JP2019167186A - User detection system - Google Patents

Abstract

To prevent waiting time for a user who has been accommodated in an elevator from being extended.SOLUTION: This user detection system comprises: first determination means for detecting the position of a user on a landing side from a plurality of time-sequentially continuous images photographed by photographing means, and determining whether there is any user who cannot be accommodated in a car on the basis of the time-sequential change of the detected position of the user on the landing side; second determination means for detecting the positions of users on the car side from the images, and determining the high/low occupancy rate of users/objects with respect to the load capacity of a prescribed car on the basis of the time-sequential change of the detected positions of the users on the car side; and control means for determining whether to register a next call for a car different from the prescribed car among a plurality of carts group-managed by a group management control device on the basis of the determination results of the first and second determination means, and registering the next call on the basis of this determination result.SELECTED DRAWING: Figure 1

Description

  This embodiment relates to a user detection system.

  In general, during the time of peak hours when many users use the elevator, such as during morning commutes or lunch breaks, the elevator that arrives at a given floor will soon be full and wait at that given floor. All users may not be able to ride the elevator at once. In such a case, the user who has not been able to get on the elevator needs to press the hall call button provided at the hall again to call another elevator again to the predetermined floor.

  However, in order to call another elevator to the predetermined floor, it is necessary to wait for the full elevator to depart from the predetermined floor and then press the hall call button provided at the hall. This is not a very favorable situation for a user who has not been able to get on the elevator because the waiting time increases.

JP 2017-95213 A

  The problem to be solved by an embodiment of the present invention is to provide a user detection system that can prevent an increase in waiting time of a user who has not been able to get on an elevator.

  According to one embodiment, the user detection system includes a group management control device that performs group management of driving of a plurality of cars. The user detection system includes a photographing unit capable of photographing a predetermined range from the vicinity of a door of the car when a predetermined car arrives at the landing, and a plurality of the time-sequentially taken images. The position of the user on the landing side is detected from the image, and the presence / absence of a user who cannot fully board the predetermined car is determined based on the detected time-series change of the position of the user on the landing side. The position of the user on the car side is detected from the first determination means and the plurality of images taken in time series, and the time-series change in the detected position of the user on the car side The group management control based on the result of determination by the second determination means and the first and second determination means based on Multiple rides that are group-managed by the device It determines whether or not to register the call following onset for different car than said predetermined car of your, and control means for registering a call following onset on the basis of the determination result.

FIG. 1 is a diagram illustrating a schematic configuration example of a user detection system according to an embodiment. FIG. 2 is a diagram for explaining a user detection area in real space. FIG. 3 is a diagram for explaining a coordinate system in a real space. FIG. 4 is a diagram showing the position of the user detected at time t. FIG. 5 is a diagram showing the position of the user detected at time t + 1. FIG. 6 is a flowchart showing an example of the overall operation of the user detection system according to the embodiment. FIG. 7 is a flowchart showing an example of the procedure of the motion detection process. FIG. 8 is a flowchart showing an example of the procedure of the position estimation process. FIG. 9 is a flowchart illustrating an example of a procedure of unloading estimation processing. FIG. 10 is a flowchart showing an example of the procedure of the occupancy rate estimation process in the car. FIG. 11 is a flowchart showing an example of the procedure of the next call registration determination process. FIG. 12 is a diagram for supplementarily explaining the characteristics of the change pattern of the user's position. FIG. 13 is a flowchart showing an example of the procedure of the next call registration determination process according to the modification of the embodiment.

  Hereinafter, embodiments will be described with reference to the drawings. The disclosure is merely an example, and the invention is not limited by the contents described in the following embodiments. Variations readily conceivable by those skilled in the art are naturally included in the scope of the disclosure. In order to make the explanation clearer, in the drawings, the size, shape, and the like of each part may be schematically expressed by changing the actual embodiment. Corresponding elements in the drawings are denoted by the same reference numerals, and detailed description may be omitted.

  In the following description, the elevator is referred to as a “car”. In the following, when a plurality of elevators are described, each elevator will be referred to as “unit”.

[Schematic configuration]
FIG. 1 is a diagram illustrating a schematic configuration example of a user detection system according to an embodiment. Although FIG. 1 illustrates the case where the three cars of the A to C cars are group-managed by the group management control apparatus described later, the number of cars that are group-managed by the group management control apparatus Is not limited to this, but may be at least two. Moreover, in FIG. 1, about each apparatus other than a group management control apparatus, only each apparatus corresponding to A machine among A-C machines is shown in figure. Hereinafter, only the devices corresponding to the Unit A will be described in detail, and the devices corresponding to the Units B and C have the same configuration as the devices corresponding to the Unit A, and thus detailed description thereof will be omitted. For this reason, the following description will be made by appropriately omitting the letter “A” to be added to the end of the reference numeral in order to indicate that each device corresponds to the No. A machine.

  In the user detection system according to the present embodiment, a camera 12 is installed above the entrance / exit of the car 11. Specifically, the camera 12 is installed in a curtain plate 11 a that covers the upper part of the entrance / exit of the car 11 with the lens portion facing the landing side. The camera 12 is installed so that not only the hall 15 but also the entire sill (sill) of the car 11 is included in the shooting range. The camera 12 is a small surveillance camera such as an in-vehicle camera, and has a wide-angle lens, and can continuously take several frames (for example, 30 frames / second) images per second.

  More specifically, the shooting range is adjusted to L1 + L2 as shown in FIG. 1 (L1 >> L2). L <b> 1 is a shooting range on the landing side and is, for example, 3 m from the car door 13 toward the landing 15. L2 is an imaging range on the car side, and is, for example, 50 cm from the car door 13 toward the back of the car. L1 and L2 are ranges in the depth direction, and the range in the width direction (direction perpendicular to the depth direction) is at least larger than the lateral width of the car 11.

