JP2022143963A - User detection system of elevator - Google Patents

Abstract

To prevent erroneous detection of a shadow inside a car and correctly detect a user existing in the vicinity of a door.SOLUTION: A user detection system of an elevator includes: detection area setting means for setting a first detection area for trapping detection in the vicinity of a door inside a car and a second detection area for riding detection facing a landing from the door on a photographed image obtained from a camera installed in the car; detection processing means for detecting a user existing in the first detection area or the second detection area based on the photographed image; and adjustment means for changing a target luminance value with respect to the photographed image between the case where the door is fully closed and the case where the door is fully opened and performing adjustment by making the target luminance value lower in the case where the door is fully closed than in the case where the door is fully opened so as to darkly photograph the inside of the car.SELECTED DRAWING: Figure 1

Description

Embodiments of the present invention relate to elevator occupant detection systems.

When the door of the car of the elevator is opened, the fingers of the user in the car may be drawn into the door pocket. In addition, when a user at the boarding point gets into the car, he or she may bump into the tip of the door that is in the middle of closing. In order to prevent such door accidents, a camera installed in the car is used to detect users at the boarding point and inside the car, and a system that reflects this information in door opening/closing control is developed. It is

Japanese Patent No. 5969148

In the system described above, detection of the door pocket being pulled in is realized by detecting changes in luminance of an image within a detection area set near the door in the car. In other words, if a change in image brightness is detected within the detection area when the door is open, the system determines that the user is near the door, and slows down the opening of the door or sounds a buzzer to prevent the user from being drawn into the door. prevent it from happening.

However, due to the illumination light inside the car, the shadow of the user enters the detection area, and the movement of the shadow causes a large luminance change, which may cause the shadow to be erroneously detected as the user. In this case, even though the user is away from the door, the opening operation of the door is slowed down, and the user feels uncomfortable due to a buzzer sound or the like.

SUMMARY OF THE INVENTION An object of the present invention is to provide an elevator user detection system capable of preventing erroneous detection of shadows in a car and correctly detecting a user near the door.

An elevator user detection system according to one embodiment includes a first detection area for detecting being pulled in near a door in the car on a photographed image obtained from a camera installed in the car; Detection area setting means for setting a second detection area for boarding detection from the door toward the boarding hall, and detecting a user existing in the first detection area or the second detection area based on the photographed image. and a detection processing means for changing the target luminance value for the photographed image when the door is fully closed and when the door is fully opened, and when the door is fully closed, the target luminance value is made lower than when the door is fully open to darken the interior of the car. and an adjustment means for adjusting for photographing.

FIG. 1 is a diagram showing the configuration of an elevator user detection system according to an embodiment. FIG. 2 is a diagram showing the configuration of the entrance and exit peripheral portion in the car in the same embodiment. FIG. 3 is a diagram showing an example of an image captured by a camera in the same embodiment. FIG. 4 is a diagram schematically showing the configuration of a boarding detection area in the same embodiment. FIG. 5 is a diagram for explaining erroneous detection of a shadow that is drawn into the detection area in the same embodiment. FIG. 6 is a flow chart for explaining the processing operation of the user detection system in the same embodiment. FIG. 7 is a diagram for explaining a coordinate system in real space in the embodiment. FIG. 8 is a diagram showing a state in which a photographed image is divided into blocks according to the embodiment. FIG. 9 is a diagram showing the relationship between the target luminance value for the photographed image and the opening/closing operation of the car door in the same embodiment. FIG. 10 is a diagram showing an example of a photographed image when the car door is fully closed in the same embodiment. FIG. 11 is a diagram showing an example of a photographed image when the car door is fully opened and closed according to the same embodiment. FIG. 12 is a diagram for explaining an example in which the central 1/4 portion of the photographed image is selected as the luminance value adjustment portion as a modified example. FIG. 13 is a diagram for explaining an example in which the upper half portion of the photographed image is selected as the luminance value adjustment portion as a modified example. FIG. 14 is a diagram showing the configuration of the entrance and exit peripheral portion in the car using a single-opening type car door as a modified example. FIG. 15 is a diagram for explaining the opening/closing operation of the single-opening type car door.

Embodiments will be described below 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 the disclosure. In order to make the explanation clearer, in the drawings, the size, shape, etc. of each part may be changed from the actual embodiment and shown schematically. Corresponding elements in multiple drawings may be denoted by the same reference numerals and detailed descriptions thereof may be omitted.

