JP2014144826A - Elevator monitor device and method - Google Patents
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本発明は、エレベータ監視装置及びエレベータ監視方法に関する。 The present invention relates to an elevator monitoring apparatus and an elevator monitoring method.
エレベータ乗りかご内において、乗客や荷物などにより詰める余地の無い状態を満員状態という。また、満員でなくとも詰める余地の広さに応じて混雑状態を定量化することができる。そして、特許文献１には、かご内の上部あるいは側板に真下を見下ろすカメラを設置して、乗客あるいは荷物による床の占有面積の変化を計測することが記載されている（段落０００６）。また、特許文献２には、真下を見下ろすかご内カメラで撮影した画像から人物が搭乗する際に人物高を計測し、背景差分によって検出した乗客等に該当する面積を前記人物高に基づいて補正する装置が記載されている（段落００４３〜００４９）。また、特許文献３には、乗りかご内に設置したステレオカメラによる物体までの距離情報とカメラの配置情報から被写体の高さと存在位置を計測することが記載されている（段落００３９〜００４２）。また、特許文献４には、道路を斜め下方に俯瞰する単一カメラで車両を監視する装置及び方法が記載されている。ここでは、予め決めておいた大型車両と小型車両の典型的な大きさに基づいて、透視投影で求めた車両位置の補正をしている。 A state where there is no room to be packed with passengers or luggage in an elevator car is called a full state. Moreover, the congestion state can be quantified according to the size of the room to be packed even if it is not full. Patent Document 1 describes that a camera that looks down directly on an upper part or a side plate of a car is installed to measure a change in the occupied area of the floor due to passengers or luggage (paragraph 0006). Further, in Patent Document 2, the person height is measured when a person gets on board from an image taken with a camera in the car looking down directly, and the area corresponding to the passenger detected by the background difference is corrected based on the person height. An apparatus is described (paragraphs 0043-0049). Patent Document 3 describes that the height and location of a subject are measured from distance information to an object by a stereo camera installed in a car and camera arrangement information (paragraphs 0039 to 0042). Patent Document 4 describes an apparatus and a method for monitoring a vehicle with a single camera that looks down a road obliquely downward. Here, the vehicle position obtained by perspective projection is corrected based on typical sizes of a large vehicle and a small vehicle that are determined in advance.
また、エレベータ乗りかごには防犯用のカメラが設置されることが一般的となってきており、この防犯カメラの取得する画像を利用して、乗りかごの満員判定や混雑度計測をすることが求められている。防犯カメラは乗りかごの奥隅に搭乗口に向けて設置されることが多い。 In addition, it is becoming common for elevator cars to be equipped with security cameras, and it is possible to use the images acquired by these security cameras to determine whether the car is full or to measure the degree of congestion. It has been demanded. Security cameras are often installed in the back corners of the car toward the boarding gate.
エレベータ乗りかごの天井から床を真下に俯瞰するカメラを使って、例えば特許文献１のように、搭乗者による床の占有面積を計測することは比較的容易である。しかしながら、乗りかご天井隅から斜め下方を俯瞰する防犯カメラの取得する画像では、見掛け上、人物が覆う床面積は実際の占有面積よりも大きく計測され、このために、実際よりも高い混雑度に評価されたり、満員でないのに満員と判定されたりしてしまうという課題があった。 It is relatively easy to measure the floor area occupied by the occupant using, for example, Patent Document 1 using a camera that provides an overhead view of the floor from the ceiling of the elevator car. However, in an image acquired by a security camera that looks down diagonally downward from the ceiling corner of the car, the floor area covered by a person is apparently measured to be larger than the actual occupied area. There was a problem that it was evaluated or it was judged to be full even though it was not full.
特許文献２ではカメラに映った乗客の面積から乗客数を見積もるにあたり、カメラと被写体の距離が近いと乗客面積が大きくなることに鑑みて、乗客の高さに応じた補正係数を乗じることで乗客面積に補正を加えている。しかし、斜め上方から俯瞰した場合の補正はしていないため、乗客の立位置により混雑度を過大評価する課題については特許文献１と同様である。 In Patent Document 2, in estimating the number of passengers from the area of passengers reflected in the camera, in view of the fact that the passenger area increases when the distance between the camera and the subject is close, the passenger is multiplied by a correction coefficient corresponding to the height of the passenger. The area is corrected. However, since correction is not performed when the bird's-eye view is viewed obliquely from above, the problem of overestimating the degree of congestion based on the standing position of the passenger is the same as in Patent Document 1.
特許文献３では、ステレオ測距値から対象物の高さと存在位置を計測することができる。しかし、防犯カメラの他にステレオ測距用のカメラを少なくとも２つ以上追加する必要があり、このための装置費用の増加及び、カメラ増によって乗りかご内の美観が低下するという課題があった。 In Patent Document 3, the height and location of an object can be measured from a stereo distance measurement value. However, it is necessary to add at least two cameras for stereo distance measurement in addition to the security camera, and there has been a problem that the device cost for this purpose increases and the aesthetics in the car is lowered due to the increase in cameras.
特許文献４では、道路を斜め下方に俯瞰する単一カメラで車両を監視する装置及び方法が記載されている。ここでは、予め決めておいた大型車両と小型車両の典型的な大きさに基づいて、透視投影で求めた車両位置の補正をしている。この方法をそのままエレベータ乗りかご内に適用すると、道路より遥かに狭い領域である乗りかご領域において、典型的な人物高や幅を幾つか用意していても、補正精度が不十分であり、また、車両と異なり、どの人物高や幅を適用すればよいかの判断が難しいという課題があった。 Patent Document 4 describes an apparatus and method for monitoring a vehicle with a single camera overlooking a road obliquely downward. Here, the vehicle position obtained by perspective projection is corrected based on typical sizes of a large vehicle and a small vehicle that are determined in advance. If this method is applied to an elevator car as it is, even if several typical person heights and widths are prepared in a car area that is much narrower than the road, the correction accuracy is insufficient. Unlike vehicles, there is a problem that it is difficult to determine which person height and width should be applied.
