CN109368434B - Elevator control system with video monitoring function - Google Patents

Elevator control system with video monitoring function Download PDF

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Publication number
CN109368434B
CN109368434B CN201811463356.3A CN201811463356A CN109368434B CN 109368434 B CN109368434 B CN 109368434B CN 201811463356 A CN201811463356 A CN 201811463356A CN 109368434 B CN109368434 B CN 109368434B
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elevator
door
closing
distance
acceleration
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CN109368434A (en
Inventor
王慧丽
张勇
刘慧�
任秀兰
田素娟
张世民
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张勇
王慧丽
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66BELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00Applications of checking, fault-correcting, or safety devices in elevators
    • B66B5/0006Monitoring devices or performance analysers
    • B66B5/0018Devices monitoring the operating condition of the elevator system
    • B66B5/0031Devices monitoring the operating condition of the elevator system for safety reasons
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66BELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00Control systems of elevators in general
    • B66B1/02Control systems without regulation, i.e. without retroactive action
    • B66B1/06Control systems without regulation, i.e. without retroactive action electric
    • B66B1/14Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements
    • B66B1/18Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements with means for storing pulses controlling the movements of several cars or cages
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66BELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00Control systems of elevators in general
    • B66B1/34Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
    • B66B1/46Adaptations of switches or switchgear
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66BELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B13/00Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
    • B66B13/02Door or gate operation
    • B66B13/06Door or gate operation of sliding doors
    • B66B13/08Door or gate operation of sliding doors guided for horizontal movement
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04LTRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00Network-specific arrangements or communication protocols supporting networked applications
    • H04L67/12Network-specific arrangements or communication protocols supporting networked applications adapted for proprietary or special purpose networking environments, e.g. medical networks, sensor networks, networks in a car or remote metering networks
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00Television systems
    • H04N7/18Closed circuit television systems, i.e. systems in which the signal is not broadcast
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66BELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B2201/00Aspects of control systems of elevators
    • B66B2201/40Details of the change of control mode
    • B66B2201/403Details of the change of control mode by real-time traffic data

Abstract

The invention discloses an elevator control system with video monitoring, wherein an image recognition device comprises a camera, a signal processing module, a video acquisition module and an infrared irradiation module, the signal processing module sequentially processes images of received video data, detects the opening and closing state of an elevator door, performs video coding and caching, then transmits the video data and a receiving sensor signal to a main control console, and the main control console uploads related data to a cloud platform for real-time display and gives an alarm when abnormality occurs.

Description

Elevator control system with video monitoring function
Technical Field
The invention relates to the field of elevator systems, in particular to an elevator control system with video monitoring.
Background
Along with the continuous development of social economy, the use amount of elevators is continuously increased, elevator faults have larger and larger influence on the traveling of people, the real-time detection of elevator states is of great importance in elevator safety protection systems, and the detection of opening and closing of elevators becomes a key technology of elevator control systems. The defects of large interference and high false alarm rate in the conventional video acquisition are overcome, the video acquisition quality is improved, the interference is removed, the alarm reliability is improved, and the problem to be solved urgently in the current elevator monitoring is solved.
Disclosure of Invention
The object of the present invention is to solve the above problems by providing an elevator control system with video monitoring, which solves the problems of the prior art, as will be explained in more detail below.
In order to achieve the purpose, the invention provides the following technical scheme: an elevator control system with video monitoring function comprises a well part, a machine room part, a lobby part and a cloud platform, wherein the well part comprises a balance weight, a lift car, an internal movement control panel, a sensor, an image recognition device, a guide mechanism, safety protection equipment and a buffer, the machine room part comprises a tractor, a speed limiter, a master control platform, a power supply, a tractor encoder and a tractor driving system, the lobby part comprises an elevator door device and an external movement control panel, the tractor pulls the balance weight and the lift car through cables, the lift car is connected with the master control platform through a traveling cable, the elevator door device and the external movement control panel are connected with the master control platform through a communication bus, the master control platform controls the tractor through the driving system, the sensor and the image recognition device are installed in the lift car, the cloud platform is connected with the master control platform through a communication device, and the cloud platform makes an operation strategy, the operation control of the elevator is realized through the main console,
the main control platform consists of a logic control part, a dragging control part and an auxiliary control part.
The logic control part finishes the collection and processing of various signals of the elevator, and the dragging control part finishes the motion state of the elevator; the auxiliary control part realizes the control of safety protection equipment and an elevator door device, the safety protection equipment is a device for ensuring the safety performance when dealing with elevator faults, and the traction machine provides power for the operation of the elevator so as to ensure the normal operation of the elevator; the guide mechanism consists of a guide rail, a guide shoe and a guide rail frame, and the elevator car slightly meets the requirements of ascending and descending according to the designed guide rail; the lift car consists of a car frame and a car body and finishes ascending and descending conveying tasks; the elevator door device controls the opening and closing of the elevator door;
the sensor comprises a gyroscope, an acceleration sensor, a temperature sensor, a current sensor and a voltage sensor,
the gyroscope acquires the motion posture of the elevator, the acceleration sensor is used for acquiring the motion acceleration of the elevator, and the temperature sensor acquires the ambient temperature of the elevator and uploads the data to the master control console.
The image recognition device comprises a camera, a signal processing module, a video acquisition module and an infrared irradiation module,
the gyroscope and the temperature sensor are connected with the signal processing module through the data acquisition unit, the sensor data are transmitted to the signal processing module, the camera is connected with the signal processing module through the video acquisition module, the video data are transmitted to the signal processing module, the signal processing module is connected with the infrared irradiation module and controls the infrared irradiation module to emit infrared light beams, and the signal processing module is connected with the master control platform, is connected with the cloud platform and realizes uploading of data.
The signal processing module sequentially performs image processing on the received video data, detects the opening and closing state of the elevator door, performs video coding and caching, transmits the video data and the signals of the receiving sensor to the master control console, and the master control console uploads the related data to the cloud platform for real-time display and gives an alarm when abnormality occurs;
the infrared irradiation module is responsible for sensing an external environment through a photosensitive element, and informs the signal processing module when the illumination brightness is low, and the signal processing module controls the infrared lamp array to be turned on to complete the auxiliary illumination function;
the video acquisition module is used for detecting the opening and closing of the elevator door and detecting the abnormal exposure of the environment in the elevator through the camera, acquiring video picture data in the elevator in real time in the running process of the elevator and sending the video picture data to the signal processing module;
the camera is used for obtaining an internal implementation picture of the elevator.
