The embodiments herein relate to elevator systems and, more particularly, automated door systems with response times optimized for approaching passengers.
Current door systems require obstruction detection in the closing door plane, leading to passengers putting their hand into the door path to stop the door. On occasion, this may lead to a passenger intentionally or inadvertently contacting the door. Elevator doors are typically equipped with detection components that only monitor for objects in the plane of the elevator door.
Currently elevator doors are opened or closed at a speed that is independent of the movement speed of an approaching passenger. The speed is also independent of the button-pressing frequency or force of the passenger when he/she issues a car call. It is desirable to have an adaptive door response system and method in which an estimate of a passenger's moving speed or state-of-urgency can be used to adaptively set the speed that an elevator door responds to the passenger.
Disclosed herein in an embodiment is a method and system for controlling a movable door associated with a passenger compartment, the door is moveable between an opened position and a closed position configured to provide access to, or egress from, the passenger compartment. The method includes monitoring a landing area of the elevator door with a sensor, and determining a level of urgency of an approaching passenger based on the information from the sensor. If the level of urgency exceeds a predetermined threshold, the method includes modifying a closing timing of the elevator door based on the level of urgency. In addition, the method may also include modifying a closing speed of the elevator door if the level of urgency exceeds a predetermined threshold.
Also disclosed herein in an embodiment is a passenger detection system for controlling a movable door associated with a passenger compartment. The system includes a door moveable between an opened position and a closed position configured to provide access to, or egress from, the passenger compartment, at least one sensor monitoring an area in proximity to the door; and a controller in operative communication with the at least one sensor and the door. The controller determines a level of urgency of an approaching passenger based on the information from the at least one sensor, including at least one of the speed of the approaching passenger, a distance of the approaching passenger from the elevator, and a button press frequency and duration. If the level of urgency exceeds a first predetermined threshold, modifying a closing of the elevator door based on the level of urgency.
In addition to one or more of the features described above, or as an alternative, further embodiments may include that the modifying a closing of the elevator door includes at least one of changing timing of closing movement, reducing a speed of the door closing movement, stopping the door closing movement, and reversing the door closing movement.
In addition to one or more of the features described above, or as an alternative, further embodiments may include that the modifying a closing timing includes delaying a closing movement of the door.
In addition to one or more of the features described above, or as an alternative, further embodiments may include that the at least one sensor is at least one of an infrared sensor, a radar sensor, a video sensor, a time of flight sensor, depth sensor, and a LIDAR sensor.
In addition to one or more of the features described above, or as an alternative, further embodiments may include that the area the at least one sensor is monitoring located at an exterior of the passenger compartment.
In addition to one or more of the features described above, or as an alternative, further embodiments may include that the area the at least one sensor is monitoring is located at an interior of the passenger compartment.
In addition to one or more of the features described above, or as an alternative, further embodiments may include at least one of modifying a closing speed of the elevator door if the level of urgency exceeds a second predetermined threshold and reversing a closing movement of the elevator door if the level of urgency exceeds a third predetermined threshold.
In addition to one or more of the features described above, or as an alternative, further embodiments may include that the level of urgency is based on at least one of the gait or pace of the approaching passenger.
In addition to one or more of the features described above, or as an alternative, further embodiments may include that the passenger compartment is an elevator car and the door is an elevator door.
In addition to one or more of the features described above, or as an alternative, further embodiments may include that the at least one sensor is fixed to one of the elevator door, the leading edge of the elevator door, and a fixed structure in a landing area located proximate the elevator door.
Also described herein in an embodiment is a method of controlling a movable door associated with a passenger compartment, the door moveable between an opened position and a closed position configured to provide access to, or egress from, the passenger compartment. The method includes monitoring a landing area of the elevator door with at least one sensor, determining a level of urgency of an approaching passenger based on the information from the at least one sensor. The level of urgency is based on at least one of the speed of the approaching passenger, distance of the approaching passenger from the elevator, button press frequency and duration. If the level of urgency exceeds a predetermined threshold, the method also includes modifying a closing of the elevator door based on the level of urgency.
In addition to one or more of the features described above, or as an alternative, further embodiments of the method may include modifying a closing of the elevator door includes at least one of: changing timing of closing movement, reducing a speed of the door closing movement, stopping the door closing movement, and reversing the door closing movement.
In addition to one or more of the features described above, or as an alternative, further embodiments of the method may include that modifying a closing timing includes delaying a closing movement of the door.
