CN106966277B - The seating detection system of elevator - Google Patents
The seating detection system of elevator Download PDFInfo
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- CN106966277B CN106966277B CN201710025809.3A CN201710025809A CN106966277B CN 106966277 B CN106966277 B CN 106966277B CN 201710025809 A CN201710025809 A CN 201710025809A CN 106966277 B CN106966277 B CN 106966277B
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- China
- Prior art keywords
- personage
- door
- wish
- seating
- image
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
- B66B13/02—Door or gate operation
- B66B13/14—Control systems or devices
- B66B13/143—Control systems or devices electrical
- B66B13/146—Control systems or devices electrical method or algorithm for controlling doors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
- B66B13/24—Safety devices in passenger lifts, not otherwise provided for, for preventing trapping of passengers
Abstract
The present invention is a wide range of and accurately detects the user for having seating wish and reflects in the open and close control of door.The seating detection system of the elevator of one embodiment of the present invention includes image pickup part, activity detection portion, position deduction portion, resume maintaining part, takes wish presumption unit and control unit.There is movable block in position deduction portion by what the activity detection portion detected for each image zooming-out, and the coordinate position in the block is estimated as to the position of personage.The current position data until before the stipulated time in the position data for indicating the position of the personage estimated by the position deduction portion is remained history data by resume maintaining part.The history data that position deduction portion is kept referring to resume maintaining part decides whether that the position to the personage being deduced is corrected.
Description
The application (date of application: enjoys this application based on 1/13/2016) by Japanese patent application 2016-4594
Priority.The application includes all the contents of the application by reference to this application.
Technical field
Embodiments of the present invention are related to a kind of seating of elevator that the user to cage to be taken is detected
Detection system.
Background technique
In general, can close the door after by the stipulated time when the cage of elevator reaches hall and opens the door
Hair.At this moment, since the user of elevator does not know when cage closes the door, entering riding sedan-chair from hall sometimes
The door closed is bumped against when compartment.
The collision of door when in order to avoid this seating, consideration, which has using sensor, detects making for cage to be taken
User and the on-off action for controlling door.As the sensor, usually using photoelectric sensor.That is, in advance in cage
Photoelectric sensor is arranged in top, carries out optical detection to the user of cage to be taken.During detecting user
Interior, door can maintain door opening state, therefore can avoid user and bump against the door closed, in addition, can prevent from being drawn into door
Door pocket.
Summary of the invention
However, the detection range of photoelectric sensor is relatively narrow, user can only be detected by PinPoint.Accordingly, there exist such as
Lower situation: when having user in the place slightly remote from cage, it can not detect the user and start to close the door；Or it is anti-
Come over, erroneous detection measures the personage only passed by near cage and opens the door.
The problem to be solved in the present invention is to provide a kind of user that can be detected on a large scale and accurately and take wish
And the seating detection system reflected to the elevator in the open and close control of door.
The seating detection system of the elevator of one embodiment includes: image pickup part, activity detection portion, position deduction portion, resume
Maintaining part takes wish presumption unit and control unit.Image pickup part can be from the cage when cage arrived hall
Door nearby prescribed limit is shot towards the direction of the hall.Activity detection portion is with block unit to by the camera shooting
The brightness of multiple continuous images in time series that portion takes is compared to the activity of detection personage.Position deduction portion
There is movable block by what the activity detection portion detected for each Zhang Shangshu image zooming-out, by the coordinate position in the block
It is estimated as the position of personage.Resume maintaining part will indicate in the position data of the position of the personage estimated by the position deduction portion
Currently the position data until before the stipulated time remains history data.Wish presumption unit is taken according to by the position deduction
Whether there is or not take wish to estimate user for the time series variation of the position for the personage that portion deduces.Control unit is anticipated based on the seating
The presumption result of presumption unit is willing to control the on-off action of the door.The position deduction portion is protected referring to by the resume maintaining part
The history data held decides whether that the position to the personage being deduced is corrected.
Detailed description of the invention
Fig. 1 is the figure for indicating the composition of seating detection system of elevator involved in an embodiment.
Fig. 2 is the figure for indicating an example of the image taken by video camera in the embodiment.
Fig. 3 be indicate the embodiment in block unit to shooting image divide after state figure.
Fig. 4 is the figure to illustrate the detection zone in the real space in the embodiment.
Fig. 5 is the figure to illustrate the coordinate system in the real space in the embodiment.
Fig. 6 is the figure to illustrate the activity detection compared using image in the embodiment, to schematically show
In the figure of a part for the image that moment t takes.
Fig. 7 is the figure to illustrate the activity detection compared using image in the embodiment, to schematically show
In the figure of a part for the image that moment t+1 takes.
Fig. 8 is the flow chart for indicating the process of whole processing of the seating detection system in the embodiment.
Fig. 9 is the flow chart for indicating the activity detection processing of the seating detection system in the embodiment.
Figure 10 is the flow chart for indicating the position deduction processing of the seating detection system in the embodiment.
