JP2019006535A - Elevator and escalator - Google Patents

Abstract

To provide an elevator and an escalator each provided with a distance image sensor installed without damaging design and capable of highly accurately measuring a distance value to a passenger.SOLUTION: The elevator is provided with: a first camera 1 and a second camera 2 which are installed in an upper part of a car 51 and have optical axes obliquely inclined with respect to a ceiling or a wall surface of the car 51; a stereo camera 52 which has an optical axis obliquely directed with respect to a base line; a polar coordinate correction unit 3 which makes parallel photographed images of the first and second cameras 1 and 2 through polar coordinate conversion for conversion into photographed images on a polar coordinate system with an epi-pole set as an origin; a stereo distance measurement unit 4 which calculates a three-dimensional point group indicating a passenger in the car 51 photographed by the stereo camera 52 by carrying out stereo distance measurement for the photographed images of the first and second cameras 1 and 2 made parallel by the polar coordinate correction unit 3; a passenger recognition unit 5 which extracts the three-dimensional point group from the photographed image of the first camera 1 and recognizes the passenger in the car 51; and a control unit 6 which controls the car 51 in accordance with the passenger recognition result of the passenger recognition unit 5.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an elevator and an escalator, and more particularly, to an elevator and an escalator having a function of recognizing a passenger using an image acquired by a sensor.

  Conventionally, elevators have taken measures against overloading due to passengers getting overboard. For example, in order to prevent driving when passengers are riding too much, the load in the car is detected, and if the load in the car exceeds the rated load, the alarm in the car will continue to sound. The closing operation is not performed. In recent years, a technique has been studied in which a higher-level sensor than a conventional load sensor is provided in an elevator car, and the elevator is highly controlled using a passenger recognition result by the sensor.

  For example, in Patent Document 1, a distance image sensor is used to measure a distance value to a passenger in an elevator car to obtain three-dimensional distance measurement data, and an occupied area occupied by the passenger in the car is calculated. A technique for using the degree of congestion calculated from this occupied area for elevator operation control is disclosed. With this technology, the degree of congestion in the car is appropriate even when passengers riding on a wheelchair or pushing a shopping cart get on a passenger with a large load even if the load difference is small compared to a normal passenger. Can be measured. Further, if the degree of congestion in the car is high and new passengers cannot get on even if the door is opened, operation control can be performed to skip the door opening on the way to the destination floor.

  The distance image sensor described here is a sensor that can measure a distance value to an object to be measured with high accuracy for each pixel in an image. A typical distance image sensor measures the Time Of Flight method, which measures the time from when the sensor emits near-infrared light until the near-infrared light is reflected back to the object within the viewing angle. There are a method used and a stereo camera using binocular parallax between two cameras.

JP2015-120573A

  In order to recognize the passengers in the elevator car with high accuracy, it is necessary to measure the distance to the passengers over a wide range in the car. In the technique described in Patent Document 1, in order to measure the distance value to the passenger in a wide range in the car, it is necessary to install the distance image sensor on the ceiling or a wall surface in the vicinity thereof, obliquely downward. In the conventional general-purpose distance image sensor, the optical axis faces the front of the housing of the distance image sensor. For this reason, in order to install the distance image sensor on the ceiling so as to face obliquely downward, it is necessary to attach a fixing member to the casing, and to tilt the casing obliquely with respect to the ceiling and fix it to the ceiling with the fixing member.

  In such an installation, the housing of the distance image sensor tilted obliquely with respect to the ceiling and the fixing member attached to the housing jump out of the ceiling or the wall surface in the vicinity thereof and become conspicuous. There is a problem of impairing the design of the wall surface. In the majority of elevators, since the ceiling in the car is flat, the design requirement for the distance image sensor installed on the ceiling or the wall surface in the vicinity thereof is high. In order to improve the design, it is conceivable to cover the distance image sensor and the fixing member inclined obliquely with respect to the ceiling with a cover, but in order to cover the distance image sensor and the fixing member inclined obliquely, the dimensions of the cover Will become large and will lose its design.

  When installing the distance image sensor on the escalator, considering the distance value to the passenger in a wide range and the place where the sensor can be installed, install the distance image sensor obliquely with respect to the floor surface. There is a need. For this reason, also when installing a distance image sensor in an escalator, the subject that designability is impaired like the case of an elevator occurs.

  Thus, in elevators and escalators, it is required to install a distance image sensor without impairing the design, and to recognize a wide range of passengers with the distance image sensor to measure the distance value to the passenger with high accuracy. Yes.

  The objective of this invention is providing the elevator and escalator which are equipped with the distance image sensor installed without impairing the designability, and can measure the distance value to a passenger with high precision.

  The elevator according to the present invention is a first camera in which an elevator is moved up and down a hoistway, a passenger is placed, and is fixed to an upper portion of the car, and an optical axis is inclined with respect to a ceiling or a wall surface of the car. And a second camera, and a stereo camera in which the optical axis is inclined with respect to a base line connecting the center of the lens of the first camera and the center of the lens of the second camera, A polar coordinate correction unit that performs parallelization on a captured image of the first camera and the second camera using polar coordinate conversion that converts the captured image into a captured image in a polar coordinate system with an epipolar as an origin of the captured image; The polar coordinate correction unit performs stereo distance measurement on the captured images of the first camera and the second camera that have been parallelized using the polar coordinate conversion, and the passenger in the car captured by the stereo camera is detected. Express Stereo distance measuring unit for obtaining a three-dimensional point group, and passenger recognition for recognizing the passenger in the car by extracting the three-dimensional point group obtained by the stereo distance measuring unit from the captured image of the first camera. And a control unit that controls the car according to the recognition result of the passenger in the car by the passenger recognition unit.

  The escalator according to the present invention is provided in a building, and is fixedly installed on a step of moving with a passenger on the floor of the building, or a fixed structure provided on the passenger entrance of the passenger, A first camera and a second camera whose optical axes are inclined with respect to the floor surface or the traveling direction of the passenger, and the center of the lens of the first camera and the lens of the second camera Polar coordinates with the epipole of the captured image as the origin for the stereo camera in which the optical axis is inclined with respect to the base line connecting the centers of the image and the captured images of the first camera and the second camera A polar coordinate correction unit that performs parallelization using polar coordinate conversion to be converted into a captured image in the system, and the first camera and the second camera that have been parallelized by the polar coordinate correction unit using the polar coordinate conversion. About the captured image A stereo distance measuring unit that performs teleo ranging and obtains a three-dimensional point group representing the passenger photographed by the stereo camera, and the three-dimensional point group obtained by the stereo distance measuring unit is photographed by the first camera. A passenger recognition unit that is extracted from the image and recognizes the passenger, and a control unit that controls the operation according to the recognition result of the passenger by the passenger recognition unit.

  ADVANTAGE OF THE INVENTION According to this invention, the distance image sensor installed without impairing the designability is provided, and the elevator and escalator which can measure the distance value to a passenger with high precision can be provided.

