CN100462295C - Intelligent dispatcher for group controlled lifts based on image recognizing technology - Google Patents

Intelligent dispatcher for group controlled lifts based on image recognizing technology Download PDF

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CN100462295C
CN100462295C CNB2006100536993A CN200610053699A CN100462295C CN 100462295 C CN100462295 C CN 100462295C CN B2006100536993 A CNB2006100536993 A CN B2006100536993A CN 200610053699 A CN200610053699 A CN 200610053699A CN 100462295 C CN100462295 C CN 100462295C
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elevator
car
image
up
time
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CNB2006100536993A
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CN1931697A (en
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汤一平
柳圣军
金海明
严海东
楼勇攀
周思宗
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浙江工业大学
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Abstract

The intelligent dispatcher for group controlled lifts based on image recognizing technology includes one central dispatching computer for group controlled lifts and with one dispatching control strategy module for the optimized control of the lifts in the building, visual car sensors for acquiring the passenger flow information, and omnibearing visual sensors for acquiring the waiting passenger information, with the visual car sensors and the omnibearing visual sensors being connected to the central dispatching computer. The central computer includes also a lift passenger flow calculating module, and a running mode recognizing module to divide different lift group running modes, except its dispatching control strategy module for selecting dispatching control strategy fitting different running modes. The present invention can detect real-time passenger flow information and has precise group control dispatching.

Description

Intelligent dispatcher for group controlled lifts based on image recognition technology

(1) technical field

The present invention relates to a kind of intelligent dispatcher for group controlled lifts based on image recognition technology.

(2) background technology

Along with the increase of high-rise building, elevator has more and more been come into people's life, and is also increasing to the influence of people's life.In order to allow elevator serve people better, various elevator up-to-date technologys constantly grow up.The intelligent cluster controlled technology of elevator is exactly a technology that grows up in recent decades.

Elevator group controlling refers to and will be arranged in several adjacent in building elevator uniform dispatching, concentrate mountain group control main frame to control the calling signal of each floor, the team control main frame is assigned to suitable elevator according to elevator running condition and passenger flow situation with calling signal, the elevator dispatching operation.Intention changes each elevator situation inharmonious mutually, that move alone, improves the operating efficiency of whole elevator device, reduces passenger's waiting time and the using escalator time, improves the service quality of elevator device.

But also having many elevators of arranging in a lot of building in daily life at present is to move alone or just interlock between two.So just caused the busy, not busy uneven of elevator operation, sky runs, sky stops, flocks together phenomenons such as operation, has seriously reduced the operating efficiency of whole elevator group, makes passenger waiting time long, can not satisfy the needs of passenger traffic.

The dispatcher's control of multiple control lift is a multiple goal optimal control problem, guarantee under the prerequisite that elevator safety travels, and be the requirement that will satisfy following 3 aspects at least: (1) average waiting time is short.Reduce client's average waiting time, it is an important indicator of estimating the performance of apparatus for controlling elevator as far as possible; (2) the average using escalator time is short.Passenger's the using escalator time should remain within the regular hour restriction, and the start-stop elevator can prolong the elevator time of run continually, increases passenger's psychological irritated degree; (3) system energy consumption requires minimum.Group control system is because the common use of many elevators reduces the important indicator that energy consumption becomes the good degree of evaluation system.Especially when the passenger flow transit mode is in idle condition, reduce system energy consumption as far as possible, thereby prolong ladder group's bulk life time.

Yet, the multiple control lift scheduling is except having the multiple goal requirement, the characteristics that are different from general optimal control system in addition, be in particular in group control system the problem of 4 aspects such as incompleteness of intrinsic uncertainty, non-linear and information: the 1) uncertainty of multiple lift control system, the uncertainty that multiple lift control system exists shows the following aspects: the ridership of stop is uncertain; The purpose stop of exhaling terraced person is unascertainable in advance; Which layer generation calling signal is about in also is can not be pre-determined.These probabilistic existence are determined transit mode, are optimized to dispatch and all bring great difficulty to multiple lift control system; 2) multiple lift control system is non-linear, and the elevator traffic system exists non-linear: to same group calling ladder, under different time scales, the distribution of car is different, and the variation that car distributes is discontinuous; The car number that can distribute is limited, is subjected to all car numerical limitations of system; The car capacity is limited.The passenger reaches at full load when car, and car can not stop and mistake; Car can be at the frequent change of direction of interlayer; 3) perturbation of multiple lift control system, multiple lift control system also inevitably have uncertain randol noise: the passenger may register wrong Room outcall and cause unnecessary stopping; The passenger may register wrong bed of interest and cause unnecessary stopping; Passenger or other unartificial factors may cause car door not close and EVAC (Evacuation Network Computer Model) is normally moved; Troublesome factor that some are artificial or the like; 4) incompleteness of multiple lift control system information exists a large amount of inaccurate information in the multiple lift control system: the accurate data that can not obtain to wait in the hall ridership in ridership and the car.

Because the factors such as incompleteness of the uncertainty of multiple lift control system, randomness, non-linear and information make and can't set up accurate mathematical model fully definitely.In order to address the above problem, many researchers attempt with 1) based on the elevator group controlling of fuzzy logic; 2) based on the elevator group controlling of expert system; 3) based on the elevator group controlling of genetic algorithm; 4) based on the elevator group controlling of neural network; 5) improve the service quality of elevator device based on the scheduling means such as elevator group controlling of fuzzy neural network, control effect preferably though obtained, but owing to can't obtain time ladder number of each layer and the accurate data of ridership in each elevator, can only be in the above-mentioned various elevator group controllings by the means of estimation with prediction, perhaps adopt car to weigh and obtain the time ladder number and the passenger flow volume of each layer with means such as Photoelectric Detection or infrared detection, the resulting data of means of these estimations and prediction have bigger deviation with actual time ladder number and the accurate data of passenger flow volume, make that the team control effect is not is optimum in the ideal.Therefore the performance quality of control system is not limited only to the control policy problem, and for being controlled on some degree of a uncertain problem, particularly the information obtaining means seems more important in multiple lift control system.Image processing and computer vision are constantly up-to-date technologys of development, adopt computer vision to observe four purposes in principle, and promptly debating of the feature extraction of pretreatment, the bottom, mid-level features known and by the explanation of image to senior sight.In general, computer vision comprises principal character, image processing and image understanding.Adopt image recognition and understanding technology can solve the problem such as incomplete of some uncertainties in the present multiple lift control system, randomness, non-linear and information preferably.

Image is the extension of human vision.By vision, can find inner institute's event of elevator and passenger's number immediately exactly, the basis of image monitoring rapidity is that the information that vision is accepted is communication media with light; And graphicinformation is abundant and directly perceived, and other any detection technique all can not provide so abundant and information intuitively.Identification and understanding by image can increase a secondary insight for multiple lift control system.Insight just might make multiple lift control system reach multiobject optimum with combining of intelligent elevator dispatching algorithm.The dynamic image that will obtain the terraced hall of whole time with general vision sensor needs four pick up cameras and takes facing to different angles, and it is big to go out to wait to wait in the terraced hall terraced number computational effort by the image statistics that four different angles obtain, and output investment ratio is bigger; The another one scheme is to adopt monopod video camera also can obtain the graphicinformation in whole hall, the terraced number of time needs very fast computing equipment of arithmetic speed and algorithm very complicated in the terraced hall but will obtain to wait by multiple image, and monopod video camera also exists problems such as mechanical wear simultaneously.

(3) summary of the invention

For the uncertainty that overcomes existing elevator dispatching device, the incompleteness of information, can't set up accurate mathematical model fully definitely, the deficiency of the deviation that the scheduling strategy of multiple lift control system is can different generations with the passenger flow volume in the real-world operation bigger, the invention provides a kind of passenger flow information that can detect elevator in real time, have the intelligent dispatcher for group controlled lifts based on image recognition technology of more accurate team control scheduling.

The technical solution adopted for the present invention to solve the technical problems is:

A kind of intelligent dispatcher for group controlled lifts based on image recognition technology, comprise multiple control lift control center computing machine, described central computer comprises the dispatcher's control policy module of each elevator in the building being carried out optimal control, described intelligent scheduling device also comprises the car video sensor that is used to gather passenger flow personal information in the car, be used to gather the time ladder number information's of each layer omnibearing vision sensor, described car video sensor is connected central computer with omnibearing vision sensor, described central computer also comprises: elevator passenger flow information computing module, in order to according to the car video sensor, the video information of omnibearing vision sensor calculates the passenger flow information of elevator;

Described elevator passenger flow information computing module comprises:

Image fetching unit is used for the video information of the elevator lobby of lift car, each layer is collected;

The image change calculating unit, present frame live video image and a relatively stable reference image of being used for being obtained carry out the difference computing, and the computing formula of image subtraction is represented suc as formula (28):

f d(X,t 0,ti)=f(X,t i)-f(X,t 0) (28)

In the following formula, f d(X, t 0, t i) be to photograph the result who carries out image subtraction between image and reference image in real time; F (X, t i) be to photograph image in real time; F (X, t 0) be the reference image;

The connect domain computing module, be used for present image is carried out mark, pixel grey scale is 0 background, pixel grey scale is 1 for target, whether the pixel of calculating in the present image equates with the pixel of some points adjacent around the current pixel, equate to be judged as gray scale and have connectedness, all are had connective pixels as a connect domain, and the connect domain area in each image of statistical computation;

The passenger flow volume calculating unit is used for being undertaken by the passenger flow area on the calculated level direction guest flow statistics of elevator, when the elevator door closed condition, adds up the connect domain area summation in each lift car; Add up the connect domain area that each elevator waits the entrance hall, the elevator lobby of each layer in the middle of the building is divided into the zone of corresponding each elevator, and according to the direction that elevator moves, the corresponding up connect domain area of each layer, the descending connect domain area of correspondence in the middle of determining; Adopt the area statistics value of connect domain judge in waiting the hall and the horizontal direction of each car on footprint area, described footprint area is relevant with number;

The operational mode identification module is used for distinguishing according to client's the number of exhaling echelon number, the number that waits the hall and lift car, comprises transit mode unit and idle transit mode between up peak transit mode, lowering peak transit mode, balance layer;

Dispatcher's control policy selection module is used for the transit mode different according to elevator, selects the dispatcher's control strategy that matches.

