JP2005255404A - Elevator control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an elevator control device for automatically and optimally switching an operation mode in response to a position and stature of users in a cage. <P>SOLUTION: This elevator control device has a plurality of image sensors 4a and 4b arranged in the cage 1, a door 2, operation panels 3a and 3b and a sound announcing device arranged in the cage 1, an image processing part 8 for processing images provided from the image sensors 4a and 4b, and an operation mode selecting means 9 for switching the operation mode of an elevator in relation to the image processing part 8. The image processing part 8 detects three-dimensional coordinates of the users 5a, 5b and 5c in the cage 1 on the basis of the respective images, and generates type information E1 and position information E2 of the users. The operation mode selecting means 9 switches the announcing content of the sound announcing device, and switches the operation mode in response to at least one information of the type information E1, the position information E2 and operation information of the operation panels 3a and 3b. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to an elevator control device that automatically switches an operation mode automatically by imaging passengers in a car or at a landing and distinguishing wheelchair users and children from healthy persons.

2. Description of the Related Art Conventionally, an elevator control device has been required to have a function of automatically switching the operation mode optimally by determining the type of the elevator user from the height.
As this type of elevator control device, photoelectric sensors having different heights are installed in combination and discriminated by a pattern that blocks the photoelectric sensors (see, for example, Patent Document 1). There is known a technique for measuring a height and performing pattern recognition by combining two camera images (see, for example, Patent Document 2).

Japanese Patent Laid-Open No. 7-10398 Japanese Patent Laid-Open No. 11-268879

  In the conventional elevator control apparatus, when a photoelectric sensor is used as in Patent Document 1, it is impossible to detect at which point on the beam axis the user is blocking the beam. When there are more than one user, it is impossible to distinguish which user's height is detected. Therefore, there has been a problem that the operation mode cannot be switched accurately according to the height of the user operating the operation panel such as a landing button.

  In addition, when a camera is used as in Patent Document 2, only the height of the user is detected, and the position of the user is not detected. Therefore, the optimum operation mode corresponding to the position of the user is detected. There was a problem that switching could not be realized.

  The present invention has been made to solve the above-described problems, and is an elevator control device that can automatically switch the operation mode automatically in accordance with the position and height of a user in a car or at a landing. The purpose is to obtain.

  An elevator control device according to the present invention includes a plurality of image sensors provided in a car room, a door, an operation panel and a sound reporting device provided in the car room, and an image for processing each image obtained from the plurality of image sensors. An operation mode selection means for switching the operation mode of the elevator in association with the image processing unit, and the image processing unit detects the three-dimensional coordinates of the user existing in the car room based on each image. The type information and the position information of the user are generated, and the operation mode selection means switches the announcement content of the sound alarm device according to at least one of the type information, the position information and the operation information of the operation panel, The mode is switched.

  An elevator control device according to the present invention processes a plurality of image sensors provided at a hall, a door provided at the hall, a hall call button and a sound alarm device, and images obtained from the plurality of image sensors. An image processing unit, and an operation mode selection unit that switches the operation mode of the elevator in association with the image processing unit, and the image processing unit detects a three-dimensional coordinate of a user present at the landing based on each image. The type information and position information of the user are generated, and the operation mode selection means is configured so that the operation of the sound reporting device is performed according to the type information, the position information, the operation information of the hall call button, and at least one information of the destination floor of the elevator car. The announcement content is switched, and the control mode and the operation mode of the landing door are switched.

  According to the present invention, it is possible to accurately determine the position and height of the user in the car or the hall, and automatically switch the operation mode optimally according to the type of the user.

Embodiment 1 FIG.
FIG. 1 is a block diagram showing an entire elevator system to which an elevator control apparatus according to Embodiment 1 of the present invention is applied. Image sensors (video cameras) 4a and 4b are installed near the ceiling in an elevator cab 1. An example is shown.

  In FIG. 1, an elevator control device controls an elevator car based on image sensors 4 a and 4 b that photograph the interior of a car room 1, an image processing unit 8 related to the image sensors 4 a and 4 b, and an output signal from the image processing unit 8. And an elevator control unit 9 to be controlled.

The car room 1 is provided with a door 2 that opens and closes when the user gets on and off, operation panels 3a and 3b for generating a car call, and a pair of image sensors 4a and 4b installed near the ceiling. Yes.
The operation panel 3 a for adults (healthy persons) is installed on the side wall of the door 2, and the operation panel 3 b for wheelchair users or children is installed at a low position on the side wall in the cab 1.

As is well known, the operation panel 3a is provided with a car call button and a door opening / closing button (not shown), and a sounding device (not shown) for generating an announcement message as required. Is provided.
In this case, it is assumed that three people, an adult 5a, a child 5b, and a wheelchair user 5c, are in the car room 1 as elevator users.

Each of the image sensors 4a and 4b images the imaging ranges 6a and 6b having parallax with each other on the relative coordinate system 7a.
The image signals in the cab 1 photographed by the image sensors 4a and 4b are converted into user type information E1 and position information E2 in the image processing unit 8, and sent to the elevator control unit 9.