The figure which shows the function structure of the image recognition apparatus with which the elevator by Example 1 of this invention is provided. The figure which shows the cage | basket | car of the elevator by Example 1 of this invention. The figure which shows the structure of the stereo camera in Example 1 of this invention. The figure which shows the structure of the conventional general stereo camera. The schematic diagram explaining the epipolar geometry in stereo ranging. The schematic diagram explaining the parallelization by projective transformation in the stereo camera in Example 1 of this invention. The schematic diagram explaining the parallelization by projective transformation in the conventional general stereo camera. The figure which shows the example after parallelizing the image image | photographed with the stereo camera in Example 1 of this invention before parallelizing by projective transformation. The figure which shows the example after parallelizing the image image | photographed with the conventional general stereo camera before parallelizing by projective transformation. The figure which shows the example of the picked-up image which correct | amended lens distortion by the polar coordinate correction | amendment part. The figure which shows the example of the picked-up image which carried out the polar coordinate conversion by the polar coordinate correction | amendment part. The figure which shows the flow of the process which a stereo ranging part performs. It is a figure which shows an example of the parallax conversion method which a stereo ranging part performs, and is a figure which shows the picked-up image which carried out the polar coordinate conversion of the picked-up image of a diagonally facing camera. It is a figure which shows an example of the parallax conversion method which a stereo ranging part performs, and is a figure which shows the image which performed reverse conversion of polar coordinate conversion to the picked-up image which carried out polar coordinate conversion. It is a figure which shows an example of the parallax conversion method which a stereo ranging part performs, and is a figure which shows the image which carried out the projective transformation of the image which performed the inverse transformation of the polar coordinate transformation. In Example 3 of this invention, the polar coordinate correction | amendment part shows the example of the picked-up image which carried out image correction by performing the nonlinear transformation of (theta) axis | shaft to the picked-up image which carried out polar coordinate conversion. In Example 4 of this invention, the figure which shows a stereo camera provided with a diagonally-facing camera and a mirror. The figure which shows the escalator by Example 2 of this invention.

  The elevator and the escalator according to the present invention include a distance image sensor (stereo camera) that can recognize a wide range of passengers and measure a distance value to the passengers with high accuracy without impairing the design.

  The stereo camera is fixed and includes two cameras that capture a fixed range. When installed in an elevator, the stereo camera is fixed to the elevator car. When the stereo camera is installed in an escalator, the floor where the escalator is installed is photographed. The escalator entrance and exit and a fixed range in the vicinity thereof are photographed.

  In the two cameras included in the stereo camera, the direction of the optical axis is inclined with respect to a base line that connects the centers of the lenses of these cameras. Therefore, these two cameras have an optical axis on the floor where the escalator is installed when installed on an escalator with respect to the ceiling of the car or the wall where the stereo camera is installed when installed on the elevator. In contrast, it is inclined not diagonally.

  Note that the stereo camera provided in the elevator and escalator according to the present invention can be applied to a general purpose of controlling the devices in the vehicle and the operation of the vehicle using the sensing information in addition to the elevator and the escalator.

  Hereinafter, an elevator and an escalator according to embodiments of the present invention will be described with reference to the drawings.

  The elevator by Example 1 of this invention is demonstrated.

  FIG. 2 is a diagram showing an elevator car 51 according to this embodiment. The car 51 includes a ceiling 56, four wall surfaces (side surfaces) 57, a floor surface 55, a door 53 provided on one of the wall surfaces 57, and an image recognition device, and moves up and down the hoistway to carry passengers and luggage. The image recognition device includes a stereo camera 52 and a control device 54.

  The stereo camera 52 is a distance image sensor, and is fixedly installed on the upper portion of the car 51. In FIG. 2, the stereo camera 52 is provided on the ceiling 56. Note that the stereo camera 52 may be provided on the wall surface 57. In this case, it is preferable to provide the stereo camera 52 at a wall surface 57 near the ceiling 56, that is, at a position as close to the ceiling 56 as possible on the wall surface 57. The stereo camera 52 is fixed to the car 51 and photographs a fixed range in the car 51. This certain range is determined by the installation position and installation angle of the stereo camera 52, but is a range in which a wide range of passengers in the car 51 can be photographed.

  A coordinate system 59 based on the car 51 is defined for the car 51, and a coordinate system 58 based on the stereo camera 52 is defined for the stereo camera 52.

  The control device 54 is provided in the car 51 so as not to impair the design of the car 51.

  FIG. 1 is a diagram illustrating a functional configuration of an image recognition apparatus provided in the elevator according to the present embodiment. As described above, the image recognition device includes the stereo camera 52 and the control device 54.

  The stereo camera 52 includes two oblique cameras 1 and 2 and a housing that houses the oblique cameras 1 and 2. The obliquely facing cameras 1 and 2 are housed in a housing in a direction that allows passengers in the car 51 to take pictures, and images taken in the car 51 are captured to capture images (including moving images and still images). get.

  The control device 54 includes a polar coordinate correction unit 3, a stereo distance measurement unit 4, a passenger recognition unit 5, and a control unit 6. The polar coordinate correction unit 3 corrects the captured images of the oblique camera 1 and the oblique camera 2 using image conversion using polar coordinate conversion. The stereo distance measuring unit 4 performs a stereo distance measurement (measures a distance value with a captured object using the two captured images of the stereo camera) for the two captured images corrected by the polar coordinate correcting unit 3. Find distance data. The passenger recognition unit 5 recognizes an object (for example, a passenger and a baggage) in the car 51 using the distance measurement data obtained by the stereo distance measurement unit 4. The control unit 6 controls one or more of the devices provided in the operation of the car 51 or the elevator using the recognition result of the passenger recognition unit 5.

  Each function of the polar coordinate correction unit 3, the stereo distance measurement unit 4, the passenger recognition unit 5, and the control unit 6 can be realized by signal processing in the control device 54. An arbitrary computer can be applied to the control device 54. For example, a control device built in the stereo camera 52 or a remote computer connected to the car 51 via a network may be used as the control device 54. The control device 54 may be composed of two or more computers.

  Details of the oblique cameras 1 and 2, the polar coordinate correction unit 3, the stereo distance measuring unit 4, the passenger recognition unit 5, and the control unit 6 will be described below.

  FIG. 3A is a diagram illustrating a configuration of the stereo camera 52 in the present embodiment. The oblique camera 1 and the oblique camera 2 are provided in the housing 60 of the stereo camera 52.

  The oblique camera 1 and the oblique camera 2 are fixed to the housing 60 in such an orientation that a passenger in the car 51 can take an image from the stereo camera 52. The directions of the oblique camera 1 and the oblique camera 2 are the directions of the optical axes of the oblique camera 1 and the oblique camera 2, respectively. In the stereo camera 52, the directions of the optical axes of the oblique camera 1 and the oblique camera 2 are lines (base lines) connecting the center (optical center) of the lens 61 of the oblique camera 1 and the center of the lens 62 of the oblique camera 2. 63).

  In the oblique camera 1 and the oblique camera 2, the base line 63 is parallel to the side surface of the case 60 of the stereo camera 52 (the side surface where the lens 61 of the oblique camera 1 and the lens 62 of the oblique camera 2 face each other). It is fixed inside the housing 60. The stereo camera 52 is provided on the ceiling 56 (or wall surface 57) of the car 51, but the side surface of the housing 60 facing the lenses 61 and 62 is parallel to the ceiling 56 (or wall surface 57) so as not to impair the design. It is provided to become. That is, the stereo camera 52 is installed on the car 51 so that the base line 63 is parallel to the ceiling 56 of the car 51 (or the wall surface 57 on which the stereo camera 52 is installed).

