JP2012020823A - Safety device of elevator door - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a safety device of an elevator door by which the safety of a passenger when the elevator door is closed is secured while observing the movement of the passenger in a wide area.SOLUTION: The safety device of the elevator door includes: a photographic lens 7a which is arranged in an upper frame 3 above the car door of an elevator car 1 and used for capturing and condensing images in the wide area ranging from a limited danger detection area 16 to a care need detection area 17 in the vicinity of the car door; cameras 7b, 7c for photographing the wide-area images condensed by the photographic lens; and an elevator control unit 11 for capturing framed image data photographed by the cameras when the elevator doors 5 (car door and a boarding area door) are opened and closed, masking an area corresponding to the care need detection area and executing reversal processing when there is the passenger in the framed image data within the danger detection area.

Description

  Embodiments of the present invention relate to a safety device for an elevator door that ensures the safety of passengers getting on and off when the elevator door is opened and closed.

  The elevator is provided with a safety device for the elevator door in order to ensure the safety of the passengers in the car.

  In a conventional general elevator door safety device, a plurality of detection sensors (e.g., photoelectric sensors) are arranged in the vicinity of the elevator door, and when the elevator door is closed, the photoelectric sensor detects a passenger in the vicinity of the elevator door, When the vehicle is likely to be sandwiched between elevator doors, the door control device mounted on the upper part of the car is instructed to open the door, and a reversing process (door opening operation) is performed to ensure passenger safety.

JP 2006-232455 A

  By the way, in a conventional general elevator door safety device, whether or not there is a passenger in the vicinity of the elevator door, that is, whether or not there is a possibility of being caught in the door, is detected. To see if there are passengers.

  As a result, even if the passenger is not in the vicinity of the elevator door, it may be dangerous depending on the moving speed of passengers getting on and off, such as suddenly approaching the elevator door. Because it is only looking at the area, it is difficult to predict the dangerous state because it is impossible to grasp the state of passengers outside the narrow area.

  The embodiment of the present invention was made to solve the above-described problems. The safety of an elevator door that ensures the safety of passengers by judging a dangerous state while observing the movement of passengers in a wide area. To provide an apparatus.

  In order to solve the above-described problem, according to one embodiment, in a safety device for an elevator door that secures the safety of passengers getting on and off an elevator car, the elevator door is provided on an upper frame above the car door. An imaging lens that captures and collects an image of a wide area over a limited danger detection area and a caution detection area near the car door, a camera that captures an image of the wide area collected by the imaging lens, and an elevator Frame image data captured by the camera is captured when the door (car door / landing door) is opened and closed, the area corresponding to the attention detection area is masked, and the passenger is added to the frame image data in the danger detection area. An elevator door safety device comprising elevator control means for performing a reversing action when present.

  According to another embodiment, an image of a wide area that is provided in an upper frame above the car door of the car and that covers a limited danger detection area and a caution required detection area in the vicinity of the car door is captured and condensed. Taking a photographic lens, a camera that captures an image of a wide area collected by the photographic lens, and frame image data captured by the camera after opening the door of the elevator door, and detecting the danger from the attention detection area The elevator door safety device includes an elevator control means for executing a reversal process when it is determined that the vehicle is in a dangerous state from the image of the passenger moving to the area.

The figure which looked at the car door side from the inside of the passenger car to which the safety device of the elevator door which concerns on embodiment is applied. The whole lineblock diagram showing the safety device of the elevator door concerning one embodiment. The image figure which takes the image of a wide area with a taking lens, condenses it, and forms it in a surveillance camera. The figure explaining the state where the passenger is moving in a wide area. The functional block diagram explaining the example of 1 structure of an elevator control apparatus. The figure explaining roughly the operation | movement procedure of the elevator control apparatus shown in FIG. The functional block diagram explaining another structural example of an elevator control apparatus. The figure explaining roughly the operation | movement procedure of the elevator control apparatus shown in FIG. The figure explaining an example in the case of carrying out the inversion process of an elevator door.

Hereinafter, embodiments will be described with reference to the drawings.
1 and 2 are diagrams illustrating an elevator door safety device according to an embodiment. FIG. 1 is a view of a car door side as seen from the inside of a car, and FIG. 2 is a configuration diagram showing a safety device for an elevator door.

  In FIG. 1, 1 is a car, 2 is a vertical frame standing on both sides of the center of the car 1, 3 is an upper frame straddling the top of both vertical frames 2, 2, 4 is a frame of both vertical frames 2, 2 A lower frame straddling the lower portion, 5a is a car door, and 6 is a car operation panel.

