JP7009411B2 - Elevator user detection system - Google Patents

Description

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

Conventionally, a system has been installed in which cameras are installed in the elevator car or in the landing, and based on the images taken by these cameras, the user's boarding / alighting motion and the number of people waiting at the landing are detected and reflected in the elevator operation control. Are known.

Japanese Patent No. 5274386 Japanese Unexamined Patent Publication No. 2002-293484

Many of the above-mentioned systems realize a single detection function using images taken by the camera, and in order to realize a plurality of different detection functions, a camera is required for each area to be sensed. ..

An object to be solved by the present invention is to provide an elevator user detection system capable of realizing a plurality of detection functions with one camera.

The elevator user detection system according to the embodiment includes an image pickup means, a detection area setting means, a detection processing means, and a control means. The image pickup means is installed in the car, has an ultra-wide-angle lens, and photographs the inside of the car and the landing near the entrance / exit of the car . The detection area setting means sets at least two or more detection areas in each of the car and the landing on the image captured by the image pickup means so that the car and the landing do not overlap with each other. .. The detection processing means analyzes an image in the detection area for each detection area set by the detection area setting means, and executes detection processing related to the driving operation of the car. Based on the detection result of the detection processing means, the control means executes different response processing for each detection area, and as the response processing, at least the operation control of the car and the opening / closing control of the door of the car are performed. It is characterized by including.

FIG. 1 is a diagram showing a configuration of an elevator user detection system according to an embodiment. FIG. 2 is a diagram showing a configuration of a portion around an entrance / exit in the car according to the same embodiment. FIG. 3 is a diagram showing an example of a photographed image of the camera in the same embodiment. FIG. 4 is a diagram for explaining a plurality of detection areas set in the captured image. FIG. 5 is a diagram for explaining a coordinate system in real space in the same embodiment. FIG. 6 is a flowchart showing the overall processing flow of the user detection system in the same embodiment. FIG. 7 is a flowchart showing the operation of the detection process executed in step S15 of FIG. FIG. 8 is a diagram for explaining the detection process according to the detection area E1 in the same embodiment. FIG. 9 is a diagram for explaining the detection process according to the detection area E2 in the same embodiment. FIG. 10 is a diagram showing a configuration of a portion around an entrance / exit in a car in which a single-door type car door is used in the same embodiment. FIG. 11 is a diagram for explaining the opening / closing operation of the single door type car door. FIG. 12 is a diagram for explaining the detection process according to the detection area E3 in the same embodiment. FIG. 13 is a diagram for explaining the detection process according to the detection area E4 in the same embodiment. FIG. 14 is a flowchart showing the operation of the corresponding processing executed in step S17 of FIG. FIG. 15 is a diagram showing a configuration of an elevator group management system as an application example.

Hereinafter, embodiments will be described with reference to the drawings.
It should be noted that the disclosure is merely an example, and the invention is not limited by the contents described in the following embodiments. Modifications that can be easily conceived by those skilled in the art are naturally included in the scope of disclosure. In order to clarify the explanation, in the drawings, the size, shape, etc. of each part may be changed with respect to the actual embodiment and represented schematically. In a plurality of drawings, the corresponding elements may be given the same reference numerals and detailed description may be omitted.

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

A camera 12 is installed above the doorway of the car 11. Specifically, the camera 12 is installed in the curtain plate 11a that covers the upper part of the doorway of the car 11 with the lens portion facing straight down. The camera 12 has an ultra-wide-angle lens such as a fisheye lens, and takes a wide range of images including the inside of the car 11 with a viewing angle of 180 degrees or more. The camera 12 can continuously capture images of several frames (for example, 30 frames / second) per second.

The location of the camera 12 does not have to be the upper part of the doorway of the car 11 as long as it is near the car door 13. For example, it may be any place where the entire vehicle interior including the entire floor surface in the car 11 and the landing 15 near the doorway can be photographed when the door is opened, such as the ceiling surface near the doorway of the car 11.