FIG. 1 is a diagram showing the configuration of an elevator user detection system according to an embodiment. Here, one car will be described as an example, but the configuration is the same 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 that covers the upper part of the doorway of the car 11 with the lens portion tilted directly below, or toward the hall 15 side or inside the car 11 by a predetermined angle. .

The camera 12 is, for example, a small surveillance camera such as an in-vehicle camera, has a wide-angle lens or a fish-eye lens, and is capable of continuously photographing several frames per second (for example, 30 frames/second). The camera 12 is activated, for example, when the car 11 arrives at the landing 15 of each floor, and photographs the vicinity of the car door 13 and the landing 15 as well. Note that the camera 12 may always be in operation while the car 11 is running.

The shooting range at this time is adjusted to L1+L2 (L1>>L2). L1 is an imaging range on the landing side, and has a predetermined distance from the car door 13 toward the landing 15 . L2 is an imaging 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 perpendicular to the depth direction) is at least greater than the width of the car 11 .

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

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

The image processing device 20 includes a storage section 21 and a detection section 22 . The storage unit 21 is composed of a memory device such as a RAM, for example. The storage unit 21 sequentially stores images captured by the camera 12 and has a buffer area for temporarily storing data required for processing by the detection unit 22 . Note that the storage unit 21 may store an image that has undergone processing such as distortion correction, enlargement/reduction, and partial cutout as preprocessing for the captured image.

The detection unit 22 is composed of, for example, a microprocessor, and detects a user near the car door 13 using an image captured by the camera 12 . The detection section 22 is functionally divided into a detection area setting section 22a, a detection processing section 22b, and an adjustment section 22c. Note that these may be implemented by software, hardware such as an IC (Integrated Circuit), or both software and hardware.

The detection area setting unit 22a sets at least one or more detection areas for detecting the user on the captured image obtained from the camera 12. FIG. In this embodiment, a detection area E1 for detecting a user of the hall 15 and detection areas E2 and E3 for detecting a user inside the car 11 are set. The detection area E<b>1 is used as a boarding detection area and is set from the doorway (car door 13 ) of the car 11 toward the hall 15 . The detection area E<b>2 is used as a retraction detection area and is set at the entrance pillars 41 a and 41 b inside the car 11 . The detection area E3 is drawn in and used as a detection area in the same manner as the detection area E2, and is set on the floor surface 19 on the entrance/exit side of the car 11 (see FIG. 3).

The detection processing unit 22b detects a user or an object existing in the hall 15 based on the brightness change of the image in the detection area E1 during the closing operation of the car door 13. FIG. Further, the detection processing unit 22b detects a user or an object near the door pockets 42a, 42b or the car door 13 based on the brightness change of the images in the detection areas E2, E3 during the opening operation of the car door 13. FIG. In addition, the "object" includes, for example, user's clothes, luggage, and a moving object such as a wheelchair. In the following explanation, when it says "detect a user", it is assumed to include a "thing".

The adjustment unit 22c changes the target brightness value for the photographed image depending on whether the car door 13 is fully closed or fully opened, and lowers the target brightness value when the car door 13 is fully closed than when the car door 13 is fully open. to darken the picture. Specifically, the camera 12 has an exposure adjustment function, and the exposure adjustment is automatically performed based on the target luminance value set by the adjustment section 22c. Here, the adjusting unit 22c adjusts the target luminance value to be lower when the car door 13 is fully closed than when it is fully open, so that the inside of the car 11 is photographed darker. In addition, the adjustment unit 22c increases the target luminance value when fully opened, and adjusts the hall 15 so that it is photographed brightly. It should be noted that the elevator control device 30 may have some or all of the functions of the image processing device 20 .

The elevator control device 30 is composed of a computer having a CPU, a ROM, a RAM, and the like. The elevator control device 30 performs operation control of the car 11 and the like. The elevator control device 30 also includes a door opening/closing control section 31 and a warning section 32 .

The door opening/closing control unit 31 controls opening/closing of the car door 13 when the car 11 arrives at the hall 15 . Specifically, the door opening/closing control unit 31 opens the car door 13 when the car 11 arrives at the hall 15, and closes the car door 13 after a predetermined time has elapsed. However, when the user is detected within the detection area E1 by the detection processing unit 22b during the closing operation of the car door 13, the door opening/closing control unit 31 prohibits the closing operation of the car door 13. , the car door 13 is reopened in the fully open direction to maintain the door open state.

