CN108116956A - Elevator device - Google Patents
Elevator device Download PDFInfo
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- CN108116956A CN108116956A CN201710474370.2A CN201710474370A CN108116956A CN 108116956 A CN108116956 A CN 108116956A CN 201710474370 A CN201710474370 A CN 201710474370A CN 108116956 A CN108116956 A CN 108116956A
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- 230000033001 locomotion Effects 0.000 claims abstract description 71
- 238000012937 correction Methods 0.000 claims abstract description 40
- 230000009471 action Effects 0.000 claims abstract description 14
- 239000000284 extract Substances 0.000 claims abstract description 4
- 238000001514 detection method Methods 0.000 abstract description 55
- 238000012545 processing Methods 0.000 description 60
- 238000000034 method Methods 0.000 description 33
- 238000010191 image analysis Methods 0.000 description 22
- 230000008569 process Effects 0.000 description 22
- 238000012360 testing method Methods 0.000 description 11
- 230000008859 change Effects 0.000 description 7
- 230000009467 reduction Effects 0.000 description 5
- 230000002159 abnormal effect Effects 0.000 description 3
- 238000009499 grossing Methods 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 3
- 238000002224 dissection Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000003466 anti-cipated effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/02—Control systems without regulation, i.e. without retroactive action
- B66B1/06—Control systems without regulation, i.e. without retroactive action electric
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Indicating And Signalling Devices For Elevators (AREA)
- Elevator Door Apparatuses (AREA)
- Elevator Control (AREA)
Abstract
Even if the present invention provides the image that a kind of video camera takes and generates the elevator device that distortion can also prevent user's accuracy of detection from reducing.The apparatus for controlling elevator of embodiments of the present invention possesses：Shoot part can shoot hall in a manner of near the door comprising car；The distortion for multiple images that shoot part takes is corrected according to pre-stored coordinate transform table in memory by distortions correction portion；Motion detecting section is compared the brightness by multiple revised images of distortions correction portion with block unit, and detects the movement of user；Location estimating portion extracts the block for having movement that motion detecting section detects, the coordinate position at the area center in the block away from door is inferred as to the position of user；And control unit, the position for the user that location estimating portion is inferred to is made to be reflected into the action control of car.
Description
The application is with the Japanese patent application 2016-232956 (dates of application：11/30/2016) based on, according to this application
And enjoy priority.The application includes the entire disclosure of which by reference to this application.
Technical field
Embodiments of the present invention are related to a kind of elevator device.
Background technology
In recent years, in elevators field, the user of the image taken using the video camera with wide-angle lens is detected
The exploitation of technology is carrying out always.As a result, compared with the user's detection technique for using sensor, can obtain being capable of high-precision
This advantage of ground detection user.
The content of the invention
On the other hand, since the shooting of image uses the video camera with wide-angle lens, video camera takes
Image can generate distortion.In the presence of because the precision of above-mentioned user's detection is caused to reduce this imappropriate situation during the distortion.More
Specifically, there is following imappropriate situation：Cause what will not be detected under normal circumstances to make due to the distortion of captured image
User is erroneously detected, so as to which the wrong testing result to be reflected into the control of elevator.
It generates distortion even if the problem to be solved in the present invention is to provide the image that a kind of video camera takes and also can
The elevator device for preventing user's accuracy of detection from reducing.
The elevator device of embodiment is characterized in that possessing：Shoot part, can be with the side near the door comprising car
Formula shoots hall；Distortions correction portion corrects the shoot part according to pre-stored coordinate transform table in memory and claps
The distortion for multiple images taken the photograph；Motion detecting section, with block unit to through multiple revised figures of the distortions correction portion
The brightness of picture is compared, and detects the movement of user；Location estimating portion, what the extraction motion detecting section detected has fortune
The coordinate position at the area center in the block away from the door is inferred as the position of user by dynamic block；And control unit,
The position for the user that the location estimating portion is inferred to is made to be reflected into the action control of the car.
Elevator device according to the above configuration even if the image that video camera takes generates distortion, can also prevent from making
User's accuracy of detection reduces.
Description of the drawings
Fig. 1 is the figure of the schematic configuration example for the elevator device for representing an embodiment.
Fig. 2 is to illustrate the figure of the distortions correction processing performed by the elevator device of the embodiment.
Fig. 3 is the shape after the image for representing to take the elevator device of the embodiment is divided with block unit
The figure of state.
Fig. 4 is the figure for an example for representing the motion detection region set by the elevator device of the embodiment.
Fig. 5 is the figure for representing the image (original image) that the elevator device of the embodiment takes.
Fig. 6 is the figure for representing to be set with the situation in motion detection region in the original image shown in Fig. 5.
Fig. 7 is to represent the situation for having user near door pocket and is set in the captured image of no distortion
The figure of the situation in motion detection region.
