JPH10152277A - Elevator door opening/closing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent a foreign matter from being inserted in a gap between an elevator door and a doorway frame by picking up an image around the gap between the opening/closing door and the doorway frame, processing this image information, outputting a danger discrimination signal, and controlling the opening/closing action of the opening/closing door. SOLUTION: An image recognizing device 7 is fitted to the upper part inside of a doorway frame 2 and has a CCD camera, an image pickup element. An image processor processes image information on the basis of output of the image recognizing device 7 and outputs a dangerous state of a foreign matter such as the finger of a person 5 approaching the vicinity of a gap between the doorway frame 2 and a car door 1. A door control device controls the opening/closing action of the car door 1 on the basis of a danger discrimination signal of an image. That is, in case there is a danger of the foreign matter such as the finger of the person 5 being drawn in, a danger discrimination signal is outputted from the image processor, and the door control device receives this signal and holds the opening/closing action of the door 1. The foreign matter such as the finger of the person 5 is thus prevented from being drawn into the gap between the opening/closing door 1 and the doorway frame 2.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an opening / closing device for an elevator door, and more particularly to a device for preventing foreign objects such as human fingers from being drawn into a gap between an opening door and an entrance frame. It is.

[0002]

2. Description of the Related Art A conventional elevator door opening / closing device is disclosed in Japanese Patent Application Laid-Open No. Hei 7-49489. FIG. 9 is a diagram showing an elevator door opening / closing device described in the above publication. In FIG. 9, reference numeral 1 denotes a car door that opens and closes left and right, 2 denotes an entrance / exit frame provided on a car on which a passenger gets on and off, 4 denotes a contact detection object that detects contact of a finger 3 such as a hand and outputs an electric signal. It is. The contact detection object 4 is mounted at a position where the car door 1 and the entrance frame 2 face each other so as to be embedded therein. The contact detection object 4 is, for example, an electrode, and extracts an electric signal by applying a capacitance of a fingertip of a person through the electrode.

In the elevator door opening and closing device, the finger 3 or the like of the hand is erroneously brought close to the gap between the car door 1 and the entrance frame 2,
When the contact detection object 4 is touched, it is detected that the contact has been made, and the cage door 1 is not opened by this signal.

Further, as shown in Japanese Patent Publication No. Hei 7-106767, a concave portion is provided in the longitudinal direction on the side of the entrance frame facing the hall door or the car door, and the photoelectric light is transmitted and received along the longitudinal direction in the concave portion. A foreign object detection means consisting of a sensor is provided.When the landing door or car door starts to open, if a finger or the like is mistakenly brought close to the distance between the hall door or car door and the entrance frame, the foreign object such as a finger of the hand is removed. It operates by the detection means detecting,
Some stop the car door.

[0005] Further, as an elevator apparatus such as a television camera for recognizing an image, as disclosed in Japanese Patent Application Laid-Open No. 52-112949, the number of waiting passengers present in an elevator hall is detected by using a television camera. There is an example in which the degree of congestion is detected and the number of cars assigned is varied to reduce the waiting time of passengers.

[0006]

However, in the elevator door opening / closing device described in Japanese Patent Application Laid-Open No. Hei 7-49489, when a finger or the like is brought close to a gap between a landing door or a car door and an entrance frame, the elevator door is opened in advance. It is not enough to detect and prevent a finger or the like from being pulled in, but to enter the prevention sequence only by touching the detector, and to stop or close the landing door or car door that opens. There was a problem that it was considerably drawn in before it was made to work.

In the elevator door opening / closing device disclosed in Japanese Patent Publication No. Hei 7-1006867, when a finger or the like is brought close to a gap between a hall door or a car door and an entrance / exit frame, it is detected in advance and the finger of the hand is detected. Can be prevented from being pulled in, but because the door of the doorway frame is provided with a concave portion in the longitudinal direction opposite to it, the designability is impaired or the operation efficiency of the elevator decreases due to mischief operation There was a problem.

The congestion level detecting device disclosed in Japanese Patent Laid-Open Publication No. 52-112949 detects the congestion level of an elevator hall, that is, the passenger waiting in the elevator hall, by recognizing an image with a television camera or the like. However, it does not detect the approach of a finger or the like to the gap between the landing door or the car door and the entrance frame, cannot detect that the finger or the like is pulled in, and cannot secure safety. There was a problem.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned conventional problems. When an elevator door starts to open, foreign objects such as fingers of a hand are drawn into a gap between the elevator door and an entrance frame. Rather than detecting after being rare, it detects beforehand that foreign objects such as fingers are approaching the gap between the elevator door and the doorway frame, and prevents such foreign objects from being pinched with high accuracy, Another object of the present invention is to obtain an elevator door opening / closing device having excellent design.

