CN115893143A - Detection system, lifting device control method, lifting device and storage medium - Google Patents

Abstract

The invention discloses a detection system, a lifting device control method, a lifting device and a storage medium, which are applied to an elevator, wherein the detection system comprises a controller, a first sensor and a second sensor, wherein the first sensor and the second sensor are connected with the controller; compare and just to ground setting in the sensor optical axis, the optical axis of first sensor is regional towards the car, included angle and distance between first sensor and the sedan-chair door have been increased, the reflection amount of light that returns of sedan-chair door to first sensor has been reduced, the regional reverberation intensity of sedan-chair door that first sensor received can reduce to reasonable within range, then first sensor need not the initiative and reduces the emission intensity, make the lower regional reverberation intensity of the internally reflected intensity of car also can be in reasonable within range, the quality of the regional image of car has been guaranteed, be convenient for detect passenger's state and control elevator according to the image.

Description

Detection system, lifting device control method, lifting device and storage medium

Technical Field

The invention relates to the technical field of elevators, in particular to a detection system, a lifting device control method, a lifting device and a storage medium.

Background

The elevator is usually provided with a passive light image acquisition device to monitor and detect the state of passengers by acquiring images. In traditional elevator, generally will be passive light image acquisition device and install in car rear portion, nevertheless when gathering the image through the camera, sheltered from by the passenger in the car very easily to, the application environment and the running state of elevator are very different, and the interior and the room outside of sedan-chair ambient light also can have great difference, and these all can influence image acquisition quality.

Therefore, through installing active sensor in the intermediate position of the lintel upper ledge of sedan-chair door to make the optical axis of sensor just face ground, with the passenger state outside being used for observing the room simultaneously, in the sedan-chair, and the light formation of image that the sensor was through receiving self transmission and return avoids receiving ambient light and influences, but sets up like this and has following defect:

on one hand, when the sensor simultaneously detects the ranges outside the hall and inside the sedan, the range of the detected regions outside the hall and inside the sedan is relatively small; on the other hand, the car door surface generally has the characteristics of high reflectivity and strong diffuse reflection, after the car door is closed, the distance between the car door and the sensor is short, the included angle is small, after near infrared light emitted by the sensor reaches the car door, most of the near infrared light returns to the receiving end of the sensor along the original path, reflected light received by the sensor is too strong and exceeds the normal receiving threshold of the sensor, in order to ensure that the intensity of the reflected light received by the sensor is within a reasonable range, the sensor can actively reduce the intensity of emitted light, but for an area with low reflection intensity in the car, the intensity of the reflected light in the area can be lower than the reasonable range due to low intensity of the emitted light, images in the area are difficult to identify, information in the area cannot be detected, the state detection of passengers and the control over the elevator are influenced, and the use feeling of the passengers is reduced.

Disclosure of Invention

The invention provides a detection system, a lifting device control method, a lifting device and a storage medium, and aims to solve the problems that when the optical axis of a sensor is arranged right opposite to the ground in a closed door state of a car door, the detection of the state of a passenger is influenced, the control mode of an elevator is further influenced, and the use feeling of the passenger is reduced.

In a first aspect, the invention provides a detection system applied to an elevator, comprising a controller, a first sensor and a second sensor connected with the controller, wherein the first sensor and the second sensor are installed on a car of the elevator, an optical axis of the first sensor faces to a car area, and an optical axis of the second sensor faces to an area outside a hall of the elevator;

the controller is used for controlling the elevator according to the image data collected by the first sensor and the second sensor.

In a second aspect, the present invention provides a method for controlling a lifting device, which is applied to a controller in the detection system according to the first aspect, wherein the lifting device is an elevator, and the method includes:

receiving image data collected by a first sensor and a second sensor;

and controlling the elevator according to the image data collected by the first sensor and the second sensor.

In a third aspect, the present invention provides a lifting device, characterized in that the lifting device includes the detection system according to the first aspect, the detection system includes a controller, and the controller includes:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the method of controlling a lifting device according to the second aspect of the invention.

In a fourth aspect, the present invention provides a computer readable storage medium storing computer instructions for causing a processor to implement the control method of the lifting device of the first aspect of the present invention when the computer instructions are executed.