Fig. 8 has the situation of user in the position identical with Fig. 7 for expression and is set in the captured image for having distortion
Surely there is the figure of the situation in motion detection region.
Fig. 9 is the flow chart of an example for the program for representing the initialization process performed by the elevator device of the embodiment.
Figure 10 is an example of the action for the elevator device for representing the embodiment and is action when car door is fully closed
The flow chart of an example.
Figure 11 is the flow of an example for the program for representing the motion detection processing performed by the elevator device of the embodiment
Figure.
Figure 12 is the flow of an example for the program for representing the location estimating processing performed by the elevator device of the embodiment
Figure.
Figure 13 is an example of the action for the elevator device for representing the embodiment and action when being car door standard-sized sheet
The flow chart of an example.
Figure 14 is an example for the program for representing the seating wish inference process performed by the elevator device of the embodiment
Flow chart.
Figure 15 be illustrated respectively in make before and after distortions correction image size it is identical in the case of distortions correction before and after
The figure of image.
Figure 16 is to illustrate the figure of another distortions correction processing performed by the elevator device of the embodiment.
Figure 17 is to represent to handle the figure to generate by another distortions correction performed by the elevator device of the embodiment
The figure of an example of picture.
Specific embodiment
In the following, refer to the attached drawing, illustrates embodiment.
Fig. 1 shows the schematic configuration examples of the elevator device of an embodiment.Furthermore carried out by taking 1 car as an example herein
Illustrate, but even more cars and same composition.
In elevator device shown in Fig. 1, the entrance top of car 11 is provided with video camera 12.Specifically, take the photograph
Camera 12 is the baffle 11a on the entrance top that covering car 11 is arranged in a manner of camera lens to be made to be partially toward 15 side of hall
In.Video camera 12 is small-sized monitoring video camera, and having wide-angle lens, (specifically field angle is 60 °~130 ° wide
Angle mirror head), the image of every number of seconds frame (such as 30 frames/second) can be continuously shot.
Video camera 12 is started when the translational speed of car 11 is less than specified value.Specifically, when car 11 in order to stop
It leans against regulation floor (such as hall floor call registration floor or car calling registration floor) and reduces speed now, so that movement
When speed change cannot get specified value, video camera 12 starts, and starts to shoot.That is, the shooting of video camera 12 is during following
Interior lasting progress：From car 11 reduces speed now to rest in regulation floor, translational speed change is caused to cannot get specified value,
Including car 11 during regulation floor is stopped, to car 11 in order to go to other floors since regulation floor and accelerate, make
Until translational speed becomes more than specified value.
The coverage of video camera 12 is set as L1+L2 (L1 ＞ ＞ L2).L1 is the coverage of 15 side of hall, from sedan-chair
Compartment door 13 towards hall 15 be, for example, 3m.L2 is the coverage of 11 side of car, from car door 13 towards the car back side for example
For 50cm.Furthermore the scope that L1, L2 are depth direction, the scope of width (direction orthogonal with depth direction) is then at least
It is bigger than the width (door width) of car door 13.
In the hall 15 of each floor, hall door 14 is provided with freely in the arrival mouth opening and closing of car 11.Car 11
During arrival, hall door 14 snaps into car door 13 and action is opened and closed.Furthermore power source (door motor) is in car 11
Side, hall door 14 are that car door 13 is only followed to be opened and closed.In the following description, when being set in car door 13 and opening wide, wait
Terraced hall door 14 is also opened wide, and when car door 13 is closed, hall door 14 is also closed.
It is provided with to report user the loud speaker 16 of (notice) various message in car 11.And then in car
The car operating panel (not shown) for possessing destination floor button and door opening and closing button etc. is provided in 11.
Each image (image) being continuously taken by video camera 12 is through the image preprocess apparatus in image analysis apparatus 20
After 21 implement pretreatment, dissection process is carried out by the image processing apparatus 22 in image analysis apparatus 20 in real time.Furthermore scheme
In 1, for convenience, image analysis apparatus 20 from car 11 is taken out and is shown, and in fact, image analysis
Device 20 is to be accommodated in together with video camera 12 in baffle 11a.
Image preprocess apparatus 21, which possesses resolution ratio, reduces processing unit 23, storage part 24 and distortions correction processing unit 25.Point
Resolution, which reduces processing unit 23, reduces the resolution ratio for each image (captured image) that video camera 12 takes, and generates the figure of low resolution
Picture.The image of the low resolution generated is sent to distortions correction processing unit 25.Furthermore as the resolution ratio for reducing captured image
Method, such as have the method rejected of pixel to forming captured image.But the method for reducing the resolution ratio of captured image
It's not limited to that, and the resolution ratio of captured image can be also reduced by well known any means.
In this way, the resolution ratio by reducing image, can downscaled images size (capacity of image), so as at a high speed
(real-time) dissection process performed in image processing apparatus 22.
