JP6702578B1 - Elevator user detection system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent accidents when a door is opened/closed by accurately detecting a user or an object near the door without requiring a plurality of sensors. An elevator user detection system according to an embodiment includes an imaging unit, a detection area setting unit, and a detection processing unit. The image capturing means captures an image of a predetermined range including the vicinity of an entrance/exit where a door is opened/closed from inside the car. The detection area setting means sets a first detection area on a front pillar provided on at least one of both sides of the entrance and exit on a captured image obtained by the imaging means, and a car sil of the floor of the car. The second detection area is set on the side. The detection processing means detects the presence or absence of a user or an object based on the images in the first and second detection areas set by the detection area setting means. [Selection diagram]

Description

Embodiments of the present invention relate to an elevator user detection system.

When the elevator car opens, the user's finger or the like may be pulled into the door pocket. In order to prevent such an accident, for example, a method is known in which a photoelectric sensor is installed near the door pocket and a user or the like near the door pocket is detected and a warning is issued.

JP, 10-152277, A JP, 2007-314284, A

However, in the method using the sensors such as the photoelectric sensor as described above, there is a possibility that the user operates just by passing the vicinity of the door pocket and frequently issues a warning. For this reason, it is necessary to finely adjust the installation position so that the sensor does not erroneously detect. Further, in the case of a two-door double door, there are door pockets on both sides of the entrance and exit of the car, so it is necessary to install sensors for these door pockets.

Furthermore, in the case of a double door with double doors, there is a "door jam accident" in which hands and the like are caught between doors when the doors are closed. In the case of a two-door single-opening door, there is a "gap-pulling accident" in which a hand or the like is drawn into the gap between the doors when the door is opened. In order to prevent these accidents, users or objects near the door must be detected using a large number of sensors.

The problem to be solved by the present invention is to use an elevator that can accurately detect a user or an object near a door without using a plurality of sensors and prevent accidents when the door is opened or closed. Is to provide a person detection system.

An elevator user detection system according to an embodiment includes an imaging unit, a detection area setting unit, and a detection processing unit.

The image capturing means captures an image of a predetermined range including the vicinity of the doorway where the door opens and closes from the inside of the car. The detection area setting means sets a first detection area on a front pillar provided on at least one of both sides of the entrance and exit on a captured image obtained by the imaging means, and a car sil of the floor of the car. The second detection area is set on the side. The detection processing means detects the presence or absence of a user or an object based on the images in the first and second detection areas set by the detection area setting means.
In the above configuration, the detection processing means switches the second detection area between valid/invalid according to the type of the door when the door is opened.

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 in the same embodiment. FIG. 3 is a diagram showing an example of a captured image of the camera of the same embodiment. FIG. 4 is a flowchart showing an overall processing flow of the user detection system in the same embodiment. FIG. 5 is a diagram for explaining the coordinate system in the real space in the same embodiment. FIG. 6 is a diagram for explaining the area setting method in the same embodiment. FIG. 7 is a diagram for explaining another area setting method in the same embodiment. FIG. 8 is a diagram showing the relationship between the user in the car and the detection area in the same embodiment. FIG. 9 is a diagram showing a relationship between a user and a detection area on a captured image in the same embodiment. FIG. 10 is a diagram for explaining the difference method used in the user detection processing in the same embodiment. FIG. 11 is a diagram for explaining the motion detection used in the user detection processing in the same embodiment. FIG. 12 is a diagram for explaining boundary detection used in the user detection processing in the same embodiment. FIG. 13 is a diagram showing a configuration of a portion around an entrance/exit in a car using a single-opening type car door in the same embodiment. FIG. 14 is a view for explaining an opening/closing operation of a single-opening type car door in the same embodiment. FIG. 15 is a diagram showing an example of an image captured by the camera of the second embodiment. FIG. 16 is a diagram for explaining the area setting method in the same embodiment. FIG. 17 is a diagram for explaining another area setting method in the same embodiment. FIG. 18 is a diagram showing the relationship between the user in the car and the detection area in the same embodiment. FIG. 19 is a diagram showing the relationship between the user and the detection area on the captured image in the same embodiment. FIG. 20 is a diagram showing a configuration of a portion around an entrance/exit in a car using a single-opening type car door in the same embodiment. FIG. 21 is a view for explaining the opening/closing operation of the single-opening type car door in the same embodiment.

Hereinafter, embodiments will be described with reference to the drawings.
The disclosure is merely an example, and the invention is not limited to the contents described in the embodiments below. 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 description clearer, the size, shape, etc. of each part may be schematically represented in the drawings by being changed from the actual embodiment. Corresponding elements may be given the same reference numerals in a plurality of drawings, 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 one car is described as an example here, a plurality of cars has the same configuration.