  The camera 12 is activated when the moving speed of the car 11 is less than a predetermined value.

  As an example, the camera 12 starts decelerating because the car 11 stops at a predetermined floor, and starts when the moving speed becomes less than a predetermined value, and starts photographing. That is, the shooting by the camera 12 includes the time when the car 11 stops at the predetermined floor after the car 11 starts decelerating to stop at the predetermined floor and the moving speed becomes less than the predetermined value. Thus, the car 11 starts to accelerate from the predetermined floor to another floor, and continues until the moving speed reaches a predetermined value or more.

  Further, as an example, the camera 12 is activated until the car 11 stops on a predetermined floor and the car door 13 and a landing door 14 described later are opened to start photographing. In this case, photographing is continued from when the car door 13 and the landing door 14 are opened until the door is closed.

  In the hall 15 on each floor, a hall door 14 is installed at the arrival entrance of the car 11 so as to be freely opened and closed. The landing door 14 opens and closes by engaging with the car door 13 when the car 11 arrives. The power source (door motor) is on the car side, and the landing door 14 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.

  At the bottom of the car 11, a load sensor 16 for measuring the load in the car room (which may be expressed as “car load”) is installed. Load information indicating the value of the loaded load measured by the load sensor 16 is transmitted to an elevator control device 30 described later.

  Each image (video) continuously captured by the camera 12 is analyzed and processed in real time by the image processing device 20 (user detection device). In FIG. 1, the image processing apparatus 20 is taken out from the car 11 for the sake of convenience, but actually, the image processing apparatus 20 is housed in the curtain plate 11 a together with the camera 12. 1 illustrates the case where the image processing device 20 is provided separately from the elevator control device 30, but the present invention is not limited to this, and various functions of the image processing device 20 described later are the elevator control device 30. It may be mounted on.

  As shown in FIG. 1, the image processing apparatus 20 includes a storage unit 21 and a user detection unit 22. The storage unit 21 has a buffer area (not shown) for sequentially storing images taken by the camera 12 and temporarily storing data necessary for processing by the user detection unit 22. The storage unit 21 may store an image that has been subjected to processing such as distortion correction, enlargement / reduction, and partial cropping as preprocessing for the image.

  The user detection unit 22 pays attention to the movement of the person / thing closest to the car door 13 on the landing side for each of a plurality of continuous images in time series stored in the buffer area, and the car door on the landing side. The movement of the person / thing closest to 13 is detected. Based on the detected movement of the person / thing on the landing side, the user detection unit 22 is a user who has not been able to get on the car 11 when the car 11 is full (hereinafter referred to as “unloading”). ) Is detected (determined). The user detection unit 22 outputs a first result signal for notifying that there is no leftover or no leftover to the elevator control device 30.

  In addition, the user detection unit 22 detects the movement of the person / thing closest to the car door 13 on the car side for each of a plurality of time-series continuous images stored in the buffer area, and detects the detection. Is output to the elevator control device 30.

  As shown in FIG. 1, the elevator control device 30 includes an in-car occupation rate estimation unit 31 and a call control unit 32. The car occupancy estimation unit 31 detects (estimates) based on the load information from the load sensor 16 whether the car 11 is full, in other words, whether the car occupancy described later is high. )

  Further, the car occupancy rate estimation unit 31 describes the occupancy rate of persons / things relative to the loading capacity of the car 11 (hereinafter referred to as “car occupancy rate”) based on the motion detection result information from the image processing device 20. ) Is detected (estimated) whether it is high or low. The car occupancy rate estimation unit 31 outputs a second result signal for notifying that the car occupancy rate is high or the car occupancy rate is low to the call control unit 32.

  The call control unit 32 includes a next call registration determination unit 32a. The next call registration determination unit 32a performs group management control described later based on the first result signal output from the image processing device 20 and the second result signal output from the in-car occupation rate estimation unit 31. Is registration of the next hall call (next call) required for any one of the multiple machines managed by the device 40 (in the case of FIG. 1, either B or C)? Determine whether or not.

  The group management control device 40 is a device for performing group management control on the operation of each of the cars 11A to 11C. The group management control device 40 is connected to an elevator control device 30 corresponding to each of the cars 11A to 11C. The group management control device 40 controls the operation of the elevators 11A to 11C by controlling the operation of the elevator control device 30. Note that, as described above, in FIG. 1, except for the group management control device 40, only the devices corresponding to the Unit A are illustrated, and therefore the elevator control device 30 corresponding to the Units B and C is illustrated in FIG. 1. Is omitted.

  The group management control device 40 includes a unit allocation control unit 41. When the unit allocation control unit 41 receives the input of the allocation instruction signal from the elevator control device 30, it is suitable for a predetermined hall call based on the operating state of units other than unit A, that is, unit B or unit C. Is elected as the assigned machine. The group management control device 40 outputs a response instruction signal to the elevator control device 30 corresponding to the assigned number selected by the number assigned control unit 41.

[User Detection Area]
Here, with reference to FIG. 2, the user detection area set for the image processing apparatus 20 to detect the users on the landing side and the car side from the image will be described. FIG. 2 is a diagram for explaining a user detection area in real space.

  As shown in FIG. 2, in order to detect a user at the landing 15, a landing position estimation area E1 is set as a user detection area on the landing side, and in order to detect a user at the car 11, A car position estimation area E2 is set as a user detection area on the car side. The user detection area is set for each block obtained by dividing an image (original image) taken by the camera 12 into a grid of a predetermined size. Note that the vertical and horizontal lengths of each block may be the same or different. Further, the blocks may be non-uniformly sized across the entire image, or may be non-uniformly sized, for example, by shortening the vertical (Y-axis direction described later) length toward the top of the image.

