JP5772156B2 - Door system and elevator equipment - Google Patents

Description

  The present invention relates to a door system and an elevator apparatus that control the opening / closing operation of a door based on an output image of a camera.

  In a device that automatically opens and closes by a driving force such as a motor, such as an automatic door or elevator, when a door is closed, a finger or an object is sandwiched between the doors or between the door and the frame, or When a door is opened, a finger or an object is drawn between the door and the frame, which may lead to a serious accident.

  In order to prevent such an accident, there is a door system that installs a camera above the door, images the vicinity of the entrance and exit, and detects a foreign object during the door closing operation to stop the closing operation and prevent the accident from being caught. It has been proposed (see, for example, Patent Document 1).

JP 2009-280362 A

  In the conventional door system, the vicinity of the entrance / exit is imaged by a camera installed on the upper frame, and foreign matter that may be caught by the door is detected. In this way, when a foreign object in the vicinity of the entrance is detected by the camera installed on the upper frame, the number of pixels of the foreign object appearing in the camera output image varies as the size of the entrance changes. For example, even if a foreign object of the same size placed on the floor appears in the camera, if the camera is installed on the upper frame of a small door, the number of pixels of the foreign object appearing in the camera output image will increase, and the upper frame of the large door When a camera is installed in the camera, the number of foreign pixels appearing in the camera output image is reduced. Therefore, there has been a problem that the number of pixels for detecting a foreign object must be set in accordance with the size of the door on which the camera is installed.

  The present invention has been made in order to solve the above-described problems. A door system and an elevator apparatus that do not need to set the number of pixels for detecting a foreign object even when a camera is installed on a door of a different size. It is intended to provide.

  The door system according to the present invention photographs a pair of vertical frames facing in the horizontal direction, an upper frame that connects the upper ends of the vertical frames, and the vicinity of an entrance that is installed on the upper frame and includes the vertical frame and the upper frame. A camera, a marker installed on each of the pair of vertical frames at the same height from the floor, and an R calculation unit that calculates a distance R from the camera to the marker based on the position of the marker in the output image of the camera; A θ calculation unit for calculating the magnitude θ of an angle ABC composed of the end point A of one marker, the camera B and the end point C of the other marker based on the position of the marker in the output image of the camera; A frame size determination unit that calculates the entrance / exit dimension, a foreign object determination pixel number setting unit that calculates the number of detected pixels for foreign object determination from the entrance / exit dimension, and a foreign object that determines the presence / absence of a foreign object from the output image and the detected pixel number of the camera Judgment unit and foreign matter judgment unit In which and a door drive control device for controlling the opening and closing operation of the door based on the output.

  According to the present invention, a pair of vertical frames facing each other in the horizontal direction, an upper frame that connects the upper ends of the vertical frames, and a camera that shoots the vicinity of an entrance that is installed in the upper frame and includes the vertical frame and the upper frame. A marker installed at the same height from the floor on each of the pair of vertical frames, an R calculation unit that calculates a distance R from the camera to the marker based on the position of the marker in the output image of the camera, Based on the position of the marker in the output image of the camera, a θ calculator for calculating the magnitude θ of the angle ABC composed of the end point A of one marker, the camera B, and the end point C of the other marker, and an entrance / exit from R and θ A frame size determination unit that calculates the size of the object, a foreign object determination pixel number setting unit that calculates the number of detected pixels for foreign object determination from the entrance and exit dimensions, and a foreign object determination that determines the presence or absence of a foreign object from the output image and the detected pixel number of the camera Based on the output of the Since a door drive control device for controlling the opening and closing operation of the door, there is no need to set the number of pixels for detecting the foreign substance by the size of the door, it is possible to perform the detection of the foreign object with high accuracy.