  Therefore, since the optical axis of the oblique camera 1 and the oblique camera 2 is oblique with respect to the base line 63, the optical axis is relative to the ceiling 56 of the car 51 (or the wall surface 57 on which the stereo camera 52 is installed). And tilted diagonally rather than vertically.

  The relative positions of the oblique camera 1 and the oblique camera 2 are arbitrary as long as the stereo distance measurement described later can be performed with high accuracy. The optical axis of the oblique camera 1 and the optical axis of the oblique camera 2 are preferably parallel or nearly parallel to each other, but may not be parallel to each other.

  FIG. 3B is a diagram showing a configuration of a conventional general stereo camera 52g. For comparison, a conventional stereo camera 52g will be briefly described. A conventional stereo camera 52g includes a camera 1g and a camera 2g inside a housing 60g, and the optical axes of the camera 1g and the camera 2g are oriented with respect to the center (optical center) of the lens 61g of the camera 1g and the lens 62g of the camera 2g. It is almost perpendicular to the base line 63g connecting the center of the two. That is, the optical axes of the cameras 1g and 2g are substantially perpendicular to the side surface of the housing 60g where the lenses 61g and 62g face each other. Therefore, in the stereo camera 52g, when the side surface of the casing 60g where the lenses 61g and 62g face is parallel to the ceiling 56 (or the wall surface 57) so as not to impair the design, the orientation of the camera 1g and the camera 2g Is substantially perpendicular to the ceiling 56 (or the wall surface 57 on which the stereo camera 52g is installed).

  The polar coordinate correction unit 3 parallelizes the captured images of the oblique camera 1 and the oblique camera 2 by correcting the image using polar coordinate conversion. Polar coordinate conversion is to convert the captured images of the oblique cameras 1 and 2 (captured images in the orthogonal coordinate system) into captured images in the polar coordinate system.

  In the following, parallelization of a captured image by projective transformation will be described, and the reason why polar coordinate conversion is necessary for parallelization will be described.

  FIG. 4 is a schematic diagram for explaining epipolar geometry in stereo distance measurement. In FIG. 4, the lens centers 11 and 12 of the two cameras, the epipoles 13 and 14, the imaging surfaces 17 and 18, the point 10 in the space, and the projection point of the point 10 onto the imaging surfaces 17 and 18. 19 and 20, a base line 63 that is a line segment connecting the lens center 11 and the lens center 12, and epipolar lines 15a, 15b, 15c, 16a, 16b, and 16c are shown. The epipole 13 is a projection point of the lens center 12 onto the imaging surface 17 (the intersection of the imaging surface 17 and the base line 63 virtually extended to infinity), and the epipolar 14 is the imaging surface of the lens center 11. Projection point to 18. The epipolar lines 15a, 15b, 15c and the epipolar lines 16a, 16b, 16c correspond to each other in this order. For example, when the projection point 19 is located on the epipolar line 15b, the projection point 20 is located on the epipolar line 16b.

  In stereo ranging, the corresponding points on the epipolar line are searched based on the image similarity. For example, with respect to the projection point 19 of the epipolar line 15b, a projection point 20 located on the epipolar line 16b is obtained by performing a corresponding point search based on the image similarity. Then, the distance to the point 10 is measured from the coordinates of the projection point 19 and the projection point 20 by triangulation. In stereo distance measurement, this distance measurement is repeated at each point on the imaging surface 17 to obtain a distance value from the photographed object.

  In general, in order to make the calculation of the corresponding point search of the projection point 20 with respect to the projection point 19 efficient, projective transformation is performed so that the imaging surfaces 17 and 18 are perpendicular to the base line 63. This projective transformation is generally called parallelization. When parallelization is performed, all epipolar lines such as epipolar lines 15a, 15b, and 15c and epipolar lines 16a, 16b, and 16c coincide with the horizontal axes of the imaging surfaces 17 and 18. For this reason, the range of the corresponding point search for obtaining the projection point 20 with respect to the projection point 19 can be limited to the horizontal axis direction of the parallelized imaging surface 18 on the imaging surface 18. As a geometric property, this parallelization (parallelization by projective transformation) is equivalent to a transformation that moves the epipoles 13 and 14 to infinity.

  FIG. 5A is a schematic diagram for explaining parallelization by projective transformation in the stereo camera 52 in the present embodiment. The left figure of FIG. 5A shows the imaging surfaces 17 and 18 before parallelization, and the right figure of FIG. 5A shows the imaging surfaces 27 and 28 after parallelization by projective transformation. The epipolar lines 15a, 15b, 15c, 16a, 16b, and 16c in the left diagram of FIG. 5A and the epipolar lines 25a, 25b, 25c, 26a, 26b, and 26c in the right diagram of FIG. 5A correspond to each other. 5A, the imaging surface 27 is divided into a left side portion 21 and a right side portion 23, and the imaging surface 28 is divided into a left side portion 22 and a right side portion 24 for explanation.

  5A shows the lens center 11 of the oblique camera 1, the lens center 12 of the oblique camera 2, epipoles 13 and 14, and imaging surfaces 17 and 18. In the stereo camera 52, since the oblique cameras 1 and 2 are inclined with respect to the base line 63, the epipoles 13 and 14 appear near the imaging surfaces 17 and 18, respectively. In the example of FIG. 5A, the epipoles 13 and 14 appear near the right side of the imaging surfaces 17 and 18, respectively.

  The right side of FIG. 5A shows imaging surfaces 27 and 28 after parallelization by projective transformation. Before the parallelization (left figure in FIG. 5A), the epipoles 13 and 14 are close to the right side of the imaging surfaces 17 and 18, respectively. Therefore, on the imaging surfaces 27 and 28 after the parallelization, Along with the projective transformation that moves the epipoles 13 and 14 to infinity, the captured image is greatly expanded as compared with the left side portions 21 and 22. This expansion becomes larger because the closer to the right side of the imaging surfaces 27 and 28 in the right side portions 23 and 24, the closer to the epipoles 13 and 14.

  FIG. 5B is a schematic diagram for explaining parallelization by projective transformation in a conventional general stereo camera 52g for comparison. The left figure of FIG. 5B shows the imaging surfaces 17g and 18g before parallelization, and the right figure of FIG. 5B shows the imaging surfaces 27g and 28g after parallelization by projective transformation. The epipolar lines 15ag, 15bg, 15cg, 16ag, 16bg, and 16cg in the left diagram of FIG. 5B correspond to the epipolar lines 25ag, 25bg, 25cg, 26ag, 26bg, and 26cg in the right diagram of FIG. 5B, respectively. The left figure of FIG. 5B also shows the lens center 11g of the camera 1g and the lens center 12g of the camera 2g.

  In the conventional stereo camera 52g, the orientation of the camera 1g and the camera 2g is substantially perpendicular to the base line 63g, so that the epipole is at a position close to infinity. For this reason, the captured images on the imaging surfaces 27g and 28g after the parallelization shown in the right diagram of FIG. 5B do not expand so much.

