JP2021038087A - Elevator user detection system - Google Patents

Abstract

To provide an elevator user detection system capable of accurately detecting a user in the vicinity of an elevator from an image taken by a camera.SOLUTION: The elevator user detection system according to an embodiment comprises photographing means installed near the car door to take an image including the inside of the car and the landing 15, setting means for setting a detection area for detecting a person or an object on the captured image and changing the detection sensitivity in the set detection area according to the stop floor, detection means that executes detection processing to detect a person or an object in the set detection area, and control means that reflects the result of the detection processing in the door opening/closing control of the car door.SELECTED DRAWING: Figure 1

Description

An embodiment of the present invention relates to an elevator user detection system.

In recent years, various technologies have been devised to prevent people and objects from being caught in the elevator car door. For example, a technique has been devised in which a camera is used to detect a user in the vicinity of an elevator and control the opening / closing of the door of the elevator.

In such a technique, it is necessary to accurately detect a user in the vicinity of an elevator from an image taken by a camera, and improvement of the detection accuracy is desired.

Japanese Patent No. 6092433

An object to be solved by the embodiment of the present invention is to provide an elevator user detection system capable of accurately detecting a user in the vicinity of an elevator from an image taken by a camera.

According to one embodiment, the elevator user detection system is installed near the door of the car and captures an image including the inside of the car and the landing, and a person or an object on the photographed image. A setting means for setting a detection area for detection and changing the detection sensitivity in the set detection area according to the stop floor, and detecting the person or an object by targeting the set detection area. It is provided with a detection means for executing the detection process for the purpose and a control means for reflecting the result of the detection process in the door opening / closing control of the car door.

FIG. 1 is a diagram showing a configuration of an elevator user detection system according to an embodiment. FIG. 2 is a diagram showing a state in which the captured images in the same embodiment are divided into blocks. FIG. 3 is a flowchart showing the flow of the detection process in the same embodiment. FIG. 4 is a diagram showing a configuration of a portion around an entrance / exit in the car according to the same embodiment. FIG. 5 is a diagram for explaining the setting of the detection area in the same embodiment. FIG. 6 is a diagram showing an example of a data structure of set value information in the same embodiment. FIG. 7 is a diagram for explaining how a door shadow is formed during the door closing operation in the same embodiment. FIG. 8 is a diagram for explaining the relationship between the landing side detection area of the reference size and the door shadow in the same embodiment. FIG. 9 is a diagram for explaining the relationship between the landing side detection area having a size that is not affected by the door shadow and the door shadow in the same embodiment. FIG. 10 is a flowchart showing a main processing flow of the elevator user detection system in the same embodiment. FIG. 11 is a flowchart showing the flow of the first corresponding processing in the same embodiment. FIG. 12 is a flowchart showing the flow of the second corresponding processing in the same 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. Modifications that can be easily conceived by those skilled in the art are naturally included in the scope of disclosure. In order to clarify the explanation, in the drawings, the size, shape, etc. of each part may be changed with respect to the actual embodiment and shown schematically. In a plurality of drawings, the corresponding elements may be designated by the same reference numerals and detailed description thereof may be omitted.

FIG. 1 is a diagram showing a configuration of an elevator user detection system according to an embodiment. Although the description will be given here by taking one car as an example, the same configuration is used for a plurality of cars.

A camera 12 is installed above the doorway of the car 11. Specifically, the camera 12 is installed in the curtain plate 11a covering the upper part of the entrance / exit of the car 11 with the lens portion directed directly downward or in the direction of the landing 15. The camera 12 is a small surveillance camera such as an in-vehicle camera, has a wide-angle lens, and takes a wide range of images including the inside of the car 11 and the landing 15 with a viewing angle of 180 degrees or more. The camera 12 can continuously capture images of several frames (for example, 30 frames / second) per second.

At the landing 15 on each floor, a landing door 14 is installed at the arrival port of the car 11 so as to be openable and closable. The landing door 14 engages with the car door 13 when the car 11 arrives to open and close. The power source (door motor) is on the car 11 side, and the landing door 14 only opens and closes following the car door 13. In the following description, it is assumed that the landing door 14 is also open when the car door 13 is open, and the landing door 14 is also closed when the car door 13 is closed.

Each image (video) continuously captured by the camera 12 is analyzed and processed in real time by the image processing device 20. Although the image processing device 20 is taken out from the car 11 for convenience in FIG. 1, the image processing device 20 is actually housed in the curtain plate 11a together with the camera 12.

The image processing device 20 includes a storage unit 21 and a detection unit 22. The storage unit 21 has a buffer area for sequentially storing images taken by the camera 12 and temporarily storing data necessary for processing of the detection unit 22. The storage unit 21 may store an image that has undergone processing such as distortion correction, enlargement / reduction, and partial cropping as preprocessing for the captured image.

The detection unit 22 detects a user in the car 11 or in the landing 15 by using the captured image of the camera 12. When the detection unit 22 is functionally divided, it is composed of a detection area setting unit 22a and a detection processing unit 22b.

The detection area setting unit 22a sets a detection area for detecting a user (a person using an elevator) or an object on the captured image of the camera 12. The "thing" referred to here includes, for example, a user's clothes and luggage, and a moving body such as a wheelchair. Further, devices related to elevator equipment such as operation buttons, lamps, and display devices in the car are also included. Since the details of the detection area will be described later, the detailed description thereof will be omitted here.

The detection processing unit 22b executes a detection process for detecting a person or an object (movement) for each detection area set by the detection area setting unit 22a. Specifically, as shown in FIG. 2, the detection processing unit 22b divides the image captured by the camera 12 into blocks of a certain size, pays attention to the change in the brightness value of each block, and pays attention to the change in the brightness value of each block. Motion) is detected. One block shown in FIG. 2 includes a plurality of pixels constituting a captured image.