The detection system of the embodiment of the invention is applied to the elevator, and comprises a first sensor and a second sensor which are arranged on a car of the elevator, wherein the optical axis of the first sensor faces to the car area, and the optical axis of the second sensor faces to the area outside the elevator hall. On one hand, the optical axes of the two sensors face towards the car area and the area outside the hall respectively, and the area range outside the hall and inside the car which can be detected is large; on the other hand, it is just setting up to ground to compare in the optical axis of sensor, the optical axis of first sensor is regional towards the car, included angle and distance between first sensor and the sedan-chair door have been increased, sedan-chair door to the reflected light intensity of first sensor has been reduced, then the regional reflected light intensity of sedan-chair door that first sensor received can reduce to reasonable within range, therefore the intensity of emitted light need not the initiative to reduce by first sensor, make the reflected light intensity of the region that the reflected light intensity is low in the car also can be in reasonable within range, the quality of the regional image of car has been guaranteed, can detect the regional information of car in order to realize, alright detect passenger's state and control elevator according to the image data that first sensor and second sensor gathered, make the elevator operation more convenient and humanized, promote passenger's use sense.

It should be understood that the statements in this section are not intended to identify key or critical features of the embodiments of the present invention, nor are they intended to limit the scope of the invention. Other features of the present invention will become apparent from the following description.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic diagram of the detection range of a prior art sensor;

FIG. 2 is an exemplary graph of the visual effect of reflected light intensity of a sensor in the prior art;

FIG. 3 is a schematic diagram of the detection range of a dual sensor according to an embodiment of the present invention;

FIG. 4 is a schematic diagram illustrating a comparison of different orientations of an optical axis of a sensor according to an embodiment of the present invention;

fig. 5 is a flowchart of a control method for a lifting device according to a second embodiment of the present invention;

fig. 6 is a schematic structural diagram of a lifting device according to a third embodiment of the present invention.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.

In order to avoid the shielding of passengers in the car when collecting information, in the prior art, as shown in fig. 1, a sensor 2 is installed in the middle of an upper frame of a lintel of a car door 1, the sensor 2 is an active light sensor, and the sensor 2 is directly opposite to the ground, when the car door 1 is in an open state, near infrared light received by the sensor 2 can simultaneously cover parts of the car and an area outside a hall, that is, the sensor 2 can simultaneously observe passenger states outside the hall and in the car. After the car door 1 is closed, as shown in fig. 1, the car doors corresponding to the areas i and ii are generally made of metal materials with non-smooth surfaces, and have the characteristics of high reflectivity and strong diffuse reflection, and the reflected light quantity of the emitted light of the sensor is also large when the emitted light reaches the areas i and ii, so that the reflection intensity of the areas i and ii is higher than that of the areas iii; in addition, since the region ii is far from the optical sensor 2 and has a large angular deviation, the reflection intensity is lower than that of the region i, and the reflection intensities of the regions are, from large to small, the region i, the region ii, and the region iii. However, because the car door 1 in the area i and the sensor 2 have a small included angle and a short distance, when the car door 1 is closed, most of the near-infrared light emitted by the sensor returns to the receiving end of the sensor along the original path when reaching the area i, so that the intensity of the near-infrared light received by the sensor is too large, and in order to ensure that the intensity of the near-infrared light received by the sensor is within a reasonable range, the sensor can only reduce the intensity of the emitted light, however, for the area ii and the area iii with weak reflection intensity, after the intensity of the emitted light is reduced by the sensor, the reflected light amounts of the two areas (especially the area iii) may be lower than the reasonable range. As shown in fig. 2, fig. 2 is an exemplary diagram of the visual effect when the sensor of the prior art reduces the intensity of the emitted light, in which, a in fig. 2 is an exemplary diagram of the overall visual effect, and b in fig. 2 is an exemplary diagram of the area marked in the exemplary diagram of the overall visual effect, the visual effect of the area i is normal, the visual effect of the area ii is fuzzy, and the visual effect of the area iii is difficult to identify.

