Elevator door control device

Abstract

Even if a malfunction occurs in the rotation detector, door opening and closing control can be achieved in a state close to that of when the rotation detector is functioning correctly. [Solution] The door control device 13 includes a first door position calculation unit 15 that calculates the position of the door from the rotation angle of the motor 11 detected by the rotation detector 14, an abnormality detection unit 17 that detects abnormalities in the rotation detector 14, a second door position calculation unit 19 that calculates the position of the door based on the image captured by the camera 18, a door position information comparison unit 20 that calculates and records the difference between the door position calculated by the first door position calculation unit 15 and the door position calculated by the second door position calculation unit 19 when the rotation detector 14 is operating normally, and a door position information correction unit 21 that corrects the door position calculated by the second door position calculation unit 19 using information previously recorded by the door position information comparison unit 20.

Description

Technical Field

[0001] The present disclosure relates to an elevator door control device.

Background Art

[0002] Conventionally, a technology has been used in which the rotation angle of a motor that opens and closes the car door of an elevator is detected by a rotation detector, the position of the door is calculated from the detected rotation angle, and the opening and closing speed is controlled based on the calculated position of the door. When an abnormality such as a failure occurs in this rotation detector, an alternative means for acquiring information on the position of the door is required. As an alternative means for the above rotation detector, for example, Patent Document 1 discloses a technology that captures an image of a door with a camera, calculates the position of the door based on the captured image, and controls the opening and closing of the door.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of Invention

Problem to be Solved by the Invention

[0004] In the conventional technology such as that disclosed in Patent Document 1, for example, when image processing takes time, the position of the door calculated from the image captured by the camera ends up being a door position that lags behind the actual door position. For example, a wide-angle lens may be used for a camera installed in the car for security purposes, but the relationship between the distance in the captured image and the actual distance is not constant between the center and the edge of the wide-angle lens. For this reason, the door position calculated from the captured image may deviate from the actual door position.

[0005] This disclosure aims to solve the problems described above. The purpose of this disclosure is to enable elevator car door opening and closing control that closely resembles the state when the rotation detector is functioning correctly, even when an abnormality occurs in the existing rotation detector. [Means for solving the problem]

[0006] The elevator door control device according to this disclosure includes: a motor control unit that controls a motor for opening and closing the elevator car door; a first door position calculation unit that calculates the position of the door from the rotation angle of the motor detected by a rotation detector; an abnormality detection unit that detects an abnormality in the rotation detector; a second door position calculation unit that calculates the position of the door based on an image taken by a camera that photographs the entire opening and closing range of the door; a door position information comparison unit that 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 when the rotation detector is operating normally; and a door position information correction unit that corrects the door position calculated by the second door position calculation unit using the difference information previously recorded by the door position information comparison unit when the abnormality detection unit detects an abnormality in the rotation detector. The motor control unit controls the motor according to the door position information corrected by the door position information correction unit when the abnormality detection unit detects an abnormality in the rotation detector. [Effects of the Invention]

[0007] According to the elevator door control device described herein, even if an abnormality occurs in the rotation detector, it is possible to control the opening and closing of the door in a manner close to that when the rotation detector is functioning normally. [Brief explanation of the drawing]

[0008] [Figure 1] This is a functional block diagram showing the configuration of the elevator door control device according to Embodiment 1. [Figure 2] This is a schematic diagram showing the configuration of a door control system to which the door control device according to Embodiment 1 is applied. [Figure 3] This figure shows an example of the operation waveform when the elevator door control device according to Embodiment 1 controls the opening and closing of the door. [Figure 4] This flowchart shows an example of the operation of the elevator door control device according to Embodiment 1. [Figure 5] This is a functional block diagram showing a first modified example of the elevator door control device according to Embodiment 1. [Figure 6] This flowchart shows an example of operation of a first modified example of the elevator door control device according to Embodiment 1. [Figure 7] This is a functional block diagram showing a second modified example of the elevator door control device according to Embodiment 1. [Figure 8] This figure shows an example of the operation waveform during door opening and closing control according to a second modified example of the elevator door control device according to Embodiment 1. [Figure 9] This flowchart shows an example of operation of a second modified example of the elevator door control device according to Embodiment 1. [Modes for carrying out the invention]

[0009] The embodiments will be described below with reference to the attached drawings. In each drawing, the same or corresponding parts are denoted by the same reference numerals. In this disclosure, redundant explanations will be simplified or omitted as appropriate. This disclosure is not limited to the embodiments and their modifications shown below. Any components described in the embodiments and their modifications below can be freely combined, modified, or omitted without departing from the spirit of this disclosure.