Here, the detection process executed by the detection processing unit 22b will be described with reference to the flowchart of FIG.

When the detection processing unit 22b reads out the captured images stored in the storage unit 21 one by one and divides the captured captured images into blocks of a certain size, the average brightness value for each block (that is, a plurality of pixels included in the block). (Average of the brightness values of) is calculated (step S1). At that time, the detection processing unit 22b shall store, as an initial value, the average luminance value for each block calculated when the first image is read in the buffer area in the storage unit 21 (step S2). ).

When the second and subsequent images are obtained, the detection processing unit 22b sets 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 described above. Are compared (step S3). As a result, when there is a block having a brightness difference equal to or larger than a preset threshold value, the detection processing unit 22b regards the block as a moving block, and causes a person or an object (movement) in the block portion. It is determined that it has been detected (step S4).

When the detection of a person or an object targeting the current image is completed, the detection processing unit 22b writes the average luminance value for each block of the current image to the above-mentioned buffer area for comparison with the next image ( Step S5), a series of detection processes are completed.

In this way, the detection processing unit 22b pays attention to the average luminance value for each block in the image captured by the camera 12, and the average luminance value changes by a preset threshold value or more in two consecutive images. If there is a block, it detects that there is a person or an object in the block.

A part or all the functions of the image processing device 20 may be mounted on the elevator control device 30 described later.

The elevator control device 30 controls the operation of various devices (destination floor buttons, lights, etc.) installed in the car 11. Further, the elevator control device 30 includes an operation control unit 31, a door opening / closing control unit 32, and a notification unit 33. The operation control unit 31 controls the operation of the car 11. The notification unit 33 calls attention to the user in the car 11 based on the detection result in the detection processing unit 22b.

The door opening / closing control unit 32 controls the opening / closing of the car door 13 when the car 11 arrives at the landing 15. Specifically, the door opening / closing control unit 32 opens the car door 13 when the car 11 arrives at the landing 15, and closes the door after a predetermined time has elapsed.

Here, for example, when a person or an object is detected by the detection processing unit 22b before the start of the door opening operation of the car door 13 or during the door opening operation, the door opening / closing control unit 32 causes a door accident (pulled into the door pocket). Door opening / closing control is performed to avoid accidents). Specifically, the door opening / closing control unit 32 temporarily stops the door opening operation of the car door 13, moves it in the opposite direction (door closing direction), slows down the door opening speed of the car door 13, and the like. Door opening and closing control is performed. Further, for example, when a person or an object is detected by the detection processing unit 22b before the start of the door closing operation (during full opening) or during the door closing operation of the car door 13, the door opening / closing control unit 32 causes a door accident (to the door). Door opening / closing control is performed to avoid accidents caused by being pinched. Specifically, the door opening / closing control unit 32 temporarily stops the door closing operation of the car door 13, moves it in the opposite direction (door opening direction), slows down the door closing speed of the car door 13, and the like. Door opening and closing control is performed.

FIG. 4 is a diagram showing a configuration of a portion around the entrance / exit in the car 11.
A car door 13 is provided at the entrance and exit of the car 11 so as to be openable and closable. In the example of FIG. 4, a two-door single-door type car door 13 is shown, and the two door panels 13a and 13b constituting the car door 13 open and close in the same direction along the frontage direction (horizontal direction). .. The "frontage" is the same as the entrance / exit of the car 11.

Front pillars 41a and 41b are provided on both sides of the doorway of the car 11, and surround the doorway of the car 11 together with the curtain plate 11a. The "front pillar" is also referred to as a doorway pillar or doorway frame. When the car door 13 is a single-door type, a door pocket for storing the car door 13 is provided on the back side of one of the front pillars 41a and 41b. In the example of FIG. 4, the door pocket 42 is provided on the back side of the front pillar 41a, and when the door is opened, the two door panels 13a and 13b are stored in the door pocket 42 in an overlapping state. When the car door 13 is a double door double door type, the door pocket 42 for storing the door panels 13a and 13b is provided on the back side of both the front pillars 41a and 41b, and the two door panels 13a and 13b are provided when the door is opened. Is stored in each door pocket.

A display 43, an operation panel 45 on which a destination floor button 44 and the like are arranged, and a speaker 46 are installed on one or both of the front pillars 41a and 41b. FIG. 4 shows a case where the speaker 46 is installed on the front pillar 41a, and the display 43 and the operation panel 45 are installed on the front pillar 41b.

Here, a camera 12 having a wide-angle lens is installed on the door stop side of the curtain plate 11a above the doorway of the car 11. According to this, the camera 12 can take a picture of the landing 15 until just before the single-door type car door 13 finishes closing. When the car door 13 is a double door type, the camera 12 is provided at the center of the curtain plate 11a above the doorway of the car 11. According to this, the camera 12 can take a picture of the landing 15 until just before the double door type car door 13 finishes closing.

FIG. 5 is a diagram showing an example of a captured image of the camera 12. In FIG. 5, with the car doors 13 (door panels 13a and 13b) and the landing doors 14 (door panels 14a and 14b) fully open, the inside of the car 11 has a viewing angle of 180 degrees or more from the upper part of the doorway of the car 11. It shows the case where the landing 15 is photographed. The upper side of FIG. 5 shows the landing 15, and the lower side shows the inside of the car 11. Hereinafter, the car door 13 and the opening / closing direction will be referred to as the X direction, the direction perpendicular to the opening / closing direction of the car door 13 will be referred to as the Y direction, and the height direction of the car 11 will be referred to as the Z direction.