In addition to one or more of the features described above, or as an alternative, further embodiments of the method may include that the at least one sensor comprises at least one of an infrared sensor, a radar sensor, a video sensor, a time of flight sensor, a depth sensor, and a LIDAR sensor.
In addition to one or more of the features described above, or as an alternative, further embodiments of the method may include that the monitoring a landing area is an area located at an exterior of the passenger compartment.
In addition to one or more of the features described above, or as an alternative, further embodiments of the method may include that the monitoring is a landing area is an area located at an interior of the passenger compartment.
In addition to one or more of the features described above, or as an alternative, further embodiments of the method may include at least one of modifying a closing speed of the elevator door if the level of urgency exceeds a second predetermined threshold; and reversing a closing movement of the elevator door if the level of urgency exceeds a third predetermined threshold.
In addition to one or more of the features described above, or as an alternative, further embodiments of the method may include that the level of urgency is based on at least one of the gait or pace of the approaching passenger.
In addition to one or more of the features described above, or as an alternative, further embodiments of the method may include that the passenger compartment is an elevator car and the door is an elevator door.
In addition to one or more of the features described above, or as an alternative, further embodiments of the method may include that the at least one sensor is fixed to one of the elevator door, the leading edge of the elevator door, and a fixed structure in a landing area located proximate the elevator door.
The foregoing features and elements may be combined in various combinations without exclusivity, unless expressly indicated otherwise. These features and elements as well as the operation thereof will become more apparent in light of the following description and the accompanying drawings. It should be understood, however, that the following description and drawings are intended to be illustrative and explanatory in nature and non-limiting.
The present disclosure is illustrated by way of example and not limited in the accompanying figures in which like reference numerals indicate similar elements.
Described herein in one or more embodiments is an elevator system using sensors to estimate a passenger's state-of-urgency in approaching an elevator. For example, in one embodiment, by extracting the speed of an approaching passenger from sensed data. In an exemplary embodiment, the sensor can be a camera, and include a one-dimensional (1D), 2D, 3D sensors and/or a combination and/or array thereof. Sensors may be operable in the electromagnetic or acoustic spectrum capable of producing a 3D point cloud, occupancy grid or depth map of the corresponding dimension(s). Sensor may provide various characteristics of the sensed electromagnetic or acoustic spectrum including intensity, spectral characteristics, polarization, etc. that may then be correlated to the estimating a state-of-urgency of an approaching passenger.
The tension member 107 engages the machine 111, which is part of an overhead structure of the elevator system 101. The machine 111 is configured to control movement between the elevator car 103 and the counterweight 105. The position reference system 113 may be mounted on a fixed part at the top of the elevator shaft 117, such as on a support or guide rail 109, and may be configured to provide position signals related to a position of the elevator car 103 within the elevator shaft 117. In other embodiments, the position reference system 113 may be directly mounted to a moving component of the machine 111, or may be located in other positions and/or configurations as known in the art. The position reference system 113 can be any device or mechanism for monitoring a position of an elevator car 103 and/or counter weight 105, as known in the art. For example, without limitation, the position reference system 113 can be an encoder, sensor, or other system and can include velocity sensing, absolute position sensing, etc., as will be appreciated by those of skill in the art.
The controller 115 is located, as shown, in a controller room 121 of the elevator shaft 117 and is configured to control the operation of the elevator system 101, and particularly the elevator car 103. For example, the controller 115 may provide drive signals to the machine 111 to control the acceleration, deceleration, leveling, stopping, etc. of the elevator car 103. The controller 115 may also be configured to receive position signals from the position reference system 113 or any other desired position reference device. When moving up or down within the elevator shaft 117 along guide rail 109, the elevator car 103 may stop at one or more landings 125 as controlled by the controller 115. In addition, the controller 115 may be part of a control system 116 configured to interface with various sensors e.g. 162 (
The machine 111 may include a motor or similar driving mechanism. In accordance with embodiments of the disclosure, the machine 111 is configured to include an electrically driven motor. The power supply for the motor may be any power source, including a power grid, which, in combination with other components, is supplied to the motor. The machine 111 may include a traction sheave that imparts force to tension member 107 to move the elevator car 103 within elevator shaft 117.