Figure 11 is the flow chart for indicating the seating wish presumption processing of the seating detection system in the embodiment.
Figure 12 is the figure for indicating the variable condition for having the underfooting position for taking wish in the embodiment.
Figure 13 is to indicate that the processing in the door closing procedure of cage of the seating detection system in the embodiment is dynamic
The flow chart of work.
Figure 14 is the figure to illustrate the activity detection in the case that the moving body in the embodiment crosses hall, is
It is shown schematically in the figure of a part for the image that moment t takes.
Figure 15 is the figure to illustrate the activity detection in the case that the moving body in the embodiment crosses hall, is
It is shown schematically in the figure of a part for the image that moment t+1 takes.
Figure 16 is the figure to illustrate the activity detection in the case that the moving body in the embodiment crosses hall, is
It is shown schematically in the figure of a part for the image that moment t+2 takes.
Figure 17 is to indicate that the erroneous judgement in the embodiment is the figure for having the variable condition for the underfooting position for taking wish.
Figure 18 is the flow chart for indicating the another location presumption processing of the seating detection system in the embodiment.
Figure 19 is the figure for indicating the variable condition without the underfooting position for taking wish in the embodiment.
Figure 20 is the figure for indicating the variable condition for having the underfooting position for taking wish in the embodiment.
Specific embodiment
In the following, being illustrated with reference to attached drawing to embodiment.
Fig. 1 is the figure for indicating the composition of seating detection system of elevator involved in an embodiment.Furthermore be herein with
It is illustrated for 1 cage, but more cages are also similarly to constitute.
The entrance top of cage 11 is provided with video camera 12.Specifically, going out in covering cage 11
The camera lens part of video camera 12 is provided in the lintel plate 11a on entrance top towards 15 side of hall.Video camera 12 is, for example,
The miniaturized surveillances video camera such as vehicle-mounted vidicon has wide-angle lens, and several frame images (such as 30 can be continuously shot in 1 second
Frame/second).When cage 11 reaches each floor and opens the door, by the state packet near the car door 13 in cage 11
Mode including including shoots the state of hall 15.
Coverage at this time is adjusted to L1+L2 (L1 > > L2).L1 is the coverage of hall side, from car door 13
It is, for example, 3m towards hall 15.L2 be cage side coverage, from car door 13 towards the carriage back side be, for example, 50cm.Again
Person, L1, L2 are the range of depth direction, and the range of width direction (direction orthogonal with depth direction) is at least than cage 11
Width it is big.
Furthermore in the hall of each floor 15, it is provided with hall door freely in the arrival mouth opening and closing of cage 11
14.Hall door 14 engages with car door 13 when cage 11 is reached and movement is opened and closed.At power source (door motor)
In 11 side of cage, hall door 14 only follows car door 13 and is opened and closed.In the following description, it is set as car door 13
Ladder hall door 14 is also opened the door when enabling, car door 13 at closing time also close the door by hall door 14.
Each image (image) taken by video camera 12 is subject to dissection process by image processing apparatus 20 in real time.Again
Image processing apparatus 20 is taken out from cage 11 for ease of description and is shown, but actually in Fig. 1 by person
Image processing apparatus 20 is accommodated in together in lintel plate 11a with video camera 12.
Herein, equipped with storage unit 21 and user's test section 22 in image processing apparatus 20.Storage unit 21 has slow
Rush area, the buffer area is successively to save the image taken by video camera 12 and temporarily keep user's test section 22
Data needed for reason.One of the buffer area is underfooting position resume maintaining part 21a.User's test section 22 is by video camera 12
What is taken is conceived to the people/object activity nearest from car door 13 and has detected in time series in multiple continuous images
Without the user for having seating wish.It is by activity detection portion if functionally being divided to user's test section 22
22a, position deduction portion 22b and seating wish presumption unit 22c are constituted.
Activity detection portion 22a is compared to detection people/object activity to the brightness of each image with block unit.This place
So-called " activity of people/object " said, refers to the activity of the moving bodys such as personage, the wheelchair of hall 15.
Position deduction portion 22b from by activity detection portion 22a for each in each image and having for detecting is movable
The block nearest from car door 13 is extracted in block, and the center (center of door frontal width) of the car door 13 in the block is arrived
The coordinate position (Y coordinate shown in fig. 5) in hall direction is estimated as the position (underfooting position) of user.Take wish presumption
Portion 22c determines the user according to the time series variation of the position deduced by position deduction portion 22b, and whether there is or not take wish.
Furthermore these functions (activity detection portion 22a, position deduction portion 22b, taking wish presumption unit 22c) may also set up
In video camera 12, it may also be arranged in carriage control device 30.
Carriage control device 30 is connect with elevator control gear (not shown), carries out waiting ladder between the elevator control gear
The transmitting-receiving of the various signals such as Room calling, car call.Furthermore so-called " hall calling ", refers to by the way that each floor is arranged in
The operation of the hall call button (not shown) of hall 15 and the call signal registered include registration floor and purpose place
To information.So-called " car call " refers to and is exhaled by the indoor destination (not shown) of the carriage that cage 11 is arranged in
The call signal crying the operation of button and registering, the information comprising destination floor.