It is a figure which shows schematic structure of the door system by Embodiment 1 of this invention. It is a block diagram of the door system by Embodiment 1 of this invention. It is a figure for demonstrating the output image of the camera by Embodiment 1 of this invention. It is a figure for demonstrating the installation position of the marker by Embodiment 1 of this invention. It is a figure for demonstrating the output image of the difference image calculating part by Embodiment 1 of this invention. It is a figure for demonstrating operation | movement of the detection area setting part by Embodiment 1 of this invention. It is a flowchart which shows the operation | movement of the foreign material detection in the door system by Embodiment 1 of this invention. It is a flowchart which shows operation | movement when the door system by Embodiment 1 of this invention performs opening operation | movement of a door. It is a flowchart which shows operation | movement when the door system by Embodiment 1 of this invention performs the closing operation | movement of a door. It is a figure for demonstrating the output image of the camera by Embodiment 2 of this invention. It is a figure for demonstrating operation | movement of the marker recognition part by Embodiment 2 of this invention. It is a figure for demonstrating the relationship between the detection result of the marker and distance R by Embodiment 2 of this invention. It is a figure for demonstrating operation | movement of the detection area setting part by Embodiment 3 of this invention. It is a block diagram of the door system by Embodiment 4 of this invention.

Embodiment 1
FIG. 1 shows a schematic configuration of a door system 10 according to Embodiment 1 of the present invention. The door 11 that automatically opens and closes is formed inside the frame 12, and the frame 12 is composed of left and right vertical frames 12a and 12b and an upper frame 12c that connects the upper ends of the vertical frames 12a and 12b to each other. ing. The markers 20a and 20b are respectively installed on the vertical frames 12a and 12b, and the lower ends of the markers 20a and 20b are at a height H from the floor surface 13. The camera 30 and the projector 40 are installed on the upper frame 12 c and are connected to the image processing device 50. The image processing device 50, the system control device 90, the door opening / closing control device 60, and the door driving device 70 are connected in series. The output of the system control device 90 is also input to the alarm device 80.

  The length of the markers 20a and 20b in the height direction is L, and it is desirable that the marker 20a and 20b be a material having optical retroreflection characteristics in order to be surely recognized by the image processing apparatus 50. Examples of the material having the retroreflective property include a corner cube.

  The camera 30 is installed on the upper frame 12c so as to photograph the lower direction, photographs the vicinity 14 of the doorway, and outputs the image data to the image processing device 50. Here, the image data is two-dimensional image information, and is a set of pixels having pixel values. The pixel value is a value proportional to the intensity of the amount of reflected light from the position near the doorway 14 corresponding to the pixel. Specifically, the camera 30 is an imaging device such as a CCD (Charge Coupled Device) camera or a CMOS (Complementary Metal Oxide Semiconductor) camera. The two-dimensionally arranged image elements and reflected light from the vicinity of the entrance / exit 14 are placed on the image elements. A lens for imaging. The camera 30 captures an area including the markers 20a and 20b. In addition, the camera 30 outputs image data taken when the projector 40 is turned on and image data taken when the projector 40 is turned off, according to an instruction from the image processing device 50. The camera 30 may be provided with an optical filter that selectively transmits light having a wavelength emitted from the projector 40. By installing an optical filter in the camera 30, the influence of sunlight and other light sources can be suppressed, and erroneous detection can be reduced.

  The projector 40 is installed downward on the upper frame 12c and irradiates the vicinity 14 of the doorway including the markers 20a and 20b taken by the camera 30. The light source of the projector 40 may be any light emitting diode such as an infrared LED (Light Emitting Diode), a laser diode, a lamp, or the like that can irradiate the vicinity 14 of the doorway including the markers 20a and 20b. In addition, the projector 40 may include a lens unit in order to irradiate efficiently, and the lens unit includes a convex or concave lens, a lens having one or a combination of a Fresnel lens, a cylindrical lens, a cylindrical Fresnel lens, and the like. There is.

  The image processing device 50 acquires image data that is an output of the camera 30 and determines whether there is a foreign object near the entrance / exit 14.