Although shown and described with a roping system including tension member 107, elevator systems that employ other methods and mechanisms of moving an elevator car 103 within an elevator shaft 117 may employ embodiments of the present disclosure. For example, embodiments may be employed in ropeless elevator systems using a linear motor to impart motion to an elevator car 103. Embodiments may also be employed in ropeless elevator systems using a hydraulic lift to impart motion to an elevator car 103.
The overall amount of travel time a passenger associates with elevator performance may include three time intervals. A first time interval can be the amount of time a passenger waits in a lobby for an elevator car 103 to arrive, hereafter the “wait time.” A second time interval can be the “door dwell time” or the amount of time the elevator doors 120 are open, allowing passengers to enter or leave the elevator car 103. A third time interval can be the “ride time” or amount of time a passenger spends in the elevator car 103. The ride time can also include a stop on an intermediate floor to allow passengers to enter and/or exit the elevator which can add to the ride time by at least the door dwell time during the stop.
Turning now to
The controller 115 and/or 118 (See
Referring now to
A zone object detection system 130 is schematically illustrated in
Although the illustrated embodiment pertains to an elevator door 120, it is contemplated that any type of automated door that opens and closes in response to passengers entering or exiting a compartment may benefit from the embodiments described herein. For example, a train (e.g., subway car or large passenger train), building entrance/exit, and any other automated door system may utilize the embodiments described herein.
The zone object detection system 130 includes one or more sensors 132 that monitor one or more zones that are in and/or out of the elevator door plane. In systems where multiple sensors are employed, the sensors 132 may be a common type of sensor or varied. Any type of sensor suitable for moveable object detection may be employed. For example, sensors 132 that rely on infrared, radar, video, LIDAR, time of flight, floor pressure sensors, depth sensing, and suitable alternatives, may be utilized. The sensors 132 may be positioned in various locations. For example, the sensors 132 may be located on the floor of the landing 119, or at elevated positions fixed to a structure in the landing 119. In the illustrated embodiment, a sensor 132 is fixed to the elevator door 120 proximate the leading edge 122 of the door (which may be either or both of door 120a, 120b), and fixed to the landing wall 123. Other locations are certainly possible. Sensors 132 in multi-zone detection systems can be tandem sensors designed to send signals in parallel, or can be video systems that determine passenger intent in real time, sending multiple signals to a door controller 118 as a passenger or object approaches. It will be appreciated that door controller 118 can be part of the control system 116 (See
The illustrated embodiment of
Regardless of the zone sizes and dimensions relative to each other, the sensors 132 monitor the zones 140, 142 to detect objects located within, and moving within, either of the zones. The sensors 132 are in operative communication with the door controller 118 to determine the elevator door's 120 response to incoming passengers. In one embodiment, if a person is detected within the first zone 140 during a closing action of the elevator door 120, the controller 118 will command the elevator door 120 to slow down from its normal closing speed. A reduction in closing speed better prepares the elevator door 120 for stopping and/or reversing, if needed. If the person continues to approach the elevator door 120 and enters the second zone 142, the controller 118 stops and/or reverses the already slowed door movement, as the detection of a presence in the second zone 142 is perceived as an oncoming passenger. The embodiment described above reduces potential issues with immediate reversal of an elevator door 120 that is closing at full speed, thereby reducing the likelihood of impact with the person or object entering the elevator car 103.
As one can appreciate, more than two zones may be defined and monitored by the zone object detection system 130 disclosed herein. In particular, a multi-stage slowing of the elevator door 120 may be present, with slowing of a closing door to a first reduced speed, relative to full closing speed, if a person is in a first zone, and subsequent slowing to even slower closing speeds if the person enters one or more closer zones 142. Stopping and reversing the door closing movement may be additional commands that occur subsequent to slowing over one or more reduction speeds. Additionally, a single zone may be defined and monitored. In a single zone, slowing, stopping or reversal of the elevator closing may occur in response to detection of an object within the single zone.
Regardless of the number of zones defined and monitored, the total distance away from the elevator door 120 that is monitored may vary depending upon the particular requirements of a specific elevator system. In some embodiments, a distance of up to about 3 meters is monitored, but it is to be appreciated that other distances may be defined as the zone(s) for monitoring. In multi-zone embodiments, the total distance monitored may be broken up into the different zones in any distance combination considered desirable for the particular elevator system.
The embodiments described above relate to objects approaching the elevator door 120 from the landing area 119. However, it is to be appreciated that a reversed situation may be present in some embodiments. In particular, monitoring potentially exiting objects within the elevator car 103 may be provided in some embodiments. For example, one or more zones may be present in the interior of the elevator car 103 itself. Additionally, it is to be understood that any combination of interior zones and exterior zones may be provided. For example, one or more zones within the interior of the elevator car 103 may be combined with one or more zones at an exterior of the elevator car 103.
