WO2022254629A1 - エレベーターのカメラの調整支援システム - Google Patents
エレベーターのカメラの調整支援システム Download PDFInfo
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- WO2022254629A1 WO2022254629A1 PCT/JP2021/021072 JP2021021072W WO2022254629A1 WO 2022254629 A1 WO2022254629 A1 WO 2022254629A1 JP 2021021072 W JP2021021072 W JP 2021021072W WO 2022254629 A1 WO2022254629 A1 WO 2022254629A1
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- 238000001514 detection method Methods 0.000 claims abstract description 82
- 230000003287 optical effect Effects 0.000 claims abstract description 26
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- 230000005856 abnormality Effects 0.000 claims description 9
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- 238000012790 confirmation Methods 0.000 description 21
- 230000006870 function Effects 0.000 description 21
- 238000010586 diagram Methods 0.000 description 20
- 230000002159 abnormal effect Effects 0.000 description 11
- 238000007689 inspection Methods 0.000 description 7
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- 238000000034 method Methods 0.000 description 6
- 238000012806 monitoring device Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
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- 238000002156 mixing Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 238000005192 partition Methods 0.000 description 2
- 208000028752 abnormal posture Diseases 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
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- 238000002372 labelling Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
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- 239000004065 semiconductor Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B11/00—Main component parts of lifts in, or associated with, buildings or other structures
- B66B11/02—Cages, i.e. cars
Definitions
- the present disclosure relates to an elevator camera adjustment support system.
- Patent Document 1 discloses an example of an elevator.
- cameras are mounted below the car.
- a camera captures the interior of the hoistway.
- the posture of the elevator camera in Patent Document 1 may deviate from the preset target posture. At this time, there is a possibility that the photographed object inside the hoistway will be out of the field of view of the camera, so it is necessary to adjust the posture of the camera. On the other hand, it may be difficult to determine whether the posture of the camera has been adjusted based only on the appearance of the camera body and the captured image.
- the present disclosure relates to solving such problems.
- the present disclosure provides an adjustment support system that can more easily determine whether the orientation of the elevator camera has been adjusted.
- An elevator camera adjustment support system includes an image acquisition unit that acquires an image captured by a camera provided in a car that travels in an elevator hoistway, and a calibration pattern that is captured by the camera in the hoistway. on the surface, a detection unit that detects the calibration pattern in the image acquired by the image acquisition unit, and a normal line of the surface of the presentation unit that indicates the calibration pattern detected by the detection unit. and an orientation calculation unit that calculates the orientation of the camera based on the tilt of the camera with respect to the optical axis.
- FIG. 1 is a configuration diagram of an elevator according to Embodiment 1;
- FIG. 1 is a block diagram showing the configuration of an adjustment support system according to Embodiment 1;
- FIG. 5 is a diagram showing an example of adjustment of camera posture using the adjustment support system according to Embodiment 1;
- FIG. 5 is a diagram showing an example of adjustment of camera posture using the adjustment support system according to Embodiment 1;
- 4 is a flow chart showing an example of the operation of the adjustment support system according to Embodiment 1;
- 2 is a hardware configuration diagram of main parts of the adjustment support system according to Embodiment 1.
- FIG. FIG. 9 is a block diagram showing the configuration of an adjustment support system according to Embodiment 2;
- FIG. 9 is a flow chart showing an example of the operation of the adjustment support system according to Embodiment 2; 10 is a flow chart showing an example of the operation of the adjustment support system according to Embodiment 3;
- FIG. 11 is a block diagram showing the configuration of an adjustment support system according to Embodiment 4;
- FIG. 12 is a diagram showing an example of adjustment of camera posture using the adjustment support system according to the fourth embodiment;
- FIG. 12 is a perspective view of a mobile terminal according to Embodiment 5;
- FIG. 11 is a block diagram showing the configuration of an adjustment support system according to Embodiment 6;
- FIG. 12 is a diagram showing an example of adjustment of camera posture using the adjustment support system according to Embodiment 6;
- FIG. 1 is a configuration diagram of an elevator 1 according to Embodiment 1. As shown in FIG. 1
- the elevator 1 is applied to buildings with multiple floors.
- a hoistway 2 is provided in a building to which an elevator 1 is applied.
- the hoistway 2 is a space spanning multiple floors.
- a machine room 3 is provided above the hoistway 2 .
- a pit 4 is provided at the lower end of the hoistway 2 .
- a landing 5 is provided on each floor.
- a landing 5 is a location adjacent to the hoistway 2 .
- a landing doorway (not shown) is provided in the landing 5 of each floor.
- the landing doorway is an opening leading to the hoistway 2 .
- a landing door 6 is provided at the landing doorway.
- the landing door 6 is a door that partitions the landing 5 and the hoistway 2 .
- the elevator 1 includes a hoisting machine 7 , a main rope 8 , a car 9 , a counterweight 10 and a control panel 11 .
- the hoist 7 is arranged in the machine room 3, for example.
- the hoisting machine 7 may be arranged above or below the hoistway 2 .
- the hoist 7 includes a motor that generates torque and a sheave that is rotationally driven by the motor.
- the main rope 8 is wound around the sheave of the hoisting machine 7 .
- the main rope 8 supports the load of the car 9 on one side of the hoist 7 sheave.
- the main rope 8 supports the load of the counterweight 10 on the other side of the sheave of the machine 7 .
- the load of the car 9 on the main rope 8 on one side of the sheave of the hoist 7 is counterbalanced by the load of a counterweight 10 on the main rope 8 on the other side of the sheave of the hoist 7 .
- the main rope 8 moves so that either the car 9 side or the counterweight 10 side is hoisted onto the sheave of the hoisting machine 7 by the torque generated by the motor of the hoisting machine 7 .
- the car 9 is a device that transports the users of the elevator 1 riding inside the car 9 between a plurality of floors by traveling in the hoistway 2 in the running direction.
- the running direction of the car 9 is the vertical direction.
- the car 9 and the counterweight 10 travel in the hoistway 2 in opposite vertical directions in conjunction with the movement of the main rope 8 by the hoisting machine 7 .
- the car 9 has a car door 12 .
- the car door 12 is a door that partitions the inside and outside of the car 9 . When the car 9 stops on any floor, the car door 12 opens and closes in conjunction with the landing door 6 of that floor so that users can get on and off.
- the car 9 is equipped with a camera 13 .
- the camera 13 is a device that photographs the hoistway 2 .
- a camera 13 is attached to the exterior of the car 9 .
- the camera 13 is attached to the bottom of the car 9 .
- the camera 13 photographs the area below the car 9 .
- the optical axis of the camera 13 is directed parallel to the vertical direction, which is the running direction of the car 9 .
- the camera 13 is attached by a magnet or the like to, for example, the lower beam of the car frame that supports the car 9 in which a user or the like enters. At this time, the camera 13 may be attached with a fall prevention string or wire attached to the lower beam.
- the control panel 11 is the part that controls the operation of the elevator 1.
- the control panel 11 is arranged in the machine room 3, for example.
- the control panel 11 may be arranged above or below the hoistway 2 .
- the operation of the elevator 1 controlled by the control panel 11 includes, for example, running of the car 9 and the like.
- the control panel 11 acquires information on the state of the elevator 1 so as to control the operation of the elevator 1 .
- the control panel 11 is connected to the equipment of the elevator 1 so as to be able to acquire the status operation of the elevator 1 .
- Devices connected to the control panel 11 include, for example, the hoisting machine 7 and the devices of the control panel 11 .
- Devices connected to the control panel 11 include, for example, sensors or switches provided at the landing 5 or the hoistway 2 or the like.
- a pair of first guide rails 14 and a pair of second guide rails 15 are provided in the hoistway 2 .
- a pair of first guide rails 14 are devices that guide the movement of the car 9 .
- the pair of first guide rails 14 are arranged in parallel in the hoistway 2 along the vertical direction, which is the running direction of the car 9 .
- the car 9 is arranged between the pair of first guide rails 14 .
- Each first guide rail 14 may be divided into a plurality of parts in the vertical direction.
- a pair of second guide rails 15 are devices that guide the movement of the counterweight 10 .
- the pair of second guide rails 15 are arranged in parallel in the hoistway 2 along the vertical direction, which is the running direction of the counterweight 10 .
- a counterweight 10 is arranged between a pair of second guide rails 15 .
- Each second guide rail 15 may be divided into a plurality of parts in the vertical direction.
- a first buffer 16 and a second buffer 17 are provided.