そこで、本発明は、エレベータ乗りかご内の一般的な防犯カメラのような、斜め下方を俯瞰するカメラの画像を処理して、乗りかごの混雑度判定を行う、エレベータ監視装置及びエレベータ監視方法を提供することを目的とする。 Therefore, the present invention relates to an elevator monitoring device and an elevator monitoring method for processing a camera image that looks down obliquely downward, such as a general security camera in an elevator car, and determining the degree of congestion of the car. The purpose is to provide.
この課題を解決するために、例えば、エレベータの乗りかご内を撮像する斜め下方に向けて設置された撮像部を備えるエレベータ監視装置において、前記乗りかご内の既知の高さの目印を基準として搭乗者の一部分の高さを計測する搭乗者高さ計測部と、前記撮像部で撮像された画像に基づいて前記搭乗者を前記乗りかご内で追跡する搭乗者追跡部と、前記画像における前記搭乗者の前記一部分の画面上の位置を入力として、前記撮像部から前記搭乗者の前記一部分を前記乗りかごの床に投影したときの真上から見たときの投影位置を算出する搭乗者投影部と、前記撮像部の高さと、前記搭乗者の前記一部分の高さと、前記撮像部の位置と前記投影位置との位置関係とに基づいて、真上から見下ろしたときの前記搭乗者の立位置を算出する搭乗者の立位置算出部と、前記搭乗者の立位置に基づいて、前記乗りかご内を真上から見下ろしたときの全ての搭乗者による占有面積を推定する占有面積推定部と、前記占有面積に基づいて、前記乗りかごの混雑度を判定する混雑度判定部とを有する構成とする。 In order to solve this problem, for example, in an elevator monitoring device including an imaging unit that is installed obliquely downward to image the inside of the elevator car, boarding with reference to a known height mark in the car A passenger height measuring unit that measures the height of a part of the passenger, a passenger tracking unit that tracks the passenger in the car based on an image captured by the imaging unit, and the boarding in the image An occupant projection unit that calculates a projected position when viewed from directly above when the portion of the occupant is projected from the imaging unit onto the floor of the car, using the position of the portion of the occupant on the screen as an input And the position of the occupant when looking down from directly above, based on the height of the imaging unit, the height of the part of the occupant, and the positional relationship between the position of the imaging unit and the projection position. To calculate the tower Based on the standing position of the passenger, the occupied area estimating unit for estimating the occupied area by all the passengers when looking down on the inside of the car from directly above, and the occupied area Based on this, it is configured to include a congestion degree determination unit that determines the congestion degree of the car.
本発明によれば、乗りかご内に斜め下方に向けて設置された撮像部の画像を処理して、乗りかごの混雑度判定をすることができる。尚、上記した以外の課題、構成及び効果は、以下の実施形態の説明により明らかにされる。 According to the present invention, it is possible to determine the degree of congestion of a car by processing an image of an imaging unit installed obliquely downward in the car. Problems, configurations, and effects other than those described above will be clarified by the following description of the embodiments.
本発明の実施形態を、図面を参照しながら説明する。尚、各図において、同一又は類似の構成要素には同じ符号を付し、説明を省略する。 Embodiments of the present invention will be described with reference to the drawings. In the drawings, the same or similar components are denoted by the same reference numerals and description thereof is omitted.
図１は、エレベータ監視装置の構成図の例である。本実施形態のエレベータ監視装置は、演算制御部１と撮像部２とで構成される。演算制御部１は、搭乗者高さ計測部３と、搭乗者追跡部４と、搭乗者投影部５と、搭乗者の立位置補正部６と、占有面積推定部７と、混雑度判定部８と、操作制御部９と、出力部１０とを有する。演算制御部１は、組込用の画像処理装置やパーソナルコンピュータなどを用い各機能の一部または全部をソフトウェアで実現することができる。また、演算制御部１の各機能の一部または全部を集積回路等のハードウェアで構成しても良い。 FIG. 1 is an example of a configuration diagram of an elevator monitoring apparatus. The elevator monitoring apparatus according to the present embodiment includes an arithmetic control unit 1 and an imaging unit 2. The calculation control unit 1 includes a passenger height measurement unit 3, a passenger tracking unit 4, a passenger projection unit 5, a passenger standing position correction unit 6, an occupied area estimation unit 7, and a congestion degree determination unit. 8, an operation control unit 9, and an output unit 10. The arithmetic control unit 1 can implement part or all of each function by software using an embedded image processing apparatus, a personal computer, or the like. Moreover, you may comprise some or all of each function of the arithmetic control part 1 with hardware, such as an integrated circuit.
操作制御部９は、演算制御部１を起動させたり停止させたり、初期化したりを外部から制御可能なユーザインタフェースを含む。出力部１０は、演算制御部１のステータスや、混雑度判定部８の判定結果を外部に出力する機能を有する。 The operation control unit 9 includes a user interface that can be controlled from the outside to start, stop, or initialize the arithmetic control unit 1. The output unit 10 has a function of outputting the status of the arithmetic control unit 1 and the determination result of the congestion level determination unit 8 to the outside.
図２は、エレベータ監視装置の処理の流れの例を示す図である。図２の処理の流れに基づいて、図１に示した構成を説明する。エレベータ監視装置の動作の開始直後は、各部の初期化を行う（ステップｓ０１）。これは演算制御部１の処理に用いるメモリやフラグの初期化である。演算制御部１をパーソナルコンピュータで実現する場合には、メモリの確保と初期化がこれに当たる。演算制御部１は、初期化後は、ステップｓ０２の画像取得からステップｓ０８の混雑度判定出力までの処理を繰り返す。ステップｓ０８からステップｓ０２に戻るに際しては、ステップｓ０９にて、終了の割込み又は電源ＯＦＦが無いかを確認し、これらが無い場合（Ｙ）は上述の繰り返し処理をし、これらがある場合（Ｎ）は処理を終了する。 FIG. 2 is a diagram illustrating an example of a process flow of the elevator monitoring apparatus. The configuration shown in FIG. 1 will be described based on the processing flow of FIG. Immediately after the start of the operation of the elevator monitoring device, each part is initialized (step s01). This is initialization of a memory and a flag used for processing of the arithmetic control unit 1. In the case where the arithmetic control unit 1 is realized by a personal computer, memory allocation and initialization correspond to this. After initialization, the arithmetic control unit 1 repeats the processing from the image acquisition in step s02 to the congestion degree determination output in step s08. When returning from step s08 to step s02, it is confirmed in step s09 whether there is an end interrupt or power-off, and if there are none (Y), the above-described repetitive processing is performed. Ends the process.