Has the advantages that:
1. the distance change from the boundary of the elevator door to the central line in the opening and closing process can effectively represent the opening and closing state of the elevator, so that the opening and closing amount of the elevator door can be judged by detecting the position change of the boundary characteristics. The elevator door opening and closing detection method based on the image and acceleration sensor can quickly, accurately and reliably judge the opening and closing state of the elevator door through image preprocessing, boundary detection, opening and closing judgment and other modes;
2. the door opening and closing mode of the curve operation of the elevator door motor ensures that the opening and closing of the elevator door is efficient, safe and stable, the elevator door motor can adjust the door width data under the condition of any different door widths, and parameter guarantee is provided for the curve operation of the elevator door motor;
3. the elevator group control system is comprehensively optimized, the number of unreasonable dispatching ladders is reduced, and the energy consumption of the elevator can be greatly reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is an image processing flow diagram of the present invention;
fig. 3 is a simplified diagram of an elevator door motor system of the present invention;
fig. 4 is a flow chart of elevator door operation of the present invention;
FIG. 5 is a flow chart of the door opening and closing operation of the present invention;
FIG. 6 is a flow chart of the group control scheduling of the present invention;
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.
An elevator control system with video monitoring function comprises a well part, a machine room part, a lobby part and a cloud platform, wherein the well part comprises a balance weight, a lift car, an internal movement control panel, a sensor, an image recognition device, a guide mechanism, safety protection equipment and a buffer, the machine room part comprises a tractor, a speed limiter, a master control platform, a power supply, a tractor encoder and a tractor driving system, the lobby part comprises an elevator door device and an external movement control panel, the tractor pulls the balance weight and the lift car through cables, the lift car is connected with the master control platform through a traveling cable, the elevator door device and the external movement control panel are connected with the master control platform through a communication bus, the master control platform controls the tractor through the driving system, the sensor and the image recognition device are installed in the lift car, the cloud platform is connected with the master control platform through a communication device, and the cloud platform makes an operation strategy, the operation control of the elevator is realized through the main console,
the main control platform consists of a logic control part, a dragging control part and an auxiliary control part.
The logic control part finishes the collection and processing of various signals of the elevator, and the dragging control part finishes the motion state of the elevator; the auxiliary control part realizes the control of safety protection equipment and an elevator door device, the safety protection equipment is a device for ensuring the safety performance when dealing with elevator faults, and the traction machine provides power for the operation of the elevator so as to ensure the normal operation of the elevator; the guide mechanism is composed of a guide rail, a guide shoe and a guide rail frame, and the elevator car meets the requirements of ascending and descending according to the designed guide rail; the lift car consists of a car frame and a car body and finishes ascending and descending conveying tasks; the elevator door device controls the opening and closing of the elevator door;
the sensor comprises a gyroscope, an acceleration sensor, a temperature sensor, a current sensor and a voltage sensor,
the gyroscope acquires the motion posture of the elevator, the acceleration sensor is used for acquiring the motion acceleration of the elevator, and the temperature sensor acquires the ambient temperature of the elevator and uploads the data to the master control console.
The image recognition device comprises a camera, a signal processing module, a video acquisition module and an infrared irradiation module,
the gyroscope and the temperature sensor are connected with the signal processing module through the data acquisition unit, the sensor data are transmitted to the signal processing module, the camera is connected with the signal processing module through the video acquisition module, the video data are transmitted to the signal processing module, the signal processing module is connected with the infrared irradiation module and controls the infrared irradiation module to emit infrared light beams, and the signal processing module is connected with the master control platform, is connected with the cloud platform and realizes uploading of data.
The signal processing module sequentially performs image processing on the received video data, detects the opening and closing state of the elevator door, performs video coding and caching, transmits the video data and the signals of the receiving sensor to the master control console, and the master control console uploads the related data to the cloud platform for real-time display and gives an alarm when abnormality occurs;
the infrared irradiation module is responsible for sensing an external environment through a photosensitive element, and informs the signal processing module when the illumination brightness is low, and the signal processing module controls the infrared lamp array to be turned on to complete the auxiliary illumination function;
the video acquisition module is used for detecting the opening and closing of the elevator door and detecting the abnormal exposure of the environment in the elevator through the camera, acquiring video picture data in the elevator in real time in the running process of the elevator and sending the video picture data to the signal processing module;
the camera is used for acquiring an implementation picture inside the elevator;
the image processing comprises the following steps:
step 1, pre-treatment is carried out,
step 1.1, extracting a detection area,
the camera is positioned at the middle position above the rear side of the elevator, is opposite to the car door and is overlooked at a certain angle, the area with the height of 40cm above the car door of the elevator is used as a detection area to be detected, the closed position of the two doors is the center of a detection window, and the width of the detection area is adjusted along with the change of the boundary of the elevator door;
step 1.2, perspective transformation is carried out,
the image distortion generated by the overlooking of the camera is corrected through perspective transformation, so that two boundaries of the car door are restored from a non-parallel state to a parallel state.
Step 1.3, the image is filtered,
the acquired image is filtered using a mean filtering algorithm of a linear filter,
good results can be achieved in speed and result for elevator door edge detection.
Step 2, detecting the boundary,
the boundary detection is used for extracting left and right boundary lines of the elevator door, the accuracy of the switching value detection is directly determined by the result of the boundary detection, and the edge characteristics are screened by means of linear detection, boundary filtering and the like to eliminate interference information.
Step 2.1, the edge is extracted,
the edge detected by using the Canny operator is clear and accurate, is a single line and is easy to process.
And 2.2, enhancing the edge characteristics,
the interior and exterior ambient lights of the car are different, the image histogram of the area to be detected is of a double-peak structure, a clear boundary is obtained through binarization processing, then the boundary is obtained through a Canny algorithm, edge characteristics can be supplemented through binarization, and instability of fuzzy edge detection is compensated.