In addition, carriage control device 30 includes door open and close control portion 31.Door open and close control portion 31 reaches cage 11
The door opening and closing of car door 13 when hall 15 is controlled.Specifically, door open and close control portion 31 is reached in cage 11
Car door 13 is opened when hall 15, and car door 13 is closed after by the stipulated time.But in the enabling shape of car door 13
In the case that user's test section 22 under state by image processing apparatus 20 detects the personage for taking wish, door opening and closing
Control unit 31 forbids the shutdown of car door 13 to act and maintain door opening state.
Then, referring to figs. 2 to Fig. 7, the seating wish detection method in present embodiment is illustrated.
Fig. 2 is the figure for indicating an example of the image taken by video camera 12.E1 in figure indicates position deduction region, yn
Expression detects the Y coordinate of the underfooting position of user.Fig. 3 is after indicating to divide shooting image with block unit
The figure of state.Furthermore original image will be divided on one side as WblockThe resulting part of clathrate be known as " block ".
The entrance top of cage 11 is arranged in video camera 12.Thus, it has been opened in hall 15 in cage 11
Men Shi shoots the prescribed limit (L2) in the prescribed limit (L1) and carriage of hall side.Herein, if using video camera 12,
Detection range expands, and the user in the place slightly remote from cage 11 can also be detected.But then, have
Possible error detection does not take the personage of cage 11 and opens car door 13.
Therefore, this system, which is set, is constructed as follows: as shown in figure 3, the image taken by video camera 12 is divided into centainly
The block of size, detecting the movable block of someone/object and tracking this has movable block, and thus judging whether it is has seating to anticipate
The user of hope.
Furthermore in the example in figure 3, the length in length and breadth of block is identical, but the vertical length with cross can also be different.In addition,
Image whole region can be bridgeed across and block is set as uniform size, can also be set as example shortening closer to image top vertical
The non-uniform size of length to (Y-direction) etc..It as a result, can be with the uniform resolution in higher resolution or real space
Rate finds out the later underfooting position estimated, and (if equably being divided on the image, then real space is interior from car door
13 is remoter, and resolution ratio is lower).
Fig. 4 is the figure to illustrate the detection zone in real space.Fig. 5 is to illustrate the coordinate system in real space
Figure.
In order to detect the activity for the user for taking wish according to shooting image, firstly, good to each Block Set
Activity detection region.Specifically, as shown in figure 4, at least setting position deduction region E1 and taking wish presumption region E2.
Position deduction region E1 is to a part of the body of the user to come up from hall 15 towards car door 13, specially user
The region that is estimated of underfooting position.Taking wish presumption region E2 is detected in estimated position presumption region E1 make
Whether user has the region for taking wish.Furthermore wish presumption region E2 is taken to be included in the position deduction region E1,
It is the region for estimating the underfooting position of user.That is, estimating the underfooting position of user simultaneously taking in wish presumption region E2
Estimate the seating wish of the user.
In real space, position deduction region E1 has distance L3 from the center of car door 13 towards hall direction,
Such as it is set as 2m (L3≤hall side coverage L1).The width W1 of position deduction region E1 is set as car door 13
The distance of width W0 or more.Taking wish presumption region E2 has distance L4 from the center of car door 13 towards hall direction,
Such as it is set as 1m (L4≤L3).The width W2 for taking wish presumption region E2 is set as the width W0 substantially phase with car door 13
Same distance.
Furthermore the width W2 for taking wish presumption region E2 is also greater than W0.In addition, taking wish presumption region E2 in reality
In the space of border can not also for rectangle but it is trapezoidal except the dead angle of doorframe.
Herein, as shown in figure 5, the shooting of video camera 12 is with horizontal with the car door 13 for the entrance that cage 11 is arranged in
Direction be X-axis, with the direction (perpendicular to the direction of car door 13) at the center of car door 13 to hall 15 be Y-axis, to multiply
Short transverse with carriage 11 is the image of Z axis.In each image taken by the video camera 12, with block unit to Fig. 4
Shown in position deduction region E1 and take wish presumption region E2 part be compared, thus detect in car door 13
The variation of the underfooting position of user on the move on the heart to the direction of hall 15 i.e. Y direction.
The situation is shown in Fig. 6 and Fig. 7.
Fig. 6 and Fig. 7 is to the figure for the activity detection for illustrating to compare using image.Fig. 6 is shown schematically in moment t bat
The a part for the image taken the photograph, Fig. 7 are shown schematically in a part for the image that moment t+1 takes.