- the first buffer 16 is a device that reduces the impact when the car 9 collides with the bottom of the hoistway 2 .
- a first buffer 16 is arranged below the car 9 .
- the second buffer 17 is a device that reduces the impact when the counterweight 10 collides with the bottom of the hoistway 2 .
- a second buffer 17 is arranged below the counterweight 10 .
- a remote monitoring device 18 is applied.
- the remote monitoring device 18 is a device used for monitoring the state of the elevator 1 from a remote location.
- a remote monitoring device 18 is connected to the control panel 11 or the like so as to obtain information on the state of the elevator 1 .
- the remote monitoring device 18 transmits the acquired information to the central management device 20 through a communication network 19 such as the Internet or a telephone network.
- the central management device 20 is a device that manages information on the state of the elevator 1 and the like.
- the central management device 20 is, for example, one or more server devices.
- the central management device 20 is arranged at a base such as an information center, for example.
- the information center is a base that aggregates information on the elevator 1 .
- the image of the hoistway 2 captured by the camera 13 provided in the car 9 is used for inspection of the hoistway 2 and the like.
- the inspection of the hoistway 2 includes automatic diagnosis, for example, during diagnostic operation after an earthquake occurs.
- the orientation of the camera 13 may deviate from the target orientation due to vibration or the like that is repeatedly applied to the camera 13 as the car 9 travels and stops.
- the orientation of the camera 13 is represented by the inclination of the camera 13 with respect to a preset direction.
- the tilt of the camera 13 is the tilt of the optical axis of the camera 13, for example.
- the target posture is a preset normal posture of the camera 13 .
- the target posture is, for example, a posture in which the optical axis of the camera 13 is oriented parallel to the vertical direction, which is the running direction of the car 9 .
- an object to be photographed such as equipment arranged inside the hoistway 2
- the inspection using the image captured by the camera 13 may fail. Therefore, a worker who performs maintenance and inspection work on the elevator 1 uses an adjustment support system (not shown in FIG. 1) to adjust the posture of the camera 13 during the maintenance and inspection work.
- the operation of adjusting the posture of the camera 13 includes procedures such as checking the posture of the camera 13 and correcting the posture of the camera 13, for example.
- FIG. 2 is a block diagram showing the configuration of the adjustment support system 21 according to the first embodiment.
- the image captured by the camera 13 is used in the adjustment support system 21 . Images captured by the camera 13 are transmitted to the central management device 20 via the communication network 19 . Camera 13 may transmit images through, for example, control panel 11 and remote monitoring device 18 . In the central management device 20, the image captured by the camera 13 is stored in association with the time when the image was captured.
- the adjustment support system 21 has a mobile terminal 22 .
- the mobile terminal 22 is, for example, a portable information terminal such as a smart phone.
- the mobile terminal 22 is carried by the worker.
- the mobile terminal 22 has a function of wirelessly communicating information.
- the mobile terminal 22 is connected to the communication network 19 .
- the mobile terminal 22 synchronizes time information with the camera 13, the central management device 20, and the like.
- an adjustment support program for the camera 13 is installed in the mobile terminal 22 .
- the adjustment support program is stored, for example, in a storage device (not shown) mounted on the mobile terminal 22 . Functions of the mobile terminal 22 in the adjustment support system 21 are realized by an adjustment support program or the like.
- the mobile terminal 22 includes an image acquisition unit 23, a display 24, a display control unit 25, a detection unit 26, a measurement unit 27, an orientation calculation unit 28, a notification unit 29, a determination unit 30, and an adjustment amount calculation unit. a portion 31;
- the image acquisition unit 23 is a part that acquires the image captured by the camera 13 from the central management device 20 that stores the image. For example, the image acquisition unit 23 specifies a time and acquires an image captured at that time. The image acquisition unit 23 designates, for example, the current time as the time when the image was captured. At this time, the image acquisition unit 23 may continuously acquire images captured by the camera 13 . Alternatively, the image acquisition unit 23 may acquire images captured by the camera 13 at a single time.
- the display 24 is a device that displays information based on input signals.
- the display 24 is, for example, a liquid crystal display panel.
- the display control section 25 is a section that outputs a signal representing an image to the display 24 .
- the display control unit 25 outputs to the display 24 a signal representing an image of the calibration pattern used for calculating the orientation of the camera 13 .
- a calibration pattern is a regular pattern used to calibrate the instrument.
- a checkerboard pattern, a grid pattern, a gray code pattern, or a dot pattern arranged in a lattice is known as a representative pattern. Note that the calibration pattern here is sometimes called a planar reference pattern.
- the display 24 displays an image such as a calibration pattern based on the signal output from the display control section 25 . At this time, the display 24 shows the calibration pattern on the surface by screen display.
- Display 24 is an example of a presentation unit.
- the calibration pattern shown by the display 24 is photographed by the camera 13 as the worker faces the surface of the display 24
- the detection unit 26 is a part that detects the calibration pattern shown on the presentation unit such as the display 24 in the image acquired by the image acquisition unit 23 .
- the detection unit 26 detects feature points in the calibration pattern, such as corner points of a checkerboard pattern, by image processing or the like.
- the measuring unit 27 is a part that measures the inclination of the presentation unit such as the display 24 .
- the measurement unit 27 includes an acceleration sensor, an inclination sensor, or the like that is integrally mounted on the mobile terminal 22 together with the display 24 . Since the measurement unit 27 is provided integrally with the display 24 , the inclination of the measurement unit 27 itself corresponds to the inclination of the display 24 .
- the measurement unit 27 measures the inclination of the normal to the surface of the display 24 from the vertical direction.
- the measurement unit 27 may indirectly measure the tilt of the normal line of the display 24 with respect to the vertical direction from the tilt with respect to other directions.
- the attitude calculation unit 28 is a part that calculates the attitude of the camera 13 using the detection result of the calibration pattern by the detection unit 26 in the image acquired by the image acquisition unit 23 .
- the posture calculation unit 28 calculates, as the posture of the camera 13, the inclination of the optical axis of the camera 13 with respect to the vertical direction, which is the running direction of the car 9, for example.
- the orientation calculation unit 28 may calculate an external parameter as the orientation of the camera 13 .
- the extrinsic parameters of the camera 13 are the transformation parameters between a fixed world coordinate system, such as the hoistway 2, and the camera coordinate system, which the camera 13 is referenced to.
- the notification unit 29 is a part that uses the mobile terminal 22 to notify the worker who performs the adjustment work of the camera 13 of information by voice.
- the notification unit 29 includes, for example, a speaker.
- the notification unit 29 notifies, for example, by voice whether or not the inclination of the normal line of the display 24 measured by the measurement unit 27 is within the notification range.
- the notification range is, for example, a range of inclination of the display 24 that is set in advance with respect to the vertical direction, which is the running direction of the car 9, that is allowed when confirming the posture of the camera 13. For example, when the inclination of the normal line of the display 24 is within the notification range, the notification unit 29 notifies the worker by emitting a sound.
- the notification unit 29 does not emit sound when the inclination of the normal line of the display 24 exceeds the notification range. Accordingly, the operator can obtain information as to whether or not the inclination of the normal line of the display 24 is within the notification range based on the presence or absence of the sound emitted from the notification unit 29 . Alternatively, the notification unit 29 may notify the worker by emitting different sounds based on whether the inclination of the normal line of the display 24 exceeds the notification range.
- the determination unit 30 is a part that determines whether the posture of the camera 13 is abnormal based on the difference between the posture of the camera 13 calculated by the posture calculation unit 28 and the target posture.
- the determination unit 30 determines that the posture of the camera 13 is abnormal when, for example, the tilt of the posture of the camera 13 calculated by the posture calculation unit 28 with respect to the target posture exceeds a preset normal range. For example, when the angle between the orientation of the optical axis in the target orientation of the camera 13 and the orientation of the optical axis in the orientation of the camera 13 calculated by the orientation calculation unit 28 is greater than a preset angle, the determination unit 30 Determine abnormal posture.
- the determination unit 30 determines that the posture of the camera 13 is abnormal when, for example, the rotation angle of the posture of the camera 13 calculated by the posture calculation unit 28 about the optical axis with respect to the target posture is larger than a preset angle.
- the adjustment amount calculation unit 31 is a part that calculates an adjustment amount for adjusting the orientation of the camera 13 to the target orientation based on the orientation of the camera 13 calculated by the orientation calculation unit 28 .
