JP7423735B1 - elevator system - Google Patents

Abstract

An object of the present invention is to accurately detect a string present near the entrance/exit of a car using a camera and a multi-optical axis sensor without requiring a detection member or complicated processing. An elevator system according to one embodiment includes a multi-optical axis sensor, a camera, a motion detection means, and a string detection means. The multi-optical axis sensor is installed at the entrance/exit of the car and optically detects passage of an object. The camera is installed inside the car, and photographs the landing area near the entrance from inside the car. The motion detection means detects a motion of a string connected to the object within a detection area set near the entrance on a photographed image obtained by the camera. The string detection means determines that the string is present near the entrance when there is continuity between the passage detection of the object by the multi-optical axis sensor and the movement detection of the string by the motion detection means. do. [Selection diagram] Figure 1

Description

Embodiments of the invention relate to elevator systems.

When a user's pet (such as a dog) gets into an elevator car, the leash attached to the pet remains at the doorway of the car, causing an accident where the pet gets caught in the door when the door is closed. There is. The same thing happens when a pet gets out of the car, and the string connected to the pet may get caught in the door when the door is closed.

Here, as a method of detecting foreign objects present at the entrance/exit of a car, there is a method of using a camera. However, if the object to be detected is long and thin, such as a pet string, it is difficult to detect it on the camera image, so it is difficult to detect it on the camera image. Is required.

Another method is to use a multi-optical axis sensor installed at the entrance/exit of the car. However, the height of the pet's leash when it passes through the doorway is lower than the installation position of the multi-beam sensor, and the thickness of the leash is often smaller than the distance between the multi-beam sensors. Optical axis sensors cannot accurately detect pet leashes. For this reason, for example, it is possible to analyze the signal patterns when a string is detected by a multi-optical axis sensor and when a person is detected, or by installing guide members on both sides of the entrance and exit to create a border between the landing and the car. It is necessary to take measures such as guiding the straddling string to the detection position of the multi-optical axis sensor.

Patent No. 4204896 Patent No. 5069672 Patent No. 5698628 Patent No. 6949225

As mentioned above, regardless of the method using a camera or the method using a multi-optical axis sensor, in order to accurately detect the string near the entrance/exit of the car, it is necessary to use detection components, door control, signal analysis, etc. Requires complicated processing.

The problem to be solved by the present invention is to accurately detect a string near the entrance/exit of a car using a camera and a multi-optical axis sensor without requiring detection members or complicated processing. The goal is to provide an elevator system that can.

An elevator system according to one embodiment includes a multi-optical axis sensor, a camera, a motion detection means, and a string detection means. The multi-optical axis sensor is installed at the entrance/exit of the car and optically detects passage of an object. The camera is installed inside the car, and photographs the landing area near the entrance from inside the car. The motion detection means detects a motion of a string connected to the object within a detection area set near the entrance on a photographed image obtained by the camera. The string detection means determines that the string is present near the entrance when there is continuity between the passage detection of the object by the multi-optical axis sensor and the movement detection of the string by the motion detection means. do.

FIG. 1 is a diagram showing the configuration of an elevator system according to an embodiment. FIG. 2 is a diagram showing a state in which the image of the detection area according to the same embodiment is divided into predetermined block units in a matrix shape. FIG. 3 is a diagram showing the configuration of the area around the entrance and exit in the car according to the same embodiment. FIG. 4 is a diagram showing an example of an image taken by the camera according to the embodiment. FIG. 5 is a flowchart showing the flow of processing when all doors are open in the same embodiment. FIG. 6 is a flowchart showing the flow of processing during door closing operation in the same embodiment. FIG. 7 is a diagram showing when the pet approaches the entrance/exit of the cage when the pet gets into the cage alone. FIG. 8 is a diagram showing when the pet moves into the cage when the pet gets into the cage alone. FIG. 9 is a diagram showing a state in which the pet approaches the doorway of the car when the pet leaves the car alone. FIG. 10 is a diagram showing a state in which the pet moves to the boarding area when the pet leaves the cage alone. FIG. 11 is a diagram showing when the pet approaches the entrance/exit of the car in the case where the pet gets into the car before the user. FIG. 12 is a diagram showing a case where the pet has moved into the cage in the case where the pet gets into the cage before the user. FIG. 13 is a diagram showing a case where the pet gets into the car before the user and the user approaches the entrance/exit. FIG. 14 is a diagram illustrating a case where the pet enters the car after the user and the user approaches the entrance/exit of the car. FIG. 15 is a diagram showing a case where the user moves into the cage when the pet gets into the cage after the user. FIG. 16 is a diagram showing when the pet approaches the entrance/exit of the car when the pet enters the car after the user. FIG. 17 is a diagram showing when the pet approaches the doorway of the car in the case where the pet leaves the car before the user. FIG. 18 is a diagram showing a case where the pet moves to the boarding area in the case where the pet leaves the car before the user. FIG. 19 is a diagram showing a case where the pet leaves the cage before the user and the user approaches the entrance/exit. FIG. 20 is a diagram illustrating a time when the user approaches the doorway when the pet leaves the cage after the user. FIG. 21 is a diagram showing a case where the pet leaves the cage after the user and the user moves to the landing area. FIG. 22 is a diagram showing when the pet approaches the entrance/exit of the car when the pet leaves the car after the user. FIG. 23 is a diagram showing a state in which a user's movement is detected within the detection area of the same embodiment. FIG. 24 is a diagram showing a state in which movement of the string is detected within the detection area of the same embodiment. FIG. 25 is a diagram showing immediately after the pet passes through the entrance and exit of the car and enters the car in the first modification of the embodiment. FIG. 26 is a diagram showing a case where the pet moves to the back of the cage in the first modification of the embodiment. FIG. 27 is a diagram showing a first modification of the embodiment when the string is accommodated in the car. FIG. 28 is a diagram showing a case where the passage of a pet is detected by the multi-optical axis sensor in the second modification of the embodiment. FIG. 29 is a diagram showing a case where the passage of a user is detected by the multi-optical axis sensor in the second modification of the embodiment.