Further, when the detection processing unit 22b detects a user within the detection area E2 or E3 during the opening operation of the car door 13, the door opening/closing control unit 31 detects a door accident (an accident caused by being pulled into the door pocket). Door opening/closing control is performed to avoid Specifically, the door opening/closing control unit 31 temporarily stops the door opening operation of the car door 13, moves the car door 13 in the opposite direction (door closing direction), or slows down the door opening speed of the car door 13.

FIG. 2 is a diagram showing the configuration of the entrance and exit peripheral portion in the car 11. As shown in FIG.
A car door 13 is provided at the doorway of the car 11 so as to be freely opened and closed. In the example of FIG. 2, a car door 13 of a double-opening type is shown, and two door panels 13a and 13b constituting the car door 13 open and close in opposite directions along the frontage direction (horizontal direction). Note that the “frontage” is the same as the doorway of the car 11 .

Entrance 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 "entrance pillar" is also called a front pillar, and is generally provided with a door pocket for housing the car door 13 on the back side. In the example of FIG. 2, when the car door 13 is opened, one door panel 13a is accommodated in the door pocket 42a provided on the back side of the entrance pillar 41a, and the other door panel 13b is provided on the back side of the entrance pillar 41b. It is housed in the door pocket 42b. One or both of the entrance pillars 41a and 41b are provided with a display 43, an operating panel 45 having destination floor buttons 44, and a speaker 46. As shown in FIG. In the example of FIG. 2, a speaker 46 is installed on the entrance pillar 41a, and a display 43 and an operation panel 45 are installed on the entrance pillar 41b.

The camera 12 is provided in a panel 11a horizontally arranged above the doorway of the car 11. - 特許庁Here, a camera 12 is attached in accordance with the closed position of the car door 13 in order to detect the user of the hall 15 until just before the door closes. Specifically, if the car door 13 is of a double-opening type, the camera 12 is attached to the central portion of the curtain plate 11a. A lighting device 48 using, for example, an LED is installed on the ceiling surface inside the car 11 .

FIG. 3 is a diagram showing an example of an image captured by the camera 12. As shown in FIG. The upper side is the landing 15 and the lower side is the inside of the car 11 . In the figure, 16 indicates the floor of the landing 15 and 19 indicates the floor of the car 11 . E1, E2, and E3 represent detection areas.

The car door 13 has two door panels 13a, 13b that move on the car sill 47 in opposite directions. The landing door 14 is similar and has two door panels 14a, 14b that move in opposite directions on the landing sill 18. As shown in FIG. The door panels 14a and 14b of the landing door 14 move together with the door panels 13a and 13b of the car door 13 in the door opening/closing direction.

A camera 12 is installed above the doorway of the car 11 . Therefore, when the car 11 is opened at the landing 15, as shown in FIG. 1, a predetermined range (L1) on the landing side and a predetermined range (L2) inside the car are photographed. Among them, a detection area E1 for detecting a user getting on the car 11 is set in a predetermined range (L1) on the platform side.

In the real space, the detection area E1 has a distance of L3 from the center of the doorway (frontage) toward the hall (L3 ≤ hall-side shooting range L1). The width W1 of the detection area E1 when fully open is set to a distance equal to or greater than the width W0 of the entrance (frontage). The detection area E1 includes the sills 18 and 47 and is set excluding blind spots of the three-sided frames 17a and 17b, as indicated by diagonal lines in FIG. The size of the detection area E<b>1 in the horizontal direction (X-axis direction) may be changed in accordance with the opening/closing operation of the car door 13 . Further, the size of the detection area E1 in the vertical direction (Y-axis direction) may also be changed according to the opening/closing operation of the car door 13 .

As shown in FIG. 4, the detection area E1 used as the boarding detection area consists of a boarding intention estimation area E1a, a proximity detection area E1b, and an on-sill detection area E1c. The boarding intention estimation area E1a is an area for estimating whether or not the user is heading toward the car 11 with the boarding intention. The proximity detection area E1b is an area for detecting that the user is approaching the doorway of the car 11 . The on-sill detection area E1c is an area for detecting that the user is passing over the sills 18,47. Since the detection processing for these areas E1a, E1b, and E1c is not directly related to the present invention, detailed description thereof is omitted here.