- the adjustment amount calculation unit 31 calculates, for example, the angle between the orientation of the optical axis in the target orientation of the camera 13 and the orientation of the optical axis in the orientation of the camera 13 calculated by the orientation calculation unit 28 as the adjustment amount.
- FIG. 3 and 4 are diagrams showing an example of adjusting the posture of camera 13 using adjustment support system 21 according to the first embodiment.
- FIG. 3 a perspective view of the hoistway 2 during adjustment work is shown.
- the worker enters the pit 4 from the landing 5 on the lowest floor, for example.
- the worker visually confirms the posture of the camera 13 in the pit 4 .
- the worker corrects the posture of the camera 13 when the deviation of the posture of the camera 13 from the target posture can be confirmed from the appearance of the camera 13 or the like.
- the operator corrects the posture of the camera 13 by operating the swing mechanism.
- the operator may correct the posture of the camera 13 by attaching the camera 13 to the car 9 again.
- the operator checks the posture of the camera 13 using the adjustment support system 21 .
- the worker activates the posture confirmation function of the camera 13 in the adjustment support system 21 by operating the mobile terminal 22 .
- the display control unit 25 acquires from the measurement unit 27 the measurement result of the inclination of the normal line of the display 24 with respect to the vertical direction.
- the display control unit 25 generates image information representing the tilt of the display 24 measured by the measurement unit 27 .
- the image generated by the display control unit 25 is an image showing the vertical and horizontal tilts of the display 24 by the scales 32 and the arrows 33 pointing to the scales 32 .
- the display control unit 25 outputs a signal representing the generated image and the preset image of the calibration pattern 34 to the display 24 .
- calibration pattern 34 is an image of a checkerboard pattern.
- a scale 32 and an arrow 33 representing the tilt of the display 24 are arranged along the perimeter of the calibration pattern 34 .
- the display 24 displays an image representing the calibration pattern 34 and the inclination of the display 24 based on the signal output by the display control unit 25 .
- An example of the display on the display 24 is shown in FIG.
- the worker faces the display 24 upward while holding the mobile terminal 22 at a height where the display 24 can be viewed.
- the operator refers to the scale 32 and the arrow 33 displayed on the display 24 to adjust the orientation of the display 24 so that the normal line of the display 24 faces the vertical direction. That is, the worker adjusts the orientation of the display 24 so that the surface is horizontal.
- the worker may adjust the orientation of the display 24 while receiving the voice notification from the notification unit 29 .
- the image acquisition unit 23 acquires from the measurement unit 27 the measurement result of the inclination of the normal line of the display 24 with respect to the vertical direction.
- the image acquisition unit 23 determines whether the inclination of the normal line of the display 24 measured by the measurement unit 27 is within the calculation range.
- the calculation range is, for example, a range of inclination of the display 24 that is set in advance with respect to the vertical direction, which is the running direction of the car 9, that is allowed when confirming the posture of the camera 13, or the like.
- the calculation range may be the same range as the notification range.
- the image acquiring unit 23 designates the time when the measurement was performed, and the camera 13 captures the image from the central management device 20. to get the image. Thereby, the image acquisition unit 23 acquires an image captured by the camera 13 when the surface of the display 24 is horizontal within the calculation range.
- the detection unit 26 detects the calibration pattern 34 in the image acquired by the image acquisition unit 23 .
- the display control unit 25 generates an image representing failure in detection of the calibration pattern 34 .
- the image is, for example, an image of the calibration pattern 34 with different colors.
- the display control unit 25 outputs a signal representing the generated image to the display 24 .
- the display 24 displays an image indicating that the detection of the calibration pattern 34 has failed, based on the signal output by the display control section 25 .
- the display control unit 25 does not output to the display 24 the signal of the image indicating the detection failure of the calibration pattern 34 when the detection unit 26 has successfully detected the calibration pattern 34 .
- the worker can determine whether the detection of the calibration pattern 34 has been successful or not by the presence or absence of the display on the display 24 of an image indicating the failure of the detection of the calibration pattern 34, or the color of the calibration pattern 34 displayed on the display 24, or the like. information can be obtained.
- the orientation calculation unit 28 calculates the orientation of the camera 13 using the detection result of the calibration pattern 34 by the detection unit 26 in the image acquired by the image acquisition unit 23 .
- the inclination of the display 24 displaying the calibration pattern 34 detected from the image acquired by the image acquisition unit 23 corresponds to the inclination of the normal line of the display 24 with respect to the optical axis of the camera 13 .
- the image acquired by the image acquisition unit 23 is an image captured by the camera 13 when the surface of the display 24 is horizontal within the calculation range, the inclination of the display 24 in the image is the optical axis of the camera 13 with respect to the vertical direction.
- the orientation calculation unit 28 calculates the inclination of the optical axis of the camera 13 with respect to the vertical direction as the orientation of the camera 13 based on the result of detection of the calibration pattern 34 by the detection unit 26 from the image acquired by the image acquisition unit 23. do.
- the determination unit 30 determines whether the posture of the camera 13 is abnormal based on the difference between the posture of the camera 13 calculated by the posture calculation unit 28 and the target posture. Further, the adjustment amount calculation unit 31 calculates the adjustment amount of the orientation of the camera 13 based on the difference between the orientation of the camera 13 calculated by the orientation calculation unit 28 and the target orientation.
- the display control unit 25 outputs to the display 24 a signal representing the determination result by the determination unit 30 and the adjustment amount calculated by the adjustment amount calculation unit 31 .
- the display 24 displays the determination result of the posture abnormality of the camera 13 and the calculated adjustment amount based on the signal output by the display control unit 25 . Based on the information displayed on the display 24, the operator can easily determine whether or not the attitude of the camera 13 has been adjusted.
- the determination result by the determination unit 30 may be stored in a storage element or the like mounted on the mobile terminal 22 .
- the result of confirming that the posture of the camera 13 has been adjusted can be left as a work record of maintenance and inspection work.
- the worker corrects the posture of the camera 13 using the adjustment support system 21 when the posture of the camera 13 is determined to be abnormal. At this time, the worker activates the posture correction function of the camera 13 in the adjustment support system 21 by operating the mobile terminal 22 .
- FIG. 4 shows an example of the display on the display 24 in the posture correction function.
- FIG. 4 an example of an image of the pit 4 seen from above is shown.
- the image acquisition unit 23 acquires a past image taken by the camera 13 that was used when the orientation calculation unit 28 calculated the orientation of the camera 13 immediately before.
- the image acquisition unit 23 acquires, as a past image, an image at a time specified in the function of checking the posture of the camera 13 that was activated immediately before, for example.
- the image acquisition unit 23 continuously acquires images captured by the camera 13 by designating the current time.
- the display control unit 25 generates an image in which the past image acquired by the image acquisition unit 23 and the current image continuously acquired by the image acquisition unit 23 are superimposed.
- the display control unit 25 generates an image by, for example, alpha blending in which a translucent past image is superimposed on the current image.
- the display control unit 25 displays the current image as a monochrome image.
- the display control unit 25 displays past images as color images.
- the display control unit 25 performs alpha blending using an alpha channel whose transparency increases from the center of the past image toward the outer periphery so that the image of the wall surface of the hoistway 2, etc. is not displayed in the past image. conduct.
- the display control unit 25 outputs a signal representing the generated image to the display 24 .
- the display control unit 25 may output to the display 24 information on the adjustment amount calculated by the function of checking the posture of the camera 13 that was activated immediately before, together with the generated image.
- the display 24 displays the generated image based on the signal output by the display control unit 25.
- the current image is indicated by a solid line.
- past images are indicated by dashed lines. Since the current image and the past image are superimposed and displayed in this way, the operator can correct the posture of the camera 13 while confirming the amount of change in the posture of the camera 13 .
- the worker confirms the posture of the camera 13. - ⁇ The worker repeats posture correction and confirmation until the posture of the camera 13 is determined to be normal.
- FIG. 5 is a flow chart showing an example of the operation of the adjustment support system 21 according to the first embodiment.
- FIG. 5 shows an example of processing of the mobile terminal 22 related to posture confirmation of the camera 13 .
- the processing in FIG. 5 is started when the posture confirmation function of the camera 13 is activated.
- step S ⁇ b>101 the display control unit 25 outputs a signal including information of the image of the calibration pattern 34 to the display 24 .
- the display 24 displays information including an image of the calibration pattern 34 on its surface.