FIG. 2 is a block diagram showing another example of the elevator control apparatus according to Embodiment 1 of the present invention, except that the image sensors 4a and 4b are incorporated in the operation panel 3a in the car room 1. (See FIG. 1).
In FIG. 2, the image sensors 4a and 4b are installed at the upper part of the operation panel 3a, and the photographing ranges 6a and 6b can be photographed from the upper part in the cab 1 as in the case of FIG.

As shown in FIG. 1 or 2, when the mounting positions of the image sensors 4a and 4b are different, the spatial relative coordinate system 7a and the orientation of the image sensors 4a and 4b are different. Although it is necessary to partially change the processing of the absolute coordinate conversion means (described later), it is not necessary to change other processing operations.
Therefore, the image sensors 4a and 4b can be installed in any place according to the purpose of use and design considerations.

  FIG. 3 is a block diagram showing an elevator control apparatus according to an embodiment of the present invention, and shows specific functional configurations of the image processing unit 8 and the elevator control unit 9 in FIG. 1 (or FIG. 2). .

  In FIG. 3, an image processing unit 8 calculates a distance calculation means 10 that calculates a distance to the user based on image signals from the image sensors 4a and 4b, and a user based on the calculated distance and background coordinates. User coordinate specifying means 11 for specifying the coordinates of the user, background coordinate storage means 12 for storing the background coordinates, absolute coordinate conversion means 13 for converting the coordinates of the specified user into absolute coordinates, and absolute coordinates of the user User type discriminating means 14 for generating user type information E1 based on the above, equipment position storage means 15 for storing the equipment position in the cab 1 such as the operation panel 3a, the absolute coordinates of the user and the equipment position And a user position discriminating means 16 for generating user position information E2 based on the above.

The elevator control unit 9 includes operation mode selection means 17 that selects an operation mode of the elevator car based on the user type information E1 and the position information E2.
The operation of the elevator control apparatus according to Embodiment 1 of the present invention will be described below with reference to FIGS.

First, image signals acquired simultaneously by a pair of image sensors 4 a and 4 b having parallax are input to the distance calculation means 10 in the image processing unit 8.
At this time, the distance calculation unit 10 performs brightness adjustment, lens distortion removal processing, and the like on the input image signal as necessary.

  The distance calculation means 10 stores (or learns) information such as the position, orientation, and angle of view of the image sensors 4a and 4b in advance, and the parallax of the image obtained from the image sensors 4a and 4b and 2 on the image. The dimensional coordinates are converted into three-dimensional coordinates in the relative coordinate system 7a (see FIG. 1) of the image sensors 4a and 4b.

  Subsequently, the user coordinate specifying unit 11 includes the three-dimensional coordinate information obtained by the distance calculating unit 10 and the background (wall or door in the cab 1) stored (or learned) in advance in the background coordinate storage unit 12. 2), the coordinates other than the user are removed from the three-dimensional coordinate information, and the user coordinates are specified.

  At this time, when the user coordinate specifying unit 11 uses a plurality of sets (two or more sets) of image sensors 4a and 4b and the image processing unit 8 (described later), the shooting areas of each set overlap each other. When it is desired to divide the detection range for a portion, this is dealt with by removing a preset three-dimensional coordinate range.

  Thus, from the three-dimensional coordinate information after removing information other than the user, a “continuous group” having the size of a person is regarded as the user, and the user coordinate specifying means 11 The coordinates are output as “user's three-dimensional coordinates”.

Subsequently, the absolute coordinate conversion unit 13 converts the three-dimensional coordinates of the user obtained by the user coordinate specifying unit 11 into the absolute coordinate system 7b (see FIGS. 1 and 2) in the car room 1.
Further, the user type discriminating unit 14 is configured such that the z-axis element (that is, the height) of the “user's three-dimensional coordinate” that has been subjected to the absolute coordinate conversion by the absolute coordinate conversion unit 13 is a reference height (for example, about 150 cm). ) To classify users.

  That is, when it is determined that the height of the user is higher than the reference height, it is determined as an adult 5a (a general user who does not use a wheelchair), and the height of the user is determined to be lower than the reference height. In this case, it is determined that the child is a child 5b or a wheelchair user 5c, and these determination results are output as type information E1.

On the other hand, the user position discriminating means 16 determines the distance from the door 2 or the operation panels 3a, 3b to each user based on the three-dimensional absolute coordinates of the user and the equipment position information in the equipment position storage means 15. The calculation is performed to determine the user in the vicinity of the door 2 and the user who is most likely to operate the operation panels 3a and 3b, and the determination result is output as position information E2.
The device position storage means 15 stores (or learns) three-dimensional coordinates such as the door 2 and the operation panels 3a and 3b in advance.

The type information E1 from the user type determination unit 14 and the position information E2 from the user position determination unit 16 are input to the operation mode selection unit 17 in the elevator control unit 9.
Hereinafter, the operation mode selection means 17 will determine the operation mode of the elevator and the door 2 as will be described later according to conditions based on the type information E1 and the position information E2 and the elevator operation information (operation status, equipment operation information, etc.). Switches the open / close control mode.

FIG. 4 is an explanatory diagram showing an example of the type determination process by the user type determination unit 14 in a condition map.
In FIG. 4, among the absolute coordinates (x, y, z) of the top of the head, the z-axis element (height) is the reference value (150 [ cm]), it is determined whether or not the user is an adult 5a.
In this case, each user A, B, C corresponds to an adult 5a, a child 5b, and a wheelchair user 5c.

