JP2008120548A - Control device of elevator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an economical control device of an elevator by reducing the number of required cameras and image processors. <P>SOLUTION: A camera unit 5 is arranged on an upper part of a car entrance 1 in a car. The camera unit 5 includes a motor and first and second cameras mounted on a rotary shaft of the motor. A camera unit control device 6 controls the operation of the motor so that the cameras pick up images of the inside of the car, an opening/closing path of an elevator door and a landing hall. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an elevator control device that analyzes an image captured by a camera and controls the operation of the elevator based on the analysis result.

  In the conventional apparatus, in order to prevent passengers from getting in and out of the car and to prevent passengers from deteriorating driving efficiency while smoothly getting on and off passengers in the car and passengers at the hall (hereinafter referred to as passengers and passengers), there are cameras on the halls in the car and on each floor. The position, moving direction, and moving speed of each user are obtained based on the images that are arranged and photographed by the camera, and it is determined whether there is a user who gets on and off based on the information. When it is determined that there is a user who gets on and off, the elevator door is fully opened, and when it is determined that there is no user who gets on and off, the elevator door is quickly closed (for example, Patent Document 1). reference).

JP 2005-126184 A

  In the conventional elevator control apparatus as described above, the cameras are arranged in the car and on the landings of each floor in order to facilitate the getting on and off of the passengers in the car and the hall. Therefore, the necessary number of cameras and image processing devices is reduced. Not much economic.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a more economical elevator control device by reducing the number of cameras and image processing devices required. It is.

  The elevator control device according to the present invention includes a camera that captures an image, and a drive unit that rotates the camera and changes the shooting direction of the camera, and according to the shooting means disposed in the car and the open / close state of the elevator door Drive control means for controlling the operation of the drive unit, image processing means for analyzing an image taken by the camera, and door control means for controlling the opening / closing operation of the elevator door based on information from the image processing means Prepare.

  According to the elevator control device of the present invention, the photographing means is arranged in the car, and the drive control means controls the operation of the drive unit according to the open / closed state of the elevator door to change the photographing area of the camera. In addition, it is possible to eliminate the necessity of disposing a camera in the camera, and to reduce the number of image processing apparatuses required, thereby making it more economical.

The best mode for carrying out the present invention will be described below with reference to the drawings.
Embodiment 1 FIG.
FIG. 1 is a front view showing an elevator control apparatus according to Embodiment 1 of the present invention, and shows a state when a landing direction is viewed from within a car. FIG. 2 is a side view showing the elevator control device of FIG. 1 and shows a state where passengers are standing on the landing side. In the figure, a car doorway 1 is provided in an elevator car. The car doorway 1 is opened and closed by a car door 2. Although not shown, the landing is provided with a landing door that opens and closes the landing entrance. The car door 2 is engaged with the landing door when the car reaches the landing floor. That is, the landing door is opened and closed in conjunction with the opening and closing operation of the car door 2. Opening and closing operations of the car door 2 and the landing door are controlled by a door control device 3 (door control means). The door control device 3 is disposed, for example, on a car. Hereinafter, when the car doorway 1 and the landing doorway are collectively called, they are called elevator doorways. Moreover, when calling the car door 2 and the landing door together, they are called elevator doors.

  A camera unit 5 (photographing means) is disposed above the car doorway 1 in the car. A camera unit control device 6 is connected to the camera unit 5. The camera unit control device 6 is disposed on, for example, a car. As will be described in detail later, the camera unit control device 6 analyzes an image photographed by the camera unit 5 and detects a predetermined user. The door control device 3 performs opening / closing control of the elevator door based on the user detection result of the camera unit control device 6. In addition, the area shown with the dotted line in FIGS.

  The door control device 3 is connected to a scale device 7 (load detection means) that detects the weight in the car. As will be described in detail later, the door control device 3 invalidates some commands from the camera unit control device 6 according to the output of the scale device 7.