Further, described operational mode identification module comprises:

Up peak transit mode unit, being used to set the connect domain area of bottom elevator lobby and the corresponding up connect domain area sum of middle each layer is up number, when as above pedestrian's number surpasses the manned area twice of regulation car, perhaps when lift car when bottom upwards travels, when surpassing manned area 80% situation of regulation, be judged to be up peak transit mode state as continuous two manned areas of lift car; As in the setting-up time section, up number is lower than 60% of the manned area of regulation car, perhaps when as when bottom upwards travels, the manned area of car is reduced to continuously less than 60% of specified manned area, judges that the up peak transit mode is disengaged in the corresponding time;

Lowering peak transit mode unit, be used to set in the elevator lobby of the floor more than three layers and wish that the summation of the connect domain area of descending number is descending number, when following pedestrian's number surpasses three times of manned areas of regulation car, perhaps when the manned area of continuous two lift cars surpasses the descending arrival bottom of the manned area of regulation 80%, be judged to be lowering peak transit mode state; As in the setting-up time section, the summation of wishing descending number in the floor elevator lobby more than three layers is lower than the manned area 60% of regulation car, perhaps be reduced to continuously less than 60% of the manned area of specified car as the manned area of descending car, and the downward calling signal of each stop is being set under the quantity, judges that the lowering peak transit mode is disengaged;

Transit mode unit between balance layer is used for detecting the calling signal continued presence after up peak or lowering peak transit mode are disengaged; Make progress running time with running time is approaching downwards as elevator, and the manned area of each up car and each descending car is close, is judged to be transit mode state between balance layer; As in the setting-up time section, what occur continuing can not satisfy upwards running time and the downward approaching condition of running time, and perhaps the manned area of each up car and each descending car is judged transit mode state between relieving layer than surpassing setting range;

Idle transit mode unit, be used for being operated in each transit mode state except that up peak when elevator device, if do not occur calling signal at 90-120 in second, and the manned area of car is judged to be idle transit mode state less than 40% of the manned area of specified car; As calling signal of continued presence in 90 seconds time or have two calling signals within a short period of time or in shorter time, have three calling signals, judge the idle transit mode state of removing.

Further again, in described dispatcher's control policy selection module,, include as when the uplink and downlink peak traffic pattern:

The up peak elevator is from returning basic unit's policy unit, be used for when being judged to be the up peak transit mode, most elevators only respond up calling, once replied last up calling signal and in select signal, the control car returns the entrance hall of bottom automatically, and real time scan ladder group's state, when find no task, when stopping elevator and not stopping basic unit, send traffic order, elevator dispatching is stopped basic unit;

The up client's Priority Service of up peak policy unit is used for preferentially providing the up call signal when being judged to be up peak passenger flow pattern, is taking into account under the prerequisite of maximum waiting time, and descending client's call request is limited;

The descending client's Priority Service of lowering peak policy unit is used for preferentially providing the downlink call signal when being judged to be lowering peak passenger flow pattern, is taking into account under the prerequisite of maximum waiting time, and up client's call request is limited;

Lowering peak disperses standby scheduling strategy unit, is used for when being judged to be lowering peak passenger flow pattern, and the no task elevator that arrives basic unit is on average assigned the more ladder on the floor waiting Passengen that the descending passenger of requirement waits that has;

Subregion scheduling strategy unit under the peak traffic pattern is used for when being judged to be the up peak transit mode, carries out subregion for floor and elevator according to area principle, and every elevator preferential answering is distributed to the interior calling of running section of this elevator.

Further, in described dispatcher's control policy selection module,, include as when the idle transit mode:

Minimum distance scheduling strategy unit is used for the calling signal of each stop distributed to and replys that nearest elevator of this calling signal, gives a different position deviation respectively with the inverted running elevator in the same way with calling when computed range pair;

Minimum start-stop number of times scheduling strategy unit is used for confirming as at this layer by image recognition two above waiting Passengens is arranged, and determines that this layer conduct preferentially stop floor;

The scheduling strategy unit of the energy dissipation behavior of elevator uplink and downlink is used to extract the regenerated energy information of electrical network feedback, confirms unloaded up, fully loaded descending elevator, the outgoing call signal priority is distributed the elevator that is in above-mentioned running state.

In described dispatcher's control policy selection module,, include as when the interfloor traffic pattern:

Minimum average B configuration waiting time scheduling strategy unit, be used for exhaling terraced direction with apart from binding analysis, the shortest with client's waiting time is performance figure, carries out dynamic optimization in the hope of reaching the highest operating efficiency, adopt minimum average B configuration waiting time dispatching algorithm, distribute the outgoing call signal according to arithmetic result;

Minimum average B configuration using escalator time scheduling policy unit, being used for the shortest with client's the using escalator time is performance figure, to exhale terraced direction with apart from binding analysis, reach the highest operating efficiency by optimized distribution scheduling to calling signal, be average using escalator time minimum, take into account client's maximum waiting time simultaneously;

Disperse standby scheduling strategy unit, all elevators stop elevator is on average assigned in each floor wait after layer time all surpasses the time rating of setting when being used for the team control operation.

In described up peak transit mode unit, select time section and space segment are the auxiliary judgment standard, as office block is provided with the time period be morning during, space segment is bottom end station; As the building of being held a meeting in hotel etc., space segment is set to the meeting room or the dining room of bottom end station or lower level; In described lowering peak transit mode unit, select time section and space segment are the auxiliary judgment standard, as office block being provided with the time period for during coming off duty at dusk; Be set to meeting room, amusement hall or the dining room of higher level as the building space segment of being held a meeting in hotel etc.; In described idle transit mode, the select time section is the auxiliary judgment standard, is public holiday, the late into the night and morning as office block being provided with the time period.

Described central computer also comprises: the invalidation module, and when being used to detect in the car nobody, up or descending floor selector button is made invalidation in the car, and when detecting when waiting in the hall nobody, invalidation is made in floor hall call registration in place.

Described central computer also comprises the background maintenance module, and described background maintenance module comprises:

The background luminance calculating unit is used to calculate average background brightness Yb computing formula as the formula (25):

Y ‾ b = Σ x = 0 W - 1 Σ y = 0 H - 1 Y n ( x , y ) ( 1 - M n ( x , y ) ) Σ x = 0 W - 1 Σ y = 0 H - 1 ( 1 - M n ( x , y ) ) - - - ( 25 )

In the formula (25), Yn (x y) is the brightness of each pixel of present frame, Mn (x y) is the mask table of present frame, and described mask table is to write down each pixel with one with the measure-alike array M of frame of video whether motion change is arranged, referring to formula (27):

Yb0 is the background luminance of former frame when being judged to be the motion object, and Yb1 is when detecting detected object

The background luminance of first frame, being changed to of two frame mean flow rates:

ΔY=Yb1-Yb0 (26)

If Δ Y, then thinks the incident of turning on light that taken place greater than higher limit; If Δ Y, then thinks the incident of turning off the light that taken place less than certain lower limit; Between higher limit and lower limit, think then that light changes naturally as Δ Y;

The background adaptive unit is used for carrying out adaptive learning according to following formula (22) when light changes naturally:

X mix,bn+1(i)=(1-λ)X mix,bn(i)+λX mix,cn(i) (22)

In the formula: X Mix, cn(i) be present frame RGB vector, X Mix, bn(i) be present frame background RGB vector, X Mix, bn+1(i) be next frame background forecast RGB vector, λ is the speed of context update; Changeless background (initial background) is used in λ=0; Present frame is used as a setting in λ=1; 0<λ<1, background is mixed by the background and the present frame of previous moment;

When light is caused that by switch lamp background pixel is reset according to present frame, referring to formula (23):

X mix,bn+1(i)=X mix,cn(i) (23)。

In described image change calculating unit, and with in the present image with the image subtraction computing formula of adjacent K frame shown in (29):

f d(X,t i-k,t i)=f(X,t i)-f(X,t i-k) (29)

In the following formula, f d(X, t I-k, t i) be to photograph the result who carries out image subtraction between image and adjacent K two field picture in real time; F (X, t I-k) image when being adjacent K frame;

As f d(X, t 0, ti) 〉=threshold value, f d(X, t I-k, t iWhen) 〉=threshold value is set up, be judged to be the motion object;

As f d(X, t 0, t i) 〉=threshold value, f d(X, t I-k, t i)<threshold value is judged stationary objects, and upgrades replacement reference image with formula (30):

f ( X , t 0 ) ⇐ f ( X , t i - k ) - - - ( 30 )

As f d(X, t 0, t i)<threshold value is judged to be stationary objects;

Described center machine is calculated and is also comprised the cancelling noise module, use the method for neighbours territory traversal, the value that the average gray value of the neighborhood interior pixel that it is determined with the filtering mask removes each pixel of alternate image, be of the average displacement of each pixel value with all values in its local neighborhood, shown in formula (31):

h[i,j]=(1/M)∑f[k,1] (31)

In the formula, M is the pixel sum in the neighborhood

Described car video sensor connects central computer by wireless device, is used for the radio communication in the WLAN, and wireless communication module is observed the IEEE802.11b wireless communication protocol.

Image is the extension of human vision.By vision, can find inner institute's event of elevator and passenger's number immediately exactly, the basis of image monitoring rapidity is that the information that vision is accepted is communication media with light; And graphicinformation is abundant and directly perceived, and other any detection technique all can not provide so abundant and information intuitively.Identification and understanding by image can increase a secondary insight for multiple lift control system.Insight just might make multiple lift control system reach multiobject optimum with combining of intelligent elevator dispatching algorithm.

The dynamic image that will obtain the terraced hall of whole time with general vision sensor needs four pick up cameras and takes facing to different angles, and it is big to go out to wait to wait in the terraced hall terraced number computational effort by the image statistics that four different angles obtain, and output investment ratio is bigger; The another one scheme is to adopt monopod video camera also can obtain the graphicinformation in whole hall, the terraced number of time needs very fast computing equipment of arithmetic speed and algorithm very complicated in the terraced hall but will obtain to wait by multiple image, and monopod video camera also exists problems such as mechanical wear simultaneously.