  The landing position estimation area E1 is an area for estimating (detecting) a part of the user's body on the landing side, specifically, the user's foot position closest to the car door 13 on the landing side. The landing position estimation area E1 is set to have a distance L3 from the center of the car door 13 toward the landing direction (L3 ≦ shooting range L1 on the landing side). Note that the (widest) width W1 of the landing position estimation area E1 is set to a distance equal to or greater than the width W0 of the car door 13.

  The in-car position estimation area E2 is an area for estimating (detecting) a part of the user's body on the car side, specifically, the user's foot position closest to the car door 13 on the car side. It is. The in-car position estimation area E2 is set to have a distance L4 from the center of the car door 13 toward the car (L4 ≦ shooting range L2 on the car side). The lateral width W2 of the car position estimation area E2 is set to be approximately the same distance as the lateral width W0 of the car door 13. Alternatively, the lateral width W2 of the in-car position estimation area E2 may be set to a value larger than the lateral width W0 of the car door 13. 2 illustrates the case where the car position estimation area E2 is rectangular, but the present invention is not limited to this. For example, the car position estimation area E2 is a blind spot of the operation panel p provided in the car 11. Trapezoids other than may be used.

  FIG. 3 is a diagram for explaining a coordinate system in a real space. As shown in FIG. 3, the camera 12 has a horizontal direction with respect to the car door 13 provided at the entrance of the car 11 in the X axis, and from the center of the car door 13 to the landing 15 (perpendicular to the car door 13). An image is taken with the direction) as the Y axis and the height direction of the car 11 as the Z axis. In each image taken by the camera 12, by comparing each block in which the landing position estimation area E1 shown in FIG. 2 is set, the movement of the user's foot position closest to the car door 13 on the landing side is detected. Detected. Similarly, in each image photographed by the camera 12, by comparing each block in which the in-car position estimation area E2 shown in FIG. 2 is set, the step of the user closest to the car door 13 on the car side is obtained. Position movement is detected.

  4 and 5 are diagrams for explaining the movement of the user's foot position detected by comparing each block in which the landing position estimation area E1 is set. 4 schematically shows a part of an image taken at time t, and FIG. 5 schematically shows a part of an image taken at time t + 1.

  P1 and P2 in the figure are image portions of the user detected as having motion on the image, and are actually a collection of blocks detected as having motion by image comparison. As will be described in detail later, the user detection unit 22 extracts the block Bx having the movement closest to the car door 13 from the image portions P1 and P2, and follows the locus of the Y coordinate value of the block Bx. Determine whether there is any unloading. As shown in FIGS. 4 and 5, equidistant lines (equally spaced horizontal lines parallel to the car door 13) as indicated by dotted lines in the Y-axis direction are used to follow the locus of Y coordinate values. According to this, the distance in the Y-axis direction between the block Bx and the car door 13 can be grasped, and the locus of the Y coordinate value can be followed.

  In the example of FIGS. 4 and 5, the detection position (Y coordinate value) of the block Bx with the closest movement to the car door 13 is changed from Yn to Yn−1, and the user on the landing side changes to the car door 13. You can see that you are approaching. Here, the landing position estimation area E1 has been described as an example, but in the car position estimation area E2, the movement of the foot position of the user on the car side is similarly detected.

[Operation of user detection system]
Next, an example of the operation of this system will be described in detail with reference to the flowchart of FIG. FIG. 6 is a flowchart showing the overall processing flow in this system.

  When the car 11 arrives at the landing 15 on an arbitrary floor (YES in Step S1), the elevator control device 30 opens the car door 13 and waits for a user who gets on the car 11 (Step S2).

  At this time, a predetermined range (L1) on the landing side and a predetermined range (L2) on the side of the car are photographed at a predetermined frame rate (for example, 30 frames / second) by the camera 12 installed in the upper part of the entrance / exit of the car 11. The The image processing apparatus 20 acquires images captured by the camera 12 in time series, and sequentially stores these images in the storage unit 21 (step S3), and executes the following user detection process in real time (step S3). Step S4).

  The user detection process is executed by a user detection unit 22 provided in the image processing apparatus 20. This user detection process is divided into a motion detection process (step S4a), a position estimation process (step S4b), and a leftover estimation process (step S4c). Hereinafter, each process will be described in detail.

(A) Motion detection processing
FIG. 7 is a flowchart showing an example of the procedure of the motion detection process in step S4a described above. This motion detection process is executed by the motion detection unit 22 a that is one of the components of the user detection unit 22.

  First, the motion detection unit 22a reads out each image stored in the storage unit 21 one by one, and calculates an average luminance value for each block in which the landing position estimation area E1 is set (step Sa1). At that time, the motion detection unit 22a holds the average luminance value for each block calculated when the first image is input as an initial value in the buffer area in the storage unit 21 (step Sa2).

  When the second and subsequent images are obtained, the motion detection unit 22a determines the average luminance value for each block of the current image and the average luminance value for each block of the previous image held in the buffer area. Are compared (step Sa3). As a result, when there is a block having a luminance difference equal to or larger than a preset value in the current image, the motion detection unit 22a determines that the block is a block with motion (step Sa4).

  When the presence / absence of motion with respect to the current image is determined, the motion detection unit 22a holds the average luminance value for each block of the image in the buffer area described above for comparison with the next image (step Sa5).

