Safety management system, safety management method

Abstract

To provide a technology for precisely ensuring safety around elevators. [Solution] Point cloud data in a detection area including the area around the elevator car door is acquired, and a determination is made based on the point cloud data as to 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 technology]

[0002] Regarding elevator safety management, various systems have been developed in the past to control elevator operation and ensure safety. A typical elevator system is built around controlling the efficient up and down movement of the car and boarding and alighting, with particular emphasis on ensuring the safety of users.

[0003] With the development of sensor technology and image recognition technology, conventional technology has evolved into technology that controls the opening and closing of elevator doors according to the presence and movement of passengers. For example, systems have been developed that use infrared and ultrasonic sensors to detect the movements of passengers and prevent the elevator doors from closing accidentally. Furthermore, in recent years, systems that utilize cameras and image processing technology to perform detection over a wider area and with higher accuracy have been used. These technological advances have improved the safety of passengers.

[0004] Patent Document 1 proposes an elevator boarding detection system that combines cameras and image processing technology. In this system, a camera installed near the elevator car door captures the state of the landing when the car arrives, and can analyze the movement of passengers using the successive images. A user detection unit in the image processing device detects the user closest to the door from these images and determines whether or not the user intends to board the elevator. Then, a door opening / closing control unit in the car control device controls the door opening and closing operation based on the detection results, thereby supporting smooth boarding and disembarking of passengers.

[0005] Patent Document 2 proposes a new method that utilizes cameras and data analysis technology as a foreign object detection system for elevators. In this system, a camera installed on the top of the elevator car captures video footage overlooking the entrance when the door is opened or closed. A data generation unit analyzes this video footage and generates door behavior data that indicates the opening and closing operation of the door. Then, a foreign object detection unit detects abnormal door behavior based on the door behavior data and determines whether a foreign object is present on the hanger rail. This configuration makes it possible to properly detect foreign objects on the hanger rail, further improving the safety of elevator operation. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2017-124897 A [Patent Document 2] JP 2020-090361 A Summary of the Invention [Problem to be solved by the invention]

[0007] In Patent Documents 1 and 2, since two-dimensional images are handled, it is difficult to process depth (distance) with precision, and there are problems with accuracy. In addition, although there are suggestions for measuring three-dimensional information in elevator-related technologies, the specific processing of the measured information has not been studied, and there is a demand for technology that can accurately recognize space and manage elevator safety.

[0008] An object of the present invention is to provide a technology for ensuring safety around elevators with high accuracy. [Means for solving the problem]

[0009] [1] An elevator safety management system comprising: A detection unit that acquires point cloud data in a detection area including an area around a car door; a determination unit that determines whether a safety standard related to the operation of the elevator is satisfied based on the point cloud data; An output unit that outputs a signal based on a determination result of the determination unit. [2] The safety standard is set at the safe opening and closing time of the elevator doors; The determination unit determines whether a predicted arrival time of an object at the door satisfies the safety standard; The safety management system described in [1], wherein the output unit outputs an opening / closing signal for the door. [3] The safety management system described in [2], wherein the judgment unit estimates the predicted arrival time based on a virtual origin of a measuring device that measures the point cloud data, a representative point of an object, and a moving speed. [4] The safety standard is set at the normal entrance height of the elevator, The determination unit determines whether the measurement value of the entrance height satisfies the safety standard, The safety management system according to any one of [1] to [3], wherein the output unit outputs a correction signal for a stopping position of the elevator. [5] The safety standard is set based on the size of the foreign object in the detection area; The determination unit determines whether a size of the foreign object in the detection area satisfies the safety standard, The safety management system according to any one of [1] to [4], wherein the output unit outputs an opening / closing signal for the door or an abnormality determination signal. [6] The safety standard is set in the door stop area of ​​the elevator; The determination unit determines an object present within a range excluding the door stop area, The safety management system according to any one of [1] to [5], wherein the output unit outputs a signal indicating whether the door is open or closed. [7] The safety standard is set for the surface area of ​​the elevator door; The determination unit determines an object present within the range of the surface region, The safety management system according to any one of [1] to [6], wherein the output unit outputs a signal indicating whether the door is open or closed. [8] The safety standard is set to a reference value of the closing plate area of ​​the elevator; The determination unit determines an abnormality in the closure plate region, The safety management system according to any one of [1] to [3], wherein the output unit outputs an abnormality determination signal. [9] A method for managing elevator safety, comprising: A measurement process for acquiring point cloud data in a detection area including an area around a car door; a determination step of determining whether a safety standard related to the operation of the elevator is satisfied based on the point cloud data; and an output step of outputting a signal based on the determination result of the determination step,

