car 2 and corrects the difference in stopping position. Alternatively, the output unit 33 may output an abnormality determination signal, and the notification unit 43 may output a warning notification regarding the step difference between the elevator car 2 and the landing 5.

[0059] <Example 6> In Example 6, foreign objects present in the sill groove of the door section 22 or landing door 51 that may interfere with the opening and closing of the door are identified, and their removal is encouraged to support the safe operation of the elevator. Conventionally, objects that do not interfere with the opening and closing of the door were incorrectly identified as foreign objects, which affected the smooth operation of the elevator. In Example 6, foreign objects are identified with high accuracy, including their physical properties and three-dimensional shape, thereby achieving elevator operation that balances safety and efficiency.

[0060] In Example 6, "foreign matter" refers to an object present in the threshold groove that obstructs the opening and closing of the door. More specifically, "foreign matter" refers to a solid object of a certain size or larger. For example, liquids such as coffee, chemicals, and oil do not obstruct the opening and closing of the door and are therefore not included as foreign matter. Similarly, small amounts of dirt, sand, and mud, although solid, do not obstruct the opening and closing of the door if present in small quantities and are therefore not included as foreign matter.

[0061] In Example 6, similar to Example 4, the detection area R is set to the opening and closing area of ​​the door section 22 and the landing door 51. In Example 6, the safety criterion is set to the size of the foreign object in the detection area R. The size of the object is defined by at least one selected from perimeter, area, height, and maximum diameter. In Example 6, set values ​​are provided for the height, area, and maximum diameter of the object. If the height, area, or maximum diameter exceeds the set value, it is determined that the object is large enough to obstruct the opening and closing of the door and needs to be removed. In Example 6, the determination is made in the order of height, area, and maximum diameter, and if the measured value exceeds all set values, the object is determined to be a foreign object.

[0062] In Example 6, the type of object may be determined. The type of object indicates at least one of either a solid or a liquid. A translucent object such as a liquid produces multiple reflected lights due to reflection from the liquid surface and reflection from an object located deep within the liquid. In one embodiment, the point cloud data determines the type of object to be a liquid by acquiring multiple reflected lights from one direction relative to the incident laser light. In another embodiment, the point cloud data may obtain the determination result of the type of object based on the reflection intensity of the laser light.

[0063] The detection unit 31 acquires point cloud data including the detection area R. The determination unit 32 determines the size of the foreign object. The system also determines whether the type of object meets safety standards. The determination unit 32 determines that an object is a foreign object if it is solid and its height, area, and maximum diameter are greater than or equal to the set values. If the output unit 33 determines that the object is a foreign object, it outputs an open / close signal or an abnormality determination signal to open the door. The door control unit 41 receives the open / close signal and opens the door unit 22. The notification unit 43 receives the abnormality determination signal and outputs a notification that a foreign object is present, either by voice or display.

[0064] <Example 7> In Example 7, the system monitors whether the blocking plate 26 of the elevator car 2 is functioning correctly to prevent dangers such as dropping objects into the gap. The blocking plate 26 is housed in the elevator car sill 25 of the elevator car 2, and when the elevator car 2 stops at the landing 5, the mechanism activates to close the gap between the elevator car 2 and the landing 5. In Example 7, this contributes to the early detection of abnormal conditions, such as the blocking plate 26 not functioning due to a malfunction.

[0065] Figure 10 shows a side view of the floor surface around the threshold between the elevator car 2 and the landing 5. The elevator car 2 comprises an elevator car threshold 25 and a closing plate 26 housed within the elevator car threshold 25. The landing 5 comprises a landing threshold 53 equipped with a guide rail for the landing door 51. When the elevator car stops at the landing 5, the closing plate 26 slides out of the elevator car threshold 25 by a mechanism, thereby closing the gap between it and the landing threshold 53. The measuring light I measures the detection area including the gap closed by the closing plate 26, as shown by the dashed line.

[0066] Figure 10 shows an abnormal state where the blocking plate 26 is stopped in an incomplete operating position. Here, the measuring light I measuring the landing threshold 53 side measures a longer distance than in the normal state, so the abnormal state of the blocking plate 26 can be detected. Alternatively, the abnormal state of the blocking plate 26 may be detected by the height derived from the distance and angle of the point cloud data.