Storage part 24 is stored with the coordinate transform table referred to for distortions correction processing unit 25.Each pixel in captured image
Position can pass through X-coordinate (coordinate of the coordinate of left and right directions, the in other words direction horizontal with car door 13) and Y-coordinate
(coordinate of the coordinate of vertical direction, the in other words direction vertical with car door 13) and be expressed as P (x, y).Coordinate becomes
Change the correspondence that indicator represents each in each pixel coordinate P (x, y) and the revised coordinate P (x', y') before correcting
Relation.Coordinate transform table is made when being the initialization process being described below and is stored to storage part 24.
Distortions correction processing unit 25 with reference to the coordinate transform table stored in storage part 24, perform distortion to captured image into
The modified processing of row.More specifically, distortions correction processing unit 25 performs following processing：With reference to the coordinate stored in storage part 24
Coordinate P (x, y) is substituted on coordinate transform table and associates for each in each pixel as shown in FIG. 2 by map table
Coordinate P (x', y') together.Furthermore revised captured image (image for implementing pretreatment) is sent to image procossing
Device 22.
Furthermore in the present embodiment, the method as the distortion for correcting captured image, to referring to initialization process when system
The coordinate transform table performed is illustrated to replace the seat calibration method of each pixel, but it's not limited to that, is clapped as correcting
The method for taking the photograph the distortion of image, it is possible to use well known any means.
Image processing apparatus 22 possesses storage part 26 and user's test section 27.Storage part 26 has buffer area, described
Buffer area gradually stores the image for implementing pretreatment sent from image preprocess apparatus 21 and (specifically, is low resolution
Rate and distortion is able to revised image), and temporarily store the data needed for the processing of user test section 27.
In the image for implementing pretreatment stored in the buffer area that user's test section 27 is conceived in storage part 26
The people nearest from car door 13 and the movement of object detect the presence of user.If functionally user's test section 27 is carried out
Division can then be divided into motion detecting section 27a, location estimating portion 27b and take wish inferring portion 27c.
The image for implementing pretreatment is divided into side as W by motion detecting section 27a as shown in Figure 3blockBlock, with
Block unit is compared the brightness of the image, the area that has movement of the detection with luminance difference more than preset value
Block, so as to detect the movement of people and object.So-called " movement of people and object " described herein, refers to the moving bodys such as personage, wheelchair
Movement.
Furthermore in the example in figure 3 or the length in length and breadth of block is identical, but longitudinal direction also may be used with horizontal length
With difference.It bridgees across image universe in addition, image top also can more be leaned on more to shorten length of longitudinal direction (Y-direction) etc. and is set to block
Non-uniform size.
In addition, in the present embodiment, it is to be conceived to the brightness of image to detect the movement of people and object, but detects people and object
The method of movement it's not limited to that, such as, it is possible to use the lightness or chroma of image detect the movement of people and object.
Location estimating portion 27b extracts nearest from car door 13 from the block for having movement that motion detecting section 27a is detected
Block, the coordinate position at the center (center of door width) away from car door 13 under the block is inferred as to the position of user
(foot position).Wish inferring portion 27c is taken according to the time series variation of the location estimating portion 27b positions being inferred to be inferred
User whether there is seating wish.
According to the operating status of car 11, (car position, traffic direction, travel speed, door are opened and closed elevator control gear 30
State etc.), the generation situation of hall calling/car calling carry out the control of elevator entirety.
Car control device 40 possesses an open and close controlling portion 41, and door open and close controlling portion 41 is according to from elevator control gear 30
Instruction, control car 11 reach hall 15 when car door 13 door opening and closing.In addition, car control device 40 according to from
The instruction of elevator control gear 30 carries out display control, the loud speaker of car operating panel (not shown) set in car 11
16 control etc..
Herein, with reference to figure 4, to the motion detection set to detect the movement of user in user's test section 27
Region illustrates.
Motion detection region is to be directed to each Block Set using captured image to detect the movement of user
Region.Specifically, as shown in figure 4, installation position infers region E1, takes wish deduction region E2 and drag in captured image
Enter detection zone E3 as motion detection region.Furthermore assume that setting above-mentioned zone E1~E3 as motion detection area herein
The situation in domain, but it's not limited to that, also can and then other regions be set as motion detection region.
Location estimating region E1 is a part of position for inferring the body of the user to come up from hall 15 to car door 13
Put the region of the foot position of such as user.The location estimating region E1 has from the center of car door 13 towards hall direction
There is the distance of L3, such as be set as 2m (the coverage L1 of L3≤hall side).In addition, the width W1 of location estimating region E1
It is set as the distance of more than the width W0 of car door 13.
