JP2012180190A - Space measurement system and measuring method, and elevator control system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To decide whether an object can penetrate into a surveillance domain by monitoring presence situation of human and baggage (called the object) through measuring the surveillance domain with a laser sensor.SOLUTION: The space measurement system includes: a laser monitoring device which irradiates a surveillance domain with a laser beam from laser sensor to obtain ranging data from the surveillance domain; an object recognition database in which classifies to register preliminary three-dimensional size of an object specified into a plurality of sizes for each size, a detection part which computes three-dimensional data of the object by taking difference to a background data of the surveillance domain for the ranging data of surveillance domain obtained by the laser monitoring device, and a decision part which collates the object data computed by the detection part with the size of object registered into an object recognition DB, wherein, when the size of detected object as a result of collation is decided to be over the specific object size registered into the object recognition DB, the decision part outputs information indicating that interest.

Description

  The present invention relates to a space measurement system, a measurement method, and an elevator control system, and in particular, by measuring a spatial region such as a lift car using a laser sensor, from the presence status and density of objects in the region. The present invention relates to a space measurement system, a measurement method, and an elevator control system that can monitor a use situation and ensure a comfortable use state.

  Various technologies have been proposed for controlling the elevator operation by monitoring the space of the elevator car and the number of people waiting on each floor. For example, Patent Document 1 discloses personal information such as waiting time and priority rank of a user on an intermediate floor in order to eliminate the excessive waiting time that the user cannot get on the elevator during the elevator operation. A technology for automatically ensuring that a user can ride safely when the elevator arrives is controlled by controlling the operation of the elevator corresponding to the above.

JP-A-2005-330062 JP 2009-85927 A

  The technology described in Patent Document 1 automatically adjusts the full capacity setting of the load sensor of the car in the downward direction based on the priority rank and waiting time registered by the elevator user who has a long waiting time for the elevator on the intermediate floor. , You can automatically restrict boarding by setting up a new seat when you respond to a call floor on the way, and operation control by automatically ensuring that the elevator can get on the floor where the user is in non-normal driving However, there was a problem that the usage situation (occupation ratio of the elevator car) in the elevator car actually could not be accurately grasped.

It is possible to determine whether an object can enter the monitoring area by measuring the monitoring area using a laser sensor and monitoring the presence of a person or a luggage (referred to as an object). It is to provide a spatial measurement system and a measurement method.
An object of the present invention is to detect the proportion of an object by measuring the inside of an elevator car as a monitoring area using a laser sensor, and controlling the passing or stopping of the passenger car based on this proportion. Elevator control system that makes it possible to ensure a comfortable use state for users in the car by controlling the car so that it passes through the call floor where the waiting user is present even when there is a surplus in the loading weight. Is to provide.

The spatial measurement system according to the present invention is preferably a spatial measurement system that detects an object in a monitoring region using a laser sensor and measures a situation in which the object occupies the space of the monitoring region,
Laser monitoring device that irradiates laser light to the monitoring area with a laser sensor and obtains distance measurement data from the monitoring area, and object recognition that is pre-registered by dividing the three-dimensional size of the object to be identified into a plurality A detection unit that calculates a three-dimensional data of an object by taking a difference between the database (DB) and distance measurement data of the monitoring area obtained by the laser monitoring apparatus and background data of the monitoring area, and the detection A judgment unit that collates the object data calculated by the unit with the size of the object registered in the object recognition DB, and the judgment unit determines that the size of the detected object is When it is determined that the specific object size registered in the object recognition DB is exceeded, information indicating the fact is output, and the space measurement system is configured.

The spatial measurement method according to the present invention is preferably a spatial measurement method for detecting an object in a monitoring region using a laser sensor and measuring a situation in which the object occupies the space in the monitoring region,
Using the laser monitoring device, the step of irradiating the monitoring region with laser light by a laser sensor to obtain ranging data from the monitoring region, and the ranging data of the monitoring region obtained by the laser monitoring device, The detection step for calculating the three-dimensional data of the object by taking the difference from the background data of the monitoring area, the object data calculated in the detection step, and the three-dimensional size of the object to be identified are divided into a plurality of It has a judgment step of collating with the size of the object registered in the object recognition database (DB) registered in advance, and the size of the object detected as a result of the collation in the judgment step is the object recognition DB. When it is determined that the specified object size exceeds the registered size, information indicating that is output, and the spatial measurement method is characterized.