  An imaging means 7 for capturing an image over a predetermined wide area is attached to the lower surface portion at the substantially center of the upper frame 3.

  Further, a door control device 8 for opening and closing an elevator door 5 (see FIG. 4) including a car door 5aa and a landing door 5b (see FIG. 4) is mounted on the upper portion of the car 1 and the like.

  As shown in FIG. 2, the safety device for the elevator door includes an image pickup means 7, an elevator control device 11, a database 12 for sequentially storing frame image data, a door control device 8 at the top of the car 1, and an elevator door 5. Consists of.

  The imaging means 7 takes a light image from a wide area inside and outside the elevator door 5 of the car 1 and collects it in a predetermined direction (camera shooting direction), and light collected through the shooting lens 7a. Frame image transmission control in the monitoring camera 7b provided with an image sensor such as a CCD or C-MOS that captures images in accordance with a predetermined frame rate, and the frame image data captured by the monitoring camera 7b in sequence. A portion 7c is provided.

  As shown in FIG. 4, the photographing lens 7a has a condensing function called a spherical reflecting mirror, a concave mirror, a spherical lens, a reflective condensing lens, or a transmissive condensing lens as shown in FIG. For example, not only the conventional limited narrow danger detection area (essential detection area) 16 but also, for example, from the caution detection area (enlarged detection area) 17 including the inside and outside of the car 1 surrounding the danger detection area (essential detection area) 16. It has a function to capture and collect the emitted light image. In FIG. 4, 9 is a three-way frame, 10 (A), 10 (B), and 10 (C) are passenger images.

  The elevator control device 11 controls the operation of the elevator to the call registration floor (target floor) for the hall call and the car call. In relation to the present embodiment, the frame image data from the imaging means 7 that captures images according to a predetermined frame rate. After capturing the image, the frame image data is sequentially stored in the database 12 while masking the detection unnecessary area, and the presence or absence of a passenger in the detection area is determined. For example, when there is a passenger in the detection area when the door is closed Perform inversion processing. A specific operation description will be described later.

  The door control device 8 controls the opening and closing of the elevator door 5 in accordance with a door opening command or a door closing command from the elevator control device 11.

  Next, a processing example when it is determined that the passenger is in the danger detection area (essential detection area) 16 shown in FIG. 4 and is in a dangerous state will be described with reference to FIGS. 5 and 6.

  FIG. 5 is a functional block configuration diagram of the elevator control device 11.

  The elevator control device 11 includes, for example, an image of the caution detection area (enlarged detection area) 17 among the operation control means 111 for controlling the operation of the elevator car on the call registration floor and the frame image data captured from the imaging means 7 when the door is opened. Door opening unnecessary area image mask processing means 112 for masking, and first passenger presence / absence detection for detecting whether or not there is a passenger in the danger detection area 16 from the frame image data after the mask processing when the door is opened And a door 113 unnecessary area image mask processing means 114, a second passenger presence / absence detection means 115, and a door inversion processing means 116.

  The door-unnecessary area image mask processing unit 114 has a function of masking, for example, an image of the attention detection area (enlarged detection area) 17 among the frame image data captured from the imaging unit 7 when the door is closed.

  The second passenger presence / absence detection means 115 detects whether or not there is a passenger in the danger detection area 16 from the frame image data after the mask processing when the door is closed. The door inversion processing means 116 performs an inversion process (for example, a door opening operation) when it is detected that there are passengers in the danger detection area 16.

  Hereinafter, an outline of an operation procedure of the elevator door safety device including the elevator control device 11 having the above-described configuration will be described with reference to FIG.

  The elevator control device 11 executes the operation control unit 111 when the operation starts. The operation control means 111 determines whether or not call registration based on a car call or a hall call is made (S1), and if there is a call registration, it controls the operation toward the call registration floor (target floor) (S2). ). When the car 1 arrives on the call registration floor (S3), a door opening command is transmitted to the door control device 8 and a camera activation command is transmitted to the photographing means 6 (S4, S5). The area image mask processing means 112 is executed. The transmission timing of the door opening command and the camera activation command may be reversed.

  The door control device 8 opens the elevator door 5 when receiving a door opening command. On the other hand, when receiving the camera activation command, the photographing means 7 reflects the image of the wide area extending over the narrow danger detection area 16 and the caution required detection area 17 in the car 1 according to the frame rate by the photographing lens 7a. The images are collected while being imaged on the surveillance camera 7b.

