JP2021100880A - User detection system for elevator - Google Patents

Abstract

To detect a user or an article according to an opening state of a door.SOLUTION: A user detection system of an elevator includes imaging means, detection area setting means, detection processing means, and detection area changing means. The imaging means photographs inside of a predetermined range directed to a landing hall from a car including a door. The detection area setting means sets a detection area including the landing hall over a photographed image obtained by the imaging means. The detection processing means detects a user or an article by using an image inside the detection area set by the detection area setting means. The detection area changing means dynamically changes a range between a doorway of the car and the landing hall of the detection area in response to the opening/closing operation of the door.SELECTED DRAWING: Figure 1

Description

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

Normally, when the elevator car arrives at the landing and opens the door, the door closes and departs after a predetermined time has passed. At that time, since the elevator user does not know when the car will close, he / she may hit the door in the middle of closing when he / she gets on the car from the landing.

In order to avoid such a collision of the door at the time of boarding, there is a system that detects a user who gets in the car by using an image taken by a camera and reflects the detection result in the door opening / closing control.

Japanese Patent No. 6092433

The system described above is premised on detecting the presence or absence of a user within a preset detection area when the door is fully opened, and does not assume, for example, a situation when the door is closing, that is, when the door is about to close. For this reason, when the door is about to close, for example, even a user who is away from the doorway of the car and is not in time for closing the door will reopen the door when approaching the detection area. It ends up. If the doors are repeatedly reopened, the car will not be able to depart immediately, resulting in a decrease in operating efficiency.

It is conceivable to shorten the range of the detection area in the depth direction, but there is a possibility that even the user who is in time for closing the door cannot be detected, and the user hits the door during the closing of the door as described above. You can't prevent that.

An object to be solved by the present invention is to provide an elevator user detection system capable of detecting a user or an object according to a door opening situation.

The elevator user detection system according to the embodiment includes an imaging means, a detection area setting means, a detection processing means, and a detection area changing means. The imaging means captures a predetermined range including the door from the car to the landing. The detection area setting means sets a detection area including the landing on the photographed image obtained by the photographing means. The detection processing means detects a user or an object by using an image in the detection area set by the detection area setting means. The detection area changing means dynamically changes the range from the entrance / exit of the car to the landing in the detection area according to the opening / closing operation of the door.

FIG. 1 is a diagram showing a configuration of an elevator user detection system according to the first embodiment. FIG. 2 is a diagram showing a configuration of a portion around an entrance / exit in the car according to the first embodiment. FIG. 3 is a diagram showing an example of a photographed image of the camera according to the first embodiment. FIG. 4 is a flowchart showing a user detection process when the door of the user detection system according to the first embodiment is opened. FIG. 5 is a diagram for explaining a coordinate system in real space according to the first embodiment. FIG. 6 is a diagram showing a state in which the captured image in the first embodiment is divided into block units. FIG. 7 is a diagram for explaining a range change of the detection area in the first embodiment. FIG. 8 is a diagram for explaining a range change of the detection area in the first embodiment. FIG. 9 is a diagram for explaining a range change of the detection area in the first embodiment. FIG. 10 is a flowchart showing the detection area change process (1) in the first embodiment. FIG. 11 is a diagram showing an example of a door opening / closing mechanism according to the first embodiment. FIG. 12 is a diagram for explaining a door region on a captured image in the first embodiment. FIG. 13 is a diagram for explaining a range change of the detection area in the second embodiment. FIG. 14 is a diagram for explaining a range change of the detection area in the second embodiment. FIG. 15 is a diagram for explaining a range change of the detection area in the second embodiment. FIG. 16 is a flowchart showing the detection area change process (2) in the second embodiment. FIG. 17 is a diagram for explaining a range change of the detection area in the third embodiment. FIG. 18 is a diagram for explaining a range change of the detection area in the third embodiment. FIG. 19 is a diagram for explaining a range change of the detection area in the third embodiment. FIG. 20 is a flowchart showing the detection area change process (3) in the third embodiment. FIG. 21 is a diagram for explaining a state change of the detection area when the speed of the user is high in the fourth embodiment. FIG. 22 is a diagram for explaining a state change of the detection area when the speed of the user is high in the fourth embodiment. FIG. 23 is a diagram for explaining a state change of the detection area when the speed of the user is slow in the fourth embodiment. FIG. 24 is a diagram for explaining a state change of the detection area when the speed of the user is slow in the fourth embodiment. FIG. 25 is a flowchart showing the detection area change process (4) in the fourth embodiment. FIG. 26 is a diagram showing a configuration of a portion around an entrance / exit in a car provided with a single-door type car door according to the first to fourth embodiments. FIG. 27 is a diagram for explaining the opening / closing operation of the single door type car door. FIG. 28 is a diagram showing a state change of the detection area set in the single door type car door. FIG. 29 is a diagram showing an example of a captured image of the camera 12 in the fifth embodiment. FIG. 30 is a diagram showing a state change of the detection area set in the single door type car door according to the fifth embodiment. FIG. 31 is a diagram showing a state change of the polygonal detection area as a modification.

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 represented schematically. In a plurality of drawings, the corresponding elements may be given the same reference numbers and detailed description may be omitted.

(First Embodiment)
FIG. 1 is a diagram showing a configuration of an elevator user detection system according to the first 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 tilted directly downward, or on the landing 15 side or the inside of the car 11 by a predetermined angle. ..

The camera 12 is a small surveillance camera such as an in-vehicle camera, has a wide-angle lens or a fisheye lens, and can continuously capture images of several frames (for example, 30 frames / second) per second. The camera 12 is activated when the car 11 arrives at the landing 15 on each floor, and takes a picture including the vicinity of the car door 13.

The shooting range at this time is adjusted to L1 + L2 (L1 >> L2). L1 is a shooting range on the landing side, and has a predetermined distance from the car door 13 toward the landing 15. L2 is a shooting range on the car side, and has a predetermined distance from the car door 13 toward the back of the car. Note that L1 and L2 are ranges in the depth direction, and the range in the width direction (direction orthogonal to the depth direction) is at least larger than the width of the car 11.

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 near the car door 13 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, a detection processing unit 22b, and a detection area changing unit 22c.