Each embodiment will be described below with reference to the drawings.
Note that the disclosure is merely an example, and the invention is not limited to the content described in the embodiments below. Modifications that can be easily conceived by those skilled in the art are naturally included within the scope of the disclosure. In order to make the explanation more clear, in the drawings, the size, shape, etc. of each part may be changed from the actual embodiment and shown schematically. In some drawings, corresponding elements are designated by the same reference numerals, and detailed description thereof may be omitted.

FIG. 1 is a diagram showing the configuration of an elevator string detection system according to an embodiment. Note that although one car will be described as an example here, the configuration is the same for a plurality of cars.

A camera 12 is installed above the entrance/exit of the car 11. Specifically, the camera 12 is installed in a curtain plate 11a that covers the upper part of the entrance/exit of the car 11 with the lens portion tilted directly downward, or by a predetermined angle toward the landing 15 side or inside the car 11. .

The camera 12 is installed inside the car 11 and photographs the landing area 15 near the entrance and exit from inside the car 11. The camera 12 is, for example, a small surveillance camera such as a car-mounted camera, has a wide-angle lens or a fisheye lens, and is capable of continuously capturing images at several frames per second (for example, 30 frames/second). The camera 12 is activated when the car 11 arrives at the landing 15 on each floor, and photographs a predetermined range L including the vicinity of the car door 13.

At the landing 15 on each floor, a landing door 14 is installed at the arrival gate of the car 11 so as to be openable and closable. The landing door 14 engages with the car door 13 to open and close when the car 11 arrives. Note that the power source (door motor) is located 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 landing door 14 is also open, and when the car door 13 is closed, the landing door 14 is also open. Furthermore, in the following description, the term "door" includes both the car door 13 and the landing door 14. In the following description, it is assumed that the car door 13 and the landing door 14 are two-door double doors, but the car door 13 and the landing door 14 are not limited to this. For example, it may be a two-panel door that opens on one side, etc.).

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 shown removed from the car 11 for convenience, but in reality, the image processing device 20 is housed together with the camera 12 in the curtain plate 11a.

The multi-optical axis sensor 16 is installed at the entrance/exit of the car 11 and optically detects passage of an object. Note that in the following description, "objects" refer to elevator users and pets.

The multi-optical axis sensor 16 includes a plurality of light projectors 16a and a plurality of light receivers 16b arranged at regular intervals along the tips (doorstops) of left and right door panels 13a, 13b constituting the car door 13 ( (See Figure 4). The plurality of light projectors 16a and the plurality of light receivers 16b are provided facing each other. The multi-optical axis sensor 16 detects objects passing through the entrance and exit of the car 11 based on changes in the amount of light (infrared rays, etc.) emitted from each projector 16a and received by each receiver 16b (passage detection). ).

Here, normally, the arrangement interval between each light emitter 16a and each light receiver 16b constituting the multi-optical axis sensor 16 is, for example, 65 mm. Furthermore, there is a gap (dead zone) of, for example, 30 mm between the installation positions of the lowermost light projector 16a and light receiver 16b and the floor surface. For this reason, for example, if a string tied to a pet is present at the entrance/exit of the car 11 (that is, if the pet string straddles the border between the landing 15 and the car 11), the multi-optical axis sensor 16, there is a high possibility that the string cannot be detected.

The image processing device 20 includes a storage section 21 and a detection section 22. The storage unit 21 sequentially stores images taken by the camera 12 and has a buffer area for temporarily storing data necessary for processing by the detection unit 22. The storage unit 21 includes an image storage unit 21a and a flag storage unit 21b. Note that the elevator control device 30 may have some or all of the functions of the image processing device 20.

The image storage unit 21a sequentially stores images taken by the camera 12. Note that the image storage unit 21a may store images that have been subjected to processing such as distortion correction, enlargement/reduction, and partial cropping as preprocessing for the photographed images.

A flag A and a flag B are stored in the flag storage section 21b. The flag A is information indicating the state of detection of the passage of an object by the multi-optical axis sensor 16, and when turned ON, indicates that the multi-optical axis sensor 16 has detected the passage of an object. The flag B is information indicating the detection state of the movement of an object within the detection area set on the captured image of the camera 12, and indicates that the movement of the object has been detected within the detection area when turned ON. Details of flag A and flag B will be described later in the explanation of the flowcharts of FIGS. 5 and 6.

The detection unit 22 uses the camera 12 and the multi-optical axis sensor 16 to detect a string present near the entrance/exit of the car 11. The detection section 22 is functionally divided into a detection area setting section 23, a motion detection section 24, a string detection section 25, a first timer 26, and a second timer 27.

The detection area setting unit 23 sets a detection area near the entrance and exit of the car 11 on the image taken by the camera 12. Specifically, the detection area setting unit 23 sets a first detection area E1 on the floor near the entrance of the car 11, a second detection area E2 on the sills 47 and 18, and a second detection area E2 on the floor near the entrance of the landing 15. 3. Set detection area E3 (see FIG. 4). Note that the sill is a member for guiding the opening/closing operation of the door, and is provided on the movement route. Furthermore, in the following description, the first detection area E1, the second detection area E2, and the third detection area E3 may be collectively referred to as a "detection area."

The motion detection unit 24 detects the movement of an object and a string connected to the object within a detection area set near the entrance of the car 11 based on a photographed image obtained by the camera 12. More specifically, the motion detection unit 24 detects the movement of the object and the string connected to the object in each of the first detection area E1, the second detection area E2, and the third detection area E3. "Strings connected to objects" specifically refers to "strings connected to pets."

The motion detection process by the motion detection section 24 will be explained in detail using FIG. 2. As shown in FIG. 2, the motion detection unit 24 divides the image of the detection area into predetermined block units in a matrix shape, and detects a moving block among these blocks.