  The door opening unnecessary area image mask processing means 112 of the elevator control device 11 receives, for example, frame image data from the frame image transmission control unit 7c in the monitoring camera 7b or captures frame image data from the frame image transmission control unit 7c. Then, the unnecessary area corresponding to the attention detection area 17 is masked, and only the frame image data in the danger detection area 16 is sequentially stored in the database 12 (S6). At this time, the elevator control device 11 grasps that the elevator door 5 is being opened.

  Here, the elevator control device 11 executes the first passenger presence / absence detecting means 113. The first passenger presence / absence detection means 113 sequentially determines the presence / absence of a passenger in the danger detection area 16 by pattern matching between the frame image data after mask processing when the door is opened and the passenger's head pattern, for example (S7). . Here, if it is determined that there is a passenger, the passenger may be drawn into the elevator door 5, so a reversing process (door opening / stopping) command is transmitted to the door control device 8, and the current opening operation of the elevator door 5 is stopped. While holding (S8), the process returns to step S6, and the door opening is continued until the passenger is no longer in the danger detection area 16 from the frame image data after the mask processing at the time of door opening (reversing processing means 116).

  Therefore, if it is confirmed that the passenger is no longer in the danger detection area 16 and the door is completely opened, the door unnecessary area image mask processing means 114 is executed.

  The door closing unnecessary area image mask processing means 114 transmits a door closing command to the door control device 8 (S9), and then takes frame image data photographed according to the frame rate as described above, and corresponds to the caution required detection area 17. The unnecessary area to be masked is masked, and only the frame image data in the danger detection area 16 is sequentially stored in the database 12 (S10). At this time, the elevator control device 11 knows that the elevator door 5 is closing.

  Further, the elevator control device 11 executes second passenger presence / absence detection means 115. This second passenger presence / absence detection means 115 detects whether or not a passenger is present in the danger detection area 16 in sequence by pattern matching between the frame image data after mask processing when the door is closed and the passenger's head pattern, for example. (S11). Here, when it is determined that there is a passenger, a reversing process is executed (reversing processing means). That is, returning to step S4, the door reversing operation, that is, the door opening command is transmitted to the door control device 8, and the door opening operation is executed.

  On the other hand, when the passenger is no longer in the danger detection area 16 and the door is completely closed in step S11, the frame image data is deleted (S12). And if it is a continuation process (S13), it will return to step S1 and will perform the same process repeatedly.

  Therefore, according to the embodiment as described above, an image of a wide area covering the limited narrow danger detection area 16 and the caution required detection area 17 in the vicinity of the car door is taken in by the photographing lens 7a and condensed, and the surveillance camera 7b is focused. After capturing the captured frame image data, masking the area corresponding to the area requiring attention detection, and then performing reversal processing when a passenger is present in the frame image data in the danger detection area Therefore, if there is a passenger in the frame image data of the wide area, if necessary, the presence or absence of the passenger can be checked by focusing only on the danger detection area.

  Further, the elevator control device 11 is configured as shown in FIG. 5 so that the reversing process is performed when a passenger is present in the frame image data in the danger detection area both when the elevator door 5 is opened and when it is closed. (Door open stop holding / door open operation) can be executed, and it is possible to easily avoid a passenger's door pulling or being caught.

  Next, FIG. 7 thru | or FIG. 7 thru | or FIG. 7 thru | or process example when it is judged that a passenger is in the danger detection area (essential detection area) 16 and the caution required detection area (expansion detection area) 17 which are shown in FIG. This will be described with reference to FIG.

  FIG. 7 is a functional block configuration diagram of the elevator control device 11.

  The elevator control device 11 includes an operation control unit 121 that controls the operation of the elevator on the call registration floor, a frame image collection unit 122 that collects frame image data captured by the imaging unit 7 according to a predetermined frame rate after the door is opened, Danger determination means 123 that determines the possibility of danger from the moving direction and moving speed of passengers in the attention detection area (enlarged detection area) 17 and a specific passenger (for example, an elderly person or a small child) from the moving speed of the slow passenger Specific passenger risk determination means 124 that determines the possibility of danger to the vehicle, and reversal processing means 125 that performs a reversal process (for example, a door opening operation) when any of the determination means 123, 124 determines that it is dangerous or a specific passenger, It consists of

  Next, an outline of the processing operation in the elevator door safety device including the elevator control device 11 having the above-described configuration will be described with reference to FIGS. 8 and 9.

  The elevator control device 11 executes the operation control means 121 when the operation starts. The operation control means 111 determines whether or not call registration based on a car call or a hall call is made (S21), and when there is a call registration, the operation is controlled toward the call registration floor (target floor) (S22). ). When the car 1 arrives on the call registration floor (S23), a door opening command is transmitted to the door control device 8 (S24), and then the frame image collecting means 122 is executed.