The detection area setting unit 22a sets the detection area E1 including the landing 15 on the image taken by the camera 12. More specifically, as will be described later, the detection area setting unit 22a sets the detection area E1 having a predetermined distance L3 from the entrance / exit of the car 11 toward the landing 15 (see FIG. 3).

The detection processing unit 22b detects a user or an object using the image in the detection area E1 set by the detection area setting unit 22a. The "thing" referred to here includes, for example, a user's clothes and luggage, and a moving body such as a wheelchair.

The detection area changing unit 22c performs a process of dynamically changing the range of the detection area E1 according to the opening / closing operation of the car door 13. Specifically, the detection area changing unit 22c changes (reduces / enlarges) the range in the direction (depth direction) orthogonal to the door opening / closing direction of the detection area E1 according to the opening / closing operation of the car door 13. The car control device 30 may have some or all of the functions of the image processing device 20.

The car control device 30 controls the operation of various devices (destination floor buttons, lighting, etc.) installed in the car 11. Further, the car control device 30 includes a door opening / closing control unit 31. The door opening / closing control unit 31 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 31 opens the car door 13 when the car 11 arrives at the landing 15, and closes the door after a predetermined time has elapsed. However, if the user is detected by the detection processing unit 22b while the door closing operation of the car door 13 is in progress, the door opening / closing control unit 31 prohibits the door closing operation of the car door 13 to prohibit the door closing operation of the car door 13. 13 is reopened in the fully open direction to maintain the door open state.

FIG. 2 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. 2, a double door double door type car door 13 is shown, and the two door panels 13a and 13b constituting the car door 13 open and close in opposite directions 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 an entrance / exit pillar or an entrance / exit frame, and a door pocket for storing the car door 13 is generally provided on the back side. In the example of FIG. 2, when the car door 13 is opened, one door panel 13a is housed in a door pocket 42a provided on the back side of the front pillar 41a, and the other door panel 13b is provided on the back side of the front pillar 41b. It is stored in the door pocket 42b.

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. In the example of FIG. 3, the speaker 46 is installed on the front pillar 41a, 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 in the central portion of the curtain plate 11a above the entrance / exit of the car 11.

FIG. 3 is a diagram showing an example of a captured image of the camera 12. The upper side is the landing 15 and the lower side is the inside of the car 11. E1 in the figure represents a detection area.

The car door 13 has two door panels 13a and 13b that move on the car sill 47 in opposite directions. The same applies to the landing door 14, which has two door panels 14a and 14b that move in opposite directions on the landing sill 18. The door panels 14a and 14b of the landing door 14 move in the door opening / closing direction together with the door panels 13a and 13b of the car door 13.

The camera 12 is installed above the doorway of the car 11. Therefore, when the car 11 opens at the landing 15, as shown in FIG. 1, a predetermined range (L1) on the landing side and a predetermined range (L2) in the car are photographed. Of these, a detection area E1 for detecting a user riding in the car 11 is set in a predetermined range (L1) on the landing side.

In the real space, the detection area E1 has a distance of L3 from the center of the entrance (frontage) of the car 11 toward the landing direction (Y-axis direction) (L3 ≦ the shooting range L1 on the landing side). The width W1 of the detection area E1 when fully opened is set to a distance equal to or greater than the width W0 of the entrance / exit (frontage). As shown by diagonal lines in FIG. 3, the detection area E1 is set excluding the blind spots of the three-sided frames 17a and 17b on the image.

The operation of this system will be described below by dividing it into (a) user detection processing and (b) detection area change processing.

(A) User detection process FIG. 4 is a flowchart showing a user detection process when the door is opened in this system.

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 S1). This detection area setting process is executed as follows, for example, when the camera 12 is installed or when the installation position of the camera 12 is adjusted.

That is, the detection area setting unit 22a sets the detection area E1 having a distance L3 from the entrance / exit of the car 11 toward the landing 15 in a state where the car 11 is fully opened. As shown in FIG. 3, the detection area E1 is set in a rectangular shape on the captured image except for the blind spots of the three-sided frames 17a and 17b. When the car 11 is fully opened, the size of the detection area E1 in the door opening / closing direction (X-axis direction) is W1, and the width of the doorway (frontage) is W0 or more. The size of the detection area E1 in the depth direction (Y-axis direction) is L3.

Here, when the car 11 arrives at the landing 15 on an arbitrary floor (Yes in step S2), the car control device 30 opens the car door 13 and waits for a user to board the car 11 (step S3). ).

At this time, the camera 12 installed at the upper part of the doorway of the car 11 captures a predetermined range (L1) on the landing side and a predetermined range (L2) in the car at a predetermined frame rate (for example, 30 frames / second). The image processing device 20 acquires images taken by the camera 12 in chronological order, and while sequentially storing these images in the storage unit 21 (step S4), executes the following user detection processing in real time. (Step S5). As preprocessing for the captured image, distortion correction, enlargement / reduction, and partial cropping of the image may be performed.

The user detection process is executed by the detection processing unit 22b of the detection unit 22 provided in the image processing device 20. The detection processing unit 22b extracts images in the detection area E1 from a plurality of captured images obtained by the camera 12 in time series, and detects the presence or absence of a user or an object based on these images.

Specifically, as shown in FIG. 5, the camera 12 has an X-axis in a direction horizontal to the car door 13 provided at the entrance / exit of the car 11, and a direction from the center of the car door 13 to the landing 15 (car door 13). An image is taken with the Y-axis in the direction perpendicular to the vehicle 11 and the Z-axis in the height direction of the car 11. By comparing the part of the detection area E1 in block units in each image taken by the camera 12, the foot position of the user moving in the direction of the landing 15 from the center of the car door 13, that is, in the Y-axis direction. Detect movement.

FIG. 6 shows an example in which the captured image is divided into a matrix in predetermined block units. A grid of Wblocks on each side of the original image is called a "block". In the example of FIG. 6, the vertical and horizontal lengths of the blocks are the same, but the vertical and horizontal lengths may be different. Further, the block may have a uniform size over the entire image, or may have a non-uniform size such that the vertical (Y-axis direction) length is shortened toward the upper part of the image.

The detection processing unit 22b reads out each image held in the storage unit 21 one by one in chronological order, and calculates the average luminance value of these images for each block. At that time, it is assumed that the average luminance value for each block calculated when the first image is input as the initial value is held in the first buffer area (not shown) in the storage unit 21.