[0010] Embodiment 1. Figure 1 is a functional block diagram showing the configuration of the elevator door control device 13 according to Embodiment 1. Figure 2 is a schematic diagram showing the configuration of the door control system 1 to which the door control device 13 according to Embodiment 1 is applied.

[0011] The door control system 1 is a system that controls the opening and closing of the elevator car door 2. As shown in Figure 2, the door control system 1 includes a door 2 that opens and closes the entrance and exit of the elevator car, a door opening and closing mechanism 3 that opens and closes the door 2, and a door drive mechanism 4 that drives the door opening and closing mechanism 3.

[0012] As shown in Figure 2, the door opening / closing mechanism 3 comprises a suspension member 5, a hanger roller 6, a rail 7, two pulleys 8, a belt 9, and a connecting member 10. The suspension member 5 is fixed to the upper part of the door 2. The hanger roller 6 is positioned on the upper part of the suspension member 5. The rail 7 is positioned above the door 2. The two pulleys 8 are positioned horizontally above the rail 7, separated by a predetermined distance. The belt 9 is positioned to circumfer between the pulleys 8. One end of the connecting member 10 is fixed to a predetermined position on the belt 9, and the other end is fixed to the suspension member 5.

[0013] The belt 9 of the door opening / closing mechanism 3 is moved back and forth by the door drive mechanism 4. The door drive mechanism 4 controls the reciprocating motion of the belt 9 by controlling the motor 11 that opens and closes the door 2. When the belt 9 moves back and forth, the door 2 is guided by the hanger roller 6 that runs on the rail 7 and moves back and forth in the opposite direction. In this way, the door 2 opens and closes the entrance to the elevator car.

[0014] 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. As shown in Figure 1, the door control device 13 includes a motor control unit 12 that controls the motor 11. The motor control unit 12 outputs a control signal. This controls the operation of the motor 11 and the opening and closing speed of the door 2.

[0015] As shown in Figure 1, the door control device 13 includes a first door position calculation unit 15. The first door position calculation unit 15 calculates the position of the door 2 from the rotation angle of the motor 11 detected by a rotation detector 14 such as an encoder.

[0016] The motor control unit 12 controls the motor 11 based on, for example, the information on 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 a speed command value, which is the opening / closing speed of the door 2, according to, for example, the information on 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 including information on this speed command value, and outputs the speed command to the motor control unit 12. The motor control unit 12 calculates the actual speed of the door 2 from, for example, the information on 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 included in the speed command output from the speed command generation unit 16.

[0017] FIG. 3 is a diagram showing an example of operation waveforms during opening / closing control of the door 2 by the elevator door control device 13 according to the first embodiment. In the example of FIG. 3, when the rotation 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. In the example of FIG. 3, the actual speed of the motor 11 when the speed command value is W11 is indicated as W12.

[0018] Further, as shown in FIG. 1, the door control device 13 includes an abnormality detection unit 17. The abnormality detection unit 17 detects an abnormality such as a failure of the rotation detector 14. For example, in a state where a control command for moving the door 2 is output from the motor control unit 12 to the motor 11, if the information on the rotation angle of the motor 11 cannot be obtained from the rotation detector 14, the abnormality detection unit 17 determines that an abnormality such as a failure has occurred in the rotation detector 14 and detects this abnormality.

[0019] In the present embodiment, the speed command generation unit 16 selects or generates the speed command value according to the state of abnormality detection of the rotation detector 14 by the abnormality detection unit 17. Detailed specific examples will be described later.

[0020] As shown in Figure 1, 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 door 2 based on images captured by a camera 18 that photographs the entire opening and closing range of door 2. The camera 18 can be, for example, a security camera installed inside the elevator car or a camera with a built-in human 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 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 door 2 based on the position recognized as the fully closed end of door 2. The camera 18 and the second door position calculation unit 19 function as alternative means for the rotation detector 14 and the first door position calculation unit 15 if they malfunction or experience other abnormalities.