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

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

The image processing device 20 is provided with a storage unit 21 and a detection unit 22. The storage unit 21 has a buffer area for sequentially storing images taken by the camera 12 and temporarily storing data necessary for processing of the detection unit 22. It should be noted that the storage unit 21 may store an image that has been subjected to processing such as distortion correction, enlargement / reduction, and partial cropping as preprocessing for the captured image.

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

The detection area setting unit 22a sets at least two or more detection areas for detecting a user (a person using an elevator) or an object on the captured image of the camera 12. The "thing" referred to here includes, for example, a user's clothes and luggage, and a moving object such as a wheelchair. Further, it also includes equipment related to elevator equipment such as operation buttons, lamps, and display equipment in the car. The method of setting the detection area will be described in detail later with reference to FIGS. 3 and 4.

The detection processing unit 22b executes detection processing related to the driving operation of the car 11 for each detection area set by the detection area setting unit 22a. The "detection process related to the driving operation of the car 11" is a process of detecting a user or an object according to the driving state such as opening / closing the door of the car 11, and the door opening operation of the car 11. It includes at least one or more operating states during, during, or during the door closing operation, during the raising / lowering operation, and during the operation stop. This detection process will also be described in detail later with reference to FIGS. 3 and 4.

The elevator control device 30 may have a part or all of the functions of the image processing device 20.

The elevator control device 30 controls the operation of various devices (destination floor buttons, lighting, etc.) installed in the car 11. Further, the elevator control device 30 includes an operation control unit 31, a door open / close control unit 32, and a notification unit 33. The operation control unit 31 controls the operation of the car 11. The door opening / closing control unit 32 controls the opening / closing of the door of the car door 13 when the car 11 arrives at the landing 15. Specifically, the door open / close control unit 32 opens the car door 13 when the car 11 arrives at the landing 15, and closes the door after a predetermined time has elapsed.

Here, for example, when a user or an object is detected by the detection processing unit 22b during the door opening operation of the car door 13, the door opening / closing control unit 32 avoids a door accident (an accident of being pulled into a door pocket). To control the opening and closing of the door. Specifically, the door opening / closing control unit 32 suspends the door opening operation of the car door 13, moves it in the opposite direction (door closing direction), or slows down the door opening speed of the car door 13. The notification unit 33 calls attention to 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 and exit of the car 11 so as to be openable and closable. In the example of FIG. 2, a two-door double-door type car door 13 is shown, and the two door panels 13a and 13b constituting the car door 13 open and close in opposite directions along the frontage direction (horizontal direction). .. The "frontage" is the same as the entrance / exit of the car 11.

Front pillars 41a and 41b are provided on both sides of the doorway of the car 11, and surround the doorway of the car 11 together with the curtain plate 11a. The "front pillar" is also referred to as an entrance / exit pillar or an entrance / exit frame, and a door pocket for accommodating the car door 13 is generally provided on the back side. In the example of FIG. 2, when the car door 13 is opened, one door panel 13a is housed in a door bag 42a provided on the back side of the front pillar 41a, and the other door panel 13b is provided on the back side of the front pillar 41b. It is stored in the door bag 42b.

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

Here, a camera 12 having an ultra-wide-angle lens such as a fisheye lens is installed in the central portion of the curtain plate 11a above the entrance / exit of the car 11.

FIG. 3 is a diagram showing an example of a captured image of the camera 12. With the car door 13 (door panels 13a, 13b) and the landing door 14 (door panels 14a, 14b) fully open, the entire car room and the landing 15 near the doorway are photographed with a viewing angle of 180 degrees or more from the upper part of the doorway of the car 11. The case is shown. The upper side is the landing 15, and the lower side is the inside of the car 11.

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

Here, the detection areas E1 to E4 for the user or the object to detect the object are set in the car 11 and the landing 15 shown in the captured image.