Here, in this system, detection areas E2 and E3 are provided separately from the detection area E1 for boarding detection. The detection areas E2 and E3 are drawn in and used as detection areas. The detection area E2 is set along the inner side surfaces 41a-1 and 41b-1 of the entrance pillars 41a and 41b of the car 11 with a predetermined width. Note that the detection area E2 may be set according to the width of the inner side surfaces 41a-1 and 41b-1. The detection area E3 is set with a predetermined width along the car sill 47 on the floor 19 of the car 11 .

When the user is detected within the detection area E2 or E3 during the opening operation of the car door 13, for example, the opening operation of the car door 13 is temporarily stopped, moved in the opposite direction (door closing direction), or , a corresponding process such as slowing down the opening speed of the car door 13 is executed. In addition, a warning, such as "Keep away from the door", is issued by voice announcement.

(Problem of detecting being pulled in)
The drawing-in detection is based on the premise that the change in luminance of the image in the detection areas E2 and E3, which are the drawing-in detection areas, is correctly displayed by the intrusion of the user. However, since the detection areas E2 and E3 are set within the car 11, they are strongly affected by the lighting environment inside the car. That is, as shown in FIG. 5, even if the user P1 is in a place away from the car door 13, the shadow S1 of the user P1 is in the detection area due to the illumination light of the lighting device 48. It may enter E2 or E3. If the shadow S1 enters the detection area E2 or E3, there is a possibility that the shadow S1 will be erroneously detected as the user P1 due to a large change in luminance on the image as the shadow S1 moves. The present embodiment is intended to prevent erroneous detection of a shadow caused by the lighting environment in the car 11, and to increase the precision of detection of being caught.

Next, the operation of this system will be explained.
FIG. 6 is a flow chart for explaining the processing operation of this system. This flowchart includes a "pull-in detection process" that is executed when the door is opened, and a "boarding detection process" that is executed when the door is closed.

First, as an initial setting, detection area setting processing is executed by the detection area setting unit 22a of the detection unit 22 provided in the image processing apparatus 20 (step S100). 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 a detection area E1 having a distance L3 from the entrance toward the landing 15 with the car door 13 fully open. As shown in FIG. 3, the detection area E1 includes the sills 18 and 47 and is set excluding the blind spots of the three-sided frames 17a and 17b. Here, when the car door 13 is fully open, the size of the detection area E1 in the lateral direction (X-axis direction) is W1, and has a distance equal to or greater than the lateral width W0 of the entrance (frontage). Further, the detection area setting unit 22a sets a detection area E2 having a predetermined width along the inner side surfaces 41a-1 and 41b-1 of the entrance pillars 41a and 41b of the car 11, and also sets a detection area E2 having a predetermined width. A detection area E3 having a predetermined width is set along the car sill 47 of the surface 19. As shown in FIG.

Here, the car door 13 is fully closed while the car 11 is moving to each floor. At this time, the exposure adjustment of the camera 12 is performed so that the inside of the car 11 is photographed dark (step S101). When the car 11 reaches the landing 15 of an arbitrary floor (Yes in step S102), the elevator control device 30 starts opening the car door 13 (step S103). Along with this door opening operation, the camera 12 photographs a predetermined range (L1) on the landing side and a predetermined range (L2) in the car at a predetermined frame rate (eg, 30 frames/second). As will be described later, the target luminance value for the captured image at this time is set to be rather dark (see the first range a in FIG. 9).

Photographing by the camera 12 may be performed continuously from the state where the car 11 is closed. The image processing device 20 acquires images captured by the camera 12 in time series, and while sequentially storing these images in the storage unit 21 (step S104), performs the following attraction detection processing in real time. (Step S105). It should be noted that distortion correction, enlargement/reduction, cutout of a part of the image, and the like may be performed as preprocessing for the captured image.

As shown in FIG. 7, the camera 12 measures the direction horizontal to the car door 13 provided at the entrance of the car 11 as the X axis, and the direction from the center of the car door 13 to the landing 15 (vertical to the car door 13). direction) is taken as the Y-axis, and the height direction of the car 11 is taken as the Z-axis. In each image captured by the camera 12, the image to be detected is compared in units of blocks. If the door is being opened, the images within the detection areas E2 and E3 (pull-in detection areas) set in the car 11 are to be detected.