- step S102 the image acquisition unit 23 determines whether the surface of the display 24 is horizontal within the calculation range based on the measurement result of the measurement unit 27. If the determination result is No, the process in the adjustment support system 21 proceeds to step S101. When the determination result is Yes, the process in the adjustment support system 21 proceeds to step S103.
- step S103 the image acquisition unit 23 acquires an image captured by the camera 13 from the central management device 20 by designating the measurement time at which the surface of the display 24 was determined to be horizontal in step S102. After that, the processing in the adjustment support system 21 proceeds to step S104.
- step S104 the detection unit 26 determines whether the calibration pattern 34 has been detected in the image acquired by the image acquisition unit 23. If the determination result is No, the process in the adjustment support system 21 proceeds to step S105. When the determination result is Yes, the processing in the adjustment support system 21 proceeds to step S106.
- step S ⁇ b>105 the display control unit 25 outputs to the display 24 an image signal indicating that the detection of the calibration pattern 34 has failed.
- the display 24 displays an image representing detection failure based on the signal output from the display control unit 25 .
- step S106 the posture calculation unit 28 calculates the posture of the camera 13 based on the tilt of the image of the display 24 displaying the calibration pattern 34 detected by the detection unit 26 from the image acquired by the image acquisition unit 23. do.
- the orientation calculation unit 28 calculates the orientation of the camera 13 using the fact that the image is an image captured when the surface of the display 24 is horizontal within the calculation range. After that, the processing in the adjustment support system 21 proceeds to step S107.
- step S107 the determination unit 30 determines whether the orientation of the camera 13 is abnormal based on the difference between the orientation of the camera 13 calculated by the orientation calculation unit 28 and the target orientation. Further, the adjustment amount calculation unit 31 calculates the adjustment amount of the orientation of the camera 13 based on the difference between the orientation of the camera 13 calculated by the orientation calculation unit 28 and the target orientation.
- the display control unit 25 outputs to the display 24 a signal representing the determination result by the determination unit 30 and the adjustment amount calculated by the adjustment amount calculation unit 31 .
- the display 24 displays the determination result of the posture abnormality of the camera 13 and the calculated adjustment amount based on the signal output by the display control unit 25 .
- the adjustment support system 21 includes the image acquisition unit 23, the display 24, the detection unit 26, and the orientation calculation unit 28.
- the image acquisition unit 23 acquires an image captured by the camera 13 .
- a camera 13 is provided on a car 9 running in the hoistway 2 of the elevator 1 .
- the display 24 shows on its surface a calibration pattern 34 that is captured by the camera 13 in the hoistway 2 .
- the detection unit 26 detects the calibration pattern 34 in the image acquired by the image acquisition unit 23 .
- the posture calculation unit 28 calculates the posture of the camera 13 based on the inclination of the normal line of the surface of the display 24 showing the calibration pattern 34 detected by the detection unit 26 with respect to the optical axis of the camera 13 .
- the adjustment support system 21 also includes a display control unit 25 .
- the display control section 25 outputs a signal representing the calibration pattern 34 .
- the display 24 shows the calibration pattern 34 on the surface by display based on the signal output by the display control section 25 .
- the attitude of the camera 13 is calculated based on the inclination of the calibration pattern 34 shown on the display 24 after the attitude of the camera 13 is adjusted.
- the operator can more easily determine whether the posture of the camera 13 has been adjusted.
- the adjustment support system 21 also includes a measurement unit 27 .
- the measurement unit 27 is provided integrally with the display 24 .
- the measurement unit 27 measures the inclination of the normal line of the display 24 with respect to the running direction of the car 9 .
- the orientation calculation unit 28 calculates the orientation of the camera 13 based on the image captured by the camera 13 when the inclination measured by the measurement unit 27 is within a predetermined calculation range with respect to the traveling direction of the car 9 .
- the inclination of the camera 13 with respect to the running direction of the car 9 is calculated as the posture.
- the worker holds the portable terminal 22 displaying the calibration pattern 34 on the display 24 and points it at the camera 13 . Since the distance from the camera 13 to the display 24 is reduced, there is no need to bring equipment showing a large calibration pattern 34 into the pit 4.
- the surface of the display 24 showing the calibration pattern 34 in the image acquired by the image acquisition unit 23 is tilted at a predetermined angle. It is guaranteed that it is within the calculation range. As a result, the posture of the camera 13 can be calculated more easily and accurately.
- the adjustment support system 21 also includes a notification unit 29 .
- the notification unit 29 notifies information as to whether or not the tilt measured by the measurement unit 27 is within a predetermined notification range with respect to the traveling direction of the car 9 .
- the worker may raise the display 24 higher than the line of sight. Even in such a case, the worker can easily adjust the inclination of the display 24 by the voice notification from the notification unit 29 .
- the display control unit 25 outputs a signal representing the inclination measured by the measurement unit 27 to the display 24 that can be viewed by the operator who performs the adjustment work of the camera 13 .
- the display control unit 25 outputs a signal indicating success or failure of detection of the calibration pattern 34 by the detection unit 26 to the display 24 .
- the height of the camera 13 allows the worker to face the camera 13 while viewing the display 24 .
- the operator can visually confirm the inclination of the display 24, and thus can easily adjust the inclination of the display 24.
- FIG. since the operator can visually confirm whether the detection of the calibration pattern 34 is successful or not, it becomes easier to adjust the position of the display 24 or the like.
- the display control unit 25 superimposes the past image captured by the camera 13 and the current image captured by the camera 13, which was used when the attitude calculation unit 28 calculated the attitude of the camera 13 immediately before. output to the display 24.
- the worker can check the adjustment amount for posture correction of the camera 13 on the display 24 during posture correction work. This makes it easier to correct the posture of the camera 13 .
- the adjustment support system 21 also includes a determination unit 30 .
- the determination unit 30 determines whether the posture of the camera 13 is abnormal based on the difference between the posture of the camera 13 calculated by the posture calculation unit 28 and a preset target posture.
- the adjustment support system 21 also includes an adjustment amount calculator 31 .
- the adjustment amount calculation unit 31 calculates an adjustment amount for adjusting the orientation of the camera 13 to a preset target orientation based on the orientation of the camera 13 calculated by the orientation calculation unit 28 .
- the display control unit 25 may superimpose the past image captured by the camera 13 when the camera 13 is in the target posture and the current image captured by the camera 13 and output it to the display 24 .
- the image when the posture of the camera 13 is the target posture is, for example, the image when the determination unit 30 determines that there is no abnormality in the posture of the camera 13 in the previous maintenance and inspection work.
- the image when the orientation of the camera 13 is the target orientation may be, for example, an image captured when the camera 13 is initially installed.
- the worker can correct the posture of the camera 13 while checking the target image on the display 24. This makes it easier to correct the posture of the camera 13 .
- the traveling direction of the car 9 may be inclined from the vertical direction. That is, the elevator 1 may be an oblique elevator.
- the measurement unit 27 measures the inclination of the normal to the surface of the display 24 from the running direction of the car 9 .
- the worker may perform initialization processing for storing the running direction of the car 9 in the measuring unit 27 before the operation of adjusting the posture of the camera 13 .
- the initialization process is performed, for example, with the portable terminal 22 placed on a guide rail along the running direction of the car 9 .
- the measurement unit 27 can measure the inclination of the car 9 from the traveling direction.
- the camera 13 may be provided on the top of the car 9 . At this time, the worker sits on the outer upper part of the car 9 and performs the work of adjusting the attitude of the camera 13 . Also, the cameras 13 may be provided both above and below the car 9 .
- the mobile terminal 22 does not have the measurement unit 27 that outputs the measurement result as a signal. good too.
- the worker performs an operation to start posture calculation through the portable terminal 22 at the timing when the tilt of the display 24 is confirmed, for example.
- the image acquisition unit 23 acquires the time when the operator performed the operation, and acquires the image captured by the camera 13 .
- FIG. 6 is a hardware configuration diagram of main parts of the adjustment support system 21 according to the first embodiment.
- the processing circuitry comprises at least one processor 100a and at least one memory 100b.
- the processing circuitry may include at least one piece of dedicated hardware 200 in conjunction with, or as an alternative to, processor 100a and memory 100b.
- each function of the adjustment support system 21 is implemented by software, firmware, or a combination of software and firmware. At least one of software and firmware is written as a program.
- the program is stored in memory 100b.
- the processor 100a realizes each function of the adjustment support system 21 by reading and executing the programs stored in the memory 100b.
- the processor 100a is also called a CPU (Central Processing Unit), a processing device, an arithmetic device, a microprocessor, a microcomputer, or a DSP.