図２の処理の流れの詳細を説明する前に、図３に基づいて、撮像部２の設置例及び、撮像部２によって取得する画像の例を説明する。図３は、エレベータ監視装置における、撮像部の設置例及び撮像部で取得した画像の例である。図３（ａ）はエレベータの乗りかご内を出入り口方向からみた図である。そして、この例では乗りかご奥の、向かって右上隅に撮像部２として防犯カメラが設置されている。図３（ｂ）と図３（ｃ）は撮像部２で取得した画像の例である。図３（ｂ）はドア開時に搭乗者である人物２０が搭乗する瞬間で、図３（ｃ）はドア閉後に人物２０が搭乗又は滞留している状況を示している。 Before describing the details of the processing flow of FIG. 2, an installation example of the imaging unit 2 and an example of an image acquired by the imaging unit 2 will be described based on FIG. 3. FIG. 3 is an example of installation of an imaging unit and an example of an image acquired by the imaging unit in an elevator monitoring apparatus. FIG. 3A is a view of the elevator car as seen from the doorway direction. In this example, a security camera is installed as the imaging unit 2 in the upper right corner toward the back of the car. FIG. 3B and FIG. 3C are examples of images acquired by the imaging unit 2. FIG. 3 (b) shows the moment when the person 20 who is a passenger boarded when the door is opened, and FIG. 3 (c) shows a situation where the person 20 is boarding or staying after the door is closed.
図２の処理の流れにおいて、搭乗者が乗りかごの出入り口を通過する際に、乗りかご内の既知の高さの目印（例えば乗りかごの出入り口など）を基準として、この搭乗者の高さｈ又は高さｈと幅ｗとを計測する（ステップｓ０３）。図３（ｂ）にも示すように乗りかごの出入り口の実際の大きさは予め計測しておくことができる。出入り口の高さがＥＨ、出入り口の幅がＥＷであるとする。また、撮像部２の設置後は出入り口の高さＥＨと幅ＥＷがそれぞれ撮像部２で取得した画像上で何画素に当たるのかを計測することができる。ここでは、出入り口の高さ方向の画素数がＨｐｉｘ、出入り口の幅方向の画素数がＷｐｉｘとする。 In the processing flow of FIG. 2, when the passenger passes the entrance / exit of the car, the height h of the passenger is determined based on a known height mark in the car (for example, the entrance / exit of the car). Alternatively, the height h and the width w are measured (step s03). As shown in FIG. 3B, the actual size of the entrance / exit of the car can be measured in advance. Assume that the height of the doorway is EH and the width of the doorway is EW. In addition, after installation of the imaging unit 2, it is possible to measure how many pixels the height EH and width EW of the entrance / exit correspond to on the image acquired by the imaging unit 2. Here, the number of pixels in the height direction of the entrance / exit is Hpix, and the number of pixels in the width direction of the entrance / exit is Wpix.
ステップｓ０３においては、まず、撮像部２で取得した画像を画像処理し、撮像部２で取得した画像のフレーム間の差分と二値化処理により人物２０の輪郭若しくは外接矩形を検出する。このような画像処理自体は一般的な手法であるため詳細説明は省略する。そして、輪郭若しくは外接矩形の高さと幅の画素数をそれぞれ求める。ここで、画像上における人物２０の高さ方向の画素数がｈｐｉｘ、人物２０の幅方向の画素数をｗｐｉｘとすると、次の式（１）、式（２）の比例計算から人物２０の高さｈと幅ｗを計測することができる。
ｈ＝ＥＨ×ｈｐｉｘ／Ｈｐｉｘ …（１）
ｗ＝ＥＷ×ｗｐｉｘ／Ｗｐｉｘ …（２）
In step s03, first, the image acquired by the imaging unit 2 is subjected to image processing, and the contour or circumscribed rectangle of the person 20 is detected by the difference between the frames of the image acquired by the imaging unit 2 and the binarization process. Since such image processing itself is a general technique, detailed description thereof is omitted. Then, the number of pixels of the height and width of the contour or circumscribed rectangle is obtained. Here, assuming that the number of pixels in the height direction of the person 20 on the image is hpix and the number of pixels in the width direction of the person 20 is wpix, the height of the person 20 is calculated from the proportional calculation of the following equations (1) and (2). The length h and the width w can be measured.
h = EH × hpix / Hpix (1)
w = EW × wpix / Wpix (2)
ステップｓ０３で高さｈ等を計測された人物２０はその直後から搭乗者として継続的に追跡される（ステップｓ０４）。次々と新たな搭乗者が前記出入り口を通過して搭乗する際にステップ０３において、上述の方法で高さｈ等が計測されて、ステップｓ０４の搭乗者追跡の対象となる。追跡処理は、画像を取得（ステップｓ０２）する度に、人物毎に前画像における画面上の位置と現画面上における位置の照合を行って成される。このためステップｓ０２からステップｓ０８までのサイクル毎にステップｓ０４の搭乗者追跡処理は実施される。一方、ステップｓ０３の搭乗者の高さｈの計測は少なくとも搭乗時に一度実施すればよいので、高さｈと幅ｗを計測済みの人物については、ステップｓ０３の処理は何もせずに通過する。ステップｓ０４の搭乗者追跡では、既に計測した人物の高さｈ等は人物の属性として引き継ぐ。それゆえに例えば、図３（ｃ）の人物２０のように乗りかご内にしばらく滞留していても、搭乗時に計測した人物の高さｈと幅ｗの情報は利用し得るように保持している。また、ステップｓ０４の搭乗者追跡はパターンマッチングによる追跡をしてもよい。尚、このような追跡処理自体は一般的な手法であるため詳細説明は省略する。 The person 20 whose height h is measured in step s03 is continuously tracked as a passenger immediately after that (step s04). When new passengers pass one after another through the doorway, in step 03, the height h and the like are measured by the above-described method, and are subject to passenger tracking in step s04. The tracking process is performed by collating the position on the screen of the previous image with the position on the current screen for each person every time an image is acquired (step s02). For this reason, the passenger tracking process of step s04 is implemented for every cycle from step s02 to step s08. On the other hand, since the measurement of the height h of the occupant in step s03 may be performed at least once when boarding, the process of step s03 is passed through for the person whose height h and width w have been measured. In the passenger tracking in step s04, the already measured height h of the person is taken over as the attribute of the person. Therefore, for example, even if the person 20 stays in the car for a while like the person 20 in FIG. 3C, the information on the height h and width w of the person measured at the time of boarding is retained so as to be used. . Further, the passenger tracking in step s04 may be performed by pattern matching. Note that the tracking process itself is a general technique, and thus detailed description thereof is omitted.