At the landing 15, three-sided frames 17a and 17b are provided on both sides of the arrival port of the car 11, and a band-shaped landing sill 18 having a predetermined width is provided on the floor surface 16 between the three-sided frames 17a and 17b. It is arranged along the opening / closing direction of 14. Further, a strip-shaped car sill 47 having a predetermined width is arranged on the entrance / exit side of the floor surface 19 of the car 11 along the opening / closing direction of the car door 13.

Here, detection areas E1 to E3 for detecting a person or an object are set in the car 11 and the landing 15 shown in the captured image.

The detection area E1 is an area for detecting (preventing) the user's pulling into the door (door pocket) in advance during the door opening operation, and is the inner side surfaces 41a-1, 41b-1 of the front pillars 41a and 41b. And the floor surface 19 of the car 11 near the front pillars 41a and 41b. In the following, the detection area E1 will be referred to as a retracted detection area E1.

Specifically, as shown in FIG. 5, the retracted detection areas E1-1 and E1-2 have predetermined widths D1 and D2 in the width direction of the inner side surfaces 41a-1 and 41b-1 of the front pillars 41a and 41b. Is set in a strip shape. The widths D1 and D2 described above are set to be the same as or slightly smaller than the width (width in the lateral direction) of the inner side surfaces 41a-1 and 41b-1, for example. The widths D1 and D2 described above may be the same or different. Further, the pull-in detection areas E1-1 and E1-2 are set from the floor surface 19 to the positions of heights h1 and h2. The heights h1 and h2 are arbitrary values, and the heights h1 and h2 may be the same or different.

The retracted detection areas E1-1 and E1-2 are, for example, the hands and arms of the user who touch the inner side surfaces 41a-1 and 41b-1 of the front pillars 41a and 41b (inner side surfaces 41a-1 of the front pillars 41a and 41b). , 41b-1) is an area for detecting.

Further, as shown in FIG. 5, the retracted detection area E1-3 has a predetermined width D3 on the floor surface 19 of the car 11 and is set in a band shape. The width D3 described above may be the same as or different from the widths D1 and D2 described above. Further, the pull-in detection area E1-3 is set to have a predetermined width W1 in the X direction orthogonal to the width D3 described above. The width W1 described above is set to be the same as or slightly smaller than the width of the entrance / exit of the car door 13.

The retracted detection area E1-3 is for detecting, for example, a user's hand or arm touching the car door 13 (a user who is poking his / her hand into the car door 13), a user close to the car door 13, and the like. The area.

The detection area E2 is an area for detecting a person or an object on the landing sill 18 and the car sill 47, and is set in the landing sill 18 and the car sill 47. In the following, the detection area E2 will be referred to as the on-sill detection area E2.

Specifically, as shown in FIG. 5, the on-sill detection area E2 has a predetermined width W2 in the X direction and a predetermined distance L1 in the Y direction on the landing sill 18 and the car sill 47. Is set. The width W2 described above is set to be the same as or slightly smaller than the width of the entrance / exit of the car door 13. Further, the above-mentioned distance L1 is set to be the same as or slightly smaller than the sum of the distance in the Y direction of the landing sill 18 and the distance in the Y direction of the car sill 47.

The detection area E2 on the sill is an area for detecting, for example, a lead wire connecting pets, an object extending from the inside of the car 11 to the landing 15, and the like.

The detection area E3 is an area for detecting (preventing) the user being pinched by the door in the door closing operation in advance, and is set on the floor surface of the landing 15. In the following, the detection area E3 will be referred to as a landing side detection area E3.

Specifically, as shown in FIG. 5, the landing side detection area E3 is set with a predetermined distance L2 in the direction (Y direction) of the landing 15 from the entrance / exit of the car 11. The shape of the landing side detection area E3 may be a rectangle having a width in the X direction equal to or greater than the width of the entrance / exit of the car door 13, or a trapezoid obtained by removing the blind spots of the three-sided frames 17a and 17b from the rectangle. You may. FIG. 5 shows a case where the shape of the landing side detection area E3 is a rectangle having a width in the X direction equivalent to the width of the entrance / exit of the car door 13.

The landing side detection area E3 is an area for detecting, for example, a user at the landing 15, a user approaching the car 11 from the landing 15, and the like.

The size (or shape) of the landing side detection area E3 is dynamically changed according to the door closing operation of the car door 13. Specifically, the width of the landing side detection area E3 in the X direction is changed so as to gradually decrease according to the opening amount of the car door 13 accompanying the door closing operation. It is assumed that the information regarding the opening amount of the car door 13 can be acquired in real time from the elevator control device 30.

As described above, in this system, each detection area E1 to E3 shown in FIG. 5 described above is set on the captured image, and a series of detection processes shown in FIG. 3 described above targets each detection area E1 to E3. Is executed. According to this, it is possible to detect a person or an object (movement) in each of the detection areas E1 to E3 and realize door opening / closing control according to the result of the detection.

On the other hand, in the series of detection processes shown in FIG. 3 described above, the threshold value of the luminance difference used for detecting a person or an object (movement) is always the same value, so that it is as follows. Problems can occur. The above-mentioned threshold value of the brightness difference is set by the maintenance staff together with the setting of the detection areas E1 to E3 at the time of initial setting (installation) of the camera 12, for example. Further, since the above-mentioned threshold value of the luminance difference is a value set for detecting a person or an object, the sensitivity for detecting a person or an object, or simply referred to as a detection sensitivity will be described below. In some cases.

For example, depending on the building where the elevator is installed, the flooring material of the landing may be different for each floor. Specifically, on one floor, a flooring material that easily reflects light such as marble may be used, and on another floor, a flooring material that does not easily reflect light such as carpet may be used. ..