[0010]

An elevator door opening / closing device according to the present invention is disposed above an entrance frame, and captures an image of the vicinity of a gap between the door and the entrance frame, and outputs image information, The image recognition device includes an image processing device that processes image information and outputs a danger determination signal, and a door control device that receives the danger determination signal and controls the opening / closing operation of the opening / closing door.

Further, an image recognition device which is arranged above the entrance frame and captures an image of the vicinity of a gap between the door and the entrance frame and outputs image information, processes the image information of the image recognition device, and generates a danger determination signal. The image processing apparatus includes an image processing device that outputs the image and a danger notification device that receives the danger determination signal and notifies a passenger of danger.

Further, the image processing device compares the initial image information with the image information output by the image recognition device, and stores the image information of the opening / closing door in the initial image information. Image comparison means for storing the image information output by the previous image correction means, and comparing the image information output from the image correction means with the image information stored by the comparison image storage means. Moving object discriminating means for discriminating a moving object, danger area setting storage means for setting a danger area near a gap between an entrance frame and an opening / closing door in the image with respect to the initial image, A dangerous area object detecting means for comparing the determined position of the moving object on the screen with the dangerous area set by the dangerous area setting storage means to determine whether a moving object exists in the dangerous area; Those having a risk determination means for outputting a danger signal on the basis of the output of the frequency object detecting means.

Further, the image processing device compares the initial image information with the image information output by the image recognition device, and stores the image information of the opening / closing door in the initial image information. Image comparison means for storing the image information output by the previous image correction means, and comparing the image information output from the image correction means with the image information stored by the comparison image storage means. A moving object discriminating means for discriminating a moving object and a moving direction, a danger area setting storage means for setting a danger position and a danger area near a gap between an entrance frame and an opening / closing door in the image with respect to the initial image, A danger area for comparing the position of the moving object on the screen determined by the moving object determination means with the danger area set by the danger area setting storage means to determine whether the moving object exists in the danger area; Body detection means, dangerous area object prediction detecting means for determining whether or not the moving direction of the moving object determined by the moving object determining means is approaching the dangerous position set in the dangerous area setting storage means, and the dangerous area object It is provided with danger determination means for outputting a danger signal based on the output of the detection means and the danger area object prediction detection means.

Further, the image processing device compares the initial image information with the image information output by the image recognition device, and stores the image information of the opening / closing door in the initial image information. Image comparison means for storing the image information output by the previous image correction means, and comparing the image information output from the image correction means with the image information stored by the comparison image storage means. A moving object discriminating means for discriminating a moving object, and an area in which the degree of danger is stepwise expressed in the vicinity of the gap between the entrance frame and the door in the image in accordance with the distance from the danger position with respect to the initial image. The dangerous area setting storage means to be set, the position of the moving object on the screen determined by the moving object determining means is compared with each dangerous area set by the dangerous area setting storing means, and the moving object is represented stepwise. A hazardous area object detection means for determining whether there hazardous area Les, in which a risk determination means for outputting a danger signal on the basis of an output of the risk area object detecting means.

Also, the image processing device compares the initial image information with the image information output by the image recognition device, and stores the image information of the opening / closing door in the initial image information. Image comparison means for storing the image information output by the previous image correction means, and comparing the image information output from the image correction means with the image information stored by the comparison image storage means. A moving object discriminating means for discriminating a moving object and a moving direction; and, for an initial image, a danger position in the vicinity of a gap between an entrance frame and an opening / closing door in the image, and a danger degree according to a distance from the danger position. Comparing the position of the moving object on the screen determined by the moving object determining unit with each of the dangerous regions set by the dangerous region setting storing unit; A dangerous area object detecting means for determining in which of the dangerous areas the moving object is present in a stepwise manner, and a moving direction of the object determined by the moving object determining means corresponding to the dangerous position set by the dangerous area setting storage means. It is provided with danger area object prediction detection means for determining whether or not approaching, and danger determination means for outputting a danger signal based on outputs of the danger area object detection means and the danger area object prediction detection means.