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 portion of the entrance of the car 11 with the lens portion directed downward, or inclined by a predetermined angle toward the hall 15 or inside the car 11. ..

The camera 12 is, for example, a small surveillance camera such as a vehicle-mounted 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 hall 15 on each floor, and photographs a predetermined range L including the vicinity of the car door 13.

Note that the camera 12 may be installed in the vicinity of the car door 13 and not at the upper part of the entrance/exit of the car 11. For example, it may be a location where the vicinity of the entrance of the car 11 can be photographed, such as an upper part of a side wall near the entrance of the car 11. By installing the camera 12 in such a place, it is possible to properly set a detection area described later, and it is possible to correctly detect a user or an object from an image in the detection area.

On the other hand, since the surveillance camera generally used for the purpose of surveillance is installed in the back of the car or the ceiling surface, the shooting range is wide in the entire car. Therefore, it is difficult to set the detection area, and there is a high possibility that the user including the user who is distant from the entrance of the car 11 may detect it.

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

Each image (video) continuously captured by the camera 12 is analyzed in real time by the image processing device 20. In FIG. 1, the image processing device 20 is illustrated as being taken out of the car 11 for convenience, but in reality, the image processing device 20 is housed together with the camera 12 in the curtain 11a.

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 the images captured by the camera 12 and temporarily storing the data necessary for the processing of the detection unit 22. Note that the storage unit 21 may store an image that has been subjected to distortion correction, enlargement/reduction, partial cropping, and the like as preprocessing for the captured image.

The detection unit 22 detects a user in the vicinity of the car door 13 using the image captured by the camera 12. Functionally dividing the detection unit 22 includes a detection area setting unit 22a and a detection processing unit 22b.

The detection area setting unit 22a sets a detection area on a front pillar provided on at least one of both sides of the entrance of the car 11 on the image captured by the camera 12. Specifically, the detection area setting unit 22a sets a strip-shaped detection area along the inner side surface of the front pillar. The “front pillar” is also called an entrance pillar or an entrance frame, and is provided on both sides or one side of the entrance of the car 11 (see FIG. 2 ). A door pocket for accommodating the car door 13 is generally provided on the back side of the front pillar.

The detection processing unit 22b detects the presence or absence of a user or an object based on the image in the detection area set by the detection area setting unit 22a. The “thing” mentioned here includes, for example, clothes and luggage of the user, and a moving body such as a wheelchair. The car control device 30 may have a part 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. The car control device 30 also includes a door opening/closing control unit 31 and a notification unit 32. The door opening/closing control unit 31 controls the door 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.

Here, when a user or an object is detected by the detection processing unit 22b while the car door 13 is open, the door opening/closing control unit 31 avoids a door accident (an accident of being pulled into a door pocket). Door opening/closing control is performed. Specifically, the door opening/closing control unit 31 temporarily stops the door opening operation of the car door 13, moves it in the opposite direction (door closing direction), or slows the door opening speed of the car door 13. The notification unit 32 alerts the user in the car 11 based on the detection result by the detection processing unit 22b.

FIG. 2 is a diagram showing a configuration of a portion around the doorway in the car 11.
A car door 13 is provided at the entrance of the car 11 so as to be openable and closable. In the example of FIG. 2, a two-door double-open type car door 13 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). .. The “frontage” is the same as the doorway of the car 11.

Front pillars 41a and 41b are provided on both sides of the entrance and exit of the car 11, and surround the entrance and exit of the car 11 together with the curtain plate 11a. When the car door 13 is opened, one door panel 13a is stored in a door bag 42a provided on the back side of the front pillar 41a, and the other door panel 13b is stored in a door bag 42b provided on the back side of the front pillar 41b. ..

A display 43, an operation panel 45 having destination floor buttons 44, and a speaker 46 are installed on one or both of the front columns 41a and 41b. In the example of FIG. 2, the speaker 46 is installed on the front pillar 41a, and the display 43 and the operation panel 45 are installed on the front pillar 41b.

Here, the camera 12 is installed in the center of the curtain plate 11a above the doorway of the car 11. The camera 12 is installed downward from the bottom of the curtain plate 11a so that the camera door 13 can be photographed including the vicinity of the entrance and exit when the car door 13 is opened together with the hall door 14 (see FIG. 3).

FIG. 3 is a diagram showing an example of a captured image of the camera 12. The case where the car door 13 (door panels 13a and 13b) and the hall door 14 (door panels 14a and 14b) are fully opened is taken from the upper part of the entrance/exit of the car 11 in a downward direction. In FIG. 3, the upper side shows the hall 15, and the lower side shows the inside of the car 11.