Specifically, the motion detection unit 24 reads each image held in the image storage unit 21a one by one in chronological order, and calculates the average luminance value of these images for each block. At this time, it is assumed that the average luminance value for each block calculated when the first image is input is held as an initial value in a buffer area (not shown) in the storage unit 21.

When the second and subsequent images are sent, the motion detection unit 24 compares the average brightness value of each current image block with the average brightness value of each block of the previous image held in the buffer area. . As a result, if there is a block in the current image that has a luminance difference greater than or equal to a preset value (threshold), the motion detection unit 24 determines the block as a block with motion. After determining the presence or absence of movement in the current image, the motion detection unit 24 retains the average luminance value of each block of the image in the buffer area for comparison with the next image. Thereafter, similarly, the motion detection unit 24 repeatedly compares the luminance values of each image block by block in chronological order to determine the presence or absence of motion.

The motion detection unit 24 determines the presence or absence of movement as described above in each of the first detection area E1, the second detection area E2, and the third detection area E3.

The string detection unit 25 determines that a string exists near the entrance/exit of the car 11 when there is continuity between the passage detection of the object by the multi-optical axis sensor 16 and the movement detection of the string by the motion detection unit 24. do. “When there is continuity between the detection of the passage of an object and the detection of the movement of the string” means that after the passage of the object is detected by the multi-optical axis sensor 16, the motion detection unit 24 detects the string within the detection area for a certain period of time. A state in which the movement of a person is detected continuously. For example, when the "object" is a pet, after the passage of the pet is detected by the multi-optical axis sensor 16 at the entrance/exit of the car 11, the detection areas (first detection area E1, second detection area E2, If the movement of the string is detected in the third detection area E3), it can be determined that the string is near the entrance and exit and straddles the boundary between the landing area 15 and the car 11.

The first timer 26 counts a certain period of time T1. The fixed time T1 is set as the time from when the car door 13 is fully opened by the door opening/closing control unit 31 until the door starts closing. When the passage of an object is detected by the multi-optical axis sensor 16, the first timer 26 resets the count of the fixed time T1. The second timer 27 counts a certain period of time T2. The fixed time T2 is set as a time period for the motion detection unit 24 to perform motion detection processing after the passage of an object is detected by the multi-optical axis sensor 16. The fixed time T2 is shorter than the fixed time T1 (T2<T1).

The elevator control device 30 controls the operation of various devices installed in the car 11 (destination floor buttons, lights, etc.). The elevator control device 30 includes a door opening/closing control section 31 and a notification section 32.
The door opening/closing control unit 31 controls opening/closing of the car door 13 when the car 11 arrives at the landing 15. Specifically, the door opening/closing control unit 31 fully opens the car door 13 when the car 11 arrives at the landing 15. When the first timer 26 finishes counting, the door opening/closing control unit 31 starts closing the car door 13. Here, the door opening/closing control section 31 maintains the door open state while the string detection section 25 detects a string at the entrance/exit of the car 11 while the car door 13 is fully open or closed. The notification section 32 calls attention while the string detection section 25 detects a string at the entrance/exit of the car 11.

FIG. 3 is a diagram showing the configuration of the area around the entrance and exit in the car 11. As shown in FIG. A car door 13 is provided at the entrance of the car 11 so as to be openable and closable. In the example shown in FIG. 3, two door panels 13a and 13b constituting the car door 13 open and close in opposite directions along the frontage direction (horizontal direction). Note that the "frontage" is the same as the entrance and exit of the car 11.

Front pillars 41a and 41b are provided on both sides of the entrance/exit of the car 11, and surround the entrance/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 pocket 42a provided on the back side of the front pillar 41a, and the other door panel 13b is stored in a door pocket 42b provided on the back side of the front pillar 41b. .

A display 43, an operation panel 45 on which a destination floor button 44, etc. are arranged, and a speaker 46 are installed on one or both of the front pillars 41a and 41b. In the example of FIG. 3, a speaker 46 is installed on the front pillar 41a, and a display 43 and an operation panel 45 are installed on the front pillar 41b.

Here, a camera 12 is installed in the center of the curtain plate 11a above the entrance/exit of the car 11. The camera 12 is installed downward from the bottom of the curtain plate 11a so that it can take pictures of the vicinity of the entrance and exit of the car 11 when the car door 13 opens together with the landing door 14 (see FIG. 4). Ru.

FIG. 4 is a diagram showing an example of an image taken by the camera 12. FIG. 4 is a photograph taken downward from the top of the doorway of the car 11 with the car door 13 (door panels 13a, 13b) equipped with a light emitter 16a and a light receiver 16b and the landing door 14 (door panels 14a, 14b) fully open. It shows the case. In FIG. 4, the upper side shows the hall 15, and the lower side shows the inside of the car 11.

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

Here, a rectangular first detection area E1 is set on the floor near the entrance of the hall 15. The width of the first detection area E1 in the X-axis direction is approximately the same as the hall sill 18. The width of the first detection area in the Y-axis direction is set to, for example, 1 m. Further, a rectangular second detection area E2 is set so as to surround both the car sill 47 and the landing sill 18. Furthermore, a rectangular third detection area E3 is set on the floor near the entrance and exit of the car 11. The width of the third detection area E3 in the X-axis direction is approximately the same as that of the car sill 47. The width of the third detection area E3 in the Y-axis direction is set to, for example, 100 mm.

Below, the operation of this system will be explained separately into (a) processing when all doors are open, and (b) processing when doors are closed.
(a) Processing when all doors are open FIG. 5 is a flowchart showing the flow of processing when all doors are open in this system.
When the car 11 arrives at the landing 15 on an arbitrary floor and the car doors 13 are fully opened (step S11), the first timer 26 starts counting a certain period of time T1 (step S12). As described above, the fixed time T1 is the time from when the car door 13 is fully opened to when the door closes. Until the counting of this fixed time T1 ends, the presence or absence of an object passing through the entrance/exit of the car 11 is detected by the multi-optical axis sensor 16 (NO in step S13→step S14).