The elevator control system according to the present invention is preferably an elevator control system for controlling the elevator to stop or pass through the call floor in response to a call request from a certain floor.
A weight monitoring unit for monitoring the weight in the car, a call response unit for responding to a request from the call floor, a monitoring status of the car by the weight monitoring unit, and the call for a request from the call floor A control unit that controls stop and passage of the elevator with respect to the call floor according to information from the response unit;
A laser monitoring device that uses the inside of the car as a monitoring area, irradiates laser light from a plurality of laser sensors, and obtains distance measurement data from the monitoring area;
An object recognition database (DB) in which a three-dimensional size of an object to be identified is divided into a plurality and registered in advance;
About the ranging data of the monitoring area obtained by the laser monitoring device, a detection unit that calculates the three-dimensional data of the object by taking the difference from the background data of the monitoring area;
A judgment unit that collates the object data calculated by the detection unit with the size of the object registered in the object recognition DB, and the judgment unit detects the size of the object detected as a result of the collation; Is determined to exceed the specific object size registered in the object recognition DB, information indicating that is sent to the control unit,
The control unit is configured to control the elevator to pass through the call floor without stopping even when there is a request from the call floor and the weight of the car by the weight monitoring unit is sufficient. Configured as an elevator control system.

According to the spatial measurement system and the measurement method of the present invention, it is possible to monitor the presence of an object in the monitoring area by performing spatial measurement in the monitoring area with a laser sensor and determine whether the object can enter the monitoring area. Judgment can be made.
Further, according to the elevator control system of the present invention, by integrating and controlling the loading weight of the car and the vacant space (use density), even if there is room for the car to ride, When it is judged that there is not enough or less free space in the car due to users in the car and luggage, etc., even if the user is waiting at the calling floor, the user can pass through that floor to use it in the car. Can maintain a comfortable state.

The figure which shows the structure of the space measurement system by one Example. The figure which shows the structure of the elevator control system by one Example. The figure which shows the mode of the space measurement which looked at the inside of the passenger car in one Example from the top. The figure which shows the mode of the space measurement which looked at the inside of the passenger car in one Example from the side. The flowchart for demonstrating control operation of the elevator by one Example. The flowchart for demonstrating the processing operation | movement which determines the size of the person by one Example. The figure which shows the structure of object recognition data DB which recognizes the size of the object in one Example.

DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of the invention will be described in detail with reference to the drawings.
FIG. 1 shows a configuration of a space measurement system according to an embodiment.
The spatial measurement system includes a plurality (three in the drawing) of laser monitoring devices 10 and a spatial measurement device 11. The plurality of laser monitoring devices 10 include a laser sensor 102 installed at a different location in the elevator car (for example, three corners of the ceiling of the car) and a predetermined area (an area irradiated with laser) in the car. A laser control unit 103 that irradiates a laser to a monitoring area and acquires distance measurement data of a person, a baggage (hereinafter referred to as an object) and the background of the monitoring area by a laser sensor 102. The laser control unit 103 obtains distance measurement data from the laser sensor 102, for example, every resolution of 0.25 °. The laser control unit 103 measures the distance to the object over time while changing the angle of the range of 270 ° in front of the monitoring area of each laser sensor 102 in frames of 0.25 °, and the distance measurement data Are sequentially sent to the space measuring device 11.