-The detection area E1 is an area (boarding detection area) for detecting the riding state of the user (boarding position of the user, number of passengers, etc.) in the car 11, and is set to at least the entire area of the floor surface 19. To. The detection area E1 may include front pillars 41a and 41b, side surfaces 48a and 48b, and a back surface 49 that surround the car interior.

Specifically, as shown in FIG. 4, the detection area E1 is set according to the horizontal width W1 and the vertical width W2 of the floor surface 19. Further, the detection area E1 is set from the floor surface 19 to the position of the height h1 with respect to the front pillars 41a, 41b, the side surfaces 48a, 48b, and the back surface 49. The height h1 is arbitrary.

-The detection areas E2-1 and E2-2 are areas for detecting the user's door pinching in advance during the door opening operation (door pinching detection area), and are the inner side surfaces 41a of the front pillars 41a and 41b. It is set to -1, 41b-1.

Specifically, as shown in FIG. 4, the detection areas E2-1 and E2-2 have predetermined widths D1 and D2 in the width direction of the inner side surfaces 41a-1 and 41b-1 of the front pillars 41a and 41b. And set in a band shape. The widths D1 and D2 are set to be the same as or slightly smaller than the width (width in the lateral direction) of the inner side surfaces 41a-1 and 41b-1, for example. The values may be the same as or different from the widths D1 and D2. Further, the detection areas E2-1 and E2-2 are set from the floor surface 19 to the position of the height h2. The height h2 is arbitrary and may be the same value as h1 or a different value.

-The detection area E3 is an area (boarding status detection area) for detecting the status of the landing 15 (waiting position of the user, number of people waiting, etc.), and is set around the entrance / exit of the car 11.

Specifically, as shown in FIG. 4, the detection area E3 is set with a predetermined distance L1 in the direction of the landing 15 from the entrance / exit of the car 11. W0 in the figure is the width of the doorway. The shape of the detection area E3 may be a rectangle having a size equal to or larger than W0 in the lateral direction (X direction), or may be a trapezoid excluding the blind spots of the three-sided frames 17a and 17b. Further, the sizes of the detection area E3 in the vertical direction (Y direction) and the horizontal direction (X direction) may be fixed or dynamically changed according to the opening / closing operation of the car door 13. Is also good.

The detection area E4 is an area for detecting a user or an object approaching the car 11 from the landing 15 (approach detection area), and is set near the entrance / exit of the car 11 of the landing 15.

Specifically, as shown in FIG. 4, the detection area E4 is set with a predetermined distance L2 in the direction of the landing 15 from the entrance / exit of the car 11 (L1> L2). The shape of the detection area E3 may be a rectangle having a size equal to or larger than W0 in the lateral direction (X direction), or may be a trapezoid excluding the blind spots of the three-sided frames 17a and 17b. The detection area E4 may be included in the detection area E3 and may be dynamically changed in conjunction with the detection area E3 according to the opening / closing operation of the car door 13.

Although FIG. 3 shows an example in which the four detection areas E1 to E4 are set on the captured image, the detection areas may be set in more detail. For example, the detection area may be set along the car sill 47. This detection area is used as an area for detecting in advance the pinching between the doors during the door closing operation when the car door 13 is a double door double door type. Further, for example, a detection area may be set in the operation panel 45 in the car 11 shown in FIG. 2, and the state of various buttons on the operation panel 45 may be detected.

The detection area setting unit 22a calculates the three-dimensional coordinates of the captured image based on the design values of each component of the car 11 and the parameter values unique to the camera 12, and determines where and what is reflected on the captured image. Judgment is made and the detection area is set in the place to be detected.

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

Next, the operation of this system will be described in detail.
FIG. 6 is a flowchart showing the entire processing flow in this system.

First, as an initial setting, the detection area setting process is executed by the detection area setting unit 22a of the detection unit 22 provided in the image processing device 20 (step 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 a plurality of detection areas E1 to E4 shown in FIG. 3 on the image captured by the camera 12. As described above, the detection area E1 is used as a "ride condition detection area" and is set in at least the entire area of the floor surface 19, including the front pillars 41a and 41b, the side surfaces 48a and 48b, and the back surface 49 surrounding the car interior. It may be set.