If the passage of an object is detected before the constant time T1 count ends (YES in step S14), the first timer 26 is reset and the time until the door closing operation is started is postponed. (Step S15). At this time, flag A stored in the flag storage section 21b is set to ON (step S16).

Next, with the flag B stored in the flag storage section 21b turned off (step S17), the second timer 27 starts counting a certain period of time T2 (step S18). Until the second timer 27 finishes counting the predetermined time T2, the motion detection section 24 executes motion detection processing (step S19).

If the movement of the object or the string connected to the object is simultaneously detected in each of the first detection area E1, second detection area E2, and third detection area E3 by the motion detection process (YES in step S20), flag B is set. is set to ON (step S23). Thereafter, the processes from steps S13 to S23 are repeated until the first timer 26 finishes counting.

On the other hand, if the motion detection process does not simultaneously detect the movement of the object or the string connected to the object in any of the first detection area E1, second detection area E2, and third detection area E3 (NO in step S20). ), the motion detection unit 24 determines whether or not the second timer 27 has finished counting the predetermined time T2 (that is, whether or not it has timed out) (step S21).

If the counting of the predetermined time T2 has not been completed (NO in step S21), the motion detection unit 24 repeats the motion detection process. When the counting of the predetermined time T2 ends (YES in step S21), flag A is set to OFF (step S22). Thereafter, the processes from steps S13 to S23 are repeated until the first timer 26 finishes counting.

When the first timer 26 finishes counting (YES in step S13), the string detection unit 25 checks the states of flag A and flag B (step S24). If flag A and flag B are both ON (YES in step S24), the string detection unit 25 determines that a string exists near the entrance of the car 11 (step S25).

For example, if the object detected by the multi-optical axis sensor 16 is a pet and a string is connected to the pet, the motion detection unit 24 detects the first detection area E1, the second detection area E2, The movement of the pet or the string is simultaneously detected in each of the third detection areas E3. In this case, flag A is turned ON in step S16, and flag B is also turned ON in step S22.

In other words, if there is continuity between the detection of the passage of the pet and the detection of the movement of the string, flag A and flag B are both turned on, and the string connected to the object straddles the boundary between the landing area 15 and the car 11, It can be determined that it exists near the entrance/exit of the car 11.

On the other hand, for example, if the object detected by the multi-optical axis sensor 16 is a single user without a pet, the motion detection unit 24 detects the first detection area E1, the second detection area It is unlikely that the movement of the user will be detected simultaneously in each of the area E2 and the third detection area E3. In this case, flag A is temporarily set to ON in step S16, but flag A is set to OFF again in step S22.

When the string detection section 25 determines that a string exists near the entrance/exit, the door opening/closing control section 31 maintains the door open state. Specifically, the processes from step S12 to step S26 are repeated. At this time, an announcement or a buzzer sound may be emitted through the speaker 46 in the car 11 to alert surrounding users. This announcement or buzzer sound continues while the string is detected near the entrance/exit of the car 11. Further, for example, a building monitoring room or an elevator monitoring center may be notified that the string has been detected near the entrance of the car 11. At this time, an image taken by the camera 12 may be transmitted. This makes it possible to visually monitor the situation near the entrance and exit of the car 11, and if the string remains forever, measures can be taken, such as temporarily stopping the operation of the car 11 and sending a manager. can.

When at least one of flag A and flag B is OFF (NO in step S24), the closing operation of the car door 13 is started, and a door closing operation process is performed (step S26).

(b) Processing during door closing operation FIG. 6 is a flowchart showing the flow of processing during door closing operation in this system. Even during the door closing operation, the string detection process is performed in the same way as in FIG. In the following description, detailed description of processes similar to those in FIG. 5 will be omitted.

After the door closing operation of the car door 13 is started (step S31) until the door is completely closed, the presence or absence of an object passing through the entrance of the car 11 is detected by the multi-optical axis sensor 16 (step S32). NO→Step S33).

If the passage of an object is detected before all the doors are closed (YES in step S33), the car door 13 that is in the closing operation is opened (re-opened) (step S34). Thereafter, the closing operation of the car door 13 is started again. At this time, flag A stored in the flag storage section 21b is set to ON (step S35).

Next, with the flag B stored in the flag storage section 21b turned off (step S36), the second timer 27 starts counting a certain period of time T2 (step S37). Until the second timer 27 finishes counting the predetermined time T2, the motion detection section 24 executes motion detection processing (step S38).

If the motion detection process simultaneously detects the movement of the object or the string connected to the object in each of the first detection area E1, second detection area E2, and third detection area E3 (YES in step S39), flag B is set. is set to ON (step S42). On the other hand, if the motion detection process does not detect the movement of the object or the string connected to the object in any of the first detection area E1, second detection area E2, and third detection area E3 (NO in step S39) The motion detection unit 24 determines whether or not the second timer 27 has finished counting the predetermined time T2 (that is, whether or not it has timed out) (step S40).

If the counting of the predetermined time T2 has not been completed (NO in step S40), the motion detection unit 24 repeats the motion detection process. When the counting of the predetermined time T2 ends (YES in step S40), flag A is set to OFF (step S41).

After the processing in step S41 or step S42, the string detection unit 25 checks the states of flag A and flag B (step S43). If flag A and flag B are both ON (YES in step S43), the string detection unit 25 determines that a string exists near the entrance of the car 11 (step S44). Thereafter, the car doors 13 are fully opened, and the all-doors-open process shown in FIG. 5 is started again (step S45).

If at least one of flag A and flag B is OFF (NO in step S43), the door-opening process ends. In other words, the door closing operation continues, and the car door 13 is completely closed.

Here, the above-mentioned processing will be explained using a specific example. 7 to 22 are plan views showing the door opening/closing direction as the X axis and the direction orthogonal to the door opening/closing direction as the Y axis. The following description will be made in conjunction with the processing procedure shown in the flowchart shown in FIG.