The moving object discriminating means compares the image information output from the image correcting means with the image information stored in the comparative image storing means, and extracts a pixel having a pixel value different from a predetermined value by a certain value. This is to determine the existence of an object.

Further, the moving object discriminating means compares the image information output from the image correcting means with the image information stored in the comparison image storing means, extracts pixels having pixel values different from each other by a certain value or more, and By determining the moving direction of the different pixels, the moving direction of the moving object is determined.

In the image recognition apparatus, an opening is provided in an entrance frame in a range where the image can be recognized, a transparent cover is attached to the opening, and the transparent cover is attached so as to be in contact with the transparent cover from above. .

[0019]

BEST MODE FOR CARRYING OUT THE INVENTION

Embodiment. Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is an overall view of an elevator door opening / closing device according to an embodiment of the present invention as viewed from a car room in a landing side. In FIG. 1, reference numeral 1 denotes a left and right basket door which opens and closes in the direction of an arrow, 2 denotes an entrance frame provided in a basket 6 on which a passenger 5 gets in and out, and 7 denotes an image recognition device capable of outputting image information such as a CCD camera. . The image recognition device 7 is mounted at an upper position inside the entrance frame 2 near a gap between the car door 1 and the entrance frame 2. Reference numeral 8 denotes an operation panel provided with a destination floor button and a door opening / closing button provided in the car 6, and 9 denotes a display indicating the current position and the traveling direction of the car 6.

FIG. 2 is a sectional view showing a main part of an elevator door opening / closing device according to an embodiment of the present invention. The image recognition device 7 is mounted inside the upper part of the entrance frame 2 and has a CCD camera 7a as an image sensor. However, 7b is a transparent cover, and the entrance frame 2 that contacts the image recognition device 7
Then, a hole 2a in a range where the image recognition device 7 can recognize an image is formed, a transparent cover 7b is fitted into the hole 2a, and the image recognition device 7 is attached so as to be in contact with the transparent cover 7b. By attaching the image recognition device 7 to the doorway frame 2 via the transparent cover 7b, the design in the car room is not impaired. Further, damage of the image recognition device 7 due to mischief can be prevented.

FIG. 3 is a block diagram showing a configuration of an elevator door opening / closing device according to an embodiment of the present invention.
In FIG. 3, reference numeral 10 denotes an image processing device for processing image information based on the output of the image recognition device 7 and outputting a danger that a person's finger 3 or the like approaches the gap between the entrance frame 2 and the car door 1 and is dangerous. Is a door control device that controls the opening / closing operation of the car door 1 based on the danger determination signal of the image recognition device 10, and 22 is an announcement device that notifies the passenger 5 of danger information based on the danger determination signal of the image processing device 10.

The image processing device 10 stores initial image information in which the car door 1 is kept stationary.
1. An image correcting unit 12 that compares the initial image information with the image information output from the image recognition device 7 and removes only the image information of the car door 1, and stores the image information output from the image recognition device 7 in the previous sampling. Comparison image storage means 13,
Moving object discriminating means 14 for comparing the previous image stored in comparative image means 13 with the image output from image recognizing device 7, extracting pixels having different levels, and detecting a moving object; A moving direction discriminating unit 15 for comparing the previous image stored at 13 with the image output from the image recognizing device 7 to extract pixels having different levels, and to determine the moving direction of the pixels having different levels; Means 1
Danger area setting storage means 16 for setting an area where danger of being pulled in when a finger 3 such as a person approaches the image from the initial image stored in 1;
A dangerous area object detecting means for comparing the position of the moving object such as a human finger on the screen with the dangerous area set in the dangerous area setting storage means 16 to determine whether the moving object exists in the dangerous area; 17, dangerous area object prediction detecting means 18, dangerous area object detecting means 17, which determines whether the moving direction of the object determined by the moving direction determining means 15 is approaching the dangerous area set in the dangerous area setting storing means 16, dangerous area A danger discriminating unit 19 outputs a danger signal based on the output of the object prediction detecting unit 18 to draw the finger 7 such as a human finger. A plurality of danger areas are set in the danger area setting storage means 16 according to the degree of danger, and a plurality of signals can be output by the danger determination means 19 accordingly.

The announcement device 22 includes a danger notification unit 23 that receives a danger signal from the danger determination unit 19 in the image processing apparatus 10 and determines the content to be announced to the passenger 5.