  FIG. 6A is a diagram illustrating an example of an image captured by the stereo camera 52 according to the present embodiment before and after being parallelized by projective transformation. FIG. 6A shows captured images 117 and 217 of the obliquely facing camera 1 when the interior of the car 51 is captured by the stereo camera 52 as an example. The left figure of FIG. 6A is a photographed image 117 before parallelization, and the right figure of FIG. 6A is a photographed image 217 after parallelization by projective transformation. The captured image 117 shows a wheelchair operation panel 153, a passenger 156, and a passenger's head 157, and the captured image 217 shows a passenger 256 and a passenger's head 257.

  In the photographed image 217 after being collimated by projective transformation, the photographed image is obtained along with the collimation as described above in the right part (corresponding to the right part 23 of the imaging surface 27 shown in the right diagram of FIG. 5A). Therefore, the image of the passenger 256 is greatly deformed, and the image of the passenger's head 257 is particularly greatly deformed. In addition, the wheelchair operation panel 153 shown in the photographed image 117 before parallelization moves out of the angle of view of the photographed image 217 as a result of the photographed image being expanded on the right side of the photographed image 217 after parallelization. As a result, the captured image 217 is not reflected. Although not shown, when the captured image of the obliquely facing camera 2 is made parallel by projective transformation, the captured image is greatly expanded in the right portion, and the image in the captured image is greatly deformed, like the captured image 217.

  As described above, in the stereo camera 52 including the oblique cameras 1 and 2, when the captured image is parallelized by projective transformation, the captured image is expanded at the right side portions 23 and 24 of the imaging surfaces 27 and 28. Is deformed or moved outside the angle of view, it is difficult to perform high-precision stereo distance measurement.

  For comparison, FIG. 6B is a diagram illustrating an example of an image captured by a conventional general stereo camera 52g before and after being parallelized by projective transformation. The left figure in FIG. 6B is a photographed image 117g before parallelization, and the right figure in FIG. 6B is a photographed image 217g after parallelization by projective transformation. The shot image 117g shows a wheelchair operation panel 153g, a passenger 156g, and a passenger's head 157g, and the shot image 217g shows a wheelchair operation panel 253g, a passenger 256g, and a passenger's head 257g. It is reflected.

  In the conventional stereo camera 52g, the orientations of the camera 1g and the camera 2g are substantially perpendicular to the base line 63g, and even if the captured image 117g is parallelized by projective transformation, the captured image 217g after parallelization does not greatly expand. For this reason, the wheelchair operation panel 153g, the passenger 156g, and the passenger's head 157g shown in the photographed image 117g before parallelization, and the wheelchair operation panel 253g shown in the photographed image 217g after parallelization, There is no significant deformation of the image between the passenger 256g and the passenger's head 257g.

  As described above, when an image photographed by the stereo camera 52 in the present embodiment is made parallel by projective transformation, distortion (deformation) of the image in the photographed image or protrusion outside the angle of view may occur.

  The polar coordinate correction unit 3 uses polar coordinate conversion for the captured images of the oblique cameras 1 and 2 in order to reduce image distortion and protrusion outside the angle of view when parallelizing the captured image of the stereo camera 52. Make corrections and parallelize.

  FIG. 7A is a diagram for describing correction of a captured image by the polar coordinate correction unit 3, and is a diagram illustrating an example of a captured image in which lens distortion is corrected. The captured image 317 is a captured image obtained by correcting the lens distortion from the captured image 117 by the polar coordinate correction unit 3. The captured image 317 shows an operation panel 353 for a wheelchair, a passenger 356, and a passenger's head 357. FIG. 7A also shows an epipolar 313 for the captured image 317 (a point corresponding to the epipolar 13 for the imaging surface 17) and a polar coordinate system 315 with the epipolar 313 for the captured image 317 as the origin. The polar coordinate system 315 has two coordinate axes, a distance ρ and an angle θ, and is indicated by a one-dot chain line in FIG. 7A. The coordinate axis of the distance ρ in the polar coordinate system 315 coincides with epipolar lines such as epipolar lines 15a, 15b, and 15c.

  FIG. 7B is a diagram for describing correction of a captured image by the polar coordinate correction unit 3, and is a diagram illustrating an example of a captured image obtained by polar coordinate conversion. The photographed image 417 is a photographed image obtained by polar coordinate conversion of the photographed image 317 using the polar coordinate system 315 by the polar coordinate correction unit 3 and is represented by a polar coordinate system 415 having a distance ρ and an angle θ as coordinate axes. In the polar coordinate system 415, the coordinate axis of the distance ρ and the coordinate axis of the angle θ are orthogonal to each other. The polar coordinate system 415 is indicated by a one-dot chain line in FIG. 7B. The captured image 417 shows a wheelchair operation panel 453, a passenger 456, and a passenger's head 457. The captured image 417 includes blank portions 425 and 426 that are portions where the captured image 317 has no corresponding pixel.

  The polar coordinate correction unit 3 corrects lens distortion for the captured image 117 of the oblique camera 1 (the captured image 317 in FIG. 7A), and converts it into a captured image 417 in the polar coordinate system 415 by polar coordinate conversion. This polar coordinate conversion is equivalent to conversion that moves the epipole 313 to infinity, and has the effect of parallelization, as is parallelization by projective transformation.

  In the captured image 417 converted by the polar coordinate correction unit 3 into polar coordinates, the passenger 456 and the passenger's head 457 are somewhat distorted. However, although the degree of distortion is larger than the captured image 217g (right diagram in FIG. 6B) obtained by parallelizing the captured image 117g of the conventional general stereo camera 52g by projective transformation, the captured image of the stereo camera 52 in this embodiment is used. The image 117 is much smaller than the captured image 217 (right diagram in FIG. 6A) obtained by parallelizing the image 117 by projective transformation. In addition, in the captured image 217 parallelized by projective transformation (the right diagram in FIG. 6A), the wheelchair operation panel 153 protrudes outside the angle of view, whereas the parallelized captured image 417 using polar coordinate transformation. In FIG. 7B, the wheelchair operating panel 453 is within the angle of view.

  The polar coordinate correction unit 3 also corrects the lens distortion of the image captured by the oblique camera 2 in the same manner as the image captured by the oblique camera 1 and converts the image into a captured image in the polar coordinate system using parallel conversion. Turn into.

  Next, the stereo distance measuring unit 4 will be described. The stereo distance measurement unit 4 performs stereo distance measurement on the two captured images parallelized by the polar coordinate correction unit 3 using polar coordinate conversion, and performs distance measurement such as a three-dimensional point group representing an object captured by the parallax and the stereo camera 52. Ask for data.

  FIG. 8 is a diagram illustrating a flow of processing executed by the stereo distance measuring unit 4. The stereo distance measurement unit 4 performs stereo distance measurement on the image captured by the oblique camera 1 and the image captured by the oblique camera 2 parallelized by the polar coordinate correction unit 3, and outputs distance measurement data. In the following, an example in which distance measurement data (parallax and three-dimensional point group) is obtained with reference to an image captured by the oblique camera 1 will be described. However, an image captured by the oblique camera 2 may be used as a reference.

