JP2017124906A - Elevator system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To appropriately improve image quality of a captured image of the vicinity of a doorway in a car of an elevator.SOLUTION: According to one embodiment, an elevator system divides a captured image of a camera into an image of an inside of a car and an image of a landing hall, selects the image of the inside of the car set as an object detection area for adjusting exposure beforehand at least during door opening operation in which a door is moved from fully-closing to fully-opening, performs exposure adjustment such that the image of the inside of the car has an appropriate exposure value, selects the image of the landing hall set as the object detection area for adjusting the exposure beforehand during door closing operation in which the door is moved from the fully-opening to the fully-closing, and performs the exposure adjustment such that the image of the landing hall has an appropriate exposure value.SELECTED DRAWING: Figure 4

Description

  Embodiments described herein relate generally to an elevator system that manages opening and closing of an elevator door.

  In elevators, a camera for surveillance is attached to the upper part of the entrance of the car, and the vicinity of the entrance is photographed with this camera, and the captured images are processed to determine the state of the passengers. Yes.

JP 2005-179030 A JP 2014-47015 A

  As described above, in the elevator, the state of the passenger is determined from the captured image near the entrance of the car. However, it is difficult for the adjustment function provided in the camera to appropriately cope with environmental changes when the door is opened and closed, and the safety measures at the time of opening and closing the door are affected by the deterioration of the image quality of the captured image.

  The problem to be solved by the present invention is an elevator that can appropriately improve the image quality of a photographed image in the vicinity of the entrance of a passenger car, thereby making it possible to further improve safety measures when opening and closing the door. Is to provide a system.

  An elevator system according to an embodiment includes a camera that is installed at an upper part of a car doorway, captures the vicinity of the door of the doorway and uses a car room and a landing as an imaging range, and performs analysis processing on an image captured by the camera. The state of the vicinity of the door is managed, and the image taken by the camera is divided into an image in the car room and an image in the landing, and during the door opening operation in which the door is at least fully closed to fully open, Select the image in the car room that is set as the target detection area for adjusting the exposure, adjust the exposure so that the image in the car room has an appropriate exposure value, and close the door from the fully open position to the fully closed position. During operation, an image of the hall set as an object detection area for adjusting exposure is selected in advance, and exposure adjustment is performed so that the image of the hall has an appropriate exposure value.

It is a block diagram which shows the structure of the elevator system which concerns on embodiment. It is a figure for demonstrating the door opening / closing operation | movement at the time of the platform arrival of the car shown in FIG. It is a block diagram which shows the structure of the camera shown in FIG. It is a figure which shows the 1st Example of the imaging range and exposure detection area of a camera shown in FIG. It is a flowchart which shows the flow of exposure adjustment of 1st Example of the camera shown in FIG. It is a figure which shows the 2nd Example of the imaging range and exposure detection area of a camera shown in FIG. It is a flowchart which shows the flow of exposure adjustment of the 2nd Example of the camera shown in FIG.

  Hereinafter, embodiments will be described with reference to the drawings.

  FIG. 1 is a block diagram showing a configuration of an elevator system according to the present embodiment. The “elevator” mentioned here basically means a “car”.

  In the figure, 11 is a car control device, and 12 is a car. The car control device 11 is connected to an elevator control device (not shown), and transmits / receives various signals such as a hall call and a car call to / from the elevator control device. The “call to hall” is a call signal registered by operating a hall call button (not shown) installed at a hall on each floor, and includes information on a registered floor and a destination direction. The “car call” is a call signal registered by operating a destination call button (not shown) provided in the passenger compartment of the car 12, and includes information on the destination floor.

  In addition, the car control device 11 includes a door opening / closing control unit 111. The door opening / closing control unit 111 controls the door opening / closing of the car door 13 when the car 12 arrives at the landing. Specifically, the door opening / closing control unit 111 opens the car door 13 when the car 12 arrives at the landing, and closes the door after a predetermined time has elapsed. However, when a person who intends to get on is detected by the user detection process of the image processing device 16 while the car door 13 is open, the door opening / closing control unit 111 prohibits the door closing operation of the car door 13. Keep the door open. When a person who is willing to get on the vehicle is detected while the door is closed, the door closing operation is interrupted and the door is opened again.