If the sensor closes the function of automatically adjusting the emitted light intensity, the reflected light quantity of the area II and the area III is restored to a reasonable range, but because the reflection intensity of the area I is still large, in the image corresponding to the light collected by the sensor, the image corresponding to the area I is overexposed, so that the depth values of the images in other areas are greatly deviated from the actual values, the image quality is low, and the normal detection of the passenger state in the whole car and the control of the elevator according to the images are difficult. The present invention therefore proposes a detection system to solve the above problems.

Example one

The embodiment provides a detection system, which is applied to an elevator and can be applied to the situation of detecting the state of passengers in a car after a car door is closed, the detection system comprises a controller, a first sensor and a second sensor, wherein the first sensor and the second sensor are connected with the controller, fig. 3 is a schematic diagram of a detection range of a double sensor provided by the embodiment of the invention, as shown in fig. 3, the first sensor 21 and the second sensor 22 are installed on the car of the elevator, the optical axis of the first sensor 21 faces to the car area, and the optical axis of the second sensor 22 faces to the area outside the hall of the elevator.

The first sensor and the second sensor are active light sensors, such as TOF (time of flight) sensors, structured light sensors. The optical axes of the first sensor and the second sensor comprise a transmitting axis and a receiving axis, wherein the transmitting end can emit infrared emission light, and the receiving end can receive a reflection signal returned by the emission light when reaching the detected area, so as to generate image data, wherein the image data comprises multi-dimensional data, such as object depth information, infrared reflection intensity, color and the like. The optical axes of the first sensor and the second sensor are normal or central axis of the cross section of the detection range in the vertical direction. The optical axis of the first sensor faces the car area, and then the first sensor can acquire image data of the car area; the optical axis of the second sensor faces to the area outside the elevator hall, the second sensor can acquire image data of the area outside the hall, and the area outside the hall is the area where the call box is located, namely the passenger waiting area.

Fig. 4 is a schematic diagram comparing different orientations of the optical axes of the sensors, fig. 4 (a) is a schematic diagram illustrating the structure in which the optical axis of the sensor 2 is disposed toward the ground, and fig. 4 (b) is a schematic diagram illustrating the structure in which the optical axis of the first sensor 21 is disposed toward the car region in this embodiment, because the optical axis of the first sensor 21 is disposed toward the car region, the first sensor 21 is away from the car door 1, and the included angle between the first sensor 21 and the car door 1 is also increased, when the car door 1 is closed, the distance and the included angle between the first sensor 21 and the car door 1 in (b) are respectively greater than the distance and the included angle between the sensor 2 and the car door 1 in (a), and the greater the included angle and the greater the distance, the smaller the reflection intensity of the car door to the emitted light of the sensor is, the smaller the reflection intensity of the car door 1 in (b) to the first sensor 21 is than the reflection intensity of the car door 1 to the first sensor 2 in (a), and in the case that the reflection intensity of the car door 1 shown in (a) is too large relative to the sensor 2, the reflection intensity of the car door 1 relative to the sensor 2, the sensor can be reduced to within a reasonable range of the quality data.

It should be noted that, the angle of the optical axis of the first sensor is offset with respect to the optical axis, and the specific offset angle may be adjusted according to the position where the first sensor is set, so that even if the adjusted first sensor may detect the car area within the target range, the quality of the image data of the entire detection area may be ensured. Specifically, for the first sensor, under normal emission light intensity, the reflected light intensity of the detection region (mainly, region i in fig. 1 and 2 when the car door is closed) may be required not to exceed a preset reflected light intensity threshold, and when the reflected light intensity is relatively large, the first sensor automatically adjusts the emission light intensity, and the amplitude of the automatic adjustment of the emission light intensity may be within a preset reasonable range.

Similar to the first sensor, the angle of the optical axis of the second sensor faces the area outside the hall, the angle of the optical axis of the second sensor deviates to some extent, and the specific deviation angle can be adjusted according to the set position, so that the adjusted second sensor can detect the area outside the hall within the target range, and in addition, when the car door is closed, the second sensor stops working and cannot detect the area outside the hall.