The omnibearing vision sensor ODVS that developed recently gets up (Omni-Directional Vision Sensors) provide a kind of new solution for the panoramic picture that obtains scene in real time.The characteristics of ODVS are looking away (360 degree), can become piece image to the Information Compression in the hemisphere visual field, and the quantity of information of piece image is bigger; When obtaining a scene image, the riding position of ODVS in scene is free more; ODVS is without run-home during testing environment; Algorithm is simpler during mobile in the detection and tracking detection range; Can obtain the realtime graphic of scene.Therefore the fully-directional visual system based on ODVS developed rapidly in recent years, just becoming the key areas in the computer vision research, IEEE held the special seminar (IEEE workshop on Omni-directional vision) of annual omni-directional visual since 2000.Also do not retrieve at present omnibearing vision sensor is applied to the intelligent building field, particularly paper aspect multiple lift control system and patent.

Elevator is the moving body of a up-and-down movement in addition, settling the optimal mode of camera head in elevator is by the digital radio video transmission technologies, this technology has following characteristics: 1. be convenient to compress, analyze, store and show: 2. the numerical information antijamming capability is strong, is not subject to the influence of transmission line signals decay etc.Because digital video transmission has the incomparable advantage of traditional analog transmission, and meets digitalisation in the current information society, networking and intelligentized development tendency.

Digital wireless video transmission system is after compressed encoding with the video information digitalisation, multiplexing, modulate the transmission of delivering letters later, then by decompressing, demultiplexing, deliver to after the demodulation in the computing machine of elevator dispatching control center and carry out image processing, what whole process adopted is the full digital processing technology, owing to adopted Digital Signal Processing and forward error correction technique (FEC), the reliable transmission that can make it have the higher signal receiving sensitivity and can guarantee signal, video transmission obstacle overcome ability in the application of adaptation in harsh environment, particularly on the go elevator, the advantage of aspects such as installation and maintenance is more obvious.

Digital real-time radio Video transmission system except have superior obstacle overcome ability, keep graphicinformation steady and audible, have also that equipment is small and exquisite need not to attach advantages such as other facilities, moderate cost, because it is good that digital real-time radio Video transmission system need not attach other facilities and independence, without any need for installation processes such as wirings, therefore adopt digital real-time radio video transmission technologies can realize easily safety precaution detection and dispatcher's control to group's ladder more being applicable to the control technology of the elevator in the present use and the transformation of security precautions technology.

Make full use of the optimization dispatcher's control strategy of increasingly mature wireless video communication calculating, image recognition technology and present comparative maturity, discern the time ladder number of each layer by the omnibearing vision sensor of each floor that distributes, and utilize the ridership of elevator in-to-in monitoring device identification elevator.Multiple lift control system utilizes these passenger flow informations can carry out more accurate team control scheduling, to improve the transporting power and the level of service of elevator.

Though introduced the notion of waiting terraced number and ridership in the present elevator passenger flow volume, but from elevator traffic ability angle, be the problem of a volume transportation in fact,, just can be simplified to a transport capacity problem on the lift car horizontal area from the manned transportation angle of elevator; From the vertical direction vision, be one and occupy area for cutting in the horizontal direction, this is because among the passenger adult and person of low position are arranged, fat and slight of stature are arranged, the article that some passenger carries, the horizontal area that car can hold the occupant is a fixed number, though stipulated the staffing number in some elevator, these staffing numbers are a median average in fact, for a more extreme example, the staffing of an elevator is 12 people, but concerning a collection of heavyweight weightlifting sportsman, take 10 people and will feel very crowded, and the number of taking concerning some pupils reaches 20 people and also can not have any problem, this be because elevator occupant body size factor also can influence car passenger carrying capacity what; So, occupy on the horizontal direction that deliver and occupy area on the horizontal direction that is delivering of area and each car and come more realisticly than the ridership in time ladder number that counts each layer and the elevator from the calculating angle of elevator passenger flow volume; From the computer vision angle, calculating the ridership of occupying area on the horizontal direction that is delivering of occupying area and each car on the horizontal direction that will deliver than in time ladder number that counts each layer and the elevator is easy to many, and calculated amount is very little, is very suitable for the passenger flow volume information acquisition in the multiple lift control system.

Beneficial effect of the present invention mainly shows: 1, can detect the passenger flow information of elevator in real time, have more accurate team control scheduling; 2, real-time online, installation and maintenance are simple; 3, adopt radio communication as the elevator monitoring video and audio communication, speed is fast-the 2.4GHz direct sequence spread spectrum, and maximum data transfer rate is 11Mb/s, need not rectilinear propagation; 4, has dynamic rate translation function-when radio frequency situation variation, data transmission rate can be reduced to 5.5Mb/s, 2Mb/s and 1Mb/s; 5, range of use wide-scope supported be outdoor be 300 meters, the longest in indoor environment is 100 meters, transmits as long as the interlayer that network bridge is installed in the building, can satisfy the wireless audio frequency of looking of the floor elevator about 50 layers near near the elevator hoistways; 6, reliability height-use is confirmed with similar connection protocol of ethernet and data packet, and effective use of the wireless video/audio transmission of failure-free and the network bandwidth is provided; 7, interoperability good-only allow a kind of signal transmission technology of standard, WECA is with the interoperability of certified product; 8, roaming support function-when elevator moves up and down between each interlayer, carry out seamless link; 9, scalability good-maximum three accessing points can be positioned in effective range of use simultaneously, to support up to a hundred users, are enough to make the elevator monitoring point normal operation in the whole building; 10, do not need any wiring just can realize easily the safety precaution monitoring of single ladder and group's ladder more is applicable to the control technology of the elevator in the present use and the transformation of security precautions technology; 11, networking is convenient, can be connected with any net in the building, also can be connected with the internet in the external world, realizes the remote monitor and control or the remote maintenance of elevator.

(4) description of drawings

Fig. 1 is the structured flowchart based on the intelligent dispatcher for group controlled lifts of image recognition technology;

Fig. 2 carries out the schematic diagram of digital wireless video and audio communication for adopting embedded software and hardware and radio receiving transmitting module;

Fig. 3 is near the scheme drawing the close elevator hoistways of the interlayer that wireless network bridge is installed in the building;

Fig. 4 is the omni-directional visual optical schematic diagram;

Fig. 5 is a kind of hardware configuration schematic diagram of each the balcony ridership of detection based on omnidirectional computer vision;

Fig. 6 is the perspective projection imaging model scheme drawing of omnibearing vision device and general perspective imaging model equivalence;

Fig. 7 is the omnibearing vision device undeformed simulation scheme drawing of epigraph in the horizontal direction;

Fig. 8 is the scheme drawing of subregion scheduling strategy.

(5) specific embodiment

Below in conjunction with accompanying drawing the present invention is further described.

With reference to Fig. 1~Fig. 7, a kind of intelligent dispatcher for group controlled lifts based on image recognition technology, comprise multiple control lift control center computing machine, described central computer comprises the dispatcher's control policy module of each elevator in the building being carried out optimal control, described intelligent scheduling device also comprises the car video sensor that is used to gather passenger flow personal information in the car, be used to gather the time ladder number information's of each layer omnibearing vision sensor, described car video sensor is connected central computer with omnibearing vision sensor, described central computer also comprises: elevator passenger flow information computing module, in order to according to the car video sensor, the video information of omnibearing vision sensor calculates the passenger flow information of elevator; Described elevator passenger flow information computing module comprises: image fetching unit is used for the video information of the elevator lobby of lift car, each layer is collected; The image change calculating unit, present frame live video image and a relatively stable reference image of being used for being obtained carry out the difference computing, and the computing formula of image subtraction is represented suc as formula (28):

f d(X,t 0,t i)=f(X,t i)-f(X,t 0) (28)

In the following formula, f d(X, t 0, t i) be to photograph the result who carries out image subtraction between image and reference image in real time; F (X, t i) be to photograph image in real time; F (X, t 0) be the reference image;

The connect domain computing module, be used for present image is carried out mark, pixel grey scale is 0 background, pixel grey scale is 1 for target, whether the pixel of calculating in the present image equates with the pixel of some points adjacent around the current pixel, equate to be judged as gray scale and have connectedness, all are had connective pixels as a connect domain, and the connect domain area in each image of statistical computation; The passenger flow volume calculating unit is used for being undertaken by the passenger flow area on the calculated level direction guest flow statistics of elevator, when the elevator door closed condition, adds up the connect domain area summation in each lift car; Add up the connect domain area that each elevator waits the entrance hall, the elevator lobby of each layer in the middle of the building is divided into the zone of corresponding each elevator, and according to the direction that elevator moves, the corresponding up connect domain area of each layer, the descending connect domain area of correspondence in the middle of determining; Adopt the area statistics value of connect domain judge in waiting the hall and the horizontal direction of each car on footprint area, described footprint area with go into several relevant; The operational mode identification module is used for distinguishing according to client's the number of exhaling echelon number, the number that waits the hall and lift car, comprises transit mode unit and idle transit mode between up peak transit mode, lowering peak transit mode, balance layer; Dispatcher's control policy selection module is used for the transit mode different according to elevator, selects the dispatcher's control strategy that matches.

Fig. 1 is based on the structured flowchart of the intelligent dispatcher for group controlled lifts of image recognition technology, look the Voice Surveillance device in comprise the camera head that is used to gather passenger flow personal information in the car, be used to gather the time ladder number information's of each layer omni-directional visual monitoring camera head, be used for video information is transferred to by wireless or cable LAN the network equipment of multiple control lift control center computing machine, in the car that is used for obtaining and the dynamic image of lift lobby discern and add up the software of passenger flow volume, be used for each elevator in the building is carried out the various dispatcher's control tactical softwares of optimal control.

The camera head of gathering passenger flow personal information in the car is with camera, embedded system and the elevator video monitoring device that is combined into full digital wireless communication cooperating of radio receiving transmitting module, as Fig. 1, shown in Fig. 2, selected embedded Linux system, mainly reach collection video sensing, communication, move and be the purpose of one, concrete selection Samsung S3C2410X is an embedded microprocessor, the combining wireless local area network technology, the camera head of passenger flow personal information is actually an elevator video monitoring device based on full digital wireless communication in the described collection car, realizes video data acquiring and transmission over radio.Comprised software and hardware technology in the embedded system, wherein built-in Linux software is core technology, and it can realize the function of video server.

Embedded microprocessor S3C2410X is a 16/32 RISC embedded microprocessor based on the ARM920T kernel, and this treater is to be mobile device and high performance-price ratio, low-power consumption microcontroller design-calculated.It has adopted the new bus architecture of a kind of AMBA of being called (Advanced Microcontroller Bus Architecture).The main resource of S3C2410X in-to-in has memory management unit MMU, system administration manager, respectively is the instruction and data buffer memory of 16KB, lcd controller (STN﹠amp; TFT), NAND FLASH Boot Loader, 3 passage UART, 4 passage DMA, 4 PWM clocks, 1 internal clocking, 8 path 10s are ADC, touch screen interface, multimedia card interface, I2C and I2S bus interface, 2 usb host interfaces, 1 USB device interface, SD major joint, 2SPI interface, pll clock producer and general purpose I/O port etc.