FIG. 8 shows an example in which a photographed image is divided into predetermined blocks in a matrix form. The original image is divided into grids of Wblock on one side, which are called "blocks". In the example of FIG. 8, the vertical and horizontal lengths of the blocks are the same, but the vertical and horizontal lengths may be different. Also, the blocks may have a uniform size over the entire area of the image, or may have a non-uniform size such that, for example, the vertical length (in the Y-axis direction) of the upper portion of the image is reduced.

The detection processing unit 22b reads the images 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 this time, the average luminance value for each block calculated when the first image is input is held as an initial value in a first buffer area (not shown) in the storage unit 21 .

When the second and subsequent images are obtained, the detection processing unit 22b calculates 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 luminance difference equal to or greater than a preset threshold in the current image, the detection processing unit 22b determines that the block is a moving block. After determining the presence or absence of motion for the current image, the detection processing unit 22b stores the average luminance value for each block of the image in the first buffer area for comparison with the next image.

Thereafter, similarly, the detection processing unit 22b repeats determination of the presence/absence of movement while comparing the luminance values of each image in chronological order for each block. As a result, if there is a block with movement in the image, the detection processing unit 22b determines that a user or an object exists. For example, if a moving block is detected in the image within the detection area E2, the detection processing unit 22b determines that a user or an object exists in the car 11 near the car door 13.

When the presence of a user or an object is detected during the door opening operation (Yes in step S106), the image processing device 20 outputs a user detection signal to the elevator control device 30. FIG. When the door opening/closing control unit 31 of the elevator control device 30 receives this user detection signal, it temporarily stops the door opening operation of the car door 13, and after several seconds resumes the door opening operation from the stop position (step S107).

When the user detection signal is received, the door opening speed of the car door 13 may be made slower than usual, or the car door 13 may be slightly moved in the opposite direction (door closing direction) before the door opening operation is performed. It's okay to restart. Also, by starting the warning unit 32 of the elevator control device 30, a voice announcement may be made through the speaker 46 in the car 11 to alert the user to move away from the car door 13. It is also good to ring The above process is repeated while the presence of a user or an object is detected within the detection area E2 or the detection area E3. As a result, for example, when the user is near the car door 13, it is possible to prevent the user from being pulled into the door pocket 42a or 42b.

When the car door 13 is fully opened (Yes in step S108), the exposure of the camera 12 is adjusted so that the inside of the car 11 and the hall 15 are photographed brightly (step S109). Here, the full opening of the car door 13 may be detected using, for example, a signal from a full open switch (not shown) provided in the drive mechanism of the car door 13, or the car door 13 may move from the fully closed position to the fully open position. It is also possible to detect from the time required to do so.

When a predetermined period of time elapses with the car door 13 fully open, the door closing operation is started (step S110). As will be described later, the target luminance value for the captured image at this time is set to be brighter (see the second range b in FIG. 9). The image processing device 20 acquires images captured by the camera 12 in time series, and while sequentially storing these images in the storage unit 21 (step S111), executes the following boarding detection processing in real time ( step S112).

In the boarding detection process, an image within a detection area E1 set from the doorway (car door 13) of the car 11 toward the hall 15 is used as a detection target. The detection processing unit 22b compares each block of each image in the detection area E1 obtained in time series during the door closing operation, and checks whether or not there is a moving block. As a result, if there is a moving block, the detection processing unit 22b determines that a person or an object exists within the detection area E1.

By such a method, when the presence of a user or an object is detected within the detection area E1 during the door closing operation (Yes in step S113), the image processing device 20 sends a user detection signal to the elevator control device 30. is output. Upon receiving this user detection signal, the door opening/closing control unit 31 of the elevator control device 30 prohibits the car door 13 from closing and maintains the door open state (step S114).

If the presence of a user or an object is not detected within the detection area E1 (No in step S1113), the elevator control device 30 continues the door-closing operation of the car door 13, and closes the car 11 after the door is closed. Depart for the target floor. Further, when the car door 13 is fully closed (Yes in step S115), the adjustment unit 22c adjusts the exposure of the camera 12 so that the inside of the car 11 is photographed darker (step S116). Here, the fully closed state of the car door 13 may be detected using, for example, a signal from a fully closed switch (not shown) provided in the drive mechanism of the car door 13, or the car door 13 may move from the fully open position to the fully closed position. It may be detected from the time required to move to.