  The space measurement device 11 includes a detection unit 112, a determination unit 113, a database (DB) 114, and an input / output interface (IF) unit 115. The space measurement device 11 is configured by a computer such as a server, for example, and forms, as hardware, a processor (CPU) that executes a program and a DB 114 that stores various data related to distance measurement data and the position of an object. It has a storage device. By executing the application program on the CPU, functions of a detection unit 112 that detects an object using distance measurement data and a determination unit 113 that determines which object size the detected object is determined in advance are realized. . (The functional operations of the detection unit 112 and the determination unit 113 will be described in detail later.) In the DB 114, an object recognition data DB (see FIG. 7) in which the relationship between a specific object name and its size is registered is formed. The The input / output IF unit 115 is connected to the input / output IF unit 204 of the elevator monitoring device 2, and reflects the object determination result in the space measurement device 11 in the control of the elevator. Although not shown, the input / output IF 115 is connected to input / output devices such as an input device and a display device.

Here, functions of the detection unit 112 and the determination unit 113 of the space measurement device 11 will be described in detail.
Regarding the distance measurement data obtained from each laser sensor 102, the detection unit 112 may have pre-acquired background data (range measurement data in the unattended monitoring area) and subsequently obtained objects. The difference between the distance measurement data is taken to calculate the data of the object that actually exists. In addition, the detection unit 112 integrates each distance measurement data obtained from the three laser lasers 102 via the laser control unit 103 into one data in order to recognize an object in the monitoring area. This is a process of superimposing ranging data from each laser sensor and converting it into one (indicated by x, y) polar coordinate system data with each laser sensor as the origin. For example, by using arbitrary coordinates for each frame as the origin, and converting the coordinates of each laser sensor from the origin, and the coordinates in consideration of the inclination (pitch angle, roll angle, yaw angle) of the sensor into measurement point data, A space measured by a plurality of laser sensors can be integrated into one coordinate system. Thereby, it is possible to obtain distance measurement data obtained by calibrating (correcting) the deviation or mismatch of the distance measurement data in the laser sensor in the monitoring area (inside the car). For example, Patent Document 2 discloses that object data is obtained by taking a difference from background data and distance measurement data from a plurality of laser sensors is integrated.

  The determination unit 113 uses the object detection data from the detection unit 112 to collate with the data in the object recognition data DB, thereby determining the degree of free space (object usage density) from the occupied state in the monitoring area. Even if the presence position of an object is detected in the space, it is judged that it is possible to enter the empty space when there is a setting space that allows a new object to enter. It is judged that boarding is impossible. The determination result by the determination unit 113 is sent to the input / output IF unit 203 of the elevator monitoring device 2 via the input / output IF unit 115.

The configuration of the object recognition data DB will be described with reference to FIG. The object recognition data DB stores data of an object name to be specified, an object size to be specified (vertical x horizontal x high), an object usage density (ratio), and a standard of space corresponding to the code.
Here, the calculation of the ratio (usage density) of the empty space from the occupied state in the monitoring area and the determination of boarding the car based on the usage density will be described.

[Calculation Example 1]
Regarding the calculation of the usage density of the object, the spatial value is calculated from the target “volume X of the car, volume Y of the object” by Expression (1), and the ratio (%) is calculated by Expression (2).

Spatial value = (volume of the car X−volume Y of the object) ÷ (volume of the car X) Equation (1)
Usage density = (1−space value) × 100% Formula (2)
Using a standard size (length x width / cm, for example, 60 cm square) used to detect people, for example, if the capacity of the car is 16 people, one side of the car square As four people, find the vertical and horizontal size of the car.
In addition, regarding the volume X of the car and the volume Y of the object in Equation (1), the space size in the height direction (190 cm) is a uniform condition because the user stands in the car, and the size is vertical x horizontal. The space value and utilization density [%] are calculated from This corresponds to a specific size of the code 40 (space for 16 people), vertical (4 people x 60 cm) x horizontal (4 people x 60 cm) = 240 x 240 cm (corresponding to the volume X of the car (however, The space size (190 cm) in the height direction is required to be uniform.