In the hall 15, three-sided frames 17a and 17b are provided on both sides of the entrance of the car 11, and a strip-shaped hall sill 18 having a predetermined width is provided on the floor surface 16 between the three-sided frames 17a and 17b. It is arranged along the opening/closing direction of 14. In addition, a strip-shaped car sill 47 having a predetermined width is arranged on the doorway side of the floor 16 of the car 11 along the opening/closing direction of the car door 13.

Here, on the captured image, the detection areas Ea and Eb are set on the inner side surfaces 41a-1 and 41b-1 of the front columns 41a and 41b, respectively. The detection areas Ea and Eb are areas for detecting a user or an object on a captured image, and are used here to prevent accidents of being drawn into the door pockets 42a and 42b during the door opening operation.

The detection areas Ea and Eb are set in strips having predetermined widths D1 and D2 in the width direction of the inner side surfaces 41a-1 and 41b-1 of the front columns 41a and 41b, respectively. The widths D1 and D2 are set to be equal to or slightly smaller than the lateral width (width in the lateral direction) of the inner side surfaces 41a-1 and 41b-1, for example. The values may be the same as or different from the widths D1 and D2.

It is also possible to partially change the widths D1 and D2 so that, for example, the widths D1a and D2a of the portions that are easily touched by the user are slightly wider than the widths D1 and D2 (see FIG. 9). This allows early detection of an accident in which the door pocket is pulled in.

The front of the front columns 41a and 41b is out of the area setting. This is because there are operation panels 45 and the like in front of the front columns 41a and 41b, and users are often close to them. If it is the inner side surfaces 41a-1 and 41b-1 of the front columns 41a and 41b, the detection area Ea that does not erroneously detect the user operating the operation panel 45 and is not affected by the opening/closing operation of the car door 13 is detected. , Eb can be set.

Next, the operation of this system will be described in detail.
FIG. 4 is a flowchart showing the flow of the entire processing in this system.

First, as an initial setting, a detection area setting process is performed by the detection area setting unit 22a of the detection unit 22 included in the image processing apparatus 20 (step S11). 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 areas Ea and Eb on the image captured by the camera 12. Specifically, if the car door 13 is a double door double door type, the detection area setting unit 22a sets the detection area Ea on the inner side surface 41a-1 of the front pillar 41a near the door pocket 42a into which one door panel 13a is drawn. .. Subsequently, the detection area setting unit 22a sets the detection area Eb on the inner side surface 41b-1 of the front pillar 41b near the door pocket 42b into which the other door panel 13b is drawn.

The area where the front pillars 41a and 41b are shown on the captured image is calculated based on the design value of each component of the car 11 and the value unique to the camera 12.

・Width of frontage (width of doorway of car)
・Door height
・Width of pillar
・Door type (double door/single door on right or left)
・Relative position of camera to frontage (three-dimensional)
・Camera angle (3 axes)
・Camera angle of view (focal length)
The detection area setting unit 22a calculates an area in which the front columns 41a and 41b appear on the captured image based on these values. That is, the detection area setting unit 22a assumes that the front pillars 41a and 41b are vertically standing from both ends of the front opening (entrance), and based on the relative position, angle, and angle of view of the camera 12 with respect to the front opening, the front pillar 41a, The three-dimensional coordinates of 41b are calculated.

The three-dimensional coordinates are, as shown in FIG. 5, the horizontal direction with respect to the car door 13 as the X axis, and the direction of the hall 15 from the center of the car door 13 (direction perpendicular to the car door 13) as the Y axis. , The coordinates when the height direction of the car 11 is the Z axis.

Note that, for example, as shown in FIG. 6, markers m1 and m2 are placed at both ends inside the car of the car sill 47, and the three-dimensional coordinates of the front columns 41a and 41b are based on the positions of the markers m1 and m2. May be asked. Alternatively, as shown in FIG. 7, the positions of two points P1 and P2 inside the car of the car sill 47 are obtained by image processing, and the three-dimensional coordinates of the front columns 41a and 41b are determined with reference to the positions of the two points P1 and P2. May be asked.

The detection area setting unit 22a projects the three-dimensional coordinates of the front pillars 41a and 41b onto the two-dimensional coordinates on the photographed image to obtain a region in which the front pillars 41a and 41b are reflected on the photographed image, and detects the detection area within the area. Set Ea and Eb. Specifically, the detection area setting unit 22a sets the detection areas Ea and Eb having predetermined widths D1 and D2 along the longitudinal direction of the inner side surfaces 41a-1 and 41b-1 of the front columns 41a and 41b.