・When a pet enters cage 11 alone
7 and 8 show a state in which the pet p is separated from its owner (user) and gets into the car 11 from the landing 15. A string l having a certain length is connected to the pet p. With the car door 13 fully open, the first timer 26 starts counting a certain period of time T1 (steps S11 to S13).

As shown in FIG. 7, when the pet p approaches the entrance/exit of the car 11, the passage of the pet p is detected as the passage of an object by the multi-optical axis sensor 16 (emitter 16a and receiver 16b) (step YES in S14). When the passage of the object is detected, the count of the fixed time T1 is cleared, the time until the door closing operation is started is extended, and the flag A is set to ON (steps S15 to S17). .

Subsequently, motion detection processing is performed until the second timer 27 finishes counting the predetermined time T2 (steps S18 to S20). In the state of FIG. 7, the movements of the pet p and the leash l are detected in the first detection area E1 to the second detection area E2, but not in the third detection area E3.

As shown in FIG. 8, when the pet p moves into the cage 11 until the second timer 27 finishes counting, the first detection area E1, the second detection area E2, and the third detection area E3 In each case, the movement of the string I is detected simultaneously (YES in step S20). Since the movement of the string I is simultaneously detected in each of the detection areas E1, E2, and E3, the flag B is set to ON (step S23).

When the first timer 26 finishes counting and starts closing the door (YES in step S13), if flag A and flag B are both ON (YES in step S24), the entrance/exit of the car 11 is It is determined that the string l exists nearby (step S25).

・If your pet leaves cage 11 alone
9 and 10 show a state in which the pet p leaves the owner (user) and goes out from the cage 11 to the landing 15. A string l having a certain length is connected to the pet p. With the car door 13 fully open, the first timer 26 starts counting a certain period of time T1 (steps S11 to S13).

As shown in FIG. 9, when the pet p approaches the entrance/exit of the car 11, the passage of the pet p is detected as the passage of an object by the multi-optical axis sensor 16 (emitter 16a and receiver 16b) (step YES in S14). When the passage of the pet p is detected, the count of the fixed time T1 is cleared, the time until the door closing operation is started is extended, and the flag A is set to ON (steps S15 to S17). ).

Subsequently, motion detection processing is performed until the second timer 27 finishes counting the predetermined time T2 (steps S18 to S20). In the state of FIG. 9, the movement of the pet p or the leash l is detected in the second detection area E2 to the third detection area E3, but not in the first detection area E1.

As shown in FIG. 10, when the pet p moves to the landing area 15 before the count of the second timer 27 is finished, each of the first detection area E1, the second detection area E2, and the third detection area E3 , and the movements of the string l are simultaneously detected (YES in step S20). Since the movement of the string I is simultaneously detected in each of the detection areas E1, E2, and E3, the flag B is set to ON (step S23).

When the first timer 26 finishes counting and starts closing the door (YES in step S13), if flag A and flag B are both ON (YES in step S24), the entrance/exit of the car 11 is It is determined that the string l exists nearby (step S25).

・When a pet gets into cage 11 with the user
In the following, (Example 1) the case where the pet gets into the car 11 before the user and (Example 2) the case where the pet gets into the car 11 after the user will be explained separately.

(Example 1) When the pet gets into the cage 11 before the user
11 to 13 show a state in which the pet p gets into the cage 11 before the user u. A string l having a certain length is connected to the pet p, and the user u is holding the string l. With the car door 13 fully open, the first timer 26 starts counting a certain period of time T1 (steps S11 to S13).

As shown in FIG. 11, when the pet p approaches the entrance/exit of the car 11, the passage of the pet p is detected as the passage of an object by the multi-optical axis sensor 16 (emitter 16a and receiver 16b) (step YES in S14). When the passage of the pet p is detected, the count of the fixed time T1 is cleared, the time until the door closing operation is started is extended, and the flag A is set to ON (steps S15 to S17). ).

Subsequently, motion detection processing is performed until the second timer 27 finishes counting the predetermined time T2 (steps S18 to S20). In the state of FIG. 11, the movement of the pet p, the user u, or the string l is detected in the first detection area E1 to the second detection area E2, but not in the third detection area E3.

As shown in FIG. 12, when the pet p moves into the cage 11 before the second timer 27 finishes counting, the movement of the string l is detected in the second detection area E2 and the third detection area E3. The movement of the user u is simultaneously detected in the first detection area E1 (YES in step S20). When the movement of the string l or the user u is simultaneously detected in each of the detection areas E1, E2, and E3, the flag B is set to ON (step S23).

When the first timer 26 finishes counting and starts closing the door (YES in step S13), if flag A and flag B are both ON (YES in step S24), the entrance/exit of the car 11 is It is determined that the string l exists nearby (step S25).

As shown in FIG. 13, when the user u approaches the entrance/exit by the time the first timer 26 finishes counting, the multi-optical axis sensor 16 (emitter 16a and receiver 16b) detects when the user u has passed. is detected as the passage of an object (YES in step S14). When the passage of the user u is detected, the count of the fixed time T1 is cleared, the time until the door closing operation is started is extended, and the flag A is set to ON (step S15 to step S16). At this time, flag B is set to OFF in preparation for the next motion detection (step S17).

Subsequently, motion detection processing is performed until the second timer 27 finishes counting the predetermined time T2 (steps S18 to S20). In the state of FIG. 13, the movement of any one of the pet p, the string l, and the user u is detected in the second detection area E2 to the third detection area E3, but it is not detected in the first detection area E1, so the flag B remains OFF (NO in step S20).

If no movement is detected in any of the first detection area E1, second detection area E2, and third detection area E3 until the second timer 27 finishes counting, flag A is turned OFF. (YES in step S21→step S22). When the user u gets into the car 11, both the flag A and the flag B are OFF, so the door closing operation is started (YES in step S13 → NO in step S24 → step S26).