FIG. 5 is an explanatory diagram showing an example of position determination processing by the user position determination means 16 in a condition map.
In FIG. 5, each use is made using the three-dimensional coordinates (x, y, z) of the users A to C and the two-dimensional coordinates (x, y) of the devices (door 2, operation panel 3a, 3b). The distances L2, L3a, and L3b between the users A to C and each device are obtained, the user whose distance L2 to the door 2 is 60 [cm] or less, the user who is passing through the door 2, and the operation panels 3a and 3b. This shows a case where the closest user is identified.

  The user position discriminating unit 16 refers to the condition map of FIG. 5 and from each user to each device (door 2 and operation panels 3a, 3b) based on the storage information (device position) of the device position storage unit 15. And the user who is most likely to operate the operation panels 3a and 3b is determined.

  Here, each of the distances L2, L3a, and L3b indicates a horizontal distance. In general, the distance L between the coordinates (x1, y1, z1) and the coordinates (x2, y2, z2) is expressed by the following equation. It is represented by (1).

L = √ {(x1−x2) ² + (y1−y2) ² } (1)

  In the example of FIG. 5, the coordinates of each device are handled as points in order to simplify the determination conditions. However, the coordinates may be handled as lines or surfaces, and the user position determination conditions are further complicated. May be.

  FIG. 6 is an explanatory view schematically showing image processing by the distance calculation means 10, and a photographed image 20 a by the image sensor 4 a attached on the left side in the horizontal direction and a photograph by the image sensor 4 b attached on the right side in the horizontal direction. The images 20b are shown in parallel in a two-dimensional coordinate system (x, y).

In FIG. 6, on the respective images 20a and 20b, scales 19a and 19b at regular intervals are superimposed and displayed along two-dimensional coordinates 18a and 18b, respectively.
The target image region 21a that is a distance calculation target is one of the regions obtained by dividing the image 20a into small pieces, and the region 21b is a target image region extracted from the image 20b so as to coincide with the region 21a in the image 20a. is there.
The coordinate distance between the area 21a and the area 21b is the magnitude of the parallax between the images 20a and 20b of the image sensors 4a and 4b.

As is well known, the parallax between the images 20a and 20b increases as the distance between the object being imaged and the image sensors 4a and 4b decreases, and conversely decreases as the distance increases.
Accordingly, the two-dimensional coordinates on the images 20a and 20b and the parallax between the two are converted into three-dimensional coordinates using the mutual distance between the image sensor 4a and the image sensor 4b and the information on the angle of view.

Next, a specific processing operation by the operation mode selection means 17 (see FIG. 3) in the elevator control unit 9 will be described with reference to the flowcharts of FIGS.
FIG. 7 is a flowchart for determining whether or not interference avoidance processing of the door 2 is necessary for the user, and processing for preventing the user from being “squeezed” or “drawn” due to the opening / closing operation of the door 2. Is shown.
In this case, the imaging ranges 6a and 6b of the image sensors 4a and 4b need to include at least the vicinity of the door 2 (door) (see FIG. 1).

  In FIG. 7, the operation mode selection means 17 first determines whether or not there is a door (door 2) opening / closing request (step S1), and if it is determined that there is a door opening / closing request (ie, Yes). Subsequently, based on the determination result (position information E2) from the user position determination means 16, it is determined whether there is a user near the door 2 (step S2).

If it is determined in step S2 that there is no user in the vicinity of the door 2 (that is, No), a normal door opening / closing operation is performed (step S3), and the processing routine of FIG.
On the other hand, if it is determined that there is a user in the vicinity of the door 2 (that is, Yes), a warning message such as “The door opens (closes)” is generated (step S4), and the door 2 After a short time before the opening / closing operation (step S5), a slow door opening / closing operation is performed (step S6), and the processing routine of FIG. 7 is terminated.

  Thus, when a door open or door close request is generated, the discrimination result (position information E2) of the user position discriminating means 16 is checked before actually performing the opening / closing operation, and there is a user near the door. If not, perform normal door opening / closing operation. If there is a user in the vicinity of the door, wait for a short period of time after the announcement for warning, and then move to door opening / closing operation. It is possible to prevent the user from being “sandwiched” or “drawn”.

FIG. 8 is a flowchart showing the opening / closing process of the door 2 for the wheelchair user 5c (or the child 5b), and the determination process for preventing the “finch state” when the child 5b or the wheelchair user 5c gets on and off. Show.
Also in this case, the imaging ranges 6a and 6b of the image sensors 4a and 4b need to include at least the vicinity of the door 2.

In FIG. 8, step S13 corresponds to step S3 described above (see FIG. 7).
First, the operation mode selection means 17 operates the elevator car in response to a call (a landing call or a car call), and performs a door opening operation on the arrival floor (step S11).
Subsequently, if a user is detected at the boundary between the hall and the car room 1, it is considered that the user has passed through the door 2, and at this time, the determination result from the user type determination means 14 (type information E1). Based on the above, it is determined whether or not a user (child 5b or wheelchair user 5c) having a short height (reference value 150 cm or less) has passed through the door 2 (step S12).