図２の処理の流れにおいて、乗りかご内で追跡されている全搭乗者について、透視投影により、搭乗者の床への投影（ステップｓ０５）及び搭乗者の立位置算出（ステップｓ０６）を行う。 In the processing flow of FIG. 2, the projection on the floor of the passenger (step s05) and the calculation of the standing position of the passenger (step s06) are performed by perspective projection for all the passengers tracked in the car.
まず、基本的な考え方を図４を用いて説明する。図４は、エレベータ監視装置における、人物の投影位置と真の立位置の関係を示す図である。図４（ａ）は図３（ｃ）と同一で人物２０が滞留している画像である。この画像において、パターンマッチング等により搭乗時から追跡を継続したので、人物の高さｈを計測した際の頭頂部は、図４（ａ）において、Ａで示す位置に在ることが分かっている。そこで、透視投影により頭頂部は図４（ｂ）の投影位置Ｂに投影される。そして、撮像部２の直下から投影位置Ｂまでの距離Ｄを算出することができる。また、床から撮像部２までの高さＨは、設置後は計測することができるので、本件処理の前に予め計測しておけば既知の値とすることができる。そして、頭頂部Ａを床へ投影した後は、距離Ｄと高さＨおよび、搭乗時に計測して追跡保持していた高さｈが既知となる。ここで求めたい数値は真の立位置、すなわち、撮像部２の直下から立位置までの距離ｄである。そして、距離ｄは次の式（３）の比例計算で算出することができる。
ｄ＝｛Ｄ×（Ｈ−ｈ）｝／Ｈ …（３）
First, the basic concept will be described with reference to FIG. FIG. 4 is a diagram illustrating a relationship between a projected position of a person and a true standing position in the elevator monitoring apparatus. FIG. 4A is an image that is the same as FIG. 3C and in which the person 20 stays. In this image, since tracking was continued from the time of boarding by pattern matching or the like, it is known that the top of the head when the height h of the person is measured is located at a position indicated by A in FIG. . Therefore, the top of the head is projected to the projection position B in FIG. Then, the distance D from directly below the imaging unit 2 to the projection position B can be calculated. In addition, since the height H from the floor to the imaging unit 2 can be measured after installation, it can be set to a known value if it is measured in advance before the processing. Then, after projecting the top of the head A onto the floor, the distance D and height H and the height h measured and tracked during boarding are known. The numerical value to be obtained here is the true standing position, that is, the distance d from directly below the imaging unit 2 to the standing position. The distance d can be calculated by the proportional calculation of the following equation (3).
d = {D × (H−h)} / H (3)
透視投影により頭頂部が投影される床上の投影位置は、撮像部２の位置に点光源をおいて人物２０を照らした時に発生する影における頭頂部の投影位置と同じである。ここでは高さｈの人物２０の頭頂部Ａを撮像部２から投影した場合を例とした。しかし、他の例として、図４（ｃ）のように、搭乗時に肩の高さｈ’を計測して、肩を床面に投影してもよい。この場合、撮像部２の真下から肩の投影位置Ｂ’までの距離Ｄ’を求め、距離Ｄ’と高さＨと高さｈ’から先ほどと同様の比例計算で撮像部２の真下から肩の真下までの距離ｄ’を求める。この距離ｄ’は、厳密にいえば、体の中心直下と肩位置直下の差異はあるものの、ほぼ距離ｄに等しい（図４（ｃ））ので、これを立位置とみなしてもよいし、この差異を補正して立位置を求めてもよい。 The projection position on the floor on which the top of the head is projected by the perspective projection is the same as the projection position of the top of the head in a shadow generated when a point light source is placed at the position of the imaging unit 2 and the person 20 is illuminated. Here, the case where the top A of the person 20 having the height h is projected from the imaging unit 2 is taken as an example. However, as another example, as shown in FIG. 4C, the height h 'of the shoulder may be measured when boarding and the shoulder may be projected onto the floor surface. In this case, a distance D ′ from directly below the imaging unit 2 to the projection position B ′ of the shoulder is obtained, and the distance D ′, height H, and height h ′ are proportionally calculated in the same manner as described above, and the shoulder D to the shoulder projection position B ′. The distance d ′ to just below is obtained. Strictly speaking, the distance d ′ is almost equal to the distance d (FIG. 4 (c)), although there is a difference between the position just below the center of the body and the position just below the shoulder, so this may be regarded as a standing position. This difference may be corrected to obtain the standing position.
尚、搭乗時の人物検出とパターンマッチング追跡のためのパターン取得は搭乗者高さ計測部３で行う。また、人物のパターン追跡は搭乗者追跡部４で行う。 It should be noted that the passenger height measurement unit 3 performs pattern detection for person detection and pattern matching tracking during boarding. Further, the person pattern tracking is performed by the passenger tracking unit 4.