  FIG. 2 is a block diagram showing the configuration of the door system according to Embodiment 1 of the present invention. The system control device 90 controls the entire door system. The synchronous drive unit 51 operates the camera 30 in a state where the projector 40 is operated according to an instruction from the system control device 90, and the camera 30 outputs a captured image when the projector is turned on to the image information storage unit 52. Furthermore, the synchronous drive unit 51 operates the camera 30 without operating the projector 40, and the camera 30 outputs a captured image to the image information storage unit 52 when the projector is turned off. The difference image calculation unit 53 creates a difference image between the picked-up image when the projector is turned on and the picked-up image when the projector is turned off and stored in the image information storage unit 52, and outputs the difference image to the marker recognition unit 54 and the foreign matter determination unit 59. The marker recognizing unit 54 specifies the marker position from the difference image that is the output of the difference image calculating unit 53, and outputs the position information to the θ calculating unit 55 a and the detection area setting unit 58.

  The operation of the marker recognition unit 54 will be described using FIG. 3 which is an example of image data output from the camera 30. In FIG. 3, the image data includes a door 11, a floor surface 13, a doorway vicinity 14, vertical frames 12a and 12b, and markers 20a and 20b. Since the markers 20a and 20b are materials having optical retroreflective characteristics, the pixel values differ greatly between the captured image when the projector is turned on and the captured image when the projector is turned off. Therefore, only the portions of the markers 20a and 20b have a large value in the difference image between the picked-up image when the projector is turned on and the picked-up image when the projector is turned off, and the positions of the markers 20a and 20b can be specified from the difference image by threshold processing or the like. The marker recognizing unit 54 outputs a marker image that is image data of the identified markers 20 a and 20 b to the detection region setting unit 58. Further, Δ ′, which is the distance between the upper side of the marker 20a and the upper side of the marker 20b, and Δ, which is the distance between the lower side of the marker 20a and the lower side of the marker 20b, are obtained from the positions of the identified markers 20a and 20b. , Θ calculation unit 55a. Here, since the positions of the markers 20a and 20b are detected from the difference image between the captured image when the projector is turned on and the captured image when the projector is turned off, the influence of disturbance light is suppressed, and the position of the marker in the captured image is accurately recognized. it can.

  The operations of the θ calculator 55a and the R calculator 55b will be described with reference to FIGS. FIG. 3 is an example of image data output from the camera 30. FIG. 4 is a view for explaining the installation position of the marker, and is a view of the vicinity 14 of the doorway as seen from the front.

  In FIG. 3, Δ ′, which is the distance between the upper side of the marker 20a and the upper side of the marker 20b, corresponds to the angle θ ′ in FIG. 4, and is the distance between the lower side of the marker 20a and the lower side of the marker 20b. A certain Δ corresponds to the angle θ in FIG. These relationships can be expressed as:

  In Expression (1), a is an amount determined by the characteristics of the camera, and is preliminarily stored in the θ calculation unit 55a. The θ calculation unit 55a obtains θ and θ ′ by Expression (1), outputs the value of θ to the frame size determination unit 56, and outputs the values of θ and θ ′ to the R calculation unit 55b.

  Next, the distance R from the camera 30 to the lower end of the marker 20a or 20b is expressed by the following equation.

  In Expression (2), L is the length of the markers 20a and 20b in the height direction, and is stored in advance in the R calculation unit 55b. The R calculation unit 55 b calculates R by Expression (2) and outputs it to the frame size determination unit 56.

  The frame size determination unit 56 obtains the height HH and the width JJ of the door 11 using the following equations.

  In Expression (3), H is the height from the floor surface 13 to the lower end of the marker 20a or 20b, and is stored in advance in the frame size determination unit 56. The frame body size determination unit 56 outputs the values of HH and JJ obtained by Expression (3) to the foreign substance determination pixel number setting unit 57.

  The foreign substance determination pixel number setting unit 57 stores information of “resolution” that is a length per pixel when a subject that is a distance D away from the camera 30 is captured in advance. From the values of HH and JJ output from the body size determination unit 56, the length per pixel near the floor 13 is obtained. Next, the foreign substance determination pixel number U1 that is the number of pixels to be detected in the output image of the camera 30 is determined according to the size of the detection target, and is output to the Itsu part determination unit 59. For example, in the case where “infant's hand” or “pet string” that may be pinched or pulled in in the vicinity of the elevator doorway 14 is to be detected, the number of pixels corresponding to these sizes is set as the number of foreign matter determination pixels. Output as U1.