The door controller 20 comprises a door controller 21 which receives a danger signal from the danger determining means 19 in the image processing apparatus 10 and determines an opening / closing operation of the car door 1.

Next, the operation of the elevator door opening and closing device according to the embodiment will be described with reference to FIGS. 3, 4, 5, 6, 7, and 8. FIG. FIG. 4 is a view of the vicinity of the gap between the car door 1 and the entrance frame 2 as viewed from above. FIG. 5 is an enlarged view of an image captured by the image recognition device 7.

FIG. 6 is a flowchart illustrating the flow of the operation of the image processing apparatus 10. FIG. 7 shows the announcement device 2
6 is a flowchart for explaining the flow of the operation 2; FIG. 8 is a flowchart showing a flow of the operation of the door control device 20.

The operation flow of the image processing apparatus 10 will be described with reference to FIGS. First, an image in a state where the car door 1 is fully closed at the start of use of the elevator apparatus is stored in the initial image storage unit 11 in advance.

The danger area setting storage means 16 sets which area in the image recognized by the image recognition device 7 is dangerous when the finger or the like 3 approaches the danger area. The danger position in FIG. 4 is set based on the positional relationship between the entrance frame 2 and the car door 1 located in the image stored in the initial image storage means 11, and the danger area is set. A danger position and a danger area can be set in advance by pattern recognition. As the danger area, as shown in FIG. 4, a two-step danger area is set for the first danger area and the second danger area according to the distance from the position where the car door 1 and the entrance frame 2 face each other. However, the danger area is not limited to two levels.

Next, the latest image is taken into the image processing device 10 by the image recognition device 7 in S30 of the flowchart of FIG. The latest image is updated at regular intervals. S31
The latest image is corrected by the image correction means 12 in order to prevent a malfunction due to the opening / closing operation of the car door 1 (a misrecognition that a moving object exists due to a difference in the image of the car door 1 due to the closing operation of the car door 1). . The latest image information is compared with the image stored in the initial image storage means 11 and the car door 1
When the opening and closing of the car door is detected by pattern recognition, the image of the car door 1 is corrected by replacing the image of the car door 1 with the initial image. That is, for example, even if an image in which a part of the car door 1 is opened is recognized, the part is corrected to an image when the door is closed.

Next, in S32 and S33, the moving object discriminating means 14 discriminates the finger 3 such as a hand from other objects. It can be said that the finger 3 such as the finger is always moving in the image, and the non-moving object is not dangerous because it does not approach the dangerous position. Specifically, the latest output image is compared with individual pixels of the corrected image at the time of the previous sampling stored in the comparison image storage unit 13 and pixels having pixel values different from each other by a certain value or more are extracted. If there is a pixel having a different pixel value, the connection of the pixel having a different pixel value is determined, and the presence of a moving object is determined when the pixel has a certain value or more.

When the existence of the moving object is determined in S32 and S33, the moving direction of the moving object is determined by the moving direction determining means 15 in S34. The movement of the moving object is determined by comparing the latest output image with the individual pixels of the image corrected at the previous sampling stored in the comparison image storage unit 13 and extracting pixels having pixel values different from each other by a certain value or more. Determine the direction.

The danger area set by the danger area setting storage means 16 is set in two stages according to the degree of danger. In S35 and S36, the danger area is low. Is determined.

That is, in S35 and S36, the dangerous area object detecting means 17 determines whether the moving object is in the second dangerous area. When the moving object is present in the second dangerous area in S35 and S36, the moving object approaches the dangerous position set in the dangerous area setting storage means 16 by the dangerous area object prediction detecting means 18 in S37 and S38. Determine if it is. Specifically, it is determined whether the moving direction of the moving object determined in S34 is toward the dangerous position.

When the moving object is approaching the danger position in S37 and S38, the danger determining means 19 outputs H as the secondary danger signal in S39.

Next, in S40 to S44, S35 to S39
The same operation as is performed. However, the dangerous area setting storage means 16
It is determined whether the danger level set in the above is high, that is, a moving object exists in the primary danger area and the moving direction is toward the danger position. When a moving object is present in the primary danger area and the moving direction is toward the danger position, the danger determination unit 19 outputs H as the primary danger signal in S44.

Next, the operation of the announcement device 22 will be described with reference to FIGS. At S60, the state of the opening / closing operation of the car door 1 is determined. The operation state of the car door 1 is determined by the door control device 20. If the car door 1 is fully opened or closed at S60, the process proceeds to the next step. Since the fingers 3 of the hand cannot be pulled during the door closing, the announcement operation is not performed.