  Next, FIG. 3 is a front view showing the camera unit 5 of FIG. FIG. 4 is a side view showing the camera unit 5 of FIG. In the figure, the camera unit 5 includes first and second cameras 51 and 52 for taking an image, an attachment adjusting member 53, and a motor 54 (drive unit) as a rotation mechanism. The cameras 51 and 52 are attached to a rotating shaft 54 a of a motor 54 via an attachment adjusting member 53. The attachment adjusting member 53 is for finely adjusting the attachment angle of the cameras 51 and 52. The motor 54 rotates the rotating shaft 54 a in response to a control command from the camera unit control device 6. That is, the motor 54 rotates the cameras 51 and 52 to change the shooting direction of the cameras 51 and 52. The camera unit control device 6 controls the operation of the motor 54 so that the cameras 51 and 52 photograph the inside of the car, the opening / closing route of the elevator door, and the landing according to the opening / closing state of the elevator door.

  Next, FIG. 5 is a block diagram showing the camera unit control device 6 of FIG. In the figure, the camera unit control device 6 includes an image recording means (not shown), an open / close state detecting means 61, a drive control means 62, an image processing means 63, and an image recording means 64. The open / close state detection means 61 detects the open / close state of the elevator door based on information from the door control device 3. Specifically, the open / closed state detecting means 61 includes a state in which the elevator door is fully closed, a state in which the door opening operation is started (a predetermined time before the door opening operation is started), a state in which the door opening operation is in progress, a fully open state, A state where the door closing operation is started (a predetermined time before the door closing operation is started) and a state during the door closing operation are detected.

  The drive control means 62 controls the operation of the motor 54 in accordance with the opening / closing state of the elevator door detected by the opening / closing state detection means 61. Specifically, the drive control means 62 controls the operation of the motor 54 so that the cameras 51 and 52 photograph the inside of the car when the elevator door is in a fully closed state. Further, the drive control means 62 is configured to open and close the elevator door when the door is opened and closed (during a predetermined time until the door is opened and closed). When it is in the middle, the operation of the motor 54 is controlled so that the cameras 51 and 52 photograph the opening / closing route of the elevator door. Further, the drive control means 62 controls the operation of the motor 54 so that the cameras 51 and 52 take a picture of the hall when the elevator door is fully open.

  The image processing means 63 includes a three-dimensional coordinate calculation unit 63a, a movement state detection unit 63b, a determination unit 63c, and a command output unit 63d. The three-dimensional coordinate calculation unit 63 a acquires the orientations of the cameras 51 and 52 based on information from the drive control unit 62. Further, the three-dimensional coordinate calculation unit 63a includes a user (including a user's baggage and the like) in the shooting area based on the acquired orientations of the cameras 51 and 52 and the images captured by the cameras 51 and 52. ) 3D coordinates. The three-dimensional coordinates of the user indicate the three-dimensional shape of the user. As a method for obtaining the three-dimensional coordinates, for example, pattern matching between two images is performed, parallax of each point of the image is obtained, the parallax is converted into a distance, and based on the direction of the camera and the distance to each point. There are methods for obtaining the three-dimensional coordinates of each point. As a method for identifying the user and the background, for example, a background image is taken when there is no user, and the three-dimensional coordinates of the floor, the wall, the elevator door, and the landing button device are obtained in advance from the background image. There are methods for identifying subjects other than the background as users. The image recording means 64 stores the images of the cameras 51 and 52 and the three-dimensional coordinates calculated from the images by the three-dimensional coordinate calculation unit 63a.

  The movement state detection unit 63b detects a movement state indicating the movement direction, the movement amount, and the movement speed of the user based on the three-dimensional coordinates of the user calculated every predetermined time by the three-dimensional coordinate calculation unit 63a. . As a method for obtaining the movement direction and amount of movement of a user, there is a method of performing pattern matching between two images taken at a predetermined interval and obtaining a difference in three-dimensional coordinates at a predetermined point of the matching images. The movement speed can be obtained by dividing the obtained movement amount by the time difference between the two images.

  The determination unit 63c detects the open / close state of the elevator door based on information from the open / close state detection means 61. The determination unit 63c detects whether or not there is a user trying to get into the car from the landing when the elevator door is fully opened, that is, when the cameras 51 and 52 are shooting the landing. The determination is made based on the moved state. In addition, the determination part 63c detects this user as a user who is going to get into an elevator, when the user who goes to an elevator doorway and a landing button apparatus (not shown) at a predetermined speed or more from a landing is detected. As a method of detecting a user heading to the elevator doorway and the landing button device at a predetermined speed or more from the landing, a direction vector from the current position of the user to the elevator doorway and the landing button device is detected, and the direction vector and the user are detected. There is a method of calculating a moving amount and a moving speed to the elevator doorway and the landing button device by calculating an inner product with the moving vector of the moving vector, and determining the moving speed.