The setting processing of the detection areas Ea and Eb may be executed with the car door 13 open, or may be executed with the car door 13 closed. When the car door 13 is closed, the detection areas Ea and Eb are easier to set because the hall 15 is not reflected in the image captured by the camera 12. The lateral width (width in the lateral direction) of the car sill 47 is usually wider than the thickness of the car door 13. Therefore, even if the car door 13 is fully closed, one end of the car sill 47 is reflected in the captured image. Therefore, the detection areas Ea and Eb can be set by specifying the positions of the front columns 41a and 41b based on the position on the one end side.

In this way, by setting the detection areas Ea and Eb on the inner side surfaces 41a-1 and 41b-1 of the front columns 41a and 41b, as shown in FIG. 8 and FIG. When a hand is put on the inner side surface 41a-1 of the pillar 41a, it is possible to detect the hand before the hand is drawn into the door pocket 42a.

The operation of the car 11 during driving will be described below.
As shown in FIG. 4, when the car 11 arrives at the hall 15 on any floor (Yes in step S12), the car control device 30 opens the car door 13 (step S13).

At this time (during the door opening operation of the car door 13), the periphery of the car door 13 (front pillars 41a, 41b, etc.) is set to a predetermined frame rate (for example, 30 frames/second) by the camera 12 installed above the entrance of the car 11. ). The image processing device 20 acquires images captured by the camera 12 in time series, and sequentially stores these images in the storage unit 21 (step S14), and executes the following user detection process in real time. (Step S15). Note that distortion correction, enlargement/reduction, cropping of a part of an image, and the like may be performed as preprocessing for a captured image.

The user detection process is executed by the detection processing unit 22b of the detection unit 22 included in the image processing apparatus 20.

That is, the detection processing unit 22b extracts the images in the detection areas Ea and Eb from the plurality of captured images obtained by the camera 12 in time series, and detects the presence or absence of the user or the object based on these images. .. Specifically, it is detected by the following method.

(A) Difference method As shown in FIG. 10, the detection processing unit 22b compares the images in the detection areas Ea and Eb with the basic image in chronological order, and determines the presence or absence of a user or an object from the difference between the images. Detect. FIG. 10A is a basic image, in which the images in the detection areas Ea and Eb are extracted from the image captured by the camera 12 in the state where there are no users or objects in the car 11 in advance. FIG. 2B shows a detection target image, in which images in the detection areas Ea and Eb are extracted from the captured image when the door is open.

The detection processing unit 22b compares the basic image with the detection target image, and if there is a predetermined amount or more of portions having different pixel values in both images, the user or the object is present near the door pockets 42a and 42b. Judge that.

(B) Motion Detection As shown in FIG. 11, the detection processing unit 22b divides the captured image into a matrix in a predetermined block unit, and pays attention to a moving block among these blocks to the user or the object. The presence or absence of is detected.

Specifically, the detection processing unit 22b reads 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 this time, the average brightness value for each block calculated when the first image is input as an initial value is held 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 causes the average luminance value of each block of the current image and the average luminance value of each block of the immediately preceding image held in the first buffer area. Compare with. As a result, when there is a block having a brightness difference equal to or greater than a preset value in the current image, the detection processing unit 22b determines that block as a motion block. When determining whether or not there is motion in 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. Thereafter, similarly, the detection processing unit 22b repeats determining the presence or absence of motion while comparing the brightness values of the respective images in block order in time series.

The detection processing unit 22b checks whether or not there is a moving block in the images in the detection areas Ea and Eb. As a result, if there is a moving block in the images in the detection areas Ea and Eb, the detection processing unit 22b determines that a person or an object exists near the door pockets 42a and 42b.

As shown in FIG. 3, the detection areas Ea and Eb are set on the inner side surfaces 41a-1 and 41b-1 of the front columns 41a and 41b. Therefore, the movement when the car door 13 (door panels 13a and 13b) is opened and closed is not detected in the detection areas Ea and Eb.

(C) Boundary detection The detection processing unit 22b detects the boundary of the elevator structure from the images in the detection areas Ea and Eb. The “boundary of the elevator structure” mentioned here is a boundary between the inner side surfaces 41a-1 and 41b-1 of the front columns 41a and 41b and the door pockets 42a and 42b. The detection processing unit 22b determines that the user or the object exists when the boundary is discontinuous (partially hidden) on the image.

In this method, it is necessary to expand the detection areas Ea and Eb as shown in FIG. 12 and set them so as to include the boundary. Since a method of detecting the boundary in the detection area on the image is known in, for example, Japanese Patent Application No. 2017-240799, detailed description thereof is omitted here.