Embedded microprocessor S3C2410X inside comprises a memory management unit that is MMU, can realize the mapping of virtual memory space to amount of physical memory.Usually the program of embedded system leaves among the ROM/FLASH, program can access preservation behind the system cut-off, but ROM/FLASH compares with SDRAM, it is slow many that speed is wanted, and usually unusual interrupt vector table is left among the RAM in the embedded system, utilize memory-mapped mechanism can solve this needs.

ROM/FLASH adopts the K9S1208VOM of the 64MB of Samsung.It can carry out 100,000 times program/erase, and data are preserved and reached 10 years, are used to loading operation system image and large-capacity data.

SDRAM is the K4S561632C that adopts Samsung, is used for needed data in operation system and the stored programme operational process, and it is the synchronous dram of 4M*16bit*4bank, and capacity is 32MB.Realize the position expansion with two K4S561632C, making data-bus width is 32bit.

Embedded software system mainly comprises writing of the installation of transplanting, drive program of operating system, ICP/IP protocol and user application etc.

Adopted Linux as embedded OS among the present invention, Linux develops from UNIX, inherited the most advantage of UNIX, the disclosed kernel source code of Linux makes it become present most popular operating system, and Linux can be from its hardware-software of application cutting, this is concerning towards very necessary based on this special requirement of the elevator video monitoring device of full digital wireless communication, here we are referred to as the customization operations system, and customization step is as follows: (1) writes plate base support package BSP; (2) each parts of cutting and configuration operation system, and revise corresponding configuration file; (3) compiling Kernel, assembly and BSP, generating run system image file; (4) image file is downloaded on the Target Board, debug.

Further, video monitoring information is to transmit in the mode of data packing, transmission through WLAN by ICP/IP protocol in the elevator, therefore under the operating system support, realize ICP/IP protocol, just need carry out task division, the realization of TCP/IP can be divided into 4 tasks realizes: 1. IP task, the reorganization that is mainly used to solve IP fragmentation; 2. the TCP incoming task is mainly used to handle the TCP message segment that receives; 3. TCP output task is mainly used to data packing, the transmission that will export; 4. TCP task of timer, being mainly used to provides clock for various time delay incidents (as the repeating transmission incident).

Further, need two USB interfaces in the elevator video monitoring device based on full digital wireless communication, one of them USB interface is that monitoring camera is connected with S3C2410X, another USB interface is that wireless network card is connected with S3C2410X, because S3C2410X self-carried USB principal and subordinate interface, do not need special USB chip support, as long as can carry out USB transmission data to its install driver.

The USB drive program comprises following several sections: (1) establishment equipment, create two parameter calls of equipment function band, and a parameter is to point to the pointer of driver object, another parameter is to point to the pointer of physical device object; (2) hull closures; (3) reading device data, when client applications has requiring of reading device data, system requires this to pass to function driver with the IRP form of IRP_MJ_READ, D12Meter_Read program by equipment is carried out, and then specifies the direct and equipment realization information interaction of usb bus drive program by D12Meter_Read; (4) equipment is write data, when client applications has requiring of write device data, system requires this to pass to function driver with the IRP form of IRP_MJ_WRITE, and carry out by D12Meter_Write, and then by D12Meter_Write specify the usb bus drive program directly with equipment realization information interaction.The USB drive program is discerned USB device by PID (product identification number) in the installation file (.inf file) and VID (vendor identification number).

After the embedded OS loading is finished, drive program and other corresponding application of wireless network card just can be installed.The drive program of wireless network card is bundled in the operating system as a module, can avoids the WLAN Device Driver of at every turn all will resetting after system's power down.The network topological diagram of elevator monitoring video and audio communication system as shown in Figure 2.

Gather the time ladder number information's of each layer omni-directional visual monitoring device, as shown in Figure 3, be placed in elevator and wait the central upper of balcony, can obtain the whole dynamic image that waits in the balcony by the omni-directional visual monitoring device, above-mentioned captured dynamic image is the 3-D view of a solid, before image recognition, at first to carry out the demarcation of image, the definite point that described demarcation will be implemented in the picture frame exactly is mapped to the accurate conversion with any point in big or small space according to system of axes, omnibearing vision sensor is installed in the situation that the central top that waits the balcony space just can detect the balcony all sites, and there is not a dead angle, simultaneously point on the balcony space becomes mapping relations with point in the picture frame, can calculate elevator by this mapping relations waits nobody is arranged in the balcony, how many people are arranged, these people's position somewhere even can obtain wanting up patronage and descending patronage.

Obtain the whole dynamic image that waits in the balcony with omnibearing vision sensor, at first be the manufacturing technology scheme of the opticator of ODVS camera head, and the ODVS camera head is mainly constituted by vertically downward catadioptric mirror with towards last camera.It is concrete that to constitute be to be fixed on bottom by the cylinder of transparent resin or glass by the image unit that collector lens and CCD (CMOS) constitute, the top of cylinder is fixed with the catadioptric mirror of a downward deep camber, the dark circles cone that between catadioptric mirror and collector lens, has a diameter to diminish gradually, this coniform body is fixed on the middle part of catadioptric mirror, and the pyramidal purpose of dark circles is to cause light reflex saturated at cylinder in-to-in light and that pass through the generation of cylinder body wall in order to prevent superfluous light from injecting.Fig. 4 is the schematic diagram of the optical system of expression omnibearing imaging device of the present invention.

Coordinate in order to ensure the horizontal coordinate of object point in the scene that is detected and corresponding picture point is linear promptly undistorted in horizontal scene, be installed in elevator as the omnibearing vision device of personnel's measuring ability and wait in the middle of the hall overhead 3 meters left and right sides parts of height, therefore detect waiting Passengen situation in the horizontal direction, when the catadioptric minute surface of design omnibearing vision device, will guarantee in the horizontal direction indeformable.

At first select for use CCD (CMOS) device and imaging len to constitute camera in the design, preresearch estimates system oad on the basis that the camera inner parameter is demarcated is determined the mirror surface shape parameter according to the visual field of short transverse then.

As shown in Figure 4, the principal point C of camera is the horizontal scene h of distance place above horizontal scene, and the summit of catadioptre is above principal point, apart from principal point zo place.Be that the origin of coordinates is set up system of axes with the camera principal point among the present invention, the face shape of catadioptre is with z (X) function representation.Pixel q apart from inconocenter point ρ in as the plane has accepted from horizontal scene O point (apart from Z axle d), at the light of mirror M point reflection.Horizontal scene is undistorted to require the coordinate of the horizontal coordinate of scene object point and corresponding picture point linear;

d(ρ)=αρ (1)

ρ is and the distance of the face shape center-point of catadioptre in the formula (1), and α is the amplification rate of imaging system.

If the normal that catadioptre is ordered at M and the angle of Z axle are γ, the angle of incident ray and Z axle is Φ, and the angle of reflected light rays and Z axle is θ.Then

tg ( x ) = d ( x ) - x z ( x ) - h - - - ( 2 )

tgγ = dz ( x ) dx - - - ( 3 )

tg ( 2 γ ) = 2 dz ( x ) dx 1 - d 2 z ( x ) dx 2 - - - ( 4 )

By law of reflection

2γ=φ-θ

tg ( 2 γ ) = tg ( φ - θ ) = tgφ - tgθ 1 + tgφtgθ - - - ( 6 )

Obtain the differential equation (7) by formula (2), (4), (5) and (6)

d 2 z ( x ) dx 2 + 2 k dz ( x ) dx - 1 = 0 - - - ( 7 )

In the formula; k = z ( x ) [ z ( x ) - h ] + x [ d ( x ) - x ] z ( x ) [ d ( x ) - x ] + x [ z ( x ) - h ] - - - ( 8 )

Obtain the differential equation (9) by formula (7)

dz ( x ) dx + k - k 2 + 1 = 0 - - - ( 9 )

Obtain formula (10) by formula (1), (5)

d ( x ) = afx z ( x ) - - - ( 10 )

By formula (8), (9), (10) and initial condition (IC), separate the digital solution that the differential equation can obtain reflecting mirror surface shape.The main digital reflex mirror of system's oad is from the distance H o and the aperture of a mirror D of camera.Select suitable camera according to application requirements during the refractive and reflective panorama system design, calibrate Rmin, the focal distance f of lens is determined the distance H o of catadioptre from camera, calculates aperture of a mirror Do by (1) formula.

Determining of system parameter:

Determine system parameter af according to the visual field of using desired short transverse.Obtain formula (11) by formula (1), (2) and (5), done some simplification here, with z (x) ≈ z 0, main consideration is smaller with respect to the change in location of minute surface and camera for the height change of minute surface;

tgφ = ( af - z 0 ) ρ f z 0 - h - - - ( 11 )

With the inconocenter point largest circumference place in the center of circle as the plane ρ = R min → ω max = R min f

Cooresponding visual field is ф max.Then can obtain formula (12);

ρ f = ( z 0 - h ) tgφ max ω max + z 0 - - - ( 12 )

The imaging simulation adopts the direction opposite with actual light to carry out.If light source is in the camera principal point, equally spaced selected pixels point in the picture plane by the light of these pixels, intersects with horizontal surface after mirror reflects, if intersection point is equally spaced, illustrates that then catadioptre has the distortionless character of horizontal scene.The imaging simulation can be estimated the imaging character of catadioptre on the one hand, can calculate aperture of a mirror and thickness exactly on the other hand.

The demarcation of omni-directional visual camera field of view distance relates to the theory of imaging geometry, and the three-dimensional scenic of objective world is projected the two-dimentional image plane of pick up camera, need set up the model of pick up camera and describe.These image transformations relate to the conversion between the different coordinates.In the imaging system of pick up camera, what relate to has following 4 system of axess; (1) real-world coordinates is XYZ; (2) with the pick up camera be the system of axes x^y^z^ that formulate at the center; (3) photo coordinate system, formed photo coordinate system x*y*o* in pick up camera; (4) computer picture system of axes, the system of axes MN that the computer-internal digital image is used is a unit with the pixel.