  The command output unit 63d outputs an open / extend command to the door control device 3 when the determination unit 63c determines that there is a user who wants to enter the car from the landing when the elevator door is fully opened. The door control device 3 performs the opening / extending control of the elevator door when the opening / extending command is input.

  The door control device 3 determines whether or not the number of passengers in the car has reached the capacity based on the output of the scale device 7. Moreover, when it determines with the number of passengers having reached the capacity | capacitance (the number of passengers is more than a capacity | capacitance), the door control apparatus 3 invalidates the opening extension command from the command output part 63d. That is, when the door control device 3 determines that the number of passengers in the car has reached the capacity, even if the determination unit 63c determines that there is a user trying to get into the car from the landing, the door control device 3 opens the elevator door. Extension control is not implemented.

  The determination unit 63c also opens and closes the elevator door when the elevator door opening / closing operation is started (during a predetermined time until the opening / closing operation is started) and during the elevator door opening / closing operation. When the route is photographed, it is determined whether there is a user within a predetermined distance from the open / close route based on the three-dimensional coordinate calculated by the three-dimensional coordinate calculation unit 63a. That is, the determination unit 63c determines whether or not there is a user who collides with the elevator door that performs the door closing operation, and whether or not there is a user whose hand is drawn into the door pocket by the elevator door that performs the door opening operation. Determine whether.

  When the determination unit 63c determines that there is a user within a predetermined distance from the open / close route during a predetermined time until the door closing operation of the elevator door that is in the fully open state is started, the command output unit 63d performs door control. An open extension command is output to the device 3.

  Further, the command output unit 63d issues a re-opening command to the door control device 3 when the determining unit 63c determines that there is a user within a predetermined distance from the opening / closing path during the door closing operation of the elevator door. Output. The door control device 3 reopens the elevator door when the reopening command is input.

  Furthermore, when the command output unit 63d determines by the determination unit 63c that there is a user within a predetermined distance from the opening / closing path during a predetermined time until the door opening operation of the elevator door that is in the fully closed state is started. A warning notification command is output to a notification device (not shown). When detecting the caution notification command, the alarm device outputs a caution sound and a caution announcement to urge attention to leave the elevator door. In addition, the command output unit 63d outputs a caution notification command to the alarm device, and then determines that the user is within a predetermined distance from the opening / closing path and determines again that the door control device 3 Output open command. When the door control device 3 detects the low-speed door opening command, the door control device 3 makes the door opening speed of the elevator door slower than usual.

  Next, the operation will be described. FIG. 6 is a flowchart showing an imaging area selection operation performed by the drive control means 62 of FIG. In the figure, when the entire elevator control device is powered on, it is determined whether or not the elevator door is fully open (step S1). If it is determined that the elevator door is fully open, door closing is started. It is determined whether or not it is in a state (step S2). At this time, when it is determined that the door closing is not started, the operation of the motor 54 is controlled so that the cameras 51 and 52 capture the hall (step S3). On the other hand, when it is determined that the door closing is started, the operation of the motor 54 is controlled so that the cameras 51 and 52 take an image of the opening / closing route of the elevator door (step S4).

  On the other hand, if it is determined that the elevator door is not fully open, it is determined whether or not the elevator door is in the door closing operation (step S5). If it is determined that the door is in the door closing operation, the cameras 51 and 52 are determined. The operation of the motor 54 is controlled so as to photograph the opening / closing route of the elevator door (step S4). On the other hand, when it is determined that the door closing operation is not being performed, it is determined whether or not the elevator door is in a fully closed state (step S6).

  At this time, if it is determined that the door is fully closed, it is determined whether or not the door opening operation is started. If it is determined that the door opening operation is started, the camera 51, The operation of the motor 54 is controlled so that 52 images the opening / closing route of the elevator door (step S4). On the other hand, when it is determined that the door closing operation is not started, the operation of the motor 54 is controlled so that the inside of the car is photographed by the cameras 51 and 52 (step S8).