  In S <b> 1, the stereo distance measuring unit 4 calculates and obtains the parallax of each pixel on the captured image 417 parallelized by polar coordinate conversion. This parallax is obtained by using a parallel stereo method that has been used in the past from a captured image 417 obtained by polar-transforming a photographed image of the oblique camera 1 and a photographed image obtained by converting the photographed image of the oblique camera 2 by polar coordinates. It is obtained by searching for corresponding points between images and calculating parallax. As an algorithm for searching for corresponding points, for example, a block matching method using similarity between blocks in the vicinity of each pixel in an image can be used. However, the present invention is not limited to this method, and any algorithm applicable to the parallax calculation in the parallel stereo method can be used.

  In S <b> 2, the stereo distance measuring unit 4 performs the parallax of each pixel on the captured image 417 (FIG. 7B) obtained by parallelizing the captured image of the oblique camera 1 by polar coordinate conversion, and the projected image of the oblique camera 1 by projective conversion. The parallax of each pixel on the captured image when parallelized is converted. That is, the parallax obtained in the polar coordinate system 415 is converted into parallax in the orthogonal coordinate system. An example of this parallax conversion method will be described with reference to FIGS. 9A, 9B, and 9C.

  9A, 9B, and 9C are diagrams illustrating an example of a parallax conversion method performed by the stereo distance measuring unit 4. FIG. FIG. 9A shows a captured image obtained by polar-transforming a captured image of the oblique camera. FIG. 9B shows an image obtained by performing a reverse transformation of the polar coordinate transformation on the captured image obtained by the polar coordinate transformation. FIG. 9C shows an image obtained by projective transformation of an image subjected to inverse transformation of polar coordinate transformation.

In FIG. 9A, a captured image 417 obtained by converting the captured image 117 of the oblique camera 1 by polar coordinates, a captured image 418 obtained by converting the captured image of the oblique camera 2 by polar coordinates, a point 435 on the captured image 417, and a captured image 418 are illustrated. Point 436 is shown. A point 436 is a point corresponding to the point 435 obtained by the corresponding point search in S1. The captured image 417 and the captured image 418 define a polar coordinate system 415a and a polar coordinate system 416a, respectively. The captured images 417 and 418 are represented by polar coordinate systems 415a and 416a, respectively. The difference | ρ ₂ −ρ ₁ | between the ρ coordinate ρ ₁ of the point 435 and the ρ coordinate ρ ₂ of the point 436 corresponds to the parallax on the captured image 417.

  9B shows a captured image 517, a captured image 518, a point 535 on the captured image 517, a point 536 on the captured image 518, an epipolar 513, an epipolar 514, an epipolar line 515a, and an epipolar line 516a. The captured image 517 and the captured image 518 are images obtained by performing inverse transformation of polar coordinate conversion on the captured image 417 and the captured image 418, respectively. The inverse transformation of polar coordinate conversion is to convert a captured image in the polar coordinate system (for example, the captured image 417 in FIG. 7B) into a captured image in the orthogonal coordinate system (for example, the captured image 317 in FIG. 7A). The photographed image 517 is a photographed image obtained by converting the photographed image 417 in the polar coordinate system into a photographed image in the orthogonal coordinate system (a photographed image of the oblique camera 1). The captured image 518 is a captured image obtained by converting the captured image 418 in the polar coordinate system into a captured image in the orthogonal coordinate system (captured image of the oblique camera 2). Points 535 and 536 correspond to points 435 and 436, respectively, and are obtained from points 435 and 436 by inverse transformation of polar coordinate transformation. The epipolar line 515a and the epipolar line 516a correspond to each other between the captured image 517 and the captured image 518. Points 535 and 536 are located on epipolar lines 515a and 516a, respectively.

  9C shows a captured image 527, a captured image 528, a point 545 on the captured image 527, a point 546 on the captured image 528, a horizontal axis 525a of the captured image 527, and a horizontal axis 526a of the captured image 528. The captured image 527 and the captured image 528 are images obtained by projective transformation of the captured image 517 and the captured image 518, respectively. Points 545 and 546 are points obtained by a procedure in which the photographed image 517 is projectively converted to the photographed image 527 and a procedure in which the photographed image 518 is projectively transformed into the photographed image 528, and corresponds to the points 535 and 536. Located on the horizontal axis 525a and the horizontal axis 526a.

If the horizontal axes 525a and 526a of the captured images 527 and 528 are u-axis, and the coordinates on the u-axis of the points 545 and 546 are u ₁ and u ₂ respectively, the difference between u ₁ and u ₂ | u ₂ −u ₁ | Is the parallax on the captured image 527. This parallax | u ₂ −u ₁ | is equal to the parallax when the captured image is parallelized by the projective transformation generally performed in the past.

  In S2, the stereo distance measuring unit 4 converts the parallax of each pixel on the captured image 417 parallelized by polar coordinate conversion as described above to the captured image 527 (image corresponding to the captured image parallelized by projective conversion). Convert to parallax of each pixel above. By converting the parallax obtained in the polar coordinate system into the parallax in the orthogonal coordinate system, the parallax can be converted into a three-dimensional point group (corresponding to each pixel, as in the case of obtaining the parallax with a conventional general stereo camera, There is an effect that it can be converted into a point cloud representing an object photographed by the stereo camera 52.

In S3, the stereo distance measuring unit 4 determines the parallax of each pixel on the photographed image 527 in the coordinate system 58 (X _S , Y _S , Z _S ) (see FIG. 2) based on the stereo camera 52. Convert to a dimension point cloud. X _S is the coordinate in the direction of the base line 63, Y _S is the coordinate in the height direction, and Z _S is the coordinate in the direction from the stereo camera 52 toward the object to be imaged. Therefore, the value of the coordinate Z _S is a distance value to an object (for example, passenger and luggage) in the car 51.

First, Z _S is obtained from the parallax using Equation (1). In Expression (1), d is the parallax on the captured image 527, B is the length of the base line 63 (see FIG. 3A), and λ is the focal length of the stereo camera 52.

Next, X _S and Y _S are obtained using Equation (2) and Equation (3). U in Expression (2) and v in Expression (3) are the coordinates of the pixel on the captured image 527. Expressions (2) and (3) are modifications of general projection transformation expressions such as u = λX _S / Z _S and v = λY _S / Z _S , respectively.

In S4, the stereo distance measuring unit 4 uses the three-dimensional point group in the coordinate system 58 (X _S , Y _S , Z _S ) based on the stereo camera 52 as the coordinate system 59 (X, Y based on the car 51). , Z) (3) (see FIG. 2), coordinate conversion is performed by matrix conversion of rotation and translation. For this coordinate conversion, the installation position (X _C , Y _C , Z _C ) and installation angle (α, β, γ) of the stereo camera 52 in the coordinate system 59 and the equation (4) obtained in advance are obtained. Use.

  The stereo distance measuring unit 4 obtains the parallax of each pixel on the captured image 417 parallelized by the polar coordinate transformation as described above, and based on this parallax, the object (a three-dimensional point representing the object) Ask if there is a group).