[0021] Any conventional method can be used to determine the position and speed of door 2 from images captured by camera 18. A common method for determining the position and speed of door 2 from images captured by camera 18 is as follows: First, the video captured by camera 18 is converted into still image data at regular intervals, and the door edges appearing in these still images are recognized based on pre-prepared door edge feature information using machine learning. Then, the position and speed of door 2 are determined based on the change in the position of the recognized door edges over time and the acquisition time of each still image. For example, the position of door 2 can be calculated by using the position of the door edge at the start of opening or closing as a reference, capturing the position of the door edge while it is open or closed, calculating the amount of movement in the image from the position of the door edge at the start of opening or closing, and multiplying the ratio of this to the total width of the opening in the image by the actual dimensions of the opening. Note that information on the position of door 2 during periods when information cannot be obtained due to the sampling interval by the software or the image output interval from camera 18 can be supplemented by linear interpolation between the obtained data.

[0022] Due to factors such as the time required for 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 lags behind the actual position of door 2, using the information on the position of door 2 calculated from the image captured by camera 18 directly for door 2 opening and closing control will result in the door hitting the door at a faster speed than expected at all opening and closing positions.

[0023] To avoid such problems, in this embodiment, the door control device 13 performs correction processing on the position of the door 2 calculated from the image captured by the camera 18. As a configuration for performing this correction processing, the door control device 13 includes a door position information comparison unit 20 and a door position information correction unit 21, as shown in Figure 1.

[0024] 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 when the rotation detector 14 is operating normally, 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 above difference, and the actual speed information, linking them together. The recording destination at this time may be an internal recording medium of the door control device 13 or an external recording medium. The position of door 2 calculated by the first door position calculation unit 15 from the detection results of the normally operating rotation detector 14 is considered to be close to the actual position of door 2. By recording the difference between this position and the position of door 2 calculated from the image captured by the camera 18 in advance, and using this difference to perform correction, the accuracy of the position of door 2 calculated from the image captured by the camera 18 can be improved.

[0025] Furthermore, it is anticipated that accurately calculating the position of door 2 may become difficult during operations that differ from normal door opening and closing, such as the reversal of door 2. For this reason, it is preferable that the door position information comparison unit 20 compares the position of door 2 and calculates the difference during normal door opening and closing operations, rather than during operations that differ from normal door opening and closing, such as the reversal of door 2.

[0026] When a malfunction or other abnormality actually occurs in the rotation detector 14 and the abnormality detection unit 17 detects the abnormality, the door position information correction unit 21 performs correction processing during 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 corrects the position of the door 2 calculated by the second door position calculation unit 19 using the difference information previously recorded by the door position information comparison unit 20.

[0027] For example, correction is performed by adding a delay amount corresponding to the position of door 2, which is calculated from the image captured by camera 18. The delay amount to be added can be the product of the ratio of the actual speed at the time the delay was recorded and the current speed at the time the delay was recorded (Equation 1). (Equation 1) Corrected position = Position A of door 2 calculated from the image captured by camera 18 + (Delay amount corresponding to position A × (Actual speed at the present time to be applied / Actual speed when the delay amount is recorded))

[0028] As described above, by correcting for the delay, errors caused by the difference between the measured speed and the actual speed at the present time, which are included in the delay, 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.

[0029] For example, the door control device 13 may include a door opening / closing speed selection unit 22. The door opening / closing speed selection unit 22 selects a low and constant speed as the opening / closing speed of the door 2 when an abnormality such as a malfunction occurs in the rotation detector 14. The motor control unit 12 may 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 is undesirable in emergencies where rapid opening and closing of the door 2 is required, such as in the case of an earthquake or fire, because it increases the opening and closing time of the door 2. Also, compared to normal opening and closing of the door 2, the impact and noise may be greater because the door 2 hits all opening and closing positions at a constant speed.

[0030] In this embodiment, instead of controlling the opening and closing of the door 2 at a low and constant speed, control is performed based on the corrected position of the door 2, thereby enabling door 2 opening and closing control in a state close to that when the rotation detector 14 is functioning correctly. This shortens the opening and closing time of the door 2 and also avoids increased impact and noise. Furthermore, the door control device 13 according to this embodiment can utilize a camera 18, which is commonly installed in elevators, as a substitute for the rotation detector 14 without adding any special equipment.

[0031] Here, an example of selecting a speed command value when the rotation detector 14 malfunctions or experiences other abnormalities will be explained with reference to the operation waveform in Figure 3. As described above, under normal conditions when the rotation detector 14 is operating normally, the door 2 is opened and closed with a speed command as shown in W11. When the rotation detector 14 malfunctions, the position of the door 2 is obtained from the image captured by the camera 18, so considering the possibility of output delay due to image processing and other factors, the door may be opened and closed at a medium speed as shown in W31, which is slower than normal. When it is recognized that the door 2 has closed to a predetermined deceleration start position T21 (P21), the speed command is set according to the position of the door 2 based on its position up to the fully closed position T22 (P22), and control is performed so that the speed becomes zero by the time it is fully closed. As shown in Figure 3, the time required to fully close the door 2 can be shortened compared to the time T3 required for the door 2 to fully close at a low and constant speed.