It takes wish and infers that region E2 is to infer whether there is seating wish in the location estimating region E1 users detected
Region.The seating wish infers that region E2 has the distance of L4 from the center of car door 13 towards hall direction, such as sets
It is set to 1m (L4≤L3).Take wish infer region E2 width W2 be set as it is roughly the same with the width W0 of car door 13 away from
From.Furthermore it takes wish and infers that region E2 is also included in above-mentioned location estimating region E1, infer the foot position of user
Region.That is, taking in wish deduction region E2, inferring the foot position of user, and infer the seating of the user
Wish.
Be drawn into detection zone E3 be detection in the car 11 in car door 13 nearby, hand or arm it is possible that be drawn into
The region of user in door pocket.It is threshold slot (cage side threshold) setting along cage side that this, which is drawn into detection zone E3, from sedan-chair
The center of compartment door 13 has the distance of L5 towards car back side direction, such as is set as 10cm.In addition, it is drawn into detection zone E3's
Width W3 is set as the width W0 approximately the same distances with car door 13.
Then, the distortion generated to captured image illustrates.
In the present embodiment, as described above, it is necessary to shoot at least than car door 13 width W0 wide scope, therefore,
Video camera 12 is preferably the video camera with wide-angle lens.However, due to the characteristic of wide-angle lens, video camera 12 is shot
To the peripheral part of image can largely be distorted.The situation is shown in Fig. 5.
Fig. 5 represents the original image that video camera 12 takes.Furthermore it is assumed herein that following situation：Car door 13 is from figure
The sliding door that left side is unidirectionally opened in right lateral view, video camera 12 are arranged in figure in the baffle 11a on right side.In the situation
Under, as shown in figure 5, right side (door in cage side threshold positioned at peripheral part, especially installation position, that is, figure away from video camera 12
Shelves side) figure in left side (door pocket side) part largely distort and distorted.
It is thereby possible to following imappropriate situation occurs.
Fig. 6 represents to be set with the feelings of above-mentioned motion detection region (being drawn into detection zone E3) in the original image shown in Fig. 5
Condition.As described above, motion detection region is set for each block.That is, motion detection region is in captured image
On be set in same position always.Therefore, in the case where image generates distortion as the captured image shown in Fig. 5, such as
Shown in Fig. 6, it may occur that can not will be drawn into detection zone E3 setting in place, i.e. can not be in a manner of along cage side threshold
It carries out setting this imappropriate situation.The imappropriate situation is possible to and then causes the occurrence of following imappropriate.
Fig. 7 and Fig. 8 is the image for taking the user in same position, and Fig. 7 represents that captured image does not generate distortion
Situation, Fig. 8 shows the situations that captured image generates distortion.As shown in fig. 7, in the image of distortion is not generated, inspection is drawn into
Surveying region E3 is set in a manner of along cage side threshold, and therefore, the user in position P1 will not be drawn into detection
Region E3 is detected as hand or arm it is possible that being drawn into the user of door pocket.On the other hand, as shown in figure 8, generating distortion
In image, being drawn into detection zone E3 can not be set in a manner of along cage side threshold, therefore, the user in position P1
Despite in the position identical with Fig. 7, but detection zone E3 can be drawn into and be detected as hand or arm it is possible that being drawn into
The user of door pocket.That is, it has occurred as the error detection caused by the distortion of image.
Therefore, in the present embodiment, be set to by the distortions correction processing unit 25 in image preprocess apparatus 21 come
Correct the composition of the distortion of captured image.In the following, with reference first to the flow chart of Fig. 9, to image analysis apparatus 20 and video camera 12
Performed initialization process illustrates when setting together.Thereafter, with reference to the flow chart of figure 10, to the elevator of present embodiment
An example of the action of system illustrates.
Fig. 9 is the program for representing initialization process performed when image analysis apparatus 20 is set together with video camera 12
The flow chart of an example.
First, image analysis apparatus 20 sets motion detection region for each block, is specially location estimating region
E1, take wish deduction region E2 and be drawn into detection zone E3 (step S1).
Then, image analysis apparatus 20 confirms whether distortions correction processing is effective (step S2).Furthermore at distortions correction
The invalidating of reason can be taken the circumstances into consideration to select by user (administrative staff).
That is it is effectively (being "No" in step S2) in the case of invalid not to be in distortions correction processing, due to will not
Distortions correction processing is performed in image analysis apparatus 20, therefore terminates initialization process.On the other hand, in distortions correction processing
In the case of effective (being "Yes" in step S2), the coordinate that image analysis apparatus 20 is fabricated for referring to during distortions correction processing becomes
Table (step S3) is changed, and is stored to storage part 24 (step S4), terminates initialization process.
Furthermore herein, image analysis apparatus 20 is first to set motion detection region, perform whether need distortions correction afterwards
Judgement and coordinate transform table making and storage, but handle order it's not limited to that.For example, image analysis apparatus 20
Whether can need to set motion detection region after the judgement of distortions correction and the making of coordinate transform table and storage performing.
Figure 10 is the flow chart of an example of the action for the elevator device for representing present embodiment.Furthermore herein, to car door
13 action of elevator device when being full-shut position illustrates.
