Elevator door control device

Abstract

To realize door opening / closing control in a state close to when a rotation detector is normal, even when an abnormality occurs in the rotation detector. [Solution] The door control device 13 comprises a first door position calculation unit 15 that calculates the door position 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 door position based on images captured by a 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 technology]

[0002] Conventionally, a technology has been used in which the rotation angle of a motor that opens and closes elevator car doors is detected by a rotation detector, the door position is calculated from the detected rotation angle, and the opening and closing speed is controlled based on the calculated door position. If an abnormality such as a malfunction occurs in this rotation detector, an alternative means for obtaining door position information is required. For example, Patent Document 1 discloses a technology as an alternative to the above rotation detector, in which a camera photographs the door, and the door position is calculated based on the photographed image to control the door opening and closing. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Special Publication No. 2011-522758 Summary of the Invention [Problem to be solved by the invention]

[0004] In conventional technologies such as that disclosed in Patent Document 1, if image processing takes a long time, the door position calculated from the image captured by the camera may lag behind the actual door position. For example, cameras installed inside elevator cars for security purposes sometimes use wide-angle lenses, 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. As a result, the door position calculated from the captured image may differ from the actual door position.

[0005] The present disclosure is intended to solve the above-mentioned problems. An object of the present disclosure is to realize elevator car door opening / closing control in a state close to when the rotation detector is normal, even when an abnormality occurs in an existing rotation detector. [Means for solving the problem]

[0006] The elevator door control device according to the present disclosure includes a motor control unit that controls a motor for opening and closing elevator car doors, a first door position calculation unit that calculates the door position based on the rotation angle of the motor detected by a rotation detector, an abnormality detection unit that detects abnormalities in the rotation detector, a second door position calculation unit that calculates the door position based on images captured by a camera that captures the entire door opening and closing range, 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 information about the difference previously recorded by the door position information comparison unit when the abnormality detection unit detects an abnormality in the rotation detector. 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. [Effects of the Invention]

[0007] According to the elevator door control device of the present disclosure, even if an abnormality occurs in the rotation detector, it is possible to achieve door opening and closing control in a state close to when the rotation detector is normal. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a functional block diagram showing the configuration of an elevator door control device according to a first embodiment. [Figure 2] 1 is a schematic diagram showing the configuration of a door control system to which a door control device according to a first embodiment is applied. [Figure 3] 3 is a diagram showing an example of an operational waveform when the elevator door control device according to the first embodiment controls the opening and closing of a door. FIG. [Figure 4] 4 is a flowchart showing an example of the operation of the elevator door control device according to the first embodiment. [Figure 5] FIG. 3 is a functional block diagram showing a first modified example of the elevator door control device according to the first embodiment. [Figure 6] 6 is a flowchart showing an operation example of a first modified example of the elevator door control device according to the first embodiment. [Figure 7] FIG. 4 is a functional block diagram showing a second modified example of the elevator door control device according to the first embodiment. [Figure 8] 10 is a diagram showing an example of operational waveforms when controlling the opening and closing of doors by a second modified example of the elevator door control device according to embodiment 1. FIG. [Figure 9] 10 is a flowchart showing an example of operation of a second modified example of the elevator door control device according to the first embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments will be described with reference to the accompanying drawings. In each drawing, the same or corresponding parts are designated by the same reference numerals. In this disclosure, duplicated descriptions will be appropriately simplified or omitted. Note that this disclosure is not limited to the following embodiments and their modifications. Any components described in the following embodiments and their modifications can be freely combined, modified, or omitted within the scope of the spirit of this disclosure.

[0010] Embodiment 1 Fig. 1 is a functional block diagram showing the configuration of an elevator door control device 13 according to embodiment 1. Fig. 2 is a schematic diagram showing the configuration of a 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 elevator car doors 2. As shown in Fig. 2, the door control system 1 includes doors 2 that open and close the entrance and exit of the elevator car, a door opening and closing mechanism 3 that opens and closes the doors 2, and a door drive mechanism 4 that drives the door opening and closing mechanism 3.

[0012] As shown in FIG. 2, the door opening and closing mechanism 3 includes 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 top of the door 2. The hanger roller 6 is disposed on top of the suspension member 5. The rail 7 is disposed above the door 2. The two pulleys 8 are disposed above the rail 7, horizontally spaced a predetermined distance apart. The belt 9 is disposed so as to go around 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 reciprocated left and right by the door drive mechanism 4. The door drive mechanism 4 controls the reciprocating movement of the belt 9 by controlling a motor 11 for opening and closing the door 2. As the belt 9 reciprocates left and right, the door 2 reciprocates in the opposite direction, guided by the hanger rollers 6 running on the rails 7. In this way, the door 2 opens and closes the entrance and exit of the elevator car.