  From this, when the space value and the ratio [%] are calculated, for example, the specific size of the code 20 (space for four people) is vertical x horizontal = 130 x 130 cm (equivalent to the volume Y of the object, but in the height direction) The spatial size (190 cm) is a uniform condition), and the spatial value from formula (1) is approximately 0.71 ((240 × 240 cm) − (130 × 130 cm)) ÷ (240 × 240 cm)), and the ratio from formula (2) is approximately 29% ((1-0.71) × 100%).

  Similarly, the specific size of the cord 30 (space for 8 people) is vertical × horizontal = 180 × 180 cm (equivalent to the volume Y of the object, the same condition), and the spatial value ≈0.44 ((240 × 240 cm ) − (180 × 180 cm)) ÷ (240 × 240 cm)), and the usage density≈56% ((1−0.44) × 100%) from the equation (2).

The specific size of the code 36 (space for 12 persons) is vertical x horizontal = 240 x 180 cm (equivalent to the volume Y of the object, the same condition), and the spatial value ≈ 0.25 ((240 x 240 cm) from equation (1) − (240 × 180 cm)) ÷ (240 × 240 cm)), and the ratio≈75% ((1-0.25) × 100%) from the equation (2).
The above means that the space ratio for using the car requires 29 [%] for 4 to 5 users, 56 [%] for 8 users, and 75 [%] for 12 users. .

For example, the percentage% shown in the object recognition DB (FIG. 7) is
Codes 10 and 11: In the case of space for two people, the usage density is 14 [%]
Code 20-22: In the case of a space for 4-5 people, the usage density is 29 [%]
Code 30-32: In case of space for 8 people, the usage density is 56 [%]
Code 35: In the case of space for 10 people, the usage density is 72 [%]
Codes 36 and 37: In the case of a space for 12 people, the usage density is 75 [%]
Code 38, 39: In the case of a space for 14 people, the usage density is 83 [%]
Code 40-42: Use density is 94 [%] in the case of a space for 16 people
Is calculated as
With reference to the usage density of the object recognition data DB, it is determined whether or not a new object can be entered (person boarding).

Next, an example of using a size for identifying an object based on the object recognition data DB and determining whether or not a person can board with reference to the usage density will be described.
In the determination process of the free space (S603 in FIG. 6), the object data is compared with the data of the object recognition data DB, and the object is specified based on the object size (vertical × horizontal × high). In order to determine the size of each object existing in the car, the determination as to whether or not the user can board is performed by using the object usage density in the object recognition data DB to obtain a total value.

[Calculation Example 2]
For example, when there are 8 passengers in the car, and the percentage of free space for boarding is calculated, the combination of sizes occupied by the car in the car is (a) 1 + 7 people, (b) It is estimated that there are 2 + 6, (c) 3 + 5, and (d) 4 + 4.
The usage densities at this time are (a) 6.3 + 44.1%, (b) 12.6 + 37.8%, (c) 18.9 + 31.5%, and (d) 25.2 + 25.2%. It can also be seen that the existing passengers occupy the space at a rate of 50.4%, and that the remaining free space ratio is approximately half.

By adding the utilization density for the percentage of this used space and calculating the total value, the percentage of the empty space in the car can be grasped. It is possible to quickly determine whether or not boarding is possible from the state where the ratio of free space is relatively small.
This process is normally executed every time the door is closed (trigger) after getting in and out of the car. Therefore, even if a call is called from a certain floor during the movement of the elevator, the elevator The stop can be controlled.
Specifically, the determination of whether or not boarding is possible is monitoring whether there is a free space in which a person can board.

  In the present invention, there is a condition that there is a space of at least two people on board, and when it is determined that there is space for two people, there is a possibility that a space for four more people may be detected. In order to detect a larger vacant space, it functions to update a code having a large size of a specific size (vertical x horizontal) (height is treated as a constant value as described above).