The detection areas E2-1 and E2-2 are used as "door pinch detection areas" and are set on the inner side surfaces 41a-1 and 41b-1 of the front pillars 41a and 41b. The detection area E3 is used as a "landing situation detection area" and is set from the entrance / exit of the car 11 toward the landing 15. The detection area E4 is used as an "approach detection area" and is set near the entrance / exit of the car 11.

The area where the floor surface 19, the front pillars 41a, 41b, the landing 15, and the like are reflected on the captured image is calculated based on the design values of each component of the car 11 and the eigenvalues of the camera 12.

・ Width of the frontage (width of the entrance and exit of the basket)
・ Door height
・ Pillar width
・ Door type (double door / right or left single door)
・ Floor and wall area
・ Camera relative to the frontage (3D)
・ Camera angle (3 axes)
・ Camera angle of view (focal length)
The detection area setting unit 22a calculates an area in which the detection target is reflected on the captured image based on these values. For example, in the case of the front pillars 41a and 41b, the detection area setting unit 22a assumes that the front pillars 41a and 41b stand vertically from both ends of the frontage (doorway), and the relative position / angle of the camera 12 with respect to the frontage. The three-dimensional coordinates of the front columns 41a and 41b are calculated based on the angle of view.

As shown in FIG. 4, for example, markers m1 and m2 are placed at both ends of the inside of the car of the car sill 47, and the three-dimensional coordinates of the front pillars 41a and 41b are based on the positions of the markers m1 and m2. You may ask for. Alternatively, the positions of both ends inside the car of the car sill 47 may be obtained by image processing, and the three-dimensional coordinates of the front columns 41a and 41b may be obtained with reference to the positions.

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 captured image to obtain an area in which the front pillars 41a and 41b are reflected on the captured image, and the detection area is within the region. Set E2-1 and E2-2. Specifically, the detection area setting unit 22a sets the detection areas E2-1 and E2-2 having predetermined widths D1 and D2 along the longitudinal direction of the inner side surfaces 41a-1 and 41b-1 of the front pillars 41a and 41b. do.

The setting process of the detection areas E2-1 and E2-2 may be executed with the car door 13 opened or with the car door 13 closed. When the car door 13 is closed, it is easier to set the detection areas E2-1 and E2-2 because the landing 15 is not reflected in the image taken by the camera 12.

Normally, the width (width in the lateral direction) of the car sill 47 is wider than the thickness of the car door 13. Therefore, even if the car door 13 is fully closed, one end side of the car sill 47 is reflected in the captured image. Therefore, the detection areas E2-1 and E2-2 can be set by specifying the positions of the front pillars 41a and 41b with reference to the position on one end side thereof.

The same applies to the other detection areas E1, E3, and E4. Based on the design values of each component of the car 11 and the eigenvalues of the camera 12, each area in which the detection target is reflected on the captured image is obtained, and these areas are obtained. The detection areas E1, E3, and E4 are set in the area.

Subsequently, the operation of the car 11 during operation will be described.
As shown in FIG. 6, when the car 11 arrives at the landing 15 on an arbitrary floor (Yes in step S12), the elevator control device 30 opens the car door 13 (step S13).

At this time (during the door opening operation of the car door 13), the inside of the car 11 and the landing 15 are photographed at a predetermined frame rate (for example, 30 frames / second) by the camera 12 having an ultra-wide-angle lens. The image processing device 20 acquires images taken by the camera 12 in chronological order, and while sequentially storing these images in the storage unit 21 (step S14), executes the following detection processing in real time (step S14). S15). As pre-processing for the captured image, distortion correction, enlargement / reduction, and partial cropping of the image may be performed.