[0014] The door drive mechanism 4 includes a door control device 13 that controls the motor 11 to open and close the elevator car door 2. As shown in FIG. 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] 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, 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 is equipped with 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, 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 it to the motor control unit 12. The motor control unit 12 calculates the actual speed of the door 2 from information on the rotation angle of the motor 11 detected by the rotation detector 14, for example, 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 operational waveforms when the elevator door control device 13 according to the first embodiment controls the opening and closing of the door 2. 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 shown as W12.

[0018] 1, the door control device 13 also includes an abnormality detection unit 17. The abnormality detection unit 17 detects abnormalities such as a failure of the rotation detector 14. For example, when a control command to move the door 2 is output from the motor control unit 12 to the motor 11, and information on the rotation angle of the motor 11 is not obtained from the rotation detector 14, the abnormality detection unit 17 determines and detects that an abnormality such as a failure has occurred in the rotation detector 14.

[0019] In this embodiment, the speed command generating unit 16 selects or generates a speed command value depending on the state of abnormality detection of the rotation detector 14 by the abnormality detecting unit 17. A detailed example will be described later.

[0020] As shown in FIG. 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 the door 2 based on images captured by a camera 18 that captures the entire opening and closing range of the door 2. The camera 18 may be, for example, a security camera installed inside the 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 the door 2 through image processing. For example, the second door position calculation unit 19 analyzes the images acquired from the camera 18 and calculates the current position and speed of the door 2 based on the position recognized as the door edge on the fully closed side of the 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 that have experienced an abnormality such as a malfunction.

[0021] Any conventional method can be used to determine the position and speed of the door 2 from images captured by the camera 18. The following is a typical method for determining the position and speed of the door 2 from images captured by the camera 18. First, the video captured by the camera 18 is converted into still image data at regular intervals, and the door edge moving within the still images is recognized based on characteristic information of the door edge prepared in advance using machine learning. The position and speed of the door 2 are then determined based on the change in the position of the recognized door edge over time and the acquisition time of each still image. For example, the position of the door 2 can be calculated by capturing the position of the door edge while the door is opening or closing, using the position of the door edge at the start of opening or closing as a reference, calculating the amount of movement in the image from the position of the door edge at the start of opening or closing, and multiplying this ratio to the total width of the opening in the image by the actual dimensions of the opening. Note that information on the position of the door 2 during periods when information is unavailable due to sampling intervals by software or image output intervals from the camera 18 can be compensated for by linear interpolation between available data.

[0022] Due to factors such as the time required for image processing or the specifications of the lens used in the camera 18, the position of the door 2 calculated from the image taken by the camera 18 may deviate significantly from the actual position of the door 2. For example, if the position of the door 2 calculated from the image taken by the camera 18 lags behind the actual position of the door 2, and the information on the position of the door 2 calculated from the image taken by the camera 18 is used as is to control the opening and closing of the door 2, the door will hit the door at a speed faster than expected at all open and closed positions.

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

[0024] When the rotation detector 14 is operating normally, the door position information comparison unit 20 compares the position of the door 2 calculated by the first door position calculation unit 15 with the position of the door 2 calculated by the second door position calculation unit 19, calculates and records the difference. The door position information comparison unit 20 links and records the position of the door 2 calculated by the second door position calculation unit 19, the difference, and information on the actual speed. The recording destination may be an internal recording medium of the door control device 13 or an external recording medium. Based on the detection results of a rotation detector 14 that is operating normally, the door 2 calculated by the first door position calculation unit 15 is considered to be close to the actual position of the door 2. By recording the difference between this position and the position of the door 2 calculated from the image captured by the camera 18 in advance and performing correction using this difference, the accuracy of the position of the door 2 calculated from the image captured by the camera 18 can be improved.

[0025] It is expected that it will be difficult to accurately calculate the position of the door 2 during operations that differ from normal door opening and closing, such as the reversing operation of the door 2. For this reason, it is more preferable that the door position information comparison unit 20 compares the positions of the 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 reversing operation.

[0026] When an abnormality such as a breakdown actually occurs in the rotation detector 14 and the abnormality is detected by the abnormality detection unit 17, a correction process is performed by the door position information correction unit 21 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 above difference information recorded in advance by the door position information comparison unit 20.