[Calculation Example 3]
If the capacity of the car is 16 persons, the ratio of the space occupied by each person is calculated from the usage density (6.3%) for one person from Equation (1) and Equation (2). (12.6%) 4 (25%), 8 (50%), 12 (75%), 14 (87.5%), 16 (100%) .
For example, if 12 people are already in the car and 4 people are assumed to board the remaining empty space, the percentage of space occupied as the density of use is the proportion of 12 people scattered in the car. It is the total value, assuming that there are six 1 2.6% planes (vertical x horizontal) with a usage density of 2 (a) 75.6%, and 4 planes (vertical x horizontal) 25%. Assuming that there is a surface area, (b) 75% is obtained, and it can be seen that the remaining free space is approximately 25% (100-75%).

[Calculation Example 4]
On the other hand, 75% of the usage density for 12 persons set in the object recognition data DB (FIG. 7) is also close to this. Furthermore, when each usage density is calculated with reference to the object recognition data DB, it is assumed that there are 6 planes (vertical x horizontal) 14% of usage density 2 people (a) '84%, 4 (B) '87% is calculated assuming that there are three human faces (vertical x horizontal) 29%. Judgment on whether or not boarding by the actual calling floor is possible is made by referring to the value of the object recognition data DB, and judging from a condition that is stricter than the value obtained from the space density of one person.
In this case, the use density that can be boarded in a specific empty space is 13 to 16%. From the object recognition data DB, it is determined that there is a space for two people and boarding is possible, and the stop of the elevator is controlled.
The usage density set in the object recognition data DB may be dynamically updated from the control of the elevator that is implemented over time by providing a learning function, or can be implemented with deformation. It is.

FIG. 2 shows the configuration of the elevator control system.
On each floor of the building where the elevator is installed, a call button 208 that is operated by the user 7 and a display 209 that displays fullness / passage and the like are installed. The elevator controller 2 includes a weight monitoring unit 201 that monitors the weight of the car, a door opening / closing monitoring unit 202 that monitors the opening / closing of the car door, and a call response unit 203 that receives a call signal from a call button 208 installed on each floor. The input / output IF unit 204 that receives information from other elevators and the information from the input / output IF unit 115 of the space measuring device 11 and signals from the units 201 to 204 are received, and the stop and the elevation of the display unit 209 and the elevator are controlled. And a control unit 205.

  When the user 7 presses the call button 208 when getting on the elevator on any floor, information on the floor on which the call button 208 is pressed is registered in the call response unit 203. Further, the laser monitoring device 10 constantly monitors the presence of an object in the elevator car which is the monitoring area by the laser sensor 102, and measures the distance of the space in the monitoring area. The detection unit 112 of the space measurement device 11 obtains distance measurement data from a plurality of monitoring units, and the determination unit 113 determines the spatial density of an object in the car.

  In response to the signal from the call response unit 203, the control unit 205 outputs a signal from the car weight monitoring unit 201 (loading weight detection result) and a determination information on the space in the car from the space measuring device 11. Used to issue a command to pass or stop the car. The control unit 205 displays a full / passed display on the display 209 of each floor in order to inform the user of the operation status of the elevator.

The main conditions for carrying out space measurement of the surveillance area (car) are: (1) The user calls the car to the floor, so if the call is registered, (2) the user who arrives at the car that has arrived at the floor Boarding, doors closed, and when the destination is registered for the user to specify the destination floor. (3) In the installation environment of multiple elevators, if the call is registered from one of the elevator links, (4) When driving to a designated floor and calling and registering to a lift designated for passing through.
According to the present invention, the elevator is stopped or moved by detecting the space state in the car with a laser sensor regardless of the weight of the car. This will be described later with reference to FIGS.

3 and 4 show the state of space measurement when the inside of the elevator car is viewed from above and from the side.
The car 30 includes an entrance 301 and an operation panel 303, and three laser sensors 102 are installed at three corners of the ceiling. Reference numeral 305 denotes a user, and reference numeral 306 denotes a package.
The spatial measurement ranges by the laser sensor are a distance measurement range 307 of the laser sensor A, a distance measurement range 308 of the laser sensor B, and a distance measurement range 309 of the laser sensor C. By using these three laser sensors, the usage density occupied by the user 305 and the luggage 306 in the car 40 is monitored to measure the space.