The image captured by the camera 12 has boundaries between the inner side surfaces 41a-1 and 41b-1 of the front columns 41a and 41b and the door pockets 42a and 42b regardless of the open/close state of the car door 13. Therefore, by detecting whether or not the boundary is discontinuous on the image, the user or the object close to the door pockets 42a and 42b can be reliably detected, and the user who is away from the door pockets 42a and 42b. Or there is no false detection of an object.

As another method, an object other than the elevator structure may be recognized from the images in the detection areas Ea and Eb, and the presence of the user or the object may be determined based on the recognition result. A generally known method may be used for the object recognition. Examples include deep learning, SVM (Support Vector Machine), and random forest.

Returning to FIG. 4, when the presence of the user or the object is detected in the detection areas Ea and Eb during the door opening operation of the car door 13 (Yes in step S16), the image processing device 20 causes the car control device 30 to operate. On the other hand, a user detection signal is output. Upon receiving the user detection signal, the door opening/closing control unit 31 of the car control device 30 temporarily stops the door opening operation of the car door 13 and restarts the door opening operation from the stopped position after several seconds (step S17).

When the user detection signal is received, the door opening speed of the car door 13 may be set slower than usual, or the car door 13 may be slightly moved in the opposite direction (door closing direction) before the door opening operation. It can be restarted.

In addition, the notification unit 32 of the car control device 30 makes a voice announcement through the speaker 46 in the car 11 to call the user's attention away from the door pockets 42a and 42b (step S18). The method of notification is not limited to voice announcements, but it is also possible to display a message such as "Be close to the door pocket because it is dangerous, so please leave immediately." Or you can use voice announcements and message display together. But good. Furthermore, a warning sound may be sounded.

The above process is repeated while the presence of the user or the object is detected in the detection areas Ea and Eb. Thereby, for example, when the user puts his/her hand near the door pocket 42a, it is possible to prevent the user from being drawn into the door pocket 42a.

When the presence of the user or the object is not detected in the detection areas Ea and Eb (No in step S16), the car control device 30 continues the door closing operation of the car door 13, and the car after completion of the door closing. 11 is departed for the destination floor (step S19).

In the above embodiment, the double-opening type car door has been described as an example, but the same applies to the single-opening type car door as shown in FIG.

FIG. 13 is a diagram showing a configuration of a portion around an entrance/exit in a car using a two-door single-open type car door. In this example, a two-door, single-open type car door 13 is installed at the entrance of the car 11 so as to be openable and closable. As shown in FIG. 14, 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-open type, the door pocket 42a is provided only on one side of the doorway. In the example of FIG. 13, 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 a stacked state.

Here, the camera 12 installed on the curtain plate 11a is brought close to the door pocket 42a side, and the detection area Ea is set for the front pillar 41a on the door pocket 42a side. Specifically, as described in FIG. 3, the strip-shaped detection area Ea having the predetermined width D1 is set along the inner side surface 41a-1 of the front pillar 41a. Accordingly, for example, when the user's hand is near the door pocket 42a, the state can be detected from the image in the detection area Ea, and by reflecting the state in the door opening/closing operation, the accident of being drawn into the door pocket 42a can be prevented. Can be prevented.

In FIG. 13, if the detection area Eb is set for the other front pillar 41a as well, it is possible to prevent an accident (door hitting accident) in which the side end of the car door 13 hits when the door is closed. ..

As described above, according to the first embodiment, by setting the detection areas Ea and Eb on both sides of the entrance and exit of the car 11, the user or the object near the door can be accurately detected. As a result, it is possible to prevent accidents such as the accident of being pulled into the door pocket when the door is opened and closed, and the elevator can be used safely. On the other hand, by limiting the places where the detection areas Ea and Eb are set, it is possible to avoid erroneous detection of a user or an object away from the door, and to prevent unnecessary door control and alerting.

In the first embodiment, the detection areas Ea and Eb are set on both sides of the entrance and exit of the car 11, but the detection areas may be set on at least one side.

(Second embodiment)
Next, a second embodiment will be described.
FIG. 15 is a diagram showing an example of an image captured by the camera 12 according to the second embodiment. The figure shows a case where the car door 13 (door panels 13a, 13b) and the hall door 14 (door panels 14a, 14b) are fully opened, and the car 11 is photographed downward from the top of the doorway. In FIG. 3, the upper side shows the hall 15, and the lower side shows the inside of the car 11.

Similar to the first embodiment, the detection areas Ea and Eb are set on the captured images on the inner side surfaces 41a-1 and 41b-1 of the front columns 41a and 41b, respectively. The detection areas Ea and Eb are areas for detecting a user or an object, and are used here to prevent accidents of being drawn into the door pockets 42a and 42b during the door opening operation.