[0010] According to the invention of [1], the space around the elevator doors can be measured with high accuracy using point cloud data, thereby improving elevator safety. The inventions related to [2] and [3] make it possible to accurately measure the approach of an object to a door and control the door. According to the invention of [4], the deviation of the elevator's stopping position can be measured with high accuracy and the position can be corrected. [5] The invention relates to the ability to measure the size of foreign matter with high accuracy and to prompt removal of the foreign matter as necessary. [6] According to the invention, by setting a non-detection area near the door stop, over-detection can be prevented and smooth elevator operation can be achieved. The invention related to [7] makes it possible to accurately measure objects present near the door surface and control the door as necessary, thereby preventing danger and ensuring smooth operation. [8] The invention relates to enabling defects in the closure plate to be measured with high accuracy and enabling abnormal conditions to be detected at an early stage. Effect of the Invention

[0011] According to the present invention, it is possible to provide a technique for ensuring safety around an elevator with high precision. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a system configuration diagram of the present embodiment. [Diagram 2] FIG. 4 is a process sequence diagram of the present embodiment. [Diagram 3] FIG. 4 is a schematic explanatory diagram of a detection region according to the embodiment. [Figure 4] FIG. 4 is a schematic explanatory diagram of a velocity vector according to the embodiment; [Diagram 5] FIG. 4 is a schematic explanatory diagram of a boundary area set in the door stop area of ​​the door according to the embodiment; [Figure 6] FIG. 4 is a diagram showing the relationship between boundary width and door speed in the embodiment. [Figure 7] FIG. 4 is a schematic explanatory diagram of a boundary area set on the surface area of ​​the door in this embodiment. [Figure 8] FIG. 4 is a schematic explanatory diagram of a detection region according to an example of the present embodiment. [Figure 9] FIG. 4 is a schematic explanatory diagram of step correction according to the embodiment. [Figure 10] FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[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 embodiment shown below is an example of the present invention, and the present invention is not limited to the embodiment shown below, and various configurations can 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 connected for communication by wire or wirelessly. Although only one car 2 is shown in Fig. 1, there may be multiple cars 2.

[0015] The car 2 includes a measuring device 21, a door section 22, a safety shoe 23, a return panel 24, a car threshold section 25, and a closing plate 26. The measuring device 21 may use a LiDAR (Light Detection and Ranging), a 4D imaging radar, a ToF (Time of Flight) sensor, or the like.

[0016] The elevator car 2 has a measuring device 21 installed above the entrance or the like 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 the elevator car 2 and the door of the landing 5. When distinguishing between the doors, the door of the elevator car 2 is described as a door portion 22, and the door of the landing 5 is described as a landing door 51.

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

[0018] The point cloud data is a collection of measurement results of each point, and includes at least distance and angle. The point cloud data may also include spatial coordinates linked based on the distance and angle. The point cloud data may also include reflection intensity, color information, and speed.

[0019] The safety management device 3 has, as functional components, a detection unit 31 that acquires point cloud data measured by the measuring device 21, a judgment unit 32 that judges 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 judgment result of the judgment unit 32.

[0020] The elevator control device 4 has as its functional components a door control unit 41 that controls the opening and closing of the door unit 22 of the car 2 and the landing door 51, a lifting and lowering control unit 42 that controls the lifting and lowering of the 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 a computer device 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 a hard disk drive (HDD), solid state drive (SSD), flash memory, random access memory (RAM), etc., and stores programs and various data. The communication device is a communication interface for wired communication, wireless communication, etc., and controls data communication with external devices.