以上は、真横（床を断面とする方向）から見た図で説明したが、図５に示すように床を真下に見下ろす２次元の座標系でも同様な議論が成り立つ。図５は、エレベータ監視装置における、人物の投影位置と真の立位置の関係を、乗りかごの床を真下に見下ろす向きに示した図である。図５において、斜線領域で示される人物２０の頭頂部Ａを撮像部２から床面に投影した時の投影位置をＢとする。格子領域２０’は人物２０の投影された輪郭の位置を示す。撮像部２の直下の床面上に原点を取って両壁に沿って座標軸であるＸ軸とＹ軸を設ける。投影位置Ｂの座標を（Ｄｘ，Ｄｙ）とし、人物２０の立位置を（ｄｘ，ｄｙ）とすると、これらには式（３）と同様に次式の関係がある。
ｄｘ＝｛Ｄｘ×（Ｈ−ｈ）｝／Ｈ …（４）
ｄｙ＝｛Ｄｙ×（Ｈ−ｈ）｝／Ｈ …（５）
The above has been described with reference to the view from the side (the direction in which the floor is the cross section), but the same argument holds for a two-dimensional coordinate system in which the floor is looked down as shown in FIG. FIG. 5 is a diagram showing the relationship between the projected position of the person and the true standing position in the elevator monitoring apparatus in a direction in which the floor of the car is looked down. In FIG. 5, the projection position when the top A of the person 20 indicated by the hatched area is projected from the imaging unit 2 onto the floor surface is denoted by B. The lattice area 20 ′ indicates the position of the projected contour of the person 20. An X-axis and a Y-axis that are coordinate axes are provided along both walls on the floor surface immediately below the imaging unit 2. Assuming that the coordinates of the projection position B are (Dx, Dy) and the standing position of the person 20 is (dx, dy), they have the relationship of the following expression as in the expression (3).
dx = {Dx × (H−h)} / H (4)
dy = {Dy × (H−h)} / H (5)
高さＨは当初から既知で、高さｈは搭乗時に既知となり、（Ｄｘ，Ｄｙ）は透視投影により既知になる。よって、式（４）、式（５）により人物２０の立位置（ｄｘ，ｄｙ）を算出することができる。 The height H is known from the beginning, the height h is known at the time of boarding, and (Dx, Dy) is known by perspective projection. Therefore, the standing position (dx, dy) of the person 20 can be calculated from the equations (4) and (5).
次に、搭乗者の床への投影（ステップｓ０５）における処理を図６を用いて説明する。図６は、射影変換の具体例を示す図である。図６（ａ）は乗りかごを真上から俯瞰した図で、図６（ｂ）は撮像部２で撮影した画像を示す図である。図６（ｂ）の画像上における所望の位置、例えば人物の頭頂部Ａが、仮想的に真上から見下ろした図６（ａ）の床上にどのように投影されるかが問題であり、これを解決するために射影変換を用いる。 Next, processing in the projection onto the floor of the passenger (step s05) will be described with reference to FIG. FIG. 6 is a diagram illustrating a specific example of projective transformation. 6A is an overhead view of the car, and FIG. 6B is an image captured by the imaging unit 2. FIG. The problem is how a desired position on the image of FIG. 6B, for example, the top A of the person is projected onto the floor of FIG. 6A virtually viewed from directly above. Projective transformation is used to solve this problem.
図６（ａ）では、撮像部２の直下の床上に原点Ｏを定め、乗りかごのドアの対面壁に平行にＸ軸を定め、乗りかごの左方壁に平行にＹ軸を定める。長さの単位はメートルとする。一方、図６（ｂ）では画面左上に原点０を取り、画面水平方向右向きにｘ軸、垂直方向下向きにｙ軸を取る。長さの単位は画素数とする。そして、図６（ａ）の座標を（Ｘ，Ｙ）Tと表し、図６（ｂ）の座標を（ｘ，ｙ）Tと表す。右肩のＴは転置行列を表す。（ｘ，ｙ）Tから（Ｘ，Ｙ）Tへの変換は、回転変換と、並進移動変換と、射影変換の組合せになるが、これらは式（６）、または、式（６）を式（６）’を経て変形された式（６）’’で表されることが知られている。尚、式（６）’’はＫを消去した表現である。ここで、（ｘ，ｙ）Tをカメラ座標（画像上の座標）、（Ｘ，Ｙ）Tをグランド座標（真上から見下ろしたときの座標）とも呼ぶこととする。 In FIG. 6A, the origin O is set on the floor immediately below the imaging unit 2, the X axis is set parallel to the facing wall of the car door, and the Y axis is set parallel to the left wall of the car. The unit of length is meters. On the other hand, in FIG. 6B, the origin 0 is taken at the upper left of the screen, the x axis is taken to the right in the horizontal direction of the screen, and the y axis is taken downward in the vertical direction. The unit of length is the number of pixels. The coordinates in FIG. 6A are represented as (X, Y) T and the coordinates in FIG. 6B are represented as (x, y) T. T on the right shoulder represents a transposed matrix. The transformation from (x, y) T to (X, Y) T is a combination of rotational transformation, translational transformation, and projective transformation. These are expressions (6) or (6). It is known that it is expressed by the expression (6) ″ transformed through (6) ′. Expression (6) '' is an expression obtained by eliminating K. Here, (x, y) T is also referred to as camera coordinates (coordinates on the image), and (X, Y) T is also referred to as ground coordinates (coordinates when looking down from directly above).
式（６）等において、Ｋは撮像部２と被写体との距離に関する変数であり、Ｃ11〜Ｃ32は撮像部２の床からの高さ、向き、拡大率等のいわゆるカメラパラメータから決まる数値であり、あらかじめ求めておくことができる。ここで、Ｃ11〜Ｃ32は、いわゆるカメラキャリブレーションにより、カメラ座標とグランド座標の既知の組みを４つ以上用意することでパラメータＣ11〜Ｃ32を求めることができる。既知の４組以上の座標値を求めるには、例えばエレベータの床上に一直線上に無い４点以上のマークを付け、これらマークのグランド座標を巻尺等の実測により得るとともに、画像上のマーク位置の座標によりカメラ座標を得ることで求めることができる。 In Equation (6) and the like, K is a variable relating to the distance between the imaging unit 2 and the subject, and C 11 to C 32 are numerical values determined from so-called camera parameters such as the height, direction, and magnification of the imaging unit 2 from the floor. And can be obtained in advance. Here, as for C 11 to C 32 , parameters C 11 to C 32 can be obtained by preparing four or more known sets of camera coordinates and ground coordinates by so-called camera calibration. In order to obtain four or more known coordinate values, for example, four or more marks that are not in a straight line are placed on the floor of the elevator, and the ground coordinates of these marks are obtained by actual measurement of a tape measure or the like, and the mark position on the image is also determined. It can be obtained by obtaining the camera coordinates from the coordinates.