In this embodiment, in order to measure an object in the space in the car 30 by the laser sensor 102, a trick-like search grid 304 is set in the monitoring area, and an object existing in the search grid 304 is detected. , The space usage density can be detected.
In the present embodiment, in the case of space measurement in a car, there are conditions that can be assumed because the vehicle rides in a limited space and functions as an elevator. For example, (a) Capacity is set for getting into the space (car). (B) There is a load weight limit in the space (car), and if this is exceeded, a warning or message will be issued, or the lift operation of the car will be restricted. (C) In determining whether or not it is possible to enter a free space, there is a free space of a standard size (vertical x horizontal / cm, for example, 60 cm square) used when detecting a person. One person has a space where they can exist, and makes a judgment based on this.

  In the case of the present embodiment, at least 50 cm square is necessary for the empty space considering that one person has entered the space (the car), but in actuality, in the empty space for one person, the load weight limit In the situation where the upper margin is assumed to be small, when responding to a request to the user's call floor, an empty space where at least two people can board (for example, vertical x horizontal x height / cm 2 Since it is necessary to have 60 × 120 × 190 cm in the space for people (vertically long space) and 120 × 60 × 190 cm in the space for 2 people (landscape) space, the setting value of the search grid 304 in space measurement is A specific size (vertical × horizontal × height / cm) indicated by codes 10 to 40 of the object identification data DB (FIG. 7) is set as a standard size used for detection. The size of the search grid 304 in the free space measurement can be set based on the object to be recognized, and can be optimally set depending on the use.

Next, an elevator control operation in the elevator control system will be described with reference to FIG.
First, when the user presses the call button 208 when getting on the car, the call response unit 203 obtains a signal with a call floor by pressing the call button (S501), and registers the floor where the call button 208 is pressed. (S502). On the other hand, if the call floor button is not pressed and there is no call floor, the door opening / closing operation at the entrance / exit of the car is monitored (S503).

  If the entry of the object into the passenger car in S503 is open / closed by monitoring the door of the entrance / exit, or if the registration of the call floor is completed in step S502, the door opening / closing operation of the entrance / exit is detected and the elevator car is moved. The vacant space is measured over time for the object to enter (S504). When there is no door opening / closing at the entrance / exit, a transition is made to monitoring of presence / absence of a call floor signal (S501) (S503).

  In the free space measurement (S504), as an operation process by the detection unit 112, the free space is determined (S505) from the measurement of the free space over time for the object to enter the car. In the determination of the empty space (S505), the ratio of people and objects in the car by the space measuring device 11 is determined. This process will be described in detail later with reference to FIG.

  As a result of the determination of free space (S505), if there is free space, the process proceeds to weight / capacity determination (S506) by the weight monitoring unit 201. If there is no free space, the display 209 indicates “full / pass Is displayed (S508). On the other hand, as a result of the determination of the empty space (S505), when there is an empty space and it is assumed that an object is to enter the car space, the weight monitoring unit 201 determines the weight / capacity and When it is determined that the weight is within the specified range, the process proceeds to determination of presence / absence of a call floor request (S507).

  When it is determined in the previous weight / capacity determination (S506) that the weight is within the specified range, if the call answering unit 203 determines that the call registration is present by the call button signal from the user, the stop for boarding of the object is performed. The control unit 205 controls the stop of the car (S510). If the call answering unit 203 determines that no call registration is made, it is not necessary to place an object, so the control unit 205 controls the passage of the elevator and displays “full / passed” on the display 209 ( S508).

If it is determined in the previous free space determination (S505) that there is no free space or if there is no free space, or if it is determined in the previous weight / capacity determination (S506) that the weight exceeds the specified level, then the previous call floor When it is determined that there is no call registration in the request presence / absence determination (S507), “full / passed” is displayed on the display 209 of each floor (S508).
When the call registration by the user pressing the button (S502) and the call determination is present in the previous determination (S507) and it is determined that the object is stopped for boarding, the control unit 205 controls the stop of the car. . Note that the control unit 205 controls the passing of the car when displaying “full / passed” on the display 209 (S509).