(Example 2) When a pet enters the cage 11 after the user
14 to 16 show the case where the pet p gets into the cage 11 after the user u. A string l having a certain length is connected to the pet p, and the user u is holding the string l. With the car door 13 fully open, the first timer 26 starts counting a certain period of time T1 (steps S11 to S13).

As shown in FIG. 14, when the user u approaches the entrance/exit of the car 11, the multi-optical axis sensor 16 (emitter 16a and receiver 16b) detects the passage of the user u as the passage of an object. (YES in step S14). When the passage of the user u is detected, the count of the fixed time T1 is cleared, the time until the door closing operation is started is extended, and the flag A is set to ON (step S15 to step S17).

Subsequently, motion detection processing is performed until the second timer 27 finishes counting the predetermined time T2 (steps S18 to S20). In the state of FIG. 14, the movement of the user u or the string l is detected in the first detection area E1 to the second detection area E2, but not in the third detection area E3.

As shown in FIG. 15, when the user u moves into the car 11 before the second timer 27 finishes counting, the string l moves in the second detection area E2 and the third detection area E3. is detected, and the movement of the pet p is simultaneously detected in the first detection area E1 and the second detection area E2 (YES in step S20). Since the movement of the string l or the pet p is simultaneously detected in each of the detection areas E1, E2, and E3, the flag B is set to ON (step S23).

When the first timer 26 finishes counting and starts closing the door (YES in step S13), if flag A and flag B are both ON (YES in step S24), the entrance/exit of the car 11 is It is determined that the string l exists nearby (step S25).

As shown in FIG. 16, when the pet p approaches the entrance/exit by the time the first timer 26 finishes counting, the multi-optical axis sensor 16 (emitter 16a and receiver 16b) detects whether the pet p is passing through an object or not. is detected as passing (YES in step S14). When the passage of the pet p is detected, the count of the fixed time T1 is cleared, the time until the door closing operation is started is extended, and the flag A is set to ON (steps S15 to S16). ). At this time, flag B is set to OFF in preparation for the next motion detection (step S17).

Subsequently, motion detection processing is performed until the second timer 27 finishes counting the predetermined time T2 (steps S18 to S20). In the state of FIG. 16, the movement of the pet p, the string l, or the user u is detected in the second detection area E2 to the third detection area E3, but it is not detected in the first detection area E1, so the flag B remains OFF (NO in step S20).

If no movement is detected in any of the first detection area E1, second detection area E2, and third detection area E3 until the second timer 27 finishes counting, flag A is turned OFF. (YES in step S21→step S22). When the user u gets into the car 11, both the flag A and the flag B are OFF, so the door closing operation is started (YES in step S13 → NO in step S24 → step S26).

・If the pet leaves the cage 11 with the user
In the following, explanation will be given separately for (Example 1) where the pet leaves the car 11 before the user and (Example 2) where the pet leaves the car 11 after the user.

(Example 1) When the pet leaves the car 11 before the user FIGS. 17 to 19 show a situation where the pet p leaves the car 11 before the user u. A string l having a certain length is connected to the pet p, and the user u is holding the string l. With the car door 13 fully open, the first timer 26 starts counting a certain period of time T1 (steps S11 to S13).

As shown in FIG. 17, when the pet p approaches the entrance/exit of the car 11, the passage of the pet p is detected as the passage of an object by the multi-optical axis sensor 16 (emitter 16a and receiver 16b) (step YES in S14). When the passage of the object is detected, the count of the fixed time T1 is cleared, the time until the door closing operation is started is extended, and the flag A is set to ON (steps S15 to S17). .

Subsequently, motion detection processing is performed until the second timer 27 finishes counting the predetermined time T2 (steps S18 to S20). In the state of FIG. 17, the movement of the pet p or the leash l is detected in the second detection area E2 to the third detection area E3, but not in the first detection area E1.

As shown in FIG. 18, when the pet p moves to the landing area 15 before the second timer 27 finishes counting, the movement of the string l is detected in the second detection area E2 and the third detection area E3, The movement of the pet p is simultaneously detected in the first detection area E1 (YES in step S20). Since the movement of the string l or the pet p is simultaneously detected in each of the detection areas E1, E2, and E3, the flag B is set to ON (step S23).

When the first timer 26 finishes counting and starts closing the door (YES in step S13), if flag A and flag B are both ON (YES in step S24), the entrance/exit of the car 11 is It is determined that a string l exists nearby.

As shown in FIG. 19, when the user u approaches the entrance/exit by the time the first timer 26 finishes counting, the multi-optical axis sensor 16 (emitter 16a and receiver 16b) detects when the user u has passed. is detected as the passage of an object (YES in step S14). When the passage of the user u is detected, the count of the fixed time T1 is cleared, the time until the door closing operation is started is extended, and the flag A is set to ON (step S15 to step S16). At this time, flag B is set to OFF in preparation for the next motion detection (step S17).

Subsequently, motion detection processing is performed until the second timer 27 finishes counting the predetermined time T2 (steps S18 to S20). In the state of FIG. 19, the movement of any one of the pet p, the string l, and the user u is detected in the first detection area E1 to the second detection area E2, but not in the third detection area E3, so the flag B remains OFF (NO in step S20).

If no movement is detected in any of the first detection area E1, second detection area E2, and third detection area E3 until the second timer 27 finishes counting, flag A is turned OFF. (YES in step S21→step S22). When the user u gets off the car 11 to the landing 15, both flag A and flag B are OFF, so the door closing operation is started (YES in step S13 → NO in step S24 → step S26).

(Example 2) When the pet leaves the cage 11 after the user
20 to 22 show the case where the pet p leaves the cage 11 after the user u. A string l having a certain length is connected to the pet p, and the user u is holding the string l. With the car door 13 fully open, the first timer 26 starts counting a certain period of time T1 (steps S11 to S13).

As shown in FIG. 20, when the user u approaches the entrance/exit of the car 11, the multi-optical axis sensor 16 (emitter 16a and receiver 16b) detects the passage of the user u as the passage of an object. (YES in step S14). When the passage of the user u is detected, the count of the fixed time T1 is cleared, the time until the door closing operation is started is extended, and the flag A is set to ON (step S15 to step S17).