When the second and subsequent images are obtained, the detection processing unit 22b detects 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 first buffer area. Compare with. As a result, when there is a block having a brightness difference equal to or larger than a preset threshold value in the current image, the detection processing unit 22b determines the block as a moving block. Upon determining the presence or absence of motion with respect to the current image, the detection processing unit 22b holds the average luminance value for each block of the image in the first buffer area for comparison with the next image. After that, in the same manner, the detection processing unit 22b repeats determining the presence or absence of movement while comparing the brightness values of each image in block units in chronological order.

The detection processing unit 22b checks whether or not there is a moving block in the image in the detection area E1. As a result, if there is a moving block in the image in the detection area E1, the detection processing unit 22b determines that a person or an object exists in the detection area E1.

When the presence of a user or an object is detected in the detection area E1 when the car door 13 is opened by such a method (Yes in step S6), the user from the image processing device 20 to the car control device 30. A detection signal is output. By receiving this user detection signal, the door open / close control unit 31 of the car control device 30 prohibits the door closing operation of the car door 13 and maintains the door open state (step S7).

Specifically, when the car door 13 is fully opened, the door opening / closing control unit 31 starts a door opening time counting operation, and closes the door when a predetermined time T (for example, 5 seconds) is counted. When the user is detected during this period and the user detection signal is sent, the door opening / closing control unit 31 stops the counting operation and clears the counting value. As a result, the open state of the car door 13 is maintained during the time T.

If a new user is detected during this period, the count value is cleared again, and the car door 13 is maintained in the open state during the time T. However, if the user comes many times during the above time T, the car door 13 cannot be closed indefinitely. Therefore, an allowable time Tx (for example, 60 seconds) is provided and this allowable time is set. It is preferable to forcibly close the car door 13 when Tx has passed.

When the counting operation for the time T is completed, the door opening / closing control unit 31 closes the car door 13 and departs the car 11 toward the destination floor (step S8).

In the flowchart of FIG. 4, the user is detected when the car door 13 is opened, but the same applies when the door is closed, until the door is closed completely (until the door is closed (). When a user or an object is detected in the detection area E1 during the door closing operation), the door closing operation is prohibited, and the car door 13 is reopened in the fully open direction to maintain the door open state. In the present embodiment, as described in the detection area change process of (b) below, the range of the detection area E1 is changed when the car door 13 moves from the fully open state to the door closing direction.

(B) Detection area change process The detection area change process is a process of dynamically changing the range from the entrance / exit of the car 11 of the detection area E1 to the landing 15 according to the opening / closing operation of the car door 13. Specifically, when the car door 13 moves in the door closing direction or the door opening direction, the range in the Y-axis direction (depth direction) of the detection area E1 initially set on the captured image is reduced or enlarged. ..

The detection area change process is executed from the state in which the car door 13 is fully open until the car door 13 moves in the door closing direction and is fully closed (including the case where the car door 13 is reopened in the door opening direction from the middle of the door closing). It is also possible to execute the detection area change process from the fully closed state of the car door 13 to the time when the car door 13 moves in the door opening direction and is fully opened (including the case where the car door 13 is reclosed in the door closing direction from the middle of the door opening).

7 to 9 are views for explaining the range change of the detection area E1, and show an example of the detection area E1 that is changed when the car door 13 is moved from the fully open state to the door closing direction. There is. The lower side is the car side and the upper side is the landing side. The arrow α indicates the changing direction (reducing direction) of the detection area E1, and the arrow β indicates the closing direction of the car door 13.

Wa indicates the opening amount of the car door 13 (hereinafter, referred to as the door opening amount). When the car door 13 is fully open, the door opening amount Wa is the maximum value, which is the same as the width W0 of the entrance (frontage) of the car 11 (Wa = W0).

La is the range change distance of the detection area E1, and indicates the distance in the Y-axis direction from the entrance / exit of the car door 13 to the far end position E1-1 of the detection area E1. The "far end position" is the Y coordinate position of the outermost end of the detection area E1 when the landing 15 is viewed from the entrance / exit of the car 11. L4 defines a range in the Y-axis direction necessary for detecting a user near the entrance / exit of the car 11.

When the door closing is started, the range of the detection area E1 in the Y-axis direction is gradually changed (reduced) according to the door opening amount Wa at that time in accordance with the movement of the car door 13.
Although FIGS. 7 to 9 show an example of changing the range of the detection area E1 in the Y-axis direction, the range of the detection area E1 in the X-axis direction is also changed in conjunction with the change in the Y-axis direction. It may be configured to be used. The range of the detection area E1 in the X-axis direction can be changed by changing (reducing) the range of the detection area E1 in the X-axis direction according to the position of the tip of the car door 13 as the car door 13 moves. it can. By changing the range of the detection area E1 in the X-axis direction, it is possible to prevent the shadow of the car door 13 from entering the detection area E1 when the door is closed and erroneously detecting the user. The change in the X-axis direction of the detection area E1 is also executed by the detection area change unit 22c of the detection unit 22 provided in the image processing device 20 in the same manner as the change in the Y-axis direction.

In the following, for the sake of simplicity, the detection area change process will be described in detail focusing on the range of the detection area E1 in the Y-axis direction. Further, as an example of the range change, only the state in which the range of the detection area E1 in the Y-axis direction is changed is shown.

FIG. 10 is a flowchart showing the detection area change process (1) in the first embodiment. Now, it is assumed that a predetermined time has elapsed while the car 11 is waiting for the user at the landing 15 on an arbitrary floor, and the door closing operation of the car door 13 is started.

When the door closing operation is started (Yes in step S11), the detection area changing unit 22c provided in the detection unit 22 calculates the door opening amount Wa indicating the current open state of the car door 13 (step S12). ..

Here, as a method of calculating the door opening amount Wa, there are the following four methods a to d.
Method a: Elapsed time
Method b: Rotation amount of door motor
Method c: Edge detection
Method d: Machine learning

[Method a]
Method a is a method of calculating the door opening amount Wa based on the elapsed time from the start of door closing. Since the speed at the time of closing the door is fixed, if the elapsed time from the start of closing the door is counted, the current door opening amount Wa can be obtained from the count value.