In such a case, the sensitivity for detecting a person or an object is always the same value as described above, and the detection sensitivity can suitably detect a person or an object on the floor where the flooring material is a carpet, for example. When the detection sensitivity is set, if the floor material is a carpet floor, the shadow reflected on the floor surface may be mistakenly detected as a person or an object. This is because it is difficult for shadows to be reflected on the floor surface on the floor of the floor material that does not easily reflect light, so there is little need to consider the shadows reflected on the floor surface, and the detection sensitivity that can suitably detect people or objects Is set to a high value, but the detection sensitivity is due to being too high on a floor where shadows are easily reflected on the floor surface, such as a floor made of a floor material that easily reflects light.

Further, the sensitivity for detecting a person or an object is always the same value as described above, and the detection sensitivity is set to a detection sensitivity capable of suitably detecting a person or an object on a floor where the floor material is marble, for example. If so, the flooring may not be able to accurately detect people or objects on the carpet floor (ie, undetected). This is because shadows are likely to be reflected on the floor surface of the floor material that easily reflects light, so the detection sensitivity that can suitably detect people or objects is low in consideration of the shadows reflected on the floor surface. However, the detection sensitivity is due to being too low on floors where shadows are difficult to be reflected on the floor surface, such as floors made of floor materials that do not easily reflect light.

According to the above-mentioned false detection, the elevator control device 30 performs erroneous door opening / closing control, so that, for example, the door opening speed of the car door 13 becomes slow (or the door opening of the car door 13 forever). The car door 13 may not be closed (or the car door 13 may be reopened many times) because the car door 13 is maintained in the open state. There is. Further, according to the above-mentioned undetection, since it is not possible to detect a person or an object that needs to be detected, it may not be possible to prevent a door accident such as a pull-in accident or a pinch accident. These are not preferable for the user.

Here, the case where the floor material of the landing is different for each floor has been described as an example, but the description is not limited to this, and the case where the color of the floor surface of the landing is different for each floor is also used. , Similar to the above case, there is a possibility that false detection or non-detection may occur.

Even if the floor material and floor color of the landing are not different for each floor, the brightness of the landing may differ depending on the time of day depending on the outside light and lighting. Therefore, for example, the detection sensitivity is daytime. Sometimes when a person or object is set to a value that can be detected appropriately, the person or object cannot be detected appropriately at times other than daytime, or something other than the person or object (for example, a shadow) is mistaken. There is a possibility that it will be detected.

As described above, when the detection sensitivity is always set to the same value, false detection or non-detection may occur.

Therefore, the elevator user detection system according to the present embodiment is characterized in that the detection sensitivity set in each of the detection areas E1 to E3 can be changed according to the floor or the time zone. Hereinafter, the detection sensitivity set at the time of initial setting will be described as a reference sensitivity or a reference threshold value.

Further, in the elevator user detection system according to the present embodiment, in addition to the above-mentioned detection sensitivity, the size (or shape) of each detection area E1 to E3 can be changed according to the floor or time zone. Also features. Hereinafter, the sizes of the detection areas E1 to E3 set at the time of initial setting will be described as reference sizes.

In order to set the detection sensitivities different from the reference sensitivities in the detection areas E1 to E3, and to set the detection areas E1 to E3 having a size different from the reference size, the storage unit 21 of the image processing device 20 has a storage unit 21. , Set value information regarding the detection sensitivity and size set in each detection area E1 to E3 is stored. This set value information is stored in advance according to the operation of the maintenance staff, for example, at the time of initial setting of the camera 12, together with the setting of the detection areas E1 to E3 of the reference size described above and the setting of the reference sensitivity described above.

FIG. 6 is a diagram showing an example of a data structure of set value information stored in the storage unit 21. As shown in FIG. 6, the set value information corresponds to the floor, the time zone, the size (or shape) of each detection area E1 to E3, and the detection sensitivity set in each detection area E1 to E3. It is the attached information. The size and detection sensitivity of the landing side detection area E3 shall be set separately for the case where the car door 13 is in the fully open state and the case where the car door 13 is in the door closing operation.

For example, the set value information I1 includes the floor "2", the time zone "8: 00-18: 00", the size "-(blank)" of the retracted detection area E1, the detection sensitivity "-", and the sill. Upper detection area E2 size "-" and detection sensitivity "detection sensitivity (high)", and landing side detection area E3 size "-" and detection sensitivity "detection sensitivity (high)" when the car door 13 is fully open. And the size "size (shadow)" of the landing side detection area E3 and the detection sensitivity "detection sensitivity (low)" when the car door 13 is in the door closing operation are included in association with each other.

According to this set value information I1, the size and detection sensitivity of each detection area E1 to E3 when the car 11 stops on the "second floor" between "8: 00-18: 00" are as follows. Set.

-Since the size and detection sensitivity of the retracted detection area E1 are both "-(blank)", the size and detection sensitivity are not changed from the reference size and reference sensitivity at the time of initial setting.
-Since the size of the on-sill detection area E2 is "-", the size is not changed from the standard size at the time of initial setting, and the detection sensitivity of the on-sill detection area E2 is "detection sensitivity (high)". The sensitivity is changed to "detection sensitivity (high)" which is a value higher than the reference sensitivity.
-Since the size of the landing side detection area E3 in the fully open state is "-", the size is not changed from the standard size at the time of initial setting, and the detection sensitivity of the landing side detection area E3 in the fully open state is "detection". Since it is "sensitivity (high)", the detection sensitivity is changed to "detection sensitivity (high)" which is a value higher than the reference sensitivity.
-Since the size of the landing side detection area E3 during the door closing operation is the "size (shadow)", the size is the "size (shadow)" that does not erroneously detect the door shadow described later as a person or an object from the standard size. The detection sensitivity of the landing side detection area E3 during the door closing operation is "detection sensitivity (low)", so the detection sensitivity is lower than the reference sensitivity "detection sensitivity (low)". Is changed to.
As described above, according to the set value information I1, when the size and detection sensitivity of each of the detection areas E1 to E3 are stopped on the "second floor" between the car 11 and "8: 00-18: 00". It is possible to change the value to a value suitable for.