If the car door 1 is open or fully closed in S60, and if H is output as the primary danger signal by the danger determining means 19 in S61, the process proceeds to S63, and the danger notification means. From 23, passenger 3 has fingers 3 such as doorway 2
In order to notify that the vehicle is approaching the vicinity of the gap between the car door 1 and the passenger 5, an announcement is made to the passenger 5 to urge the driver to be dangerous.

If the primary danger signal is not H in S61 and the secondary danger signal is H in S62, an announcement is made to the passenger 5 in S64 in the same manner as in S63, indicating that the danger is dangerous. Prompt. At this time, since the risk of the passenger 5 is different in S63 and S64, for example, in S63, for example, the announcement of "dangerous, dangerous ..." is selected, and in S64, for example, "Please move away from the vicinity of the door because it is dangerous." By selecting the announcement, an appropriate announcement can be made to the passenger 5.

Next, the operation of the door control device 20 will be described with reference to FIGS. At S70, the open / close operation state of the car door 1 is determined as in S60. When the car door 1 is being opened or fully closed in S70, when H is output as the primary danger signal, the car door 1 is controlled by the door control device 20 in S71.
To stop. However, when a finger 3 such as a person's finger is not present in the primary danger area, or when it is present and is kept away from the danger position, the operation returns to the normal operation.

In the above embodiment, the danger area has been described by the two-stage division of the primary danger area and the secondary danger area. However, the danger area may be divided into more steps. Alternatively, one danger area may be simply set and one danger signal may be output. Further, in the above-described embodiment, the danger signal is output when the moving object is present and the moving direction is toward the danger position, but the danger signal is simply output when the moving object exists in the danger area. You may make it output.

As described above, when there is a risk that a finger or the like is pulled in, the image processing apparatus 10 outputs a danger determination signal, and the door control apparatus 20 receives this signal and reserves the door opening / closing operation. Therefore, it is possible to prevent a foreign substance such as a human finger from being drawn into the gap between the door and the doorway frame.

Since the announcement device 22 receives the danger discrimination signal and notifies the passenger of danger, it is possible to prevent foreign substances such as human fingers from being drawn into the gap between the door and the entrance frame. it can.

When the image processing apparatus 10 sets a danger area and recognizes that a moving object such as a human finger exists in the danger area, the image processing apparatus 10 outputs a danger discrimination signal and outputs a danger signal. Since the opening / closing operation is reserved or the passenger is notified of the danger, it is possible to prevent foreign substances such as human fingers from being drawn into the gap between the opening / closing door and the doorway frame.

The image recognition device 7 receives the image recognized by the image recognition device 7, and outputs a danger determination signal by determining the existence position and the moving direction of the moving object. It can be prevented from being drawn into the gap between the door and the doorway frame. Also, by judging the moving direction of the moving object present in the danger area, the danger signal is output only when the danger is really dangerous. There is an effect that a highly reliable elevator device can be provided without lowering the efficiency.

Further, the degree of danger is set stepwise by the image processing device 10 based on the image recognized by the image recognition device 7, and appropriate measures for danger can be performed according to the degree of danger of the danger area. For example, by informing a passenger of a danger in a low-risk area and by retaining the door opening / closing operation in a high-risk area, it is possible to provide a highly reliable elevator apparatus.

It is also possible to determine the position of the moving object step by step, appropriately perform a danger action in accordance with the degree of danger of the danger area, and determine the moving direction of the moving object existing in the danger area. Since the danger signal is output only when the danger signal is really dangerous, the door opening / closing is not reserved due to a malfunction, and a highly reliable elevator apparatus can be provided without lowering the operation efficiency of the elevator. This has the effect.

In the above-described embodiment, the announcement device 22 receives the danger discrimination signal and notifies the passenger of danger. However, the notification to the passenger is not limited to the announcement, but may be a display. But it is good.

In the above embodiment, the case where the present invention is used for the elevator car door 1 has been described.
The same opening / closing device can be used for an automatic door other than a landing door or an elevator, and also for a train door, and it goes without saying that the same effect can be obtained by providing the same on these.