Next, the vacant judgment process (S505), which is characteristic of the present invention, will be described.
The determination as to whether a person waiting on a certain floor is newly placed on the car is made based on detection and determination of an object using distance measurement data by a laser sensor in the space measurement device 11.
Obtain distance measurement data from the laser sensor to detect the presence of objects in the car, take the difference between the background data acquired in advance and the space where the objects exist, and at least two people (users) get on Determine if there is enough space. The presence / absence of the space is determined by the specific size (vertical × horizontal × height) [cm] of the object registered in the object recognition data DB (FIG. 7).

Since the actual car is dotted with objects, the percentage of available space that can be boarded when viewed from the entire car must be the sum of the usage density used by the first scattered object It is. Therefore, it is possible to board by adding the ratio from the size of each scattered object to the space using the usage density [%] registered in the recognition data DB (FIG. 7) to obtain a total value and subtracting it from the whole. Know the percentage of free space.
This method will be described in detail in the process (FIG. 6) by data collation between the object data and the object recognition data DB (FIG. 7).

With reference to FIG. 6, the operation of the free space determination process (S505) will be described in detail.
In this determination process, the space measurement device 11 acquires background data (unmanned space) in the car in advance and stores it in the DB 114.
First, the detection unit 112 of the space measurement device 11 acquires distance measurement data obtained by measuring the inside of the car by each laser sensor 102 of the laser monitoring device 10 (S601). Then, the difference between the acquired distance measurement data and the background data acquired in advance in the DB is calculated to detect an object in the car (S602).

The detected object data is three-dimensional data, and includes data of objects such as people and luggage. This object data is collated with a specific size (vertical × horizontal × high) [cm] of an object registered in advance in the object recognition data DB (FIG. 7).
For object data verification, if the space in the car is not filled with objects (the condition is satisfied and there is room in the space), the free space that exists in the space is obtained while calculating the total value for the usage density [%] In step S604, the specific size of the object (vertical × horizontal × height) is changed from the small size (code 10 in FIG. 7) to the large space (toward code 91). ) Control is performed while sequentially making a transition (S605) to update.

On the other hand, if the density of the object is satisfied at a specific size (the condition is not satisfied and there is no room in the space), the total amount of the usage density [%] is calculated, and the percentage of free space that exists there is insufficient. The process proceeds to recognition S606 (S603).
As a result of collation in step S603, there is a margin (allowing boarding) for the percentage of empty space in the car from the sum of the utilization density [%] of the object recognition data DB (FIG. 7), or the empty space in the car Recognize that the ratio is insufficient (no boarding) (S604).

  In step S604, the specific size (vertical x horizontal x high) of the object is changed from the total value of the usage density [%] to a larger size (code 11) after recognizing that there is a margin (possible boarding) in the ratio of free space existing there. Update sequentially (S605), and return to processing step S603. In the collation determination process (S603), for example, if there is a space for two people, there is a possibility that a space for four more people may be detected. X horizontal x high) is updated to a larger size (code 20).

On the other hand, when the density of the object is satisfied with the specific size determined after recognizing that the ratio of the empty space in the car is insufficient (boarding is impossible) from the total value of the usage density [%] in step S604 (condition) If it is not established and there is no room in the space), it is determined that boarding is not possible (passing) because there is no boarding space for passengers full or new passengers (S606).
In the case of passing of the car, “full / passed” is displayed on the indicator 209 installed on the passing floor.

  Here, regarding the recognition of whether or not boarding is possible, the elevator moves and stops (with modification of the door) repeatedly, so that the percentage of free space is adjusted over time from the total value of the used space for changing conditions. By recognizing the stoppage, it is possible to facilitate the stop determination in the determination of presence / absence of a call floor request (S507).