According to the different transformational relation of above several system of axess, just can obtain needed omnidirectional vision camera imaging model, converse the corresponding relation of two dimensional image to three-dimensional scenic.The approximate perspective imaging analysis method that adopts catadioptric omnibearing imaging system among the present invention is with the formed corresponding relation that is converted to three-dimensional scenic as the plane coordinates two dimensional image in the pick up camera, Fig. 6 is general perspective imaging model, d is people's height, ρ is the image height of human body, t is the distance of human body, and F is the image distance (equivalent focal length) of human body.Can obtain formula (13)

d = t F ρ - - - ( 13 )

When the design of the catadioptric omnibearing imaging system that above-mentioned horizontal scene does not have, require the coordinate of the horizontal coordinate of scene object point and corresponding picture point linear, represent suc as formula (1); Comparison expression (13), (1), horizontal as can be seen scene does not have the be imaged as perspective imaging of the catadioptric omnibearing imaging system of distortion to horizontal scene.Therefore with regard to horizontal scene imaging, the catadioptric omnibearing imaging system that horizontal scene can not had distortion is considered as having an X-rayed camera, and α is the amplification rate of imaging system.If the principal point of this virtual perspective camera is C point (seeing accompanying drawing 6), its equivalent focal length is F.Comparison expression (13), (1) formula can obtain formula (14);

α = t F ; t = h - - - ( 14 )

Obtain formula (15) by formula (12), (14)

F = fhω max ( z 0 - h ) tgφ max + z 0 ω max 0 - - - ( 15 )

Carry out the system imaging simulation according to above-mentioned omnidirectional vision camera imaging model, by the camera principal point send through in the pixel planes equidistantly after the reflection of the light family of pixel, intersection point on the horizontal surface of distance principal point 3m is equally spaced basically, as shown in Figure 7.Therefore according in the above-mentioned principle of design this patent relation between the coordinate of the coordinate of level ground and corresponding comprehensive picture point being reduced to linear relationship, that is to say that design by mirror surface be XYZ to the conversion of photo coordinate system with real-world coordinates can be the ratiometric linear dependence with amplification rate α.Be conversion below from photo coordinate system to the used system of axes of computer-internal digital image, the image coordinate unit that uses in the computing machine is the number of discrete pixel in the memory device, so also need round the imaging plane that conversion just can be mapped to computing machine to reality as the coordinate on plane, its conversion expression formula is for to be provided by formula (16);

M = O m - x * S x ; N = O n - y * S y ; - - - ( 16 )

In the formula: Om, On are respectively the line number and the columns at the some pixel place that the initial point of image plane shone upon on the computer picture plane; Sx, Sy are respectively scaled factor in the x and y direction.Determining of Sx, Sy is by placing scaling board apart from the Z place between camera and mirror surface, pick up camera is demarcated the numerical value that obtains Sx, Sy, and unit is (pixel); Om, On.Determine it is that unit is (pixel) according to selected camera resolution pixel.

As a kind of omni-directional visual monitoring device obtain wait the comprehensive video information of balcony after, must carry out next that background is eliminated, target is extracted, evaluation work such as patronage (taking advantage of on the horizontal direction seat surface long-pending) statistics.It is the problem that brightness changes that background is eliminated the problem that at first will solve, as for the detection meeting of personnel in the balcony because the sudden change of the Illumination intensity that the operation of turning on light, turn off the light is caused causes statistical error, therefore the background model that adopts in background is eliminated will adapt to these above-mentioned variations.

The scene that detects for video is that a fixing elevator waits balcony, can think to have the relatively background of fixed range, and therefore the Fast Segmentation Algorithm that can adopt background to cut algorithm detects motion personage or object in real time; Background is eliminated and to be based on background and to cut algorithm and detect the key of motion object, its directly influence detect integraty and accuracy of motion object.Adopted the background adaptive method among the present invention, its core concept is that each background pixel is used 1 group of vector; (Xmix bi) represents the permission value (i is a frame number) of legal background pixel, and adopts IIR filtering that it is carried out following renewal the current mixed number that RGB changes.

(1) change (not being that switch lamp causes) naturally when light, and when not having moving object and existing, 1 group of vector (being respectively RGB) carries out adaptive learning:

X mix,bn+1(i)=(1-λ)X mix,bn(i)+λX mix,cn(i) (22)

In the formula: X Mix, cn(i) be present frame RGB vector, X Mix, bn(i) be present frame background RGB vector, X Mix, bn+1(i) be next frame background forecast RGB vector, λ is the speed of context update: λ=0, uses changeless background (initial background); Present frame is used as a setting in λ=1; 0<λ<1, background is mixed by the background and the present frame of previous moment.

When having sudden change, light (causes) that (2) 1 group of vector is pressed present frame and reset by switch lamp:

X mix,bn+1(i)=X mix,cn(i) (23)

(3) when object enters detection range, background remains unchanged.For avoiding that the partial pixel study of motion object is background pixel, adopt:

X mix,bn+1(i)=X mix,bn(i) (24)

X in the following formula Mix, bn+1(i) (i=1,2,3) represent R respectively, G, and B3 component, for simplicity, above-mentioned formula has omitted coordinate (x, y) part of each pixel.

The variation of counting detection background brightness for the personnel in the hall of waiting can be used to judge what whether detected motion object caused because of switch lamp, the variation of these background luminances such as switch lamp incident should not make system be judged as a large amount of passengers to exist causedly, thereby carry out the false recognition rate that the background luminance analysis helps to reduce system.Background luminance uses average background brightness Yb to measure, and computing formula is provided by formula (25),

Y ‾ b = Σ x = 0 W - 1 Σ y = 0 H - 1 Y n ( x , y ) ( 1 - M n ( x , y ) ) Σ x = 0 W - 1 Σ y = 0 H - 1 ( 1 - M n ( x , y ) ) - - - ( 25 )

In the formula (25), (x y) is the brightness of each pixel of present frame to Yn, and (x y) is the mask table of present frame to Mn.The background luminance of former frame when representing to find the motion object is arranged with Yb0, the background luminance of first frame when Yb1 represents to detect the motion object, being changed to of two frame mean flow rates:

ΔY=Yb1-Yb0 (26)

If Δ Y is greater than certain value then think the incident of turning on light that taken place, if Δ Y is less than certain negative value then think the incident of turning off the light that taken place.Present frame is reset with formula (23) according to above-mentioned judged result.

Described mask table is to write down each pixel with one with the measure-alike array M of frame of video whether motion change is arranged, and this array is called mask mapping table (Mask Map):

Array M is the bianry image of motion object, is partitioned into the motion object thereby not only can be used to the mask frame of video.

Background cuts algorithm and is also referred to as difference method, is a kind of image processing method that is usually used in detected image variation and mobile. detects those pixel portion that have light source point to exist according to the correspondence relation of three dimensions and image pixel; A more stable reference image at first will be arranged; And this reference image is stored in the memory of computer; And by above-mentioned Adaptive background subtraction method the reference image is dynamically updated; Carry out image subtraction by photographing in real time between image and this reference image; The regional luminance that the result who subtracts each other changes strengthens; The computing formula of image subtraction represents suc as formula (28)

f d(X,t 0,t i)=f(X,t i)-f(X,t 0) (28)

F in the formula d(X, t 0, t i) be to photograph the result who carries out image subtraction between image and reference image in real time; F (X, t i) be to photograph image in real time, be equivalent to the X in the formula (22) Mix, cn(i); F (X, t 0) be the reference image, be equivalent to the X in the formula (22) Mix, bn(i).

Because the omnibearing vision sensor during video detects is all fixed, and the stationary objects in the background may be moved sometimes, cut algorithm based on background and to detect the resulting motion pixel of motion object and may comprise object and move the hole that stays.Because the hole can not moved in frame of video subsequently, therefore available adjacent K frame difference method is eliminated the hole, adopts adjacent K frame difference method to judge whether certain pixel is the hole that background object stays among the present invention.Need to carry out the calculating of formula (29) for this reason,

f d(X,t i-k,t i)=f(X,t i)-f(X,t i-k) (29)

Moving in the unit that generally can consider to divide in the time of stationary objects worked as f d(X, t 0, t i) 〉=threshold value and f d(X, t I-k, t iWhen) 〉=threshold value is all set up, be considered to the motion object; If f d(X, t 0, t i) 〉=threshold value and f d(X, t I-k, t i)<threshold value thinks among the present invention that the stationary objects in the background is moved the hole that the back is produced, and upgrades replacement reference image in order to eliminate the hole with formula (30),

f ( X , t 0 ) ⇐ f ( X , t i - k ) - - - ( 30 )

Include noise in the actual image signal, and generally all show as high-frequency signal, therefore in identifying, will reject the image border point that produces by noise.

Described rejecting is by image border point that noise produced, use the method for neighbours territory traversal in the present invention, the value that the average gray value of the neighborhood interior pixel that it is determined with the filtering mask removes each pixel of alternate image, be of the average displacement of each pixel value with all values in its local neighborhood, shown in formula (31):

h[i,j]=(1/M)∑f[k,1] (31)

In the formula, M is the pixel sum in the neighborhood, is taken as 4 among the present invention.

Connectedness between pixel is to determine a key concept in zone.In two dimensional image, the individual adjacent pixels of m (m<=8) is arranged around the hypothetical target pixel, if this pixel grey scale equate with the gray scale of some some A in this m pixel, claim this pixel so and put A to have connectedness.Connectedness commonly used has 4 connected sums 8 to be communicated with.4 are communicated with four points in upper and lower, left and right of generally choosing object pixel.8 are communicated with and then choose object pixel all neighbor in two-dimensional space.All are had connective pixel then constituted a connect domain as a zone.

Connect domain calculates and mainly solves in image processing process, a width of cloth bianry image, and its background and target have gray value 0 and 1 respectively.To such bianry image, carry out mark to target, need a kind of connected component labeling algorithm of saving internal memory fast.We are that 0 sub-district represents that this sub-district do not have monitored object with pixel, if there is monitored object 1 this sub-district of expression.So can adopt connection composition scale notation to carry out the merging of defect area.The connection labeling algorithm can find all the connection compositions in the image, and the institute in the same connection composition is distributed same mark a little.Be the connect domain algorithm below,

1) from left to right, scan image from top to bottom;

2) if pixel is 1, then:

If upper point and left side point have a mark, then duplicate this mark.

If have identical mark, duplicate this mark at 2.

If 2 have different marks, then duplicate a little mark and with in two marks input table of equal value as mark of equal value.