When the translational speed of car 11 is less than specified value (being "Yes" in step S11), video camera 12 starts, and starts to clap
It takes the photograph.On the other hand, (being "Yes" in step S11), video camera 12 in the case of being more than specified value in the translational speed of car 11
For energy saving viewpoint without starting, the processing of step S11 is performed again in the state of dormant state is maintained.
When video camera 12 starts and starts shooting, image analysis apparatus 20 obtains video camera 12 with time series and takes
Image (step S12).Then, image analysis apparatus 20 is bright according to the maximum brightness value and minimum of accessed captured image
Whether the difference of angle value is more than specified value to judge whether the captured image is normal (step S13).
Judge this less than specified value in the maximum brightness value of accessed captured image and the difference of minimum luminance value
In the case of captured image is abnormal (being "No" in step S13), which will not be used for user described later
Detection process, image analysis apparatus 20 performs the processing of step S12 again, to obtain next captured image.
On the other hand, accessed captured image maximum brightness value and minimum luminance value difference for specified value with
It is upper and judge the captured image it is normal in the case of (being "Yes" in step S13), the image for forming image analysis apparatus 20 locates in advance
Managing the resolution ratio in device 21 reduces the resolution ratio of the reduction of processing unit 23 captured image, generates the captured image of low resolution
(step S14).Furthermore the captured image of the low resolution generated is gradually sent to the distortion in image preprocess apparatus 21 and is repaiied
Positive processing unit 25.
Then, when distortions correction processing unit 25 receives the shooting for the low resolution sent from resolution ratio reduction processing unit 23
During the input of image, confirm whether distortions correction processing is effective (step S15).It is not effectively namely in distortions correction processing
It says as (being "No" in step S15) in the case of invalid, distortions correction processing unit 25 does not perform distortions correction processing, will be in step
The captured image for implementing pretreatment in S14 is directly gradually sent to image processing apparatus 22, enters to step S17 described later
Processing.
On the other hand, it is effectively (being "Yes" in step S15) distortions correction processing unit in distortions correction processing
25 repair with reference to the coordinate transform table stored in storage part 24, the distortion of the captured image of the low resolution to receiving input
Just, generation has modified the captured image of distortion.Specifically, distortions correction processing unit 25 is in each pixel of the captured image
Each and coordinate P (x, y) is substituted for the coordinate P (x', y') being associated together on coordinate transform table, so as to correct the bat
Take the photograph the distortion (step S16) of image.Furthermore the captured image for implementing pretreatment in step S14~S16 is gradually sent to figure
As processing unit 22.
When receiving the input for the captured image for implementing pretreatment sent from image preprocess apparatus 21, at image
Reason 22 one side of device gradually stores the captured image to storage part 26, performs user's detection process (step in real time on one side
S17)。
User's detection process is performed by user's test section 27 in image processing apparatus 22, and car door 13 is fully closed shape
User's detection process during state handles (step S17a) by motion detection and location estimating processing (step S17b) is formed.
In the following, the flow chart with reference to figure 11 illustrates motion detection processing, position is pushed away with reference to the flow chart of figure 12
Disconnected processing illustrates.
(a) motion detection is handled
Figure 11 is the flow chart of an example of the program for the motion detection processing for representing above-mentioned steps S17a.At the motion detection
The motion detecting section 27a of one of inscape of the reason as user's test section 27 is performed.Here, it is assumed that utilize the bright of image
Degree is illustrated with detecting the situation of the movement of people and object.
Motion detecting section 27a reads the pretreated captured image stored in storage part 26, and each captured image one by one
Clathrate is divided into, calculates the average brightness value (step A1) of thus obtained each block.At this moment, motion detecting section 27a will
The average brightness value of each block calculated according to first image in time series is stored in as initial value in storage part 26
Buffer area (not shown) in (step A2).
When reading the image after the 2nd, motion detecting section 27a is to the average brightness value of each block of present image
With stored in buffer area before 1 image each block average brightness value compared with (step A3).As a result, scheme currently
In the case of there is the block with luminance difference more than specified value as in, which is determined as there is fortune by motion detecting section 27a
Dynamic block (step A4).
When having judged the presence or absence of movement for present image, motion detecting section 27a is by each block of the image
Average brightness value is used as the comparison with next image and stored to above-mentioned buffer area (step A5).
It is the same afterwards, motion detecting section 27a is while according to the order of time series with block unit to storage part 26
The brightness value of the pretreated captured image of middle storage is compared, while judging the presence or absence of movement.
(b) location estimating is handled
Figure 12 is the flow chart of an example of the program for the location estimating processing for representing above-mentioned steps S17b.At the location estimating
The location estimating portion 27b of one of inscape of the reason as user's test section 27 is performed.