カメラキャリブレーションによってＣ11〜Ｃ32が既知となった後は、式（６）’’を変形して得られる式（７）により、図６（ｂ）の画像上の任意の座標（ｘ，ｙ）Tを図６（ｂ）の真上から見下ろしたときの座標（Ｘ，Ｙ）Tに変換することができる。 After C 11 to C 32 are known by camera calibration, the arbitrary coordinates (x, x, x) on the image of FIG. 6B are obtained by the equation (7) obtained by transforming the equation (6) ″. y) T can be converted into coordinates (X, Y) T when looking down from directly above in FIG.
そこで、搭乗者の床への投影（ステップｓ０５）の処理では、搭乗者投影部５は、図６（ｂ）の画像上の頭頂部Ａの座標に基づいて、図６（ａ）の撮像部２から頭頂部Ａを床に投影したときの投影位置Ｂの真上から見下ろしたときの座標を算出する。 Therefore, in the processing of the passenger's projection onto the floor (step s05), the passenger projection unit 5 performs the imaging unit in FIG. 6A based on the coordinates of the top A on the image in FIG. 2 is used to calculate the coordinates when looking down from directly above the projection position B when the top A is projected onto the floor.
次に、搭乗者の立位置算出（ステップｓ０６）の処理では、搭乗者の立位置算出部６は、式（３）あるいは式（４）（５）により、撮像部２の高さＨと、搭乗者の高さｈと、撮像部２の位置と投影位置Ｂとの位置関係（例えば距離Ｄ、座標（Ｄｘ，Ｄｙ）、距離Ｄｘ、距離Ｄｙなど）とに基づいて、図６（ａ）で真上から見下ろしたときの搭乗者の立位置の座標（この場合は頭頂部Ａの座標）を算出する。尚、式（３）は極座標系を用いた場合に利用でき、式（４）（５）はＸＹ座標系を用いた場合に利用できる。 Next, in the processing of the passenger's standing position calculation (step s06), the passenger's standing position calculation unit 6 calculates the height H of the imaging unit 2 according to Equation (3) or Equations (4) and (5). Based on the height h of the occupant and the positional relationship between the position of the imaging unit 2 and the projection position B (for example, distance D, coordinates (Dx, Dy), distance Dx, distance Dy, etc.), FIG. The coordinates of the standing position of the occupant when looking down from directly above (in this case, the coordinates of the crown A) are calculated. Equation (3) can be used when a polar coordinate system is used, and equations (4) and (5) can be used when an XY coordinate system is used.
以上説明した、搭乗者の床への投影（ステップｓ０５）及び搭乗者の立位置算出（ステップｓ０６）は乗りかご内の全ての搭乗者について行う。 The above-described projection onto the floor of the passenger (step s05) and the standing position calculation of the passenger (step s06) are performed for all the passengers in the car.
尚、図４（ｃ）で肩を用いた例のように、搭乗者高さ計測部３は、高さｈとして、搭乗者の一部分Ａ（例えば頭頂部や肩などの特定の箇所）の高さを計測すればよく、搭乗者投影部５は、この高さｈに対応する搭乗者の一部分Ａの画面上の座標を入力として、撮像部２から搭乗者の一部分Ａを床に投影したときの真上から見たときの投影位置Ｂを求めることができればよい。尚、投影の対象となる搭乗者の一部分は混雑時にも物陰に埋もれにくい頭頂部などのできるだけ高い部分が望ましい。そして、搭乗者の立位置算出部６は、撮像部２の高さＨと、搭乗者の一部分Ａの高さｈと、撮像部２の位置と投影位置Ｂとの位置関係とに基づいて、真上から見下ろしたときの搭乗者の立位置の座標（この場合は搭乗者の一部分Ａの座標であるが、例えば肩などの特定の部位であることがわかっている場合には例えば搭乗者の中心位置から一部分Ａまでの距離などの数値を用いて搭乗者の中心位置の座標に補正して搭乗者の立位置の座標として用いてもよい）を算出できればよい。 In addition, like the example using a shoulder in FIG.4 (c), the passenger height measurement part 3 makes height h the height of a part A (for example, specific locations, such as a top part and a shoulder) of a passenger. When the passenger projection unit 5 projects the passenger's part A from the image pickup unit 2 onto the floor, the coordinates on the screen of the passenger's part A corresponding to the height h are input. It is only necessary that the projection position B when viewed from right above can be obtained. It should be noted that a part of the passenger to be projected is preferably as high as possible, such as the top of the head, which is difficult to be buried in the shade even when it is crowded. And the passenger's standing position calculation unit 6 is based on the height H of the imaging unit 2, the height h of a part A of the passenger, and the positional relationship between the position of the imaging unit 2 and the projection position B. The coordinates of the standing position of the passenger when looking down from directly above (in this case, the coordinates of the part A of the passenger, but if it is known that it is a specific part such as the shoulder, for example, It is only necessary to calculate the coordinates of the center position of the occupant by using a numerical value such as the distance from the center position to a part A and use it as the coordinates of the standing position of the occupant.
次に図２の処理の流れにおける、搭乗者の占有面積推定及び混雑度判定（ステップｓ０７）について説明する。図７は、エレベータ監視装置によって乗りかごの床の占有状況を推定した図である。図７（ａ）は仮に、乗りかごの天井の、かなり高い位置から真下を俯瞰した場合に得られる画像の概念図である。矩形領域は乗りかご領域３０を示し、点描領域は乗りかごの床が見えている領域３１である。そして、斜線部は搭乗者が床を占めている領域３２である。領域３１の割合が減ずるにつれて混雑度は増すと考えることができる。そして、領域３１の合計面積が一人分よりも小さくなると、もはや詰める余地の無い程込んでいるとして満員と判断することができる。本実施形態によれば、一般的な防犯カメラのように、乗りかご隅に設置された撮像部２による画像を処理して、図７のような画像若しくはこれに近似する画像を得て、床面に対する人物や荷物等の占有率を求めて、乗りかごの混雑度判定を行うことができる。 Next, the passenger occupied area estimation and the congestion degree determination (step s07) in the processing flow of FIG. 2 will be described. FIG. 7 is a diagram in which the occupation situation of the floor of the car is estimated by the elevator monitoring device. FIG. 7A is a conceptual diagram of an image that is obtained when the overhead of a car is looked down from a considerably high position. The rectangular area indicates the car area 30, and the stippled area is an area 31 where the car floor is visible. The shaded area is a region 32 where the passenger occupies the floor. It can be considered that the degree of congestion increases as the proportion of the region 31 decreases. And when the total area of the area | region 31 becomes smaller than one person, it can be judged that it is full because there is no room to pack anymore. According to the present embodiment, like a general security camera, an image obtained by the imaging unit 2 installed in the corner of the car is processed to obtain an image as shown in FIG. It is possible to determine the degree of congestion of the car by obtaining the occupancy rate of the person or baggage on the surface.