The operation of the detection area setting unit 58 will be described with reference to FIGS. FIG. 5 is an example of a marker image input from the marker recognition unit 54 to the detection region setting unit 58, and FIG. 6 is an enlarged view of a part of FIG. From the marker image shown in FIG. 5, the detection area setting unit 58 determines the center point P ₁ (x ₁ , y ₁ ) of the upper side of the marker 20b and the center point P ₂ (x ₂ , y ₂ ) of the upper side of the marker 20a. Ask for. Here, the reference points P ₁ (x ₁ , y ₁ ) and P ₂ (x ₂ , y ₂ ) may be the center points of the markers 20a and 20b or the center points of the lower sides of the markers 20a and 20b. Since the center point of the upper side of the markers 20a and 20b is close to the camera 30, the position can be specified with the highest accuracy.

FIG. 6 is an enlarged view around P ₁ and P ₂ in FIG. Detection area setting unit 58 obtains a straight line C1 connecting the _{P 1} and _{P 2,} obtaining the G1 is a pixel group including a straight line C1. In FIG. 6, G1 is a pixel group indicated by hatching. The detection area setting unit 58 outputs the pixel group G1 to the foreign substance determination unit 59 as a foreign substance determination area. As described above, by limiting the region for determining the foreign matter to the region connecting the center points of the upper sides of the markers 20a and 20b, the detection of the foreign matter can be limited to the vicinity of the entrance / exit 14 and the erroneous detection of the foreign matter is suppressed. be able to.

  Next, the foreign substance determination operation by the foreign substance determination unit 59 will be described. The foreign matter determination unit 59 extracts the foreign matter determination region G1 from the difference image that is the output of the difference image calculation unit, and extracts a region having a value greater than or equal to a certain value. Next, when the extracted area corresponds to the foreign substance determination pixel number U1, this is detected as a foreign substance. When a foreign object is detected by the foreign object determination unit 59, a signal indicating that a foreign object has been detected is output to the system control device 90.

  An example of the operation of the image processing apparatus 50 described above will be described with reference to the flowchart of FIG. The image processing device 50 executes two modes, a detection mode and a setting mode, in response to a command from the system control device 90. In the setting mode, the photographed image z1c when the projector is turned on and the photographed image z2c when the projector is turned off are acquired in the image information storage unit 52 (S003, S004), and the difference image calculation unit 53 generates the difference image z3c (S005). Next, the marker recognition unit 54 determines the marker position from the difference image z3c (S006). From the marker position, the θ calculation unit 55a and the R calculation unit 55b obtain θ and R values, and from the θ and R values, the frame body size determination unit 56 obtains the height and width of the door 11. From this result, the foreign substance determination pixel number setting unit 57 obtains the foreign substance determination pixel number (S007). Further, the detection region setting unit 58 obtains the foreign substance determination region G1 from the output of the marker recognition unit 54 (S008).

  On the other hand, in the detection mode, a detection operation is started in response to a command from the system control device 90 (S009). First, similarly to steps S003 to S005, the image information storage unit 52 and the difference image calculation unit 53 generate a difference image z3a (S010, S011, and S012). Next, the system waits for a preset time (S013), and again generates a difference image z3b in the image information storage unit 52 and the difference image calculation unit 53 (S010, S011, S012). The foreign matter determination unit 59 obtains a difference image between the difference image z3a and the difference image z3b acquired at these different times (S017). Pixel data of the foreign substance determination region G1 is extracted from the difference image obtained in step S017, and a pixel region S1 having a value equal to or greater than a preset threshold value is extracted (S018). Finally, when the pixel area S1 corresponds to the foreign matter determination pixel number U1 (S019), it is determined that there is a foreign matter, and a signal indicating that the foreign matter has been detected is output to the system controller 90 (S020). Here, it is possible to suppress malfunction caused by time-converted sunlight or other disturbance light by setting the shooting interval between the image taken when the projector is lit and the image taken when the projector is turned off to a sufficiently short time.