Monitoring for objects out of the plane of the elevator door 120 reduces the probability of passenger impact, as the system provides more time to slow, stop and/or reverse a closing door. This increases passenger safety and experience.
With reference to
The sensor 162, according to one disclosed non-limiting embodiment, can be installed in a lower portion of wall W of the lobby H such as at knee height (
Notably, there can be qualitative and quantitative differences between 2D imaging sensors, e.g., conventional security cameras, and 1D, 2D, or 3D depth sensing sensors to the extent that the depth-sensing provides numerous advantages. In 2D imaging, the reflected color (mixture of wavelengths) from the first object in each radial direction from the imager is captured. The 2D image, then, can include the combined spectrum of the source illumination and the spectral reflectivity of objects in the scene. A 2D image can be interpreted by a person as a picture. In 1D, 2D, or 3D depth-sensing sensors, there is no color (spectral) information; rather, the distance (depth, range) to the first reflective object in a radial direction (1D) or directions (2D, 3D) from the sensor is captured. 1D, 2D, and 3D technologies may have inherent maximum detectable range limits and can be of relatively lower spatial resolution than typical 2D imagers. The use of 1D, 2D, or 3D depth sensing can advantageously provide improved operations compared to conventional 2D imaging in their relative immunity to ambient lighting problems, better separation of occluding objects, and better privacy protection. The use of infrared sensing can have specific benefits over visible spectrum imaging. For example, a 2D image may not be able to be converted into a depth map nor may a depth map have the ability to be converted into a 2D image (e.g., an artificial assignment of contiguous colors or grayscale to contiguous depths may allow a person to crudely interpret a depth map somewhat akin to how a person sees a 2D image, it is not an image in the conventional sense). This inability to convert a depth map into an image might seem a deficiency, but it can be advantageous in certain analytics applications disclosed herein.
The sensor 162 can be, in one example, an eye-safe line-scan LIDAR in which the field-of-view (FOV) can be, for example, about 180 degrees, which can horizontally cover the entire area of a lobby or other passenger area adjacent to the elevator doors 103 (
The processing module 166 may utilize various 3D detection and tracking processes (disclosed elsewhere herein) such as background subtraction, frame differencing, and/or spurious data rejection that can make the system more resistant to spurious data. Such spurious data can be inherent to depth sensing and may vary with the particular technology employed. For active techniques, where a particular signal is emitted and subsequently detected to determine depth (e.g., structured light, time of flight, LIDAR, and the like) highly reflective surfaces may produce spurious depth data, e.g., not the depth of the reflective surface itself, but of a diffuse reflective surface at a depth that is the depth to the reflective surface plus the depth from the reflective surface to some diffusely reflective surface. Highly diffuse surfaces may not reflect a sufficient amount of the transmitted signal to determine depth that may result in spurious gaps in the depth map. Even further, variations in ambient lighting, interference with other active depth sensors or inaccuracies in the signal processing may result in spurious data.
Continuing with
In another embodiment it may include a passenger's pace, gait, and any other information regarding the approaching passenger that can be inferred from the sensors 162, depending on the type of sensors employed. In one embodiment, if a person is detected exhibiting a walking speed in in excess of a first threshold at a distance less than a predetermined threshold, the timing of the closing of the doors may be adjusted. That is, under such conditions, it is inferred that the passenger is intending to board the elevator car 103 and the timing of the closure of the elevator doors 120 is delayed based on the speed and distance of the approaching passenger. In an another embodiment if the a person is detected exhibiting a walking speed in in excess of a first threshold and yet within a predetermined distance from the elevator door 120 during a closing action of the elevator door 120, the controller 118, 115 will command the elevator door 120 to slow down from its normal closing speed. The speed to which the closing is slowed is based on the speed and distance of the approaching passenger. For example, in an embodiment, depending on the type of motor employed in the door controller different speed control techniques are employed. In one embodiment the motor is a stepper motor and the frequency of the motor drive would change the speed of the motor. In another embodiment, a DC motor may be employed and standard pulse width modulation techniques may be employed. A reduction in closing speed better prepares the elevator door 120 for stopping and/or reversing, if needed yet minimizes any additional delay for the currently boarded passengers. If the person continues to approach the elevator door 120 the controller 118 may stop and/or reverse the already slowed door movement, if the speed and distance of the approaching passenger indicates that the closing doors 120 would obstruct the entry of the approaching passenger. The embodiment described above reduces potential issues with immediate reversal of an elevator door 120 that is closing at full speed, thereby reducing the likelihood of impact with the person or object entering the elevator car 103.