And 2.3, filtering the boundary,
the image obtained by edge detection contains more line information, accurate elevator door boundary characteristics need to be screened out from the image, the elevator door boundary is screened out by combining the straight line detection and the distance mutation detection,
step 2.3.1, the straight line detection,
straight line edges in the image edge characteristics are extracted by using straight line detection of Hough transform, the elevator door edge forms two approximately vertical parallel lines through perspective transform, the inclination angles of all straight lines are calculated, and the straight lines with the inclination angles between 90 degrees +/-3 degrees are reserved. When the elevator door is closed, most straight lines can be filtered through the inclination angle under the condition that the advertisement information is interfered, and the edge of the elevator door can be accurately extracted;
step 2.3.2, detection of distance mutation,
the boundaries of the two elevator doors are symmetrical on the midline, the distances from the two elevator doors to the midline are close, the change of the distances can reflect the opening and closing amount of the elevator doors, each frame of image can detect a plurality of vertical straight lines, wherein the interference lines generated by passengers, floors and walls are mostly in the middle area of the two doors, the boundary of the elevator doors is mostly a straight line corresponding to the maximum distance, the straight line corresponding to the maximum distance is used as the boundary of the elevator doors, the detection window needs to be slightly wider than the boundary distance of the two elevator doors, the size of the detection window is continuously adjusted according to the position change of the boundary, the calculation speed is improved, when the elevator door boundary is not detected straight line or an interference line exists on the elevator door, the maximum distance change of the adjacent frame images can exceed a certain threshold value, when the distance mutation is detected, correcting the maximum distance according to the distance change rate of each stage of opening and closing of the elevator door, and obtaining the boundary distance of the elevator door by carrying out statistical calculation on the distance change rate of each stage;
and step 3, judging by a switch,
the judgment of the elevator door switch needs to analyze the distance change of continuous frames, the change of the distance can reflect the change of the switching value, and the acceleration sensor is combined to ensure the accuracy of the elevator door switch detection.
Step 3.1, continuous frame distance analysis,
the continuous frame distance change of things reflects the opening and closing state of the elevator door, when the distance is continuously decreased, the elevator is closed, and when the distance is smaller than a set closing threshold value, the elevator is closed; when the distance is continuously increased, the elevator is opened, and when the distance is larger than the set opening threshold value, the elevator is opened.
Specifically, the opening and closing state of the elevator door is judged according to the distance change of 4 continuous frames, in order to avoid misjudgment caused by distance fluctuation, the distance average value of the front frame and the rear frame is used as the distance of the current frame, the distance value of the continuous frames is subjected to filtering processing, and the gradual change of the distance is ensured;
and step 3.2, the acceleration sensor assists in judging,
the acceleration change of the elevator in the vertical direction has a certain rule in the running process, the acceleration sensor can record the acceleration change in the running process of the elevator, the elevator is in a lifting state or a stopping state according to the acceleration change, the elevator can lose weight or be overweight in the short time of starting and stopping, and the acceleration sensor measures the acceleration change value in the process. When the acceleration is greater than 0, the vehicle is in an overweight state; when the acceleration is less than 0, the device is in a weightlessness state; the elevator starting and stopping assembly exists in pairs, weightlessness and overweight exist in the whole process from the starting to the stopping of the elevator, when two continuous overweight or weightlessness states occur, the elevator finishes reversing, and the elevator continuously overweight twice when descending and then ascending; when the elevator ascends and then descends, the weight loss is continuously carried out for two times.
Judging the running state of the elevator according to the rule, wherein in the running process of the elevator, the acceleration data can have certain noise under the influence of vibration of passengers and the elevator, the noise is suppressed by neighborhood mean filtering, when the acceleration change and the opening and closing of the elevator are asynchronous, the elevator is started always after the elevator door is closed, namely the acceleration changes after the door is closed, and at the moment, the image preferentially finishes the judgment of the closing of the elevator door; when the elevator stops, the acceleration changes firstly, the stable-stopping back door is opened, the image judgment door opening occurs after the acceleration judgment door opening, if the image judgment door opening is judged before the acceleration judgment door opening, the image judgment is misjudgment, the acceleration judgment result is taken as the standard, and meanwhile, the acceleration can monitor the lifting operation condition of the elevator in real time to provide data basis for the safe operation of the elevator.
When the acquired gyroscope data shows that abnormal vibration or braking occurs in the elevator, the temperature data has over-high temperature or large environmental exposure deviation occurs in the video data, the elevator is considered to be abnormal.
Under normal conditions, when the elevator works, the processes of acceleration, deceleration and hook speed are finished continuously, passengers in the elevator do not feel obvious vibration, and when the elevator runs abnormally, the elevator is just the most frequent problem in recent years when the elevator breaks down. Since the electrical environment happens to have a certain illumination brightness, when this occurs, the illumination in the elevator will have a certain swing, which is a certain deviation of the environmental exposure experienced by the system.
The elevator door device comprises an elevator door, a driving wheel, a driven wheel, a conveyor belt, an elevator door motor, a door machine controller, a power supply, a speed switch, a limit switch, an upper sill, a support, a speed reducing mechanism, a door guide rail and pulleys, wherein the two elevator doors are respectively connected to the upper side and the lower side of the conveyor belt; when the door controller receives a door closing signal of the master control console, the door controller controls the elevator door motor to rotate clockwise and control the door closing speed of the elevator door motor, if the door closing process detects a signal of a barrier, the elevator door stops closing the door and opens the door, when the elevator door completely closes the door, the elevator door gives a control signal, and the master control console can make a corresponding judgment and can prevent the door lock from being opened at will.
In the process of opening and closing the elevator door, the door motor encoder detects the speed and the position of the elevator door motor, the master control console acquires the data of the door motor encoder and monitors the torque of the elevator door motor, and the door opening and closing in-place condition and the barrier safety protection are judged through the detection of the output torque.
The motor directly drives the car door to move horizontally through the conveyor belt in the direct drive mode, compared with the indirect drive mode, the direct drive mode has the advantages that the gear reduction mechanism is reduced, the structure of the whole system is simplified, the efficiency of a gantry crane system is improved, the energy loss in the reduction mechanism is reduced, and the indirect drive mode is gradually replaced by the direct drive mode to become the main drive mode.