In addition, since the case of the set value information I2 to I4 can be read by the same method as the case of the set value information I1, the specific description of the data structure of the set value information I2 to I4 is omitted. And.

Here, the "size (shadow)", which is the size of the landing side detection area E3 during the door closing operation, will be described. In the following, first, we will explain how the shadow of the door (hereinafter referred to as the door shadow) that may be reflected on the floor surface of the landing 15 due to the door closing operation of the car door 13 is described, and then the door closing operation. The size of the landing side detection area E3 inside will be described.

FIG. 7 is a diagram for explaining how a door shadow is formed when the lighting device LS is installed in the center of the ceiling surface in the car 11, and FIG. 7A is a diagram in which the car door 13 is used. The case of the fully opened state is shown, FIG. 7B shows the case where the opening amount of the car door 13 is more than half the width of the door, and FIG. 7C shows the case where the opening amount of the car door 13 is the width of the door. The case of less than half is shown.

When the car door 13 is fully opened, the car door 13 is housed in the door pocket 42, so that the door shadow cannot be formed as shown in FIG. 7A. On the other hand, when the opening amount of the car door 13 is more than half the width of the door, as shown in FIG. 7B, the lighting device LS and one end of the car door 13 on the door stop side (point M in the figure). ) And the area R1 defined by the straight line connecting the door shadow. Similarly, when the opening amount of the car door 13 is less than half the width of the door, as shown in FIG. 7 (c), the lighting device LS and one end of the car door 13 on the door stop side (point N in the figure). ) And the area R2 defined by the straight line connecting the door shadow.

In FIG. 7, it is assumed that the lighting device LS is installed at the center of the ceiling surface in the car 11, but even when the lighting device LS is installed at a different position, FIG. 7A is shown. Similar to the case shown in (c), the door cannot be shadowed when the car door 13 is fully opened, while the lighting device LS and the car door 13 hit each other while the car door 13 is closed. A door shadow will be created in the area defined by the straight line connecting one end of the side.

Further, in FIG. 7, it is assumed that there is one lighting device LS, but even when a plurality of lighting devices LS are installed in the car 11, when the car door 13 is fully open, FIG. 7 ( The door shadow cannot be cast as in the case shown in a). On the other hand, during the door closing operation of the car door 13, door shadows are formed in a plurality of areas defined by straight lines connecting each lighting device LS and one end of the car door 13 on the door stop side.

As described above, there is a possibility that the shadow of the door is reflected on the floor surface of the landing 15 (the above-mentioned areas R1 and R2) as the car door 13 closes.

FIG. 8 is a view for explaining the relationship between the landing side detection area E3 of the reference size and the door shadow described with reference to FIG. 7, which is the landing side detection area E3 during the door closing operation. 8 (a) shows the case where the opening amount of the car door 13 is more than half the width of the door, and FIG. 8 (b) shows the case where the opening amount of the car door 13 is less than half the width of the door. .. The landing side detection area E3 of the reference size does not change the distance in the Y direction (landing direction), but changes so that only the width in the X direction gradually decreases according to the opening amount of the car door 13.

When the opening amount of the car door 13 is more than half the width of the door, as shown in FIG. 7B, the door shadow is formed in the area R1, but the landing side detection area E3 also changes slightly according to the opening amount of the door. Therefore, as shown in FIG. 8A, the door shadow is not reflected in the landing side detection area E3.

On the other hand, when the opening amount of the car door 13 is less than half the width of the door, as shown in FIG. 7C, a door shadow is formed in the area R2, so that a part of the door shadow is in the landing side detection area E3. It will be reflected in. According to this, a part of the door shadow may be falsely detected as a person or an object.

The landing side detection area E3 for suppressing such false detection is the “size (shadow)” landing side detection area E3.

FIG. 9 is a landing side detection area E3 during the door closing operation, and is for explaining the relationship between the landing side detection area E3 of “size (shadow)” and the door shadow described with reference to FIG. 9 (a) shows the case where the opening amount of the car door 13 is more than half the width of the door, and FIG. 9 (b) shows the case where the opening amount of the car door 13 is less than half the width of the door. Is shown.

When the opening amount of the car door 13 is more than half the width of the door, as described above, only by changing the width in the X direction according to the opening amount of the car door 13, the door shadow is in the landing side detection area E3. Since it is not reflected, the landing side detection area E3 of "size (shadow)" can change the distance in the Y direction as in the reference size landing side detection area E3, as shown in FIG. 9A. Instead, only the width in the X direction changes so as to gradually decrease according to the opening amount of the car door 13.

On the other hand, when the opening amount of the car door 13 is less than half the width of the door, as described above, simply changing the width in the X direction according to the opening amount of the car door 13 causes the door shadow to be detected on the landing side. It may be reflected in E3. Therefore, as shown in FIG. 9B, the landing side detection area E3 of the “size (shadow)” changes so that the distance in the Y direction gradually decreases in addition to the width in the X direction. Specifically, when the opening amount of the car door 13 is less than half the width of the door, the landing side detection area E3 of "size (shadow)" is the opening amount of the car door 13 in the area where the door shadow is not reflected. It has a shorter width in the X direction and is set in the Y direction with a distance shorter than the above-mentioned distance L2.

According to this, it is possible to prevent a part of the door shadow from being reflected in the landing side detection area E3, so that a part of the door shadow is erroneously detected as a person or an object. Can be suppressed.