  In this way, the actual size of the object data detected by the detection unit 112 and the specific size (vertical × horizontal × high) in the object recognition data DB (FIG. 7) are sequentially compared, and the actual object size is The above collation operation is continued until the specific size of the object in the object recognition data DB (FIG. 7) is exceeded. As a result of the collation determination process (S603), if the actual object size exceeds the specific size of the object in the object recognition data DB, the value indicated by the code at that time corresponds to the usage density in the car.

For example, if the code is 31 as a result of collation, it is determined that there is a space in the car and that a person can still get on, and the process proceeds to step S506. On the other hand, in the case of the code 40, it is determined that there is no space in the car and the process proceeds to step S508. In this case, even if the weight / capacity in the car is below the limit, the control unit 205 of the elevator control device 2 controls the car to pass through the call floor.
In step S506, the weight / capacity is determined, the control of the passing / stopping of the car on the calling floor is determined (S507), and the passing or stopping of the elevator is controlled (509).

10: Laser monitoring device 102: Laser sensor 103: Laser control unit
11: Spatial measurement device 112: Detection unit 113: Determination unit 114: DB 115: Input / output IF unit 2: Elevator control device 201: Weight monitoring unit 202: Door open / close monitoring unit 203: Call response unit 204: Input / output IF unit 205 : Control unit 208: Call button 209: Indicator 30: Car

Claims (3)

A spatial measurement system that detects an object in a monitoring area using a laser sensor and measures a situation in which the object occupies a space in the monitoring area,
A laser monitoring device that irradiates the monitoring area with laser light by a laser sensor and obtains distance measurement data from the monitoring area;
An object recognition database (DB) in which a three-dimensional size of an object to be identified is divided into a plurality of sizes and registered in advance;
About the ranging data of the monitoring area obtained by the laser monitoring device, a detection unit that calculates the three-dimensional data of the object by taking the difference from the background data of the monitoring area;
A determination unit that collates the object data calculated by the detection unit with the size of the object registered in the object recognition DB;
When the determination unit determines that the size of the detected object exceeds the specific object size registered in the object recognition DB as a result of the collation, the determination unit outputs information indicating that fact. Spatial measurement system. A spatial measurement method for detecting an object in a monitoring area using a laser sensor and measuring a situation in which the object occupies a space in the monitoring area,
Using a laser monitoring device, irradiating the monitoring area with laser light with a laser sensor to obtain ranging data from the monitoring area;
About the ranging data of the monitoring area obtained by the laser monitoring apparatus, a detection step of calculating the three-dimensional data of the object by taking a difference from the background data of the monitoring area;
The object data calculated in the detection step is collated with the object size registered in the object recognition database (DB) registered in advance by dividing the three-dimensional size of the object to be identified into a plurality of sizes. A determination step to
When it is determined that the size of the detected object exceeds the specific object size registered in the object recognition DB as a result of the collation in the determination step, information indicating that is output. Spatial measurement method. In accordance with a call request from a certain floor, the elevator control system for controlling the elevator to stop or pass through the call floor,
A weight monitoring unit for monitoring the weight in the car, a call response unit for responding to a request from the call floor, a monitoring status of the car by the weight monitoring unit, and the call for a request from the call floor A control unit that controls stop and passage of the elevator with respect to the call floor according to information from the response unit;
A laser monitoring device that uses the inside of the car as a monitoring area, irradiates laser light from a plurality of laser sensors, and obtains distance measurement data from the monitoring area;
An object recognition database (DB) in which a three-dimensional size of an object to be identified is divided into a plurality of sizes and registered in advance;
About the ranging data of the monitoring area obtained by the laser monitoring device, a detection unit that calculates the three-dimensional data of the object by taking the difference from the background data of the monitoring area;
A determination unit that collates the object data calculated by the detection unit with the size of the object registered in the object recognition DB;
If the determination unit determines that the size of the detected object exceeds the specific object size registered in the object recognition DB as a result of the collation, the determination unit sends information indicating the fact to the control unit. ,
The control unit is configured to control the elevator to pass through the call floor without stopping even when there is a request from the call floor and the weight of the car by the weight monitoring unit is sufficient. Elevator control system.

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