Subsequently, motion detection processing is performed until the second timer 27 finishes counting the predetermined time T2 (steps S18 to S20). In the state of FIG. 20, the movement of the user u or the string l is detected in the second detection area E2 to the third detection area E3, but not in the first detection area E1.

As shown in FIG. 21, when the user u moves to the landing 15 before the second timer 27 finishes counting, the movement of the string l is detected in the second detection area E2 and the third detection area E3. , the movements of the user u are simultaneously detected in the first detection area E1 (YES in step S20). When the movement of the string l or the pet p is simultaneously detected in each of the detection areas E1, E2, and E3, the flag B is set to ON (step S23).

When the first timer 26 finishes counting and starts closing the door (YES in step S13), if flag A and flag B are both ON (YES in step S24), the entrance/exit of the car 11 is It is determined that the string l exists nearby (step S25).

As shown in FIG. 22, when the pet p approaches the entrance/exit by the time the first timer 26 finishes counting, the multi-optical axis sensor 16 (emitter 16a and receiver 16b) detects whether the pet p is passing through an object or not. is detected as passing (YES in step S14). When the passage of the pet p is detected, the count of the fixed time T1 is cleared, the time until the door closing operation is started is extended, and the flag A is set to ON (steps S15 to S16). ). At this time, flag B is set to OFF in preparation for the next motion detection (step S17).

Subsequently, motion detection processing is performed until the second timer 27 finishes counting the predetermined time T2 (steps S18 to S20). In the state of FIG. 22, the movement of any one of the pet p, the string l, and the user u is detected in the first detection area E1 to the second detection area E2, but not in the third detection area E3, so the flag B remains OFF (NO in step S20).

If no movement is detected in any of the first detection area E1, second detection area E2, and third detection area E3 until the second timer 27 finishes counting, flag A is turned OFF. (YES in step S21→step S22). When the pet p gets off the car 11 to the landing 15, both the flag A and the flag B are OFF, so the door closing operation is started (YES in step S13 → NO in step S24 → step S26).

As described above, according to the present embodiment, when the string l connected to the pet p straddles the boundary between the landing 15 and the car 11, after the passage of the pet p is detected by the multi-optical axis sensor 16, Focusing on the fact that the movement of the string l within the detection area is continuously detected by the camera 12, the presence of the string l at the entrance/exit of the car 11 is detected. Therefore, for example, there is no need for members to easily detect the string l at entrances and exits, or complicated processes such as door control and signal analysis, and only existing sensors (multi-optical axis sensor 16 and camera 12) are used. It is possible to accurately detect the string l near the entrance/exit. Further, by keeping the door open while the string l is being detected, it is possible to prevent an accident in which the string gets caught.

In addition, above, we have explained the process when all doors are open and the door is closed as an example, but not only when all the doors are open or closed, but also when the door is closed. A certain string can be detected accurately.

Note that, for example, when multiple users are getting on or off the car 11 in succession, the movements of the users are simultaneously detected in each of the first detection area E1, second detection area E2, and third detection area E3. Detected (flag B is ON). At this time, since the multi-optical axis sensor 16 continuously detects the passage of each user at the entrance/exit of the car 11 (flag A is ON), both flag A and flag B are ON, and the cord is attached to the entrance/exit. may be determined to exist (see step S24 in FIG. 6). In order to avoid such a situation, it is preferable to check the shape of the object detected in the first to third detection areas E1 to E3.

23 and 24 are diagrams showing a portion of the first to third detection areas E1 to E3. As shown in FIG. 23, within the first to third detection areas E1 to E3, the user's movement is detected as the movement of an elliptical object when viewed from above. On the other hand, as shown in FIG. 24, the movement of the string is detected as the movement of an elongated object extending in the Y-axis direction when viewed from above.

Therefore, in step S24 of FIG. 6, if flag A and flag B are both ON (that is, after the detection by the multi-optical axis sensor 16, the movement of the string within the detection area is detected by the movement detection unit 24 for a certain period of time). If the object detected in the first detection area E1 to the third detection area E3 has an elongated shape, it is determined that a string exists near the entrance/exit. On the other hand, if the object detected in the first detection area E1 to the third detection area E3 has a shape other than an elongated object, it will not be determined as a string even if flag A and flag B are both in the ON state. This avoids falsely detecting each user's movement as a string, for example when multiple users are getting on and off in succession, and accurately detects only when there is actually a string at the entrance/exit. Can be detected.

(First modification)
When the string present at the entrance/exit of the car 11 is detected, processing may be added to the string detection unit 25 for detecting that the string has settled inside the car 11.

25 to 27 show how the pet p enters the cage 11. As shown in FIG. 25, immediately after the pet p passes through the doorway of the car 11 and enters the car 11, the string l connected to the pet p is present at the rear, so the first detection The movement of the string I is simultaneously detected in each of the area E1, the second detection area E2, and the third detection area E3.

Here, as shown in FIGS. 26 and 27, as the pet p moves to the back of the car 11 and the string l fits inside the car 11, the first detection area E1 → the first detection area The movement of the string l is no longer detected in the order of E1 and second detection area E2. In this way, it can be determined that the string I is within the car 11 based on the pattern in which the string I passes through the first to third detection areas E1 to E3.

Even if the pet p comes out from the car 11 to the landing 15, the string l will go outside the entrance (landing 15) based on the pattern in which the string l passes through the first detection area E1 to the third detection area E3. You can determine whether or not there is. In this case, as the pet p moves in the opposite direction to the car 11, the movement of the string l is no longer detected in the order of third detection area E3, third detection area E3, and second detection area E2. When it is determined that the string l has been placed inside the car 11, or when it is determined that the string l has gone out of the doorway, the door closing operation can be started.