- the memory 100b is composed of, for example, nonvolatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, and EEPROM.
- the processing circuit may be implemented, for example, as a single circuit, multiple circuits, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof.
- Each function of the adjustment support system 21 can be implemented by a processing circuit. Alternatively, each function of the adjustment support system 21 can be collectively realized by a processing circuit. A part of each function of the adjustment support system 21 may be realized by the dedicated hardware 200 and the other part may be realized by software or firmware. Thus, the processing circuit implements each function of the adjustment support system 21 with dedicated hardware 200, software, firmware, or a combination thereof.
- Embodiment 2 In the second embodiment, the differences from the example disclosed in the first embodiment will be described in detail. Any feature of the example disclosed in the first embodiment may be employed for features not described in the second embodiment.
- FIG. 7 is a block diagram showing the configuration of the adjustment support system 21 according to the second embodiment.
- the image acquisition unit 23, the detection unit 26, the attitude calculation unit 28, the determination unit 30, and the adjustment amount calculation unit 31 are performed by a device external to the mobile terminal 22. may be installed in In this example, the image acquisition unit 23, the detection unit 26, the orientation calculation unit 28, the determination unit 30, and the adjustment amount calculation unit 31 are installed in a device such as the central management device 20, which is arranged in an information center.
- the image acquisition unit 23 installed in the central management device 20 acquires images captured by the camera 13 via the communication network 19.
- the image acquiring unit 23 stores the acquired image in association with the time when the image was taken.
- FIG. 8 is a flow chart showing an example of the operation of the adjustment support system 21 according to the second embodiment.
- FIG. 8 shows an example of adjustment support processing related to confirming the posture of the camera 13 .
- the processing of the mobile terminal 22 in FIG. 8 is started when the posture confirmation function of the camera 13 is activated.
- step S ⁇ b>201 the display control unit 25 outputs a signal including information of the image of the calibration pattern 34 to the display 24 .
- the display 24 displays information including an image of the calibration pattern 34 on its surface.
- step S202 the mobile terminal 22 determines whether the surface of the display 24 is horizontal within the calculation range based on the measurement result of the measurement unit 27, similar to the image acquisition unit 23 in step S101. If the determination result is No, the processing of the mobile terminal 22 in the adjustment support system 21 proceeds to step S201. If the determination result is Yes, the processing of the mobile terminal 22 in the adjustment support system 21 proceeds to step S203.
- step S203 the mobile terminal 22 designates the time of measurement when the surface of the display 24 was determined to be horizontal in step S202, and transmits a posture confirmation request to the central management device 20. After that, the processing of the mobile terminal 22 in the adjustment support system 21 proceeds to step S204.
- step S ⁇ b>301 the central management device 20 determines whether or not a posture confirmation request has been received from the mobile terminal 22 . If the determination result is No, the processing of the central management device 20 in the adjustment support system 21 proceeds to step S301 again. If the determination result is Yes, the processing of the central management device 20 in the coordination support system 21 proceeds to step S302.
- step S302 the detection unit 26 determines whether the calibration pattern 34 has been detected in the image acquired by the image acquisition unit 23 as the image captured at the time specified in the posture confirmation request. If the determination result is No, the processing of the central management device 20 in the coordination support system 21 proceeds to step S303. If the determination result is Yes, the processing of the central management device 20 in the coordination support system 21 proceeds to step S304.
- step S303 the central management device 20 transmits to the mobile terminal 22 information indicating that the detection unit 26 failed to detect the calibration pattern 34. After that, the processing of the central management device 20 in the adjustment support system 21 proceeds to step S301.
- step S304 the posture calculation unit 28 calculates the posture of the camera 13 based on the tilt of the image of the display 24 displaying the calibration pattern 34 detected by the detection unit 26 from the image acquired by the image acquisition unit 23. do.
- the orientation calculation unit 28 calculates the orientation of the camera 13 using the fact that the image is an image captured when the surface of the display 24 is horizontal within the calculation range. After that, the processing of the central management device 20 in the adjustment support system 21 proceeds to step S305.
- step S305 the determination unit 30 determines whether the orientation of the camera 13 is abnormal based on the difference between the orientation of the camera 13 calculated by the orientation calculation unit 28 and the target orientation. Further, the adjustment amount calculation unit 31 calculates the adjustment amount of the orientation of the camera 13 based on the difference between the orientation of the camera 13 calculated by the orientation calculation unit 28 and the target orientation.
- the central management device 20 transmits to the mobile terminal 22 information representing the determination result by the determination unit 30 and the adjustment amount calculated by the adjustment amount calculation unit 31 . After that, the processing of the central management device 20 in the adjustment support system 21 relating to confirmation of the attitude of the camera 13 ends.
- step S ⁇ b>204 the mobile terminal 22 determines whether it has received from the central management device 20 information indicating that the detection unit 26 has failed to detect the calibration pattern 34 .
- the processing of the mobile terminal 22 in the adjustment support system 21 proceeds to step S205. If the determination result is No, the processing of the mobile terminal 22 in the adjustment support system 21 proceeds to step S206.
- step S ⁇ b>205 the display control unit 25 outputs to the display 24 an image signal indicating that the detection of the calibration pattern 34 has failed, based on the information received from the central management device 20 .
- the display 24 displays an image representing detection failure based on the signal output from the display control unit 25 .
- step S ⁇ b>206 the display control unit 25 outputs to the display 24 a signal representing the determination result of the determination unit 30 and the adjustment amount calculated by the adjustment amount calculation unit 31 based on the information received from the central management device 20 .
- the display 24 displays the determination result of the posture abnormality of the camera 13 and the calculated adjustment amount based on the signal output by the display control unit 25 .
- the image acquisition unit 23, the detection unit 26, the orientation calculation unit 28, the determination unit 30, and the adjustment amount calculation unit 31 are included in the central management device 20. to be installed. Even with such a configuration, the orientation of the camera 13 is calculated based on the inclination of the calibration pattern 34 shown on the display 24 after the orientation of the camera 13 is adjusted. As a result, the operator can more easily determine whether the posture of the camera 13 has been adjusted. In addition, it is possible to record the confirmation result that the posture of the camera 13 has been adjusted together with the image. This makes it easier to manage the adjustment work of the camera 13 .
- Embodiment 3 In the third embodiment, points different from the examples disclosed in the first or second embodiment will be described in detail. For features not described in the third embodiment, features of any of the examples disclosed in the first embodiment or the second embodiment may be employed.
- the configuration of the adjustment support system 21 is the same as the configuration shown in the block diagram of FIG.
- FIG. 9 is a flow chart showing an example of the operation of the adjustment support system 21 according to the third embodiment.
- FIG. 9 shows an example of processing of the mobile terminal 22 related to posture confirmation of the camera 13 .
- the processing of FIG. 9 is started when the posture confirmation function of the camera 13 is activated.
- step S ⁇ b>401 the display control unit 25 outputs a signal including information of the image of the calibration pattern 34 to the display 24 .
- the display 24 displays information including an image of the calibration pattern 34 on its surface.
- step S402 the image acquisition unit 23 specifies the current time and acquires the image captured by the camera 13 from the central management device 20. After that, the processing in the adjustment support system 21 proceeds to step S403.
- step S403 the detection unit 26 determines whether the calibration pattern 34 has been detected in the image acquired by the image acquisition unit 23. If the determination result is No, the processing in the adjustment support system 21 proceeds to step S404. If the determination result is Yes, the processing in the adjustment support system 21 proceeds to step S405.
- step S ⁇ b>404 the display control unit 25 outputs to the display 24 an image signal indicating that the detection of the calibration pattern 34 has failed.
- the display 24 displays an image representing detection failure based on the signal output from the display control unit 25 .
- step S405 the attitude calculation unit 28 obtains the measurement result of the measurement unit 27 at the time when the image acquired by the image acquisition unit 23 was captured, with respect to the inclination of the normal line of the display 24 with respect to the vertical direction, which is the traveling direction of the car 9. get. After that, the processing in the adjustment support system 21 proceeds to step S406.
- step S406 the posture calculation unit 28 calculates the posture of the camera 13 based on the tilt of the image of the display 24 displaying the calibration pattern 34 detected by the detection unit 26 from the image acquired by the image acquisition unit 23. do.
- the orientation calculation unit 28 calculates the orientation of the camera 13 using the inclination of the normal line of the display 24 with respect to the vertical direction at the time when the image was captured, which was acquired in step S405.