  Thereafter, similarly, the motion detection unit 22a repeatedly determines the presence / absence of motion while comparing the luminance value of each image captured by the camera 12 in block order in time series.

  Here, although the landing position estimation area E1 has been described as an example, the presence / absence of motion is similarly determined in the in-car position estimation area E2.

(B) Position estimation processing
FIG. 8 is a flowchart showing an example of the procedure of the position estimation process in step S4b described above. This position estimation process is executed by the position estimation unit 22b which is one of the components of the user detection unit 22.

  The position estimation unit 22b checks the block with motion in the current image based on the detection result of the motion detection unit 22a (step Sb1), and extracts the block closest to the car door 13 among the blocks with motion. (Step Sb2).

  As described above, the camera 12 is installed in the upper part of the entrance of the car 11 with the lens portion facing the landing. Therefore, when the user is heading from the landing 15 toward the car door 13, the right or left foot (toe) of the user may be closest to the captured image, that is, the car door 13. High nature. Therefore, the position estimation unit 22b obtains the Y coordinate value of the block with the movement closest to the car door 13 as data of the user's foot position, and holds it in the buffer area in the storage unit 21 (step Sb3).

  Thereafter, in the same manner, the position estimation unit 22b obtains the Y coordinate value of the block with the movement closest to the car door 13 as data of the user's foot position for each image and holds it in the buffer area.

  Here, the landing position estimation area E1 has been described as an example. Similarly, in the in-car position estimation area E2, the Y coordinate value of the block with the movement closest to the car door 13 is the same as the foot position of the user. Required as data. In this case, the obtained data of the user's foot position is appropriately output to the elevator control device 30 as motion detection result information.

(C) Unloading estimation process
FIG. 9 is a flowchart illustrating an example of a procedure of the unreserved estimation process in step S4c described above. This unloading estimation process is executed by the unloading estimation unit 22c, which is one of the components of the user detection unit 22. It is assumed that the unloading estimation process is executed, for example, when the user's foot position data held in the buffer area becomes a predetermined number or more.

  The unreserved estimation unit 22c smoothes the data of the user's foot position of each image held in the buffer area (step Sc1). As a smoothing method, for example, a known arbitrary method such as an average value filter or a Kalman filter is used, and detailed description thereof is omitted here.

  When the data at the foot position is smoothed and there is data whose change amount is equal to or greater than the predetermined value (YES in step Sc2), the unreserved estimation unit 22c excludes the data as an outlier (step Sc3). The predetermined value is determined by, for example, the standard walking speed of the user and the frame rate of the image. Also, outliers may be found and excluded before smoothing the data at the foot position.

  Next, the unloading estimation unit 22c displays the foot position of the user on the landing side (that is, the Y coordinate value of the block with the movement closest to the car door 13 on the landing side (hereinafter referred to as “the landing side Y coordinate value”). )) Checks the time series change (pattern) traced until the current landing side Y coordinate value is reached (step Sc4).

  Subsequently, the unloading estimation unit 22c does not change abruptly after the pattern of the landing-side Y coordinate value checked by the process of step Sc4 has gradually decreased, and is currently in a stopped state. It is determined whether or not the pattern is satisfied (step Sc5).

  As a result of the determination process in Step Sc5, when it is determined that the pattern of the landing side Y coordinate value corresponds to the first pattern (YES in Step Sc5), the unloading estimation unit 22c has the landing side Y coordinate value stopped. It is determined whether or not the calculated elapsed time is equal to or longer than the predetermined time (step Sc6). As a result of the determination process in step Sc6, when it is determined that the calculated elapsed time is less than the predetermined time (NO in step Sc6), the process returns to the process in step Sc4 described above, and at least one imaged after the present is taken. The same process is executed again including the hall-side Y coordinate value detected from the above image.

  As a result of the determination process in step Sc6, when it is determined that the calculated elapsed time is equal to or longer than the predetermined time (YES in step Sc6), the unloading estimation unit 22c determines that there is unloading (step Sc7), and there is no unloading. A first result signal for notifying the presence is output to the elevator control device 30, and the processing here is terminated.

  On the other hand, as a result of the determination process in step Sc5, when it is determined that the pattern of the landing side Y coordinate value does not correspond to the first pattern (NO in step Sc5), the unloading estimation unit 22c displays the current landing side Y coordinate. It is determined whether or not the value has suddenly increased compared to the previous landing-side Y coordinate value (that is, whether or not the user has retreated) (step Sc8).

  Note that, as a result of the determination process in step Sc8, when it is determined that the current landing side Y-coordinate value has changed so as to increase suddenly (YES in step Sc8), the process returns to the process in step Sc4 described above, and thereafter Similar processing is executed again, including the hall-side Y coordinate value detected from at least one captured image.

  On the other hand, as a result of the determination process of step Sc8, when it is determined that the landing side Y coordinate value does not change so as to increase suddenly, that is, changes so as to further decrease (NO in step Sc8). The unloading estimation unit 22c determines that there is no unloading (step Sc9), outputs a first result signal for notifying that there is no unloading to the elevator control device 30, and ends the processing here.

  Returning to the description of the flowchart of FIG. When the processing of the above-described steps S4a to S4c is executed by the image processing device 20 and the presence or absence of unloading is estimated, the elevator control device 30 continues the car occupancy rate estimation process in order to estimate the car occupancy rate. Execute (Step S5). Hereinafter, the occupancy rate estimation process in the car will be described in detail with reference to FIG.

(D) Car occupancy rate estimation process
FIG. 10 is a flowchart showing an example of the procedure of the occupancy rate estimation process in step S5 described above. The car occupancy rate estimation process is executed by the car occupancy rate estimation unit 31.