[Method b]
Method b is a method of calculating the door opening amount Wa based on the door moving amount obtained from the door motor 61, as shown in FIG.

FIG. 11 is a diagram showing an example of a door opening / closing mechanism. The car door 13 opens and closes via the door opening / closing mechanism 62 by driving the door motor 61. In this case, if the door system is a central double door system, the two door panels 13a and 13b constituting the car door 13 open and close in opposite directions. In the single-door system, the two door panels 13a and 13b constituting the car door 13 open and close in the same direction. The landing door 14 has the same door system as the car door 13, and moves at the same time following the opening / closing operation of the car door 13.

The door opening / closing mechanism 62 includes, for example, a plurality of pulleys 63 and belts 64 wound around these pulleys 63, and converts the rotational force of the door motor 61 into a door opening force and transmits the rotational force to the car door 13. Here, since the distance traveled by the car door 13 can be calculated from the rotation amount of the door motor 61, the current door opening amount Wa can be obtained from the travel distance.

In addition to the rotation amount of the door motor 61, for example, the movement amount of the belt 64 can be optically or mechanically detected by the sensor 65, and the current door opening amount Wa can be obtained from the movement amount of the belt 64.

[Method c]
The method c is a method of detecting the position of the tip end portion of the car door 13 on the image and calculating the door opening amount Wa based on the position information.

As shown in FIG. 12, the "tip portion of the car door 13" specifically refers to the tip portions 13a-1 and 13b-1 of the door panels 13a and 13b, and is on the car sill 47 on the photographed image. It is detected as an oblique edge that extends radially outward from. In addition, 14a-1 and 14b-1 in the figure are the tip portions of the two door panels 13a and 13b constituting the landing door 14. 52a and 52b are the lower ends of the tip portions 14a-1 and 14b-1.

The "position of the tip of the car door 13" is the position of the lower ends 51a and 51b where the tips 13a-1 and 13b-1 of the door panels 13a and 13b come into contact with the car sill 47. It is detected as an edge (hereinafter, referred to as a vertical edge) in the Y-axis direction (direction orthogonal to the door opening / closing direction) that crosses the car sill 47. “Edge” means a boundary line between regions having different characteristics such as color, brightness, and pattern, in addition to straight lines and curves in the image.

If the vertical edge when the car door 13 moves on the sill region is detected as the position of the door tip from the captured image, the current door opening amount Wa can be obtained from the position of the door tip. When the car door 13 moves on the sill region from the captured image, an oblique edge extending radially outward from the car sill 47 may be detected as the position of the door tip.

Edge detection may be performed by using general image processing such as a Sobel filter, a Laplacian filter, or a Canny filter. Further, a more stable detection result may be obtained by adding a Hough transform, an edge tracking process, or the like. Further, by using the difference detection or the optical flow processing, only the edge of the moving door tip may be detected. By these processes, even if a part of the door tip is hidden by the entry of a person, the position of the door tip can be correctly detected from the edge of the other part.

[Method d]
Method d is a method using machine learning to detect the tip of the door. Specifically, a semantic segmentation method based on deep learning, such as Unet (Reference 1) or SegNet (Reference 2), can be used.

(Reference 1)
"U-Net: Convolutional Networks for Biomedical Image Segmentation", Olaf Ronneberger, Philipp Fischer, Thomas Brox, Medical Image Computing and Computer-Assisted Intervention (MICCAI), Springer, LNCS, Vol.9351: 234--241, 2015.
(Reference 2)
"SegNet: A Deep Convolutional Encoder-Decoder Architecture for Image Segmentation.", Vijay Badrinarayanan, Alex Kendall and Roberto Cipolla, PAMI, 2017.

Using a large number of images taken by the camera 12 in advance, at least the elevator structure involved in opening and closing the door is learned by the above-mentioned deep learning, and the learning result is stored in, for example, the storage unit 21 of the image processing device 20. The "elevator structure related to door opening / closing" includes a car door 13, a landing door 14, a car sill 47 provided on a future movement route, a landing sill 18, and the like.

Here, when an image taken by the camera 12 is obtained when the door is closed, the elevator structure displayed on the taken image is recognized based on the learning result, and the elevator structure is distinguished and displayed in a predetermined color. In this case, for example, the elevator structure can be classified into a "door portion", a "sill portion", a "floor surface portion", and the like, and can be distinguished and displayed in different colors. It should be noted that such a distinctive display is generally known as a method for displaying the learning result of deep learning. If the boundary between the "door portion" and the "sill portion" is detected as the door tip position in the elevator structure displayed separately, the current door opening amount Wa can be obtained from the door tip position.

Returning to FIG. 10, when the current door opening amount Wa is obtained by any of the above methods a, b, c, and d, the detection area changing unit 22c determines the detection area based on the door opening amount Wa. The range of E1 in the Y-axis direction is changed stepwise (step S13).

Specifically, the detection area changing unit 22c sets the distance La from the entrance / exit of the car 11 to the far end position E1-1 of the detection area E1 in proportion to the door opening amount Wa according to the following equation (1). change.
La = c1 · Wa ... (1)
However, c1 is an arbitrary constant.

According to the above equation (1), the distance La is changed according to the door opening amount Wa. In addition, for example, a linear function expression such as La = c1 · Wa + c2 (arbitrary constant) may be used, and a margin of c2 may be provided to linearly change the distance La.

In this way, the detection area changing unit 22c gradually changes the range of the detection area E1 in the Y-axis direction based on the door opening amount Wa until the door closing is completed (No → S12 in step S15). ). When the range of the detection area E1 in the Y-axis direction reaches a predetermined position and La = L4 (Yes in step S14), the detection area changing unit 22c changes the detection area E1 in the Y-axis direction at that time. Stop. The reason why the change range of the detection area E1 is set to the position of L4 is to detect, for example, a user's door being pinched near the entrance / exit of the car 11.

As described above, according to the first embodiment, the range of the detection area E1 in the Y-axis direction is gradually changed according to the movement of the car door 13 when the door is closed. Therefore, when the door closing is started, the user who has come to the doorway of the car 11 and is in time for boarding should be reliably detected in the detection area E1 and the detection result should be reflected in the door opening / closing control. Therefore, it is possible to prevent the user from colliding with the car door 13 in the middle of closing the door. On the other hand, a user who is away from the entrance / exit of the car 11 and is likely to be in time for boarding can be excluded from the detection target. As a result, it is possible to prevent a decrease in operation efficiency due to frequent reopening of the car door 13.