Location estimating portion 27b verifies in present image the block for having movement according to the testing result of motion detecting section 27a
(step B1).As a result, in the case where motion detection region (being drawn into detection zone E3) is interior there are the block of movement, position pushes away
Disconnected portion 27b extracts block (step B2) nearest from car door 13 among the block that these have movement.
Thereafter, the Y-coordinate of the block that has movement nearest from car door 13 is obtained (from car door 13 in location estimating portion 27b
Center towards car back side direction Y-coordinate) as user position data, and store to storage part 26 and do not scheme
The buffer area (step B3) shown.
It is the same afterwards, each Zhang Erqiu that location estimating portion 27b is directed in each image is nearest from car door 13 to be had
Data of the Y-coordinate of the block of movement as the position of user, and store to above-mentioned buffer area.Furthermore represent user
The data of position be sent to elevator control gear 30.
Return again to the explanation of Figure 10.Elevator control gear 30 is confirmed whether to send expression from image analysis apparatus 20
The data (step S18) of the position of user.Furthermore the position of expression user is not yet being sent from image analysis apparatus 20
In the case that data are without the inputs of the data (being "No" in step S18), step S20 described later is entered to
Processing.
On the other hand, that is the data in the position for sending expression user from image analysis apparatus 20 have the number
According to input in the case of (in step S18 be "Yes"), elevator control gear 30 will be to remind the user in car 11 to pay attention to
The indicative indication signal that points out of mode export to car control device 40, and car door 13 will be opened with low speed
The indicative low speed enabling indication signal of mode register to memory (not shown).Come when car control device 40 receives
From during the input for pointing out indication signal of elevator control gear 30, indication signal is pointed out according to this and from loud speaker 16
The message for leaving car door 13 or warning tones etc. are supervised in output, and people is reminded to pay attention to (step S19).
Then, elevator control gear 30 judges car 11 according to representing to have arrived at the presence or absence of arrival signal of regulation floor
Whether regulation floor (step S20) has been reached.Furthermore it not yet reaches regulation floor in judgement car 11 that is also travelling
In in the case of (in step S20 be "No"), be back to the processing of above-mentioned steps S12, perform same processing again.
On the other hand, (being "Yes" in step S20), elevator controlling in the case where judging that car 11 has reached regulation floor
Device 30 confirms low speed enabling indication signal (step S21) whether is registered in memory (not shown).
(being "Yes" in step S21), electricity in the case of being registered with low speed enabling indication signal in a memory not shown
Terraced control device 30 exports the low speed enabling indication signal to car control device 40.Door opening and closing in car control device 40
Control unit 41 opens car according to the low speed enabling indication signal from elevator control gear 30 with the low speed slower than normal speed
13 (step S22) of door, terminate processing herein.
On the other hand, it is unregistered in a memory not shown to have in the case of low speed enabling indication signal (in step S21
For "No"), elevator control gear 30 believes the indicative normal door instruction of the mode that car door 13 is opened with normal speed
Number output is to car control device 40.Door open and close controlling portion 41 in car control device 40 is according to from elevator control gear 30
Normal door indication signal, with normal speed open car door 13 (step S23), terminate processing herein.
Then, with reference to the flow chart of figure 13, the action of elevator device when being full-gear to car door 13 illustrates.
When car door 13 becomes standard-sized sheet (step S31), image analysis apparatus 20 is performed with above-mentioned steps S12~S16's
Handle identical processing (step S32~S36).
Thereafter, when image processing apparatus 22 receives the shooting for implementing pretreatment sent from image preprocess apparatus 21
During the input of image, while the captured image is gradually stored to storage part 26, performs user's detection process (step in real time on one side
Rapid S37).
User's detection process when car door 13 is full-gear handles (step S37a), location estimating by motion detection
It handles (step S37b) and takes wish inference process (step S37c) and form.Furthermore on motion detection processing and position
Inference process, due to it is stated that step S17a, S17b crossed is identical, detailed description will be omitted herein.But in step
It is not to illustrate in execution step S17b to be drawn into location estimating processing of the detection zone E3 as object in S37b, but
The location estimating using location estimating region E1 as object is performed to handle.
Herein, with reference to the flow chart of figure 14, illustrated to taking wish inference process.
(c) wish inference process is taken
Figure 14 is the flow chart of an example of the program for the seating wish inference process for representing above-mentioned steps S37c.The seating is anticipated
It is willing to infer and is performed by the seating wish inferring portion 27c of one of the inscape as user's test section 27.
Wish inferring portion 27c is taken by the position of the user of each image stored in the buffer area in storage part 26
Data smoothing (step C1).Furthermore as the method for smoothing, for example, it is logical using mean filter method, Kalman filtering method etc.
The method often known, description is omitted herein.
It (is walked in the case of there are the data that variable quantity is more than specified value when smoothing above-mentioned position data
It is "Yes" in rapid C2), it takes wish inferring portion 27c and removes (step C3) using the data as outlier.Furthermore above-mentioned specified value
It is determined by the standard walking speed of user and the frame rate of captured image.In addition, it can also be smoothed by above-mentioned position data
It finds out before and removes outlier.