The gantry crane controller adopts a closed-loop control structure, a current loop, a speed loop and a position loop are respectively arranged from an inner loop to an outer loop,
the current loop is arranged in an inner loop of the door motor controller, the stator current of the synchronous elevator door motor obtains current feedback after current sampling, the component of a current vector is obtained through coordinate transformation, the current vector is subtracted from the preset current to obtain current deviation, a given voltage value is output through the current loop regulator, and a control signal is input to the inverter through algorithm modulation of the SVPWM module to control the elevator door motor, so that current loop control is realized;
the speed loop is a control loop in the middle of the gantry crane controller, the speed loop obtains a speed value through detection, a difference value obtained by comparing the speed value with a speed set value is obtained through a speed loop regulator, the given output current is obtained, the regulation of the speed loop is completed, and the response speed of the speed loop is lower than that of a current loop;
the position loop is used as the outermost loop of the gantry crane controller, the response speed of the position loop is lower than that of the speed loop, position feedback is obtained through position loop detection, a position difference value is obtained through subtraction of a preset position, and then an expected current value is output through the position loop regulator.
The door machine controller mainly comprises a communication module, a switch, a DSP processor, a rectification module, an IPM inverter, a protection circuit, a drive circuit and a current detection module,
the elevator door motor is provided with an IPM inverter, an AC power supply is rectified and then provided for the IPM inverter to provide stable electric power for the elevator door motor, a current detection module detects the current change of the elevator door motor and provides the current change for a DSP processor, a door motor encoder detects the position change of the elevator door motor and provides the position change for the DSP processor, the DSP processor combines the current fed back by a protection circuit and coming from the rectifier module and the IPM inverter to control a driving circuit to provide driving for the IPM inverter, and the DSP processor is communicated with a master control console through a serial port of a communication module.
The DSP is used as the core of the door machine controller, and the powerful digital processing capability of the DSP can effectively complete accurate speed control.
The elevator door work flow is as follows:
step 1, a door machine controller is electrified, and a system is initialized;
step 2, after the initialization is completed, fault detection is carried out;
step 3, the gantry crane controller performs information interaction with the master console;
step 4, the gantry crane controller monitors whether a command is input, if so, the step 5 is carried out, and if not, the step 2 is carried out;
step 5, executing the command, and returning to the step 2;
in the process of executing the steps 2 to 5, the door machine controller judges whether interruption exists, if so, corresponding actions are executed, the interruption is withdrawn after the actions are finished, and the main cycle is entered at the beginning of the interruption.
Wherein, if the received command in step 4 is a door opening and closing command, step 5 specifically includes:
step 5.1, judging whether the received command is door opening or door closing, if the command is door opening, executing step 5.1.A.1, and if the command is door closing, executing step 5.1. B.1;
step 5.1.A.1, executing door opening movement according to the operation mode of a normal speed curve;
step 5.1.A.2, the moment protection circuit will begin to detect whether there is an obstacle, if there is, step 5.1.A.3 is executed, if there is no, step 5.1.A.4 is executed;
step 5.1.A.3, increasing the torque to continuously open the door for 3 times, if the door can be opened, continuing to open the door, and entering step 5.1.A.4, if the door can not be opened for 3 times continuously, controlling the door machine by the system to stop running immediately and sending an alarm signal to wait for maintenance;
step 5.1.A.4, in the normal door opening process, if a door closing signal is received (for example, a passenger presses a door closing key and the like), the door operator executes door closing operation, and the step 5.1.B.1 is carried out; if no other signals exist in the door opening process, executing the step 5.1. A.5;
step 5.1.A.5, judging whether the door is opened completely, if so, entering step 5.1.A.6, otherwise, entering step 5.1. A.1;
step 5.1.A.6, the door is completely opened, the motor stops running, the motor is pushed, and a torque power for locking the door is provided for the elevator door, so that the door opening operation is completed;
step 5.1.B.1, the door machine executes door closing action according to the running mode of a normal speed curve, monitors whether a protective detection component (an infrared detection and moment protection circuit) of the door frame detects an obstacle, and enters step 5.1.B.2 if the obstacle exists, or enters step 5.1.B.3 if the obstacle does not exist;
step 5.1.B.2, the door machine system controls the door machine to stop closing the door immediately, and then operates according to the door opening operation mode, and the step 5.1.A.1 is carried out,
step 5.1.B.3, continuing the door closing action, in the door closing movement process, if a door opening signal is received, immediately switching to the door opening action for operation, and entering step 5.1. A.1; if the door opening signal is not received, entering the step 5.1. B.4;
step 5.1.B.4, the gantry crane runs all the time, judges whether the door is completely closed in place, if yes, the step 5.1.B.5 is carried out, otherwise, the step 5.1.B.1 is carried out;
and 5.1.B.5, pushing the motor forward, and giving torque power for locking the door of the elevator door to ensure the closeness of the door of the elevator door, thereby completing the door closing operation.
The operation mode of the normal speed curve in the step 5.1.A.1 and the step 5.1.B.1 specifically comprises the following steps:
step S.1, calculating the distance required by the normal speed curve to finish door opening and closing at the speed according to the current speed and the acceleration;
s.2, measuring the complete residual distance from the current position to the opening and closing of the door;
step S.3, whether the residual distance is greater than the required distance or not is judged, if yes, the step S.4 is executed, and if not, the step S.5 is executed;
s.4, continuing planning, finishing a normal speed curve according to a speed constraint condition, and entering a step S.6;
step S.5, immediately starting to reduce the acceleration or entering a deceleration section, and entering step S.6;
step S.6, the speed of the deceleration section is 0, a normal speed curve is completed within a specified distance, so that the elevator door motor can be smoothly and stably switched on and off,
the main control desk has the function of destination floor reservation, realizes the group control dispatching of m elevators among n floors, coordinates the operation of each elevator, sends instructions to the dragging control part to carry out elevator operation, elevator door operation and auxiliary control part to carry out safety protection and elevator door control after the logic control part of the main control desk receives and processes floor requests, overload signals, door closing interruption and alarm clearing signals,
the control panels of the external calling control panel, the internal calling control panel and the master control platform are connected through CAN communication and are used for data transmission, the external calling control panel sends calling call signals which are distributed on all floors and are provided with uplink and downlink buttons and/or floor buttons, the bottommost layer only has the upward buttons and the topmost layer only has the downward buttons within the range of the floors reached by the elevator, the address codes of the calling call floors are sent to the control panel of the master control platform through the floor buttons, and the starting floors, the target directions and/or the target floors of passengers are recorded in real time; the internal calling control board is used for acquiring and transmitting a target floor signal of a passenger, and comprises an input terminal, an output terminal and a communication terminal, only one elevator car is installed, a floor selection button, a manual door opening and closing button, a signal bell and the like are arranged on the display board, and an intercom device is arranged; and the control panel of the master control console realizes optimized car scheduling by utilizing a built-in scheduling algorithm.