  Next, the passenger recognition unit 5 will be described. The passenger recognizing unit 5 uses the distance measurement data obtained by the stereo distance measuring unit 4 (particularly, a three-dimensional point group representing an object photographed by the stereo camera 52), and the objects in the car 51 (for example, passengers and luggage). Recognize For example, the technique disclosed in Patent Document 1 can be used for recognizing an object in the car 51. The passenger recognition unit 5 densely collects the three-dimensional point group whose coordinates are defined in the coordinate system 59 from each pixel of the captured image of the stereo camera 52 (the captured image of the oblique camera 1 or the captured image of the oblique camera 2). The object in the car 51 is extracted, the number of passengers in the car 51 and the occupied area of the luggage are recognized, and the degree of congestion in the car 51 is obtained. Moreover, the passenger recognition part 5 can recognize the condition of the cage | basket | car 51 that the cage | basket | car 51 is full or unattended from a passenger's recognition result.

  The control unit 6 controls the operation of the car 51 or one or more devices in the car 51 according to the recognition result of the object in the car 51 by the passenger recognition unit 5. For example, when the passenger recognition unit 5 determines that the car 51 is full, the control unit 6 does not stop at the hall call while the car 51 is moving up and down (that is, passes through the floor where the hall call was made). Control the operation of the car 51. In addition, when the passenger recognition unit 5 determines that the car 51 is unmanned, the control unit 6 performs control to increase the opening / closing speed of the door 53.

  As described above, the elevator according to the present embodiment includes the stereo camera 52 including the oblique camera 1 and the oblique camera 2, and can perform high-precision stereo distance measurement and passenger recognition in the car 51. Based on this, the car 51 can be controlled. Since the stereo camera 52 includes the oblique camera 1 and the oblique camera 2, even if the housing 60 is not installed obliquely with respect to the ceiling 56 of the car 51 or the wall surface 57 on which the stereo camera 52 is installed, An obliquely downward image can be taken from the ceiling 56 of the car 51 or the wall surface 57 on which the stereo camera 52 is installed, and the distance value to the passenger can be measured with high accuracy in a wide range within the car 51. it can. The stereo camera 52 can be provided such that the side surface of the housing 60 where the lenses 61 and 62 of the oblique cameras 1 and 2 face each other is parallel to the ceiling 56 of the car 51 or the wall surface 57 on which the stereo camera 52 is installed. Therefore, space-saving installation is possible without impairing the design.

  Note that the stereo distance measuring unit 4 can omit one or more of steps S4, S3, and S2 in FIG. 8 according to the passenger recognition method in the passenger recognition unit 5. For example, when the passenger recognizing unit 5 has a temporal change in the parallax calculated by the stereo distance measuring unit 4 in S1 (that is, it can be determined that the number of objects photographed by the stereo camera 52 has increased or decreased), When the process of recognizing that the car 51 has been boarded or exited from the car 51 is performed, the stereo distance measuring unit 4 can omit steps S4, S3, and S2 and execute only S1.

  The stereo camera 52 may be installed above the car 51 by embedding the upper side of the housing 60 in the ceiling 56 of the car 51. As shown in FIG. 3A, the lenses 61 and 62 of the oblique cameras 1 and 2 are on the lower side in the housing 60 of the stereo camera 52. For this reason, the field of view of the oblique cameras 1 and 2 is not blocked even if the upper side of the housing 60 is embedded in the ceiling 56 of the car 51.

  Further, at least a part of the stereo camera 52 may be located in a gap between the ceiling 56 of the car 51, a gap between the wall surfaces 57, or a gap between the ceiling 56 and the wall surface 57. Further, at least a part of the stereo camera 52 may be located in a gap between the ceiling illumination of the car 51 and the wall surface 57. If these gaps exist in the car 51, the stereo camera 52 can be fixed by inserting at least a part of the stereo camera 52 into these gaps. For example, the stereo camera 52 can be installed in the car 51 by inserting the upper part of the housing 60 of the stereo camera 52 into the gap between the ceiling illumination of the car 51 and the wall surface 57. By installing the stereo camera 52 on the upper portion of the car 51 in this way, it is possible to install the stereo camera 52 with less space without impairing the design.

  An escalator according to Embodiment 2 of the present invention will be described.

  FIG. 12 is a diagram showing the escalator 111 according to this embodiment. The escalator 111 includes a deck 110 that is a floor of a passenger entrance on which the passenger 113 gets on and off the escalator 111, a step 112 on which the passenger 113 moves, and an image recognition device. The escalator 111 is provided in the building and has different floors in the building. Connect. The floor on the floor to which the escalator 111 is connected is called the floor on which the escalator 111 is installed. The deck 110 is provided on the floor where the escalator 111 is installed, and a passenger 113 who gets on and off the escalator 111 passes therethrough.

  The image recognition device includes a stereo camera 52b and a control device (not shown in FIG. 12). The stereo camera 52b and the control device have the same configurations as the stereo camera 52 and the control device 54 described in the first embodiment, but there are also differences. Hereinafter, differences between the stereo camera 52b and the control device 54 will be described with respect to the stereo camera 52b and the control device, respectively.

  The stereo camera 52b is fixedly installed on the floor on which the escalator 111 is installed, or is fixedly installed on the structure of the escalator 111 provided at the entrance / exit of the passenger 113, and advances through the deck 110 and the deck 110. The passenger 113 passing in the direction 114 is photographed. The structure of the escalator 111 does not move like the step 112 or the handrail, but is fixed to the floor. For example, the stereo camera 52b can be installed near the inlet of the escalator 111 (the entrance / exit of the handrail of the escalator 111). In this manner, the stereo camera 52b is fixed to the floor on which the escalator 111 is installed, and photographs a fixed fixed range around the entrance / exit of the escalator 111 and its vicinity. This fixed range is determined by the installation position and installation angle of the stereo camera 52b, but is a range where the deck 110 and the passenger 113 passing through the deck 110 can be photographed over a wide range.

  Similarly to the stereo camera 52, the stereo camera 52 b includes oblique cameras 1 and 2. However, the oblique cameras 1 and 2 are directed to the deck 110 (for example, the center of the deck 110) so that the deck 110 and the passenger 113 passing through the deck 110 fall within the angle of view. Similar to the stereo camera 52 of the first embodiment, the optical axes of the oblique cameras 1 and 2 are inclined with respect to the base line 63.

  The housing of the stereo camera 52b is installed on the floor or a structure to which the escalator 111 is fixed, but is provided so as to be parallel to the traveling direction 114 of the passenger 113 so as not to impair the design. Since the stereo camera 52b is provided at a position near the floor in consideration of the design of the escalator 111, the oblique cameras 1 and 2 face obliquely upward with respect to the floor surface. Therefore, in the oblique cameras 1 and 2, the optical axis is inclined obliquely rather than perpendicular to the floor surface. The oblique cameras 1 and 2 can be provided so that the optical axis is inclined with respect to the traveling direction 114 of the passenger 113.

  Similar to the control device 54 (see FIG. 1), the control device includes a polar coordinate correction unit 3, a stereo distance measurement unit 4, a passenger recognition unit 5, and a control unit 6. The control unit 6 controls the operation of the escalator 111 according to the recognition result of the passenger recognition unit 5. The control device is provided in the escalator 111 so as not to impair the design of the escalator 111.