[0022] 1, the safety management device 3 and the elevator control device 4 are shown as separate devices, but they may be configured as one device. Also, the safety management device 3 and the elevator control device 4 may be configured by multiple computer devices, and as long as they can realize the above-mentioned functional components (31-33, 41-43) as a whole, they are not limited to the configuration of the illustrated example.

[0023] FIG. 2 shows a processing sequence of the safety management system 1. The car 2 measures point cloud data around the door using the measuring device 21 and transmits the measured data to the safety management device 3 (S101). The safety management device 3 determines whether the acquired point cloud data satisfies 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 car 2 based on the signal (S104). This allows the car 2 to operate safely in accordance with the control instruction.

[0024] In this embodiment, the safety standards are standards established for the purpose of safe operation of elevators. The safety standards are set for a plurality of items, and the targets of safety management differ for each item.

[0025] The safety standards include a moving object safety standard set for a moving object to ensure the safety of elevator users, and an abnormality safety standard set for an abnormality occurring in the elevator car. The moving object safety standard is set for at least one selected from the door opening / closing time, the door stop area, and the door surface area. The abnormality safety standard is set for at least one selected from the car entrance height, the size of a foreign object in the detection area, and the closing plate area.

[0026] 3 is a schematic explanatory diagram of a detection area including the car 2 and the landing 5. In this embodiment, the elevator doors are described as having double doors, but may have single doors.

[0027] Fig. 3(a) shows a plan view of the car 2 and the landing 5. In Fig. 3(a), the measuring device 21 is installed around the door portion 22 of the car 2, and measures point cloud data in detection areas R1 to R3. The detection area R1 is an area for detecting an object O, etc., at the landing 5. The detection area R2 is an area for detecting an object O between the car 2 and the landing 5. The detection area R3 is an area for detecting an object O in the car 2.

[0028] Fig. 3(b) shows a side view of the car 2 and the platform 5. In Fig. 3(b), an object O is a user, and is about to move from the platform 5 to the car 2. In Fig. 3(b), a 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 indicates the point on the object O that is closest to the vertical line VL. The virtual origin P1 indicates the intersection of the perpendicular line from the representative point P2 to the vertical line VL and the vertical line VL. The in-plane distance L can be calculated based on the measured distance and measured angle from the measurement device 21 to the representative point P2.

[0030] In the following description, specific examples of each safety standard will be shown. The safety management system 1 according to this embodiment can selectively set at least one of the safety standards.

[0031] <Example 1> In the first embodiment, the risk of a user being pinched in the door when getting on or off the elevator is reduced. In the first embodiment, the point cloud data around the door of the car 2 is monitored, and when the movement of a user that is presumed to be an intention to get on or off is detected, the door is opened to prevent the user from being pinched.

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

[0033] The virtual origin P1 indicates the destination point of the object O. When it is detected that the object O is moving to the inside of the car 2 or the hall button 52 as its destination point, the doors are opened to prevent the object O from being caught and to realize smooth elevator operation. The virtual origin P1 can adopt the plane coordinates of the measuring device 21 as shown in Fig. 3. Alternatively, the virtual origin P1 may adopt the plane coordinates of the hall button 52.

[0034] In the first embodiment, the safety standard is set to a safe opening and closing time of the elevator door. The opening and closing time indicates a time from the start of opening the door part 22 to the end of opening the door, or a time from the start of closing the door to the end of closing the door. For example, when an object O is present that is trying to get on or off within the opening and closing time when the door starts to close, it is determined that the object O may be caught by the door part 22.

[0035] In the first embodiment, the detection unit 31 acquires point cloud data in a detection area where a moving object O exists. The determination unit 32 determines whether a predicted arrival time of the object O to the virtual origin P1 satisfies a safety standard. If the predicted arrival time is shorter than a set opening / closing time, the determination unit 32 determines that the safety standard is not satisfied. If the safety standard is not satisfied, 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 in accordance with the opening / closing signal to prevent the object O from being pinched.