Here, in the second embodiment, a detection area Ec is set on the captured image in addition to the detection areas Ea and Eb. The detection area Ec is provided adjacent to the car sill 47 provided on the floor surface 19 of the car 11. Like the detection areas Ea and Eb, the detection area Ec is an area for detecting a user or an object on a captured image, and when the car door 13 is a double door double door type, during the door closing operation. It is used to prevent accidents between doors.

The detection area Ec has a predetermined width D3 in the direction orthogonal to the entrance and exit, and is set in a strip shape along the longitudinal direction of the car sill 47. The width D3 may be the same as or different from the width D1 of the detection area Ea or the width D2 of the detection area Eb.

The width D3 may be partially changed. When the car door 13 is a double door double door type, an accident occurs when the doors are sandwiched at the center of the frontage during the door closing operation. Therefore, the width D3a near the central portion of the detection area Ec is set to be slightly wider than the width D3 (see FIG. 19). As a result, it is possible to detect the accident between the doors early.

Since the car door 13 (door panels 13a and 13b) moves on the car sill 47, the area is not set. That is, the detection area Ec is set adjacent to one longitudinal side of the car sill 47 except on the car sill 47. As a result, the detection area Ec that is not affected by the opening/closing operation of the car door 13 can be set.

The method of setting the detection area Ec on the captured image is the same as that of the detection areas Ea and Eb. That is, the three-dimensional coordinates of the car sill 47 are obtained based on the design values of the respective constituent parts of the car 11 and the values unique to the camera 12, and the three-dimensional coordinates of the car sill 47 are projected onto the two-dimensional coordinates on the taken image to obtain the three-dimensional coordinates on the taken image. The area in which the car sill 47 is reflected is determined, and the detection area Ec is set within the area.

In this case, for example, as shown in FIG. 16, the markers m1 and m2 are placed on both ends of the car sill 47 inside the car, and the three-dimensional coordinates of the car sill 47 are determined based on the positions of the markers m1 and m2. You may ask. Alternatively, as shown in FIG. 17, the positions of the two points P1 and P2 on the inside of the car of the car sill 47 are obtained by image processing, and the front columns 41a and 41b and the car sill 47 are referenced based on the positions of those two points P1 and P2. Alternatively, the three-dimensional coordinates may be obtained.

The user detection process using the detection area Ec is also the same as the detection areas Ea and Eb. That is, the detection processing unit 22b extracts the images in the detection area Ec from the plurality of captured images obtained by the camera 12 in time series, and detects the presence or absence of the user or the object based on these images.

Thus, by setting the detection area Ec in addition to the detection areas Ea and Eb, as shown in FIGS. 18 and 19, for example, when the door is closed, the user's hand comes out from the inside of the car. In such a case, it is possible to detect the hand before it is caught between the door panels 13a and 13b.

When a person or an object is detected in the detection area Ec during the door closing operation, the image processing device 20 outputs a user detection signal to the car control device 30. Upon receiving this user detection signal, the door opening/closing control unit 31 of the car control device 30 stops the door closing operation of the car door 13, moves the car door 13 in the opposite direction (door opening direction), and reopens it. To do. At this time, the notification unit 32 of the car control device 30 makes a voice announcement through the speaker 46 in the car 11 and alerts the user to leave the car door 13.

Here, in the case where the car door 13 is a double door double-open type, it is preferable that the detection area Ec is invalid because a car accident near the center of the frontage does not occur when the car door 13 is opened. This is because, in the case of the double door double-open type, the door panel 13a and the door panel 13b open from the center of the frontage, so that the user may get on and off from near the center of the frontage in the middle of opening the door. At this time, if the detection area Ec is valid, the user getting on and off will be detected.

Therefore, when the car door 13 is opened, it is preferable to switch the detection area Ec between valid/invalid according to the type of the car door 13 (type according to the opening/closing direction: double open/single open). That is, the detection processing unit 22b determines the type of the car door 13 when the car door 13 is opened, and if the car door 13 is of the double door type, the detection area Ec is invalidated and the detection using the detection area Ec is performed. Configure so that processing is not executed.

On the other hand, in the case where the car door 13 is of the two-door open type, a gap is drawn in when the door is opened, and an accident occurs, so the detection area Ec needs to be enabled. The case of the two-door single-open type will be described below.

FIG. 20 is a diagram showing a configuration of a portion around an entrance/exit in a car using a two-door single-open type car door. In this example, a two-door, single-open type car door 13 is installed at the entrance of the car 11 so as to be openable and closable. As shown in FIG. 21, the car door 13 has two door panels 13a and 13b, which open and close in the same direction along the frontage direction.