(Second modification)
The plurality of light emitters 16a and the plurality of light receivers 16b included in the multi-optical axis sensor 16 are arranged at regular intervals along the tips (doorstops) of the door panels 13a and 13b as described above (see FIG. 4). . Here, when the passage of an object is detected by blocking light (infrared rays) between the emitter 16a and the receiver 16b, the height of the uppermost receiver 16b among the plurality of receivers 16b whose received light amount has decreased. The height information of the object can be obtained from the position information in the vertical direction.

28 and 29 are diagrams showing the door opening/closing direction as the X axis, the direction orthogonal to the door opening/closing direction as the Y axis, and the height direction of the car 11 as the Z axis. For example, as shown in FIG. 28, when the passage of the pet p is detected by the multi-optical axis sensor 16, the amount of light received by the plurality of light receivers 16b installed between the floor surface and the position h1 (for example, 50 cm) decreases. From the position information of the uppermost light receiver 16b among these light receivers 16b, h1 can be obtained as the height information of the pet p. On the other hand, as shown in FIG. 29, when the passage of the user u is detected by the multi-optical axis sensor 16, the amount of light received by the plurality of light receivers 16b installed between the floor surface and h2 (for example, 160 cm) is Decrease. From the position information of the highest light receiver 16b among these light receivers 16b, h2 can be obtained as the height information of the user u.

In this way, based on the height information of the object obtained by the multi-optical axis sensor 16, it is possible to distinguish whether the object is the pet p or the user u. Specifically, for example, if the height information is less than or equal to h1, it can be determined that the pet is p, and if the height information is around h2, it can be determined that the pet is the user u. h1 is determined from the average height of the pet p. h2 is determined from the average height of the user u. Note that the height range may be further divided into users u who are adults (for example, 150 cm or more), children, or wheelchair users (for example, 130 cm or less).

When height information corresponding to the pet p is obtained from the multi-optical axis sensor 16, the motion detection unit 24 may perform motion detection processing on the assumption that the pet p is connected to a string. For example, when dividing each of the images of the first detection area E1, second detection area E2, and third detection area E3 into a matrix in predetermined block units, these blocks are divided into smaller blocks than usual. Motion detection is performed every time. This makes it easier to detect the movement of thin objects like strings. Alternatively, the brightness change threshold used in the motion detection process may be lowered than usual to make it easier to detect the movement of the string.

Furthermore, if the object detected at the entrance is recognized as a pet p based on the height information obtained from the multi-optical axis sensor 16, the string detected in the string detection process is the string connected to the pet p. There is a high possibility that there is. In this case, since there is a possibility that the pet p is acting alone, it is preferable to notify the monitoring room of the building or the monitoring center of the elevator. On the other hand, if the height information obtained from the multi-optical axis sensor 16 indicates that the object detected at the entrance is the user u, the string detected in the string detection process will be attached to the user u. It may be string-shaped debris. In this case, it is preferable to make an announcement to alert the user u.

According to at least one embodiment described above, the string present near the entrance/exit of a car is accurately detected using a camera and a multi-optical axis sensor without requiring a detection member or complicated processing. We can provide an elevator system that can

Note that this embodiment is presented as an example, and is not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and changes can be made without departing from the gist of the invention. These embodiments and their modifications are included within the scope and gist of the invention, as well as within the scope of the invention described in the claims and its equivalents.

DESCRIPTION OF SYMBOLS 11... Car, 12... Camera, 13... Car door, 14... Hall door, 15... Hall, 16... Multi-optical axis sensor, 20... Image processing device, 21... Storage section, 21a... Image storage section, 21b... Flag Storage section, 22... Detection section, 23... Detection area setting section, 24... Motion detection section, 25... String detection section, 26... First timer, 27... Second timer, 30... Elevator control device, 31... Door opening/closing control Section, 32... Notification section.

Claims (8)

A multi-optical axis sensor is installed at the entrance/exit of the car and optically detects the passage of an object.
a camera that is installed inside the car and photographs a landing area near the entrance from inside the car;
a motion detection means for detecting movement of a string connected to the object within a detection area set near the entrance on a photographed image obtained by the camera;
string detection means for determining that the string exists near the entrance/exit when there is continuity between the passage detection of the object by the multi-optical axis sensor and the movement detection of the string by the motion detection means; Equipped with an elevator system. The string detection means is
If the movement of the string is continuously detected within the detection area by the movement detection means for a certain period of time after the passage of the object is detected by the multi-optical axis sensor, the movement of the string is detected near the entrance/exit. The elevator system according to claim 1, wherein it is determined that a string exists. The detection areas include a first detection area set on the floor near the entrance in the car, a second detection area set on the door sill, and a floor near the entrance of the landing. and a third detection area set to
The string detection means is
When movement of the object or the string is simultaneously detected in each of the first detection area, the second detection area, and the third detection area, the string is present near the entrance/exit. The elevator system according to claim 2. The detection areas include a first detection area set on the floor near the entrance in the car, a second detection area set on the door sill, and a floor near the entrance of the landing. and a third detection area set to
The string detection means is
If an elongated object is detected in any of the first detection area, the second detection area, and the third detection area, it is determined that the string is present near the entrance/exit. The elevator system according to claim 2. The detection areas include a first detection area set on the floor near the entrance in the car, a second detection area set on the door sill, and a floor near the entrance of the landing. and a third detection area set to
The string detection means is
Based on the pattern in which the string passes through the first detection area, the second detection area, and the third detection area, it is determined that the string has fallen into the car, or that the string has passed through the car from inside the car. The elevator system according to claim 1, wherein the elevator system detects that the elevator has entered the hall. The motion detection means includes:
The elevator system according to claim 1, wherein when height information corresponding to a pet is obtained from the multi-optical axis sensor, motion detection is performed assuming that the string is connected to the pet. The elevator system according to claim 1, further comprising door opening/closing control means for maintaining the door open state while the string is detected at the entrance/exit by the string detection means. The elevator system according to claim 1, further comprising notification means for calling attention while the string is detected at the entrance/exit by the string detection means.

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