(Second Embodiment)
Next, the second embodiment will be described.
In the first embodiment, the range of the detection area E1 in the Y-axis direction is gradually changed to a predetermined position (L4) in accordance with the movement of the car door 13 when the door is closed. On the other hand, in the second embodiment, when the door closing is started, the range of the detection area E1 in the Y-axis direction is changed to a predetermined position (L4).

This situation is shown in FIGS. 13 to 15.
13 to 15 are diagrams for explaining the change in the range of the detection area. FIG. 13 shows the state of the detection area E1 before the start of closing the door. The detection area E1 has a distance of L3 from the entrance / exit of the car 11 toward the landing direction (Y-axis direction). FIG. 14 shows the state of the detection area E1 immediately after the start of closing the door, and FIG. 15 shows the state of the detection area E1 while the door is closed. When the door closing is started, the range of the detection area E1 in the Y-axis direction is changed to the position defined by L4. After that, the range of the detection area E1 in the Y-axis direction is fixed at the position of L4 until the door closing is completed.

The operation of the second embodiment will be described below.
FIG. 16 is a flowchart showing the detection area change process (2) in the second embodiment. Now, it is assumed that a predetermined time has elapsed while the car 11 is waiting for the user at the landing 15 on an arbitrary floor, and the door closing operation of the car door 13 is started.

When the door closing operation is started (Yes in step S21), the detection area changing unit 22c provided in the detection unit 22 sets the range of the detection area E1 in the Y-axis direction at a predetermined position regardless of the door opening amount Wa. (Step S22).

Specifically, when the detection area changing unit 22c receives a signal from the door opening / closing control unit 31 of the car control device 30 to start closing the door, the distance La from the entrance / exit of the car 11 to the far end position E1-1 of the detection area E1. Is changed from L3 to L4. That is, the door is immediately changed to La = L4 at the timing of the start of closing the door. As described above, L4 defines a range in the Y-axis direction necessary for detecting a user near the entrance / exit of the car 11. After that, the range of the detection area E1 in the Y-axis direction is fixed at L4 until the door closing is completed (No in step S22).

As described above, according to the second embodiment, at the same time as the door closing starts, the range of the detection area E1 in the Y-axis direction is suddenly narrowed to the vicinity of the entrance / exit of the car 11. Therefore, the door closing control can be performed only for the users who are close to the doorway of the car 11 at the start of the door closing, and the users who are far from the doorway of the car 11 are excluded from the detection target. , It is possible to prevent a decrease in operation efficiency due to frequent reopening.

(Third Embodiment)
Next, a third embodiment will be described.
The third embodiment is a combination of the first embodiment and the second embodiment. That is, in the third embodiment, the range in the Y-axis direction of the detection area E1 is changed stepwise when the door is closed, and when the door opening amount Wa becomes a constant value or less, the range is set to a predetermined position (L4). ).

This situation is shown in FIGS. 17 to 19.
17 to 19 are views for explaining the range change of the detection area E1, and show an example of the detection area E1 that is changed when the car door 13 is moved from the fully open state to the door closing direction. There is. The lower side is the car side and the upper side is the landing side.

As shown in FIG. 17, when the door closing is started, the range of the detection area E1 in the Y-axis direction is gradually changed according to the door opening amount Wa. Here, as shown in FIGS. 18 and 19, when the door opening amount Wa becomes a certain value Th or less, the range of the detection area E1 in the Y-axis direction is changed at once to a predetermined position (L4). .. The value of Th can be arbitrarily set, and is set to, for example, about half of the fully open state (Th = W0 / 2).

The operation of the third embodiment will be described below.
FIG. 20 is a flowchart showing the detection area change process (3) in the third embodiment. Now, it is assumed that a predetermined time has elapsed while the car 11 is waiting for the user at the landing 15 on an arbitrary floor, and the door closing operation of the car door 13 is started.

When the door closing operation is started (Yes in step S31), the detection area changing unit 22c provided in the detection unit 22 calculates the door opening amount Wa indicating the current open state of the car door 13 (step S32). .. The method of calculating the door opening amount Wa is the same as that of the first embodiment.

Here, until the door opening amount Wa becomes equal to or less than a certain value TH (No in step S33), the detection area changing unit 22c steps the range of the detection area E1 in the Y-axis direction based on the door opening amount Wa. (Step S34). Specifically, the detection area changing unit 22c changes the distance La from the entrance / exit of the car 11 to the far end position E1-1 of the detection area E1 to a distance proportional to the door opening amount Wa according to the above equation (1). To do.

When the door closing operation progresses and the door opening amount Wa becomes a certain value TH or less (Yes in step S33), the detection area changing unit 22c changes the range of the detection area E1 in the Y-axis direction to a predetermined position (step S35). ). Specifically, the detection area changing unit 22c changes the distance La from the entrance / exit of the car 11 to the far end position E1-1 of the detection area E1 from L3 to L4. After that, the range of the detection area E1 in the Y-axis direction is fixed at L4 until the door closing is completed (No in step S36).

As described above, according to the third embodiment, in the first half of the door closing operation, the range of the detection area E1 in the Y-axis direction is changed stepwise, so that the vehicle is used at a place relatively far from the entrance / exit of the car 11. Even a person can detect in the detection area E1 and control the opening / closing of the door. In the latter half of the door closing operation, the range of the detection area E1 in the Y-axis direction is changed to near the doorway of the car 11, so the door opening / closing control is performed only for the user near the doorway of the car 11. By doing so, users who are far from the entrance / exit of the car 11 are excluded from the detection target, and it is possible to prevent a decrease in operation efficiency due to frequent reopening.

(Fourth Embodiment)
Next, a fourth embodiment will be described.
When the door is closed, a fast-moving user is likely to be in time for the ride, even if he is away from the car 11. In this case, since the car door 13 may hit the door in the middle of closing, it is preferable to reopen the car door 13 and wait in the door open state. On the other hand, users who are slower than general users, such as elderly people and wheelchair users, are less likely to be in time for boarding. In this case, if the car door 13 is reopened and the car is on standby in the open state, the user may be forced to hurry. In addition, waiting for a slow-moving user delays the departure of the car, which is not preferable in terms of operation efficiency.