If it is determined in step S12 that a user with a short height has not passed through the door 2 (ie, No), a normal door opening / closing operation is performed (step S13), and the processing routine of FIG.
On the other hand, if it is determined that a user with a short height has passed through the door 2 (that is, Yes), the door opening time is set longer than usual, and the door closing speed is set slower than usual, and then slowly. The door opening / closing operation is performed (step S14), and the processing routine of FIG.

  In this way, when the door 2 is opened on the arrival floor in response to the call and the height of the user who has passed through the door 2 is low, the user is regarded as a wheelchair user 5c or a child 5b and the door opening time is determined. By setting the length longer and slowing the door closing speed, it is possible to prevent the wheelchair user 5c and the child 5b from being “sandwiched”.

  In addition, when the imaging ranges 6a and 6b of the image sensors 4a and 4b include the entire interior of the car room 1, the user's boarding / exiting state is also taken into account with the increase / decrease information of the users existing in the car room 1. You may use for judgment of. Thereby, a user's boarding / alighting state can be determined more correctly.

FIG. 9 is a flowchart showing a determination process for executing a dedicated driving for a wheelchair user 5c (or a child). In the figure, step S23 is the same as steps S3 and S13 described above (see FIGS. 7 and 8). It corresponds.
In this case, the imaging ranges 6a and 6b of the image sensors 4a and 4b only need to include the vicinity of all the operation panels 3a and 3b installed in the cab 1, and only one set of image sensors is necessary. Good.

In FIG. 9, the operation mode selection means 17 first determines whether or not at least one of the operation panels 3a and 3b has been operated (step S21).
If it is determined in step S21 that the operation panels 3a and 3b have been operated (that is, Yes), each determination result (type information E1, Based on the position information E2), with reference to the table of FIG. 5, it is determined whether or not the height of the user closest to the operated operation panel 3a, 3b is low (reference value 150 cm or less) (step S22).

If it is determined in step S22 that the height of the operated user is not low (ie, No), the passenger is regarded as a healthy person (adult 5a), and the elevator car is normally operated (step S13). The processing routine of 9 is terminated.
On the other hand, if it is determined that the height of the operated user is low (that is, Yes), the passenger is regarded as the wheelchair user 5c (or the child 5b), and the dedicated driving for the wheelchair user 5c (than the normal time) 9 is performed (step S24), and the processing routine of FIG. 9 is terminated.

Thus, when one of the operation panels 3a and 3b is operated, the user who is closest to the operated operation panels 3a and 3b is regarded as an operator, and if the height of the operator is short, the wheelchair user is automatically selected. 5c (or the child 5b), and by performing the exclusive driving (step S24), both the wheelchair user 5c (or the child 5b) and the general user (adult 5a) are all in the cab 1 The operation panels 3a and 3b can be used, and it becomes unnecessary to distinguish and process the operation signals from the normal operation panel 3a and the operation panel 3b dedicated to the wheelchair user 5c.
Moreover, even if a general user (adult 5a) operates the operation panel 3b dedicated to the wheelchair, unnecessary dedicated operation is not executed, so that the operation efficiency of the elevator is not impaired, and the control device Cost reduction and efficiency improvement can be realized.
Furthermore, even if the number of operation panels installed in the car room 1 is reduced to only one, the dedicated operation can be automatically performed based on the height determination.

FIG. 10 is a flowchart showing a determination process for preventing the infant confinement state.
In this case, the imaging ranges 6 a and 6 b of the image sensors 4 a and 4 b need to include the entire interior of the cab 1.
In FIG. 10, the operation mode selection means 17 first determines whether or not there is a call (a landing call or a car call) (step S31), and if it is determined that there is a call (ie Yes), the call is answered. The responding elevator car is operated (step S32), and the processing routine of FIG. 10 is terminated.

On the other hand, if it is determined in step S31 that there is no call (that is, No), it is checked whether the door is open for a certain period of time, and if it is open for a certain period of time, the door closing operation is automatically performed ( Step S33).
Subsequently, it is determined whether or not a user with a short height exists in the car room 1 (step S34). If it is determined that the user does not exist (that is, No), the processing routine of FIG. 10 is immediately terminated.

On the other hand, if it is determined in step S10 that a short user exists in the car room 1 (ie, Yes), an announcement is made to prompt the operation of the operation panels 3a and 3b (step S35), and there is an operation. Whether or not (step S36).
In step S36, if it is determined that there is an operation (that is, Yes), the process proceeds to operation step S32. If it is determined that there is no operation (that is, No), it is determined whether or not a certain time has passed ( Step S37).

  In step S37, if it is determined that the predetermined time has not elapsed (that is, No), the process returns to operation determination step S36, and if it is determined that the predetermined time has elapsed (that is, Yes), the infant (child 5b). Is closed, a door opening operation is performed for a predetermined time (step S38), and the processing routine of FIG. 10 is terminated.

  As described above, when there is no hall call or car call, the elevator control unit 9 automatically waits with the door 2 closed, and a short user is detected at any position in the car room 1. In such a case, an announcement for prompting the operation is performed, and when there is still no operation, the door can be temporarily opened to prevent the infant who is difficult to operate the elevator from being trapped.