[0049]

As described above, according to the present invention, there is provided an image recognition device which is arranged above an entrance frame, captures an image of the vicinity of the gap between the door and the entrance frame, and outputs image information. By processing the image information, an image processing device that outputs a danger determination signal, and a door control device that receives the danger determination signal and controls the opening and closing operation of the opening and closing door, from the image recognized by the image recognition device, If there is a risk that a finger or the like may be pulled in, the image processing device outputs a danger determination signal, and the door control device receives this signal and reserves the opening and closing operation of the door. It can be prevented from being drawn into the gap between the door and the doorway frame.

Further, an image recognition device which is arranged above the entrance frame and takes an image of the vicinity of the gap between the door and the entrance frame and outputs image information, processes the image information of the image recognition device and outputs a danger determination signal An image processing device, and a danger notification device that receives a danger discrimination signal and informs a passenger of danger. A danger discrimination signal is output from the processing device, and the danger notification device receives this signal and notifies the passenger of danger, so that foreign substances such as human fingers are drawn into the gap between the door and the entrance frame. Can be prevented.

Further, the image processing apparatus compares the image information output by the image recognition apparatus with the initial image information, and corrects the image information of the opening / closing door to the initial image information. Image comparing means for storing the image information output by the previous image correcting means, comparing the image information output from the image correcting means with the image information stored by the comparative image storing means, Moving object discriminating means, a danger area setting storing means for setting a danger area near a gap between an entrance frame and an opening / closing door in the image with respect to the initial image, and a moving object discriminating means on the screen determined by the moving object discriminating means. A dangerous area object detecting means for comparing the position of the moving object with the dangerous area set by the dangerous area setting storage means to determine whether a moving object exists in the dangerous area; and a dangerous area object detecting means. A danger determination unit that outputs a danger signal based on the output, the danger area is set by the image processing apparatus, and when it is recognized that a moving object such as a human finger exists in the danger area, the image processing is performed. A danger discrimination signal is output by the device, and the door opening / closing operation is reserved or a passenger is notified that danger is present, so that a foreign object such as a human finger is prevented from being drawn into the gap between the door / door and the entrance frame. be able to.

The image processing apparatus compares the image information output by the image recognition apparatus with the initial image information, and corrects the image information of the door to the initial image information. Image comparing means for storing the image information output by the previous image correcting means, comparing the image information output from the image correcting means with the image information stored by the comparative image storing means, Moving object discriminating means for discriminating a moving direction, and a danger area setting storage means for setting a danger position and a danger area near a gap between an entrance frame and an opening / closing door in the image with respect to the initial image; A dangerous area object detecting means for comparing the position of the moving object on the screen determined by the means with the dangerous area set in the dangerous area setting storage means, and determining whether or not the moving object exists in the dangerous area; Dangerous area object prediction detection means for determining whether the moving direction of the moving object determined by the moving object determination means is approaching the danger position set in the danger area setting storage means, danger area object detection means, and danger area object prediction And a danger determining unit that outputs a danger signal based on an output of the detecting unit. By receiving an image recognized by the image recognition device, the image processing device determines an existing position and a moving direction of the moving object. Since the danger determination signal is output, it is possible to prevent a foreign substance such as a human finger from being drawn into the gap between the door and the door frame. Also, by judging the moving direction of the moving object present in the danger area, the danger signal is output only when the danger is really dangerous. There is an effect that a highly reliable elevator device can be provided without lowering the efficiency.

Further, the image processing apparatus compares the image information output by the image recognition apparatus with the initial image information, and corrects the image information of the opening / closing door to the initial image information. Image comparing means for storing the image information output by the previous image correcting means, comparing the image information output from the image correcting means with the image information stored by the comparative image storing means, Moving object discriminating means for discriminating the danger, and setting an area in the vicinity of the gap between the entrance frame and the opening / closing door in the image in accordance with the distance from the danger position in a stepwise manner. The area setting storage means compares the position of the moving object on the screen determined by the moving object determination means with each of the danger areas set by the danger area setting storage means. Inside By providing a dangerous area object detecting means for determining whether or not there is, and a risk determining means for outputting a dangerous signal based on the output of the dangerous area object detecting means, image processing is performed on an image recognized by the image recognition apparatus. The degree of danger is set in stages by the device, and the danger can be appropriately treated according to the degree of danger of the danger area. For example, by informing a passenger of a danger in a low-risk area and by retaining the door opening / closing operation in a high-risk area, it is possible to provide a highly reliable elevator apparatus.