Otherwise give the new mark of this picture element distribution and this mark is imported table of equal value.

3) go on foot if need to consider more point then get back to the 2nd.

4) find minimum mark each of equal value concentrating of equivalence table.

5) scan image replaces each mark with the minimum mark in the table of equal value.

Adopt the area statistics value of connect domain to judge in the present invention and occupy area (this area is relevant with patronage) on the horizontal direction that in waiting the hall, needs carriage lift, occupy area (this area is relevant with open ended number in the car) on the horizontal direction that delivers of each car in the mode of optimum, improve the transporting power and the level of service of elevator to greatest extent so that make.

Gathering passenger flow information in the car can adopt the area statistics value of above-mentioned connect domain to judge on the horizontal direction in each carriage lift to occupy area, because the horizontal area of car is a fixed number, just can grasp the present carrying situation of each elevator by the ratio of these two areas.

Each elevator carries out the various dispatcher's control strategies of optimal control in the building, be used for each elevator in the building is carried out optimal control, passenger flow information and the interior passenger flow information of car that each floor wait is accurately depended in the realization of optimal scheduling control on the one hand depend on the various dispatcher's control strategies in the knowledge of intelligent scheduling storehouse on the other hand;

Group control system basic controlling strategy in the intelligent scheduling knowledge base is by one or more elevator experts' knowledge and experience is accumulated, these knowledge and experience are formed in the intelligent scheduling knowledge base that certain control law is stored in group control system, participate in the scheduling of group control system and optimize heavy assigning process.The knowledge rule of elevator group controlling expert system has a variety of, and this patent is only listed following several basic team control Expert Rules:

1, client's waiting time is short

Client waits terraced wait time, and promptly the passenger presses hall buttons request elevator service to entering the wait time that elevator obtains serving, and will follow following rule during control:

If A ladder is stopped number of times<=all the other ladders midway from calling out the nearly and A of floor ladder

Then distributes this outgoing call of A ladder response

Else if B ladder from call out floor than A ladder and B ladder far away slightly stop midway number of times<<the A ladder

Then calculates A, and the B outgoing call wait-for-response time, the distribution time, short ladder went to respond this outgoing call

2, client's using escalator time is short

Client's using escalator time, promptly the passenger enters elevator and presses the wait time of bed of interest button to elevator arrival bed of interest, exhales wait time short in making, and should follow following rule:

If A, the B ladder is exhaled number of times in calling floor distance is more or less the same and B ladder〉the A ladder

Then distributes the A ladder to go to respond this calling

3, the elevator parking number of times is few

The number of times of elevator parking is many more, and system energy consumption is just big more, therefore should reduce unnecessary stop as far as possible, saves system capacity.Rule is as follows:

If A, the B ladder selects floor to comprise the calling floor in calling floor distance is more or less the same and A ladder

Then distributes the A ladder to go to respond this calling

4, avoid the elevator sky to walk

Elevator " sky is walked " is meant when elevator responds certain floor call far away, does not respond other service in the way.This situation is very big waste for system.Control law is as follows:

If A, the B ladder is all far away from calling out floor, and A is bordering on B slightly but does not have other service in the A way

Then distributes the B ladder to go response to call out

5, avoid fully loaded

If when phase commuter rush hour, an elevator went to respond an outgoing call request, it was more to stop in response process, then the fully loaded possibility is very big, therefore, should the less elevator that stops be distributed in this request as far as possible.Rule is as follows:

Bus stop number in the way is called out in the response of if phase commuter rush hour and A ladder〉the B ladder

Then B ladder has precedence over the A ladder and considers

6, forward stop

Though dispatching algorithm can be obtained optimum elevator dispatching scheme theoretically, but because the existence of system's randomness, the scheduling ladder usually occurs and lag behind other elevators arrival calling floors, should respond the calling task this moment by the elevator that arrives earlier, and cancel the task of former distribution ladder.Rule is as follows:

If A ladder is called out place floor N prior to the terraced arrival of B

Then cancellation B ladder changes the calling by A ladder response N floor in the calling task of N floor

7, preferential in the same way

Passenger's outgoing call request is distributed to as far as possible with its in the same way and elevator on the way because incorgruous or in the same way but new subsequent request may appear in the elevator of crossing requesting layer, make its response time lengthening, the purpose of out of reach performance optimization with request.Control law is as follows:

If A ladder service direction with call out layer in the same way but through this call out layer or with call out incorgruous, B ladder service direction with call out layer and call out layer through this in the same way and not

Then B ladder has precedence over the A ladder and considers

The main target of optimization of various dispatcher's control strategies has the average waiting time of the passenger of reducing, and reduces the average using escalator time of passenger, balanced elevator degree of congestion and reduce elevator device operation energy consumption etc.Under different transit modes, group control system has different target calls, and therefore different transit modes is determining different team control scheduling strategies.

Transit mode with elevator in this patent is divided into three types, be peak traffic pattern, idle transit mode and interfloor traffic pattern, adopt different team control scheduling strategies at first will distinguish this three kinds of dissimilar transit modes, and judgement is the passenger flow volume information that above-mentioned each layer that utilizes image recognition technology to obtain waits the Room and each car with the basis of discerning these three kinds of dissimilar transit modes.

The accuracy of transit mode identification will directly influence the overall performance of group control system.Based on the identification of the elevator passenger flow transit mode of statistics, be exactly according to certain hour telecommunication flow information at interval, as into and out of waiting the entrance hall number, passenger flow total amount, the information such as ratio of the maximum layer of interlayer passenger flow.In the above-mentioned parameters such as passenger flow number of can specifically being called out based on image recognition technology, the number that this just can accurately judge up or descending client to the bottom and the top layer of floor, but wait the Room for other aspects of floor and will judge that the passenger is up or descending some other information that also needs, we know that waiting the passenger tends to waiting ladder near the lift port of institute's direct of travel, therefore just can up or descending client be distinguished as long as the statistics of the up or descending client's of other aspects of floor number is obtained near the number that the direction of travel information of certain elevator calculates then this lift port, an original unknowable passenger flow volume is converted into as can be known passenger flow volume.

When the data acquisition of traffic flow parameter, precision for the data acquisition that improves traffic flow parameter, in this patent car opened the time period not as the acquisition time of view data, this be because in this time period to up and down the passenger is mixed in together, distinguish by vision and to judge that the passenger has big difficulty up and down, and meaning is also little.

The traffic of elevator changed among one day at any time, for office block, be up peak morning, quitting time is a lowering peak at dusk, dinner hour is a up-downgoing peak, therefore utilizes the time period to carry out auxiliary judgment when identification elevator passenger flow transit mode and more helps improving elevator passenger flow transit mode accuracy of identification.For the building of holding a meeting in hotel etc., its passenger flow volume has violent in short-term fluctuation, but it often occurs in some special floors, and therefore carrying out auxiliary judgment at special floor more helps improving elevator passenger flow transit mode accuracy of identification.

The recognition rule of described transit mode be according to client exhale the echelon number, transit mode identification that the number (area) of the number (area) in hall and lift car of waiting is carried out, each transit mode Rule of judgment selected and that remove is as follows:

(1) Rule of judgment of up peak transit mode

When wishing that in waiting the hall up number (area) surpasses the manned area twice of regulation car, perhaps when lift car from bottom end station (base station) when upwards travelling, when surpassing manned area 80% situation of regulation, just be chosen as up peak transit mode state as continuous two manned areas of lift car; In a time period (such as 3 minutes, can come self-defined according to the one-period situation of the height of floor and elevator) when wishing that in waiting the hall up number (area) is lower than the manned area 60% of regulation car, perhaps when being reduced to continuously less than 60% of specified manned area as the manned area of car that upwards travels from bottom end station, and the lasting regular hour, then in the corresponding time on the peak traffic pattern be disengaged.In order to make identification more accurate, also introduce the auxiliary judgment standard of a time period and space segment here, as office block can be provided with the time period be morning during, space segment is bottom end station; The building of holding a meeting as hotel etc. can space segment be set to the meeting room of bottom end station or lower level or dining room etc.;

(2) Rule of judgment of lowering peak transit mode

When the summation that waits the descending number (area) of hope in the Room at the floor more than three layers surpasses three times of manned areas of regulation car, perhaps when the manned area of continuous two lift cars surpasses the manned area of regulation 80% descending arrival bottom end station situation, just be chosen as lowering peak transit mode state; In a time period (such as 3 minutes, can come self-defined according to the one-period situation of the height of floor and elevator) when the summation that waits the descending number (area) of hope in the Room at the floor more than three layers is lower than the manned area 60% of regulation car, as the manned area of descending car be reduced to continuously less than the manned area of specified car 60% and continue the regular hour, and the downward calling signal of each stop under specified quantity the time then the lowering peak transit mode be disengaged.Here also introduce the auxiliary judgment standard of a time period and space segment, can be set for during coming off duty at dusk the time period as office block; The building of holding a meeting as hotel etc. can space segment be set to meeting room, amusement hall or the dining room etc. of higher level;

(3) Rule of judgment of transit mode between balance layer

As the calling signal continued presence, then system changes the non-peak of passenger flow state (the interfloor traffic pattern of balance or idle transit mode) over to after up peak or lowering peak transit mode are disengaged.Under this state, make progress running time with running time is almost equal downwards, and the manned area of each up car and each descending car is more close than also, selects the interfloor traffic pattern of balance as elevator; If what occur continuing can not satisfy upwards running time and running time condition much at one downwards, perhaps the manned area of each up car and each descending car is then removed this transit mode than surpassing certain limit.

(4) Rule of judgment of idle transit mode

When system works in each transit mode program except that up peak, if do not occur calling signal at 90-120 in second, and at this moment the manned area of car was then selected idle transit mode less than 40% o'clock of the manned area of specified car; At calling signal of continued presence under this pattern as in 90 seconds time (and confirm have waiting Passengen by image recognition) or in a short period, have two calling signals (and confirm have plural waiting Passengen by image recognition) or in shorter time, exist three calling signals (and confirm have waiting Passengen three or more by image recognition) then to automatically terminate this pattern; Here also introduce a time period auxiliary judgment standard, as office block can be set the time period is public holiday, the late into the night and morning.