Here, in the two-door open type, when the door is opened, the door panel 13a and the door panel 13b are overlapped from the vicinity of the center of the frontage and stored in the door pocket 42a. At this time, the user's hand, clothes, luggage, etc. may be drawn into the gap 13c between the door panel 13a and the door panel 13b. In the two-door single-open type, the detection area Ec is used to prevent a gap pull-in accident during such a door opening operation.

As described above, the detection area Ec is set in a strip shape having a predetermined width D3 in the longitudinal direction of the car sill 47. Here, in the case where the car door 13 is a two-door type, the two door panels 13a and 13b move in an overlapping manner from the center of the frontage toward the door opening direction during the door opening operation. Occurs. Therefore, the width D3a from the vicinity of the central portion of the detection area Ec toward the door opening direction may be slightly wider than the width D3 (see FIG. 21). As a result, it is possible to detect an accident that is caught in a gap early.

When a person or an object is detected in the detection area Ec during the door opening operation, the image processing device 20 outputs a user detection signal to the car control device 30. When the door opening/closing control unit 31 of the car control device 30 receives the user detection signal, the door opening operation of the car door 13 is temporarily stopped in the same manner as in the detection areas Ea and Eb, and a few seconds later, from the stop position. The door opening operation is restarted. The door opening speed of the car door 13 may be slower than usual, or the car door 13 may be slightly moved in the opposite direction (door closing direction) and then the door opening operation may be restarted. In addition, the notification unit 32 of the car control device 30 makes a voice announcement through the speaker 46 in the car 11 and alerts the user to move away from the car door 13.

On the other hand, in the case where the car door 13 is a two-door single-open type, an accident (door-to-door accident) that the side end of the car door 13 (one side end of the door panels 13a and 13b) collides when the car door 13 is closed. ), or an accident may occur in which the vehicle is caught between the car door 13 and the frontage. Therefore, it is preferable to keep the detection area Ec valid when the door is closed. That is, when the car door 13 is a two-door open type, the detection processing unit 22b validates the detection area Ec both when the door is open and when the door is closed, and the detection processing using the detection area Ec is performed. Run.

As described above, according to the second embodiment, in addition to the detection areas Ea and Eb set on both sides of the entrance and exit of the car 11, the detection area Ec set on the car sill 47 side of the floor 16 of the car 11 is provided. The user or object is detected using. As a result, accidents that occur when the doors are opened and closed, such as accidents involving the door being caught near the center of the frontage and accidents involving the gap being drawn in, can be prevented and the elevator can be used safely.

In the second embodiment described above, the detection area Ec is set in addition to the detection areas Ea and Eb, but it is also possible to set only the detection area Ec to detect the user or the object.

According to at least one embodiment described above, an elevator that can accurately detect a user or an object near a door without using a plurality of sensors and can prevent an accident when the door is opened or closed. A user detection system can be provided.

In addition, in each of the above-described embodiments, description has been made assuming a door provided in a car of an elevator, but the present invention can also be applied to an automatic door provided in, for example, an entrance of a building. That is, for example, in the case of an automatic door at the entrance of a building, a camera is installed above the entrance, and the images taken by the camera are used to detect the detection areas Ea and Eb (pieces) inside the pillars on both sides of the entrance. If it is open, set either one). Further, a detection area Ec is set on the floor surface of the entrance along the door opening/closing direction. After that, the user or the object is detected from the images in the detection areas Ea, Eb, and Ec and reflected in the door opening/closing control as in the above-described respective embodiments, and a warning is issued.

In summary, 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 forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and the scope equivalent thereto.

11... Car, 11a... Curtain plate, 12... Camera, 13... Car door, 14... Hall door, 15... Hall, 16... Floor of the hall, 17a, 17b... Three-way frame, 18... Hall sill, 19... Riding Floor of car, 20... Image processing device, 21... Storage unit, 22... Detection unit, 22a... Detection area setting unit, 22b... Detection processing unit, 30... Car control device, 31... Door opening/closing control unit, 41a, 41b ... front pillar, 41a-1, 41b-1... inner side surface of front pillar, 42a, 42b... door pocket, 43... indicator, 44... destination floor button, 45... operation panel, 46... speaker, 47... basket sill, 32 ... Notification section, Ea, Eb... Detection area, Ec... Detection area.