  First, the occupancy rate estimation unit 31 in the car acquires load information indicating the current loaded load in the car 11 from the load sensor 16 (step Sd1).

  Subsequently, the car occupancy rate estimation unit 31 determines that the current load load indicated by the acquired load information is equal to or greater than a predetermined value (for example, a value of n% of the rated load mass (n is an arbitrary positive integer). ) Etc.), it is determined whether or not the car 11 is full (step Sd2).

  In addition, as a result of the determination process in step Sd2, when it is determined that the current load is greater than or equal to a predetermined value and the car 11 is full (YES in step Sd2), the occupancy rate estimation unit 31 in the car Step Sd8 described later is executed.

  On the other hand, as a result of the determination process in step Sd2, if it is determined that the current load is less than the predetermined value and the car 11 is not full (NO in step Sd2), the in-car occupation rate estimation unit 31 Data on the user's foot position in the in-car position estimation area E2 (motion detection result information) is acquired from the image processing device 20 (step Sd3).

  In the present embodiment, the in-car occupancy rate estimation unit 31 performs processing described later on data on the user's foot position (motion detection result information) in the in-car position estimation area E2 that has already been obtained by the image processing device 20. For this reason, it is obtained from the image processing apparatus 20. However, the user's foot position data in the car position estimation area E2 may be obtained by the car occupancy rate estimation unit 31. In this case, the occupancy rate estimation unit 31 in the car acquires a plurality of images taken up to the present time from the image processing device 20, and performs the same processing as the processing in steps S4a and S4b described above in the car position estimation area. What is necessary is just to perform for the user who exists in E2.

  Next, the car occupancy rate estimation unit 31 performs the process of step Sd3 to determine the position of the user's foot in the car position estimation area E2 (that is, the block with the movement closest to the car door 13 on the car side). Whether the Y coordinate value (hereinafter referred to as “car side Y coordinate value”) is extracted from the current (latest) image, that is, whether there is a current user in the car position estimation area E2. Is determined (step Sd4).

  As a result of the determination process in step Sd4, when it is determined that there is no current user in the in-car position estimation area E2 (NO in step Sd4), the in-car occupation rate estimation unit 31 performs the process in step Sd10 described later. Execute.

  On the other hand, as a result of the determination process in step Sd4, when it is determined that there is a current user in the car position estimation area E2 (YES in step Sd4), the car occupancy estimation unit 31 determines the car side Y coordinate value. The time series change (pattern) traced until the current car side Y coordinate value is reached is checked (step Sd5).

  Subsequently, the car occupancy rate estimation unit 31 does not change after the car-side Y coordinate value pattern checked by the process of step Sd5 has gradually increased, and is currently stopped. It is determined whether or not this pattern is satisfied (step Sd6).

  As a result of the determination process in step Sd6, when it is determined that the pattern of the car side Y coordinate value corresponds to the second pattern (YES in step Sd6), the car occupancy rate estimation unit 31 stops the car side Y coordinate value. The elapsed time after entering the state is calculated, and it is determined whether or not the calculated elapsed time is equal to or longer than a predetermined time set in advance (step Sd7).

  As a result of the determination process in step Sd7, when it is determined that the calculated elapsed time is less than the predetermined time (NO in step Sd7), the process returns to the process in step Sd3 described above, and at least one imaged after the present time is taken. The same processing is performed again including the above-described captured images.

  On the other hand, when it is determined that the calculated elapsed time is equal to or longer than the predetermined time as a result of the determination process in step Sd7 (YES in step Sd7), the in-car occupation rate estimation unit 31 has a high in-car occupation rate. (Step Sd8), a second result signal for notifying that the occupancy rate in the car is high is output to the call control unit 32, and the process here is terminated.

  As a result of the determination process in step Sd6 described above, when it is determined that the car-side Y coordinate value pattern does not correspond to the second pattern (NO in step Sd6), the car occupancy rate estimation unit 31 determines that the current car side It is determined whether or not the Y coordinate value is located in an area near the sill in the in-car position estimation area E2 (step Sd9). The area in the vicinity of the sill is an area that is set to have a distance of L5 (L5 ≦ L4) from the center of the car door 13 toward the car and a width of W2.

  As a result of the determination process in step Sd9, when it is determined that the current car-side Y coordinate value is located in the area near the sill (YES in step Sd9), the process returns to the above-described process in step Sd3, and shooting is performed after the present. Similar processing is executed again including at least one captured image.

  On the other hand, if it is determined that the current car-side Y-coordinate value is not located in the area near the sill as a result of the determination process in step Sd9 (NO in step Sd9), the car occupancy estimation unit 31 It is determined that the internal occupation rate is low (step Sd10), a second result signal for notifying that the internal occupation rate is low is output to the call control unit 32, and the processing here is terminated.

  Of the processes included in the car occupancy rate estimation process, whether the car side Y coordinate value corresponds to the second pattern and whether the current car side Y coordinate value is located in an area near the sill. The process of determining whether or not may be determined by the unreserved estimation unit 22c described above. In this case, the occupancy rate estimation unit 31 in the car may determine the level of the occupancy rate in the car based on the result of the determination after obtaining the above determination result from the estimation unit 22c.

  In addition, processing corresponding to steps Sc1 to Sc3 described above may be further executed between the processing of steps Sd3 and Sd4. However, the in-car position estimation area E2 has a narrower range than the landing position estimation area E1 and is not easily affected by outliers. Therefore, the processing corresponding to the above-described steps Sc1 to Sc3 may be omitted. These processes are omitted from the flowchart of FIG.