After having discerned above-mentioned four kinds of different elevator traffic patterns, just can formulate the team control strategy under different transit modes, among the present invention it is divided into three major types scheduling strategy, i.e. scheduling strategy under scheduling strategy under the peak traffic pattern, the scheduling strategy under the idle transit mode and the interfloor traffic pattern;

Scheduling strategy under the peak traffic pattern, be used in the uplink and downlink peak period group's ladder being dispatched, at this moment traffic demand is busy unusually, and car has the tendency that flocks together and leapfrog to each other, promptly car is frequent surmounts other cars, is parked in staggered floor.Multiple lift control system must provide effective control strategy to elevator group, could bear violent passenger flow effectively.In the scheduling strategy under the peak traffic pattern, can have following 5 kinds of scheduling strategies to select according to up peak and lowering peak: promptly the up peak elevator is from the subregion scheduling strategy that returns under basic unit's strategy, the up client's Priority Service of up peak strategy, the descending client's Priority Service of lowering peak strategy, lowering peak dispersion standby scheduling strategy and the peak traffic pattern;

The up peak elevator is that most elevators only respond up calling under this pattern when being identified as up peak passenger flow pattern from returning basic unit's strategy, once replied last up calling signal with in select signal, car just should return the entrance hall automatically.Multiple lift control system is wanted real time scan ladder group's state, when finding no task, when stopping elevator and not stopping basic unit, just should initiatively sending traffic order, elevator dispatching stop basic unit.

The up client's Priority Service of up peak strategy, be when being identified as up peak passenger flow pattern, when the passenger flow transit mode is in up peak, for from the entrance hall or the up passenger's (confirming as the floor that the up passenger of requirement waits) of above each stop through image recognition Priority Service should be provided, simultaneously, taking into account under the prerequisite of maximum waiting time, descending client's call request is being limited.

The descending client's Priority Service of described lowering peak strategy, be to be identified as the passenger flow transit mode when being in lowering peak, for providing Priority Service from the descending passenger of each stop more than the entrance hall (confirming as the floor that the descending passenger of requirement waits) through image recognition, simultaneously, taking into account under the prerequisite of maximum waiting time, up client's call request is being limited.

Lowering peak disperses the standby scheduling strategy, is to be identified as the passenger flow transit mode when being in lowering peak, and the no task elevator that arrives basic unit on average be assigned is having the more ladder on the floor waiting Passengen that the descending passenger of requirement waits that has.Disperseing the purpose of standby is at each layer of the centre in building the elevator that is in standby to be arranged all in order to guarantee, to improve the efficient of serving when team control moves, in time responds descending client's calling.

Subregion scheduling strategy under the peak traffic pattern, be to be identified as the passenger flow transit mode to be in up or during lowering peak, carry out subregion for floor and elevator according to certain area principle (number of floor levels, service direction), every elevator preferential answering is distributed to the interior calling of running section of this elevator.Because the uplink and downlink peak period, traffic demand is busy unusually, and car often has the tendency that flocks together and leapfrog to each other, therefore adopts the strategy of subregion scheduling to provide actv. control to elevator group.The scheme drawing of subregion scheduling strategy, as shown in Figure 8, this building has 21 layers, 6 elevators, we are divided into 6 zones with it, the common step of this partitioned mode is that the car number with elevator comes the defined range number, can under slight and medium traffic flow conditions, car be assigned to each zone, so that provide impartial service to all zones.

Scheduling strategy under the idle transit mode, be used for satisfying under the prerequisite of user service requirement, reduce a kind of scheduling strategy of waste of power and depreciation of equipment, raising cost performance, can select minimum distance scheduling strategy, minimum start-stop number of times scheduling strategy as required and utilize in three kinds of strategies of scheduling strategy of energy dissipation behavior of elevator uplink and downlink any;

Minimum distance scheduling strategy, be that the calling signal of each stop (and confirm as waiting Passengen by image recognition) is distributed to and replied that nearest elevator of this calling signal, when computed range, pair give a different position deviation respectively with the inverted running elevator in the same way with calling.The reducing of elevator operation distance can reduce the elevator device energy consumption;

Minimum start-stop number of times scheduling strategy, be in order to reach the start-stop number of times that purpose that number of run with less elevator delivers more passenger reduces elevator as far as possible, will confirm as at this layer by image recognition in minimum start-stop number of times scheduling strategy has two above waiting Passengens as the preferential floors of stopping;

Utilize the scheduling strategy of the energy dissipation behavior of elevator uplink and downlink, utilize the elevator zero load up, fully loaded when descending electrical motor be in the characteristic of generating state, in the express elevator system, regenerated energy can be fed back to electrical network.Utilize this characteristic group control system to distribute the elevator that is in above-mentioned running state, reach purpose of energy saving for the outgoing call signal priority.

Scheduling strategy under the interfloor traffic pattern, sense of motion, flow, time of passenger flow of this moment all is ccasual, and passenger flow volume is in medium level, it is less to fluctuate.Under this state, make progress running time with running time is almost equal downwards, and the car load is also close as elevator.Therefore, the main psychological factor of considering client, i.e. waiting time and using escalator time under the interfloor traffic pattern.Scheduling strategy under this pattern mainly contains: minimum average B configuration waiting time scheduling strategy, minimum average B configuration using escalator time scheduling strategy and dispersion standby scheduling strategy;

Minimum average B configuration waiting time scheduling strategy is the relation that increases by on a year-on-year basis that square is of considering passenger waiting time and anxiety sense, to exhale terraced direction with apart from binding analysis, the shortest with client's waiting time is performance figure, carries out dynamic optimization and is called minimum waiting time dispatching algorithm in the hope of reaching the highest operating efficiency.Minimum average B configuration waiting time dispatching algorithm can satisfy using escalator client's psychological needs to greatest extent;

Minimum average B configuration using escalator time scheduling strategy is some principal elements of having considered to influence the average waiting time of system: calling signal in the remaining space of prediction waiting time, car and the car.Because the waiting time in the performance evaluation index is meant the average waiting time of system, the flat minimum average B configuration using escalator of elevator device time scheduling strategy is the shortest with client's the using escalator time to be performance figure, to exhale terraced direction with apart from binding analysis, reach the highest operating efficiency by optimized distribution scheduling to calling signal, be average using escalator time minimum, take into account client's maximum waiting time simultaneously;

Disperseing the standby scheduling strategy is that all elevators stop after layer time all surpasses certain time rating when utilizing the team control operation, and all elevators enter the dispersion readiness for action in the group control system control ladder group, and promptly elevator is on average assigned in each floor wait.Disperseing the purpose of standby is at the base station and near the stop the interlayer in building the elevator that is in standby to be arranged all in order to guarantee, the efficient of service is customer service better during with raising team control operation, reduces client's average waiting time and average using escalator time.All waiting time is considered entire system, therefore has to sacrifice the waiting time of individual passenger sometimes.

In order to prevent some artificial disturbing, get rid of these interference and important meaning is arranged improving group control system scheduling precision, as the angle that video image is understood, can make the invalidation of two aspects, the first in detecting car nobody the time, up or descending floor selector button invalidation in the car; It two is when detecting when waiting in the hall nobody, and invalidation is made in floor hall call registration in place;

In above-mentioned all scheduling strategies, also can append a main level arrival rate index, the user can define some special floors, will meet passenger's arrival rate (the passenger's area that carries is taken advantage of in hope) such as the car arrival rate in hall, meeting room, dining room etc. (more precisely being to take advantage of the passenger's area that carries).

Embodiment 2

With reference to Fig. 1~Fig. 7, all the other are identical with embodiment 1, different is aspect the passenger flow quantitative statistics, being by the passenger's area in the image recognition statistics car in the embodiment 1 and waiting and wish in the hall to take advantage of the passenger's area that carries, is to wait by patronage in the image recognition statistics car and elevator to wish to take advantage of the patronage that carries in the balcony in the embodiment 2.

Be used to detect in the car and video server that elevator waits the passenger flow volume in the parlor is an embedded Linux system, described control control center is employed to be PC or server, and the user program module among the present invention is realized by C and Java language.

The invention effect that the above embodiments 1 and 2 are produced is to have made full use of increasingly mature wireless video communication to calculate, the optimization dispatcher's control strategy of image recognition technology and present comparative maturity, discern the time ladder number of each layer by the omnibearing vision sensor of each floor that distributes, and utilize elevator in-to-in monitoring device to discern the ridership of elevator, load onto a secondary insight to multiple lift control system, possessed the intelligent expert function by various scheduling strategies by multiple lift control system then, the accurate passenger flow information that multiple lift control system utilizes insight to obtain carries out more accurate team control scheduling, to improve the transporting power and the level of service of elevator.

Claims (9)