The controller is used for controlling the elevator according to the image data collected by the first sensor and the second sensor, and is mainly used for controlling the door opening and closing time, the door opening and closing duration, the running speed, the ascending and descending, sending out a prompt and the like of the elevator. The controller can control the elevator according to the state of the passenger, so that the elevator is more convenient and humanized to operate, and the use feeling of the passenger is improved.

The detection system comprises a first sensor and a second sensor which are installed on a car of the elevator, wherein the optical axis of the first sensor faces to the car area, and the optical axis of the second sensor faces to the area outside the elevator hall. On one hand, the transmitting shafts of the two sensors respectively face towards the car area and the area outside the hall, and the areas outside the hall and inside the car can be detected in a larger range; on the other hand, compare in the sensor just setting up to ground, the optical axis of first sensor is regional towards the car, included angle and distance between first sensor and the sedan-chair door have been increased, sedan-chair door to first sensor's reflected light intensity has been reduced, then the regional reflected light intensity of sedan-chair door that first sensor received can reduce to reasonable within range, consequently, first sensor need not the intensity of initiative reduction transmission light, make the reflected light intensity of the region that the reflected light intensity is low in the car also can be in reasonable within range, the quality of the regional image of car has been guaranteed, can be in order to realize detecting the regional information of car, on this basis, alright detect passenger state and control elevator according to the image data that first sensor and second sensor gathered, make the elevator operation more convenient and humanized, promote passenger's use sense.

In an alternative embodiment of the invention, the first and second sensors are active light sensors, which have the advantage over passive light sensors of: the sensor is imaged by light emitted by the sensor, the influence of sudden change of external environment light on the sensor is small, the response speed of the active light sensor is high, and the sensor is more suitable for being applied to an elevator scene. In order to more clearly illustrate the adaptability of the active light sensor to the elevator, the description is made in conjunction with the actual scene. Scene one: when the elevator car is illuminated and the outside of the hall is dark, the difference between the light inside and the light outside the car is obvious at the moment of opening the car door, and the passive optical sensor cannot detect the light or can detect the light only by supplementing the light; scene two: the elevator enters a dormant state and turns off the illumination, the illumination is suddenly turned on and the door is opened, and the passive light sensor needs a longer adaptation time, so that the active light sensor with particularly high response speed is more suitable for being applied to the elevator.

In an alternative embodiment of the invention, as shown in fig. 3, the first sensor 21 and the second sensor 22 are mounted on the lintel of the car door 1 on the car of the elevator. In consideration of the limited installation space of the door lintel and the aesthetic requirements of the installation device, the first sensor and the second sensor may be integrated, and the first sensor and the second sensor are integrated into one device, and of course, the distance relationship, the orientation, and the deviation angle of the optical axis orientation between the first sensor and the second sensor may be set according to practical requirements, which is not limited by the present invention.

In an alternative embodiment of the invention, as shown in fig. 3, there is an overlapping area of the sensing area of the first sensor and the sensing area of the second sensor. Since the embodiment adopts 2 sensors to acquire image data, if the acquisition areas of the 2 sensors are just connected, when the positions of the 2 sensors are far away from each other due to bumping and shaking in the running process of the elevator, a vacant area exists between the detection areas of the 2 sensors, so that partial area images are lost. Therefore, the detection areas of the 2 sensors are overlapped, so that the image loss of partial areas caused by the jolt and shake of the elevator can be avoided. The size of the overlapping area can be set according to actual requirements, the overlapping area can comprise an inter-door area where a car door (a ladder door) is located, and the inter-door area can be a square, circular or sector area and the like with the car door as a center line.

In an optional embodiment of the invention, the controller comprises:

the image splicing module is used for splicing the image acquired by the first sensor and the image acquired by the second sensor to obtain a target image;

the image analysis module is used for analyzing the target image to obtain an analysis result;

and the control module is used for controlling the elevator according to the analysis result.

In the embodiment, 2 sensors are adopted for image acquisition, the optical axis of the first sensor faces the elevator car area, the optical axis of the second sensor faces the area outside the elevator hall, the main detection areas of the 2 sensors are different, and the images acquired by the 2 sensors at the same time are spliced to obtain a large frame of target image, namely the image of the continuous area comprising the area outside the elevator hall and the elevator car area. The splicing specifically comprises four steps of image matching, re-projection, stitching, fusion and the like, and can be regarded as a special case of scene reconstruction, wherein the images are only correlated through plane homography, and target images obtained after splicing can be used for detecting and tracking the movement of passengers, the image resolution can be enhanced, and the image quality is further improved.