  Returning to the description of the flowchart of FIG. When the processing in step S5 described above is executed by the in-car occupancy rate estimation unit 31 and the second result signal indicating the in-car occupancy rate is output, the call control unit 32 sets the car corresponding to the elevator control device 30. It is determined whether or not to call another unit (Unit B or Unit C) different from (Unit A) to the floor where Unit A is currently stopped (hereinafter referred to as “stopped floor”) (Next) In order to determine whether or not to register a call, a next call registration determination process is executed (step S6). Hereinafter, the next call registration determination process will be described in detail with reference to FIG.

(E) Next call registration determination process
FIG. 11 is a flowchart showing an example of the procedure of the next call registration determination process in step S6. This next call registration determination process is executed by the next call registration determination unit 32 a which is a component of the call control unit 32.

  First, the next call registration determination unit 32a determines whether or not there is any leftover based on the first result signal output from the image processing device 20 (step Se1). Note that, as a result of the determination process of step Se1, if it is determined that there is no leftover (NO in step Se1), the next call registration determination unit 32a executes a process of step Se4 described later.

  On the other hand, when it is determined as a result of the determination process in step Se1 that there is an unloading (YES in step Se1), the next call registration determination unit 32a outputs the second result output from the in-car occupation rate estimation unit 31. Based on the signal, it is determined whether the occupation rate in the car is high or low (step Se2).

  As a result of the determination process in step Se2, when it is determined that the occupancy rate in the car is high (“high” in step Se2), the next call registration determination unit 32a calls the hall call to the floor with the corresponding car. Outputs an allocation instruction signal for instructing another unit to be allocated to the group management control device 40 (step Se3), and terminates the processing here.

  On the other hand, if it is determined as a result of the determination process in step Se2 that the occupation rate in the car is low (“low” in step Se2), the next call registration determination unit 32a does not need to register the next call. Determination is made and the next call is not registered (step Se4), and the process here is terminated.

  Returning to the description of the flowchart of FIG. When the process of step S6 described above is executed by the next call registration determination unit 32a and the above allocation instruction signal is output to the group management control device 40 (YES in step S7), the unit allocation in the group management control device 40 is performed. In accordance with the allocation instruction signal, the control unit 41 selects a suitable allocation number from a number different from the number corresponding to the elevator control device 30 that has output the allocation instruction signal, and corresponds to the selected allocation number. A response instruction signal is output to the elevator control device 30.

  Further, when the assignment instruction signal is output to the group management control device 40 as described above, the elevator control device 30 notifies the remaining user of the arrival of another car (step S8). Then, the process of step S10 described later is executed. The notification method to the user may be a voice announcement using a speaker provided at the hall 15 or may be a display using an indicator provided at the hall 15.

  On the other hand, if the above allocation instruction signal is not output to the group management control device 40 as a result of the processing in step S6 described above (NO in step S7), the elevator control device 30 causes the car door 13 to be fully opened. It is determined whether or not a predetermined time (for example, 1 minute) has elapsed since becoming (step S9). If it is determined that the predetermined time has not elapsed as a result of the determination process in step S9 (NO in step S9), the process returns to the process in step S3 and the same process is executed again.

  Thereafter, as a result of the determination process in step S9, when it is determined that a predetermined time has elapsed (YES in step S9), the elevator control device 30 closes the car door 13 (step S10) and heads for the destination floor. To leave.

  In addition, as mentioned above, when another car is dispatched by the group management control device 40 to the unreserved user, the elevator control device 30 waits for a predetermined time after the car door 13 is fully opened. Even if has not elapsed, the door closing of the car door 13 is started. According to this, it is possible to prevent the already-packed car 11 from staying on the predetermined floor, so that the driving efficiency (group management efficiency) can be improved.

  Here, with reference to FIG. 12, the characteristic of the change pattern of the hall side Y coordinate value and the car side Y coordinate value will be supplementarily described. FIG. 12 is a diagram for explaining the characteristics of the change pattern between the landing side Y coordinate value and the car side Y coordinate value. The vertical axis in FIG. 12 indicates the Y coordinate value (position), and the horizontal axis indicates time. The Y coordinate value “0” indicates the end of the car position estimation area E2 near the car door 13, and the Y coordinate value “L4” indicates the boundary between the landing position estimation area E1 and the car position estimation area E2. , Y coordinate value “L3” indicates the end of the landing position estimation area E1 away from the car door 13.

  Focusing on the landing position estimation area E1, as shown in FIG. 12, when a user on the landing side walks from the landing 15 toward the car door 13, that is, when approaching the car door 13, the Y coordinate value (the landing side Y The coordinate value becomes gradually smaller. Similarly, as shown in FIG. 12, when the user on the landing side walks from the car door 13 toward the landing 15, i.e., moves away from the car door 13, the Y coordinate value (the landing side Y coordinate value) gradually increases. growing. As shown in FIG. 12, when the user on the landing side is stopped, the Y coordinate value (the landing side Y coordinate value) does not change, and the previous Y coordinate value is held. In FIG. 12, the elapsed time after the landing side Y coordinate value is stopped is denoted as Ths (N). N indicates the number of times of stopping. For this reason, in FIG. 12, the elapsed time since the first stop state is expressed as Ths (N), and the elapsed time after the second stop state is expressed as Ths (N + 1). .

  Based on the above, if attention is paid to the landing position estimation area E1 in FIG. 12, it can be seen that the user on the landing side moves (behaves) as follows.