  In addition, as shown in FIGS. 1 to 3, a plurality (two or more) of image sensors 4 a and 4 b are provided in the car room 1, and based on images obtained from the image sensors 4 a and 4 b, By providing an image processing unit 8 that detects three-dimensional coordinates and an operation mode selection unit 17 that switches the operation mode of the elevator according to processing information from the image processing unit 8, the position of the user in the cab 1 The announcement content and the operation mode can be appropriately switched according to the height.

  For example, as shown in FIG. 7, the control mode of the door 2 and the content of the announcement message can be switched on the condition of the position of the user in the cab 1. In other words, an area including the vicinity of the door 2 is photographed to detect a user near the door, and when the door is opened and closed, an announcement message for alerting the user near the door is generated. By setting the time until the door opening / closing operation to be long and slowing the door opening / closing speed, it is possible to prevent the user from being “sandwiched” or “drawn-in”.

  Further, as shown in FIG. 8, the control mode of the door 2 can be switched on condition of the position and height of the user in the cab 1. That is, when a user who passes through the door 2 is detected by photographing a region including the vicinity of the door and the height of the user who gets in and out of the cab 1 is low (a wheelchair user 5c or a child 5b), By setting the opening time longer and slowing the door closing speed, it is possible to prevent the wheelchair user 5c or the child 5b from being caught.

In addition, as shown in FIG. 9, the operation mode of the elevator can be switched on the condition of the position and height of the user in the cab 1 and whether or not the operation panels 3a and 3b are operated. That is, the area including the vicinity of the operation panels 3a and 3b is photographed to detect the height of the user who operates the operation panels 3a and 3b, and the user nearest to the operation panel is determined when operating the operation panels 3a and 3b. When it is regarded as an operator and the height of the operator is low, it is assumed that the wheelchair user 5c or the child 5b has operated, and the dedicated operation is performed to distinguish between the normal operation panel 3a and the wheelchair-specific operation panel 3b. Can be used, and any user can use all the operation panels 3a and 3b in common.
Further, even when a plurality of operation panels 3a and 3b are installed, all the operation panels 3a and 3b are accommodated in the imaging areas 6a and 6b of the image sensors 3a and 3b, so that which operation panel is operated by which height user. It can be detected by a single device.
Moreover, even if the normal adult 5a operates the wheelchair-specific operation panel 3b, the dedicated operation corresponding to the wheelchair is not performed wastefully, and the dedicated operation can be performed accurately only when necessary. There is no loss of efficiency.

  Further, as shown in FIG. 10, the elevator standby operation can be switched on condition of the position and height of the user in the car room 1. That is, the entire interior of the car room 1 is photographed to detect the presence or absence and height of the user, and when there is no operation such as a landing call or a car call, the door 2 is closed and waits. When the operation panel 3a, 3b is not operated despite the fact that a user with a short height has been detected, it is possible to prevent confinement of an infant who is difficult to operate the elevator by once opening the door. .

Embodiment 2. FIG.
In the first embodiment, the user in the cab 1 is detected and the control mode is automatically switched. However, the user may be detected and the control mode is automatically switched.
FIG. 11 is a block diagram showing the entire elevator system to which the elevator control apparatus according to Embodiment 2 of the present invention is applied. Image sensors (video cameras) 4 a and 4 b are installed near the ceiling of the hall 30. An example in which the user is detected and the control mode is automatically switched is shown.

In FIG. 11, the same components as those described above (see FIG. 1) are denoted by the same reference numerals as those described above, or “C” is appended to the reference numerals and detailed description thereof is omitted.
In this case, the hall 30 is provided with a door 2C and a hall call button 22.

In the vicinity of the hall call button 22, a sounding device (not shown) is provided for generating an announcement message as necessary.
The specific functional configurations of the image processing unit 8C and the elevator control unit 9C are as shown in FIG. 3, and the image processing unit 8C generates type information F1 and position information F2.

  In FIG. 11, although the installation locations of the image sensors 4a and 4b are different from the above (FIG. 1), the type and position of the user are determined based on the images obtained from the image sensors 4a and 4b, and the type information F1 and Processing until the position information F2 is input to the operation mode selection means 17 (see FIG. 3) is the same as described above.

Here, as an example, in the same manner as described above, an adult 5a, a child 5b, a call button 22 for calling an elevator car, and a door 2C for getting on and off the car (car room 1) responding to the call, Assume that three users of wheelchair users 5c are waiting.
The image sensors 4a and 4b are installed so that the users 5a to 5c existing in the vicinity of the call button 22 and the door 2C are included in the photographing ranges 6a and 6b.

  Next, specific processing operations of the elevator control unit 9C (operation mode selection means 17) based on the type information F1 and the position information F2 will be described with reference to the flowcharts of FIGS.

FIG. 12 is a flowchart showing a determination process for preventing the interference of the user near the door 2C when getting on and off. The user in the vicinity of the door 2C on the landing 30 side is detected, and the door 2C The “state”, “drawn state”, and determination processing for preventing contact between the user getting out of the car room 1 and the user getting in the car room 1 are shown.
In this case, the imaging ranges 6a and 6b of the image sensors 4a and 4b need to include the vicinity of the door 2C on the landing 30 side.