The image processing apparatus compares the image information output by the image recognition apparatus with the initial image information, and corrects the image information of the door to the initial image information. Image comparing means for storing the image information output by the previous image correcting means, comparing the image information output from the image correcting means with the image information stored by the comparative image storing means, Moving object discriminating means for discriminating a moving direction and a danger position in the vicinity of a gap between an entrance frame and an opening / closing door in the image with respect to the initial image, and a danger level stepwise according to a distance from the danger position. Comparing the position of the moving object on the screen determined by the moving object determining unit with each of the dangerous regions set by the dangerous region setting storing unit; The dangerous area object detecting means for determining which of the dangerous areas exists in the dangerous area and whether the moving direction of the object determined by the moving object determining means is approaching the dangerous position set by the dangerous area setting storage means Image recognition apparatus, comprising: a dangerous area object prediction detecting means for determining a risk area; and a risk determining means for outputting a dangerous signal based on an output of the dangerous area object detecting means and the dangerous area object prediction detecting means. By determining the position of the moving object step by step, appropriate measures for danger can be taken in accordance with the degree of danger of the danger area, and by determining the moving direction of the moving object existing in the danger area, the danger signal Is output only when the danger is really dangerous, so there is no possibility that the door is opened or closed due to a malfunction, and the reliability of the elevator is improved without lowering the operation efficiency of the elevator. An effect that can be provided an elevator apparatus.

Further, the moving object discriminating means compares the image information output from the image correcting means with the image information stored in the comparative image storing means, and extracts a pixel having a pixel value different from a predetermined value by a certain value. The presence of an object can be accurately determined.

Further, the moving object discriminating means compares the image information output from the image correcting means with the image information stored in the comparison image storing means, extracts pixels having different pixel values by a certain value or more, and By determining the moving direction of the different pixels, the moving direction of the moving object can be accurately determined.

Further, the image recognition device is provided with an opening in the entrance frame in a range where the image can be recognized, a transparent cover attached to the opening, and attached to the transparent cover so as to be in contact with the upper portion. This has the effect of preventing the image recognition device from being damaged due to mischief without impairing the design of the image recognition device.

[Brief description of the drawings]

FIG. 1 is an overall view of an elevator door opening / closing device according to an embodiment of the present invention as viewed from a car room in a landing side.

FIG. 2 is a sectional view showing a main part of an elevator door opening / closing device according to the embodiment of the present invention.

FIG. 3 is a block diagram showing a configuration of an elevator door opening / closing device according to the embodiment of the present invention.

FIG. 4 is a top view of a set danger area near a gap between a car door and an entrance frame of the elevator door opening / closing device according to the embodiment of the present invention.

FIG. 5 is an enlarged view of an image captured by the image recognition device of the elevator door opening / closing device according to the embodiment of the present invention.

FIG. 6 is a flowchart showing the operation of the image processing device of the elevator door opening / closing device according to the embodiment of the present invention.

FIG. 7 is a flowchart showing an operation of the announcement device of the elevator door opening / closing device according to the embodiment of the present invention.

FIG. 8 is a flowchart showing the operation of the door control device of the elevator door opening / closing device according to the embodiment of the present invention.

FIG. 9 is an explanatory view showing a main part of a conventional elevator door opening / closing device.

[Explanation of symbols]

1 basket door, 2 entrance frame, 7 image recognition device, 10
Image processing apparatus, 11 initial image storage means, 12 image correction means, 13 comparative image storage means, 14 moving object discriminating means, 15 moving direction discriminating means, 16 dangerous area setting storing means, 17 dangerous area object detecting means, 18 dangerous area Object prediction detection means, 19 danger determination means, 20 door control device, 21 door control means, 22 announcement device, 23
Danger notification means.

Claims (9)