The scheduling process comprises the following specific steps:
step 1, initializing a state;
step 2, circularly scanning the call request, judging whether an unallocated request exists, if so, entering step 3, otherwise, continuously circularly scanning the call request;
step 3, obtaining the state of each elevator;
step 4, calculating each performance index;
step 5, classifying traffic modes;
step 6, weight distribution;
and 7, establishing a comprehensive evaluation index function, calculating comprehensive evaluation indexes of all elevators, selecting the elevator with the optimal comprehensive evaluation index to respond to the call request, and generating a dispatching gradient scheduling scheme.
Wherein, the step 4 is specifically as follows: the performance indexes comprise the waiting time, the taking time, the energy consumption of the elevator and the crowdedness of the elevator car;
(1) waiting time for elevator EjThe total time required to complete all tasks is fhf(Ej) In combination with the single-ladder operation rule,
fhf(Ej)=(|P2-P1|+|P3-P2|+|P4-P3|)×tv+Ns×ts+Np×tp
time f required for responding to newly arrived command signalht(Ej) Comprises the following steps:
wherein, tvRepresents the single layer run time; n is a radical ofsThe total number of floors required to stop; t is tsThe single-layer residence time is represented, and comprises acceleration and deceleration time and door opening and closing time; n is a radical ofpRepresenting the total number of passengers entering and exiting the car; t is tpThe average transfer time of each passenger is expressed, and the transfer time of the unit passenger can be selected to be 1.2s according to experience; pnewFor newly generated service requests, after generating new command signals, the signals are distributed to m elevators in turn, and the predicted elevator waiting time f of each elevator is calculated respectivelyhf(Ej),
Wherein P1 points to the floor where the elevator is currently located, P2 points to the farthest floor served by the car maintaining the current driving direction, P3 points to the farthest position served by the reverse driving, and P4 points to the floor which still does not respond to the call after two reverse driving.
(2) The elevator taking time refers to the time when the elevator starts timing after the door of the elevator is closed after the passengers take the elevator, the elevator stops stably opening the door at a target floor after a plurality of processes of starting acceleration, uniform speed operation and braking deceleration, and the passengers enter the elevator EjThe time f of taking the elevator from the later time to the arrival at the destination floorct(Ej) Comprises the following steps:
fct(Ej)=|Fnew-F′new|×tv+Ncts×ts+Np×tp
wherein N isctsThe number of stops required for a passenger to enter the elevator starting at the destination floor, FnewIs the newly generated passenger starting floor position, F'newFor the newly generated passenger destination floor position, the calculation range is (F)i-F′i)Dj> 0 and (F)new-F′new)Dj> 0, the value is:
Firepresenting the passenger's starting floor position, F'iIndicating the destination floor position of the passenger, DjTaking positive to represent the ascending direction, taking negative to represent the descending direction, fkFor a layer k parking instruction, i.e. whether layer k needs to park,
(3) energy consumption f of elevatorxh(Ej) In order to remove the necessary kinetic energy required from an initial layer to a target layer in the running process of the elevator and the consumption of elevator energy in the starting acceleration and stopping deceleration stages of the elevator, the stopping times required by the elevator to complete all current tasks are represented, and the calculation mode is as follows:
(4) degree of congestion of the elevator car. The car crowding degree has great relevance to the psychological comfort degree of passengers, has certain influence on the stopping times and the elevator taking time of the elevator, and is an important index for the group control system to make an elevator dispatching strategy by controlling the car crowding degree within a certain range.
The degree of car congestion indicates the proportion of the number of passengers in the car when the elevator is traveling to the call floor. According to the normal elevator taking process, passengers only enter the elevator with the running direction consistent with the required direction, namely the number of passengers in the elevator car is the sum of the number of passengers in the elevator taking direction and the number of passengers with the destination floor in the passenger traveling zone,
degree of congestion f of caryj(Ej) For coincidence condition (F)i-F′i)(Fnew-F′new) Passengers > 0 perform the calculation:
wherein N isfThe number of persons is rated for the car.
Wherein, the step 4 is specifically as follows: when the evaluation factors with different weights are selected, analyzing the dispatching ladder structure of the group control system according to the prior selection principle of the membership function;
wherein, the step 5 specifically comprises the following steps: continuously collecting data of passenger number, initial number of floors, number of floors and the like, analyzing the information to obtain corresponding characteristic quantity, identifying the traffic mode of the current traffic flow once every a period of time (5 minutes),
judging the traffic mode based on a fuzzy logic algorithm, judging the traffic type of passenger flow, and inputting the percentage of the number of people in the elevator, the percentage of passengers leaving the elevator, the percentage of passengers in floor traffic and the like; inputting two variables of traffic type and traffic intensity, and identifying and analyzing the traffic mode under the type of the mainstream traffic mode;
the traffic modes of elevator operation are divided into 12 classes
Wherein, the step 6 specifically comprises the following steps: under different traffic modes, the weight values of the four evaluation indexes are different, the weight values are given by experts or technicians after a large number of tests, and the weight coefficient is1, 2, 3, 12, h 1, 2, 3, 4, wherein l is a pattern type, h is a corresponding index,respectively corresponding to the waiting time, the taking time, the energy consumption of the elevator and the crowdedness of the elevator car,
wherein, the step 7 specifically comprises the following steps: the four evaluation indexes are fused to obtain an elevator dispatching comprehensive evaluation index, the linear weighted combination of the four indexes is a common fusion method, the weight coefficient of the method can be set according to different traffic modes and different building requirements to achieve different dispatching effects, and the comprehensive evaluation index F (E) isj) Comprises the following steps:
by comparing the elevators EjSelecting the minimum value as the elevator responding to the signal, i.e.