FIG. 9 is a diagram showing the relationship between the target luminance value for the photographed image and the opening/closing operation of the car door 13. As shown in FIG. The luminance value is expressed in gradation from 0 to 255, with the lowest value "0" being black and the highest value "255" being white.

The attraction detection process is based on the premise that the change in luminance of the image in the detection areas E2 and E3, which are the attraction detection areas, will appear correctly due to the user's intrusion. Normally, in order to increase the resolution of black, the target luminance value is set high, and the image is shot brightly. However, as described with reference to FIG. 5, due to the illumination light inside the car 11, the shadow S1 of the user P1 is generated within the detection area E2 or the detection area E3. At that time, when the inside of the car 11 is photographed brightly, the black color of the shadow S1 is emphasized on the photographed image, so that the brightness of the shadow S1 greatly changes in the detection area E2 or the detection area E3, and erroneous detection is likely to occur.

Therefore, in the present embodiment, the target brightness value is set to the first range a when the door is fully closed, lower than when the door is fully open. The target brightness value is set to the first range a during the period from the fully closed to the fully opened car door 13 (t1-t2 in the figure). Therefore, the inside of the car 11 is photographed by the camera 12 in the dark. When the inside of the car 11 is photographed darkly, as shown in FIG. 10, luminance change due to the movement of the shadow S1 on the photographed image is suppressed, and erroneous detection within the detection area E2 or E3 can be prevented.

On the other hand, the boarding detection process is based on the premise that the change in brightness of the image within the detection area E1, which is the boarding detection area, appears correctly due to the user's intrusion. In this case, if the target luminance value is kept low in order to increase the accuracy of detection of being attracted, as shown in FIG. The contrast between the person P2 and the floor surface 16 becomes small, and the movement of the user P2 may not be detected correctly within the detection area E1.

Therefore, when the car door 13 is fully opened (t2 in the drawing), the target brightness value is set to be higher than when fully closed, and set to the second range b. The upper graph in FIG. 9 represents the transition of the brightness value of the captured image obtained as a result of the exposure adjustment on the camera 12 side by setting the target brightness value. Therefore, when the target luminance value is set to the second range b at the timing when the door is fully opened (t2 in the drawing), the luminance value of the captured image is slightly delayed from the timing by the exposure adjustment on the camera 12 side and reaches the second range. 2 (t3 in the figure). If the response characteristics of the camera 12 are good, the luminance value of the captured image may fall within the second range b substantially at the same time as when the door is fully opened. The first range a and the second range b are set to have a predetermined gradation range based on the results of experiments that take into consideration the lighting environment, camera performance, etc., but the disclosure of specific numerical values is omitted here. .

After a predetermined time has elapsed after the car door 13 is fully opened, the car door 13 starts to close. Until the car door 13 is fully closed (t4-t5 in the figure), the target brightness value is set to the second range b. Therefore, the hall 15 is photographed brightly by the camera 12 . When the hall 15 is photographed brightly, even if the user P2 of the hall 15 wears black clothes, the user P2 can be distinguished from the floor surface 16 on the photographed image, so that the movement of the user P2 can be detected within the detection area E1. It can be detected correctly and reflected in the door opening/closing control.

When the car door 13 is fully closed (t5 in the drawing), the target brightness value is switched to the first range a. In this case also, due to the exposure adjustment on the camera 12 side, the luminance value of the photographed image enters the first range a with a slight delay from the timing of closing all the doors (t6 in the figure). If the response characteristics of the camera 12 are good, the luminance value of the captured image may fall within the second range b substantially at the same time as when all the doors are closed.

As described above, according to the present embodiment, the target brightness value is changed depending on whether the car door 13 is fully closed or fully opened, and when the car door 13 is fully closed, the target brightness value is lower than when the car door is fully open to obtain a darker image. It is possible to prevent erroneous detection of the door, correctly detect users near the door, and prevent accidents caused by being drawn in. Furthermore, when the door is fully opened, the target brightness value is raised to capture a brighter image than when the door is fully closed, so that users in the hall can be accurately detected and reflected in the door opening/closing control.