  On the other hand, when it is determined that the elevator door is not in the fully closed state, it is determined that the elevator door is in the door opening operation (step S9), and the motors 54 and 52 are controlled so that the cameras 51 and 52 capture the elevator door opening / closing path. The operation is controlled (step S4). Note that this shooting area selection operation is repeated while the entire power supply is turned on.

  Next, FIG. 7 is a flowchart showing a fully-open command output operation performed by the determination unit 63c and the command output unit 63d in FIG. In the figure, when the open / close state detection means 61 detects that the elevator door is fully open, it is determined by the determination unit 63c whether or not the door closing operation of the elevator door is started (step S10). . At this time, when it is determined that the door closing operation is not started, the determination unit 63c determines whether or not there is a user trying to get into the car from the landing. That is, it is determined whether there is a user heading from the landing to the landing operation button based on each image of each camera 51, 52 (step S11), and whether there is a user heading from the landing to the elevator doorway is determined. (Step S12). At this time, if it is determined that the user is present, an opening / extension command is output from the command output unit 63d to the door control device 3 (step S13), and if the number of passengers in the car is less than the capacity, the elevator Door open / extend control is performed. On the other hand, when it is determined that the user is not present, this full open command output operation is terminated without outputting the open extension command. The fully open command output operation is repeated when the elevator door is in the fully open state.

  On the other hand, when it is determined that the door closing operation is started, it is determined by the determination unit 63c whether or not a user is detected in the vicinity of the opening / closing route, and when a user is detected in the vicinity of the opening / closing route. When it is determined, an opening / extension command is output from the command output unit 63d to the door control device 3, and when the number of passengers in the car is less than the capacity, the opening / extending control of the elevator door is performed. On the other hand, when it is determined that the user is not detected in the vicinity of the opening / closing route, the full-open command output operation is terminated without outputting the open / extend command.

  Next, FIG. 8 is a flowchart showing a command output operation at the time of a door closing operation performed by the determination unit 63c and the command output unit 63d of FIG. In the figure, when the open / close state detection means 61 detects that the elevator door is in the door closing operation, it is determined by the determination unit 63c whether or not a user is detected in the vicinity of the open / close route (step S20). At this time, when it is determined that a user is detected in the vicinity of the opening / closing route, a re-opening command is output from the command output unit 63d to the door control device 3 (step S21), and the elevator door is re-opened. The On the other hand, when it is determined that the user is not detected in the vicinity of the opening / closing path, the door closing operation command output operation is terminated without outputting the door opening command again.

  Next, FIG. 9 is a flowchart showing a fully-closed command output operation performed by the determination unit 63c and the command output unit 63d of FIG. In the figure, when the fully closed state of the elevator door is detected by the open / close state detecting means 61, it is determined by the determining unit 63c whether or not the door opening operation of the elevator door is started (step S30). When it is determined that the opening operation is started, the determination unit 63c determines whether a user is detected in the vicinity of the opening / closing path (step S31). At this time, if it is determined that a user is detected in the vicinity of the opening / closing route, a warning notification command is output from the command output unit 63d to the alarm (step S32), and a sound that calls attention to leave the elevator door Or an announcement is output.

  Next, it is determined again by the determination unit 63c whether or not a user is detected in the vicinity of the open / close route (step S33). If it is determined that a user is detected, the command output unit 63d controls the door control device. 3 is output (step S34), and the door opening speed of the elevator door is made slower than the normal speed. On the other hand, when it is determined that the door opening operation is not started, or when it is determined that the user is not detected in the vicinity of the opening / closing path, the fully closed command output operation is terminated at that time. . The fully closed command output operation is repeatedly performed when the elevator door is in the fully closed state.

  In such an elevator control device, the camera unit 5 is arranged in the car, and the drive control means 62 controls the operation of the motor 54 in accordance with the open / closed state of the elevator door to change the shooting area of the cameras 51 and 52. It is possible to eliminate the necessity of arranging cameras at the halls on each floor and to reduce the number of image processing devices (camera unit control devices 6), which makes it more economical.

  In addition, the three-dimensional coordinate calculation unit 63a obtains the three-dimensional coordinates of the user in the shooting area based on the orientation of each camera 51, 52 and each image shot by each camera 51, 52. The opening / closing control can be performed based on the three-dimensional position of the user, and the opening / closing control can be performed with higher accuracy.