On the basis of the above embodiment, in an alternative example of the present invention, the image analysis module includes:

the motion trend analysis unit is used for inputting multi-frame target images into the target detection tracking model to obtain the motion trends of the objects in the area outside the hall and the car area;

the control module comprises a motion trend judging unit, a door opening control unit, an advance door closing unit and a holding switch unit.

A movement trend judging unit for detecting whether the movement trend of the object is from the area outside the hall to the area of the car and/or from the area of the car to the area outside the hall when the car door of the car is in an open state; if the content executed by the door opening control unit is executed, if the content executed by the advanced door closing unit is not executed.

The door opening control unit is used for prolonging the door opening time of the car door when the car door is kept open, and controlling the car door to open reversely in the door closing process of the car door;

and the door closing unit is used for shortening the door opening time of the car door.

And the holding switch unit is used for controlling the car door to keep the open state if detecting that the object is positioned under the car door and stands still when the car door is in the open state.

It should be noted that the car door is in an open state, the car door is not completely closed, the sensor can detect the state of the area outside the hall, and the open state may include a state in which the car door remains open and a state in which the car door is closed.

One frame of target image is a static image, multiple frames of target images can be fused to obtain a dynamic video, namely the multiple frames of target images can be input into a target detection tracking model, the motion trends of objects in an area outside a hall and a car area are detected, and the objects can be passengers, children or pets of the passengers, robots and the like. When the object is detected to have a movement trend of entering a car area, and/or when the object has a movement trend of going out of the car area, if the car door is currently kept open, the door opening duration of the car door can be prolonged to ensure that the object can safely pass through the car without being damaged or damaged by the clamp of the car door, and the car door is controlled to be reversely opened in the door closing process, for example, in an office building, when a passenger runs to an elevator for driving time and the elevator is about to be closed or is closing the door, the car door is controlled to be prolonged in the door opening time or reversely opened to wait for the passenger to enter the elevator and avoid the passenger being clamped by the car door. When the movement trend that the object does not enter the car area and/or leaves the car area is detected, the car door can be closed in advance to improve the operation efficiency of the elevator, and further, when the movement trend of the object is detected to be static, passes through the area outside the hall or is far away from the car, the car door can be closed in advance. Specifically, the displacement of the object within a preset time period can be detected, if the displacement is smaller than the preset displacement, the movement trend of the object is considered to be stationary, and if the distance between the object and the car door is larger and larger, the movement trend of the object is considered to be far away from the car; and determining the moving direction of the object, and determining the moving trend of the object as the passing through out-of-hall area when the distance between the object and the car door is reduced but the moving direction of the object is in the area outside the car door.

On the basis of the above embodiment, in another optional example of the present invention, the image analysis module includes:

the passenger leaning judgment unit is used for inputting the multi-frame target images into the leaning car door detection model and judging whether a passenger leaning car door behavior exists or not;

the object clamping detection unit is used for analyzing the multi-frame target images and judging whether the object is clamped or not or whether the object is clamped or not in the door opening process of the car door;

the control module includes: the reminding unit is used for giving a reminding when a passenger leans against the car door when the car door is in a closed state, and giving a reminding and reducing the opening speed of the car door in the door opening process of the car door;

and the door opening control unit is used for controlling the car door to stop opening the door when an object is clamped or the object is clamped in the door opening process of the car door.