  First, the user on the landing side approaches the car door 13 so that the landing side Y coordinate value changes from “L3” to “Y1” from time T1 to time T2. Thereafter, the user on the landing side stops at the position where the landing side Y coordinate value is “Y1” until the time Ths (N) has elapsed. When time Ths (N) elapses, the user on the landing side leaves the car door 13 so that the landing side Y coordinate value changes from “Y1” to “Y2” between time T3 and time T4. Thereafter, the user on the landing side stops at the position where the landing side Y coordinate value is “Y2” until the time Ths (N + 1) elapses. That is, the user moves toward the car door 13 in an attempt to get on the car 11, but notices that the car 11 is full at the position of the landing side Y coordinate value “Y1”. It can be seen from the change pattern of the Y coordinate value that there is a high possibility of waiting for another car to come at the position of the landing side Y coordinate value “Y2”.

  Next, a case where attention is paid to the in-car position estimation area E2 will be described. Focusing on the car position estimation area E2, as shown in FIG. 12, the user on the car side walks from the car door 13 toward the car 11, that is, moves so as to close the car 11 in the depth direction. In this case, the Y coordinate value (the car side Y coordinate value) gradually decreases. Similarly, as shown in FIG. 12, when a user on the car side walks from the car 11 toward the car door 13, that is, moves so as to get off from the car 11, the Y coordinate value (car side) Y coordinate value) gradually increases. As shown in FIG. 12, when the user on the car side stops, the Y coordinate value (car side Y coordinate value) does not change, and the previous Y coordinate value is held. In FIG. 12, the elapsed time after the car-side Y coordinate value is stopped is denoted as Tcs (N). This N indicates the number of times of stopping as described above. Here, as shown in FIG. 12, when there is almost no difference between the current Y coordinate value and the previous Y coordinate value, these Y coordinate values are regarded as the same value.

  Based on the above, when attention is paid to the in-car position estimation area E2 in FIG. 12, it can be seen that the following occurs in the car 11.

  As shown in FIG. 12, the car side Y coordinate value approaches the car door 13 from “0” to “Y3” between time T1 and time T2. Thus, when the car side Y-coordinate value gradually increases, a single user does not move so as to approach the car door 13, but a large number of users get into the car 11 in order. It is estimated that there is a high possibility that the car-side Y-coordinate value gradually increases because the car 11 gradually approaches the full state, and a user who gets in the car later cannot be stuck in the back of the car 11. Is done. For this reason, after time T2, when a new user gets on one person, it is executed a little, and when a new user gets on one person, it is repeatedly executed. It can be seen from the change pattern of the Y-coordinate value that the car-side Y-coordinate value remains stopped at the position “Y3” until the time Tcs (N) elapses.

  The above-described unloading estimation process executed by the unloading estimation unit 22c and the in-car occupancy estimation process performed by the in-car occupancy estimation unit 31 are described above using the characteristics of the change pattern of the foot position. It is determined whether it corresponds to the first pattern or whether it corresponds to the second pattern described above.

  In addition, the dotted line in FIG. 12 shows the time series change of the position of moving bodies, such as a wheelchair, for example, and the continuous line has shown the time series change of the position of the user who is walking. In the case of a walking user, the left and right feet are detected alternately, so that the data changes curved as shown by a solid line.

  According to the embodiment described above, the user detection system determines whether or not there is any unloading based on the time-series change in the position of the user on the landing side, and the time-series of the position of the user on the car side Based on the change, it is determined whether the occupancy rate in the car is high or low, and the next call is automatically registered based on the determination results. According to this configuration, the unoccupied user must wait for the full car to leave for the destination floor and then press the hall call button to re-register the hall call There is no. That is, according to the user detection system according to the present embodiment, it is possible to prevent an increase in the waiting time of the user who has not been able to get on the elevator.

<Modification>
Below, the modification of above-described embodiment is demonstrated.

  In general, when the destination direction of the car 11 arriving at the landing 15 is opposite to the direction desired by the user, the user naturally does not get on the car 11. However, the destination direction of the car 11 cannot often be grasped unless the car door 13 is reached. In this case, the user approaches the car door 13 to get on the car 11, and then grasps that the destination direction of the car 11 is opposite to the destination direction desired by the user. It is thought to take action such as stopping before this. This user behavior (hereinafter referred to as “unexpected behavior”) corresponds to the first pattern described above.

  According to this, since the above-mentioned unexpected behavior corresponds to the first pattern, the unloading estimation unit 22c determines that “no unloading” even if there is actually no unloading. There is a possibility. This may interfere with the next call registration determination process executed by the next call registration determination unit 32a.

  Specifically, for users who have taken the unexpected actions described above, it would be preferable to automatically register a hall call in the opposite direction if normal, but if it arrives at hall 15 If the occupancy rate of the car 11 is low, it is determined that there is an unoccupied car and it is determined that the occupancy rate is low, so that the next call cannot be registered. End up. Further, in the next call registration determination process shown in FIG. 11 described above, only the next call in the same direction as the destination direction of the car 11 that has arrived at the landing 15 is considered. There is also a disadvantage that the call cannot be registered.

  In this modification, the next call registration determination process that can eliminate the above-described inconvenience will be described.

  FIG. 13 is a flowchart illustrating an example of the procedure of the next call registration determination process according to the present modification. Note that the same processing as in FIG. 11 described above is described with the same reference numerals.

  As described above, the next call registration determination unit 32a determines whether or not there is any leftover based on the first result signal from the image processing device 20 (step Se1). Note that, as a result of the determination process in step Se1, if it is determined that there is no leftover (NO in step Se1), the next call registration determination unit 32a executes the process in step Se4.

  On the other hand, if it is determined as a result of the determination process in step Se1 that there is an unloading (YES in step Se1), the next call registration determination unit 32a generates a second result signal from the in-car occupation rate estimation unit 31. Based on this, the occupancy rate in the car is determined (step Se2). As a result of the determination process in step Se2, when it is determined that the occupancy rate in the car is high (“high” in step Se2), the next call registration determination unit 32a determines that the car 11 with respect to the stop floor of the car 11 An assignment instruction signal for instructing assignment of a hall call having the same destination direction to a different car from that car is output to the group management control device 40 (step Se3), and the process here is terminated.