In addition, although the case where the size of the landing side detection area E3 during the door closing operation is changed to the size considering the door shadow is described here, the size of the other detection areas is not limited to this, and the set value information. It may be changed based on. For example, in a time zone when the inside of the car 11 is expected to be congested, the size of the pull-in detection area E1-3 is set in consideration of the possibility that the shadow of a person in the car 11 is reflected. It may be changed slightly based on the information.

Next, an example of the operation of this system in which the size and detection sensitivity of each of the detection areas E1 to E3 can be set based on the set value information stored in the storage unit 21 will be described with reference to the flowchart of FIG.

First, as an initial setting, the detection area setting process is executed by the detection area setting unit 22a of the detection unit 22 provided in the image processing device 20 (step S11). This detection area setting process is executed, for example, when the camera 12 is installed or when the installation position of the camera 12 is adjusted.

According to this detection area setting process, a plurality of detection areas E1 to E3 of reference sizes are set on the image captured by the camera 12, and the detection sensitivities of the respective detection areas E1 to E3 are set as the reference sensitivities. Specifically, as shown in FIG. 5, the pull-in detection areas E1-1 and E1-2 are set on the inner side surfaces 41a-1 and 41b-1 of the front pillars 41a and 41b, and the pull-in detection areas E1 -3 is set on the floor surface 19 of the car 11. Further, as shown in FIG. 5, the detection area E2 on the sill is set on the landing sill 18 and the car sill 47, and the landing side detection area E3 when the car door 13 is fully opened is set on the floor surface of the landing 15. The door. Further, as shown in FIG. 8, as the landing side detection area E3 when the car door 13 doors are closed, a detection area that dynamically changes according to the door closing operation is set on the floor surface of the landing 15.

When setting each of the detection areas E1 to E3, the area where the floor surface 19 of the car 11 and the front pillars 41a and 41b, the car sill 47, and the floor surface of the landing 15 and the landing sill 18 are reflected on the captured image. Is calculated based on the design value of each component of the car 11 and the eigenvalue of the camera 12. The design values of each component of the car 11 and the eigenvalues of the camera 12 include, for example, the following items.

・ Width of the frontage (width of the entrance and exit of the basket)
・ Door height
・ Pillar width
・ Door type (double door / right or left single door)
・ Floor and wall area
・ Camera relative position to frontage (3D)
・ Camera angle (3 axes)
・ Camera angle of view (focal length)
The detection area setting unit 22a calculates an area on the captured image in which the area to be set for each of the detection areas E1 to E3 is likely to be reflected, based on the various values described above, and with respect to the calculated area. Each detection area E1 to E3 is set.

Subsequently, the operation of the car 11 during operation will be described.
The camera 12 starts shooting the shooting target including the inside of the car 11 and the landing 15 at a predetermined frame rate. Shooting by the camera 12 is continuously performed. The image processing device 20 acquires images taken by the camera 12 in chronological order (step S12). The acquired images are sequentially stored in the storage unit 21.

When the car 11 starts decelerating to stop on an arbitrary floor (Yes in step S13), the detection area setting unit 22a determines the floor information indicating the next floor to be stopped and the time information indicating the current time. And are acquired from the elevator control device 30 (step S14).

The detection area setting unit 22a determines whether or not there is set value information including a value that matches the condition indicated by the acquired floor information and the time information (that is, the floor indicated by the floor information). , It is determined whether or not the time zone including the current time indicated by the time information and the set value information including the time information are stored in the storage unit 21) (step S15).

When there is set value information including a value matching the condition (Yes in step S15), the detection area setting unit 22a reads out the set value information including the value matching the condition from the storage unit 21, and the set value information. The size and detection sensitivity of each detection area E1 to E3 are changed (reset) based on the above. As a result, the size and detection sensitivity of each of the detection areas E1 to E3 are set to values based on the above-mentioned set value information (step S16).

On the other hand, when there is no set value information including a value matching the condition (No in step S15), the detection area setting unit 22a sets the size and detection sensitivity of each detection area E1 to E3 to the reference size and reference sensitivity. Leave it alone. As a result, the size and detection sensitivity of each of the detection areas E1 to E3 are set to the reference size and the reference sensitivity (step S17).

After that, the detection processing unit 22b executes the detection processing targeting the retracted detection area E1 before the car door 13 is opened (step S18). Specifically, the detection processing unit 22b executes a series of detection processes shown in FIG. 3 for the blocks in the retracted detection area E1 among a large number of blocks included in the acquired captured image. To do.

The result of the detection process in step S18 described above is output from the image processing device 20 to the elevator control device 30 (step S19). When the elevator control device 30 receives the result of the detection process in step S18 described above, the elevator control device 30 executes a response process (hereinafter, referred to as a first response process) according to the result of the detection process targeting the retracted detection area E1. (Step S20).

Here, the flow of the first correspondence process will be described with reference to the flowchart of FIG.
When no person or object (movement) is detected in the retracted detection area E1 (No in step S20-1), the door opening / closing control unit 32 of the elevator control device 30 opens the car door 13 as usual. Control is performed (step S20-2), and the first correspondence process is terminated.

On the other hand, when a person or an object (movement) is detected in the retracted detection area E1 (step S20-1Yes), the notification unit 33 of the elevator control device 30 makes a voice announcement through the speaker 46 in the car 11. This is performed to alert the user in the car 11 to move away from the car door 13 (step S20-3). After that, the door opening / closing control unit 32 of the elevator control device 30 controls to open the car door 13 at a door opening speed slower than usual (step S20-4), and ends the first response process.

The process of step S20-4 described above may be executed after a predetermined time has elapsed after the process of step S20-3 described above is executed. According to this, since it is possible to secure the time for the user to leave the car door 13, it is possible to more reliably suppress the accident of being pulled into the car door 13.