1. intelligent dispatcher for group controlled lifts based on image recognition technology, comprise multiple control lift control center computing machine, described central computer comprises the dispatcher's control policy module of each elevator in the building being carried out optimal control, it is characterized in that: described intelligent scheduling device also comprises the car video sensor that is used to gather passenger flow personal information in the car, be used to gather the time ladder number information's of each layer omnibearing vision sensor, described car video sensor is connected central computer with omnibearing vision sensor, and described central computer also comprises:
Elevator passenger flow information computing module is in order to calculate the passenger flow information of elevator according to the video information of car video sensor, omnibearing vision sensor;
Described elevator passenger flow information computing module comprises:
Image fetching unit is used for the video information of the elevator lobby of lift car, each layer is collected;
The image change calculating unit, present frame live video image and a relatively stable reference image of being used for being obtained carry out the difference computing, and the computing formula of image subtraction is represented suc as formula (28):
f d(X,t 0,t i)=f(X,t i)-f(X,t 0)(28)
In the following formula, f d(X, t 0, t i) be to photograph the result who carries out image subtraction between image and reference image in real time; F (X, t i) be to photograph image in real time; F (X, t 0) be the reference image;
The connect domain computing module, be used for present image is carried out mark, pixel grey scale is 0 background, pixel grey scale is 1 for target, whether the pixel of calculating in the present image equates with the pixel of some points adjacent around the current pixel, equate to be judged as gray scale and have connectedness, all are had connective pixels as a connect domain, and the connect domain area in each image of statistical computation;
The passenger flow volume calculating unit is used for when the elevator door closed condition, adds up the connect domain area summation in each lift car; The connect domain area of statistics bottom elevator lobby, the connect domain area of top layer elevator lobby, the elevator lobby of each layer in the middle of the building is divided into the zone of corresponding each elevator, and according to the direction that elevator moves, the corresponding up connect domain area of each layer, the descending connect domain area of correspondence in the middle of determining; The operational mode identification module is used for distinguishing according to client's the number of exhaling echelon number, the number that waits the hall and lift car, comprises transit mode unit and idle transit mode between up peak transit mode, lowering peak transit mode, balance layer;
Dispatcher's control policy selection module is used for the transit mode different according to elevator, selects the dispatcher's control strategy that matches;
Described operational mode identification module comprises:
Up peak transit mode unit, being used to set the connect domain area of bottom elevator lobby and the corresponding up connect domain area sum of middle each layer is up number, when as above pedestrian's number surpasses the manned area twice of regulation car, perhaps when lift car when bottom upwards travels, when surpassing manned area 80% situation of regulation, be judged to be up peak transit mode state as continuous two manned areas of lift car; As in the setting-up time section, up number is lower than 60% of the manned area of regulation car, perhaps when as when bottom upwards travels, the manned area of car is reduced to continuously less than 60% of specified manned area, judges that the up peak transit mode is disengaged in the corresponding time;
Lowering peak transit mode unit, be used to set in the elevator lobby of the floor more than three layers and wish that the summation of the connect domain area of descending number is descending number, when following pedestrian's number surpasses three times of manned areas of regulation car, perhaps when the manned area of continuous two lift cars surpasses the descending arrival bottom of the manned area of regulation 80%, be judged to be lowering peak transit mode state; As in the setting-up time section, the summation of wishing descending number in the floor elevator lobby more than three layers is lower than the manned area 60% of regulation car, perhaps be reduced to continuously less than 60% of the manned area of specified car as the manned area of descending car, and the downward calling signal of each stop is being set under the quantity, judges that the lowering peak transit mode is disengaged;
Transit mode unit between balance layer is used for detecting the calling signal continued presence after up peak or lowering peak transit mode are disengaged; Make progress running time with running time is approaching downwards as elevator, and the manned area of each up car and each descending car is close, is judged to be transit mode state between balance layer; As in the setting-up time section, what occur continuing can not satisfy upwards running time and the downward approaching condition of running time, and perhaps the manned area of each up car and each descending car is judged transit mode state between relieving layer than surpassing setting range;
Idle transit mode unit, be used for being operated in each transit mode state except that up peak when elevator device, if do not occur calling signal at 90-120 in second, and the manned area of car is judged to be idle transit mode state less than 40% of the manned area of specified car; As calling signal of continued presence in 90 seconds time or have two calling signals within a short period of time or in shorter time, have three calling signals, judge the idle transit mode state of removing.
2. the intelligent dispatcher for group controlled lifts based on image recognition technology as claimed in claim 1 is characterized in that: in described dispatcher's control policy selection module, when uplink and downlink peak traffic pattern, include:
The up peak elevator is from returning basic unit's policy unit, be used for when being judged to be the up peak transit mode, most elevators only respond up calling, once replied last up calling signal and in select signal, the control car returns the entrance hall of bottom automatically, and real time scan ladder group's state, when find no task, when stopping elevator and not stopping basic unit, send traffic order, elevator dispatching is stopped basic unit;
The up client's Priority Service of up peak policy unit is used for preferentially providing the up call signal when being judged to be up peak passenger flow pattern, is taking into account under the prerequisite of maximum waiting time, and descending client's call request is limited;
The descending client's Priority Service of lowering peak policy unit is used for preferentially providing the downlink call signal when being judged to be lowering peak passenger flow pattern, is taking into account under the prerequisite of maximum waiting time, and up client's call request is limited;
Lowering peak disperses standby scheduling strategy unit, is used for when being judged to be lowering peak passenger flow pattern, and the no task elevator that arrives basic unit is on average assigned the more ladder on the floor waiting Passengen that the descending passenger of requirement waits that has;
Subregion scheduling strategy unit under the peak traffic pattern is used for when being judged to be the up peak transit mode, carries out subregion for floor and elevator according to area principle, and every elevator preferential answering is distributed to the interior calling of running section of this elevator.
3. the intelligent dispatcher for group controlled lifts based on image recognition technology as claimed in claim 1 is characterized in that: in described dispatcher's control policy selection module, when idle transit mode, include:
Minimum distance scheduling strategy unit is used for the calling signal of each stop distributed to and replys that nearest elevator of this calling signal, gives a different position deviation respectively with the inverted running elevator in the same way with calling when computed range pair;
Minimum start-stop number of times scheduling strategy unit is used for confirming as at this layer by image recognition two above waiting Passengens is arranged, and determines that this layer conduct preferentially stop floor;
The scheduling strategy unit of the energy dissipation behavior of elevator uplink and downlink is used to extract the regenerated energy information of electrical network feedback, confirms unloaded up, fully loaded descending elevator, the outgoing call signal priority is distributed the elevator that is in above-mentioned running state.
4. the intelligent dispatcher for group controlled lifts based on image recognition technology as claimed in claim 1 is characterized in that: in described dispatcher's control policy selection module, when the interfloor traffic pattern, include:
Minimum average B configuration waiting time scheduling strategy unit, be used for exhaling terraced direction with apart from binding analysis, the shortest with client's waiting time is performance figure, carries out dynamic optimization in the hope of reaching the highest operating efficiency, adopt minimum average B configuration waiting time dispatching algorithm, distribute the outgoing call signal according to arithmetic result;
Minimum average B configuration using escalator time scheduling policy unit, being used for the shortest with client's the using escalator time is performance figure, to exhale terraced direction with apart from binding analysis, reach the highest operating efficiency by optimized distribution scheduling to calling signal, be average using escalator time minimum, take into account client's maximum waiting time simultaneously;
Disperse standby scheduling strategy unit, all elevators stop elevator is on average assigned in each floor wait after layer time all surpasses the time rating of setting when being used for the team control operation.
5. the intelligent dispatcher for group controlled lifts based on image recognition technology as claimed in claim 1, it is characterized in that: in described up peak transit mode unit, select time section and space segment are the auxiliary judgment standard, to office block be provided with the time period be morning during, space segment is bottom end station; To the building of holding a meeting in hotel etc., space segment is set to the meeting room or the dining room of bottom end station or lower level;
In described lowering peak transit mode unit, select time section and space segment are the auxiliary judgment standard, and office block is provided with the time period for during coming off duty at dusk; The building space segment of being held a meeting in hotel etc. is set to meeting room, amusement hall or the dining room of higher level;
In described idle transit mode, the select time section is the auxiliary judgment standard, and it is public holiday, the late into the night and morning that office block is provided with the time period.
6. as the described intelligent dispatcher for group controlled lifts based on image recognition technology of one of claim 1-5, it is characterized in that: described central computer also comprises:
The invalidation module, when being used to detect in the car nobody, up or descending floor selector button is made invalidation in the car, and when detecting when waiting in the hall nobody, invalidation is made in floor hall call registration in place.
7. the intelligent dispatcher for group controlled lifts based on image recognition technology as claimed in claim 6 is characterized in that: described central computer also comprises the background maintenance module, and described background maintenance module comprises:
The background luminance calculating unit is used to calculate average background brightness Yb computing formula as the formula (25):
Y ‾ b = Σ x = 0 W - 1 Σ y = 0 H - 1 Y n ( x , y ) ( 1 - M n ( x , y ) ) Σ x = 0 W - 1 Σ y = 0 H - 1 ( 1 - M n ( x , y ) ) - - - ( 25 )
In the formula (25), Yn (x y) is the brightness of each pixel of present frame, Mn (x y) is the mask table of present frame, and described mask table is to write down each pixel with one with the measure-alike array M of frame of video whether motion change is arranged, referring to formula (27):
Yb0 is the background luminance of former frame when being judged to be the motion object, and Yb1 is the background luminance of first frame when detecting detected object, being changed to of two frame mean flow rates:
ΔY=Yb1-Yb0 (26)
If Δ Y, then thinks the incident of turning on light that taken place greater than higher limit; If Δ Y, then thinks the incident of turning off the light that taken place less than certain lower limit; Between higher limit and lower limit, think then that light changes naturally as Δ Y;
The background adaptive unit is used for carrying out adaptive learning according to following formula (22) when light changes naturally:
X mix,bn+1(i)=(1-λ)X mix,bn(i)+λX mix,cn(i) (22)
In the formula: X Mix, cn(i) be present frame RGB vector, X Mix, bn(i) be present frame background RGB vector, X Mix, bn+1(i) be next frame background forecast RGB vector, λ is the speed of context update; Changeless background (initial background) is used in λ=0; Present frame is used as a setting in λ=1; 0<λ<1, background is mixed by the background and the present frame of previous moment;
When light is caused that by switch lamp background pixel is reset according to present frame, referring to formula (23):
X mix,bn+1(i)=X mix,cn(i) (23)。
8. the intelligent dispatcher for group controlled lifts based on image recognition technology as claimed in claim 1 is characterized in that: in described image change calculating unit, and with in the present image with the image subtraction computing formula of adjacent K frame shown in (29):
f d(X,t i-k,t i)=f(X,t i)-f(X,t i-k) (29)
In the following formula, f d(X, t I-k, t i) be to photograph the result who carries out image subtraction between image and adjacent K two field picture in real time; F (X, t I-k) image when being adjacent K frame;
As f d(X, t 0, t i) 〉=threshold value, f d(X, t I-k, t iWhen) 〉=threshold value is set up, be judged to be the motion object;
As f d(X, t 0, t i) 〉=threshold value, f d(X, t I-k, t i)<threshold value is judged stationary objects, and upgrades replacement reference image with formula (30):
f ( X , t 0 ) ⇐ f ( X , t i - k ) - - - ( 30 )
As f d(X, t 0, t i)<threshold value is judged to be stationary objects;
9. the intelligent dispatcher for group controlled lifts based on image recognition technology as claimed in claim 9 is characterized in that: described car video sensor is connected central computer with omnibearing vision sensor by wireless device.
CNB2006100536993A 2006-09-29 2006-09-29 Intelligent dispatcher for group controlled lifts based on image recognizing technology CN100462295C (en)

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CN106586738B (en) * 2017-01-24 2019-05-28 沈阳建筑大学 A kind of elevator with multiple compartments dispatching method of view-based access control model detection
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CN107601191B (en) * 2017-08-30 2019-04-09 西安财经学院 A kind of elevator operation mode and elevator planning method of peak time of going to work
CN107879206B (en) * 2017-11-08 2019-07-23 Oppo广东移动通信有限公司 Elevator scheduling method, device, equipment and storage medium
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