Ej=min{F(E1),F(E2),......,F(Em)}。
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims (4)

1. An elevator control system with video monitoring, characterized by: the elevator car comprises a well part, a machine room part, a hall part and a cloud platform, wherein the well part comprises a balance weight, a car, an internal calling control panel, a sensor, an image recognition device, a guide mechanism, safety protection equipment and a buffer, the machine room part comprises a tractor, a speed limiter, a master control platform, a power supply, a tractor encoder and a tractor driving system, the hall part comprises an elevator door device and an external calling control panel, the tractor pulls the balance weight and the car through cables, the car is connected with the master control platform through a traveling cable, the elevator door device and the external calling control panel are connected with the master control platform through a communication bus, the master control platform controls the tractor through the driving system, the sensor and the image recognition device are installed in the car, the cloud platform is connected with the master control platform through a communication device, the cloud platform formulates an operation strategy, and realizes the operation control of the elevator through the master control platform,
the sensor comprises a gyroscope, an acceleration sensor, a temperature sensor, a current sensor and a voltage sensor,
the gyroscope is used for acquiring the motion attitude of the elevator, the acceleration sensor is used for acquiring the motion acceleration of the elevator, the temperature sensor is used for acquiring the environment temperature of the elevator, and the sensor uploads the data to the master control console;
the image recognition device comprises a camera, a signal processing module, a video acquisition module and an infrared irradiation module,
the gyroscope and the temperature sensor are connected with the signal processing module through the data acquisition unit, the sensor data are transmitted to the signal processing module, the camera is connected with the signal processing module through the video acquisition module, the video data are transmitted to the signal processing module, the signal processing module is connected with the infrared irradiation module and controls the infrared irradiation module to emit infrared light beams, and the signal processing module is connected with the master control platform, so that the signal processing module is connected with the cloud platform and the data are uploaded;
the signal processing module sequentially performs image processing on the received video data, detects the opening and closing state of the elevator door, performs video coding and caching, transmits the video data and the signals of the receiving sensor to the master control console, and the master control console uploads the related data to the cloud platform for real-time display and gives an alarm when abnormality occurs;
the infrared irradiation module is responsible for sensing an external environment through a photosensitive element, and informs the signal processing module when the illumination brightness is low, and the signal processing module controls the infrared lamp array to be turned on to complete the auxiliary illumination function;
the video acquisition module is used for detecting the opening and closing of the elevator door and detecting the abnormal exposure of the environment in the elevator through the camera, acquiring video picture data in the elevator in real time in the running process of the elevator and sending the video picture data to the signal processing module;
the camera is used for acquiring a real-time picture in the elevator;
the image processing comprises the following steps:
step 1, pretreatment;
step 2, boundary detection is performed, the boundary detection is used for extracting left and right boundary lines of the elevator door, the accuracy of the switching value detection is directly determined by the result of the boundary detection, edge characteristics are screened in a linear detection mode, a boundary filtering mode and the like, and interference information is eliminated;
step 3, judging the opening and closing, wherein the judgment of the opening and closing of the elevator door needs to analyze the distance change of continuous frames, the change of the distance reflects the change of the opening and closing amount, and the detection accuracy of the opening and closing of the elevator door is ensured by combining an acceleration sensor, and the method specifically comprises the following steps:
step 3.1, analyzing the continuous frame distance, wherein the change of the continuous frame distance reflects the opening and closing state of the elevator door, when the distance is continuously reduced, the elevator is closed, and when the distance is smaller than a set closing threshold value, the elevator is closed; when the distance is continuously increased, the elevator is opened, and when the distance is larger than a set opening threshold value, the elevator is opened;
judging the opening and closing state of the elevator door according to the distance change of 4 continuous frames, taking the distance average value of the front frame and the rear frame as the distance of the current frame in order to avoid misjudgment caused by distance fluctuation, and filtering the distance value of the continuous frames to ensure the gradual change of the distance;
and step 3.2, the acceleration sensor assists in judging,
the acceleration change of the elevator in the vertical direction has a certain rule in the running process, the acceleration sensor can record the acceleration change in the running process of the elevator, the elevator is in a lifting state or a stopping state according to the acceleration change, the elevator can lose weight or be overweight in the short time of starting and stopping, the acceleration sensor measures the acceleration change value in the process, and when the acceleration is more than 0, the elevator is in an overweight state; when the acceleration is less than 0, the device is in a weightlessness state; the elevator starting and stopping assembly exists in pairs, weightlessness and overweight exist in the whole process from the starting to the stopping of the elevator, when two continuous overweight or weightlessness states occur, the elevator finishes reversing, and the elevator continuously overweight twice when descending and then ascending; when the elevator ascends and then descends, the weight loss is continuously carried out for two times;
judging the running state of the elevator according to the rule, wherein in the running process of the elevator, the acceleration data can have certain noise under the influence of vibration of passengers and the elevator, the noise is suppressed by neighborhood mean filtering, when the acceleration change and the opening and closing of the elevator are asynchronous, the elevator is started always after the elevator door is closed, namely the acceleration changes after the door is closed, and at the moment, the image preferentially finishes the judgment of the closing of the elevator door; when the elevator stops, the acceleration changes firstly, the stable-stopping back door is opened, the image judgment door opening occurs after the acceleration judgment door opening, if the judgment is carried out before the acceleration judgment door opening, the image judgment is misjudgment, the acceleration judgment result is taken as the standard, and meanwhile, the acceleration can monitor the lifting operation condition of the elevator in real time to provide data basis for the safe operation of the elevator;
the elevator door work flow is as follows:
step 1, a door machine controller is electrified, and a system is initialized;
step 2, after the initialization is completed, fault detection is carried out;
step 3, the gantry crane controller performs information interaction with the master console;
step 4, the gantry crane controller monitors whether a command is input, if so, the step 5 is carried out, and if not, the step 2 is carried out;
step 5, executing the command, and returning to the step 2;
in the process of executing the steps 2 to 5, the door machine controller judges whether interruption exists, if so, corresponding actions are executed, the interruption is withdrawn after the actions are finished, and the main cycle is started at the interruption starting position;