Then, take wish inferring portion 27c and confirm the variation (step for taking the position of the user in wish deduction region E2
Rapid C4).As a result, the variation that the position of the user to come up to car door 13 is confirmed in the E2 of region is inferred in seating wish
In the case of (in step C5 be "Yes"), take wish inferring portion 27c and judge that the user has seating wish (step C6).
On the other hand, the position of the user to come up to car door 13 is not confirmed in seating wish deduction region E2
In the case of the variation put (being "No" in step C5), take wish inferring portion 27c and judge the user without seating wish (step
C7).For example, the positive of car 11 is passed across in personage, it, should since the personage does not come up to car door 13
The position of personage will not change in time, in this case, be judged as without seating wish.
In this way, by the way that the block that has movement nearest from car door 13 is considered as the position of user and tracks the position
Towards the time change in 13 direction of car door, it can conclude that user whether there is seating wish.
Return again to the explanation of Figure 13.When detecting the user for taking wish (being "Yes" in step S38), from
Image analysis apparatus 20 exports user to elevator control gear 30 and detects signal.Elevator control gear 30 is because receiving the use
Person detects signal and the shutdown of car door 13 is forbidden to act, and is maintained open state (step S39).
Specifically, when car door 13 becomes full-gear, the timing that elevator control gear 30 starts to open at the time is moved
Make, close the door at the time point of timing to stipulated time T (such as 1 minute).If interior in the meantime detected seating wish
User and send user detect signal, then elevator control gear 30 stop timing action and clocking value is reset.As a result,
The opening state of car door 13 is maintained within above-mentioned time T.
Furthermore if interior in the meantime detect the new user for having seating wish, clocking value is reset again, upper
State the opening state that car door 13 is maintained within time T.But if repeatedly coming up user within above-mentioned time T, always not
The situation of car door 13, which can be closed, to continue, it is therefore preferable that setting allowed time Tx (such as 3 minutes), had been subjected to
Car door 13 is forcibly closed in the case of allowed time Tx.
When the timing release of above-mentioned time T (being "Yes" in step S40), elevator control gear 30 is via car control
Door open and close controlling portion 41 in device 40 processed closes car door 13 (step S41), terminates processing herein.
According to an embodiment discussed above, since elevator device possesses the abnormal of the distortion that can correct captured image
Become and correct processing unit 25, therefore can prevent as the reduction of user's accuracy of detection caused by the distortion of image.Specifically,
It can prevent the error detection for illustrating the movement of such user that will not be detected under normal circumstances in Fig. 7 and Fig. 8.
Furthermore it is in the present embodiment, so as to correct the captured image before distortion and the shooting after amendment distortion
The mode that the size of image is identical is handled to perform distortions correction, but in that case, it is possible to following imappropriate situation occurs.
Figure 15 is to illustrate to make before and after distortions correction the imappropriate situation occurred in the case that the size of image is identical
Figure.(a) of Figure 15 represents to correct the captured image before distortion, the captured image after (b) expression amendment distortion of Figure 15.
As shown in (b) of Figure 15, in the captured image after distorting is corrected, due to the influence of distortions correction, shown in (a) of Figure 15
Some is disappeared for the end (peripheral part of the captured image before amendment) shown in captured image before correcting distortion
(lacking).Therefore, it may occur that following imappropriate situation：Even if the place disappeared in the captured image after distorting is corrected
There is user, also can't detect the movement of the user.
In order to eliminate the imappropriate situation, distortions correction processing unit 25 as perform as shown in Figure 16 with before correcting distortion
Captured image compared to reduce correct distortion after captured image processing.Specifically, distortions correction processing unit 25 is with contracting
The mode of 0.85 times of size of the captured image before as low as correcting distortion generates the captured image for having modified distortion.It is at this point, abnormal
Become amendment processing unit 25 and also correspondingly reduce motion detection region.As a result, as shown in figure 17, the shooting figure after distorting is being corrected
As medial end portions will not disappear and (lack), therefore, it is possible to eliminate above-mentioned imappropriate situation.Especially elevator is in door pocket side mostly
Car operating panel is set, and possibility of the user near car operating panel is higher, therefore, by preventing lacking for above-mentioned image
It is few, hand or arm can more precisely be prevented to be drawn into door pocket.
Furthermore in the case of the big minor change that captured image is carried out when distortions correction is handled, image analysis apparatus 20 exists
It is that the size of the captured image after amendment distortion is considered becomes 0.85 times of basis of original size during initialization process
Upper making coordinate transform table.In addition, at this point, similarly carry out the big minor change in motion detection region.Furthermore it is that will clap herein
The explanation that the reduction magnification of image is set to 0.85 times to carry out is taken the photograph, but it's not limited to that, and reduction magnification can take the circumstances into consideration to be become
More.