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

[0028] As described above, by correcting the delay amount, it is possible to eliminate errors due to the difference in actual speed between the time of measurement and the current time, which are included in the delay. The speed command generator 16 generates and outputs a speed command based on the calculated corrected position. The motor controller 12 controls the motor 11 based on the speed command output by the speed command generator 16.

[0029] For example, the door control device 13 may be equipped with a door opening / closing speed selection unit 22. The door opening / closing speed selection unit 22 selects a slow and constant speed as the opening / closing speed of the door 2 when an abnormality such as a failure 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 slow and constant speed selected by the door opening / closing speed selection unit 22. However, such control would lengthen the time it takes to open or close the door 2, and is therefore not preferable in emergencies such as earthquakes or fires that require the door 2 to be opened or closed quickly. In addition, compared to normal opening and closing of the door 2, it is possible that the impact and noise would be greater if the door 2 hits the fully open / closed position at a constant speed.

[0030] In this embodiment, instead of controlling the opening and closing of the door 2 at such a slow and constant speed, control is performed based on the corrected position of the door 2, thereby realizing control of the opening and closing of the door 2 in a state close to when the rotation detector 14 is normal. This reduces the time it takes to open and close the door 2 and also prevents louder impacts and noise. Furthermore, the door control device 13 according to this embodiment can use a camera 18 that is generally provided in elevators as an alternative to the rotation detector 14, without adding any special equipment.

[0031] Here, an example of the selection of the speed command value when an abnormality such as a failure occurs in the rotation detector 14 will be described with reference to the operation waveforms in Figure 3. As described above, when the rotation detector 14 is operating normally, the door 2 is opened and closed using a speed command such as that shown in W11. When an abnormality occurs in the rotation detector 14, the door 2 position determined from the image captured by the camera 18 is used. Therefore, considering the possibility of output delays due to image processing, etc., the door may be opened and closed at a slower speed than normal, as shown in W31. Once it is recognized that the door 2 has closed to the predetermined deceleration start position T21 (P21), the speed command is set according to the position of the door 2 based on the position up to the fully closed position T22 (P22) so that the speed becomes zero by the time the door 2 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 to fully close the door 2 at a slow and constant speed.

[0032] 4 is a flowchart showing an example of the operation of the elevator door control device 13 according to the first embodiment. 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 for the motor 11 that moves the door 2 has been issued and whether information on the rotation angle has been obtained from the rotation detector 14 (step S103).

[0033] If the rotation angle information is obtained, the rotation detector 14 is determined to be normal (step S104), and the current position and speed of the door 2 are calculated based on the rotation angle information from the rotation detector 14 (step S105). Next, the position of the door 2 calculated from the image taken by the camera 18 is compared with the position of the door 2 based on the rotation angle from the rotation detector 14, and the amount of delay in the position of the door 2 calculated from the image taken by the camera 18 is calculated. The calculated amount of delay is recorded for each position point calculated from the image taken by the camera 18 (step S106). Then, normal speed is selected as the speed command (step S110).

[0034] If it is determined in step S103 that rotation angle information from the rotation detector 14 is not being obtained normally, it is determined that there is an abnormality in the rotation detector 14 (step S107), and the position of the door 2 calculated from the image captured by the camera 18 is corrected by adding the delay amount that was calculated and recorded in advance when the rotation detector 14 was normal (step S108). Then, the current speed is calculated based on the corrected position of the door 2 (step S109), and a medium speed is selected as the speed command (step S111). After the processing of step S110 or step S111, a speed command is generated based on the current position of the door 2, and a control command to move the door 2 is output to the motor 11 (step S112). When actually controlling an elevator, the processing of steps S101 to S112 described above is repeated.

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

[0036] 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 the door 2 based on images taken by multiple cameras 18B, including the camera 18 and another camera. The second door position calculation unit 19B calculates the current position and speed of the door 2 from each image, for example, based on the position recognized as the door edge on the fully closed side of the door 2 in each image from each camera 18B.

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

[0039] With this first modified example, for example, if information about the position of door 2 cannot be correctly obtained from an image taken by camera 18, it is possible to obtain information about the position of door 2 using an image taken by another camera. With the first modified example, it is possible to compensate for the weakness of a fixed camera, which has an angle and position that makes it impossible to capture the target object.