FIG. 7 shows a flowchart relating to the detection process executed in step S15.
The detection process is executed for each detection area by the detection processing unit 22b of the detection unit 22 provided in the image processing device 20. That is, the detection processing unit 22b extracts the images in the detection areas E1 to E4 from the plurality of captured images obtained by the camera 12 in time series, analyzes these images, and analyzes each of the detection areas E1 to E4. The detection process is performed according to the above.

(A) Detection processing according to the detection area E1 As shown in FIG. 8, the detection processing unit 22b analyzes and processes the image in the detection area E1 set on the floor surface 19 of the car 11, and the car 11 The boarding situation including the boarding position of the user and the number of passengers in the vehicle is detected (step S21).

P1 to P5 in FIG. 8 simulate the image of the user. The boarding position is not an accurate position for each user, but may be detected, for example, on the floor surface 19 of the car 11 where the users are concentrated. Further, regarding the number of passengers, for example, the ratio of the number of passengers to the floor surface 19 of the car 11 may be detected as the degree of congestion in the car, instead of the exact number of passengers.

In this way, by detecting the riding situation using the image in the detection area E1, for example, when the users are concentrated in front of the car door 13, the back of the user in the car 11 is reached. Can be instructed to pack in. Further, when a large number of users are on board and are in a congested situation, it is possible to perform operation control such as suppressing the allocation of the landing call to the car 11.

Further, as shown in FIG. 3, by setting the detection area E1 including the front pillars 41a, 41b, the side surfaces 48a, 48b, and the back surface 49 surrounding the car interior, for example, the user can set the front pillars 41a, 41b. It is possible to detect the riding situation of the user in the car 11 in more detail, such as the situation of being in contact with the car.

As for the method of detecting the user or the object by analyzing the image, for example, in addition to the difference method for comparing the basic image and the captured image, the motion detection that follows the movement of the user or the object in block units. There are methods and so on. As another method, an object other than the elevator structure may be recognized from the image in the detection area, and the existence of the user or the object may be determined based on the recognition result. The method of object recognition may be a generally known one. For example, there are deep learning, SVM (Support Vector Machine), random forest and the like.

(B) Detection processing according to the detection area E2 The detection processing unit 22b analyzes the images in the detection areas E2-1 and E2-2 set on the inner side surfaces 41a-1 and 41b-1 of the front pillars 41a and 41b. The process is performed to detect that the car is pinched by the car door 13 when the door is opened (step S22). The "detection of being pinched by the car door 13" here is to detect in advance that the user is drawn into the door pockets 42a and 42b when the door is opened in the double door type car door 13. .. That is, for example, as shown in FIG. 9, when the user touches the inner side surface 41a-1 of the front pillar 41a at the time of opening the door, the hand is detected before being pulled into the door pocket 42a.

The same applies to the single-sided opening type as shown in FIG.
FIG. 10 is a diagram showing a configuration of a portion around an entrance / exit in a car in which a two-door single-door type car door is used. In this example, a two-door single-door type car door 13 is installed at the entrance / exit of the car 11 so as to be openable and closable. As shown in FIG. 11, the car door 13 has two door panels 13a and 13b, which open and close in the same direction along the frontage direction.

When the car door 13 is a single door type, the door pocket 42a is provided only on one side of the doorway. In the example of FIG. 10, a door bag 42a is provided on the left side of the doorway, and two door panels 13a and 13b are stored in a state of being overlapped in the door bag 42a when the door is opened.

In this case, since the camera 12 has an ultra-wide-angle lens and can take a wide range of images, it is not necessary to keep the camera 12 close to the door pocket 42a side, and it may be installed at the center of the doorway. The detection area E2-1 is set for the front pillar 41a on the door pocket 42a side on the image taken by the camera 12. Thereby, 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 E2-1.

If the detection area E2-2 is also set for the other front pillar 41b in FIG. 10, it is possible to prevent an accident (door hit accident) in which the side end of the car door 13 hits when the door is closed. Can be done.