When an object contacts the surface of the car door, the projection picture shows that certain pixels are communicated in the area near the car door, namely the pixels are adjacent in position. Lean on sedan-chair door detection model detection object whether lean on the sedan-chair door, specifically, can acquire the projection drawing of elevator sedan-chair door and object, judge near the regional pixel intercommunication that exists of sedan-chair door, the area width who communicates the region is greater than predetermineeing width and the regional holding time of intercommunication and is greater than certain predetermined leaning on time length, can confirm that there is the passenger to lean on the sedan-chair door action, the warning unit among the control module then can send and remind, the suggestion passenger does not lean on the sedan-chair door, fall down after avoiding appearing opening the door, the clothing is brought into sedan-chair door crack etc.. And, at the sedan-chair door in-process that opens the door, if still there is the passenger to lean on the sedan-chair door condition, then can reduce the opening speed of sedan-chair door when sending the warning, avoid the sedan-chair door to open fast and lead to the passenger to lose the sedan-chair door suddenly and lean on and tumble.

In the car door opening process, the car door has a tendency of moving in the door opening direction, and objects close to the car door are easily brought into a gap between the car door and the car, so that the objects are clamped, and the objects can be hands, hair, clothes, pet pulling ropes and the like of passengers. Therefore, if the object is detected to be located in a risk area which is near the car door and is easy to clamp, the object can be considered to be clamped in the door opening process, if the object is detected to be located in a gap between the car door and the car, the object is determined to be clamped, if the object is clamped or clamped, the door opening action of the car door can be stopped, further damage to the object caused by door opening or difficulty increasing of separation of the object from the gap is prevented, and the door opening action can be continuously executed until the clamped object is separated from the risk area or the gap, so that the elevator can normally operate. This embodiment is through detecting pressing from both sides thing risk and the thing fact of pressing from both sides, can avoid taking place to press from both sides the thing accident as far as possible to and when taking place to press from both sides the thing accident, can prevent the situation aggravation, bring dual safety guarantee for taking advantage of ladder safety.

In another optional embodiment of the invention, the image analysis module is further adapted to identify whether the passenger in the area outside the hall is a child, in particular, by height and behavior, and the control module is adapted to spray the button to prolong the door opening time when the passenger is a child, so as to ensure the safety of the child riding the elevator.

In another optional embodiment of the invention, the image analysis module is further used for identifying whether trapped people exist in the car area when the elevator fails, and the control module is used for timely notifying the monitoring center when the trapped people exist in the car area so as to rescue the trapped people as soon as possible, and simultaneously can placate the trapped people to inform the trapped people of reaching the rescue help-seeking signal.

In another optional embodiment of the present invention, the image analysis module is further configured to analyze the target image in case of elevator failure to identify whether there is a carry-over in the car area, wherein the carry-over may be dynamic, such as children, pets, etc., or static, such as luggage, file bags, etc. Specifically, the belongings of the passengers and the carry-over objects can be identified through the target images, for example, through actions of the passengers and children, distances between the passengers and a trunk, and the like, and the control module is used for prompting the passengers to take away the carry-over objects in time when the carry-over objects exist in the car.

In another optional embodiment of the present invention, the controller may be further connected to an elevator calling module of the elevator, and the elevator calling module sends an elevator calling instruction to the controller to control the elevator to stop at the corresponding floor and carry passengers. The image analysis module is further used for analyzing the target image to obtain the elevator taking number and the space occupancy of the car in the car area, and the control module is used for not responding to the elevator calling command sent by the elevator calling module when the elevator taking number is larger than a preset number threshold value and/or the space occupancy of the car is larger than a preset percentage, but closing an elevator car door and starting to transport passengers in the car and calling the outside calling command indicated by the elevator calling command.

In another optional embodiment of the invention, the controller can be further connected with an elevator calling module of the elevator, the elevator calling module sends the number of inner calling floors to the controller, the image analysis module is further used for analyzing the target image to obtain the number of people taking the elevator in the elevator car, and the controller is used for sending out a responsibility instruction to stop voice prompt and clear the inner calling instruction when the difference value between the number of the inner calling floors and the number of people taking the elevator is larger than a preset value, so that vicious staff is prevented from pressing down a plurality of floors in the elevator car at will, the elevator is prevented from being stopped on a plurality of floors to waste time due to the fact that the elevator is opened and stops on the plurality of floors, and inconvenience is brought to other passengers taking the elevator and waiting for the elevator.