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

[0037] Fig. 4 is a schematic explanatory diagram of a velocity vector. In Fig. 4, a virtual origin P1 and a representative point P2 exist apart by an in-plane distance L. The representative point P2 moves with a velocity vector V1. Here, the velocity vector V1 becomes a component of the velocity vector V2 in the direction of the virtual origin P1. Therefore, the predicted arrival time is estimated by calculating the 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 that exceed the boundary area are monitored to prevent danger and achieve control for safety. In this embodiment, multiple boundary areas can be set, and each boundary area is used for different control. Specifically, in the door opening / closing area, in order to suppress overdetection, the door itself needs to be excluded from detection targets when the door is opened or closed. In Example 2, the elevator door opening / closing area is set as the detection area, and the area around the door stop is set to be excluded from the detection area, thereby achieving smooth operation of the elevator.

[0039] Fig. 5 is a schematic explanatory diagram of a boundary area set in the door stop area of ​​a door. In Fig. 5, an elevator door is shown in plan view. The elevator door is composed of a door section 22 on the car side, a safety shoe 23, and a landing door 51. In Fig. 5, the door stop area indicates the door section 22, the safety shoe 23, and the left end area of ​​the landing door 51.

[0040] In FIG. 5, as indicated by the diagonal lines, the door opening / 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 FIG. 5, the boundary area B is set in the doorstop area with a boundary width d. This doorstop area is excluded from the detection area R2, and objects present in this area are not determined to pose a risk of entrapment or the like. The boundary area B is defined by the boundary width d from each end of the door section 22, the safety shoe 23, and the landing door 51. The boundary area B is set so that the detection area R2 is maximized along the convex portion of the safety shoe 23.

[0041] The boundary width d is variable depending on the open / closed state from open to closed. For example, when the boundary width d for each open / closed state is expressed as width d1 in the open state, width d2 in the intermediate state, and width d3 in the state immediately before closing, the size of the boundary width is d2>d1>d3. The boundary width d corresponds to the door speed v, and when the door speed v is high, the door stop part of the door may be overdetected, so the boundary width d is set large.

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

[0043] When the door is fully open and the closing operation starts, the door speed v is small, so the boundary width d is set to a small width d1. The boundary width d is dynamically set to a large width as the door speed v increases. When the door speed v reaches a maximum, the boundary width d is set to a maximum width d2. The door speed v gradually decreases as the door approaches full closure. The boundary width d is dynamically set to a small width as the door speed v decreases. The boundary width d is set to approximately zero immediately before the door is fully closed. In the second embodiment, for example, the width d1 is set to 3 mm, the width d2 is set to 10 mm, and the width d3 is set to 1 to 2 mm, but these values ​​are not limited to these values.

[0044] In the second embodiment, the safety standard is set in the doorstop area (boundary area B) of the elevator door. The detection unit 31 acquires point cloud data including the detection area (including the doorstop area). The determination unit 32 determines whether an object O is present in the detection area excluding the boundary area B set in the doorstop area. When it is determined that the object O is present in the detection area, the output unit 33 outputs an opening / closing signal for opening the door. The door control unit 41 acquires the opening / closing signal and opens the door unit 22.

[0045] <Example 3> In the third embodiment, a predetermined boundary area is set in the elevator space to prevent the risk of the door pocket being pulled in, similar to the second embodiment. Specifically, in the third embodiment, point cloud data around the elevator door surface is monitored, and when an object approaching or touching the periphery of the door surface is detected, the door opening operation of the door portion 22 is stopped to prevent the door pocket from being pulled in.