In FIG. 12, steps S41 to S43 and S46 to S48 correspond to steps S1 to S6 described above (see FIG. 7), respectively.
The elevator control unit 9C (operation mode selection means) first determines whether or not there is a door opening / closing request (step S41), and determines that there is a door opening / closing request (ie, Yes). Subsequently, based on the position information F2 from the image processing unit 8C, it is determined whether or not there is a user near the door 2C (step S42).

  If it is determined in step S42 that there is no user in the vicinity of the door 2C (ie, No), a normal door opening / closing operation is performed (step S43), and the processing routine of FIG.

  On the other hand, if it is determined in step S42 that there is a user in the vicinity of the door 2C (that is, Yes), then the door 2C of the landing 30 is in an open state and the car with respect to the floor of the landing 30 It is determined whether there is a call (step S44).

  If it is determined in step S44 that the door 2C is open and there is a car call to the landing floor (ie, Yes), an announcement message such as “There is a person getting off the elevator” is generated (step S45), An attention message for avoiding contact between users is generated, and an announcement message for alerting such as “the door opens (closes)” is generated (step S46).

On the other hand, if it is determined in step S44 that the door 2C is not in the open state or there is no car call to the landing floor (ie, No), the process proceeds to step S46 without executing step S45.
Subsequently, after a little time before the opening / closing operation of the door 2C (step S47), a slow door opening / closing operation is performed (step S48), and the processing routine of FIG. 12 is ended.

  As described above, when a door opening / closing request is generated in the door 2C, the determination result (position information F2) of the user position determination means 16 (see FIG. 3) is checked before the actual opening / closing operation is performed. Sometimes, when there is a car call to the landing floor where the door 2C is to be opened and there is a user in the vicinity of the door 2C, it is announced at the landing 30 that there is a person getting off the elevator (step S45). ) If there is a user in the vicinity of the door 2C, an announcement message for warning is generated before the door opening / closing operation regardless of whether there is a car call (step S46), and after a short time has passed. By moving to the door opening / closing operation with a low speed, it is possible to prevent the contacts of the users from encountering each other and the user's “squeezed state” and “drawn state” by the door 2C.

FIG. 13 is a flowchart showing the priority dispatch determination process for the nearest elevator car. When the wheelchair user 5c or the child 5b operates the hall call button 22, the elevator car nearest to the operation position is given priority. Shows the processing when dispatching a vehicle.
In FIG. 13, steps S51 to S54 respectively correspond to steps S21 to S24 described above (see FIG. 9).

The elevator controller 9C (operation mode selection means) first determines whether there is a hall call (the hall call button 22 has been operated) (step S51).
If it is determined in step S51 that there is a hall call (that is, Yes), then referring to the table of FIG. 5 (FIG. 5) based on the type information F1 and the position information F2 from the image processing unit 8C, It is determined whether or not the height of the user closest to the operated hall call button 22 is low (reference value 150 cm or less) (step S52).

  If it is determined in step S52 that the height of the user in the vicinity (operated) of the hall call button 22 is not low (ie, No), the passenger is regarded as a healthy person (adult 5a), and the elevator car Normal operation is performed (step S53), and the processing routine of FIG. 13 is terminated.

  On the other hand, if it is determined in step S52 that the height of the user in the vicinity of the hall call button 22 is low (that is, Yes), the passenger is regarded as a wheelchair user 5c (or a child 5b), and the use thereof is determined. The elevator car closest to the passenger is preferentially assigned, and the wheelchair user 5c is exclusively operated (operating slower than normal) (step S54), and the processing routine of FIG. 13 is terminated.

  Thus, when the hall call button 22 is operated, the user who is closest to the hall call button 22 is regarded as the operator of the hall call button 22, and if the height of the operator is low, the wheelchair is used. Considering the person 5c (or child 5b) as a priority, the elevator car closest to the user's position is preferentially dispatched to perform dedicated driving, thereby reducing the time and effort of moving the wheelchair user 5c (such as changing directions). Can be reduced.

FIG. 14 is an explanatory diagram showing the positional relationship between the wheelchair user 5c on the hall 30 and each of the cars 1a and 1b. In the processing of FIG. 13, the wheelchair user 5c is preferentially dispatched when the hall call button 22 is operated. The positional relationship between the ru machine 1b and the wheelchair user 5c is shown.
In FIG. 14, as an example, the image sensors 6Aa and 6Ab and the image sensors 6Ba and 6Bb are installed one by one in correspondence with the two units 1a and 1b arranged in parallel at the hall 30. Shows the case.

The image processing units 8A and 8B correspond to the image processing unit 8C, and the elevator control units 9A and 9B correspond to the elevator control unit 9C. Each of the image sensors 4Aa and 4Ab includes a set of two series. The image sensors 4Ba and 4Bb correspond individually. The elevator controllers 9A and 9B are related to each other by bidirectional data exchange.
Images captured by the image sensors 6Aa and 6Ab and the image sensors 6Ba and 6Bb are respectively input to the image processing units 8A and 8B having the same configuration as described above (FIG. 3).

  A portion that overlaps in the shooting ranges 6Aa and 6Ab of the image sensors 4Aa and 4Ab and a portion that overlaps in the shooting ranges 6Ba and 6Bb of the image sensors 4Ba and 4Bb respectively specify the user coordinates in the image processing units 8A and 8B. By means 11 and background coordinate storage means 12 (see FIG. 3), they are removed from each other and converted into detection ranges 6A of image sensors 4Aa and 4Ab and detection ranges 6B of image sensors 4Ba and 4Bb.