In another optional embodiment of the present invention, the image analysis module is further configured to analyze the target image to determine whether a static shelter is present at the car door, and the controller is configured to control the elevator to release the parallel/group control service and send a prompt to the passenger or the monitoring center when the static shelter is present at the car door and the staying time of the static shelter is longer than a preset staying time, so as to eliminate inconvenience caused by the static shelter as soon as possible.

In another optional embodiment of the invention, the image analysis module is further configured to analyze the target image to determine the number of passengers getting in and out of the car within a preset time period.

Example two

Fig. 5 is a flowchart of a control method of a lifting device according to a second embodiment of the present invention, where the control method of a lifting device according to the second embodiment of the present invention is applied to a controller in a detection system for implementing a lifting device provided by the first embodiment, the lifting device is an elevator, the detection system further includes a first sensor and a second sensor connected to the controller, the first sensor and the second sensor are mounted on a car of the elevator, an optical axis of the first sensor faces a car area, and an optical axis of the second sensor faces an area outside a hall of the elevator.

As shown in fig. 5, the lifting device control method includes:

s501, receiving image data collected by the first sensor and the second sensor.

S502, controlling the elevator according to the image data collected by the first sensor and the second sensor.

In an alternative embodiment of the invention, the first sensor and the second sensor are active light sensors.

In an alternative embodiment of the invention, the first sensor and the second sensor are mounted on a lintel of a door of the car.

In an alternative embodiment of the invention, there is an overlapping area of the detection area of the first sensor and the detection area of the second sensor.

In an optional embodiment of the invention, controlling the elevator according to the image data collected by the first sensor and the second sensor comprises:

splicing the image acquired by the first sensor and the image acquired by the second sensor to obtain a target image;

analyzing the target image to obtain an analysis result;

controlling the elevator according to the analysis result.

In an optional embodiment of the present invention, analyzing the target image to obtain an analysis result includes: and inputting a plurality of frames of target images into a target detection tracking model to obtain the motion trends of the objects in the area outside the hall and the car area.

Controlling the elevator according to the analysis result includes: when a car door of the car is in an open state, detecting whether the movement trend of the object is from the area outside the hall to the area of the car, and/or from the area of the car to the area outside the hall, if so, prolonging the door opening time of the car door when the car door is kept open, and controlling the car door to open reversely in the door closing process of the car door; if not, shortening the door opening time of the car door; and when the car door is in an open state, if the object is detected to be positioned under the car door and still, controlling the car door to keep the open state.

In an optional embodiment of the present invention, analyzing the target image to obtain an analysis result includes: inputting a plurality of frames of target images into a leaning car door detection model, and judging whether a passenger leans against the car door or not; and analyzing the target images of multiple frames, and judging whether an object is clamped or not in the door opening process of the car door.

Controlling the elevator according to the analysis result includes: when the car door is in a closed state, if a passenger leans against the car door, a prompt is sent, and in the process of opening the car door, the prompt is sent and the opening speed of the car door is reduced; and controlling the car door to stop opening the door when the risk of the object being clamped exists or the object is clamped in the car door opening process.

The lifting equipment control method provided by the embodiment of the invention can be applied to the controller in the detection system provided by any embodiment of the invention, so that the lifting equipment control method has corresponding beneficial effects. It should be noted that, as for the method embodiment, since it is basically similar to the system embodiment, the description is relatively simple, and for the relevant points, reference may be made to partial description of the system embodiment.

EXAMPLE III

The embodiment provides a lifting device, the lifting device can be an elevator, the lifting device comprises the detection system provided by any embodiment, and the detection system comprises a controller.

FIG. 6 illustrates a schematic diagram of a controller 40 that may be used to implement an embodiment of the present invention. The controller 40 is intended to represent various forms of digital computers, such as desktops, workstations, servers, blade servers, mainframes, and other appropriate computers. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 6, the controller 40 includes at least one processor 41, and a memory communicatively connected to the at least one processor 41, such as a Read Only Memory (ROM) 42, a Random Access Memory (RAM) 43, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 41 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 42 or the computer program loaded from the storage unit 48 into the Random Access Memory (RAM) 43. In the RAM 43, various programs and data necessary for the operation of the controller 40 can also be stored. The processor 41, the ROM 42, and the RAM 43 are connected to each other via a bus 44. An input/output (I/O) interface 45 is also connected to bus 44.