In another embodiment a state of urgency can be inferred from other operational factors associated with the elevator system 100. For example, state of urgency for an approaching passenger, passenger at a landing, or even passenger in an elevator car 103 can be inferred by the frequency, rapidity and duration of button presses by a user. For example if a passenger is rapidly pressing the hall call buttons for a selected duration the door closing timing may be extended and/or the rate of door closure reduced. In an embodiment the operation factors may be sensed by existing sensors and device in the elevator system e.g. button presses and their timing or they may be acquired via other sensors, for example, cameras as part of the passenger sensing system 160.
As one can appreciate, multiples speed thresholds and distance thresholds may be defined and monitored by the passenger sensing system 160 disclosed herein. In particular, a dynamic slowing of the elevator door 103 may be present, with slowing of a closing door to a first reduced speed or continuously reducing speed, relative to full closing speed, if the speed and distance of an approaching person indicates an intent to board the elevator car 103. Furthermore, stopping and reversing the door closing movement may be employed based on the approaching passenger's speed and distance, button presses and the like as well as various thresholds associated with each. For example, in one embodiment, the thresholds may be variable based on locations around the world and likely variable depending on times of the day. As well, augmentation of behavior with different alarm systems would be ideal, e.g., the doors 120 might behave differently if there was a fire alarm going off, or other urgency is identified in the building. In another example, the thresholds could be average speed*1.5 would be considered a “walking fast” threshold, and therefore, adjust motor gains to 75% of max motor current, while an average speed*2 would be considered “running” threshold, and therefore, adjust motor gains to max current of the motor. Likewise, average speed*0.5 would be “slow” threshold, and thus adjust speeds 50% slower. Regardless of the predetermined thresholds for the passengers walking speed and distance, the total distance away from the elevator door 120 that is monitored may vary depending upon the particular requirements of a specific elevator system 101. In some embodiments, a distance of up to about 3 meters is monitored, but it is to be appreciated that other distances may be defined depending on the sensors employed. In some embodiments, the total distance monitored may also be broken up into the different zones in any distance combination considered desirable for the particular elevator system. For example, a person with the speeds such as described above in zone 1 may have the door responses above at a 75% level, while persons in zone 2 with the above speeds would have the speeds above. Moreover, a user running in zone 2, it may be desirable to reverse the doors 120 and open them immediately.
The embodiments described above relate to objects approaching the elevator door 103 from the landing area 119. However, it is to be appreciated that a reversed situation may be present in some embodiments. In particular, monitoring potentially exiting objects within the elevator car 103 may be provided in some embodiments. For example, one or more sensors may be present in the interior of the elevator car 103 itself to facilitate determining characteristics regarding the elevator car 103, such as loading, crowdedness, occupancy and the like. Additionally, it is to be understood that any combination of interior sensors and exterior sensor may be provided. For example, sensing within the interior of the elevator car 103 may be combined with sensing at an exterior of the elevator car or even beyond in the landing area 119.
Monitoring for objects out of the plane of the elevator door 120 reduces the probability of passenger impact, as the system provides more time to slow, stop and/or reverse a closing door 120. This increases passenger safety and experience.
Turning now to
The term “about” is intended to include the degree of error associated with measurement of the particular quantity and/or manufacturing tolerances based upon the equipment available at the time of filing the application.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present disclosure. As used herein, the singular forms “a”, “an” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms “comprises” and/or “comprising,” when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, element components, and/or groups thereof.
Those of skill in the art will appreciate that various example embodiments are shown and described herein, each having certain features in the particular embodiments, but the present disclosure is not thus limited. Rather, the present disclosure can be modified to incorporate any number of variations, alterations, substitutions, combinations, sub-combinations, or equivalent arrangements not heretofore described, but which are commensurate with the scope of the present disclosure. Additionally, while various embodiments of the present disclosure have been described, it is to be understood that aspects of the present disclosure may include only some of the described embodiments. Accordingly, the present disclosure is not to be seen as limited by the foregoing description, but is only limited by the scope of the appended claims.
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