  Furthermore, since the movement state detection unit 63b detects the movement state of the user based on the three-dimensional coordinates calculated every predetermined time by the three-dimensional coordinate calculation unit 63a, the movement direction, movement distance, and The opening / closing control can be performed based on the moving speed, and the opening / closing control can be performed with higher accuracy.

  Furthermore, when the elevator door is fully open, the drive control means 62 controls the operation of the motor 54 so that the cameras 51 and 52 take a picture of the hall, and the determination unit 63c starts from the hall when the elevator door is fully opened. When it is determined based on the movement state detected by the movement state detection unit 63b whether or not there is a user trying to get into the car, the door control device 3 determines that there is a user, and if the determination unit 63c determines that there is a user, Since the door extension / extension control is performed, it is not necessary to know when the elevator door is closed, so that it is not necessary for the user to get into the car in a hurry, and the convenience for the user can be improved. In addition, it is possible to reduce the possibility of erroneously detecting a person who does not get on the car (a person who is stationary or a person who just passes by) as an elevator user, and can prevent deterioration in the operation efficiency of the elevator.

  Further, when the door control device 3 determines that the number of passengers has reached the capacity, even if the determination unit 63c determines that there is a user who tries to get into the car from the landing when the elevator door is fully open, Since the door open / extend control is not performed, the possibility of waiting for a full car in vain can be reduced, and deterioration of elevator operation efficiency can be prevented.

  Further, when the door closing operation of the elevator door that is in the fully open state is started, the drive control means 62 controls the operation of the motor 54 so that the cameras 51 and 52 photograph the opening / closing route of the elevator door, and the determination unit 63c. Determines whether there is a user within a predetermined distance from the opening / closing route of the elevator door based on the three-dimensional coordinate calculated by the three-dimensional coordinate calculation unit 63a, and the door control device 3 closes the door of the elevator door. If the determination unit 63c determines that there is a user within a predetermined distance from the opening / closing route of the elevator door during the period until the operation is started (during a predetermined time until the door closing operation is started), the elevator door Since the opening / closing extension control is performed, the possibility of door closing when the user is on the opening and closing path can be reduced, and the possibility that the elevator door will collide with the user can be reduced. .

  Furthermore, the drive control means 62 controls the operation of the drive unit so that the camera captures the opening / closing path of the elevator door when the elevator door is being closed, and the determination unit 63c calculates the three-dimensional coordinates. Based on the three-dimensional coordinates calculated by the unit 63a, it is determined whether or not there is a user within a predetermined distance from the opening / closing route of the elevator door, and the door control device 3 performs the elevator door during the door closing operation of the elevator door. When the determination unit 63c determines that there is a user within a predetermined distance from the open / close route, the elevator door is opened again, so that the possibility of the elevator door colliding with the user can be reduced.

  The drive control means 62 controls the operation of the motor 54 so that the camera photographs the opening / closing path of the elevator door when the door opening operation of the elevator door in the fully closed state is started. The door control device 3 determines whether or not there is a user within a predetermined distance from the opening / closing route of the elevator door based on the three-dimensional coordinates calculated by the three-dimensional coordinate calculation unit 63a. When it is determined by the determination unit 63c that the user is present during the period until it is started (during a predetermined time until the door opening operation is started), the door opening speed of the elevator door is set to a speed slower than the normal speed. Therefore, it is possible to reduce the possibility that a hand or the like is drawn into the door pocket when the elevator door is opened.

  Furthermore, since the image recording means 64 stores each image of the cameras 51 and 52 and the three-dimensional coordinates calculated from the images by the three-dimensional coordinate calculation unit 63a, information such as the height of the user is used for crime prevention purposes. Can be stored with images.

Embodiment 2. FIG.
FIG. 10 is a configuration diagram illustrating an elevator control apparatus according to Embodiment 2 of the present invention. In the figure, the image processing means 63 of the second embodiment is obtained by adding a storage unit 63e to the image processing means 63 of the first embodiment. The storage unit 63e stores a reference height value for determining the height of the user and a reference speed value for determining the slowness of the moving speed of the user.