  The door opening / closing control device 60 controls the door driving device 70. The door driving device 70 opens and closes the door 11. The door drive device 70 includes, for example, a drive source such as a motor, and a drive force transmission member such as a wire and a gear for opening and closing the door upon receiving a drive force from the drive source. The alarm device 80 issues a warning to a person near the door 11 by using sound, buzzer sound, light, video, or the like using, for example, a speaker, illumination, a monitor, or the like. The system control device 90 is connected to the image processing device 50, the door opening / closing control device 60, and the alarm device 80.

  The operation of opening / closing the door and issuing an alarm will be described with reference to the flowcharts of FIGS. FIG. 8 is a flowchart for explaining the operation when the door system 10 performs the opening operation from the closed state of the door 11. The system control device 90 starts the detection operation (S023). When the system controller 90 receives a signal indicating that a foreign object has been detected from the image processing apparatus 50 (S024), it determines that there is a foreign object, instructs the alarm device 80 to perform a warning operation, and opens the door opening / closing control device. 60 is instructed to maintain the closed state of the door 11. The alarm device 80 performs warning operations such as sound generation, light emission, and image display (S025), and the door opening / closing control device 60 controls the door driving device 70 to maintain the door 11 closed (S026). ). When the system controller 90 receives again a signal indicating that a foreign object has been detected from the image processing apparatus 50 while the door 11 is kept closed (S027), the foreign object continues to exist in the vicinity of the entrance / exit 14. Therefore, the alarm device 80 is caused to perform a warning operation again (S028), and the door opening / closing control device 60 is controlled to start the operation of opening the door 11 at a low speed (S029). Thereafter, the system control device 90 stops the detection operation of the image processing device 50 (S030), and continues the operation of opening at a low speed until the door 11 is opened (S031).

  On the other hand, if the system controller 90 does not receive a signal indicating that a foreign object has been detected from the image processing apparatus 50 in step S024 or step S027, it is determined that there is no foreign object, and the door opening / closing control device 60 is controlled to control the door 11. Is started at a normal speed (S032), the detection operation of the image processing apparatus 50 is stopped (S033), and the operation of opening at a normal speed is continued until the door 11 is opened (S034).

  When the door 11 is opened as shown in the flowchart of FIG. 8, when it is determined that there is a foreign object in the vicinity 14 of the doorway, the alarm device 80 detects the foreign object before starting the door 11 opening operation. A warning is issued to people near the door 11. Thereby, the person who has been warned can know that a person or an object near the door 11 may be drawn into the door 11. Furthermore, when it is determined that there is a foreign object again, the door 11 is opened at a low speed, so that the possibility that a person or an object is drawn into the door 11 can be reduced.

  FIG. 9 is a flowchart illustrating the operation when the door system 10 performs the closing operation from the opened state of the door 11. The system control device 90 starts the detection operation (S037). When the system controller 90 receives a signal indicating that a foreign object has been detected from the image processing apparatus 50 (S038), it determines that there is a foreign object, and instructs the door opening / closing controller 60 to maintain the open state of the door 11, The image processing device 50 continues the detection operation.

  On the other hand, if no signal indicating that a foreign object has been detected is received from the image processing apparatus 50 in step S038, the door opening / closing control apparatus 60 is instructed to start the closing operation of the door 11 (S039). Even during the closing operation of the door 11, the system control device 90 causes the image processing device 50 to continue the detection operation (S040), and as long as it receives a signal indicating that a foreign object has been detected from the image processing device 50, the system control device 90 performs the closing operation of the door 11. Continue (S041). When the door 11 is closed (S042), the detection operation of the image processing apparatus 50 is stopped (S043), and the operation is terminated.

  When the system controller 90 receives a signal indicating that a foreign object has been detected from the image processing apparatus 50 before the door 11 is closed, the door opening / closing controller 60 is controlled to return the door 11 to the open state (S044). ).

  When the door 11 is closed as shown in the flowchart of FIG. 9 and it is determined that there is a foreign object in the vicinity 14 of the doorway, if the door 11 is before the closing operation starts, the door 11 is opened. If the door 11 is in the closing operation, the closing operation of the door 11 is interrupted and returned to the open state. Thereby, a possibility that a person or an object will be drawn into the door 11 can be reduced.