Here, even if a person or an object is detected in the retracted detection area E1, the elevator control device 30 opens the car door 13 at a slower speed than usual after calling the user's attention. However, the present invention is not limited to this, and the elevator control device 30 may not open the car door 13 as long as a person or an object is detected in the retracted detection area E1. However, while such door opening / closing control has the advantage that the safety of the user can be greatly improved, it may reduce the operating efficiency. Therefore, for example, the pull-in detection area E1 After a lapse of a predetermined time after the person or the object is detected in the car door 13, the car door 13 may be opened even if the person or the object is detected in the retracted detection area E1.

Further, here, the description has been made on the assumption that the detection process targeting the retracted detection area E1 is executed before the car door 13 is opened, but even during the door opening operation of the car door 13. Similarly, the detection process targeting the pull-in detection area E1 may be executed. When a person or an object is detected in the detection area E1 during the door opening operation, the door opening / closing control unit 32 of the elevator control device 30 temporarily suspends the door opening operation of the car door 13, or the car door 13 Is controlled in the opposite direction (door closing direction).

Returning to the description of FIG. 10 again. When the car door 13 is opened as a result of the first response processing, the detection processing unit 22b executes the detection processing targeting each of the detection areas E1 to E3 (step S21). Specifically, the detection processing unit 22b targets each block in each detection area E1 to E3 among a large number of blocks included in the acquired captured image, and a series of detection processes shown in FIG. To execute.

The result of the detection process in step S21 described above is output from the image processing device 20 to the elevator control device 30 (step S22). When the elevator control device 30 receives the result of the detection process in step S22 described above, the elevator control device 30 performs a response process (hereinafter, referred to as a second response process) according to the result of the detection process targeting each of the detection areas E1 to E3. It is executed (step S23), and a series of operations in this system is terminated.

Here, the flow of the second correspondence process will be described with reference to the flowchart of FIG.
When no person or object (movement) is detected in each of the detection areas E1 to E3 (No in step S23-1), the door opening / closing control unit 32 of the elevator control device 30 closes the car door 13 as usual. The closing control is performed (step S23-2), and the second corresponding process is terminated. When all the car doors 13 are closed by the door opening / closing control unit 32, the car 11 departs for the next destination floor.

On the other hand, when a person or an object (movement) is detected in any of the detection areas E1 to E4 (Yes in step S23-1), the elevator control device 30 detects the person or the object (movement). The process corresponding to the detected detection area is executed (step S23-3).

For example, when a person or an object is detected in the retracted detection area E1 or the on-sill detection area E2, the door open / close control unit 32 of the elevator control device 30 maintains the door open state (fully open state) of the car door 13. , The notification unit 33 alerts the user in the car 11 to stay away from the vicinity of the doorway. Further, when a person or an object is detected in the landing side detection area E3, the door opening / closing control unit 32 of the elevator control device 30 maintains the door open state of the car door 13.

When a person or an object is detected in a plurality of detection areas, the elevator control device 30 executes a process corresponding to each detection area in which the person or the object is detected.

Although the description has been made here assuming that the detection process for each of the detection areas E1 to E3 is executed when the car door 13 is fully opened, the same applies during the door closing operation of the car door 13. , The detection process for each of the detection areas E1 to E3 is executed. When a person or an object is detected in each of the detection areas E1 to E3 during the door closing operation, the door opening / closing control unit 32 of the elevator control device 30 basically interrupts the door closing operation of the car door 13. Controls such as reopening that moves the car door 13 in the opposite direction (door opening direction).

As described above, the elevator user detection system according to the present embodiment is installed near the door 13 of the car 11, and is photographed by the camera 12 that captures an image including the inside of the car 11 and the landing 15. The detection area setting unit 22a is set to set the detection areas E1 to E3 for detecting a person or an object on the image and change the detection sensitivity in the set detection areas E1 to E3 according to the stop floor. A detection processing unit 22b that executes detection processing for detecting a person or an object in the detection areas E1 to E3, and an elevator control device that reflects the result of the detection processing in the door opening / closing control of the door 13 of the car 11. It has 30 and. According to this, it is possible to set (change) the detection sensitivity of each detection area E1 to E3 according to the stopped floor, and the detection process is not affected by the color of the floor material or floor surface of the landing. Therefore, it is possible to improve the detection accuracy of the user. Further, the elevator user detection system according to the present embodiment can change the size of the detection areas E1 to E3 according to the stopped floor, so that the detection accuracy of the user can be further improved. Is.

Further, the elevator user detection system according to the present embodiment is installed near the door 13 of the car 11, and has a camera 12 that captures an image including the inside of the car 11 and the landing 15, and a person on the captured image. Alternatively, the detection area setting unit 22a that sets the detection areas E1 to E3 for detecting an object and changes the detection sensitivity in the set detection areas E1 to E3 according to the time zone, and the set detection areas E1 to E3. A detection processing unit 22b that executes a detection process for detecting a person or an object, and an elevator control device 30 that reflects the result of the detection process in the door opening / closing control of the door 13 of the car 11. ing. According to this, it is possible to set (change) the detection sensitivity of each detection area E1 to E3 according to the time zone, and the detection is not affected by the change in the brightness of the landing due to external light or lighting. Since the processing can be realized, it is possible to improve the detection accuracy of the user. Further, the elevator user detection system according to the present embodiment can change the size of the detection areas E1 to E3 according to the time zone, so that the detection accuracy of the user can be further improved. is there.