[0040] In addition, in this first modification, if the door edge cannot be captured from the image captured by camera 18B, the position where the image could not be captured is also recorded. The camera selection unit 23 arranges the multiple cameras 18B in order of the percentage of positions where the door edge could not be captured, and determines the camera 18 with the lowest percentage of positions where the door edge could not be captured as the camera that can obtain an image that captures the position of the door 2 closest to the actual position. For example, the multiple cameras 18B are checked in the order arranged as described above to see if they can capture the door edge with the currently captured image, and if they can, the corresponding camera 18 is selected. When controlling the motor 11 in the event of an abnormality in the rotation detector 14, the second door position calculation unit 19B calculates the position of the door 2 based on the image captured by the camera 18 selected by the camera selection unit 23. This allows for 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 the door 2 calculated from the rotation angle from the rotation detector 14 and the position of the door 2 calculated from the image captured by the camera 18B at the time of the previous comparison and calculation by the door position information comparison unit 20B, specifically the accumulated value of the difference over time. For example, the camera selection unit 23 arranges the multiple cameras 18B in order of the smallest accumulated value of the difference, and determines and selects the camera 18 with the smallest accumulated value of the difference as the one that can obtain an image that can capture the position of the door 2 closer to its actual position.

[0042] As described above, the camera selection unit 23 may select from camera 18B based on the percentage of positions where the door edge could not be captured, or may select from camera 18B based on the results of the previous comparison by the door position information comparison unit 20B, or may select from camera 18B by applying arbitrary weighting based on both of these.

[0043] FIG. 6 is a flowchart showing an example of operation of a first modified example of the elevator door control device 13 according to the first embodiment. In this flowchart, as described above, a camera 18 that is likely to be able to acquire the position of the door 2 closest to the actual position is selected from the multiple cameras 18B, and door opening and closing is controlled based on the correction value of that camera 18. Of the processes from step S201 to step S213, the processes of step S202, step S206, and step S208, which are different from steps S101 to S112 in FIG. 4 described above, as well as the process of step S213 added in the first modified example will be described. Descriptions of the other processes will be omitted.

[0044] Steps S202, S206, and S208 differ from the processing example in FIG. 4 in that they target multiple cameras 18B. In step S202, images of door 2 are obtained from multiple cameras 18B that capture the entire opening and closing range of the target door 2, door 2 is captured from each image, and the current position of door 2 is calculated for each. In step S206, the position of door 2 calculated from the image captured by camera 18B is compared with the position of door 2 based on the rotation angle from rotation detector 14, and the amount of delay in the door 2 position calculated from the image captured by camera 18B is calculated for each camera 18B. The calculated amount of delay is recorded for each position calculated from the image captured by camera 18B.

[0045] In step S213, the multiple cameras 18B are sorted in order of the lowest cumulative value of the total delay amount calculated last time, and also in order of the lowest percentage of positions where the door edge was not captured in the images taken by the camera 18B during one door opening and closing, and the most optimal camera 18 is selected from these two perspectives. For example, in the sorting order, it is checked whether the image currently taken captures the door edge, and if so, 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 targeted. In step S208, correction is made to the position and delay amount of door 2 targeted in step S213.

[0046] 7 is a functional block diagram showing a second modified example of the elevator door control device 13 according to Embodiment 1. This second modified example differs from the first modified example in 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 has a function as a determination means for determining whether or not a camera 18 is able to capture the door edge of the door 2, targeting multiple cameras 18B. The camera selection unit 23C obtains information on whether or not the door edge is being captured from the second door position calculation unit 19B, which performs calculations based on images from each camera 18B, and determines whether or not a camera 18 is able to capture the door edge.

[0048] For example, if it is determined that none of the cameras 18 have captured the door edge, the target position estimation unit 24C estimates the current position of the door 2 by adding the position of the door 2 calculated based on the speed information of the door 2 and the elapsed time, using as a reference the corrected position of the door 2 calculated based on the image taken by the camera 18 selected at the time the door edge could no longer be captured. Based on this estimation result, the opening and closing of the door 2 may be controlled. This allows the opening and closing operation of the door 2 to continue until it is fully open or fully closed.

[0049] However, if the opening and closing operation is performed at the same speed as when the actual door edge is being captured, there is a possibility that the reaction, such as the door reversing when it comes into contact with a person, may be delayed. Therefore, the door opening and closing speed selection unit 22C may perform control to switch the speed to a constant low speed when it detects a state in which the door edge cannot be captured during the opening or closing of the door 2.