(Modification)
(1) Brightness Value Adjustment Portion Normally, exposure is adjusted so that the average brightness value of the entire captured image falls within the target brightness value range. However, some cameras 12 have a function of selecting a portion of the captured image to match the target luminance value. When such a camera 12 is used, the exposure may be adjusted so that the average luminance value of a part of the photographed image, rather than the entire photographed image, falls within the range of the target luminance value.

Specifically, the adjustment unit 22c selects a portion to be adjusted for the brightness value on the captured image, and controls the exposure adjustment function of the camera 12 so that the brightness value of the selected portion falls within the range of the target brightness value. . In this embodiment, the entrance/exit of the car 11 is shown in the central portion of the photographed image, and detection areas E2 and E3 for detection of being pulled in there are set. Therefore, as shown in FIG. 12, for example, if the central 1/4 portion of an image of n×m pixels is selected as an adjustment target, the luminance value of the portion including the detection areas E2 and E3 is adjusted to the target luminance value. It is possible to detect being pulled in with high accuracy.

It is also possible to select a portion of the floor surface 19 in the car 11 as an adjustment target, and perform exposure adjustment so that the brightness value of the selected portion falls within the range of the target brightness value. As a result, the exposure is adjusted by focusing only on the luminance value of the floor surface 19 in the car 11, so that the influence of the shadow appearing on the floor surface 19 can be reduced, and the accuracy of detection of being pulled in can be further improved.

Further, in this embodiment, the floor surface 16 of the hall 15 is reflected in the upper half of the captured image, and the detection area E1 for boarding detection is set there. Therefore, as shown in FIG. 13, by selecting the upper half portion of the image of n×m pixels and adjusting the exposure so that the luminance value of the selected portion falls within the range of the target luminance value, the boarding detection accuracy can be improved. can be further increased.

(2) Adjustment of shutter speed and gain In the above embodiment, the camera 12 has an exposure adjustment function, and it is assumed that the exposure adjustment is automatically performed based on the target luminance value set from the outside. As described above, when using the camera 12 that does not have such an exposure adjustment function, the shutter speed and gain of the camera 12 may be adjusted directly.

In this case, if the shutter speed is adjusted to increase, the time during which the imaging element provided in the camera 12 is exposed through the lens is shortened, so a dark image can be obtained. If the shutter speed is adjusted to be decreased, the time during which the imaging element provided in the camera 12 is exposed through the lens becomes longer, so a brighter image can be obtained. “Gain” is a coefficient for increasing or decreasing the output value of camera 12 . If the gain value is decreased, the output value of the camera 12 is also decreased, resulting in a darker image. If the gain value is increased, the output value of the camera 12 is also increased, so a brighter image can be obtained.

Both shutter speed and gain may be adjusted, or either one may be adjusted. However, since increasing the gain also amplifies noise contained in the image, it is preferable to adjust the shutter speed in consideration of the image quality.

Specifically, when the car door 13 is fully open, a control signal is output from the adjustment unit 22c to the camera 12 so that the brightness value of the captured image falls within the first range a shown in FIG. Adjust to increase the shutter speed of or decrease the gain value. As a result, since a dark image is obtained, it is possible to prevent erroneous detection of a shadow within the detection area E2 or E3 and perform detection by being attracted. Further, when the car door 13 is fully closed, the adjustment unit 22c outputs a control signal to the camera 12 so that the brightness value of the captured image falls within the second range b shown in FIG. Adjust in the direction of decreasing the speed, or adjust in the direction of increasing the gain value. As a result, since a bright image can be obtained, it is possible to correctly detect the boarding of the user within the detection area E1 and reflect it in the door opening/closing control.

It should be noted that the shutter speed or gain may be directly adjusted for the camera 12 having the exposure adjustment function by setting the target luminance value described above. As a result, without depending on the exposure adjustment function of the camera 12, it is possible to switch the target luminance value between the fully open state and the fully closed state for photographing.

(3) Single-Opening Type In the above embodiment, the car door of the double-opening type has been described as an example, but the same applies to the single-opening type.
FIG. 14 is a diagram showing the configuration of the entrance and the vicinity of the inside of the car using double-door, single-opening type car doors. In this example, a car door 13 of a two-door single opening type is installed at the entrance of the car 11 so as to be openable and closable. As shown in FIG. 15, 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 of the single-opening type, a door pocket 42a is provided on one side of the doorway. In the example of FIG. 14, a door pocket 42a is provided on the left side of the doorway, and when the door is opened, the two door panels 13a and 13b are accommodated in the door pocket 42a in an overlapping state. A detection area E2 for detection of retraction is set on the inner side surface of the entrance post 41a in contact with the door pocket 42a.