  As a result of the determination process in step Se2, when it is determined that the occupancy rate in the car is low (“low” in step Se2), the next call registration determination unit 32a is opposite in the destination direction to the car 11 for the stop floor. It is determined whether a hall call has already been registered (step Se11). If it is determined that the hall call in the opposite direction has already been registered as a result of the determination process in step Se11 (YES in step Se11), the next call registration determination unit 32a does not need to register the next call. If it is determined that there is, the next call is not registered (step Se4), and the process here is terminated.

  As a result of the determination process in step Se11, when it is determined that the hall call in the opposite direction has not yet been registered (NO in step Se11), the next call registration determination unit 32a determines the car 11 and the destination direction for the stop floor. Is output to the group management control device 40 (step Se12), and the processing is terminated.

  According to the present modification described above, the unexpected behavior described above corresponds to the first pattern, and it is determined by the unloading estimation unit 22c that there is unloading and the car occupancy rate of the car 11 is low. Even if there is not yet a registered hall call opposite to the car 11 with respect to the stop floor of the car 11, the hall call with the opposite direction to the car 11 is automatically issued. Therefore, the above inconvenience can be solved. That is, it is possible to realize registration of the next call reflecting the intention of the user who has taken the unexpected action described above.

  In addition, although some embodiment of this invention was described, these embodiment is shown as an example and is not intending limiting the range of 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.

  11 (11A to 11C) ... car, 12 ... camera, 13 ... car door, 14 ... landing door, 15 ... landing, 16 ... load sensor, 20 ... image processing device, 21 ... storage unit, 22 ... user detection unit , 22a ... motion detection unit, 22b ... position estimation unit, 22c ... unloading estimation unit, 30 ... elevator control device, 31 ... in-car occupancy estimation unit, 32 ... call control unit, 32a ... next call registration determination unit, 40 ... Group management control device.

According to one embodiment, the user detection system includes a group management control device that performs group management of driving of a plurality of cars. The user detection system includes a photographing unit capable of photographing a predetermined range from the vicinity of a door of the car when a predetermined car arrives at the landing, and a plurality of the time-sequentially taken images. The position of the user on the landing side is detected from the image, and the time-series change in the detected position of the user on the landing side gradually approaches the predetermined car from the landing. First determination means for determining whether there is a user who cannot fully ride on the predetermined car based on whether or not the first pattern stops before the car, and the time-series imaged The position of the user on the car side is detected from a plurality of consecutive images, and the time-series change of the detected position of the user on the car side approaches the door of the predetermined car The second that stops changing after gradually changing Based on whether corresponding to the pattern, and second determining means for determining the level of occupancy of people, goods for carrying capacity of said predetermined car, the result of determination by the first and second determination means On the basis of the group management control device to determine whether or not to register the next call to a car different from the predetermined car among a plurality of cars managed by the group. And a control means for registering the next call based on.

Claims (8)

A user detection system including a group management control device that performs group management of driving of a plurality of cars,
Photographing means capable of photographing a predetermined range from the vicinity of a door of the car when the predetermined car arrives at the landing;
The position of the user on the landing side is detected from a plurality of images taken in time series in succession, and the predetermined boarding is performed based on the time-series change of the detected position of the user on the landing side. First determination means for determining the presence or absence of a user who cannot get in the car;
The position of the user on the car side is detected from the plurality of images taken in time series and the predetermined position is determined based on the time-series change in the position of the user on the car side detected. A second determination means for determining the level of occupancy of people / things relative to the loading capacity of the car;
Based on the result of the determination by the first and second determination means, a next call is made to a car different from the predetermined car among the plurality of cars managed by the group management control device. A user detection system comprising: a control unit that determines whether or not to register, and registers a next call based on a result of the determination. The first determination means includes
It is determined whether or not the detected time-series change in the position of the user on the landing side corresponds to the first pattern, and when it corresponds to the first pattern, the predetermined car is not fully boarded. The user detection system according to claim 1, wherein it is determined that there is no user. The first pattern is:
Stop at the front of the car and keep the state after approaching the predetermined car gradually from the landing, or leave the car at the end of the car before the car The user detection system according to claim 2, wherein the user detection system corresponds to a time-series change such as moving to The second determination means includes
It is determined whether or not the detected time-series change in the position of the user on the car side corresponds to the second pattern, and if it corresponds to the second pattern, it is determined that the occupation ratio is high. The user detection system according to claim 1. The second pattern is:
5. It corresponds to a time-series change that stops near the door of the car and maintains the state after gradually approaching the landing from the predetermined car. The described user detection system. A load sensor capable of measuring a current load capacity of the predetermined car;
The control means includes
The next call is registered regardless of the result of determination by the first and second determination means when the current load capacity measured by the load sensor is equal to or greater than a predetermined value. User detection system. The control means includes
The use according to claim 1, wherein when the next call is registered, the door of the predetermined car is closed and the operation of the car is controlled so as to depart toward the destination floor. Person detection system. The control means includes
When it is determined by the first determination means that there is a user who cannot fully ride the predetermined car and the second determination means determines that the occupancy is low, the destination direction of the predetermined car It is determined whether or not a hall call in the opposite direction has already been registered, and if it is determined that it has not been registered as a result of the determination, the next call in the direction opposite to the destination direction of the predetermined car is determined. The user detection system according to claim 1, wherein a call is registered.

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