[0032] Figure 4 is a flowchart illustrating an example of the operation of the elevator door control device 13 according to Embodiment 1. First, information on the rotation angle 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 door edge is captured from the image to calculate the current position of the door 2 (step S102). Next, in step S103, it is determined whether a control command has been issued for the motor 11 that moves the door 2 and whether information on the rotation angle has been obtained from the rotation detector 14 (step S103).

[0033] If rotation angle information is available, the rotation detector 14 determines that it is functioning normally (step S104), and calculates the current position and speed of door 2 based on the rotation angle information from the rotation detector 14 (step S105). Next, the position of door 2 calculated from the image captured by camera 18 is compared with the position of door 2 based on the rotation angle from the rotation detector 14, and the amount of delay in the position of door 2 calculated from the image captured by camera 18 is calculated. The calculated amount of delay is recorded for each position point calculated from the image captured by camera 18 (step S106). Then, normal speed is selected as the speed command (step S110).

[0034] If it is determined in step S103 that the rotation angle information from the rotation detector 14 is not being obtained correctly, it is determined that the rotation detector 14 is malfunctioning (step S107), and the position of door 2 calculated from the image captured by the camera 18 is corrected by adding the delay amount that was previously calculated and recorded when the rotation detector 14 was functioning correctly (step S108). Then, the current speed is calculated based on the corrected position of door 2 (step S109), and 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 door 2, and a control command to move door 2 is output to the motor 11 (step S112). When actually controlling the elevator, the processing from steps S101 to S112 above is repeated.

[0035] As described above, the elevator door control device 13 according to this embodiment makes it possible to control the opening and closing of the door 2 in a state close to that when the rotation detector 14 is functioning normally, even when an abnormality occurs in the rotation detector 14.

[0036] Figure 5 is a functional block diagram showing a first modified example of the elevator door control device 13 according to Embodiment 1. In this first modified example, 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.

[0037] The second door position calculation unit 19B calculates the position of door 2 based on images taken by multiple cameras 18B, including camera 18 and another camera. The second door position calculation unit 19B calculates the current position and speed of door 2 from each image, for example, based on the position recognized as the fully closed end of door 2 in each image from each camera 18B.

[0038] The door position information comparison unit 20B compares the position of door 2 calculated from images captured by each camera 18B with the position of door 2 based on the rotation angle from the rotation detector 14, and calculates and records the amount of delay in the position of door 2 calculated from the images captured by each camera 18B. The calculated amount of delay is recorded for each position point calculated from the images captured by each camera 18B.

[0039] In this first modified example, for instance, if the location information of door 2 cannot be correctly obtained from the image captured by camera 18, the location information of door 2 can be obtained using an image captured by another camera. In this first modified example, for instance, the weakness of a fixed-point camera that has angles and positions that prevent it from capturing the target object can be compensated for.

[0040] Furthermore, in this first modification, if the door edge cannot be captured from the image taken by camera 18B, the position where it could not be captured is also recorded. The camera selection unit 23 arranges the multiple cameras 18B in descending order of the percentage of positions where the door edge could not be captured, and determines that the camera 18 with the lowest percentage of positions where the door edge could not be captured is the one that can obtain an image that is closer to the actual position of door 2. For example, for the multiple cameras 18B, the unit checks whether the door edge can be captured in the image taken at the time in the order arranged as described above, and selects the corresponding camera 18 if it can be captured. When controlling the motor 11 in the event of a malfunction of the rotation detector 14, 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.

[0041] Furthermore, the camera selection unit 23 may select a camera 18 based on the difference between the position of door 2 calculated from the rotation angle from the rotation detector 14 at the time of the previous comparison and calculation by the door position information comparison unit 20B and the position of door 2 calculated from the image captured by camera 18B, specifically the cumulative value of the difference for each time series. For example, the camera selection unit 23 may arrange multiple cameras 18B in descending order of the cumulative value of this difference, and determine and select the camera 18 with the smallest cumulative value of the difference, as it can obtain an image that is closer to the actual position of door 2.