In FIG. 14, the wheelchair user 5 c in the vicinity of the hall call button 22 operates the hall call button 22.
At this time, since the wheelchair user 5c is located within the detection range 6A of the image sensors 4Aa and 4Ab corresponding to the No. 1a side, the three-dimensional coordinates are obtained in the image processing unit 8A.

Further, based on the three-dimensional coordinates of the wheelchair user 5c, the distance La between the wheelchair user 5c and the machine 1a and the distance Lb between the wheelchair user 5c and the machine 1b are calculated, and La> Lb Therefore, it is determined that the machine 1b is closest to the wheelchair user 5c.
At this time, since the height of the wheelchair user 5c is lower than the reference value, the wheelchair user 5c is regarded as the wheelchair user 5c (or the child 5b) in step S52 in FIG. 13, and the dedicated driving is executed in step S54. Is done.

At this time, the elevator control unit 9A corresponding to the image processing unit 8A prioritizes the elevator 1b closest to the wheelchair user 5c as a response machine for the hall call generated from the hall call button 22 with respect to the elevator control unit 9B. Request to be dispatched.
Needless to say, elevator cars 1a and 1b are both car elevators corresponding to wheelchair users 5c.

  Accordingly, as shown in FIG. 11, the image processing unit 8 </ b> C that includes a plurality of image sensors in the hall 30 and detects the three-dimensional coordinates of the user of the hall 30 from the images captured by the image sensors, and the image processing unit 8 </ b> C. By providing an elevator control unit 9C (operation mode selection means) that switches the operation mode of the elevator according to the processing information from the vehicle, the operation mode is automatically switched to the optimum operation mode according to the position and height of the user at the landing 30. be able to.

That is, as shown in FIG. 12, the control mode of the door 2C and the content of the announcement message can be switched on condition of the user's position information F2 at the landing 30 and the destination floor of the elevator car.
Further, the image sensor installed at the landing 30 captures the areas 6a and 6b including the vicinity of the door 2C to detect a user near the door, and the door 2C is used near the door when the door is opened and closed. An announcement message for alerting the person is generated (step S46), the time until the door opening / closing operation is set longer (step S47), and the door opening / closing speed is decreased (step S48), It is possible to prevent the user from being “pinched” or “drawn”.
In addition, when it is known that there is a car call to the arrival floor (there is a user who gets off from the car room 1), there is a user who gets off the user near the door 2C on the landing 30 side. By announcing this fact, it is possible to prevent contacts between users from meeting each other.

Furthermore, as shown in FIG. 13, the driving mode can be optimally switched on condition of the position and height of the user at the hall 30 and whether or not the hall call button 22 is operated.
That is, the areas 6A and 6B including the vicinity of the hall call button 22 are photographed, a user who operates the hall call button 22 is detected, and when the hall call button 22 is operated, the area 6A and 6B are closest to the hall call button 22. If the user is regarded as an operator and the height of the operator is low, it can be regarded as a wheelchair user 5c (or a child 5b) and dedicated driving can be performed (step S54).
At this time, it is possible to reduce the time and effort required for the wheelchair user 5c to change direction by preferentially dispatching the car 1b (see FIG. 14) closest to the user (operator).

BRIEF DESCRIPTION OF THE DRAWINGS It is a block diagram which shows the whole elevator system to which the elevator control apparatus which concerns on Embodiment 1 of this invention is applied. It is a block diagram which shows the other installation example of the whole elevator system to which the elevator control apparatus which concerns on Embodiment 1 of this invention is applied. It is a block diagram which shows the specific function structure of the elevator control apparatus which concerns on Embodiment 1 of this invention. It is explanatory drawing which shows the user kind discrimination | determination operation | movement of the elevator control apparatus which concerns on Embodiment 1 of this invention. It is explanatory drawing which shows the user position discrimination | determination operation | movement of the elevator control apparatus which concerns on Embodiment 1 of this invention. It is explanatory drawing which shows the image processing operation | movement of the elevator control apparatus which concerns on Embodiment 1 of this invention. It is a flowchart which shows the pinching prevention operation | movement of the elevator control apparatus which concerns on Embodiment 1 of this invention. It is a flowchart which shows the user discrimination | determination operation | movement of the elevator control apparatus which concerns on Embodiment 1 of this invention. It is a flowchart which shows the exclusive driving | operation operation | movement of the elevator control apparatus which concerns on Embodiment 1 of this invention. It is a flowchart which shows the confinement prevention operation | movement of the elevator control apparatus which concerns on Embodiment 1 of this invention. It is a block diagram which shows the elevator control apparatus which concerns on Embodiment 2 of this invention. It is a flowchart which shows the pinching prevention operation | movement of the elevator control apparatus which concerns on Embodiment 2 of this invention. It is a flowchart which shows the priority dispatch operation | movement of the elevator control apparatus which concerns on Embodiment 2 of this invention. It is explanatory drawing which shows the image processing operation | movement of the elevator control apparatus which concerns on Embodiment 2 of this invention.