(C) Detection processing according to the detection area E3 As shown in FIG. 12, the detection processing unit 22b analyzes the image in the detection area E3 set around the landing 15 and analyzes the image of the user in the landing 15. The landing situation including the waiting position, the number of people waiting, etc. is detected (step S23).

P1 to P4 in FIG. 12 simulate the image of the user. As for the waiting position, it may be possible to detect not the exact position of each user but the place where the users are concentrated. Further, regarding the number of waiting people, for example, the ratio of the user to the floor surface 19 of the car 11 in the detection area E3 may be detected as the congestion degree of the landing 15 instead of the accurate number of people.

In this way, by detecting the landing situation using the image in the detection area E3, for example, when a large number of users are waiting at the landing 15, a car can be used to get as many users as possible. It is possible to give guidance to the users in 11 so that they can be packed in the back.

(D) Detection processing according to the detection area E4 The detection processing unit 22b analyzes and processes the image in the detection area E4 set near the entrance / exit of the car 11 of the landing 15, and the car from the landing 15 when the door is opened. Detecting a user or an object approaching 11 (step S24).

Specifically, the detection processing unit 22b compares the images in the detection area E4 in block units for each image obtained from the camera 12 in chronological order, so that the direction from the center of the car door 13 to the landing 15, that is, the Y axis. Detects the movement of the user's foot position while moving in the direction.

This situation is shown in FIG.
FIG. 13 is a diagram for explaining motion detection by image comparison. FIG. 13 (a) schematically shows a part of an image taken at time t _n , and FIG. 13 (b) schematically shows a part of an image taken at time t _{n + 1} . P1 and P2 in the figure are image portions of the user detected as having motion on the captured image, and are actually a collection of blocks detected as having motion by image comparison.

The block Bx with movement closest to the car door 13 is extracted from the image portions P1 and P2, and the presence or absence of the intention to board is determined by following the Y coordinate of the block Bx. In this case, if an equidistant line (horizontal line at equal intervals parallel to the car door 13) as shown by a dotted line in the Y-axis direction is drawn, the distance between the block Bx and the car door 13 in the Y-axis direction can be known.

In the example of FIG. 13, the detection position of the moving block Bx closest to the car door 13 changes from y _n to y _n-1 , and a user who has an intention to get on the car may approach the car door 13. Recognize.

In addition, for example, a process for detecting the movement trajectory of the user and the attributes of the user (wheelchair, stroller, elderly person, etc.) may be added to each detection area.

Returning to FIG. 6, when the detection processes are executed for each detection area, the results of these detection processes are output from the image processing device 20 to the elevator control device 30 (step S16). By receiving the detection result for each detection area, the elevator control device 30 executes the corresponding processing according to each detection result (step S17).

The corresponding processing executed in step S17 is different for each detection area. For example, in the case of the detection area E1, the processing is performed according to the riding condition in the car 11. Specifically, for example, when the users are concentrated in front of the car door 13, the elevator control device 30 instructs the users in the car 11 to pack in the back through the notification unit 33. And so on. Further, when a large number of users are on board and are in a congested state, the elevator control device 30 performs operation control such as suppressing the allocation of a landing call to the car 11 through the operation control unit 31.

As an example, a response process when a user or an object is detected in the detection areas E2-1 and E2-2 will be described with reference to FIG.

During the door opening operation of the car door 13, the presence of a user or an object is detected in the detection areas E2-1 and E2-2 set on the inner side surfaces 41a-1 and 41b-1 of the front pillars 41a and 41b. (Yes in step S31), the door opening / closing control unit 32 of the elevator control device 30 temporarily stops the door opening operation of the car door 13, and after a few seconds, resumes the door opening operation from the stopped position (step S32). 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 reverse direction (door closing direction) and then the door opening operation may be restarted.