Therefore, in the fourth embodiment, the range of the detection area E1 is changed in consideration of the speed of the user heading from the landing 15 to the car 11. This situation is shown in FIGS. 21 to 24.

(A) When the speed of the user is high FIGS. 21 and 22 are diagrams for explaining the state change of the detection area E1 when the speed of the user is high. The lower side is the car side and the upper side is the landing side. P1 indicates the speed of the user, and V1 indicates the speed of the user P1.

In the present embodiment, the detection area setting unit 22a of the detection unit 22 sets a rectangular detection area E2 separately from the detection area E1. The detection area E2 has a predetermined distance L5 from the entrance / exit of the car 11 to the far end position E2-1 toward the landing 15.

When the user P1 heading from the landing 15 to the car 11 enters the detection area E2, the speed V1 of the user P1 is detected. As described in FIG. 6, the speed V1 (including the direction) of the user P1 divides the captured image into a matrix in predetermined block units, and compares the brightness values of each image in time series in the block units. It is required by that.

Specifically, a block having a large change in the brightness value is extracted as a motion block, and the motion block is tracked as the foot position of the user P1. When a plurality of movement blocks are extracted, the movement block closest to the entrance / exit of the car 11 is focused on. The speed V1 of the user P1 can be obtained from the amount of movement of the movement block per unit time.

When the speed V1 of the user P1 is relatively fast, as shown in FIG. 22, when the door closing is started, the range of the detection area E1 in the Y-axis direction is gradually changed. At this time, the detection area E2 for speed detection is also changed by the same amount in the same direction in accordance with the change in the range of the detection area E1. "Slow change" means to reduce the range of change to reduce the change over time. As a result, the change of the detection area E1 is slower with respect to the movement of the user P1, so that the user P1 can be detected even if the range of the detection area E1 is narrowed. When the user P1 is detected in the detection area E1, the car door 13 is reopened in the direction of the arrow γ to return to the standby state.

(B) When the speed of the user is slow FIGS. 23 and 24 are diagrams for explaining the state change of the detection area E1 when the speed of the user is slow. The lower side is the car side and the upper side is the landing side. P2 indicates the speed of the user, and V2 indicates the speed of the user P2.

As shown in FIG. 23, the speed V2 of the user P2 is detected in the detection area E2. When the speed V2 of the user P2 is relatively slow (V1> V2), as shown in FIG. 24, the range of the detection area E1 in the Y-axis direction is significantly changed when the door closing is started. At this time, the detection area E2 for speed detection is also changed by the same amount in the same direction in accordance with the change in the range of the detection area E1. "Major change" means to increase the range of change and increase the change over time. As a result, the detection area E1 changes faster with respect to the movement of the user P2, so that the user P2 does not enter the detection area E1. In this case, the car door 13 is closed as it is without reopening.

The operation of the fourth embodiment will be described below.
FIG. 25 is a flowchart showing the detection area change process (4) in the fourth embodiment. It is assumed that the car 11 is waiting at the landing 15 on an arbitrary floor with the door open. As described above, the rectangular detection area E1 and the detection area E2 are set from the entrance / exit of the car 11 toward the landing 15 when the door is opened.

When the user heading from the landing 15 to the car 11 detects in the detection area E2 (Yes in step S41), the detection processing unit 22b of the detection unit 22 detects the speed V of the user and causes the detection area change unit 22c. Give (step S42). As described above, the speed V of the user is obtained by comparing the brightness values of each image in block units in chronological order and tracking the moving blocks as the user's foot positions.

Here, when the door closing operation of the car door 13 is started (Yes in step S43), the detection area changing unit 22c calculates the door opening amount Wa indicating the current open state of the car door 13 (step S44). .. The method of calculating the door opening amount Wa is the same as that of the first embodiment.

The detection area changing unit 22c gradually changes the range of the detection area E1 in the Y-axis direction based on the door opening amount Wa and the speed V of the user detected in the detection area E2 (step S45). .. Specifically, as shown in the following equation (2), the distance La is changed to a distance proportional to the door opening amount Wa and the speed V.
La = c3 ・ V ・ Wa… (2)
However, c3 is an arbitrary constant.

According to the above equation (2), the distance La is changed in proportion to the door opening amount Wa and the speed V. Therefore, as described with reference to FIGS. 21 and 22, if the speed V of the user is high, the range of the detection area E1 in the Y-axis direction is gradually changed. On the other hand, as described with reference to FIGS. 23 and 24, if the speed of the user is slow, the range of the detection area E1 in the Y-axis direction is significantly changed. It should be noted that, for example, a linear function expression such as La = c3, V, Wa + c4 (arbitrary constant) may be used to allow a margin of c4 and the range of the detection area E1 in the Y-axis direction may be linearly changed. ..

In this way, the detection area changing unit 22c gradually changes the range of the detection area E1 in the Y-axis direction based on the door opening amount Wa and the user's speed V until the door closing is completed. (No → S44 in step S47). When the range of the detection area E1 in the Y-axis direction reaches a predetermined position and La = L4 (Yes in step S46), the detection area changing unit 22c changes the detection area E1 in the Y-axis direction at that time. Stop.

As described above, according to the fourth embodiment, by changing the range of the detection area E1 in the Y-axis direction in consideration of the speed of the user, when the user who has a fast foot approaches the car 11 The door can be opened and closed by detecting correctly in the detection area E1. On the other hand, it is possible to avoid detecting a slow-moving user such as an elderly person or a wheelchair user in the detection area E1. Therefore, the slow-moving user is not forced to hurry, and the car 11 can be departed without waiting for the user, so that the operation efficiency can be prevented from being lowered.

In the fourth embodiment, the detection area E2 for speed detection is provided separately from the detection area E1, but the detection area E2 is included in the terminal side of the detection area E1 and the user is detected in the detection area E2. It may be configured to detect the speed of the user without controlling the opening and closing of the door.

(Single opening type)
In the first to fourth embodiments, the double-opening type has been described as an example, but the same applies to the single-opening type as shown in FIG. 26.