図７（ｂ）はステップｓ０６で求めた搭乗者の立位置に基づいて、乗りかごの床の占有状況を推定した画像である。搭乗者の立位置（Ａの座標）を中心として搭乗者の幅ｗを直径とする格子パターンの円の領域３３が人物で占有されていると推定した領域である。そして、領域３１は床が見えている領域すなわち詰める余裕のある領域である。この面積の大小で混雑度を判定し、領域３１が一人分よりも小さくなった場合に満員と判定する。ここで、幅ｗは搭乗時に計測した幅を用いてもよいし、幅ｗを搭乗時に計測するのを省略し、予め設定した所定の幅を用いてもよい。 FIG. 7B is an image in which the occupation situation of the floor of the car is estimated based on the standing position of the passenger obtained in step s06. This is an area in which it is estimated that a circle area 33 of a lattice pattern having a passenger w's width w as a diameter centered on the standing position (coordinate A) of the passenger is occupied by a person. And the area | region 31 is an area | region where the floor can be seen, ie, the area | region which can be stuffed. The degree of congestion is determined based on the size of the area, and when the area 31 becomes smaller than one person, it is determined that the area is full. Here, the width w measured at the time of boarding may be used, or the width w measured at the time of boarding may be omitted and a predetermined width set in advance may be used.
しかし、実際には、搭乗者による占有領域の多くは円でなく、両肩を長軸とした楕円領域である。そこで、人物の占有領域を楕円で近似した場合の長軸と短軸の割合を予め統計的に求めておき、幅ｗを長軸とした占有楕円を立位置に配置して、図７（ｃ１）及び図７（ｃ２）のように推定してもよい。図７（ｃ１）は搭乗者の顔の向きと楕円の領域３３の短軸方向を一致させている。これを実現するには、例えばステップｓ０４で搭乗者追跡するときに顔特徴を検出して顔の向きを検出すればよい。一方、図７（ｃ２）は搭乗者の顔の向きと無関係に楕円の領域３３を配置したものである。この方式では顔の向きを検出する必要はない。また、搭乗者の向きが実際とは異なっていても乗りかごの床面を占有する面積に大きな差異は無いので、乗りかごの混雑度や満員を判定するには、搭乗者の向きとは無関係に楕円の領域３３を配置するので十分である。 However, in reality, most of the area occupied by the passenger is not a circle but an elliptical area with both shoulders as the major axis. Therefore, the ratio between the long axis and the short axis when the occupied area of the person is approximated by an ellipse is statistically obtained in advance, and the occupied ellipse with the width w as the long axis is arranged in a standing position, and FIG. ) And FIG. 7 (c2). In FIG. 7 (c <b> 1), the orientation of the passenger's face is matched with the minor axis direction of the elliptical region 33. In order to realize this, for example, when the passenger is tracked in step s04, the face feature may be detected to detect the face direction. On the other hand, FIG. 7C2 is an arrangement in which an elliptical region 33 is arranged regardless of the face orientation of the passenger. With this method, it is not necessary to detect the orientation of the face. Also, even if the direction of the passenger is different from the actual one, there is no significant difference in the area that occupies the floor of the car, so it is irrelevant to the direction of the passenger to determine the degree of congestion and fullness of the car It is sufficient to place an elliptical region 33 on the surface.
占有面積推定部７は、例えば図７に示すように、搭乗者の立位置算出部６で求めた搭乗者の立位置に基づいて、乗りかご内を真上から見下ろしたときの搭乗者が占有する領域を示す推定画像を作成し、全ての搭乗者による占有面積を推定する。 For example, as shown in FIG. 7, the occupied area estimation unit 7 is occupied by the passenger when looking down on the passenger car from directly above based on the standing position of the passenger obtained by the standing position calculation unit 6 of the passenger. An estimated image showing the area to be created is created, and the occupied area by all passengers is estimated.
混雑度判定部８は、占有面積推定部７で推定された全ての搭乗者による占有面積から、混雑度を判定する。混雑度の例としては、例えば、あらかじめわかっている乗りかごの面積に対する占有面積推定部７で推定された全ての搭乗者による占有面積の割合であらわしてもよいし、この割合または占有面積を何段階かに区分して混雑度を大、中、小や１、２、３などの複数のレベルであらわしてもよい。また、混雑度が最大の場合を満員と考えれば、満員の判定もこの混雑度の判定に含まれるものとしてもよい。また、満員であるか否かのみを判定することも、混雑度の判定の概念に含まれるものとする。満員の判定方法としては、床の面積（乗りかごの面積から搭乗者の占有面積を引いたもの）が所定の閾値（例えば１人分）未満である場合や、混雑度または占有面積が満員を示す所定の閾値以上であれば満員であると判定する方法などがある。 The congestion level determination unit 8 determines the congestion level from the occupied areas of all passengers estimated by the occupied area estimation unit 7. As an example of the degree of congestion, for example, it may be expressed as a ratio of the occupied area by all passengers estimated by the occupied area estimation unit 7 with respect to the area of the car that is known in advance. The degree of congestion may be expressed by a plurality of levels such as large, medium, small, 1, 2, 3, etc. by dividing into stages. In addition, if the maximum degree of congestion is considered full, the fullness determination may be included in the determination of the congestion level. Further, it is also included in the concept of determining the degree of congestion to determine only whether or not it is full. As a method of determining the fullness, the floor area (the area of the car minus the passenger's occupied area) is less than a predetermined threshold (for example, one person), or the congestion level or occupied area is full. For example, there is a method of determining that the vehicle is full if it is equal to or greater than a predetermined threshold value.