Furthermore although to the present invention several embodiments be illustrated, these embodiments be as an example and
Displaying, it is not intended to limit the scope of invention.These novel embodiments can be carried out in a manner that other are various, energy
It is enough that various omissions, substitutions and changes are carried out in the range of the purport of invention is not departed from.These embodiments and its deformation are included in
In the scope and spirit of invention, and in the scope of invention described in claim and its equalization.
Claims (4)
1. a kind of elevator device, which is characterized in that possess：
Shoot part can shoot hall in a manner of near the door comprising car；
Multiple that the shoot part takes are corrected according to pre-stored coordinate transform table in memory by distortions correction portion
The distortion of image；
Motion detecting section is compared the brightness by multiple revised images of distortions correction portion with block unit,
And detect the movement of user；
Location estimating portion extracts the block for having movement that the motion detecting section detects, the area is in the block away from the door
The coordinate position at center be inferred as the position of user；And
Control unit makes the position for the user that the location estimating portion is inferred to be reflected into the action control of the car.
2. elevator device according to claim 1, which is characterized in that
The distortions correction portion is in a manner of the size for the image that the size of revised image is less than before correcting, to the shooting
The distortion for multiple images that portion takes is modified.
3. elevator device according to claim 1, which is characterized in that
The part that the body of the user is included in the position for the user that the location estimating portion is inferred to is possible to
In the case of being drawn into the region of the door, the control unit reminds the user note that and with lower than normal speed
Speed open the door.
4. elevator device according to claim 1, which is characterized in that
It is also equipped with taking wish inferring portion, the user's for taking wish inferring portion and being inferred to according to the location estimating portion
The time series variation of position, to infer the user whether there is seating wish, also,
The control unit controls the on-off action of the door according to the inferred results of the seating wish inferring portion.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2016-232956 | 2016-11-30 | ||
| JP2016232956A JP2018090351A (en) | 2016-11-30 | 2016-11-30 | Elevator system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108116956A true CN108116956A (en) | 2018-06-05 |
| CN108116956B CN108116956B (en) | 2019-10-18 |
Family
ID=62227544
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710474370.2A Active CN108116956B (en) | 2016-11-30 | 2017-06-21 | Elevator device |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP2018090351A (en) |
| CN (1) | CN108116956B (en) |
| MY (1) | MY189698A (en) |
| SG (1) | SG10201706176RA (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109326096A (en) * | 2018-09-14 | 2019-02-12 | 住友富士电梯有限公司 | A kind of elevator safety voice prompt system and control method thereof |
| CN111717748A (en) * | 2019-03-20 | 2020-09-29 | 东芝电梯株式会社 | User detection system of elevator |
| CN112520525A (en) * | 2019-09-18 | 2021-03-19 | 东芝电梯株式会社 | User detection system for elevator |
| CN113428752A (en) * | 2020-03-23 | 2021-09-24 | 东芝电梯株式会社 | User detection system for elevator |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6841310B2 (en) * | 2019-08-09 | 2021-03-10 | フジテック株式会社 | Boarding detection system and boarding detection method |
| JP6922951B2 (en) * | 2019-08-09 | 2021-08-18 | フジテック株式会社 | Image processing device and image processing method |
| JP6836217B2 (en) * | 2019-08-09 | 2021-02-24 | フジテック株式会社 | Boarding detection system and boarding detection method |
| JP6871324B2 (en) * | 2019-08-28 | 2021-05-12 | 東芝エレベータ株式会社 | Elevator user detection system |
| JP7036244B2 (en) * | 2021-02-02 | 2022-03-15 | フジテック株式会社 | Ride detection system and ride detection method |
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| US5001557A (en) * | 1988-06-03 | 1991-03-19 | Inventio Ag | Method of, and apparatus for, controlling the position of an automatically operated door |
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| CN111717748A (en) * | 2019-03-20 | 2020-09-29 | 东芝电梯株式会社 | User detection system of elevator |
| CN111717748B (en) * | 2019-03-20 | 2021-11-02 | 东芝电梯株式会社 | User detection system of elevator |
| CN112520525A (en) * | 2019-09-18 | 2021-03-19 | 东芝电梯株式会社 | User detection system for elevator |
| CN113428752A (en) * | 2020-03-23 | 2021-09-24 | 东芝电梯株式会社 | User detection system for elevator |
| CN113428752B (en) * | 2020-03-23 | 2022-11-01 | 东芝电梯株式会社 | User detection system for elevator |
Also Published As
| Publication number | Publication date |
|---|---|
| HK1252953A1 (en) | 2019-06-06 |
| CN108116956B (en) | 2019-10-18 |
| JP2018090351A (en) | 2018-06-14 |
| MY189698A (en) | 2022-02-26 |
| SG10201706176RA (en) | 2018-06-28 |
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