- the attitude calculation unit 28 uses the detection result of the detection unit 26 to calculate the relationship between the orientation of the optical axis of the camera 13 and the orientation of the normal line of the display 24 .
- the posture calculation unit 28 acquires the relationship between the direction of the normal line of the display 24 and the vertical direction from the measurement results obtained by the measurement unit 27 .
- the attitude calculation unit 28 calculates the orientation of the optical axis of the camera 13 and the orientation of the normal to the display 24 based on the relationship between the orientation of the optical axis of the camera 13 and the orientation of the normal to the display 24, and the relationship between the orientation of the normal to the display 24 and the vertical direction. Calculate the vertical relationship.
- the orientation calculation unit 28 calculates the orientation of the camera 13 from the relationship thus calculated. After that, the processing in the adjustment support system 21 proceeds to step S407.
- step S407 the determination unit 30 determines whether the orientation of the camera 13 is abnormal based on the difference between the orientation of the camera 13 calculated by the orientation calculation unit 28 and the target orientation. Further, the adjustment amount calculation unit 31 calculates the adjustment amount of the orientation of the camera 13 based on the difference between the orientation of the camera 13 calculated by the orientation calculation unit 28 and the target orientation.
- the display control unit 25 outputs to the display 24 a signal representing the determination result by the determination unit 30 and the adjustment amount calculated by the adjustment amount calculation unit 31 .
- the display 24 displays the determination result of the posture abnormality of the camera 13 and the calculated adjustment amount based on the signal output by the display control unit 25 .
- the attitude calculation unit 28 of the adjustment support system 21 measures The tilt of the display 24 is acquired. Based on the acquired tilt, the posture calculation unit 28 calculates the tilt of the camera 13 with respect to the running direction of the car 9 as the posture of the camera 13 .
- the attitude of the camera 13 can be calculated as long as the misalignment is such that the detection unit 26 can detect the calibration pattern 34. become. This makes it easier to calculate the orientation of the camera 13 .
- Embodiment 4 In the fourth embodiment, the differences from the examples disclosed in the first to third embodiments will be described in detail. For the features not described in the fourth embodiment, any features of the examples disclosed in the first to third embodiments may be employed.
- FIG. 10 is a block diagram showing the configuration of the adjustment support system 21 according to the fourth embodiment.
- the mobile terminal 22 includes a calibration plate 35.
- the calibration plate 35 is a plate-like member that shows the calibration pattern 34 by means of an image pre-applied on its surface.
- the calibration plate 35 is an example of a presentation section.
- an image of a calibration pattern 34 is applied, for example by printing or labeling.
- the calibration plate 35 is placed on the back of the mobile terminal 22 , i.e. on the opposite side of the display 24 .
- the calibration plate 35 may be the rear portion of the housing of the mobile terminal 22 itself.
- the inclination of the measurement unit 27 itself corresponds to the inclination of the calibration plate 35 .
- the measurement unit 27 measures the inclination of the normal to the surface of the calibration plate 35 from the vertical direction.
- the measurement unit 27 may indirectly measure the inclination of the normal line of the calibration plate 35 with respect to the vertical direction from the inclination with respect to other directions.
- FIG. 11 is a diagram showing an example of adjusting the posture of camera 13 using adjustment support system 21 according to the fourth embodiment.
- FIG. 11 a perspective view of the hoistway 2 during adjustment work is shown.
- the worker activates the posture confirmation function of the camera 13 in the adjustment support system 21 by operating the mobile terminal 22.
- the display control unit 25 acquires from the measurement unit 27 the measurement result of the inclination of the normal line of the calibration plate 35 with respect to the vertical direction.
- the display control unit 25 generates image information such as a scale 32 and an arrow 33 representing the inclination of the calibration plate 35 measured by the measurement unit 27 .
- the display control unit 25 outputs a signal representing the generated image to the display 24 .
- the worker faces the calibration plate 35 upward while holding the mobile terminal 22 .
- the worker can turn the calibration plate 35 upward while checking the display 24 from below by holding the portable terminal 22 above the line of sight.
- the operator refers to the scale 32 and the arrow 33 displayed on the display 24 to adjust the orientation of the calibration plate 35 so that the normal line of the calibration plate 35 faces the vertical direction. That is, the worker adjusts the orientation of the calibration plate 35 so that the surface is horizontal.
- the notification unit 29 notifies by voice whether or not the inclination of the normal line of the calibration plate 35 measured by the measurement unit 27 is within the notification range.
- the worker may adjust the orientation of the calibration plate 35 while receiving the voice notification from the notification unit 29 .
- the image acquisition unit 23 acquires from the measurement unit 27 the measurement result of the inclination of the normal line of the calibration plate 35 with respect to the vertical direction.
- the image acquisition unit 23 determines whether the inclination of the normal line of the calibration plate 35 measured by the measurement unit 27 is within the calculation range.
- the image acquisition unit 23 designates the time when the measurement was performed, and receives the camera 13 from the central management device 20. Get the captured image. Thereby, the image acquisition unit 23 acquires an image captured by the camera 13 when the surface of the calibration plate 35 is horizontal within the calculation range.
- the detection unit 26 detects the calibration pattern 34 in the image acquired by the image acquisition unit 23 .
- the display control unit 25 generates an image representing failure in detection of the calibration pattern 34 .
- the image is, for example, a character string or an icon representing detection failure.
- the display control unit 25 outputs a signal representing the generated image to the display 24 .
- the display 24 displays an image indicating that the detection of the calibration pattern 34 has failed, based on the signal output by the display control section 25 .
- the display control unit 25 does not output to the display 24 the signal of the image indicating the detection failure of the calibration pattern 34 when the detection unit 26 has successfully detected the calibration pattern 34 .
- the operator can obtain information on the success or failure of the detection of the calibration pattern 34 based on whether or not an image representing the failure of the detection of the calibration pattern 34 is displayed on the display 24 .
- the orientation calculation unit 28 calculates the orientation of the camera 13 using the detection result of the calibration pattern 34 by the detection unit 26 in the image acquired by the image acquisition unit 23 .
- the inclination of the calibration plate 35 representing the calibration pattern 34 detected from the image acquired by the image acquisition unit 23 corresponds to the inclination of the normal line of the calibration plate 35 with respect to the optical axis of the camera 13 .
- the image acquired by the image acquiring unit 23 is an image captured by the camera 13 when the surface of the calibration plate 35 is horizontal within the calculation range. Corresponds to the tilt of the optical axis.
- the orientation calculation unit 28 calculates the inclination of the optical axis of the camera 13 with respect to the vertical direction as the orientation of the camera 13 based on the result of detection of the calibration pattern 34 by the detection unit 26 from the image acquired by the image acquisition unit 23. do.
- the adjustment support system 21 includes the image acquisition section 23, the calibration plate 35, the detection section 26, and the orientation calculation section .
- the image acquisition unit 23 acquires an image captured by the camera 13 .
- a camera 13 is provided on a car 9 running in the hoistway 2 of the elevator 1 .
- the calibration plate 35 shows on its surface a calibration pattern 34 photographed by the camera 13 in the hoistway 2 .
- the detection unit 26 detects the calibration pattern 34 in the image acquired by the image acquisition unit 23 .
- the posture calculation unit 28 calculates the posture of the camera 13 based on the inclination of the normal line of the surface of the calibration plate 35 showing the calibration pattern 34 detected by the detection unit 26 with respect to the optical axis of the camera 13 .
- the calibration plate 35 shows the calibration pattern 34 by means of an image pre-applied to its surface.
- the attitude of the camera 13 is calculated based on the inclination of the calibration pattern 34 shown on the calibration plate 35 after the attitude of the camera 13 is adjusted.
- the operator can more easily determine whether the posture of the camera 13 has been adjusted.
- the display 24 is arranged on the opposite side of the surface of the calibration plate 35 .
- the worker can easily bring the surface of the calibration plate 35 closer to the camera 13 while checking the display on the display 24 .
- the display 24 and the calibration plate 35 are integrated and easy to handle, the workability of adjusting the camera 13 is improved.
- the mobile terminal 22 may be a dedicated device for the adjustment support system 21, for example. At this time, the mobile terminal 22 may not have the display 24 and the display control device.
- the calculation result of the posture by the posture calculation unit 28 is recorded in the central management device 20, for example.
- the calibration plate 35 may be a separate device from the mobile terminal 22 .
- the measurement unit 27 is, for example, an acceleration sensor or a tilt sensor provided integrally with the calibration plate 35 .