P1, P2 in figure are to shoot the image section that movable user is detected on image, indeed through figure
Aggregate as comparing and detecting movable block.Extracting nearest from car door 13 in image section P1, P2 has activity
Block Bx and track the Y coordinate of block Bx, thus determine whether seating wish.In this case, if marking along the y axis
Such equal space line (the equally spaced horizontal line parallel with car door 13) is indicated with dotted line, then can be appreciated that block Bx and sedan-chair
The distance of the Y direction of compartment door 13.
In the example of Fig. 6 and Fig. 7, nearest from car door 13 has the detection position of movable block Bx from ynBecome
yN-1, it is known that user comes up close to car door 13.
Then, the movement of this system is described in detail.
Fig. 8 is the flow chart for indicating the process of the whole processing in this system.
When cage 11 reaches the hall 15 of any floor (step S11's be), carriage control device 30 is opened
The user (step S12) of car door 13 and waiting seating cage 11.
At this point, by the video camera 12 on the entrance top that cage 11 is set with regulation frame rate (such as 30 frames/
Second) shooting hall side prescribed limit (L1) and carriage in prescribed limit (L2).Image processing apparatus 20 is in temporal sequence
The image taken by video camera 12 is obtained, on one side successively saves these images to storage unit 21 (step S13), it is real-time on one side
Execute following user's detection processing (step S14).
User's detection processing is executed by user's test section 22 provisioned in image processing apparatus 20.User inspection
Survey processing is divided into activity detection processing (step S14a), position deduction processing (step S14b) and takes wish presumption processing (step
Rapid S14c).
(a) activity detection is handled
Fig. 9 is the flow chart for indicating the activity detection processing of the step S14a.Activity detection processing is by as described
The activity detection portion 22a of one of the constituent element of user's test section 22 is executed.
Activity detection portion 22a reads each image retained in storage unit 21 one by one, calculates for each block average
Brightness value (step A11).At this moment, activity detection portion 22a is bright by being averaged for each block calculated when inputting initial image
Angle value keeps the buffer area (not shown) to storage unit 21 as initial value (step A12).
When obtaining the image after the 2nd, average brightness value of the activity detection portion 22a to each block of present image
(step A13) is compared with the average brightness value of each block of previous image retained in the buffer area.As a result,
In the case where there is the block with luminance difference more than preset value in present image, activity detection portion 22a should
Block is judged to having movable block (step A14).
After determining whether activity for present image, activity detection portion 22a is put down each block of the image
Equal brightness value keeps using (step A15) as compared with next image to the buffer area.
Later, activity detection portion 22a repeats following operation: on one side in temporal sequence successively with block unit to by taking the photograph
The brightness value for each image that camera 12 takes is compared, and determines whether activity on one side.
(b) position deduction is handled
Figure 10 is the flow chart for indicating the position deduction processing of the step S14b.Position deduction processing is by as described
The position deduction portion 22b of one of the constituent element of user's test section 22 is executed.
Position deduction portion 22b has movable block according to the testing result of activity detection portion 22a to check in present image
(step B11).As a result, user detects there are in the case where movable block in position deduction region E1 shown in Fig. 4
Portion 22, which extracts this, block (step B12) nearest from car door 13 in movable block.
Herein, as shown in Figure 1, the entrance top of cage 11 is arranged in towards hall 15 for video camera 12.Cause
And in the case where user goes on foot from hall 15 towards car door 13, the right crus of diaphragm of the user or the part of left foot are shone upon
Shoot image most nearby namely the block of 13 side of car door a possibility that it is higher.Therefore, position deduction portion 22b is asked from carriage
The nearest Y coordinate (coordinate of the center of car door 13 to 15 direction of hall) for having movable block of door 13 is as user's
The data of underfooting position, and keep to the underfooting position resume maintaining part 21a (step B13) in storage unit 21.
Later, position deduction portion 22b is found out for each in each image nearest from car door 13 has work
Data of the Y coordinate of dynamic block as the underfooting position of user, and keep to the underfooting position resume in storage unit 21 protecting
Hold portion 21a.Furthermore the presumption processing of this underfooting position is not only to carry out in the E1 of position presumptive region domain, pushes away taking wish
Determine similarly carrying out in the E2 of region.
(c) wish presumption processing is taken
Figure 11 is the flow chart for indicating the seating wish presumption processing of the step S14c.The seating wish presumption processing by
The seating wish presumption unit 22c of one of constituent element as user's test section 22 is executed.
Wish presumption unit 22c is taken by the user of each image retained in the underfooting position resume maintaining part 21a
Underfooting position data smoothing (step C11).Furthermore as the method for smoothing, such as use mean filter method or card
The method of the generally known dawn such as Kalman Filtering method, description is omitted herein.
When the data to underfooting position smooth, there are the data that variable quantity is specified value or more
(step C12's be) takes wish presumption unit 22c using the data as outlier and removes (step C13).Furthermore the rule
Definite value is determined by the standard walking speed of user and the frame rate of shooting image.In addition, can also be in the data to underfooting position
Outlier is found out before being smoothed and is removed.