  In the escalator 111 according to the present embodiment, as in the elevator according to the first embodiment, the image recognition apparatus has the functional configuration shown in FIG. 1 and performs stereo distance measurement and the passenger 113 recognition using the stereo camera 52b. The operation of the escalator 111 is controlled. For example, if the passenger recognition unit 5 detects that the passenger 113 exists in the same place for a certain period of time or that the passenger 113 has suddenly disappeared from the angle of view, the passenger recognition unit 5 determines that the passenger 113 has fallen, and the control unit 6 Stops the step 112 urgently. In addition, when the passenger recognition unit 5 determines that the number of passengers 113 has exceeded the capacity of the escalator 111, the control unit 6 sets the control to stop step 112 and the moving speed of step 112 to prevent accidents. Control to lower.

  In the escalator 111 according to the present embodiment, as in the elevator according to the first embodiment, high-precision stereo distance measurement and passenger recognition can be performed, and the operation of the escalator 111 can be controlled based on these results. The stereo camera 52b includes the oblique camera 1 and the oblique camera 2, and can measure the distance value to the passenger 113 passing through the deck 110 with high accuracy in a wide range. Since the housing of the stereo camera 52b is provided so as to be parallel to the traveling direction 114 of the passenger 113 and can be installed in a narrow space of the escalator 111, it can be installed in a small space without impairing the design.

  As described in the first embodiment, the polar coordinate correction unit 3 converts the captured images of the oblique cameras 1 and 2 into a captured image in the polar coordinate system by polar coordinate conversion. FIG. 7B shows an example in which the polar coordinate correcting unit 3 converts the captured image 117 (see FIG. 6A) of the obliquely facing camera 1 into a captured image 417 in the polar coordinate system 415 by polar coordinate conversion, as an example.

  The polar coordinate correction unit 3 can add arbitrary image correction to the captured image that has been subjected to polar coordinate conversion. For example, the polar coordinate correction unit 3 may nonlinearly transform the θ axis of the vertical axis of the captured image 417 (FIG. 7B). This non-linear conversion is a conversion in which image correction is performed to widen the interval of the θ axes at the central portion of the captured image 417 in the θ axis direction.

  FIG. 10 is a diagram illustrating an example of a captured image 417c in which the polar coordinate correction unit 3 performs image correction by performing nonlinear transformation of the θ axis on the captured image 417 (FIG. 7B) subjected to polar coordinate conversion. The captured image 417c is represented by a polar coordinate system 415c having a distance coordinate axis ρ and an angle coordinate axis θc. The polar coordinate system 415c is indicated by a one-dot chain line in FIG. The captured image 417c shows an operation panel 453c for a wheelchair, a passenger 456c, and a passenger's head 457c. Further, the photographed image 417c includes blank portions 425c and 426c (a portion having no corresponding pixel in the photographed image 317 (FIG. 7A) which is an image before polar coordinate conversion).

  The coordinate axis θc (FIG. 10) of the polar coordinate system 415c is wider at the center of the photographed image and narrower at the end of the photographed image than the coordinate axis θ (FIG. 7B) of the polar coordinate system 415. By representing the photographed image 417c with such a polar coordinate system 415c, the resolution in the θc-axis direction at the center of the photographed image 417c can be made higher than that of the photographed image 417 before the nonlinear transformation of the θ-axis.

  The stereo distance measuring unit 4 can obtain the parallax of each pixel on the photographed image 417c by inputting the photographed image 417c so that the resolution in the θc axis direction at the center of the image is higher than that of the photographed image 417. it can. Therefore, the stereo distance measuring unit 4 can obtain the distance measurement data with higher accuracy at the center of the captured image 417c, and in particular, can measure the distance value to the passenger shown in the center of the captured image 417c with higher accuracy. can do.

  In the above embodiment, the stereo camera 52 (hereinafter also including the stereo camera 52b) includes two obliquely facing cameras 1 and 2 (see FIG. 3A). One of the two oblique cameras 1 and 2 may be replaced with a mirror. That is, the stereo camera 52 may include a mirror instead of one of the oblique cameras 1 and 2 and may include one oblique camera and one mirror. Hereinafter, an example in which the oblique camera 2 is replaced with a mirror and the stereo camera 52 includes the oblique camera 1 and a mirror will be described.

  FIG. 11 is a diagram illustrating a stereo camera 52m including the obliquely facing camera 1 and the mirror 2m. The stereo camera 52m includes a mirror 2m instead of the oblique camera 2 in the stereo camera 52 (FIG. 3A), and the oblique camera 1 and the mirror 2m are housed in a housing 60. Inside the stereo camera 52m, the mirror 2m has the center of the mirror surface at the same position as the center (optical center) of the lens 62 of the obliquely facing camera 2 of the stereo camera 52, and the mirror surface is the same as the lens 62 with respect to the housing 60. It is fixed so that it faces the angle (the normal of the mirror surface is obliquely facing the same angle as the optical axis of the camera 2). The oblique camera 1 of the stereo camera 52m is fixed in the stereo camera 52m at the same position and angle as the oblique camera 1 of the stereo camera 52. That is, the position of the lens 61 is the same between the oblique camera 1 of the stereo camera 52m and the oblique camera 1 of the stereo camera 52. The base line 63 is a line that connects the center of the lens 61 of the obliquely facing camera 1 and the center of the mirror surface of the mirror 2m.

  The viewing angle of the oblique camera 1 is sufficiently wide and the mirror 2m is projected. For this reason, the mirror 2m and the image reflected on the mirror 2m appear in the image captured by the oblique camera 1. The image reflected on the mirror 2m is an image equivalent to the image captured by the oblique camera 2 of the stereo camera 52. Therefore, an image reflected in the mirror 2m reflected in the image captured by the oblique camera 1 can be handled as an image captured by the oblique camera 2 of the stereo camera 52.

  As described above, even if the stereo camera 52m includes only one oblique camera, the image reflected on the mirror 2m reflected in the image captured by the oblique camera 1 can be used in the first to third embodiments. The same effect as described can be obtained. Furthermore, in the present embodiment, the stereo camera 52m includes only one obliquely-facing camera, so that there is an effect that it has a simple structure and is lighter than the stereo camera 52. Note that the stereo camera 52m may be configured to include the mirror and the oblique camera 2 by replacing the oblique camera 1 with a mirror.

  In the embodiment described above, the stereo camera 52 can take the following forms.

  The stereo camera 52 is used not only for the elevator car 51 and the escalator 111 but also for a system in which the stereo camera 52 is installed in an oblique direction (a system in which the optical axes of the oblique cameras 1 and 2 are oblique to the base line 63). be able to. For example, a stereo camera 52 is installed on the ceiling of a passenger train on a railroad train so that the automatic door and passengers of the passenger car are photographed obliquely from the ceiling. If there are passengers on the automatic door track, the automatic door is closed. It is possible to perform control such that the control is performed so that the passenger is not blocked, or an announcement is issued to warn the passenger not to block the track.