  In addition, at the landing on each floor, a landing door 14 is installed at the arrival entrance of the car 12 so as to be freely opened and closed. The landing door 14 engages with the car door 13 when the car 12 arrives at the landing and opens and closes. The power source (door motor) is on the car 12 side, and the landing door simply opens and closes following the car door 13. In the following description, it is assumed that when the car door 13 is opened, the landing door 14 is also opened, and when the car door 13 is closed, the landing door 14 is also closed. FIG. 2 shows the door opening / closing operation when the car 12 arrives at the landing.

  Here, in the present embodiment, a monitoring camera 15 is installed in the curtain at the upper part of the entrance / exit of the car 12, for example, the upper part of the car door 13. The camera 15 can capture several frames of images per second, such as an in-vehicle camera. When the car 12 arrives at the landing on each floor and opens the door, and when the door is closed during getting on and off, the camera 15 photographs the landing on each floor including the car room near the car door 13 (FIG. 4). FIG. 6).

  Each image (video) taken by the camera 15 is analyzed and processed in real time by the image processing device 16. The image processing device 16 extracts, for example, a moving object, for example, a person (in this case, an elevator user) from each image, tracks the movement of the person, detects completion of getting on and off, and detects that the door is pulled in when the door is opened. Analytical processing is performed, and safety measures such as warning instructions are taken as necessary. Here, the image processing device 16 is provided independently of the car control device 11, but the function of the image processing device 16 may be mounted in the car control device 11.

  FIG. 3 is a block diagram showing the configuration of the camera 15. FIG. 3A shows the overall configuration, and FIG. 3B shows a specific configuration of the control unit. In FIG. 3A, 151 is an imaging unit, 152 is an image memory, 153 is an exposure amount measuring unit, and 154 is an exposure control unit.

  Although not shown in detail, the imaging unit 151 includes an optical lens, an image sensor, and an electronic shutter. The optical lens forms an image on the image sensor with pan focus, and an exposure time is adjusted by the electronic shutter. Every time the image is digitized. The image signal obtained here is temporarily stored in the image memory 152, read out in units of frames, and sent to the image processing device 16.

  In response to an instruction from the exposure control unit 154, the exposure amount measurement unit 153 reads an image of the designated car room or landing detection area and measures the exposure amount. The exposure control unit 154 sets the door closed state of the car door 13 to the initial state, notifies the exposure amount measuring unit 153 to expose a detection area in the car room registered in advance, and acquires the exposure amount measurement value of the area. To do. Then, an exposure time at which the acquired exposure value measurement value becomes an appropriate value is calculated (a table reference method created in advance may be used), and the electronic shutter of the imaging unit 151 is controlled based on the exposure time. Hereinafter, this series of processing is referred to as exposure adjustment.

  When the car control device 11 instructs the car door 13 to open while the car door 13 is fully closed, the exposure control unit 154 continues to detect the car room until the car door 13 is fully opened. The exposure amount is measured, and exposure adjustment is performed based on the measured value.

  When the car control device 11 issues a door closing instruction to the car door 13 with the car door 13 fully opened, the exposure control unit 154 continues to detect the detection area on the landing side until the car door 13 is fully closed. The exposure amount is measured, and exposure adjustment is performed based on the measured value.

  Specifically, as shown in FIG. 3B, the exposure control unit 154 loads an exposure adjustment program and executes arithmetic processing, a CPU (Central Processor Unit) 21, a program executed by the CPU 21, registration information ( ROM (Read Only Memory) 22 for storing detection area, exposure time reference table, etc., RAM (Random Access Memory) 23 as a work area for program execution of CPU 21, input of registration information, and measurement of exposure amount An input / output (I / O) interface 24 is provided for outputting an electronic shutter drive signal corresponding to an input, a car door opening instruction input, and an exposure time for setting the measured exposure amount to an appropriate value.

(First embodiment)
In the above configuration, the exposure adjustment process of the first embodiment will be described below with reference to FIGS. FIG. 4 is a diagram showing an imaging range and image division area of the camera 15 and a spot position (detection area) for performing exposure adjustment, and FIG. 5 is a flowchart showing a flow of exposure adjustment processing of the camera 15.