Further, the notification unit 33 of the elevator control device 30 makes a voice announcement through the speaker 46 in the car 11 to alert the user to move away from the door pockets 42a and 42b (step S33). The notification method is not limited to voice announcements, but it may be possible to display a message such as "Because it is dangerous near the door pocket, please leave immediately.", Or use voice announcements and message display together. But it's okay. Further, a warning sound may be sounded.

The above process is repeated while the presence of a user or an object is detected in the detection areas E2-1 and E2-2. As a result, 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.

If the presence of a user or an object is not detected in the detection areas E2-1 and E2-2 (No in step S31), the elevator control device 30 closes the car door 13 after all the doors are opened. After the door is closed, the car 11 is departed toward the destination floor (step S34).

Even if the presence of a user or an object is not detected in the detection areas E2-1 and E2-2, for example, if the approach of the user is detected in the detection area E4, the elevator control device 30 is a user. Until the vehicle gets into the car 11, the door is maintained in the open state, or the door opening speed of the car door 13 is slowed down more than usual. That is, the elevator control device 30 performs corresponding processing according to each detection result based on the detection results obtained in each of the detection areas E1 to E4.

Further, when the car 11 stops at the landing 15 on each floor, the movement of the user is tracked in the detection areas E3 and E4, so that the number of users (number of passengers) who get on the car 11 for each floor can be determined. The number of people getting off from the car 11 (number of people getting off) can be detected, and the detection result can be reflected in the operation control of the car 11.

In the flowchart of FIG. 6, the case where the detection process is performed for each area during the door opening operation of the car 11 has been described, but the same applies even during the door closing operation of the car 11. That is, the detection process is performed for each of the detection areas E1 to E4 during the door closing operation, and the corresponding process is executed according to the detection result. Thereby, for example, when the user is detected in the detection area E3 while the car door 13 is about to be closed, the car door 13 can be reopened and the user can get on the car.

Further, it can be applied even during the raising / lowering operation (moving) of the car 11. In this case, the detection areas E1 and E2 set in the car 11 are the detection targets, and the detection process is performed for each of these areas while the car 11 is moving up and down (moving), and the response according to the detection result is performed. All you have to do is execute the process.

Further, it can be applied even when the operation of the car 11 is stopped for some reason. In this case as well, the detection areas E1 and E2 set in the car 11 are the detection targets. For example, when the car 11 is in an emergency stop with the door closed due to an earthquake, the number of passengers and the like are detected from the image in the detection area E1 set on the floor surface 19 of the car 11 and shown in the figure. If you notify the monitoring center that cannot be shown, you can quickly respond to the accident of confinement in the car.

As described above, according to the present embodiment, a camera having an ultra-wide-angle lens is used, a plurality of detection areas are set on the captured image of the camera, and a plurality of cameras are provided by a configuration in which different detection processes are performed for each. Multiple detection functions can be realized with only one camera without the need. This makes it possible to improve the safety and convenience of the elevator with an inexpensive and simple configuration.

(Application example)
Although the above embodiment has been described by taking one car as an example, it can also be applied to a group management system of an elevator having a plurality of cars.

FIG. 15 is a diagram showing a configuration of an elevator group management system, and shows a configuration in which a plurality of cars (here, four of Units A to D) are group-managed.

Similar to the car 11 shown in FIG. 1, cameras 12a to 12d having an ultra-wide-angle lens such as a fisheye lens are installed in the car cars 51a to 51d of each unit. The camera 12a photographs the inside of the car 51a and at the time of opening the door, the landing near the entrance / exit of the car 51a is photographed, and the photographed image is sent to the image processing device 20a. The same applies to the cameras 12b to 12d, in which the inside of the car 51b to 51d is photographed and the landing near the entrance and exit of the car 51b to 51d is photographed when the door is opened, and the captured image is taken as an image processing device 20b to 20d. Send to.

Similar to the image processing device 20 shown in FIG. 1, the image processing devices 20a to 20d have a function of setting a plurality of detection areas on the captured image and executing detection processing for each of these detection areas.