Claims (19)

Imaging means for photographing a predetermined range including the vicinity of the doorway where the door opens and closes from inside the car;
A first detection area is set on a front pillar provided on at least one of both sides of the entrance and exit, and a second detection area is provided on the car sill side of the floor of the car on the captured image obtained by the imaging means. Detection area setting means for setting
A detection processing means for detecting the presence or absence of a user or an object based on the images in the first and second detection areas set by the detection area setting means ,
The detection processing means,
A user detection system for an elevator, wherein when the door is opened, the second detection area is switched between valid/invalid according to the type of the door . Imaging means for photographing a predetermined range including the vicinity of the doorway where the door opens and closes from inside the car;
A first detection area is set on a front pillar provided on at least one of both sides of the entrance and exit, and a second detection area is provided on the car sill side of the floor of the car on the captured image obtained by the imaging means. Detection area setting means for setting
A detection processing means for detecting the presence or absence of a user or an object based on the images in the first and second detection areas set by the detection area setting means ,
The detection area setting means is
The position of the front pillar and the position of the car sill on the captured image are calculated based on the design values of the respective constituent parts of the car, the installation angle of the imaging means, and the angle of view, and the calculated front surface An elevator user detection system, characterized in that the first detection area is set on a pillar, and the second detection area is set on the car sill side of the floor surface of the car . Imaging means for photographing a predetermined range including the vicinity of the doorway where the door opens and closes from inside the car;
A first detection area is set on a front pillar provided on at least one of both sides of the entrance and exit, and a second detection area is provided on the car sill side of the floor of the car on the captured image obtained by the imaging means. Detection area setting means for setting
A detection processing means for detecting the presence or absence of a user or an object based on the images in the first and second detection areas set by the detection area setting means ,
The detection processing means,
A first boundary between the front pillar and the entrance/exit of the car is detected from the image in the first detection area, and the car sill and the entrance/exit of the car are detected from the image in the second detection area. An elevator user detection system, characterized by detecting a second boundary and detecting the presence or absence of a user or an object depending on whether or not at least one of the first and second boundaries is interrupted . The detection processing means,
The presence or absence of a user or an object is detected based on the image in the first detection area and the image in the second detection area during the door opening operation of the door . elevator user detecting system according to any one. The detection processing means,
4. The presence or absence of a user or an object is detected based on the image in the first detection area and the image in the second detection area during the door closing operation of the door . elevator user detecting system according to any one. The detection processing means,
4. The elevator user detection system according to claim 2 or 3 , wherein when the door is opened, the second detection area is switched between valid and invalid according to the type of the door. The detection processing means,
The elevator user detection system according to claim 4 , wherein when the door is opened, the second detection area is switched between valid and invalid according to the type of the door. The detection processing means,
7. The elevator user detection system according to claim 6 , wherein when the door is a double door type, the second detection area is invalidated and the detection processing using the second detection area is not executed. .. The elevator user detection system according to any one of claims 1 to 3, wherein the first detection area is set on an inner side surface of the front pillar on the captured image. 10. The elevator user detection system according to claim 9 , wherein the first detection area is set to have a predetermined width in the width direction of the inner side surface of the front pillar. Said second detection area, any one of claims 1 to 3, characterized in that it is set along the closing direction of the door to the car sill side of the floor of the cab on the photographed image 1 The user detection system for the elevator according to the paragraph . The elevator user detection system according to claim 11 , wherein the second detection area is set to have a predetermined width in a lateral direction of the car sill. The detection area setting means is
The position of the front pillar and the position of the car sill on the captured image are calculated based on the design values of the respective constituent parts of the car, the installation angle of the imaging means, and the angle of view, and the calculated front surface The elevator user detection according to claim 1 or 3, wherein the first detection area is set on a pillar, and the second detection area is set on the car sill side of the floor surface of the car. system. The imaging means is
The elevator user detection system according to any one of claims 1 to 3, wherein the elevator user detection system is installed at an upper portion of an entrance of the car. The detection processing means,
The image in the said 1st and 2nd detection area is compared in order of time series, and the presence or absence of a user or an object is detected from the difference of each image, The Claim 1 thru|or 3 characterized by the above-mentioned. Elevator user detection system. The detection processing means,
The brightness of the image of the first and second in the detection area relative to the time sequence in blocks, according to claim 1 to 3, characterized in that for detecting the presence or absence of the user or objects based on a motion block An elevator user detection system according to any one of 1 . The detection processing means,
A first boundary between the front pillar and the entrance/exit of the car is detected from the image in the first detection area, and the car sill and the entrance/exit of the car are detected from the image in the second detection area. The use of the elevator according to claim 1 or 2 , wherein the presence or absence of a user or an object is detected by detecting a second boundary and determining whether or not at least one of the first and second boundaries is interrupted. Detection system. The elevator user detection according to any one of claims 1 to 3, further comprising door opening/closing control means for controlling opening/closing operation of the door based on a detection result of the detection processing means. system. The use of the elevator according to any one of claims 1 to 3, further comprising notifying means for alerting a user in the car based on a detection result of the detection processing means. Detection system.

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