- the measurement unit 27 communicates measurement results with the mobile terminal 22, the central management device 20, or the like by wire or wirelessly.
- Embodiment 5 In the fifth embodiment, the differences from the examples disclosed in the first to fourth embodiments will be described in detail. Any of the features disclosed in the first to fourth embodiments may be employed for features not described in the fifth embodiment.
- FIG. 12 is a perspective view of the mobile terminal 22 according to Embodiment 5.
- FIG. 12 is a perspective view of the mobile terminal 22 according to Embodiment 5.
- a holder 36 is attached to the mobile terminal 22 in the adjustment support system 21 .
- the holder 36 has a handle 37 and a stabilizer 38 .
- a handle 37 is a portion held by an operator.
- the stabilizer 38 is a part that holds the portable terminal 22 so as to maintain the inclination of the presentation section such as the display 24 or the calibration plate 35 . Note that when the calibration plate 35 separate from the mobile terminal 22 is used as the presentation section, the stabilizer 38 holds the calibration plate 35 .
- Stabilizer 38 maintains the tilt of a presentation unit such as display 24 by, for example, a gimbal mechanism.
- the worker When confirming the posture of the camera 13, the worker holds the handle 37 of the holder 36 and turns the surface of the presentation part such as the display 24 or the calibration plate 35 upward. At this time, the stabilizer 38 suppresses the change in the tilt of the presentation portion showing the calibration pattern 34 . Since the calibration pattern 34 can be stably photographed, the orientation of the camera 13 can be confirmed more stably.
- Embodiment 6 In the sixth embodiment, the differences from the examples disclosed in the first to fifth embodiments will be described in detail. For the features not described in the sixth embodiment, any features of the examples disclosed in the first to fifth embodiments may be adopted.
- FIG. 13 is a block diagram showing the configuration of the adjustment support system 21 according to the sixth embodiment.
- the mobile terminal 22 includes a position calculator 39 .
- the position calculation unit 39 is a part that calculates the position of the camera 13 using the detection result of the calibration pattern 34 by the detection unit 26 in the image acquired by the image acquisition unit 23 .
- the position calculator 39 calculates the position of the camera 13 in a horizontal plane perpendicular to the vertical direction, which is the running direction of the car 9 .
- FIG. 14 is a diagram showing an example of adjusting the posture of camera 13 using adjustment support system 21 according to the sixth embodiment.
- FIG. 14 a perspective view of the hoistway 2 during adjustment work is shown.
- the worker puts the buffer cap 40 on the top of the first buffer 16 so as to secure a working space when working in the pit 4 .
- the buffer cap 40 is, for example, a vertically elongated device.
- the top of the buffer cap 40 has a flat horizontal surface facing upwards.
- the camera 13 is arranged at a position shifted horizontally from the central axis of the first buffer 16 . Accordingly, even when the car 9 descends and approaches the buffer cap 40 covering the first buffer 16, the camera 13 does not collide with the buffer cap 40. - ⁇
- the worker activates the posture confirmation function of the camera 13 in the adjustment support system 21 by operating the mobile terminal 22 .
- the operator positions the mobile device 22 on top of the buffer cap 40 so that the surface, such as the display 24, showing the calibration pattern 34 faces upward.
- the image processing unit specifies the current time and acquires the image captured by the camera 13 from the central management device 20.
- the image processing unit sets the time after the portable terminal 22 is placed on the top of the buffer cap 40, such as the time after a preset time has elapsed since the posture confirmation function was activated. .
- the image processing unit detects that the mobile terminal 22 is in the buffer cap 40 based on the measurement result of an acceleration sensor mounted on the mobile terminal 22, for example. may be determined to be placed at the top of the When the mobile device 22 is placed on top of the buffer cap 40, the surface of the display 24 is horizontal. Therefore, the image acquisition unit 23 can acquire an image captured by the camera 13 when the surface of the display 24 is horizontal.
- the detection unit 26 detects the calibration pattern 34 in the image acquired by the image acquisition unit 23 .
- the orientation calculation unit 28 calculates the orientation of the camera 13 using the detection result of the calibration pattern 34 by the detection unit 26 in the image acquired by the image acquisition unit 23 .
- the inclination of the display 24 displaying the calibration pattern 34 detected from the image acquired by the image acquisition unit 23 corresponds to the inclination of the normal line of the display 24 with respect to the optical axis of the camera 13 .
- the image acquired by the image acquiring unit 23 is an image captured by the camera 13 when the surface of the display 24 is horizontal
- the inclination of the display 24 in the image corresponds to the inclination of the optical axis of the camera 13 with respect to the vertical direction. do.
- the orientation calculation unit 28 calculates the inclination of the optical axis of the camera 13 with respect to the vertical direction as the orientation of the camera 13 based on the result of detection of the calibration pattern 34 by the detection unit 26 from the image acquired by the image acquisition unit 23. do.
- the position calculation unit 39 calculates the position of the camera 13 using the detection result of the calibration pattern 34 by the detection unit 26 in the image acquired by the image acquisition unit 23 .
- the position calculation unit 39 calculates the position after the determination unit 30 determines that there is no abnormality in the posture of the camera 13 calculated by the posture calculation unit 28, for example.
- the posture of the camera 13 is the target posture
- the center of the image captured by the camera 13 represents a place on the extended line of the trajectory of the camera 13 moving along the running direction of the car 9 .
- the center of the image captured by the camera 13 represents the location vertically below the camera 13 .
- the position calculation unit 39 calculates the position of the calibration pattern 34 relative to the first buffer 16 based on the position of the calibration pattern 34 on the image.
- the horizontal position of the camera 13 can be calculated.
- the determination unit 30 determines whether the position of the camera 13 is abnormal based on the position of the camera 13 calculated by the position calculation unit 39 . For example, when the position of the calibration pattern 34 on the image detected by the detection unit 26 and the distance between the center of the image are within a preset range, the determination unit 30 determines the positions of the camera 13 and the first buffer 16. It is determined that there is an abnormality in the position of the camera 13 because the deviation is not sufficient.
- the worker corrects the position of the camera 13 using the adjustment support system 21 when the position of the camera 13 is determined to be abnormal.
- the worker checks the position of the camera 13 after correcting the position of the camera 13 while referring to the display 24 .
- the operator repeats position correction and confirmation until the position of the camera 13 is determined to be normal.
- the presentation unit such as the display 24 may be attached to the top of the buffer cap 40 .
- a presentation part such as a calibration plate 35 with a pre-applied calibration pattern 34 may be attached to the top of the buffer cap 40 .
- the image of the calibration pattern 34 may be applied directly to the top of the buffer cap 40 . That is, the buffer cap 40 itself may serve as a presentation portion showing the calibration pattern 34 by means of an image previously applied to the top.
- the portable terminal 22 having a presentation unit such as the display 24 is placed on top of the buffer cap 40 .
- the buffer cap 40 is a device placed on the first buffer 16 during adjustment work of the camera 13 .
- a first buffer 16 is arranged below the car 9 at the lower end of the hoistway 2 .
- the calibration pattern 34 is easily detected. This makes it easier to calculate the orientation of the camera 13 . Also, the position of the top of the buffer cap 40 is determined by the dimensions of the first buffer 16 and the buffer cap 40 . For this reason, variations in the positional relationship between the surface such as the display 24 showing the calibration pattern 34 and the camera 13 are reduced depending on the operator. This makes it easier to manage the adjustment work of the camera 13 .
- the adjustment support system 21 also includes a position calculator 39 .
- the position calculator 39 calculates the position of the camera 13 with respect to the first buffer 16 based on the position of the calibration pattern 34 detected at the top of the buffer cap 40 by the detector 26 from the image captured by the camera 13 . .
- the position of the camera 13 is calculated with reference to the first buffer 16 whose position is fixed. This allows the operator to more easily correct the position of camera 13 .
- the adjustment support system according to the present disclosure can be applied to adjusting the posture of elevator cameras.