The variable condition of Figure 12 expression underfooting position.Horizontal axis indicates the time, and the longitudinal axis indicates position (Y-coordinate value).It is using
In the case that person comes up from hall 15 towards car door 13, as time goes by, the Y-coordinate value of the underfooting position of user can be by
Gradual change is small.
Furthermore if for example, the moving bodys such as wheelchair, then be such linearity data variation shown in dotted line, in user
In the case where, it is the curved data variation as solid line due to alternately detecting the underfooting of left and right foot.In addition, when inspection
When survey result is mixed into some noises, the instantaneous variation amount of underfooting position be will increase.The number of this biggish underfooting position of variable quantity
Remove according to as outlier.
Herein, it takes wish presumption unit 22c and confirms that seating wish shown in Figure 12 estimates the underfooting position in the E2 of region
It changes (data variation) (step C14).As a result, being able to confirm that along the y axis taking in wish presumption region E2 towards carriage
In the case where the variation (data variation) of the underfooting position for the user that door 13 is gone on foot (Yes of step C15), wish presumption is taken
Portion 22c judges that the user has seating wish (step C16).
On the other hand, fail to confirm in seating wish presumption region E2 makes towards what car door 13 was gone on foot along the y axis
In the case where the variation of the underfooting position of user (step C15's is no), takes wish presumption unit 22c and judge the user without seating
Wish (step C17).
In this way, by thering is movable block to be considered as the underfooting position of user for nearest from car door 13 and tracking the foot
The time change of the Y direction of lower position, can estimating user, whether there is or not take wish.
It is back to Fig. 8, when detecting the user for taking wish (step S15's be), from image processing apparatus 20
User is exported to carriage control device 30 and detects signal.Carriage control device 30 is prohibited due to receiving the user and detecting signal
Only shutdown movement, maintenance door opening state (step S16) of car door 13.
Specifically, when car door 13 reaches full-gear, the timing that carriage control device 30 starts opening time is dynamic
Make, closes the door at the time point of timing to stipulated time T minute (such as 1 minute).Seating has been detected when interior in the meantime
The user of wish and receive user detect signal when, carriage control device 30 stop timing movement simultaneously clocking value is clear
Zero.The door opening state of car door 13 is maintained during the time T as a result,.
Furthermore detect in the meantime it is new clocking value is reset again when having the user for taking wish, thus
The door opening state of car door 13 is maintained during the time T.But if repeatedly coming up user during the time T,
It can continue the situation that car door 13 can not all close forever, it is therefore preferable that allowed time Tx (such as 3 minutes) are set,
Car door 13 is forcibly closed in the case where by allowed time Tx.
When the timing in time T minutes movement at the end of (step S17), carriage control device 30 close car door 13 and
Cage 11 is set to set out (step S18) towards destination.
In this way, according to the present embodiment, by the video camera 12 using the entrance top that cage 11 is arranged in
Image obtained by shooting hall 15 is parsed, detectable for example to walk from the place slightly remote from cage 11 towards car door 13
Next user is simultaneously reflected into door on-off action.
In addition, in said embodiment, it is contemplated that be open state in the car door 13 of 15 cage 11 of hall
And be illustrated, even if but car door 13 closing, will use the image that is taken by video camera 12 also to detect the presence of
There is the user for taking wish.When detecting the user for taking wish, control is opened and closed by the door of carriage control device 30
Portion 31 processed interrupts the shutdown movement of car door 13 and carries out door opening action again.
In the following, being illustrated with reference to the flow chart of Figure 13 to the processing movement in door closing procedure.
When the car door 13 of cage 11 from full-gear by the stipulated time when, pass through door open and close control portion 31
Start shutdown movement (step S21).At this point, the shooting action of video camera 12 is in lasting progress.Described image processing unit 20 is pressed
Time series obtains the image taken by the video camera 12, on one side successively saves these images to 21 (step of storage unit
S22), user's detection processing (step S23) is executed in real time on one side.
User's detection processing is executed by user's test section 22 provisioned in image processing apparatus 20.User inspection
Survey processing is divided into activity detection processing (step S23a), position deduction processing (step S23b) and takes wish presumption processing (step
Rapid S23c).Furthermore these processing are because identical as step S14a, S14b, S14c of Fig. 8, so description is omitted.
Herein, when detecting the user for taking wish (step S24's be), from image processing apparatus 20 to carriage
Control device 30 exports user and detects signal.When receiving user's detection signal in door closing procedure, carriage control
The shutdown that device 30 processed interrupts car door 13 acts and carries out door opening action again (opens) (step S25) again.
Later, it is back to the step S12 of Fig. 8 and repeats and the identical processing.But if continue in door closing procedure
It detects the user for taking wish, then can open again repeatedly and delay cage 11 and set out.Thus, it is preferable to are as follows: even if
It, will not be again if having been subjected to the allowed time Tx (such as 3 minutes) in the case where detecting the user for taking wish
It opens but closes the door.