[Claims] 1. An image recognition device which is arranged above an entrance frame, captures an image of the vicinity of a gap between an opening / closing door and the entrance frame, and outputs image information. The image recognition device processes the image information to generate a danger determination signal. An opening / closing device for an elevator door, comprising: an image processing device for outputting; and a door control device for controlling the opening / closing operation of the opening / closing door in response to the danger determination signal. 2. An image recognition device which is arranged above an entrance frame, captures an image of the vicinity of a gap between the door and the entrance frame, and outputs image information, processes image information of the image recognition device, and outputs a danger determination signal. An elevator door opening / closing device comprising: an image processing device for outputting; and a danger notification device that receives the danger determination signal and notifies a passenger of danger. 3. An image processing apparatus comprising: an initial image storage unit configured to store initial image information; an image information output by an image recognition device and the initial image information; Image comparison means for storing the image information output by the previous image correction means, and comparing the image information output from the image correction means with the image information stored by the comparison image storage means. Moving object discriminating means for discriminating a moving object, danger area setting storage means for setting a danger area near a gap between an entrance frame and an opening / closing door in the image with respect to the initial image, A dangerous area object detecting means for comparing the determined position of the moving object on the screen with the dangerous area set by the dangerous area setting storage means to determine whether a moving object exists in the dangerous area; Stuff 3. The elevator door opening / closing device according to claim 1, further comprising: danger determining means for outputting a danger signal based on an output of the body detecting means. 4. An image processing apparatus comprising: an initial image storage unit configured to store initial image information; an image information output by an image recognition device and the initial image information; Image comparison means for storing the image information output by the previous image correction means, and comparing the image information output from the image correction means with the image information stored by the comparison image storage means. A moving object discriminating means for discriminating a moving object and a moving direction, a danger area setting storage means for setting a danger position and a danger area near a gap between an entrance frame and an opening / closing door in the image with respect to the initial image, A dangerous area object detection method for comparing the position of the moving object on the screen determined by the moving object determining means with the dangerous area set by the dangerous area setting storage means to determine whether the moving object exists in the dangerous area. Output means; dangerous area object prediction detecting means for determining whether the moving direction of the moving object determined by the moving object determining means is approaching the dangerous position set by the dangerous area setting storage means; and dangerous area object detection. The elevator door opening / closing device according to claim 1 or 2, further comprising: a danger determining unit that outputs a danger signal based on an output of the danger area object prediction detection unit. 5. An image processing apparatus comprising: an initial image storage unit configured to store initial image information; an image information output by an image recognition device and the initial image information; Image comparison means for storing the image information output by the previous image correction means, and comparing the image information output from the image correction means with the image information stored by the comparison image storage means. A moving object discriminating means for discriminating a moving object, and an area in which the degree of danger is stepwise expressed in the vicinity of the gap between the entrance frame and the door in the image in accordance with the distance from the danger position with respect to the initial image. The dangerous area setting storage means to be set, the position of the moving object on the screen determined by the moving object determining means is compared with each dangerous area set by the dangerous area setting storing means, and the moving object is represented stepwise. Any 2. A danger area object detecting means for judging whether or not an object exists in a danger area, and danger judging means for outputting a danger signal based on an output of the danger area object detecting means. Item 3. An elevator door opening and closing device according to Item 2. 6. An image processing apparatus comprising: an initial image storage unit configured to store initial image information; an image information output by an image recognition device and the initial image information; Image comparison means for storing the image information output by the previous image correction means, and comparing the image information output from the image correction means with the image information stored by the comparison image storage means. A moving object discriminating means for discriminating a moving object and a moving direction; and, for an initial image, a danger position in the vicinity of a gap between an entrance frame and an opening / closing door in the image, and a danger degree according to a distance from the danger position. Comparing the position of the moving object on the screen determined by the moving object determining unit with each of the dangerous regions set by the dangerous region setting storing unit; A dangerous area object detecting means for determining in which of the dangerous areas the object is present, and a moving direction of the object determined by the moving object determining means approaches the dangerous position set by the dangerous area setting storage means. And a danger determination unit that outputs a danger signal based on the outputs of the danger region object detection unit and the danger region object prediction detection unit. The elevator door opening / closing device according to claim 1 or 2. 7. The moving object discriminating means compares the image information output from the image correcting means with the image information stored in the comparative image storing means, and extracts a pixel having a pixel value different from a predetermined value by a predetermined value. The elevator door opening / closing device according to any one of claims 3 to 6, wherein the presence / absence of the object is determined. 8. A moving object discriminating unit compares the image information output from the image correcting unit with the image information stored in the comparison image storing unit, extracts a pixel having a pixel value different from a predetermined value or more, The elevator door opening / closing device according to claim 4 or 6, wherein the moving direction of the moving object is determined by determining the moving direction of different pixels. 9. The image recognition apparatus is characterized in that an opening is provided in an entrance frame in a range where image recognition is possible, a transparent cover is attached to the opening, and the transparent cover is attached so as to be in contact with the transparent cover from above. The elevator door opening / closing device according to any one of claims 1 to 8, wherein