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

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

[0048] In the third embodiment, the safety standard is set in the surface area (boundary area B) of the elevator door. The detection unit 31 acquires point cloud data including the periphery of the surface area of ​​the door. The determination unit 32 determines whether an object O exists within the range of the boundary area B set in the surface area. When it is determined that the object O exists within the boundary area B, the output unit 33 outputs a door opening / closing signal or a warning signal. Here, the door opening / closing signal includes at least one selected from a signal for slowing down the opening of the door, a signal for stopping the opening of the door, and a signal for closing the door. The door control unit 41 acquires the opening / closing signal and controls the opening / closing operation of the door section 22. The warning signal indicates a signal for outputting a notice to alert the passenger not to come into contact with the door section 22. The notification unit 43 acquires the warning signal and outputs a notice to the passenger. The notice may be, but is not limited to, a voice guide, a warning sound, a display, or the like, and various notification methods may be adopted.

[0049] <Example 4> In the fourth embodiment, a thin object such as a string used to tie up a pet is accurately detected to prevent an accident. Since the point cloud data detects an object by reflection of a laser beam or the like, even a thin string-like object or a stationary object can be accurately detected. In the fourth embodiment, a thin object such as a string is prevented from being caught when the elevator door is closed.

[0050] Fig. 8 is a side view of the car 2 and the landing 5, and shows an outline of the detection area R in the fourth embodiment. In Fig. 8, the objects include a user O1, a string O2, and a pet O3. In the fourth embodiment, 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 Fig. 8, the string O2 is present in the detection area R, and is determined to be a foreign object.

[0051] In the fourth embodiment, the safety standard 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 the perimeter, area, height, and maximum diameter. In the fourth embodiment, the size of the object is set to the perimeter, and an object with a perimeter equal to or greater than a predetermined perimeter is determined to be a foreign object. The width of the detection area R in FIG. 8 is about 20 cm to 30 cm. The safety standard is set to a perimeter of 10 cm, for example.

[0052] The detection unit 31 acquires point cloud data including the detection region R. The determination unit 32 determines whether the size of the foreign object satisfies the safety standard. If the safety standard adopts perimeter as described above, the determination unit 32 determines whether the size of the foreign object is equal to or larger than the set perimeter. If the foreign object is determined to be large, the output unit 33 outputs an opening / closing signal to open the door or an abnormality determination signal. The door control unit 41 acquires the opening / closing signal and opens the door unit 22. The notification unit 43 acquires the abnormality determination signal and outputs a notification of the presence of a foreign object by voice, display, or the like.

[0053] <Example 5> In the fifth embodiment, the step between the car 2 and the platform 5 is determined, and the stopping position of the car 2 is corrected to eliminate the step, thereby eliminating the danger when passengers get on and off. Conventionally, there is known a technology in which an elevator is equipped with a position sensor or the like to detect the stopping position of the car at each platform, but there is a risk that the stopping position may shift if a malfunction occurs in the sensor. In the fifth embodiment, safer elevator management is realized by correcting the shift in the stopping position using point cloud data.

[0054] FIG. 9 is a side view of the car 2 and the landing 5, and explains an overview of step correction. The height of the elevator entrance is set as the reference height H0. In FIG. 9, the reference height H0 is the height from the measuring device 21 (top of the entrance) to the floor surface under normal conditions, but the height adopted as the reference height is not limited to this. In FIG. 9, the stopping position of the car 2 is higher than the landing 5, causing a step. At this time, the height from the measuring device 21 to the floor surface of the landing 5 is defined as the measured height H1. Note that the measured height H1 may be larger or smaller than the reference height H0.

[0055] In the fifth embodiment, the safety standard is set to a reference height H0, which is the normal entrance height of the elevator. The safety standard is that if the difference between the reference height H0 and the measured height H1 is within a predetermined range, the stopping position of the car 2 is determined to be normal, and if the difference is outside the predetermined range, the stopping position of the car 2 is determined to be abnormal. The reference height H0 is set to an entrance height measured in advance. Note that the reference height H0 may be set to the distance measured by the measuring device 21 to the floor surface directly below. In the fifth embodiment, for example, the difference between the reference height H0 and the measured height H1 is set to within a predetermined range of 10 mm.