  In general camera exposure settings, the entire image on the screen is adjusted to have an optimum brightness. For this reason, when shooting with the camera in an elevator, the sensitivity of the camera changes due to the change of the imaging range during the door opening and closing operation, and overexposure and blackout occur in the range of the image to be detected, making image recognition impossible. It becomes. Therefore, in the present embodiment, an image captured by the camera is divided into a car side and a landing side with a door or sill as a boundary. Then, depending on the position of the door, the position (detection area) of the spot where exposure adjustment is performed is set to the whole area or a part of the car-side image, and set to the whole area or a part of the landing-side image.

  In FIG. 4, 13a and 13b indicate car doors, and 14a and 14b indicate landing doors. Here, the image captured by the camera 15 is divided into a car room image and a landing image with a sill as a boundary. As for the detection area on the side of the car room, the entire area A1 of the car room image and a part of the area A2 that is not easily affected by the brightness of the hall when the door is opened (in the drawing, near the end of the car door 13a) Register two locations. As for the detection area on the landing side, almost the entire area B1 of the landing image and a part of the area where the landing is photographed to the end when the door is closed (in the figure, the range divided by door position 1 where the landing is photographed until just before full closure) ) Register two locations of B2.

The camera 15 executes the exposure adjustment process shown in FIG.
First, at the start of operation, the captured image is set to be divided into a car room image and a hall image (step S1).

  After the operation is started, in the fully closed state of the car door 13, the car room image is selected, the detection area A1 in the entire car room in the image is designated as the exposure amount measurement spot, the exposure amount of the detection area A1 is measured, Based on the measurement result, an appropriate exposure is adjusted (step S2). In the exposure adjustment, for example, an appropriate exposure time is obtained from the measured exposure amount, and the electronic shutter is driven and controlled in accordance with the exposure time.

  Here, the door-opening start by the door-opening instruction input is waited (step S3). After the door-opening is started, the exposure amount is measured by designating the detection area as the area A2 that does not affect the brightness of the hall in the car indoor image. Then, the exposure is adjusted to appropriate exposure based on the measurement result (step S4).

  Subsequently, it is determined whether or not the door is fully opened (step S5). When the door is fully opened, a landing image is selected, a detection area B1 in the entire landing area in the image is designated as an exposure measurement spot, and the detection area B1 is selected. The exposure amount is measured and adjusted to appropriate exposure based on the measurement result (step S6). Thereafter, the door closing by the door closing instruction input is started, and the time when the door reaches the position 1 is waited (step S7). When the door reaches the position 1, the exposure adjustment by the detection area B2 at the center of the landing door side is performed. (Step S8). Subsequently, it is determined whether or not the door is fully closed (step S9). If the door is fully closed, the process returns to step S1 and a series of processes are repeatedly executed.

  Note that the measurement method at the time when the door reaches a predetermined position is not particularly limited, and a torque value of the door motor, an actual measurement value of the door position, a measurement based on an elapsed time from the door closing start time, and the like can be considered.

  As described above, in this embodiment, the captured image is divided into the car room image and the hall image. Then, detection areas A1 and A2 on the car interior side and detection areas B1 and B2 on the landing side are set and registered. In the fully closed state, the exposure value is adjusted to the detection area A1 in the entire car room, and the exposure value is adjusted to the partial detection area A2 in the car room during the door opening operation. There is no blackout or overexposure in the image in the elevator car room, and it is possible to reliably recognize the image of passengers being drawn. In the fully open state, the exposure value is adjusted to the detection area B1 in the entire hall, and the exposure value is adjusted to the detection area B2 in the middle of the door on the way during the door closing operation. The vicinity of the doorway is photographed with appropriate exposure, and the image on the landing side is not overexposed, so that it is possible to reliably recognize the passenger's boarding / alighting state.

  In the above description, the detection areas of the car room and the landing are divided, but it is effective to divide at least the detection area of the landing.

(Second embodiment)
The exposure adjustment process of the second embodiment will be described below with reference to FIGS. FIG. 6 is a diagram showing an imaging range and image division area of the camera 15 and a spot position (detection area) where exposure adjustment is performed, and FIG. 7 is a flowchart showing a flow of exposure adjustment processing of the camera 15.