Here, the elevator control devices 30a to 30d of each unit perform door opening / closing control based on the detection results for each area obtained from the image processing devices 20a to 20d, respectively, but the group management control device 50 which is a higher-level device is further controlled. In, for example, the following control may be performed.

(1) Allocation control for landing calls When a new landing call occurs, the number of passengers (congestion level) output as a detection result from the image processing devices 20a to 20d is used to determine the number of passengers in the cars 51a to 51d. Allocate the landing call to a relatively empty car.

(2) Pausing of the car The operation of the car in which some abnormality has occurred is controlled to be suspended according to the situation of the car output as a detection result from the image processing devices 20a to 20d.

(3) Standby for a car on a specific floor Based on the presence or absence of a user output as a detection result from the image processing devices 20a to 20d, the car on which the user is not on the vehicle is made to stand by on the specific floor. The specific floor includes a reference floor where users frequently board.

According to at least one embodiment described above, it is possible to provide an elevator user detection system capable of realizing a plurality of detection functions with one camera.

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

11 ... Car 51a ... Curtain board, 12 ... Camera, 13 ... Car door, 14 ... Landing door, 15 ... Landing, 16 ... Landing floor, 17a, 17b ... Three-sided frame, 18 ... Landing sill, 19 ... Cargo Floor surface, 20 ... image processing device, 21 ... storage unit, 22 ... detection unit, 22a ... detection area setting unit, 22b ... detection processing unit, 30 ... elevator control device, 31 ... operation control unit, 32 ... door opening / closing control Unit, 33 ... Notification unit, 41a, 41b ... Front pillar, 41a-1, 41b-1 ... Inner side surface of front pillar, 42a, 42b ... Door pocket, 43 ... Display, 44 ... Destination floor button, 45 ... Operation panel, 46 ... Speaker, 47 ... Basket sill, 48a, 48b ... Side, 49 ... Back, 50 ... Group management control device, E1 to E4 ... Detection area.

Claims (8)

An imaging means that is installed in the car, has an ultra-wide-angle lens, and can photograph the inside of the car and the landing near the entrance and exit of the car .
A detection area setting means for setting at least two or more detection areas in the car and the landing on the image taken by the image pickup means so as not to overlap the car and the landing .
A detection processing means that analyzes an image in the detection area for each detection area set by the detection area setting means and executes a detection process related to the driving operation of the car.
Based on the detection result of this detection processing means, different response processing is executed for each detection area, and as the response processing, at least the control means including the operation control of the car and the opening / closing control of the door of the car are provided. Elevator user detection system characterized by being equipped. The elevator according to claim 1, wherein the detection process related to the driving operation of the car includes a detection process of a user or an object during the door opening operation or the door closing operation of the car. User detection system. The user detection system for an elevator according to claim 1, wherein the detection process related to the driving operation of the car includes a detection process for a user or an object during the raising / lowering operation of the car. The user detection system for an elevator according to claim 1, wherein the detection process related to the driving operation of the car includes a detection process for a user or an object while the car is stopped. The above detection area setting means is
At least, a first detection area is set on the floor of the car and a second detection area is set near the door of the car.
The above detection processing means
Based on the image of the first detection area, the riding status of the user in the car is detected.
Use of the elevator according to any one of claims 1 to 4 , wherein the user is caught in the door of the car in advance based on the image of the second detection area. Person detection system. The above detection area setting means is
At least, a third detection area is set in the landing around the entrance and exit of the car, and a fourth detection area is set in the vicinity of the entrance and exit of the car in the landing.
The above detection processing means
Based on the image of the third detection area, the waiting status of the user at the landing is detected.
The user detection system for an elevator according to claim 1 or 2 , wherein the user who approaches the entrance / exit of the car is detected based on the image of the fourth detection area. The image pickup means
The elevator user detection system according to claim 1, wherein the elevator is installed above the entrance / exit of the car. The user detection system for an elevator according to claim 1, wherein the response process includes a notification process for calling attention to the user in the car.

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