FIG. 26 is a diagram showing a configuration of a portion around an entrance / exit in a car provided with a single-door type car door. A two-door single-door type car door 13 is installed at the entrance and exit of the car 11 so as to be openable and closable. As shown in FIG. 27, the car door 13 has two door panels 13a and 13b, which open and close in the same direction along the frontage direction. When the car door 13 is a single door type, a door pocket 42b is provided on one side of the doorway. In the example of FIG. 26, the door pocket 42b is provided on the right side of the doorway, and when the door is opened, the two door panels 13a and 13b are stored in the door pocket 42b so as to overlap each other.

Here, the camera 12 installed on the curtain plate 11a is installed on one end side of the curtain plate 11a in accordance with the door closing end position of the car door 13. The "door closing end position" is the final position of the tip of the car door 13 when the door closing is completed, and in the case of the single-door type, it is on one end side of the doorway (on the left side in the example of FIG. 26). Become.

FIG. 28 is a diagram showing a state change of the detection area E1 set in the single door type car door. In the figure, 13-1 is the tip of the car door 13, and 14-1 is the tip of the landing door 14. Actually, the car door 13 includes two door panels 13a and 13b, which move in the same direction, but the illustration is omitted here. The same applies to the landing door 14.

Here, as in the case of the double-door type shown in FIG. 3, a rectangular detection area E1 excluding the blind spots of the three-sided frames 17a and 17b is set on the captured image of the camera 12. In the example of FIG. 28, the left and right widths of the detection area E1 are the same for convenience, but in reality, due to the installation position of the camera 12, one of the left and right three-sided frames (here, the left three-sided frame). When the blind spot of 17a) is formed, one end side of the detection area E1 may be scraped by the amount of the blind spot.

When the car door 13 is in the fully open state, the distance of the detection area E1 in the Y-axis direction is L3. When the door closing is started, the distance La in the Y-axis direction of the detection area E1 is between L3 and L4 in accordance with the movement of the car door 13 by any of the methods of the first to fourth embodiments. Be changed. Therefore, it is possible to reliably detect a user who is near the entrance / exit of the car 11 and reflect it in the door opening / closing control. On the other hand, a user who is far from the entrance / exit of the car 11 is excluded from the detection target and frequently checked. It is possible to prevent a decrease in operation efficiency due to opening.

(Fifth Embodiment)
Next, a fifth embodiment will be described.
In the fifth embodiment, a fan-shaped detection area E1 is set from the entrance / exit of the car 11 toward the landing 15, and the range of the detection area E1 is changed in the radial direction based on the door opening amount Wa. ..

FIG. 29 is a diagram showing an example of a captured image of the camera 12 in the fifth embodiment. The upper side is the landing 15 and the lower side is the inside of the car 11. E11 in the figure represents a detection area. Further, Q indicates the door closing end position. In the double-door type, the center position of the entrance / exit of the car 11 is the door closing end position Q. As will be described later, the fan-shaped detection area E11 is set and the range is changed with reference to the door closing end position Q.

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. 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. In the fifth embodiment, the detection area setting unit 22a has a fan-shaped detection area centered on the door closing end position Q from the entrance / exit of the car 11 toward the landing 15 with the car 11 fully open. Set E11.

Specifically, the area where the sill (the car sill 47 and the landing sill 18) is reflected on the captured image is calculated based on the design value of each component of the car 11 and the value peculiar to the camera 12 as described below. With reference to the position of the sill, the area where the three-sided frames 17a and 17b are reflected is obtained by using edge detection or the like. Except for the area where the three-sided frames 17a and 17b are reflected, the fan-shaped detection area E11 having a radius L11 is set with the door closing end position Q as the center point.

An example of the design value of the car 11 and the eigenvalue of the camera 12 is shown below.
-Width of the frontage (doorway) of the car 11 (width in the X-axis direction)
-Vertical width of the basket sill 47 and the landing sill 18 (width in the Y-axis direction)
・ Height of car door 13 and landing door 14 ・ Relative position of camera 12 with respect to car sill 47 and landing sill 18 ・ Three-axis angle of camera 12 ・ Angle of view and focal length of camera 12

When the car 11 is fully opened, the radial distance of the detection area E11 is L11, which is substantially the same as the vertical (Y-axis direction) distance L3 of the rectangular detection area E1 shown in FIG. ..

Wa indicates the opening amount of the car door 13 (hereinafter, referred to as the door opening amount). When the car door 13 is in the fully open state, the door opening amount Wa is the maximum value, which is the same as the width W0 (see FIG. 3) of the entrance (frontage) of the car 11.

Lr is the range change distance of the detection area E11, and indicates the distance in the radial direction of the detection area E11. L12 defines a radial range required to detect a user near the entrance / exit of the car 11.

When the door closing is started, the detection area change unit 22c of the detection unit 22 executes the detection area change process, and the range of the detection area E11 is changed in the radial direction based on the door opening amount Wa. That is, the radial distance Lr of the detection area E11 is changed between L11 and L12.

As a method of changing the range of the detection area E11, the door may be changed stepwise according to the door opening amount Wa as in the first embodiment, or the door closing may be started as in the second embodiment. Sometimes, it may be changed to a predetermined position (L12) immediately. Further, as in the third embodiment, the door opening amount Wa is changed stepwise until it becomes a constant value TH or less, and when the door opening amount Wa becomes a constant value TH or less, the predetermined position (L12). May be changed to. Further, as in the fourth embodiment, the range may be changed in consideration of the speed of the user.

As described above, according to the fifth embodiment, the fan-shaped detection area E11 is set, and the range of the detection area E11 is changed in the radial direction according to the door opening amount Wa.

Therefore, as in each of the above embodiments, when the door closing is started, the user who has come to the doorway of the car 11 and is in time for boarding is surely detected in the detection area E11, and the detection result is obtained. Can be reflected in the door opening / closing control. On the other hand, users who are far from the doorway of the car 11 and are likely to miss the boarding when the door is closed are excluded from the detection target, and the operation efficiency by reopening the car door 13 is excluded. Can be prevented from decreasing.