Various components in the controller 40 are connected to the I/O interface 45, including: an input unit 46 such as a keyboard, a mouse, or the like; an output unit 47 such as various types of displays, speakers, and the like; a storage unit 48 such as a magnetic disk, an optical disk, or the like; and a communication unit 49 such as a network card, modem, wireless communication transceiver, etc. The communication unit 49 allows the controller 40 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.

Processor 41 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 41 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, or the like. Processor 41 performs the various methods and processes described above, such as the lift device control method.

In some embodiments, the lift device control method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 48. In some embodiments, part or all of the computer program may be loaded and/or installed onto the controller 40 via the ROM 42 and/or the communication unit 49. When the computer program is loaded into RAM 43 and executed by processor 41, one or more steps of the lift device control method described above may be performed. Alternatively, in other embodiments, processor 41 may be configured to perform the lift device control method by any other suitable means (e.g., by way of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described herein may be implemented on a lift device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user may provide input to the lift device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired result of the technical solution of the present invention can be achieved.

The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A detection system is characterized by being applied to an elevator and comprising a controller, a first sensor and a second sensor which are connected with the controller, wherein the first sensor and the second sensor are installed on a car of the elevator, the optical axis of the first sensor faces to the car area, and the optical axis of the second sensor faces to the area outside a hall of the elevator;

the controller is used for controlling the elevator according to the image data collected by the first sensor and the second sensor.

2. The detection system of claim 1, wherein the first sensor and the second sensor are active light sensors.

3. The detection system of claim 1, wherein the first sensor and the second sensor are mounted on a lintel of a door of the car.

4. The detection system of claim 1, wherein there is an overlapping area of the detection area of the first sensor and the detection area of the second sensor.

5. The detection system of claim 1, wherein the controller comprises:

the image splicing module is used for splicing the image acquired by the first sensor and the image acquired by the second sensor to obtain a target image;

the image analysis module is used for analyzing the target image to obtain an analysis result;

and the control module is used for controlling the elevator according to the analysis result.

6. The detection system of claim 5,

the image analysis module includes:

the motion trend analysis unit is used for inputting a plurality of frames of target images into a target detection tracking model to obtain the motion trends of the objects in the area outside the hall and the area of the car;

the control module includes:

a motion trend determination unit for detecting whether a motion trend of the object is from the area outside the hall to the area of the car and/or from the area of the car to the area outside the hall when a car door of the car is in an open state; if the content executed by the door opening control unit is executed, if the content executed by the advanced door closing unit is not executed;

the door opening control unit is used for prolonging the door opening time of the car door when the car door is kept open, and controlling the car door to open reversely in the door closing process of the car door;

the advanced door closing unit is used for shortening the door opening duration of the car door;

and the holding switch unit is used for controlling the car door to keep the open state if the object is detected to be positioned under the car door and still when the car door is in the open state.

7. The detection system of claim 5,

the image analysis module comprises:

the passenger leaning judgment unit is used for inputting the multiple frames of target images into a leaning car door detection model and judging whether a passenger leaning car door behavior exists or not;

the object clamping detection unit is used for analyzing the multiple frames of target images and judging whether the object is clamped or not in the door opening process of the car door or not;

the control module includes:

the reminding unit is used for giving a reminding when a passenger leans against the car door when the car door is in a closed state, and giving a reminding and reducing the opening speed of the car door in the door opening process of the car door;

and the door opening control unit is used for controlling the car door to stop opening the door when an object is clamped or an object is clamped in the car door opening process.

8. A method for controlling a lifting device, the method being applied to a controller in a detection system according to any one of claims 1-7, the lifting device being an elevator, the method comprising:

receiving image data collected by a first sensor and a second sensor;

and controlling the elevator according to the image data collected by the first sensor and the second sensor.

9. A hoisting device, characterized in that the hoisting device comprises a detection system according to any one of claims 1-7, in which detection system a controller is included, which controller comprises:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the lift device control method of claim 8.

10. A computer readable storage medium storing computer instructions for causing a processor to perform the method of claim 8 when executed.

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