  In FIG. 6, 13a and 13b indicate car doors, and 14a and 14b indicate landing doors. Here, the image captured by the camera 15 is divided into a car room image and a landing image with a sill as a boundary. For the detection area on the car room side, spots A1, A2, and A3 are registered corresponding to the door fully closed position, position 1, and position 2, respectively, in the car room image. For the detection area on the landing side, spots B1, B2, and B3 are registered in the landing image corresponding to the fully open position of the door, position 2, and position 1, respectively. Here, the spots B1, B2, and B3 are determined according to the width of the image when the hall image is divided according to the position of the door.

The camera 15 executes the exposure adjustment process shown in FIG.
First, at the start of operation, the captured image is divided into a car interior image and a hall image, and the hall image is set to be further divided according to the door positions 1 and 2 (step S11).

  After the operation is started, when the door is fully closed, the car room image is selected, the exposure amount measurement spot (detection area) A1 is designated, the exposure amount of the spot A1 is measured, and the appropriate exposure is performed based on the measurement result. Adjust (step S12). In the exposure adjustment, for example, an appropriate exposure time is obtained from the measured exposure amount, and the electronic shutter is driven and controlled in accordance with the exposure time.

  Here, after the door opening start by the door opening instruction input, it is determined whether the door has reached position 1 (step S13), and when the door reaches position 1, the spot A2 is designated and the exposure amount is measured. An appropriate exposure is adjusted based on the measurement result (step S14).

  Subsequently, it is determined whether the door has reached position 2 (step S15). When reaching the position 2, the spot A3 is designated to measure the exposure amount, and the exposure is adjusted based on the measurement result (step S15). S16).

  Next, it is determined that the door is fully opened (step S17). When the door is fully opened, a landing image is selected, the spot B1 in the entire area of the landing screen is designated, and the exposure amount is measured. Based on the measurement result. Adjustment is made for proper exposure (step S18).

  Here, it is determined whether or not the position 2 has been reached after the start of door closing by the door closing instruction input (step S19), and when the position 2 is reached, the spot B2 in the hall imaging range at that time is designated and the exposure amount is measured. Then, the exposure is adjusted to an appropriate exposure based on the measurement result (step S20).

  Subsequently, it is determined whether or not the door has reached position 1 (step S21). When the door reaches position 1, the spot B3 in the hall imaging range at that time is designated to measure the exposure amount, and based on the measurement result. Adjustment is made for proper exposure (step S22).

  Further, it is determined whether the door is fully closed (step S23). If the door is fully closed, the process returns to step S11, and a series of processes are repeatedly executed.

  As described above, in this embodiment, the captured image is divided into the car room image and the hall image, and the hall image is further divided according to the position of the door. Then, a plurality of car interior side detection areas and landing side detection areas are set and registered in accordance with the positions of the doors. From the fully closed position to the fully opened position, the exposure values are sequentially adjusted to the detection areas A1, A2, and A3 in the car room. As a result, the interior of the car is always photographed with appropriate exposure, and the image in the car interior is free from blackout and overexposure, so that it is possible to reliably recognize the image of the passenger being drawn. Further, from fully open to fully closed, the exposure values are sequentially adjusted to the landing detection areas B1, B2, and B3. Thereby, the vicinity of the entrance / exit is photographed with appropriate exposure, the image on the landing side is not overexposed, and the passenger's boarding / alighting state can be reliably recognized.

  In the above description, the detection areas of the car room and the landing are divided. However, as in the first embodiment, it is effective to divide at least the detection area of the landing.

  Also in this embodiment, the measurement method at the time when the door is in a predetermined position is not particularly limited, and the measurement by the torque value of the door motor, the actual measurement value of the door position, the elapsed time from the door closing start time, etc. can be considered. .

  According to the above embodiment, an elevator management system that can appropriately improve the image quality of a captured image in the vicinity of a car entrance and exit, and that can further improve safety measures when opening and closing the door is provided. can do.

  In the above embodiment, the case where the exposure adjustment method is controlled by the exposure time by the electronic shutter has been described. However, a method for controlling the sensitivity of the image sensor, a method for controlling the frame interval, or a combination thereof is adopted. However, it can be implemented.

  In the above embodiment, the case where the exposure adjustment detection area is switched based on the door opening instruction of the car door has been described. However, the respective states are detected during the fully closed state, during the door open operation, during the fully open state, and during the door close operation. Then, based on the detection result, the exposure adjustment detection area may be switched.