  The stereo camera 52 can also include three or more oblique cameras. When the stereo camera 52 includes three or more oblique cameras, if each of a pair of two cameras among the three or more oblique cameras is regarded as a pair of the oblique camera 1 and the oblique camera 2, Stereo ranging can be performed as in the first to fourth embodiments. For example, when the stereo camera 52 includes three oblique cameras A, B, and C, each of a pair of two cameras, camera A and camera B, camera B and camera C, and camera C and camera A, is What is necessary is just to regard it as the group of the diagonal direction camera 1 and the diagonal direction camera 2.

  In addition, this invention is not limited to said Example, A various deformation | transformation is possible. For example, the above-described embodiments are described in detail for easy understanding of the present invention, and the present invention is not necessarily limited to an aspect including all the configurations described. In addition, a part of the configuration of a certain embodiment can be replaced with the configuration of another embodiment. It is also possible to add the configuration of another embodiment to the configuration of one embodiment. In addition, it is possible to delete a part of the configuration of each embodiment or to add or replace another configuration.

  DESCRIPTION OF SYMBOLS 1 ... Oblique camera, 1g ... Camera, 2 ... Oblique camera, 2g ... Camera, 2m ... Mirror, 3 ... Polar coordinate correction part, 4 ... Stereo ranging part, 5 ... Passenger recognition part, 6 ... Control part, 10 ... Point in space, 11, 11g, 12, 12g ... Center of lens of camera, 13, 14 ... Epipole, 15a, 15b, 15c, 15ag, 15bg, 15cg, 16a, 16b, 16c, 16ag, 16bg, 16cg ... Epipolar Lines 17, 17g, 18, 18g ... Imaging surface, 19, 20 ... Projection point, 21, 22 ... Left side of imaging surface, 23, 24 ... Right side of imaging surface, 25a, 25b, 25c, 25ag, 25bg, 25cg, 26a, 26b, 26c, 26ag, 26bg, 26cg ... epipolar lines, 27, 27g, 28, 28g ... parallelized imaging surfaces, 51 ... cage, 52, 52b ... stereo Mela, 52g ... Conventional general stereo camera, 52m ... Stereo camera, 53 ... Door, 54 ... Control device, 55 ... Floor surface, 56 ... Ceiling, 57 ... Wall surface, 58 ... Coordinate system based on stereo camera, 59 ... Coordinate system in the car, 60, 60g ... Housing, 61, 61g, 62, 62g ... Lens, 63, 63g ... Baseline, 110 ... Deck, 111 ... Escalator, 112 ... Step, 113 ... Passenger, 114 ... Passenger Traveling direction, 117, 117g ... taken image, 153, 153g ... operation panel for wheelchair, 156, 156g ... passenger, 157, 157g ... head of passenger, 217, 217g ... taken image, 253g ... operation panel for wheelchair 256, 256g ... Passenger, 257, 257g ... Passenger's head, 313 ... Epipolar, 315 ... Polar coordinate system, 317 ... Photographed image with corrected lens distortion, 53 ... Wheelchair operation panel, 356 ... Passenger, 357 ... Passenger's head, 415, 415a, 415c, 416a ... Polar coordinate system, 417, 418 ... Polar image converted image, 417c ... Polar image converted image Corrected photographed image, 425, 425c, 426, 426c ... Blank part, 435, 436 ... Point on photographed image, 453, 453c ... Wheelchair operation panel, 456, 456c ... Passenger, 457, 457c ... Passenger head Part, 513, 514 ... epipolar, 515a, 516a ... epipolar line, 517, 518 ... photographed image, 525a, 526a ... horizontal axis, 527, 528 ... photographed image, 535, 536, 545, 546 ... point on the photographed image .

Claims (10)

Whether to go up and down the hoistway and carry passengers,
A first camera and a second camera which are fixedly installed on an upper part of the car and whose optical axis is inclined obliquely with respect to a ceiling or a wall surface of the car; and a lens of the first camera A stereo camera in which the optical axis is inclined with respect to a base line connecting the center and the center of the lens of the second camera;
A polar coordinate correction unit that performs parallelization using polar coordinate conversion that converts a captured image of the first camera and the second camera into a captured image in a polar coordinate system with an epipolar as an origin of the captured image; ,
The polar coordinate correction unit performs stereo distance measurement on the captured images of the first camera and the second camera that have been parallelized using the polar coordinate conversion, and the passenger in the car captured by the stereo camera A stereo distance measuring unit for obtaining a three-dimensional point cloud representing
A passenger recognition unit that extracts the three-dimensional point group obtained by the stereo ranging unit from the captured image of the first camera and recognizes the passenger in the car;
A control unit for controlling the car according to a recognition result of the passenger in the car by the passenger recognition unit;
An elevator characterized by comprising: The stereo distance measuring unit is configured to detect the captured image of the first camera from the captured images of the first camera and the second camera that are parallelized by the polar coordinate correction unit using the polar coordinate conversion. Obtaining the parallax of each pixel, and obtaining the three-dimensional point group from the parallax;
The elevator according to claim 1. The stereo camera is installed on the ceiling or wall of the car,
The elevator according to claim 1. The stereo camera is at least partially located in a gap in the ceiling of the car, a gap in the wall surface of the car, or a gap between the ceiling and the wall surface of the car.
The elevator according to claim 1. The stereo camera is at least partially located in a gap between the ceiling lighting and the wall surface of the car,
The elevator according to claim 1. The stereo camera includes a mirror instead of one of the first camera and the second camera,
Of the first camera and the second camera, an image reflected in the mirror image of the other camera is the captured image of the one camera replaced with the mirror,
The elevator according to claim 1. Provided in the building,
A step of moving with passengers,
First fixed to the floor of the building or a fixed structure provided at the passenger entrance and exit, the optical axis being inclined obliquely with respect to the floor surface or the traveling direction of the passenger A stereo camera in which the optical axis is inclined with respect to a base line connecting the center of the lens of the first camera and the center of the lens of the second camera;
A polar coordinate correction unit that performs parallelization using polar coordinate conversion that converts a captured image of the first camera and the second camera into a captured image in a polar coordinate system with an epipolar as an origin of the captured image; ,
The polar coordinate correction unit performs stereo distance measurement on the captured images of the first camera and the second camera that have been parallelized by using the polar coordinate conversion, and represents the passenger photographed by the stereo camera A stereo ranging unit for obtaining a point cloud;
A passenger recognition unit that extracts the three-dimensional point group obtained by the stereo ranging unit from the captured image of the first camera and recognizes the passenger;
According to the passenger recognition result by the passenger recognition unit, a control unit for controlling the operation,
An escalator comprising: The stereo distance measuring unit is configured to detect the captured image of the first camera from the captured images of the first camera and the second camera that are parallelized by the polar coordinate correction unit using the polar coordinate conversion. Obtaining the parallax of each pixel, and obtaining the three-dimensional point group from the parallax;
The escalator according to claim 7. The stereo camera is installed near the inlet,
The escalator according to claim 7. The stereo camera includes a mirror instead of one of the first camera and the second camera,
Of the first camera and the second camera, an image reflected in the mirror image of the other camera is the captured image of the one camera replaced with the mirror,
The escalator according to claim 7.

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