Explanation of symbols

  1 Car room, 1a, 1b Wheelchair compatible machine, 2 Car door, 2C Door of door, 3a, 3b Control panel, 4a, 4b, 4Aa, 4Ab, 4Ba, 4Bb Image sensor, 5a Adult, 5b Child, 5c Wheelchair users, 6a, 6b, 6Aa, 6Ab, 6Ba, 6Bb Shooting range, 6A, 6B Detection range, 7a Relative coordinate system, 7b Absolute coordinate system, 8, 8A, 8B, 8C Image processing unit, 9, 9A, 9B , 9C elevator control unit, 10 distance calculation means, 11 user coordinate specifying means, 12 background coordinate storage means, 13 absolute coordinate conversion means, 14 user type determination means, 15 device position storage means, 16 user position determination means, 17 Operation mode selection means, 18a, 18b Two-dimensional coordinate system, 20a, 20b Captured image, 21a, 21b Target image area, E1, F1 Type information , E2, F2 position information.

Claims (12)

A plurality of image sensors provided in the car room;
A door, an operation panel and a sound reporting device provided in the car room;
An image processing unit for processing each image obtained from the plurality of image sensors;
Operation mode selection means for switching the operation mode of the elevator in association with the image processing unit,
The image processing unit detects a three-dimensional coordinate of a user existing in the car room based on each image, generates type information and position information of the user,
The operation mode selection means switches the announcement content of the sound reporting device and switches the operation mode according to at least one of the type information, the position information, and the operation information of the operation panel. Elevator control device. The image processing unit
User coordinate specifying means for specifying the coordinates of the user based on each image;
Absolute coordinate conversion means for converting the coordinates of the user into absolute coordinates in the car room;
User type discriminating means for discriminating the type of the user based on the absolute coordinates and generating the type information;
User position determining means for determining the position of the user based on the absolute coordinates and generating the position information;
The elevator control device according to claim 1, comprising:   The user type discriminating unit discriminates that the user is a child or a wheelchair user when an element corresponding to the height of the absolute coordinate indicates a reference value or less, and generates a discrimination result as the type information. The elevator control device according to claim 2.   4. The elevator control device according to claim 2, wherein the user position determination unit generates distance information between the door and the operation panel and the user as the position information. 5.   The operation mode selection means drives the sound reporting device when the user opens the door in a state where the user exists near the door of the cab on the condition of the user's position information. The elevator control device according to any one of claims 1 to 4, wherein an announcement message for arousing is generated and the control mode of the door is switched to an operation slower than a normal time.   The operation mode selecting means sets the door control mode slower than normal when the user is present near the door and the height is equal to or less than a reference value on condition of the type information and position information of the user. The elevator control device according to any one of claims 1 to 5, wherein the elevator control device is switched to an operation.   The operation mode selection means determines the user who has the shortest distance to the operation panel as an operator when operating the operation panel on the condition of the type information and position information of the user and the operation information of the operation panel. The elevator according to any one of claims 1 to 6, wherein when the height of the operator is equal to or less than a reference value, the operation is switched to a dedicated operation that is slower than a normal operation. Control device.   The operation mode selection means drives the sound alarm device when the height of the user in the passenger compartment in the elevator waiting state is equal to or less than a reference value on condition of the type information and position information of the user, 8. An announcement message for prompting operation of the operation panel is generated, and the door is opened when the operation panel is not operated even after a predetermined time has elapsed. The elevator control device according to item 1. A plurality of image sensors provided at the landing;
A door, a hall call button and an alarm device provided at the hall,
An image processing unit for processing each image obtained from the plurality of image sensors;
Operation mode selection means for switching the operation mode of the elevator in association with the image processing unit,
The image processing unit detects a three-dimensional coordinate of a user existing in the hall based on each image, generates type information and position information of the user,
The operation mode selection means switches the announcement content of the sounding device according to the type information, the position information, the operation information of the hall call button and at least one information of the destination floor of the elevator car, and An elevator control device that switches between a door control mode and the operation mode. The image processing unit
User coordinate specifying means for specifying the coordinates of the user based on each image;
Absolute coordinate conversion means for converting the user's coordinates to the absolute coordinates of the hall;
User type discriminating means for discriminating the type of the user based on the absolute coordinates and generating the type information;
User position determining means for determining the position of the user based on the absolute coordinates and generating the position information,
The user type discriminating means discriminates that the user is a child or a wheelchair user when an element corresponding to the height of the absolute coordinate indicates a reference value or less, and generates a discrimination result as the type information. ,
10. The elevator control device according to claim 9, wherein the user position determination unit generates distance information of the door and the hall call button and the user as the position information.   The operation mode selection means, on the condition of the user location information and the destination floor, when opening the door in a state where the user in the landing on the destination floor is in the vicinity of the door of the landing floor, 11. The warning sound device is driven to generate an announcement message for alerting, and the control mode of the door of the cab is switched to an operation slower than normal. Elevator control device.   The operation mode selection means operates the user with the shortest distance to the hall call button when operating the hall call button, on condition of the type information and position information of the user and the operation information of the hall call button. If the operator's height is equal to or lower than a reference value, the elevator car closest to the operator is preferentially dispatched and switched to a dedicated operation that operates slower than normal. The elevator control device according to any one of claims 9 to 11, characterized in that:

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