[0042] Furthermore, as described above, the camera selection unit 23 may select from the cameras 18B based on the proportion of positions where the door edge could not be captured, or it may select from the cameras 18B based on the comparison results of the previous door position information comparison unit 20B, or it may select from the cameras 18B by applying arbitrary weights based on both.

[0043] Figure 6 is a flowchart showing an example of operation of a first modified elevator door control device 13 according to Embodiment 1. In this flowchart, as described above, a camera 18 is selected from among a plurality of cameras 18B that has a high probability of obtaining the position of the door 2 that is closer to the actual position, and the opening and closing of the door is controlled based on the correction value of that camera 18. Of the processes from step S201 to step S213, the processes of steps S202, S206, and S208, which differ from steps S101 to S112 in Figure 4 described above, as well as the process of step S213 which was added in the first modified example, will be explained. Other processes will not be explained.

[0044] Steps S202, S206, and S208 differ from the processing example in Figure 4 in that they target multiple cameras 18B. In step S202, images of the door 2 are acquired from multiple cameras 18B that capture the entire opening and closing range of the target door 2. The door 2 is captured from each image, and the current position of the door 2 is calculated for each. In step S206, the position of the door 2 calculated from 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, and the amount of delay of the position of the door 2 calculated from the images captured by the cameras 18B is calculated for each camera 18B. The calculated amount of delay is recorded for each position point calculated from the images captured by the cameras 18B.

[0045] In step S213, multiple cameras 18B are sorted in descending order of the cumulative value of the total delay amount calculated in the previous step, and also sorted in descending order of the percentage of positions where the door edge was not captured in the images taken by camera 18B during a single door opening and closing cycle. Based on these two criteria, the most optimal camera 18 is selected. For example, in the sorted order, it is checked whether the image taken at the present time captures the door edge. If it does, the position of door 2 calculated from the image taken by that camera 18B and the delay amount at that position of door 2 are used as the target. In step S208, corrections are made to the position of door 2 and the delay amount targeted in step S213.

[0046] Figure 7 is a functional block diagram showing a second modified example of the elevator door control device 13 according to Embodiment 1. The difference between this second modified example and the first modified example described above is that the door control device 13 includes a door opening / closing speed selection unit 22C, a camera selection unit 23C, and a target position estimation unit 24C.

[0047] In the second modified example, the camera selection unit 23C is equipped with a function as a determination means for determining whether or not there is a camera 18 that can capture the edge of door 2 from among multiple cameras 18B. The camera selection unit 23C obtains information from the second door position calculation unit 19B, which is calculated based on images from each camera 18B, on whether or not the edge of the door can be captured, and determines whether or not there is a camera 18 that can capture it.

[0048] For example, if it is determined that no camera 18 is able to capture the edge of the door, the current position of door 2 is estimated by the target position estimation unit 24C by using a corrected position calculated based on the image taken by the camera 18 that was selected at the time the edge of the door could no longer be captured, and then adding the position of door 2 calculated based on the speed information and elapsed time of door 2 from that point onward. Based on this estimation result, the opening and closing control of door 2 may be performed. This allows the opening and closing operation of door 2 to continue until it is fully open or fully closed.

[0049] However, if the door is opened and closed at the same speed as when the door edge is actually being tracked, there is a possibility that the reaction may be delayed, for example, when it comes into contact with a person and reverses direction. Therefore, the door opening / closing speed selection unit 22C may perform control to switch the speed to a constant low speed when it is detected that the door edge cannot be tracked during the opening and closing of the door 2.

[0050] Figure 8 shows an example of the operation waveform during opening and closing control of door 2 according to a second modified example of the elevator door control device 13 according to Embodiment 1. Waveform W41 in Figure 8 shows an example of a speed command when the rotation detector 14 is malfunctioning. Waveform W31 indicates that during door closing with a medium speed command, the speed is switched to low speed from the point T41 (P41) when the door edge of the positioning target can no longer be acquired.

[0051] Figure 9 is a flowchart showing an example of operation of a second modified elevator door control device 13 according to Embodiment 1. Steps S314 and S315, which differ from the process in Figure 6 described above, will be explained.

[0052] Under conditions where the rotation angle from the rotation detector 14 is not available, step S314 determines whether or not there is a camera 18 that can capture the door edge. If there is a camera 18 that can capture the door edge, the process is carried out in steps S308 to S311 in the same manner as the flowchart in Figure 6 in the first modified example, and a medium speed is selected as the speed command.