[0056] The measurement height H1 is calculated based on the point cloud data of the measuring device 21 at the landing 5 on each floor. In FIG. 9, the floor surface of the landing 5 is defined as an XY plane. The measuring device 21 measures a plurality of point cloud data on the floor surface of the landing 5. The point cloud data is measured with a predetermined distance shifted in the X-axis direction and / or Y-axis direction. The point cloud data is measured at a total of nine points, for example, three points in the X-axis direction and three points in the Y-axis direction, and is measured at intervals of 10 cm on each of the X-axis and Y-axis. The quantity of point cloud data used to calculate the measurement height H1 and the distance between them are not particularly limited.

[0057] The measured height H1 is the average or median of multiple heights derived based on 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 makes it possible to eliminate measurement errors caused by foreign objects on the floor surface or damage to the floor, and to derive the measured height H1 with high accuracy.

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

[0059] <Example 6> In the sixth embodiment, a foreign object that may be present in the threshold groove of the door section 22 or the landing door 51 and may interfere with the opening and closing of the door is detected, and the removal of the foreign object is encouraged to support safe operation of the elevator. Conventionally, an object that does not interfere with the opening and closing of the door is detected as a foreign object, which affects the smooth operation of the elevator. In the sixth embodiment, a foreign object is detected with high accuracy, including the physical properties and three-dimensional shape of the foreign object, thereby realizing elevator operation that is both safe and efficient.

[0060] In the sixth embodiment, the foreign object refers to an object that, when present in the threshold groove, obstructs the opening and closing of the door. More specifically, the foreign object refers to an object that is solid and has a certain size or more. For example, liquids such as coffee, medicine, and oil do not obstruct the opening and closing of the door, and are therefore not included as foreign objects. In addition, small amounts of dirt, sand, mud, and the like are solid, but do not obstruct the opening and closing of the door, and are therefore not included as foreign objects.

[0061] In the sixth embodiment, similarly to the fourth embodiment, the detection region R is set in the opening and closing region of the door section 22 and the landing door 51. In the sixth embodiment, the safety standard is set to the size of an object that is a foreign object in the detection region R. The size of the object is defined by at least one selected from the perimeter, area, height, and maximum diameter. In the sixth embodiment, a set value is set for each of the height, area, and maximum diameter of the object. If the height, area, and maximum diameter exceed the set value, the object is determined to be of a size that hinders the opening and closing of the door and needs to be removed. In the sixth embodiment, the determination is made in the order of height, area, and maximum diameter, and the target object is determined to be a foreign object if the measured values ​​exceed all the set values.

[0062] In the sixth embodiment, the type of the object may be determined. The type of the object indicates at least one of solid and liquid. A semi-transparent object such as a liquid generates multiple reflected lights due to reflection from the liquid surface and reflection from an object present deep inside the liquid. In one embodiment, the point cloud data determines the type of the object as liquid by acquiring multiple reflected lights from one direction with respect to the incidence of the laser light. In another embodiment, the point cloud data may obtain a determination result of the type of the object based on the reflection intensity of the laser light.

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

[0064] <Example 7> In the seventh embodiment, dangers such as dropping an object into the gap are prevented by monitoring whether the blocking plate 26 of the car 2 is operating normally. The blocking plate 26 is housed in the car threshold portion 25 of the car 2, and when the car 2 stops at the landing 5, a mechanism operates to close the gap between the car 2 and the landing 5. In the seventh embodiment, the blocking plate 26 contributes to early detection of an abnormal state in which it does not operate due to a malfunction or the like.

[0065] 10 shows a side view of the floor surface around the threshold between the car 2 and the landing 5. The car 2 includes a car threshold portion 25 and a blocking plate 26 housed in the car threshold portion 25. The landing 5 includes a landing threshold portion 53 equipped with a guide rail for a landing door 51. When the car stops at the landing 5, the blocking plate 26 slides from the car threshold portion 25 by a mechanism, thereby blocking the gap between the landing threshold portion 53 and the car threshold portion 25. The measurement light I measures a detection area including the gap blocked by the blocking plate 26, as shown by a dashed line.