The elevator user detection system according to the present embodiment changes at least one of the detection sensitivities or sizes of the detection areas E1 to E3 according to the stop floor and the time zone, but the present invention is not limited to this. For example, at least one of the detection sensitivities or sizes of the detection areas E1 to E3 may be changed according to the season. In this case, the set value information includes the item of "season" in addition to the items of "floor" and "time zone". According to this, it is possible to correspond not only to the stop floor and the time zone but also to the season, so that it is possible to further improve the detection accuracy of the user.

Further, in the elevator user detection system according to the present embodiment, the detection sensitivity of each detection area E1 to E3 is set from the reference sensitivity to the value based on the set value information, and the size is set from the reference size according to the stop floor and the time zone. The value is changed to a value based on the value information, but the value is not limited to this, and for example, the setting itself of each detection area E1 to E3 may be invalidated according to the stop floor or the time zone. In this case, a value of "invalid" is set for the detection sensitivity and size of the set value information. According to this, a large-scale shadow is always formed on a certain floor or a certain time zone, and it is possible to deal with a case where false detection cannot be suppressed only by changing the detection sensitivity or size. Therefore, it is possible to further improve the detection accuracy of the user.

Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other embodiments, and various omissions, replacements, and changes can be made without departing from the gist of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are also included in the scope of the invention described in the claims and the equivalent scope thereof.

11 ... Car, 11a ... Curtain board, 12 ... Camera, 13 ... Car door, 14 ... Landing door, 15 ... Landing, 20 ... Image processing device, 21 ... Storage unit, 22 ... Detection unit, 22a ... Detection area setting unit , 22b ... Detection processing unit, 30 ... Elevator control device, 31 ... Operation control unit, 32 ... Door opening / closing control unit, 33 ... Notification unit.

According to one embodiment, the elevator user detection system is installed near the door of the car and captures an image including the inside of the car and the landing, and a person or an object on the photographed image. setting means Ru set Teisu a detection area for detecting, intended for the detection area in which the set, the compared brightness of time series continuous plurality of images taken by the imaging means A detection means that executes a detection process for detecting a person or an object, a control means that reflects the result of the detection process in the door opening / closing control of the car door, a floor, and a floor associated with the floor. The setting means includes a storage means for storing the set value information indicating the threshold value of the brightness difference, and the setting means has the brightness in the set detection area based on the set value information stored in the storage means. Change the difference threshold according to the stop floor .

According to one embodiment, the elevator user detection system is installed near the door of the car and captures an image including the inside of the car and the landing, and a person or an object on the photographed image. The setting means for setting the detection area for detection and the set detection area are set in advance by comparing the brightness of a plurality of consecutive images taken by the shooting means in time series. when having threshold or more luminance difference, the detection intelligence means you determined motion detected of the person or object to reflect the judgment result of said detecting means to door opening and closing control of the car door and control means, and floor, the setting value information that indicates a threshold value of luminance differences by the detection means have you to have been correlated floor to determine whether there is movement of the person or thing The setting means includes a storage means for storing, and the setting means changes the threshold value of the brightness difference in the set detection area according to the stop floor based on the set value information stored in the storage means. To do.

Claims (8)

A shooting method that is installed near the door of the car and takes images including the inside of the car and the landing.
A setting means for setting a detection area for detecting a person or an object on the captured image and changing the detection sensitivity in the set detection area according to the stop floor.
A detection means that executes a detection process for detecting the person or an object in the set detection area, and a detection means.
A control means for reflecting the result of the detection process in the door opening / closing control of the car door,
Elevator user detection system equipped with. A storage means for storing set value information indicating the floor and the detection sensitivity on the associated floor,
Further equipped,
The setting means is
When the car starts decelerating to stop on an arbitrary floor, the floor information indicating the next stop floor is acquired, and the floor information is acquired.
It is determined whether or not the set value information corresponding to the stopped floor indicated by the acquired floor information is stored in the storage means.
When the set value information corresponding to the stop floor is not stored in the storage means, the detection sensitivity of the stop floor is left as the reference sensitivity which is the detection sensitivity set at the time of initial setting.
When the set value information corresponding to the stop floor is stored in the storage means, the detection sensitivity of the stop floor is determined from the reference sensitivity by the set value information corresponding to the stop floor. Change to
The elevator user detection system according to claim 1. The setting means is
The size of the detection area is changed according to the stop floor.
The elevator user detection system according to claim 1 or 2. The setting means is
Change the size of the detection area to a size that is not affected by the shadow of the car door.
The elevator user detection system according to claim 3. A shooting method that is installed near the door of the car and takes images including the inside of the car and the landing.
A setting means for setting a detection area for detecting a person or an object on the captured image and changing the detection sensitivity in the set detection area according to a time zone.
A detection means that executes a detection process for detecting the person or an object in the set detection area, and a detection means.
A control means for reflecting the result of the detection process in the door opening / closing control of the car door,
Elevator user detection system equipped with. A storage means for storing set value information indicating the time zone and the detection sensitivity in the associated time zone,
Further equipped,
The setting means is
When the car starts decelerating to stop on any floor, it acquires time information indicating the current time and obtains time information.
It is determined whether or not the set value information corresponding to the current time indicated by the acquired time information is stored in the storage means.
When the set value information corresponding to the current time is not stored in the storage means, the detection sensitivity of the floor to be stopped next is left as the reference sensitivity which is the detection sensitivity set at the time of initial setting.
When the set value information corresponding to the current time is stored in the storage means, the detection sensitivity of the floor to be stopped next is detected from the reference sensitivity by the set value information corresponding to the current time. Change to sensitivity,
The elevator user detection system according to claim 5. The setting means is
The size of the detection area is changed according to the time zone.
The elevator user detection system according to claim 5 or 6. The setting means is
Change the size of the detection area to a size that is not affected by the shadow of the car door.
The elevator user detection system according to claim 7.

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