Further, in the fifth embodiment, since the range of the detection area E11 expands in each direction in a fan shape from the entrance / exit of the car 11 to the landing 15, it can be used in a place near and far from the entrance / exit of the car 11. There is an advantage that the range for detecting a person can be changed.

(Single opening type)
In the fifth embodiment, the double-opening type has been described as an example, but the same applies to the single-opening type as shown in FIG.

FIG. 30 is a diagram showing a state change of the detection area E11 set in the single door type car door. In the single-door type, the door closing end position Q of the car door 13 is one end side (left side in this example) of the doorway of the car 11. The detection area E11 is set in a fan shape in the direction of the landing 15 except for the area where the three-sided frames 17a and 17b are reflected, with reference to the door closing end position Q on the captured image. In the fully open state, the radial distance Lr = L11 of the detection area E11.

Here, when the door closing is started, the radial distance Lr of the detection area E11 is changed between L11 and L12. In this case, in the one-sided opening type, the door closing end position Q is on one end side (left side in this example) of the entrance / exit of the car 11, so the range is changed so that the range of the detection area E11 converges on that one end side. Will be done.

(Modification example)
The shape of the detection area may be, for example, a polygon similar to a fan shape, in addition to the rectangle or fan shape described above. FIG. 31 shows a polygonal detection area E21.

The detection area E21 has a polygonal shape by substituting a plurality of line segments for the outer circumference of the fan-shaped detection area E11 shown in FIG. 29. Lk in the figure is the range change distance of the detection area E21, and indicates the distance of the detection area E21 in the Y-axis direction. L22 defines a range in the Y-axis direction necessary for detecting a user near the entrance / exit of the car 11. When the door closing is started, the range of the detection area E21 is changed in the Y-axis direction based on the door opening amount Wa. That is, the distance Lk in the Y-axis direction of the detection area E21 is changed between L21 and L22. The same applies when the detection area E21 is applied to the single door type car door 13.

In each of the above embodiments, the description is made assuming that the car door 13 is closed, but the area may be changed in the same manner even when the door is opened. In this case, the detection area E1 is performed by the same method as described above during the period from the fully closed state of the car door 13 to the time when the car door 13 moves in the door opening direction and is fully opened (including the case where the car door 13 is reclosed in the door closing direction from the middle of opening). , E11, E21 may be changed.

According to at least one embodiment described above, it is possible to provide an elevator user detection system capable of detecting a user or an object according to a door opening state.

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, 13a, 13b ... Door panel, 14 ... Landing door, 14a, 14b ... Door panel, 15 ... Landing, 17a, 17b ... Three-sided frame, 18 ... Landing Sill, 47 ... Basket sill, 20 ... Image processing device, 21 ... Storage unit, 22 ... Detection unit, 22a ... Detection area setting unit, 22b ... Detection processing unit, 22c ... Detection area change unit, 30 ... Car control device, 31 ... Door open / close control unit, E1 ... Rectangular detection area, E2 ... For speed detection ... Detection area, E11 ... Fan-shaped detection area, E21 ... Polygonal detection area.

The elevator user detection system according to the embodiment includes an imaging means, a detection area setting means, a detection processing means, and a detection area changing means. The imaging means captures a predetermined range including the door from the car to the landing. The detection area setting means sets a detection area including the landing on the photographed image obtained by the photographing means. The detection processing means detects a user or an object by using an image in the detection area set by the detection area setting means. The detection area changing means is used from the entrance / exit of the car in the detection area so that the terminal position of the detection area set in the landing is brought closer to the entrance / exit of the car in accordance with the door closing operation of the door. The range up to the above landing is dynamically changed.

Claims (11)

An imaging means that captures a predetermined range including the door from the car to the landing,
A detection area setting means for setting a detection area including the above-mentioned landing on the photographed image obtained by this shooting means, and a detection area setting means.
A detection processing means for detecting a user or an object using an image in the detection area set by the detection area setting means, and a detection processing means.
An elevator user detection system provided with a detection area changing means for dynamically changing the range from the entrance / exit of the car to the landing in the detection area according to the opening / closing operation of the door. The above detection area changing means
The elevator according to claim 1, wherein when the door closing is started, the range from the entrance / exit of the car to the landing of the detection area is changed stepwise based on the opening amount of the door. User detection system. The above detection area changing means
The elevator user detection system according to claim 1, wherein when the door closing is started, the range from the car entrance / exit of the detection area to the landing is changed to the vicinity of the car entrance / exit. .. The above detection area changing means
When the door closing is started, the range from the entrance / exit of the car in the detection area to the landing is gradually changed based on the opening amount of the door, and the opening amount of the door becomes a constant value or less. The user detection system for an elevator according to claim 1, wherein the range is changed to the vicinity of the entrance / exit of the car when the situation becomes high. It is equipped with a speed detecting means for detecting the speed of the user heading from the landing to the car.
The above detection area changing means
When the door closing is started, the range from the entrance / exit of the car to the landing of the detection area is changed based on the opening amount of the door and the speed of the user detected by the speed detection means. The elevator user detection system according to claim 1. The above detection area changing means
The faster the speed of the user, the more gently the range from the entrance / exit of the car in the detection area to the landing is changed.
The user detection system for an elevator according to claim 5, wherein the slower the speed of the user, the greater the range from the entrance / exit of the car to the landing of the detection area. The above detection area setting means
Set a rectangular detection area from the entrance of the car to the landing,
The above detection area changing means
The user detection system for an elevator according to claim 1, wherein the range of the rectangular detection area is changed in a direction orthogonal to the door opening / closing direction according to the door opening / closing operation. The above detection area setting means
A fan-shaped detection area centered on the door closing end position of the door is set from the entrance / exit of the car to the landing.
The above detection area changing means
The elevator user detection system according to claim 1, wherein the range of the fan-shaped detection area is changed in the radial direction according to the opening / closing operation of the door. The above detection area changing means
The elevator according to claim 1, wherein the range from the entrance / exit of the car to the landing in the detection area and the range in the opening / closing direction of the door are changed in conjunction with the opening / closing operation of the door. User detection system. The above imaging means
The elevator user detection system according to claim 1, wherein the elevator is installed above the entrance / exit of the car. The user detection system for an elevator according to claim 1, further comprising a door opening / closing control means for controlling the opening / closing operation of the door based on the detection result of the detection processing means.

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