  Further, when the appropriate exposure value can be set from the outside of the camera, the position of the door may be detected, and the appropriate exposure value may be fixed or changed based on the detection result. For example, the appropriate exposure value is fixed when the door is open and closed, and the brightness value of the entire screen (or part of the screen / entire detection area / part of the detection area) when fully open or fully closed. Are varied so that the average value falls within a predetermined area.

  Moreover, you may make it change exposure adjustment with a time slot | zone. For example, when the detection area is affected by sunlight or the like, the exposure value is switched to a preset exposure value depending on at least one of time (daytime / nighttime, etc.) and season. Alternatively, a learning function is provided for exposure adjustment, and an exposure value is set by obtaining an optimum value for each hour (+ season).

  Further, it is desirable to adjust the exposure so that the luminance value in the detection area is within a predetermined range. For example, the exposure adjustment is performed so that the luminance value (0 to 255) in the detection area falls within a certain range (for example, near the center of 110 to 140).

  The exposure value is desirably set according to the floor color of the hall on each floor. That is, since the color of the floor of the hall is related to the exposure adjustment, the exposure value at each floor is individually determined, and the exposure value is changed according to the floor color.

  Further, it is desirable to change the exposure value depending on the combination of the floor and the time zone. That is, since the exposure adjustment is affected by the floor color + sunlight, the exposure value is determined by the time zone and the floor color.

  In addition, using a sensor (such as an infrared sensor or illuminometer) installed near the camera, information on the brightness on the landing side is obtained when the door is opened, and an optimal exposure value is calculated based on that brightness. The exposure may be set using the value.

  Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

  DESCRIPTION OF SYMBOLS 11 ... Car control apparatus, 111 ... Door opening / closing control part, 12 ... Ride car, 13, 13a, 13b ... Car door, 14, 14a, 14b ... Landing door, 15 ... Camera, 151 ... Imaging part, 152 ... Image memory, 153... Exposure amount measurement unit, 154... Exposure control unit, 16... Image processing device, 21... CPU, 22.

Claims (10)

Installed at the top of the car entrance and entrance, the camera is equipped with a camera that captures the image of the car interior and the landing area, and manages the state of the area near the door. An elevator system that
A dividing unit that divides an image captured by the camera into an image in the car room and an image in the hall;
During the door opening operation in which the door is at least fully opened from the fully closed state, an image in the car room set as a target detection area for adjusting exposure is selected in advance, and the image in the car room has an appropriate exposure value. During the door closing operation in which the door is fully opened to fully closed, the image of the hall set as the target detection area for adjusting the exposure is selected in advance and the image of the hall is appropriately exposed. An elevator system comprising a control means for adjusting exposure so as to obtain a value. The image of the hall set as an exposure detection target area for at least the exposure adjustment has an area targeting a wide area of the hall and an area targeting a part of the hall,
The control means selects an area targeted for a wide area of the hall or an area targeted for a part of the hall as an exposure detection target area for the exposure adjustment according to the position of the door. The elevator system according to claim 1.   The control means selects any one of a plurality of preset positions of the selected image as an exposure amount target detection area for the exposure adjustment according to the opening / closing position of the door. Elevator system.   The elevator according to claim 1, wherein the control means detects the position of the door when the camera can set an exposure value from outside, and fixes or fluctuates the exposure value according to the detected position of the door. system.   The elevator system according to claim 1, wherein the control means changes the appropriate exposure value according to at least one of time and season.   6. The elevator system according to claim 5, wherein the control means has a learning function of exposure adjustment, and performs exposure setting by obtaining an appropriate exposure value of at least one of the time and season.   The elevator system according to claim 1, wherein the control means adjusts exposure so that a luminance value in the target detection area falls within a predetermined range.   The elevator system according to claim 1, wherein the control means sets the appropriate exposure value in accordance with a floor color of a hall on each floor.   The elevator system according to claim 8, wherein the control means changes the appropriate exposure value according to a combination of a floor color and a time zone of the hall on each floor. In addition, a sensor is provided in the vicinity of the camera for obtaining information on the brightness on the landing side when the door is opened,
The elevator system according to claim 1, wherein the control means calculates an appropriate exposure value based on brightness information obtained by the sensor, and sets exposure using the value.

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