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Abstract
Description
図1は、実施の形態1に係るエレベーター1の構成図である。
図3および図4は、実施の形態1に係る調整支援システム21を利用したカメラ13の姿勢の調整の例を示す図である。
図4において、上方から見たピット4の画像の例が示される。
図5は、実施の形態1に係る調整支援システム21の動作の例を示すフローチャートである。
図5の処理は、カメラ13の姿勢確認の機能が起動するときに開始される。
また、調整支援システム21は、表示制御部25を備える。表示制御部25は、校正パターン34を表す信号を出力する。ディスプレイ24は、表示制御部25が出力する信号に基づく表示によって校正パターン34を表面に示す。
また、姿勢算出部28は、測定部27の測定する傾きがかご9の走行方向に対して予め設定された算出範囲内の傾きであるときにカメラ13が撮影した画像に基づいて、カメラ13の姿勢としてかご9の走行方向に対するカメラ13の傾きを算出する。
また、表示制御部25は、検出部26による校正パターン34の検出の成否を表す信号をディスプレイ24に出力する。
図6は、実施の形態1に係る調整支援システム21の主要部のハードウェア構成図である。
実施の形態2において、実施の形態1で開示される例と相違する点について特に詳しく説明する。実施の形態2で説明しない特徴については、実施の形態1で開示される例のいずれの特徴が採用されてもよい。
図8は、実施の形態2に係る調整支援システム21の動作の例を示すフローチャートである。
図8における携帯端末22の処理は、カメラ13の姿勢確認の機能が起動するときに開始される。
実施の形態3において、実施の形態1または実施の形態2で開示される例と相違する点について特に詳しく説明する。実施の形態3で説明しない特徴については、実施の形態1または実施の形態2で開示される例のいずれの特徴が採用されてもよい。
図9の処理は、カメラ13の姿勢確認の機能が起動するときに開始される。
実施の形態4において、実施の形態1から実施の形態3で開示される例と相違する点について特に詳しく説明する。実施の形態4で説明しない特徴については、実施の形態1から実施の形態3で開示される例のいずれの特徴が採用されてもよい。
図11において、調整作業中の昇降路2の斜視図が示される。
また、校正板35は、表面に予め付された画像によって校正パターン34を示す。
実施の形態5において、実施の形態1から実施の形態4で開示される例と相違する点について特に詳しく説明する。実施の形態5で説明しない特徴については、実施の形態1から実施の形態4で開示される例のいずれの特徴が採用されてもよい。
実施の形態6において、実施の形態1から実施の形態5で開示される例と相違する点について特に詳しく説明する。実施の形態6で説明しない特徴については、実施の形態1から実施の形態5で開示される例のいずれの特徴が採用されてもよい。
図14において、調整作業中の昇降路2の斜視図が示される。
Claims (19)
- エレベーターの昇降路において走行するかごに設けられたカメラが撮影する画像を取得する画像取得部と、
前記昇降路において前記カメラに撮影される校正パターンを表面に示す提示部と、
前記画像取得部が取得した画像において前記校正パターンを検出する検出部と、
前記検出部が検出した前記校正パターンを示している前記提示部の前記表面の法線の、前記カメラの光軸に対する傾きに基づいて、前記カメラの姿勢を算出する姿勢算出部と、
を備えるエレベーターのカメラの調整支援システム。 - 前記提示部と一体に設けられ、前記かごの走行方向に対する前記提示部の前記法線の傾きを測定する測定部
を備える請求項1に記載のエレベーターのカメラの調整支援システム。 - 前記姿勢算出部は、前記測定部の測定する傾きが前記かごの走行方向に対して予め設定された算出範囲内の傾きであるときに前記カメラが撮影した画像に基づいて、前記カメラの姿勢として前記かごの走行方向に対する前記カメラの傾きを算出する
請求項2に記載のエレベーターのカメラの調整支援システム。 - 前記姿勢算出部は、前記検出部が前記校正パターンを検出した画像が前記カメラに撮影されたときに前記測定部が測定した前記提示部の傾きに基づいて、前記カメラの姿勢として前記かごの走行方向に対する前記カメラの傾きを算出する
請求項2に記載のエレベーターのカメラの調整支援システム。 - 前記測定部の測定する傾きが前記かごの走行方向に対して予め設定された報知範囲内の傾きであるか否かの情報を、音声によって報知する報知部
を備える
請求項2から請求項4のいずれか一項に記載のエレベーターのカメラの調整支援システム。 - 前記測定部の測定する傾きを表す情報の信号を、前記カメラの調整作業を行う作業員が視認しうるディスプレイに出力する表示制御部
を備える
請求項2から請求項5のいずれか一項に記載のエレベーターのカメラの調整支援システム。 - 前記提示部は、前記表面に予め付された画像によって前記校正パターンを示す
請求項1から請求項5のいずれか一項に記載のエレベーターのカメラの調整支援システム。 - 画像を表す信号を出力する表示制御部と、
前記表示制御部が出力する信号に基づいて画像を表示するディスプレイと、
を備える
請求項7に記載のエレベーターのカメラの調整支援システム。 - 前記ディスプレイは、前記提示部の前記表面の反対側に配置される
請求項8に記載のエレベーターのカメラの調整支援システム。 - 前記校正パターンを表す信号を出力する表示制御部
を備え、
前記提示部は、前記表示制御部が出力する信号に基づく表示によって前記校正パターンを前記表面に示すディスプレイである
請求項1から請求項5のいずれか一項に記載のエレベーターのカメラの調整支援システム。 - 前記表示制御部は、前記検出部による前記校正パターンの検出の成否を表す信号を前記ディスプレイに出力する
請求項8から請求項10のいずれか一項に記載のエレベーターのカメラの調整支援システム。 - 前記表示制御部は、前記カメラの姿勢が予め設定された目標姿勢であるときに前記カメラが撮影した過去の画像、および前記カメラが撮影している現在の画像を重ねて前記ディスプレイに出力する
請求項8から請求項11のいずれか一項に記載のエレベーターのカメラの調整支援システム。 - 前記表示制御部は、前記カメラの姿勢を前記姿勢算出部が直前に算出したときに用いられた、前記カメラが撮影した過去の画像、および前記カメラが撮影している現在の画像を重ねて前記ディスプレイに出力する
請求項8から請求項11のいずれか一項に記載のエレベーターのカメラの調整支援システム。 - 前記姿勢算出部が算出する前記カメラの姿勢および予め設定された目標姿勢の差異に基づいて、前記カメラの姿勢の異常を判定する判定部
を備える
請求項1から請求項13のいずれか一項に記載のエレベーターのカメラの調整支援システム。 - 前記姿勢算出部が算出する前記カメラの姿勢に基づいて、前記カメラの姿勢を予め設定された目標姿勢に調整する調整量を算出する調整量算出部
を備える
請求項1から請求項13のいずれか一項に記載のエレベーターのカメラの調整支援システム。 - 前記カメラの調整作業を行う作業員に保持される持ち手と、
前記持ち手に取り付けられ、前記かごの走行方向に対する前記提示部の前記法線の傾きを維持するように前記提示部を保持するスタビライザーと、
を備える
請求項1から請求項15のいずれか一項に記載のエレベーターのカメラの調整支援システム。 - 前記提示部は、前記昇降路の下端部において前記かごの下方に配置されたバッファに前記カメラの調整作業の際に載せるバッファキャップの頂部に配置される
請求項1から請求項16のいずれか一項に記載のエレベーターのカメラの調整支援システム。 - 前記提示部は、前記昇降路の下端部において前記かごの下方に配置されたバッファに前記カメラの調整作業の際に載せるバッファキャップであり、頂部において前記表面に予め付された画像によって前記校正パターンを示す
請求項1から請求項5のいずれか一項に記載のエレベーターのカメラの調整支援システム。 - 前記カメラが撮影する画像から前記検出部が前記バッファキャップの頂部において検出する前記校正パターンの当該画像上の位置に基づいて、前記カメラの前記バッファに対する位置を算出する位置算出部
を備える請求項17または請求項18に記載のエレベーターのカメラの調整支援システム。
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JP2010276429A (ja) * | 2009-05-27 | 2010-12-09 | Aisin Seiki Co Ltd | 校正目標検出装置と、校正目標を検出する校正目標検出方法と、校正目標検出装置のためのプログラム |
WO2020208847A1 (ja) * | 2019-04-08 | 2020-10-15 | 三菱電機ビルテクノサービス株式会社 | エレベーターシステム、及びエレベーターの改修方法 |
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JP2010276429A (ja) * | 2009-05-27 | 2010-12-09 | Aisin Seiki Co Ltd | 校正目標検出装置と、校正目標を検出する校正目標検出方法と、校正目標検出装置のためのプログラム |
WO2020208847A1 (ja) * | 2019-04-08 | 2020-10-15 | 三菱電機ビルテクノサービス株式会社 | エレベーターシステム、及びエレベーターの改修方法 |
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