Embodiment 2. FIG.
The door system 10 according to the second embodiment of the present invention is the same as the door system 10 according to the first embodiment except that the markers 20a and 20b are changed to markers 21a and 21b having a specific pattern.

  In the door system 10 according to the second embodiment of the present invention, the markers 21a and 21b have specific pattern patterns, the marker recognition unit 54 of the image processing device 50 extracts the pattern in the image data, and the R calculation unit 55b. The distance R from the camera to the marker is obtained from the length of the pattern extracted by the marker recognition unit 54.

  FIG. 10 is an example of image data output from the camera 30 according to the second embodiment of the present invention. As shown in FIG. 10, the pitch interval of the pitch patterns of the markers 21 a and 21 b increases monotonously in the direction of the arrow 22, that is, as the camera 30 is approached. In Embodiment 2 of the present invention, the marker recognizing unit 54 recognizes the pitch pattern of the markers 21a and 21b from the output of the difference image calculating unit 53, and extracts the pitch interval.

  FIG. 11 is an example of pitch intervals extracted by the marker recognition unit 54. The horizontal axis represents the number of pixels in the direction of the arrow 22 in FIG. 10, and the vertical axis represents the pixel value. FIG. 12 shows the relationship between the three pixel numbers d (i), d (i + 1), and d (i + 2) and the distance R from the camera to the marker. The horizontal axis indicates the position of each pitch (i), (i + 1), (i + 2), and the vertical axis indicates the number of detected pixels d (i), d (i + 1), d (i + 2). Show. For example, when the distance from the camera to the marker is relatively short R1, the values of d (i), d (i + 1), and d (i + 2) are large, and d (i + 2) and d (i) The pitch interval increase rate I (R = R1), which is a difference from the above, also increases. When the distance from the camera to the marker is relatively long R3, the values of d (i), d (i + 1), and d (i + 2) are small, and d (i + 2) and d (i) The pitch interval increase rate I (R = R3), which is the difference, also decreases. The marker recognizing unit 54 outputs the pitch interval increase rate I obtained as described above to the R calculating unit 55b.

  In the R calculation unit 55b, the distance R from the camera to the marker is obtained from the pitch interval increase rate I which is the output of the marker recognition unit 54 and θ which is the output of the θ calculation unit.

  Thus, by obtaining the distance R from the camera to the marker based on the number of pixels of the pitch pattern in the image data, the distance R from the camera to the marker can be accurately determined even when some of the markers 21a and 21b are dirty. Can be sought.

Embodiment 3 FIG.
When the door system 10 according to the third embodiment of the present invention is compared with the door system 10 according to the first embodiment, the foreign matter determination region setting method by the detection region setting unit 58 is different. FIG. 13 is a diagram for explaining the operation of the detection region setting unit 58 according to the third embodiment of the present invention. The detection area setting unit 58 obtains a straight line C1 connecting the center point P ₁ (x ₁ , y ₁ ) on the upper side of the marker 20b and the center point P ₂ (x ₂ , y ₂ ) on the upper side of the marker 20a. Next, a range of 2N + 1 pixels in the vertical axis direction of FIG. 13 with the straight line C1 as the center is defined as a foreign substance determination region G2. Here, N is a value preset in the detection area setting unit 58.

  In this way, by setting the foreign object determination area widely, foreign object detection can be performed widely in the vicinity of the entrance / exit 14. Further, even when there is a long and narrow foreign object in the direction perpendicular to the door 11 in the vicinity of the doorway 14, it can be detected.

Embodiment 4 FIG.
FIG. 14 shows a schematic configuration of the door system 10 according to the fourth embodiment of the present invention. Comparing FIG. 14 with FIG. 2, which is a schematic configuration of the door system 10 according to the first embodiment, it is the same except that the markers 20 a and 20 b are changed to markers 22 a and 22 b that emit light in synchronization with the camera 30. .