  The determination unit 63c obtains the height of the user based on the three-dimensional coordinates calculated by the three-dimensional coordinate calculation unit 63a, and determines whether or not the height of the user is higher than the reference height value of the storage unit 63e. Determine. As a method for obtaining the height of the user, for example, there is a method of subtracting the three-dimensional coordinates of the floor from the three-dimensional coordinates of the upper part of the user. That is, the determination unit 63c determines whether there are children, wheelchair users, and the like as elevator users. This determination operation is always performed regardless of the open / closed state of the door.

  The determination unit 63c determines whether or not there is a user trying to get into the car from the landing when the elevator door is fully opened, and if it is determined that there is the user, the moving speed of the user is stored. It is determined whether or not it is faster than the reference speed value of the part 63e. That is, the determination unit 63c determines whether there are elderly people, crutch users, and the like as elevator users.

  Here, the control mode of the door control device 3 includes a normal mode in which the elevator door is closed at a normal speed and a low-speed door close mode in which the elevator door is closed at a speed slower than the normal speed. The command output unit 63d issues a low-speed door closing mode switching command to the door control device 3 when the determination unit 63c determines that there are children, wheelchair users, elderly people, and crutch users as elevator users. Output. When the door control device 3 detects the low speed door closing mode switching command, the door control device 3 sets the control mode to the low speed door closing mode.

  In such an elevator control device, the determination unit 63c obtains the height of the user based on the three-dimensional coordinates calculated by the three-dimensional coordinate calculation unit, and the height of the user is the reference height of the storage unit. If the determination unit 63c determines that the height of the user is lower than the reference height value, the door control device 3 sets the control mode to the low-speed door closing mode. When there are children, wheelchair users, etc. as elevator users, these users can get on and off with peace of mind, and the convenience of the users can be improved.

  The determination unit 63c determines whether or not there is a user trying to get into the car from the landing when the elevator door is fully opened, and if it is determined that there is the user, the moving speed of the user is stored. The door control device 3 determines whether or not the speed is higher than the reference speed value of the unit 63e. If the determination unit 63c determines that the user's moving speed is slower than the reference speed value, the door control device 3 switches the control mode to the low speed door closure. Since the mode is set, when there are elderly people, crutch users, etc. as elevator users, these users can get on and off with peace of mind, and the convenience of the users can be improved.

  In Embodiments 1 and 2, when it is determined that there is a user within a predetermined distance from the opening / closing route of the elevator door during the door closing operation, the door control device 3 opens the elevator door again. Although described, the elevator door may be decelerated and stopped.

  In the first and second embodiments, it has been described that the image recording unit 64 stores each image of the cameras 51 and 52 together with the calculated three-dimensional coordinates. However, only the images of the cameras are stored and the three-dimensional coordinates are stored. May be calculated later from each stored image.

It is a front view which shows the control apparatus of the elevator by Embodiment 1 of this invention. It is a side view which shows the control apparatus of the elevator of FIG. It is a front view which shows the camera unit of FIG. It is a side view which shows the camera unit of FIG. It is a block diagram which shows the camera unit control apparatus of FIG. 6 is a flowchart showing an imaging area selection operation performed by the drive control unit of FIG. 5. It is a flowchart which shows the command output operation | movement at the time of a full open performed by the determination part and command output part of FIG. It is a flowchart which shows the command output operation | movement at the time of a door closing operation performed by the determination part and command output part of FIG. It is a flowchart which shows the command output operation | movement at the time of full closure performed by the determination part and command output part of FIG. It is a block diagram which shows the control apparatus of the elevator by Embodiment 2 of this invention.

Explanation of symbols

  3 door control device (door control means), 5 camera unit (photographing means), 7 scale device (load detection device), 51, 52 camera, 54 motor (drive unit), 61 open / close state detection means, 62 drive control means, 63 image processing means, 63a three-dimensional coordinate calculation unit, 63b movement state detection unit, 63c determination unit, 63e storage unit.