[0067] In Example 7, the safety standard is set to a reference value of distance or height in the elevator's blocking plate area. The safety standard determines that the blocking plate 26 is in a normal state if the difference between the reference distance or height and the measured distance or height is within a predetermined range, and that the blocking plate 26 is in an abnormal state if the difference is outside the predetermined range. The distance or height that becomes the reference value is set to a distance or height that has been measured in advance. In this embodiment, the difference is set to 3 mm, but is not limited to this.

[0068] The detection unit 31 acquires point cloud data that includes the blockage plate area as the detection area. The determination unit 32 determines whether the measured distance or height in the blockage plate area based on the point cloud data is within a predetermined range of a standard value set as a safety standard. If the measured value is within the predetermined range of the standard value, the determination unit 32 determines that the blockage plate 26 is in a normal state. If the measured value is outside the predetermined range of the standard value, the determination unit 32 determines that the blockage plate 26 is in an abnormal state. If the standard value is outside the range of the safety standard, the output unit 33 outputs an abnormality determination signal indicating that the blockage plate 26 is in an abnormal state. When the notification unit 43 acquires the abnormality determination signal, it outputs a warning notification indicating the abnormal state of the blockage plate 26.

[0069] In each embodiment, the door section 22, the safety shoe 23, the door stop surface of the landing door 51, and the upper surfaces of the car sill section 25 and the landing sill section 53 may have reflective material. The reflective material is preferably white and has been processed to suppress scattering. The reflective material can improve the reflectivity of the measurement light I by the measuring device 21 and improve the accuracy of detection. [Explanation of Symbols]

[0070] 1. Safety Management System 2. Car 21 Measuring device 22 Door section 23 Safety Shoe 24 Return Panel 25. Basket sill section 26 Occlusion plate 3 Safety management device 31 Detection unit 32 Judgment section 33 Output section 4. Elevator control device 41 Door control unit 42 Lifting control unit 43 Notification Department Platform 5 51 Platform Door 52 Platform button 53 Platform threshold O object

Claims

1. An elevator safety management system, A detection unit that acquires point cloud data in a detection area including the area around the elevator car door, A determination unit that determines whether the safety standards for the operation of the elevator are met based on the point cloud data, A safety management system comprising an output unit that outputs a signal based on the determination result of the determination unit.

2. The aforementioned safety standard is set to the safe opening and closing time of the elevator door. The determination unit determines whether the predicted arrival time of the object at the door meets the safety standard. The safety management system according to claim 1, wherein the output unit outputs an opening and closing signal for the door.

3. The safety management system according to claim 2, wherein the determination unit estimates the predicted arrival time based on the virtual origin of the measuring device that measures the point cloud data, a representative point of the object, and the moving speed.

4. The aforementioned safety standards are set at the normal entrance height of the elevator. The determination unit determines whether the measured value of the entrance height meets the safety standard. The safety management system according to claim 1, wherein the output unit outputs a correction signal for the stopping position of the elevator.

5. The aforementioned safety standard is set to the size of the foreign object in the detection area. The determination unit determines whether the size of the foreign object in the detection area meets the safety standard. The safety management system according to claim 1, wherein the output unit outputs a door opening / closing signal or an abnormality detection signal.

6. The aforementioned safety standards are set for the door stop area of ​​the elevator door, The determination unit determines whether an object exists within the area excluding the door stop area. The safety management system according to claim 1, wherein the output unit outputs an opening and closing signal for the door.

7. The aforementioned safety standards are set for the surface area of ​​the elevator door, The determination unit determines whether an object exists within the surface area, The safety management system according to claim 1, wherein the output unit outputs an opening and closing signal for the door.

8. The aforementioned safety standard is set to the standard value for the elevator's blocking plate area. The determination unit determines whether there is an abnormality in the closure plate region, The safety management system according to claim 1, wherein the output unit outputs an abnormality detection signal.

9. A method for managing the safety of elevators, A measurement process to acquire point cloud data in the detection area including the area around the elevator car door, A determination step of determining whether the safety standards for the operation of the elevator are met based on the point cloud data, A safety management method in which a computer performs an output step that outputs a signal based on the determination result of the aforementioned determination step.

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