Here, while the car door 13 is being closed, it is necessary to detect a user coming from the landing 15 toward the car 11 until just before the door closes. It is attached. In the example of FIG. 14, the camera 12 is installed on the entrance pillar 41b side (right side) in the curtain board 11a.

Even with the single-opening type car door 13, as in the above-described embodiment, the target luminance value is lowered when the door is fully closed to take a darker image than when the door is fully open, thereby preventing erroneous detection of shadows and preventing shadows from being detected near the door. It is possible to correctly detect a user who is in the room and prevent an accident caused by being drawn in. Furthermore, when the door is fully opened, the target brightness value is raised to capture a brighter image than when the door is fully closed, so that users in the hall can be accurately detected and reflected in the door opening/closing control.

According to at least one embodiment described above, it is possible to provide an elevator user detection system that can prevent erroneous detection of shadows in the car and correctly detect a user near the door.

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

DESCRIPTION OF SYMBOLS 11... Car, 11a... Curtain plate, 12... Camera, 13... Car door, 13a, 13b... Door panel, 14... Hall door, 14a, 14b... Door panel, 15... Hall, 17a, 17b... Three-way frame, 18... Hall sill 47 car sill 48 lighting device 20 image processing device 21 storage unit 22 detection unit 22a detection area setting unit 22b detection processing unit 22c adjustment unit 30 elevator control Device 31 Door opening/closing control section 32 Warning section E1, E2, E3 Detection area.

An elevator user detection system according to one embodiment includes a first detection area for detecting being pulled in near a door in the car on a photographed image obtained from a camera installed in the car; Detection area setting means for setting a second detection area for boarding detection from the door toward the boarding hall, and detecting a user existing in the first detection area or the second detection area based on the photographed image. and a detection processing means for changing the target luminance value for the photographed image including the first detection area depending on whether the door is fully closed or fully opened, and when the door is fully closed, the target luminance value is lower than when the door is fully open. and adjusting means for adjusting so that the inside of the car is photographed darkly.

Claims (11)

In an elevator user detection system equipped with a camera installed in a car and photographing a predetermined range including the door and landing of the car,
On the image captured by the camera, a first detection area for detecting being pulled into the vicinity of the door in the car and a second detection area for detecting boarding from the door toward the landing are set. detection area setting means for
detection processing means for detecting a user existing in the first detection area or the second detection area based on the captured image;
The target luminance value for the photographed image is changed depending on whether the door is fully closed or fully opened, and the target luminance value is lower when the door is fully closed than when the door is fully opened, so that the inside of the car is photographed darkly. An elevator occupant detection system comprising: adjusting means; The adjustment means are
2. The elevator user detection system according to claim 1, wherein the target brightness value is set lower than when the door is fully opened while the door is being opened. The adjustment means are
3. The elevator user detection system according to claim 2, wherein when the door is fully opened, the target brightness value is raised more than when the door is fully closed, and the hall is brightly photographed. The adjustment means are
4. The elevator user detection system according to claim 3, wherein the target brightness value is set higher than that when the door is fully closed during the door closing operation until the door is fully closed. The adjustment means are
2. The elevator user detection system according to claim 1, wherein the brightness value of a part of the photographed image is adjusted so as to fall within the range set as the target brightness value. 6. The elevator user detection system according to claim 5, wherein the part of the photographed image includes a part corresponding to the first detection area. 6. The elevator user detection system according to claim 5, wherein the part of the photographed image includes a part corresponding to the second detection area. 6. The elevator user detection system according to claim 5, wherein the part of the photographed image includes a part corresponding to the floor surface of the car. The adjustment means are
By adjusting the shutter speed or gain of the camera, the target brightness value for the photographed image is changed depending on whether the door is fully closed or fully opened, and the target brightness value is lower when the door is fully closed than when it is fully open. 2. The elevator user detection system according to claim 1, wherein the interior of said car is photographed in the dark. 2. The elevator user detection system according to claim 1, further comprising door opening/closing control means for controlling the opening/closing operation of said door based on the detection result of said detection processing means. The camera above
2. The elevator user detection system according to claim 1, wherein the elevator user detection system is installed in the upper part of the car so as to match the closed position of the door.

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