wherein, if the received command in step 4 is a door opening and closing command, step 5 specifically includes:
step 5.1, judging whether the received command is door opening or door closing, if the command is door opening, executing step 5.1.A.1, and if the command is door closing, executing step 5.1. B.1;
step 5.1.A.1, executing door opening movement according to the operation mode of a normal speed curve;
step 5.1.A.2, the moment protection circuit will begin to detect whether there is an obstacle, if there is, step 5.1.A.3 is executed, if there is no, step 5.1.A.4 is executed;
step 5.1.A.3, increasing the torque to continuously open the door for 3 times, if the door can be opened, continuing to open the door, and entering step 5.1.A.4, if the door can not be opened for 3 times continuously, controlling the door machine by the system to stop running immediately and sending an alarm signal to wait for maintenance;
step 5.1.A.4, in the normal door opening process, if a door closing signal is received (for example, a passenger presses a door closing key and the like), the door operator executes door closing operation, and the step 5.1.B.1 is carried out; if no other signals exist in the door opening process, executing the step 5.1. A.5;
step 5.1.A.5, judging whether the door is opened completely, if so, entering step 5.1.A.6, otherwise, entering step 5.1. A.1;
step 5.1.A.6, the door is completely opened, the motor stops running, the motor is pushed, and a torque power for locking the door is provided for the elevator door, so that the door opening operation is completed;
step 5.1.B.1, the door machine executes door closing action according to the running mode of a normal speed curve, monitors whether a protective detection component (an infrared detection and moment protection circuit) of the door frame detects an obstacle, and enters step 5.1.B.2 if the obstacle exists, or enters step 5.1.B.3 if the obstacle does not exist;
step 5.1.B.2, the door machine system controls the door machine to stop closing the door immediately, and then operates according to the door opening operation mode, and the step 5.1.A.1 is carried out,
step 5.1.B.3, continuing the door closing action, in the door closing movement process, if a door opening signal is received, immediately switching to the door opening action for operation, and entering step 5.1. A.1; if the door opening signal is not received, entering the step 5.1. B.4;
step 5.1.B.4, the gantry crane runs all the time, judges whether the door is completely closed in place, if yes, the step 5.1.B.5 is carried out, otherwise, the step 5.1.B.1 is carried out;
step 5.1.B.5, a motor is pushed forward, the torque power for locking the door of the elevator door ensures the closeness of the door of the elevator door, and the door closing operation is completed;
the operation mode of the normal speed curve in the step 5.1.A.1 and the step 5.1.B.1 specifically comprises the following steps:
step S.1, calculating the distance required by the normal speed curve to finish door opening and closing at the speed according to the current speed and the acceleration;
s.2, measuring the complete residual distance from the current position to the opening and closing of the door;
step S.3, whether the residual distance is greater than the required distance or not is judged, if yes, the step S.4 is executed, and if not, the step S.5 is executed;
s.4, continuing planning, finishing a normal speed curve according to a speed constraint condition, and entering a step S.6;
step S.5, immediately starting to reduce the acceleration or entering a deceleration section, and entering step S.6;
step S.6, the speed of the deceleration section is 0, a normal speed curve is completed within a specified distance, so that the elevator door motor can be smoothly and stably switched on and off,
the main control desk has a destination floor reservation function, realizes group control scheduling of m elevators among n floors, coordinates operation of each elevator, and sends instructions to the dragging control part to carry out elevator operation and elevator door operation and sends instructions to the auxiliary control part to carry out safety protection and elevator door control after the logic control part of the main control desk receives and processes a floor request, an overload signal, a door closing interruption signal and an alarm clearing signal;
the control panels of the external calling control panel, the internal calling control panel and the master control platform are connected through CAN communication and are used for data transmission, the external calling control panel sends calling call signals which are distributed on all floors and are provided with uplink and downlink buttons and/or floor buttons, the bottommost layer only has the upward buttons and the topmost layer only has the downward buttons within the range of the floors reached by the elevator, the address codes of the calling call floors are sent to the control panel of the master control platform through the floor buttons, and the starting floors, the target directions and/or the target floors of passengers are recorded in real time; the internal calling control board is used for acquiring and transmitting a target floor signal of a passenger, and comprises an input terminal, an output terminal and a communication terminal, only one elevator car is installed, a floor selection button, a manual door opening and closing button, a signal bell and the like are arranged on the display board, and an intercom device is arranged; the control panel of the master control console realizes optimized car scheduling by utilizing a built-in scheduling algorithm;
the scheduling process comprises the following specific steps:
step 1, initializing a state;
step 2, circularly scanning the call request, judging whether an unallocated request exists, if so, entering step 3, otherwise, continuously circularly scanning the call request;
step 3, obtaining the state of each elevator;
step 4, calculating each performance index;
step 5, classifying traffic modes;
step 6, weight distribution;
step 7, establishing a comprehensive evaluation index function, calculating comprehensive evaluation indexes of all elevators, selecting the elevator with the optimal comprehensive evaluation index to respond to the call request, and generating a dispatching gradient scheduling scheme;
wherein, the step 4 is specifically as follows: the performance indexes comprise the waiting time, the taking time, the energy consumption of the elevator and the crowdedness of the elevator car;
(1) waiting time for elevator EjThe total time required to complete all tasks is fhf(Ej) In combination with the single-ladder operation rule,
fhf(Ej)=(|P2-P1|+|P3-P2|+|P4-P3|)×tv+Ns×ts+Np×tp
time f required for responding to newly arrived command signalht(Ej) Comprises the following steps:
wherein, tvRepresents the single layer run time; n is a radical ofsThe total number of floors required to stop; t is tsThe single-layer residence time is represented, and comprises acceleration and deceleration time and door opening and closing time; n is a radical ofpRepresenting the total number of passengers entering and exiting the car; t is tpThe average transfer time of each passenger is expressed, and the transfer time of the unit passenger can be selected to be 1.2s according to experience; pnewFor newly generated service requests, after generating new command signals, the signals are distributed to m elevators in turn, and the predicted elevator waiting time f of each elevator is calculated respectivelyhf(Ej),
Wherein, P1 points to the floor where the elevator is currently located, P2 points to the farthest floor served by the cage in the current driving direction, P3 points to the farthest position served by the reverse driving, and P4 points to the floor which still does not respond to the call after two reverse driving;
(2) riding deviceThe elevator time refers to the time when the elevator starts timing after the door of the elevator is closed after passengers take the elevator, the elevator stops stably opening the door at a target floor after a plurality of processes of starting acceleration, uniform speed operation and braking deceleration, and the passengers enter the elevator EjThe time f of taking the elevator from the later time to the arrival at the destination floorct(Ej) Comprises the following steps:
fct(Ej)=|Fnew-F′new|×tv+Ncts×ts+Np×tp
wherein N isctsThe number of stops required for a passenger to enter the elevator starting at the destination floor, FnewIs the newly generated passenger starting floor position, F'newFor the newly generated passenger destination floor position, the calculation range is (F)i-Fi′)Dj> 0 and (F)new-F′new)Dj> 0, the value is:
Fiindicating the starting floor position of the passenger, Fi' indicates the destination floor position of the passenger, DjTaking positive to represent the ascending direction, taking negative to represent the descending direction, fkFor a layer k parking instruction, i.e. whether layer k needs to park,
(3) energy consumption f of elevatorxh(Ej) In order to remove the necessary kinetic energy required from an initial layer to a target layer in the running process of the elevator and the consumption of elevator energy in the starting acceleration and stopping deceleration stages of the elevator, the stopping times required by the elevator to complete all current tasks are represented, and the calculation mode is as follows:
(4) degree of crowding of the elevator car; the car crowding degree has great correlation to the psychological comfort of passengers, and has certain influence on the stopping times and the elevator taking time of the elevator, and the control of the car crowding degree in a certain range is also an important index for a group control system to make an elevator dispatching strategy;
the car crowdedness represents the proportion of the number of passengers in the car when the elevator runs to a calling floor; according to the normal elevator taking process, passengers only enter the elevator with the running direction consistent with the required direction, namely the number of passengers in the elevator car is the sum of the number of passengers in the elevator taking direction and the number of passengers with the destination floor in the passenger traveling zone,
degree of congestion f of caryj(Ej) For coincidence condition (F)i-Fi′)(Fnew-F′new) Passengers > 0 perform the calculation:
wherein N isfThe rated number of people for the car;
wherein, the step 4 is specifically as follows: when the evaluation factors with different weights are selected, analyzing the dispatching ladder structure of the group control system according to the prior selection principle of the membership function;
wherein, the step 5 specifically comprises the following steps: continuously collecting data of passenger number, initial number of floors, number of floors and the like, analyzing the information to obtain corresponding characteristic quantity, identifying the traffic mode of the current traffic flow once every a period of time (5 minutes),
judging the traffic mode based on a fuzzy logic algorithm, judging the traffic type of passenger flow, and inputting the percentage of the number of people in the elevator, the percentage of passengers leaving the elevator, the percentage of passengers in floor traffic and the like; inputting two variables of traffic type and traffic intensity, and identifying and analyzing the traffic mode under the type of the mainstream traffic mode;
the traffic modes of elevator operation are divided into 12 classes
Wherein, the step 6 specifically comprises the following steps: under different traffic modes, the weight values of the four evaluation indexes are different, the weight values are given by experts or technicians after a large number of tests, and the weight coefficient isWherein l is a mode type, h is a corresponding index,respectively corresponding to the waiting time, the taking time, the energy consumption of the elevator and the crowdedness of the elevator car,
wherein, the step 7 specifically comprises the following steps: the four evaluation indexes are fused to obtain an elevator dispatching comprehensive evaluation index, the linear weighted combination of the four indexes is a common fusion method, the weight coefficient of the method can be set according to different traffic modes and different building requirements to achieve different dispatching effects, and the comprehensive evaluation index F (E) isj) Comprises the following steps:
by comparing the elevators EjSelecting the minimum value as the elevator responding to the signal, i.e.
Ej=min{F(E1),F(E2),......,F(Em)}。
2. Elevator control system with video monitoring according to claim 1, characterized in that said step 1 of image processing is in particular:
step 1.1, extracting a detection area, wherein a camera is positioned at the middle position above the rear side of an elevator, is opposite to a car door and is overlooked at a certain angle, an area with the height of 40cm above the car door of the elevator is used as a detection area to be detected, the closed position of two doors is the center of a detection window, and the width of the detection area is adjusted along with the change of the boundary of the elevator door;
step 1.2, perspective transformation, namely correcting image distortion generated by overlooking of a camera through the perspective transformation so as to restore two boundaries of a car door from a non-parallel state to a parallel state;
and step 1.3, filtering the image, and filtering the acquired image by using an average filtering algorithm of a linear filter.
3. Elevator control system with video monitoring according to claim 1, characterized in that said step 2 of image processing is in particular:
step 2.1, extracting edges, namely detecting the edges by using a Canny operator;
2.2, enhancing edge characteristics, enabling the ambient light inside and outside the car to be different, enabling the image histogram of the area to be detected to be of a double-peak structure, obtaining a clear boundary through binarization processing, and further obtaining the boundary through a Canny algorithm;
and 2.3, filtering the boundary, wherein the image obtained by edge detection contains more line information, accurate elevator door boundary characteristics need to be screened out, and the elevator door boundary is screened by combining linear detection and distance mutation detection.
4. Elevator control system with video monitoring according to claim 3, characterized in that the step 2.3 of the image processing is embodied as:
step 2.3.1, linear detection is carried out, linear edges in the image edge characteristics are extracted by using the linear detection of Hough transform, the elevator door edge forms two approximately vertical parallel lines through perspective transform, the inclination angles of all the straight lines are calculated, and the straight lines with the inclination angles of 90 degrees +/-3 degrees are reserved; when the elevator door is closed, most straight lines can be filtered through the inclination angle under the condition that the advertisement information is interfered, and the edge of the elevator door can be accurately extracted;
step 2.3.2, detecting the distance mutation, wherein the boundaries of the two elevator doors are symmetrical on the centerline, the distances to the centerline are close, the change of the distance can reflect the opening and closing amount of the elevator doors, each frame of image can detect a plurality of vertical straight lines, wherein the interference lines generated by passengers, floors and walls mostly exist in the middle area of the two doors, the boundaries of the elevator doors are mostly straight lines corresponding to the maximum distance, the straight lines corresponding to the maximum distance are used as the boundaries of the elevator doors, the detection windows need to be slightly wider than the distance between the boundaries of the two elevator doors, the size of the detection windows is continuously adjusted according to the position change of the boundaries, the calculation speed is improved, when the straight lines of the boundaries of the elevator doors are not detected or the interference lines exist on the elevator doors, the maximum distance change of the adjacent frame of image can exceed a certain threshold value, namely the distance mutation occurs, when the distance, the distance change rate of each stage is calculated by statistics to obtain the boundary distance of the elevator door.
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