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

[0067] In the seventh embodiment, the safety standard is set to a reference value of the distance or height in the closing plate area of ​​the elevator. The safety standard determines that the closing 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 closing plate 26 is in an abnormal state if the difference is outside the predetermined range. The distance or height that is the reference value is set to a distance or height that is 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 including the closure plate region as a detection region. The determination unit 32 determines whether the measurement value of the distance or height in the closure plate region based on the point cloud data is within a predetermined range of a reference value set as a safety standard. If the measurement value is within the predetermined range of the reference value, the determination unit 32 determines that the closure plate 26 is in a normal state. If the measurement value is outside the predetermined range of the reference value, the determination unit 32 determines that the closure plate 26 is in an abnormal state. If the reference value is outside the range of the safety standard, the output unit 33 outputs an abnormality determination signal notifying that the closure plate 26 is in an abnormal state. Upon acquiring the abnormality determination signal, the notification unit 43 outputs a warning notification notifying that the closure plate 26 is in an abnormal state.

[0069] In each embodiment, the door section 22, the safety shoe 23, the door contact surface of the landing door 51, the car threshold section 25, and the upper surface of the landing threshold section 53 may have a reflective material. The reflective material is preferably white and is treated to suppress scattering. The reflective material can improve the reflectance of the measurement light I by the measuring device 21 and increase the detection accuracy. [Explanation of symbols]

[0070] 1 Safety Management System 2 Car 21 Measuring Equipment 22 Door section 23 Safety Shoes 24 Return Panel 25 Cage threshold 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 section 43 Notification Department 5. Platform 51 Platform door 52 Platform button 53 Boarding area threshold O object

Claims

1. An elevator safety management system, comprising: A detection unit that acquires point cloud data in a detection area including an area around a car door; a determination unit that determines whether a safety standard related to the operation of the elevator is satisfied based on the point cloud data; an output unit that outputs a signal based on a determination result of the determination unit; The detection area is set to an area where the elevator doors are opened and closed, The safety standard is set in a door-stop area of ​​the elevator door by a boundary width from an edge of the door, and the door-stop area is excluded from the detection area; The determination unit determines an object present in the detection area excluding the door stop area, The output unit outputs an opening / closing signal for opening the door.

2. The safety standard is set to a safe opening and closing time for the elevator doors; The determination unit determines whether a predicted arrival time of an object at the door satisfies the safety standard; The safety management system according to claim 1 , wherein the output unit outputs a signal indicating whether the door is open or closed.

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

4. The safety standard is set at a normal entrance height of the elevator, The determination unit determines whether the measurement value of the entrance height satisfies the safety standard, The safety management system according to claim 1 , wherein the output unit outputs a correction signal for a stop position of the elevator.

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

6. A safety management system as described in claim 1, wherein the boundary width varies in response to the door speed due to opening and closing of the door.

7. The safety standard is set on a surface area of ​​the elevator door; The determination unit determines an object present within the range of the surface region, The safety management system according to claim 1 , wherein the output unit outputs a signal indicating whether the door is open or closed.

8. The safety standard is set to a reference value of the closing plate area of ​​the elevator, The determination unit determines an abnormality in the closure plate region, The safety management system according to claim 1 , wherein the output unit outputs an abnormality determination signal.

9. A method for managing elevator safety, comprising: A measurement process for acquiring point cloud data in a detection area including an area around a car door; a determination step of determining whether a safety standard related to the operation of the elevator is satisfied based on the point cloud data; an output step of outputting a signal based on a result of the determination step, The detection area is set to an area where the elevator doors are opened and closed, The safety standard is set in a door-stop area of ​​the elevator door by a boundary width from an edge of the door, and the door-stop area is excluded from the detection area; The determination step determines whether an object is present in the detection area excluding the door stop area, The output step of this safety management method includes outputting an opening / closing signal for opening the door.

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