[0050] Fig. 8 is a diagram showing an example of operational waveforms when the door 2 is controlled to open and close by the second modified example of the elevator door control device 13 according to the first embodiment. The waveform W41 in Fig. 8 shows an example of a speed command when an abnormality occurs in the rotation detector 14. During door closing based on a speed command at a medium speed as shown by the waveform W31, the speed is switched to a low speed from time T41 (P41) when it becomes impossible to capture the door edge to be positioned.

[0051] Fig. 9 is a flowchart showing an example of the operation of the second modified example of the elevator door control device 13 according to embodiment 1. Among the processes from step S301 to step S315, steps S314 and S315 that differ from the process in Fig. 6 described above will be described.

[0052] Under conditions where the rotation angle is not obtained from the rotation detector 14, it is determined in step S314 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 processing from steps S308 to S311 is performed in the same manner as in the flowchart of Fig. 6 for the first modified example, and medium speed is selected as the speed command.

[0053] If it is determined in step S314 that none of the cameras 18 have captured the door edge, in step S315, the current position of the door 2 is estimated by adding the position of the door 2 calculated based on the speed and elapsed time, using as a reference a corrected position obtained by adding a delay to the position of the door 2 based on the image taken by the camera 18 selected at the time when it was no longer able to capture the door edge. Then, a low speed is selected as the speed command.

[0054] In this way, by providing a means for detecting a state in which the door edge cannot be captured from the image captured by camera 18B and a means for switching the speed command to a low speed when the door edge cannot be captured, it becomes possible to perform door opening and closing control without the door hitting at the door opening and closing end, even if the position of door 2 cannot be obtained from the image captured by camera 18B. Note that the means for detecting a state in which the door edge cannot be captured and the means for switching the speed command to a low speed when the door edge cannot be captured can also be applied when there is only one camera 18, as in the configuration example of Figure 1. [Explanation of symbols]

[0055] 1 Door Control System 2 units 3 Door opening and closing mechanism 4 door drive mechanism 5 Suspension members 6. Hangarola 7 Rail 8 pulleys 9 Belt 10 Connecting member 11 Motor 12 Motor control unit 13 Door control device 14 Rotation detector 15 First house position calculation section 16 Speed ​​command generation section 17. Anomaly detection unit, 18 Camera 19 Second house position calculation section 20. Door location information comparison section 21 Door position 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 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 captured by a camera that captures 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; A door position information correction unit that corrects the door position calculated by the second door position calculation unit using the difference information recorded in advance by the door position information comparison unit when the abnormality detection unit detects an abnormality in the rotation detector; Equipped with The motor control unit is an elevator door control device that 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.

2. The elevator door control device according to claim 1, wherein 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. a camera selection unit that selects from the plurality of cameras based on a ratio of positions where the door edge of the door cannot be captured; The elevator door control device described in 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. A camera selection unit is provided that selects from the plurality of cameras based on the difference between the door position calculated by the first door position calculation unit and the door position calculated by the second door position calculation unit at the time of the previous calculation by the door position information comparison unit, The elevator door control device described in 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. 4. The elevator door control device according to claim 3, wherein the camera selection unit selects from the plurality of cameras based on a difference between the door position calculated by the first door position calculation unit and the door position calculated by the second door position calculation unit at the time of the previous calculation by the door position information comparison unit.

6. a determination means for determining whether or not a camera is capable of capturing the door edge of the door from among the plurality of cameras; When the determination means determines that there is no camera that can capture the door edge, a target position estimation unit that estimates the current position of the door by adding the door position calculated based on the door speed information and elapsed time to the door position 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 door edge could no longer be captured, and the door position corrected by the door position information correction unit as a reference. Equipped with The elevator door control device according to any one of claims 3 to 5, wherein the motor control unit controls the motor in accordance with the estimation result by the target position estimation unit.

7. 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 door opening / closing speed to a constant low speed when it is determined that the door edges of the doors have not been captured by the plurality of cameras.

8. a determination means for determining whether or not a camera is capable of capturing the door edge of the door from among the plurality of cameras; 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 the determination means determines that there is no camera that can capture the door edge; The elevator door control device according to any one of claims 3 to 5, comprising:

9. a determination means for determining whether the camera is capturing the door edge of the door; a door opening / closing speed selection unit that issues a command to switch the door opening / closing speed to a constant low speed when the determination means determines that the door edge has not been captured; The elevator door control device according to claim 1 ,

Images