  When it is determined that the door is fully open (S25), the frame image collecting means 122 transmits a camera start command and transmits a door close command (S26, S27), and then the imaging means according to the frame rate. 7 is received from the frame image transmission control unit 7c or is taken in from the frame image transmission control unit 7c and sequentially stored in the database 12 (S28), and the risk determination unit 123 and the specific passenger risk determination unit 124 are executed. To do.

  As shown in FIG. 9, for example, three passengers 10 (A), 10 (B), and the like in the detection area 17 by pattern matching between the frame image data collected last time and the passenger's head pattern, for example, The presence of 10 (C) is confirmed, and the images of the passengers 10 (A), 10 (B), 10 (C) and the coordinate position data of the passenger images are stored. Subsequently, the presence of, for example, three passengers 10 (A), 10 (B), and 10 (C) in the detection areas 17 and 16 is confirmed by pattern matching between the frame image data collected this time and, for example, a head pattern related to the passengers. Then, the coordinate position data of the corresponding passengers 10 (A), 10 (B), and 10 (C) are taken out.

  Then, the moving direction and moving speed of the passenger are calculated from the frame rate and the previous and current coordinate position data of each passenger, and whether the passenger is moving from the caution detection area 17 to the danger detection area 16 as shown in FIG. Further, it is determined whether or not the danger detection area 16 has been entered from the caution required detection area 17, that is, whether there is a possibility of danger (S29). For example, when it is determined that the danger detection area 16 has been entered from the caution detection area 17 as in the passenger 10 (C), or in the direction from the caution detection area 17 to the danger detection area 16 as in the passenger 10 (B). When moving at a moving speed higher than the speed, it is determined that there is a possibility of danger, and the inversion processing means 125 is executed.

  The inversion processing means 125 returns to step S24, transmits a door opening command, and executes a door opening operation.

  On the other hand, when it is determined in step S29 that there is no possibility of danger, the specific passenger danger judging means 124 is executed. The specific passenger danger determination means 124 detects danger while moving from the caution detection area 17 for, for example, three passengers 10 (A), 10 (B), and 10 (C) detected in the caution detection area 17. When entering the direction in the area 16 and the moving speed is not more than a predetermined moving speed that is sufficiently slower than the moving speed of a normal passenger, it is determined to be an elderly person or a small child (S30), and the door is open. Is extended (S31), and the inversion process is executed to return to step S24 (inversion processing means 125).

  The inversion processing means 125 returns to step S24, transmits a door opening command, and executes a door opening operation.

  On the other hand, when the door is completely closed, the passenger is not in a dangerous state, and the door is completely closed in step S30, the frame image data is deleted (S32). And if it is a continuation process (S33), it will return to step S1 and will perform the same process repeatedly.

  Therefore, according to the above embodiment, the optical image of the wide area covering the danger detection area 16 and the attention detection area 17 is taken with the camera 7b, and the passenger moving from the attention detection area 17 to the danger detection area 16 is captured. When it is determined from the image that the vehicle is in a dangerous state, the inversion process is executed, so that the passenger's dangerous state can be quickly determined while determining the movement of the passenger.

  Moreover, the elevator control apparatus 11 is configured as shown in FIG. 7 so that the moving direction and the moving speed from the passenger in the frame image data collected last time and the same passenger in the frame image data collected this time. Therefore, even if it is an elderly person or a small child, for example, a dangerous state can be easily detected. Can be judged.

(Other embodiments)
(1) In the above embodiment, the caution detection area 17 is set in the car 1 as shown in FIG. 4, but the caution detection area 17 may be similarly set on the landing side.

  According to such a configuration, it is possible to quickly detect passengers rushing from the landing side, determine that the passengers are in a dangerous state, and perform the inversion process, thereby ensuring further safety of the passengers.

(2) In the embodiment described above, the danger detection area 16 and the caution detection area 17 are divided. However, the caution detection area 17 is further subdivided according to the distance and moving speed of the passenger from the danger detection area 16. By judging the danger level of heavy level, medium level, and low level, and executing the reversal process only when the danger level is heavy level, the reversal operation is performed when it is definitely judged dangerous without causing the reversal operation unnecessarily. Can be done.

  In addition, the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the scope of the invention. Further, the above embodiment includes various upper and lower level inventions, and various inventions can be extracted by appropriately combining a plurality of disclosed constituent elements. For example, when an invention is extracted because some constituent elements can be omitted from all the constituent elements described in the means for solving the problem, the omitted part is used when the extracted invention is implemented. Is appropriately supplemented by well-known conventional techniques.