Even if in this way, being also able to detect in door closing procedure whether there is or not there is the user for taking wish, and by the testing result
Reflect in door on-off action.Thus, can avoid user bumped against when wanting to enter into the cage 11 closed door this
The case where sample.
Although in addition, (being crossed in the X-axis direction to precisely prevent moving body from only passing through near cage
Hall) but erroneous judgement be that the moving body has a seating wish, position deduction portion 22b, which can execute aftermentioned position deduction processing, to be come
Position deduction shown in Fig. 10 is replaced to handle.Hereinafter, although pair moving body only crosses hall but erroneous judgement in the X-axis direction first
Break has the case where taking wish to be illustrated for the moving body.
Figure 14 to Figure 16 shows in the case that moving body crosses hall in the X-axis direction and is detected by activity detection portion 22a
To the aggregate for having movable block.The a part for the image that moment t takes is shown schematically in Figure 14, in Figure 15
In be shown schematically in a part of the image that moment t+1 takes, moment t+2 shooting is shown schematically in Figure 16
A part of the image arrived.
P3 in Figure 14 is the figure for being detected as the right crus of diaphragm of movable moving body (being herein personage) in shooting image
As part, the P4 in Figure 15 is the image section of the left foot of the personage, and the P5 in Figure 16 is the image section of the right crus of diaphragm of the personage.
As shown in Figure 14 and Figure 16, on the shooting image of moment t and moment t+2, the personage of hall is crossed in the X-axis direction
Left foot be not detected as activity.This is because left foot is made in order to step right crus of diaphragm in direction of advance (X-axis positive direction)
For axis foot, the reason of left foot is not moved.Similarly, as shown in figure 15, horizontal in the X-axis direction on the shooting image of moment t+1
The right crus of diaphragm for wearing the personage of hall has not been detected as activity.This is because in order to be stepped in direction of advance (X-axis positive direction)
Left foot and using right crus of diaphragm as axis foot, do not move the reason of right crus of diaphragm.
Therefore, a part of the image section P3 of the right crus of diaphragm of the personage of hall is crossed in the X-axis direction as from carriage
Door 13 it is nearest there is movable block Bx to be extracted from the shooting image of moment t and moment t+2.Also, in the X-axis direction
The a part for crossing the image section P4 of the left foot of the personage of hall has movable block Bx as nearest from car door 13
It is extracted from the shooting image of moment t+1.
In this case, according to the line of equidistance being represented by dotted lines in the Y-axis direction, nearest from car door 13 has activity
Block Bx detection position moment t between moment t+2 change it is as follows: ym→ym+1→ym.Specifically, such as Figure 17 institute
Show, the detection position such as y that has movable block Bx nearest from car door 13m→ym+1→ym→... changes repeatedly like that.As a result,
It is although personage only crosses hall in the X-axis direction, such as nearest from car door 13 in moment t+1 between moment t+2
The detection position for having movable block Bx in the Y-axis direction towards car door 13, so the seating of user's test section 22 is anticipated
Being willing to that presumption unit 22c is possible to erroneous judgement is that the personage has seating wish.
In order to precisely prevent such false judgment, position deduction portion 22b executes position deduction shown in Figure 18
It handles to replace position deduction shown in Fig. 10 to handle.In addition, for processing identical with position deduction shown in Fig. 10 processing
Identical symbol is marked, description is omitted herein.
After step B12, position deduction portion 22b obtains needle from the underfooting position resume maintaining part 21a in storage unit 21
To the data (resume for the underfooting position that each shooting image until current shooting image to regulation frame before is found out respectively
Data) (step B21).
Referring to the data of each underfooting position until the acquired regulation frame before, decision is position deduction portion 22b
The no Y coordinate to the block nearest from car door 13 extracted from current shooting image is corrected (step B22).
Specifically, position deduction portion 22b is by comparing by each underfooting position until the regulation frame before acquired
The Y coordinate of the block nearest from car door 13 that is shown respectively of data in the Y coordinate nearest from car door 13 (that is, the smallest Y
Coordinate) and the Y coordinate of the block nearest from car door 13 that is extracted from current shooting image, come decide whether to from
The Y coordinate for the block nearest from car door 13 that current shooting image extracts is corrected.
The case where the Y coordinate to the block nearest from car door 13 extracted from current shooting image is corrected
Under, that is, (step in the case that the Y coordinate is bigger than the Y coordinate indicated by the data of the underfooting position until regulation frame before
B22's is), position deduction portion 22b is by the Y coordinate school of the block nearest from car door 13 extracted from current shooting image
It is just the Y coordinate indicated by the data of the underfooting position until regulation frame before, using the Y coordinate after correction as current foot
The data of lower position are saved to the underfooting position resume maintaining part 21a (step B23) in storage unit 21.
On the other hand, in the Y coordinate for not correcting the block nearest from car door 13 extracted from current shooting image
In the case where, i.e., the Y coordinate than by before regulation frame until underfooting position data represented by Y coordinate it is small in the case where
(step B22's is no), position deduction portion 22b is by the Y of the block nearest from car door 13 extracted from current shooting image
Coordinate is kept as the data of current underfooting position to the underfooting position resume maintaining part 21a (step B24) in storage unit 21.