[0053] If it is determined in step S314 that no camera 18 is able to capture the edge of the door, then in step S315, the current position of door 2 is estimated by adding the position of door 2 calculated based on the speed and elapsed time from that point onward, using a corrected position obtained by adding the delay to the position of door 2 based on the image taken by the camera 18 that was selected at the time when the edge of the door could no longer be captured. Then, a low speed is selected as the speed command.

[0054] Thus, by providing means for detecting when the door edge can no longer be captured from the image captured by camera 18B, and means for switching the speed command to a low speed when the door edge can no longer be captured, it becomes possible to perform door opening and closing control that prevents the door from hitting the end of the door opening and closing process, even if the position of door 2 can no longer be obtained from the image captured by camera 18B. The means for detecting when the door edge can no longer be captured and the means for switching the speed command to a low speed when the door edge can no longer be captured can also be applied when there is only one camera 18, as shown in the example configuration in Figure 1. [Explanation of symbols]

[0055] 1. Door control system 2 houses 3 Door opening and closing mechanism 4-door drive mechanism 5 Suspension members 6 Hungarola 7 rails 8 Pulley 9 belts 10 Connecting members 11 Motors 12 Motor control unit 13 Door control device 14 Rotation detector 15. Unit 1 Location Calculation Unit 16 Speed ​​command generation section 17 Anomaly detection unit, 18 Cameras 19. Second House Location Calculation Unit 20 Household Location Information Comparison Unit 21. Unit Location Information Correction Unit 22 Door opening / closing speed selection section 23 Camera Selection Section 24 Target position estimation unit

Claims

1. A motor control unit that controls the motor for opening and closing the elevator car doors, A first door position calculation unit calculates the position of the door from the rotation angle of the motor detected by the rotation detector, An abnormality detection unit for detecting an abnormality in the rotation detector, A second door position calculation unit calculates the position of the door based on images captured by a camera that captures the entire range of opening and closing the door, When the rotation detector is operating normally, the door position information comparison unit 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, When the abnormality detection unit detects an abnormality in the rotation detector, the door position information correction unit corrects the door position calculated by the second door position calculation unit using the difference information previously recorded by the door position information comparison unit. Equipped with, The motor control unit controls the motor according to the door position information corrected by the door position information correction unit when the abnormality detection unit detects an abnormality in the rotation detector. This is an elevator door control device.

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 taken by a plurality of cameras, including the camera and another camera.

3. The system includes a camera selection unit that selects from the multiple cameras based on the proportion of positions where the door edge could not be captured. The elevator door control device according to claim 2, characterized in that when the abnormality detection unit detects an abnormality in the rotation detector, the second door position calculation unit calculates the position of the door based on an image taken by the camera selected by the camera selection unit.

4. 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 during the previous calculation by the door position information comparison unit. The elevator door control device according to claim 2, characterized in that when the abnormality detection unit detects an abnormality in the rotation detector, the second door position calculation unit calculates the position of the door based on an image taken 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 previous calculation by the door position information comparison unit.

6. A determination means for determining whether or not a camera is able to capture the edge of the door among the multiple cameras, If the determination means determines that there is no camera that can capture the edge of the door, the target position estimation unit estimates the current position of the door by adding the position of the door calculated based on the speed information of the door and the elapsed time, using as a reference the position of the door corrected by the door position information correction unit to the position of the door calculated by the second door position calculation unit based on the image taken by the camera selected by the camera selection unit at the time when the edge of the door could no longer be captured, and the position of the door calculated based on the speed information of the door and the elapsed time. Equipped with, The elevator door control device according to any one of claims 3 to 5, wherein the motor control unit controls the motor according to the estimation result of the target position estimation unit.

7. The elevator door control device according to claim 6, further comprising a door opening / closing speed selection unit that issues a command to switch the opening / closing speed of the door to a constant low speed when it is determined that the door edge of the door cannot be captured by the multiple cameras.

8. A determination means for determining whether or not a camera is able to capture the edge of the door among the multiple cameras, If the determination means determines that there is no camera that can capture the edge of the door, the door opening / closing speed selection unit issues a command to switch the opening and closing speed of the door to a constant low speed. An elevator door control device according to any one of claims 3 to 5, comprising:

9. A determination means for determining whether the camera is able to capture the edge of the door, If the determination means determines that the door edge has not been captured, the door opening / closing speed selection unit issues a command to switch the door opening / closing speed to a constant low speed. An elevator door control device according to claim 1, comprising:

Images