  DESCRIPTION OF SYMBOLS 1 ... Car, 3 ... Upper frame, 5 ... Elevator door, 5a ... Car door, 5b ... Landing door, 7 ... Imaging means, 7a ... Shooting lens, 7b ... Surveillance camera, 7c ... Frame image transmission control part, 8 ... Door control device, 10 (A), 10 (B), 10 (C) ... passenger image, 11 ... elevator control device, 12 ... database, 16 ... danger detection area, 17 ... attention detection area, 111, 121 ... operation Control means 112 ... Frame image mask processing means when the door is open, 113 ... First passenger presence / absence detection means, 114 ... Frame image mask processing means when the door is closed, 115 ... Second passenger presence / absence detection means, 116 ... Inversion processing means 122 ... Frame image data collection means, 123 ... Risk judgment means, 124 ... Specific passenger risk judgment means, 125 ... Reversal processing means.

Claims (7)

In the elevator door safety device to ensure the safety of passengers who use the elevator car,
A photographing lens that is provided in an upper frame above the car door of the car and that captures and collects an image of a wide area covering a limited danger detection area in the vicinity of the car door and a caution detection area surrounding the danger detection area; ,
A camera that takes images of a wide area collected by this taking lens;
The frame image data captured by the camera when the elevator door (car door / landing door) is opened and closed is masked, and the area corresponding to the attention detection area is masked, and the frame image data in the danger detection area is included in the frame image data in the danger detection area. An elevator door safety device comprising: elevator control means for executing a reversing process of the elevator door when a passenger is present. In the elevator door safety device according to claim 1,
The elevator control means fetches the frame control data taken by the camera when the door is opened after landing on the call registration floor, the operation control means for controlling the elevator to the call registration floor for the hall call and the car call. And a door opening time image mask processing means for masking an area corresponding to the attention detection area, and a first passenger presence / absence detection means for detecting whether or not there are passengers in the frame image data after the mask processing. When the first passenger presence / absence detecting means detects that there is a passenger, the first inversion processing means for stopping and holding the door opening operation and the frame image data taken by the camera when the door is closed are fetched. The door closing image mask processing means for masking the area corresponding to the attention detection area, and the passenger in the frame image data after the mask processing A second passenger presence / absence detecting means for detecting whether or not there is a passenger, and a second inversion processing means for performing the door opening operation when the second passenger presence / absence detecting means determines that there is a passenger. Elevator door safety device. In the elevator door safety device to ensure the safety of passengers who use the elevator car,
A photographing lens that is provided in an upper frame above the car door of the car and that captures and collects an image of a wide area covering a limited danger detection area in the vicinity of the car door and a caution detection area surrounding the danger detection area; ,
A camera that takes images of a wide area collected by this taking lens;
Frame image data taken by the camera after opening the door of the elevator door is captured, and the door opening operation is executed when it is determined that the vehicle is in a dangerous state from the image of a passenger moving from the attention detection area to the danger detection area. An elevator door safety device, comprising: In the elevator door safety equipment according to claim 3,
The elevator control means was photographed by the camera according to a predetermined frame rate after opening the door after landing on the call registration floor, and the operation control means for controlling the elevator on the call registration floor for the hall call and the car call Frame image data collection means for sequentially collecting frame image data, movement direction data of passengers obtained from the movement position data of the same passenger image present in the plurality of frame image data collected by the collection means and the frame rate -Based on the moving speed, when it is determined that there is a danger judgment means for judging the danger of a passenger moving from the attention detection area to the danger detection area, and the danger judgment means, the door opening operation is performed. A safety device for an elevator door, comprising: a first reversing processing means to be executed. The safety equipment for an elevator door according to claim 4,
Even when it is determined by the danger judging means that the passenger is not in a dangerous state, a passenger image having a predetermined movement speed sufficiently slower than the normal movement speed of the passenger is directed from the caution detection area to the danger detection area. The specific passenger risk determination means for determining that the passenger is in a dangerous state when moving, and the door opening operation of the elevator door is extended when the specific passenger risk determination means determines that the passenger is in a dangerous state. A safety device for an elevator door, further comprising a second reversing processing means. In the elevator door safety device according to claim 1 or 3,
A safety device for an elevator door, wherein the photographing lens is a spherical reflecting mirror that reflects an image of the wide area and collects and focuses an image on an image pickup device of the camera. In the elevator door safety device according to claim 1 or 3,
A safety device for an elevator door, characterized in that a transmissive condensing lens that condenses and forms an image on the image sensor of the camera while transmitting and refracting an image of the wide area is used as the photographing lens.

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