Claims (10)

A camera that captures an image, and a driving unit that rotates the camera and changes a shooting direction of the camera, and is arranged in a car; and
Open / closed state detecting means for detecting the open / closed state of the elevator door;
Drive control means for controlling the operation of the drive unit according to the open / closed state of the elevator door detected by the open / closed state detecting means;
Image processing means for analyzing an image captured by the camera;
An elevator control device comprising: door control means for controlling an opening / closing operation of the elevator door based on information from the image processing means. The photographing means includes a plurality of cameras,
The image processing means detects the orientations of the plurality of cameras based on information from the drive control means, and shoots based on the orientations of the cameras and images taken by the cameras. The elevator control device according to claim 1, further comprising a three-dimensional coordinate calculation unit that calculates a three-dimensional coordinate of a detection target in the area.   The image processing means detects a moving state indicating a moving direction, a moving distance, and a moving speed of a detection target based on the three-dimensional coordinates calculated every predetermined time by the three-dimensional coordinate calculating unit. The elevator control device according to claim 2, further comprising: The drive control means controls the operation of the drive unit so that the camera images the elevator hall when the elevator door is fully open,
The image processing means further includes a determination unit that determines, when the elevator door is fully opened, whether or not there is a user trying to get into the car from a landing based on the movement state detected by the movement state detection unit,
4. The elevator control according to claim 3, wherein the door control means performs the opening / extending control of the elevator door when the determination unit determines that there is a user trying to get into the car from the landing. apparatus. A load detecting means for detecting a load in the car;
The door control means determines whether or not the number of passengers in the car has reached a capacity based on the output of the load detection means, and determines that the number of passengers has reached the capacity, the elevator door 5. The elevator according to claim 4, wherein, when the determination unit determines that there is a user who tries to get into the car from the landing when the door is fully opened, the elevator door open / extension control is not performed. Control device. The drive control means controls the operation of the drive unit so that the camera images the opening / closing path of the elevator door when the door closing operation of the elevator door in the fully open state is started,
The image processing means further includes a determination unit that determines whether there is a user within a predetermined distance from the opening / closing route of the elevator door, based on the three-dimensional coordinates calculated by the three-dimensional coordinate calculation unit,
The door control means, when it is determined by the determination unit that the user is within a predetermined distance from the opening / closing path of the elevator door before the door closing operation of the elevator door is started, The elevator control device according to claim 2, wherein the extension and extension control is performed. The drive control means controls the operation of the drive unit so that the camera captures the opening / closing path of the elevator door when the elevator door is being closed.
The image processing means further includes a determination unit that determines whether there is a user within a predetermined distance from the opening / closing route of the elevator door, based on the three-dimensional coordinates calculated by the three-dimensional coordinate calculation unit,
In the door closing operation of the elevator door, when the determination unit determines that there is a user within a predetermined distance from the opening / closing route of the elevator door, the door control means reopens and decelerates the elevator door The elevator control device according to claim 2, wherein at least one of stopping and stopping is performed. The drive control means controls the operation of the drive unit so that the camera images the opening / closing path of the elevator door when the door opening operation of the elevator door in the fully closed state is started,
The image processing means further includes a determination unit that determines whether there is a user within a predetermined distance from the opening / closing route of the elevator door, based on the three-dimensional coordinates calculated by the three-dimensional coordinate calculation unit,
When the determination unit determines that the user is present before the door opening operation of the elevator door is started, the door control means sets the door opening speed of the elevator door slower than the normal speed. The elevator control device according to claim 2, wherein the speed control device is a speed. The image processing means includes a storage unit storing a reference height value for determining the height of the user, and a user's height based on the three-dimensional coordinates calculated by the three-dimensional coordinate calculation unit. Determining a height, and determining whether or not the height of the user is higher than a reference height value of the storage unit,
The control mode of the door control means includes a normal mode for closing the elevator door at a normal speed and a low-speed door closing mode for closing the elevator door at a speed slower than the normal speed.
3. The elevator according to claim 2, wherein the door control means sets the control mode to a low-speed door closing mode when the determination unit determines that the height of the user is lower than a reference height value. Control device. The drive control means controls the operation of the drive unit so that the camera images the elevator hall when the elevator door is fully open,
The image processing means includes a storage unit that stores a reference speed value for determining the slowness of the moving speed of the user, and whether or not there is a user trying to get into the car from the landing when the elevator door is fully opened. And a determination unit that determines whether the moving speed of the user is faster than the reference speed value of the storage unit when it is determined that the user is present,
The control mode of the door control means includes a normal mode for closing the elevator door at a normal speed and a low-speed door closing mode for closing the elevator door at a speed slower than the normal speed.
The elevator control according to claim 3, wherein the door control means sets the control mode to a low-speed door closing mode when the determination unit determines that the moving speed of the user is slower than a reference speed value. apparatus.

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