In addition, the regulation frame is set to be equivalent to and the time of standard walking period same degree (such as 0.5 second)
Frame or be equivalent to the frame of the time longer than standard walking period.For example, can be continuously shot in 1 second in video camera 12
In the case where the image of 30 frames, the regulation frame is set to 15 frames.Walking period refers to that right crus of diaphragm and left foot respectively advance 1 step
The required time.Walk row period time Xiang Dang Yu according to Figure 14 to Figure 17, until from moment t to moment t+2.
When executing the processing of step B23, B24, position deduction portion 22b returns to block B11 and finds out personage later similarly
Underfooting position data, the underfooting position resume maintaining part 21a being retained in storage unit 21.In addition, underfooting position is carried out
The data of the underfooting position until going through the regulation frame before as long as maintaining part 21a keeps described.That is, than it is described it
The data of the also early underfooting position of preceding regulation frame are suitably deleted from underfooting position resume maintaining part 21a.
The processing of the position deduction according to shown in Figure 18, as shown in figure 15, even if also can using right crus of diaphragm as axis foot without movement
Enough Y coordinate ys for having movable block Bx nearest from car door 13 by from the shooting image zooming-out of moment t+1m+1It is corrected to figure
From the Y coordinate y that has movable block Bx nearest from car door 13 of the shooting image zooming-out of moment t shown in 14m.Therefore,
Moving body crosses the detection position that has movable block Bx nearest from car door 13 in the case where hall in the X-axis direction
It is certain as the bold portion of Figure 19.That is, even if moving body crosses hall in the X-axis direction, also can
Reducing seating wish presumption unit 22c erroneous judgement moving body has a possibility that taking wish.
In this way, due to also with position deduction portion 22b referring to past underfooting position data to from current shooting figure
As the corrected function of Y coordinate of the block nearest from car door 13 of extracting, so can be accurate and accurately only
Detection has the user for taking wish, and is reflected in an on-off action.
In addition, hereinbefore, it is contemplated to which moving body crosses hall (that is, by no people for taking wish in the X-axis direction
Object is set as calibration object) in the case where, but moving body towards car door 13 (that is, will have take wish user be set as correcting
Object) the case where be also likewise, by the processing of position deduction shown in Figure 18, nearest from car door 13 has movable block
Y coordinate be corrected.Specifically, as shown in figure 20, have from the nearest from car door 13 of the shooting image zooming-out of moment t+1
The Y coordinate y of movable blockl+1Be corrected as from the shooting image zooming-out of moment t it is nearest from car door 13 have movable area
The Y coordinate y of blockl.Nearest from car door 13 in the case where moving body is towards car door 13 has movable block as a result,
It is stepped as the bold portion of Figure 20 to detect position.
According to above-described at least one kind of embodiment, it is possible to provide one kind can detect seating on a large scale and accurately
The user of wish and the seating detection system reflected to the elevator in the open and close control of door.
Furthermore several embodiments of the invention are illustrated, but these embodiments are to be subject to as an example
It shows, is not intended to limit the range of invention.These novel embodiments can be implemented with various other ways, and can
Various omissions, substitutions and changes are carried out without departing from the spirit of the invention.These embodiments and modifications thereof are included in hair
In bright range, purport, and include in detail in the claims documented by invention and its equalization range in.
Claims (6)
1. a kind of seating detection system of elevator characterized by comprising
Image pickup part, can when cage arrived hall near the door of the cage towards the hall
Direction shoots prescribed limit；
Activity detection portion, with block unit to by the image pickup part take in time series multiple continuous images it is bright
Degree is compared to the activity of detection personage；
There is movable block in position deduction portion by what the activity detection portion detected for each Zhang Shangshu image zooming-out, will
Coordinate position in the block is estimated as the position of personage；
Resume maintaining part, will indicate in the position data for the position of personage being deduced by the position deduction portion it is current extremely
Position data until before stipulated time remains history data；
Wish presumption unit is taken, is pushed away according to the time series variation of the position of the personage deduced by the position deduction portion
Determining user, whether there is or not take wish；And
Control unit, the on-off action that the door is controlled based on the presumption result of the seating wish presumption unit,
The history data that the position deduction portion is kept referring to the resume maintaining part decides whether to the people being deduced
The position of object is corrected.
2. the seating detection system of elevator according to claim 1, which is characterized in that
Before the position deduction portion is to the position of the personage being deduced and by the stipulated time represented by the history data
Until the position of personage be compared,
The position of personage represented by by the history data than the personage being deduced position closer to the door
In the case of, the position correction of the personage being deduced is by the personage represented by the history data by the position deduction portion
Position.