  In the door system 10 according to the fourth embodiment of the present invention, the synchronous drive unit 51 operates the camera 30 in a state where the markers 22a and 22b are caused to emit light according to an instruction from the system control device 90. The captured image is output to the image information storage unit 52. Further, the synchronous drive unit 51 operates the camera 30 in a state where the markers 22a and 22b are not lit, and the camera 30 outputs a captured image when the marker is extinguished to the image information storage unit 52. The wavelengths of the light emitted from the markers 22a and 22b are preferably monochromatic. By providing the camera 30 with a filter that selectively transmits light having the wavelengths emitted from the markers 22a and 22b, sunlight or the like is provided. The influence of ambient light can be suppressed.

Embodiment 5 FIG.
The door system 10 according to the fifth embodiment of the present invention is the same as the door system 10 according to the first embodiment except that the markers 20a and 20b are removable.

In the door system 10 according to the fifth embodiment of the present invention, the markers 20a and 20b are detachable. For example, the front surface is a material having optical retroreflective properties, and the back surface is provided with adhesiveness. In the door system 10 according to the fifth embodiment of the present invention, the markers 20a and 20b are installed at predetermined positions only when the door system 10 is installed or maintenance work is performed, and the setting mode is executed for the image processing apparatus 50. After the execution of the setting mode is completed, the markers 20a and 20b are removed.

  As described above, by making the markers 20a and 20b removable, it is possible to prevent the marker recognition accuracy from being deteriorated due to contamination of the marker. Moreover, the influence on the design of the door system can be eliminated.

12a Vertical frame 12b Vertical frame 12c Upper frame 20a Marker 20b Marker 30 Camera 55a θ calculation unit 55b R calculation unit 56 Frame size determination unit 56
57 Foreign matter determination pixel number setting unit 59 Foreign matter determination unit 60 Door opening / closing control device

Claims (12)

A pair of vertical frames facing horizontally,
An upper frame connecting upper ends of the vertical frames;
A camera that is installed in the upper frame and shoots the vicinity of the entrance and exit composed of the vertical frame and the upper frame;
Markers installed at the same height from the floor surface in each of the pair of vertical frames,
An R calculator that calculates a distance R from the camera to the marker based on the position of the marker in the output image of the camera;
A θ calculation unit that calculates a magnitude θ of an angle ABC composed of an end point A of the one marker, the camera B, and an end point C of the other marker based on the position of the marker in the output image of the camera;
A frame size determination unit that calculates the size of the doorway from the R and the θ;
A foreign matter determination pixel number setting unit for calculating the number of detection pixels for foreign matter determination from the dimensions of the doorway;
A foreign matter determination unit for determining the presence or absence of foreign matter from the output image of the camera and the number of detected pixels;
A door system comprising: a door drive control device that controls an opening / closing operation of the door based on an output of the foreign matter determination unit.   The door system according to claim 1, further comprising a projector that irradiates the vicinity of the entrance and exit during camera shooting.   The door system according to claim 1 or 2, wherein the marker has a characteristic of optical retroreflection.   The door system according to claim 1, wherein the marker emits light spontaneously during camera photographing.   The door system according to any one of claims 1 to 4, wherein the marker has a pitch pattern in which the pitch monotonously increases as it approaches the camera.   The door system according to any one of claims 1 to 5, wherein the marker is removable.   The door system according to any one of claims 1 to 6, wherein the foreign matter determination unit determines the presence or absence of a foreign matter from a difference image of images acquired at different times by a camera and the number of detected pixels.   The door system according to any one of claims 1 to 7, further comprising an alarm device that issues an alarm based on an output of the foreign matter determination unit. 9. The door system according to claim 8, wherein the alarm device issues a warning when it is determined by the foreign matter determination unit that the foreign matter is present before the door starts the opening operation . The door drive control device performs control for opening the door at a low speed when the foreign matter determination unit determines that there is a foreign matter before the door starts the opening operation. The door system according to item. 11. The door drive control device performs control for interrupting the door closing operation and returning the door to the open state when the foreign object determining unit determines that there is a foreign object during the door closing operation. The door system according to any one of the above.
  The elevator apparatus provided with the door system of any one of Claim 1 to 11.

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