次に、混雑度判定出力（ステップｓ０８）の処理では、出力部１０が混雑度判定部８の判定結果（混雑度や満員であるか否かなど）を出力する。 Next, in the processing of the congestion degree determination output (step s08), the output unit 10 outputs the determination result of the congestion degree determination unit 8 (such as whether the congestion level is full or not).
そして、図示しないエレベータ制御装置は、この混雑度判定出力に基づいてエレベータを制御する。例えば、満員の場合には停止予定のない階でホール呼び登録があってもホール呼びに応じず通過するなどの制御を行う。 And the elevator control apparatus which is not illustrated controls an elevator based on this congestion degree determination output. For example, when the hall is full, control is performed such that even if there is a hall call registration on a floor that is not scheduled to stop, the hall call passes without being accepted.
以上、本実施形態によれば、乗りかご内に斜め下方に向けて設置された撮像部の画像を処理して、乗りかごの混雑度判定をすることができる。 As described above, according to the present embodiment, it is possible to determine the degree of congestion of the car by processing the image of the imaging unit installed obliquely downward in the car.
なお、本発明は上記した実施形態に限定されるものではなく、様々な変形例が含まれる。例えば、上記した実施形態は本発明を分かりやすく説明するために詳細に説明したものであり、必ずしも説明した全ての構成を備えるものに限定されるものではない。 In addition, this invention is not limited to above-described embodiment, Various modifications are included. For example, the above-described embodiment has been described in detail for easy understanding of the present invention, and is not necessarily limited to the one having all the configurations described.
１・・・演算制御部
２・・・撮像部
３・・・搭乗者高さ計測部
４・・・搭乗者追跡部
５・・・搭乗者投影部
６・・・搭乗者の立位置算出部
７・・・占有面積推定部
８・・・混雑度判定部
９・・・操作制御部
１０・・・出力部
２０・・・人物
DESCRIPTION OF SYMBOLS 1 ... Calculation control part 2 ... Imaging part 3 ... Passenger height measurement part 4 ... Passenger tracking part 5 ... Passenger projection part 6 ... Passenger standing position calculation part 7 ... Occupied area estimation unit 8 ... Congestion degree determination unit 9 ... Operation control unit 10 ... Output unit 20 ... Person
Claims (6)
前記乗りかご内の既知の高さの目印を基準として搭乗者の一部分の高さを計測する搭乗者高さ計測部と、
前記撮像部で撮像された画像に基づいて前記搭乗者を前記乗りかご内で追跡する搭乗者追跡部と、
前記画像における前記搭乗者の前記一部分の画面上の位置を入力として、前記撮像部から前記搭乗者の前記一部分を前記乗りかごの床に投影したときの真上から見たときの投影位置を算出する搭乗者投影部と、
前記撮像部の高さと、前記搭乗者の前記一部分の高さと、前記撮像部の位置と前記投影位置との位置関係とに基づいて、真上から見下ろしたときの前記搭乗者の立位置を算出する搭乗者の立位置算出部と、
前記搭乗者の立位置に基づいて、前記乗りかご内を真上から見下ろしたときの全ての搭乗者による占有面積を推定する占有面積推定部と、
前記占有面積に基づいて、前記乗りかごの混雑度を判定する混雑度判定部とを有することを特徴とするエレベータ監視装置。 In an elevator monitoring device comprising an imaging unit installed obliquely downward for imaging the elevator car,
A passenger height measuring unit that measures the height of a part of the passenger based on a known height mark in the car; and
A passenger tracking unit that tracks the passenger in the car based on an image captured by the imaging unit;
Using the position on the screen of the part of the passenger in the image as an input, the projection position when the part of the passenger is projected from the imaging unit onto the floor of the car is calculated. A passenger projection unit,
Based on the height of the imaging unit, the height of the part of the occupant, and the positional relationship between the position of the imaging unit and the projection position, the standing position of the occupant when looking down from above is calculated. A standing position calculation unit for the passenger
Based on the standing position of the passenger, an occupied area estimation unit that estimates the occupied area by all the passengers when looking down from directly above the car,
An elevator monitoring apparatus, comprising: a congestion degree determination unit that determines the degree of congestion of the car based on the occupied area.
前記占有面積推定部は、前記搭乗者の幅も利用して前記全ての搭乗者による占有面積を推定することを特徴とする請求項１に記載のエレベータ監視装置。 The passenger height measuring unit also measures the width of the passenger,
The elevator monitoring apparatus according to claim 1, wherein the occupied area estimation unit estimates an occupied area by all the passengers using a width of the passenger.
前記乗りかご内の既知の高さの目印を基準として搭乗者の一部分の高さを計測し、前記撮像部で撮像された画像に基づいて前記搭乗者を前記乗りかご内で追跡し、前記画像における前記搭乗者の前記一部分の画面上の位置を入力として、前記撮像部から前記搭乗者の前記一部分を前記乗りかごの床に投影したときの真上から見たときの投影位置を算出し、前記撮像部の高さと、前記搭乗者の前記一部分の高さと、前記撮像部の位置と前記投影位置との位置関係とに基づいて、真上から見下ろしたときの前記搭乗者の立位置を算出し、前記搭乗者の立位置に基づいて、前記乗りかご内を真上から見下ろしたときの全ての搭乗者による占有面積を推定し、前記占有面積に基づいて、前記乗りかごの混雑度を判定することを特徴とするエレベータ監視方法。 In an elevator monitoring method for monitoring using an image captured by an imaging unit installed obliquely downward to image an elevator car,
The height of a part of the passenger is measured with reference to a known height mark in the car, the passenger is tracked in the car based on the image taken by the imaging unit, and the image The position on the screen of the part of the occupant at the input is calculated, and the projected position when viewed from directly above when the part of the occupant is projected from the imaging unit onto the floor of the car, Based on the height of the imaging unit, the height of the part of the occupant, and the positional relationship between the position of the imaging unit and the projection position, the standing position of the occupant when looking down from above is calculated. Then, based on the standing position of the passenger, the area occupied by all the passengers when looking down from the top of the car is estimated, and the degree of congestion of the car is determined based on the occupied area. Elevator supervision characterized by Method.
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