3. the seating detection system of elevator according to claim 2, which is characterized in that
In position of the position of the personage being deduced than the personage represented by by the history data closer to the door
In the case of, the position deduction portion does not correct the position of the personage being deduced.
4. the seating detection system of elevator according to claim 1, which is characterized in that
The stipulated time is the time equal with standard walking period or the time longer than the walking period.
5. the seating detection system of elevator according to claim 1, which is characterized in that
The position deduction portion is by the coordinate at the center from the door having in movable block to the hall direction
Position deduction is the underfooting position of personage,
Detect the underfooting position of the personage in preset region close to the state of the door in the case where,
The seating wish presumption unit is judged to having seating wish.
6. the seating detection system of elevator according to claim 1, which is characterized in that
The entrance top of the cage is arranged in the image pickup part,
The image pickup part is shot using the direction with the door level as X-axis, with the center of the door to the direction of the hall
For Y-axis, using the short transverse of the cage as the image of Z axis.
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| JP2016-004594 | 2016-01-13 | ||
| JP2016004594A JP5969147B1 (en) | 2016-01-13 | 2016-01-13 | Elevator boarding detection system |
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| CN106966277B true CN106966277B (en) | 2018-12-25 |
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| JP6242966B1 (en) * | 2016-08-24 | 2017-12-06 | 東芝エレベータ株式会社 | Elevator control system |
| CN106219370A (en) * | 2016-08-31 | 2016-12-14 | 合肥同益信息科技有限公司 | A kind of intelligent elevator control system |
| JP6270948B1 (en) * | 2016-09-21 | 2018-01-31 | 東芝エレベータ株式会社 | Elevator user detection system |
| JP2018090351A (en) * | 2016-11-30 | 2018-06-14 | 東芝エレベータ株式会社 | Elevator system |
| JP6271776B1 (en) * | 2017-01-17 | 2018-01-31 | 東芝エレベータ株式会社 | Elevator boarding detection system |
| JP6377795B1 (en) * | 2017-03-24 | 2018-08-22 | 東芝エレベータ株式会社 | Elevator boarding detection system |
| CN109279466B (en) * | 2017-07-21 | 2021-08-17 | 奥的斯电梯公司 | Automatic detection of abnormal movement of elevator passengers |
| JP6517306B1 (en) * | 2017-11-15 | 2019-05-22 | 東芝エレベータ株式会社 | Control device and control method for elevator |
| JP6538142B2 (en) * | 2017-11-21 | 2019-07-03 | 東芝エレベータ株式会社 | Elevator group management control system and elevator control method |
| EP3498644B1 (en) | 2017-12-12 | 2021-08-18 | Otis Elevator Company | Method and apparatus for effectively utilizing cab space |
| JP6567719B1 (en) * | 2018-03-22 | 2019-08-28 | 東芝エレベータ株式会社 | User detection system |
| JP6553249B1 (en) * | 2018-05-24 | 2019-07-31 | 東芝エレベータ株式会社 | Elevator alerting system |
| JP6693624B2 (en) * | 2019-02-21 | 2020-05-13 | 東芝エレベータ株式会社 | Image detection system |
| JP6702580B1 (en) * | 2019-03-20 | 2020-06-03 | 東芝エレベータ株式会社 | elevator |
| JP6874796B2 (en) * | 2019-08-09 | 2021-05-19 | フジテック株式会社 | Elevator door control device and control method |
| JP6922951B2 (en) * | 2019-08-09 | 2021-08-18 | フジテック株式会社 | Image processing device and image processing method |
| JP7074161B2 (en) * | 2020-07-07 | 2022-05-24 | フジテック株式会社 | Image processing device and image processing method |
| JP7036244B2 (en) * | 2021-02-02 | 2022-03-15 | フジテック株式会社 | Ride detection system and ride detection method |
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| ES2041850T3 (en) * | 1988-06-03 | 1993-12-01 | Inventio Ag | PROCEDURE AND DEVICE FOR CONTROLLING THE POSITION OF AN AUTOMATIC DOOR. |
| JPH0647535U (en) * | 1992-12-01 | 1994-06-28 | 鉄男 中嶋 | Block hole filler flow prevention tool |
| JP2006096517A (en) * | 2004-09-29 | 2006-04-13 | Mitsubishi Electric Corp | Elevator control system |
| KR100999084B1 (en) * | 2006-01-12 | 2010-12-07 | 오티스 엘리베이터 컴파니 | Video aided system for elevator control |
| JP5133053B2 (en) * | 2006-03-20 | 2013-01-30 | 三菱電機株式会社 | Elevator door equipment |
| JP5317426B2 (en) * | 2007-05-01 | 2013-10-16 | 三菱電機株式会社 | Elevator equipment |
| JP5690504B2 (en) * | 2010-05-14 | 2015-03-25 | 株式会社日立製作所 | Safety elevator |
| CA2819574C (en) * | 2010-12-03 | 2016-01-19 | Nabtesco Corporation | Sensor for use with automatic door |
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| JP2017124898A (en) | 2017-07-20 |
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