User detection system of elevator
阅读说明:本技术 电梯的使用者检测系统 (User detection system of elevator ) 是由 野田周平 横井谦太朗 木村纱由美 田村聪 于 2019-11-27 设计创作,主要内容包括:本发明涉及一种电梯的使用者检测系统,其不需要多个传感器类,就能正确地检测位于门附近的使用者或物体,将门开闭时的事故防患于未然。一实施方式的电梯的使用者检测系统具备摄像部、检测区域设定部和检测处理部。上述摄像部从轿厢内拍摄包括门开闭的出入口附近在内的规定范围。上述检测区域设定部在由上述摄像部得到的拍摄图像上,在设置于上述轿厢的出入口的两侧的至少一方的正面柱上设定检测区域。上述检测处理部根据由上述检测区域设定部设定的上述检测区域内的图像,检测有无使用者或物。(The present invention relates to a user detection system for an elevator, which can accurately detect a user or an object near a door without a plurality of sensors, and prevent accidents when the door is opened or closed. A user detection system for an elevator according to one embodiment includes an imaging unit, a detection area setting unit, and a detection processing unit. The imaging unit images a predetermined range including the vicinity of an entrance where a door opens and closes from inside the car. The detection area setting unit sets a detection area on a front pillar provided on at least one of both sides of the doorway of the car on the captured image obtained by the imaging unit. The detection processing unit detects the presence or absence of a user or an object based on the image in the detection area set by the detection area setting unit.)
1. A user detection system for an elevator is characterized by comprising:
an imaging unit that images a predetermined range including the vicinity of an entrance where a door opens and closes from inside the car;
a detection region setting unit that sets a detection region on a front pillar provided on at least one of both sides of the doorway on the captured image obtained by the imaging unit; and
and a detection processing unit that detects the presence or absence of a user or an object based on the image in the detection area set by the detection area setting unit.
2. The user detection system of an elevator according to claim 1,
the detection area is set on an inner side surface of the front pillar on the captured image.
3. The user detection system of an elevator according to claim 2,
the detection region is set to have a predetermined width in the width direction of the inner side surface of the front pillar.
4. The user detection system of an elevator according to claim 1,
the detection area setting unit calculates a position of the face post on the captured image based on design values of the components of the car, an installation angle of the imaging unit, and a viewing angle, and sets the detection area on the calculated face post.
5. The user detection system of an elevator according to claim 1,
in the door opening operation of the door, the detection processing unit detects the presence or absence of a user or an object based on the image in the detection area.
6. The user detection system of an elevator according to claim 1,
the camera shooting part is arranged at the upper part of the access opening of the car.
7. The user detection system of an elevator according to claim 1,
the detection processing unit compares images in the detection area in time series order, and detects the presence or absence of a user or an object based on the difference between the images.
8. The user detection system of an elevator according to claim 1,
the detection processing unit compares the brightness of the image in the detection area in units of blocks in time series order, and detects the presence or absence of a user or an object based on the block having motion.
9. The user detection system of an elevator according to claim 1,
the detection processing unit detects a boundary between the face pillar and the doorway of the car based on an image in the detection area, and detects the presence or absence of a user or an object based on whether or not the boundary is broken.
10. The user detection system of an elevator according to claim 1,
the door opening/closing control unit controls the opening/closing operation of the door based on the detection result of the detection processing unit.
11. The user detection system of an elevator according to claim 1,
the elevator car further comprises a notification unit that calls the attention of a user in the car based on the detection result of the detection processing unit.
Technical Field
Embodiments of the present invention relate to a user detection system for an elevator.
Background
When the car of the elevator is opened, a user's finger or the like may be pulled into the concealed box of the sliding door. In order to prevent such an accident, for example, a method is known in which a photoelectric sensor is provided near a concealed box of a sliding door, and a user or the like near the concealed box of the sliding door is detected to give a warning.
However, in the above-described method using sensors such as a photoelectric sensor, the user may operate only when passing near the dark box of the sliding door, and a warning may be frequently issued. Therefore, in order to prevent the sensor from erroneous detection, a fine adjustment operation for the installation position is required. In addition, in the case where the two doors are of a double-door type, since there are sliding door hidden boxes on both sides of the car entrance, it is necessary to provide sensors for these sliding door hidden boxes in advance.
Disclosure of Invention
The invention provides a user detection system of an elevator, which can accurately detect users or objects near a door without a plurality of sensors, and prevent accidents when the door is opened and closed.
A user detection system for an elevator according to one embodiment includes an imaging unit, a detection area setting unit, and a detection processing unit.
The imaging unit images a predetermined range including the vicinity of an entrance where a door opens and closes from inside the car. The detection area setting unit sets a detection area on a front pillar provided on at least one of both sides of the doorway of the car on the captured image obtained by the imaging unit. The detection processing unit detects the presence or absence of a user or an object based on the image in the detection area set by the detection area setting unit.
According to the elevator user detection system configured as described above, it is possible to accurately detect a user or an object located near the door without requiring a plurality of sensors, and to prevent an accident in the process of opening and closing the door.
Drawings
Fig. 1 is a diagram showing a configuration of an elevator user detection system according to an embodiment.
Fig. 2 is a diagram showing a configuration of a portion around an entrance in the car in the embodiment.
Fig. 3 is a diagram showing an example of an image captured by the camera in the present embodiment.
Fig. 4 is a flowchart showing the overall processing flow of the user detection system according to this embodiment.
Fig. 5 is a diagram for explaining a coordinate system in real space in this embodiment.
Fig. 6 is a diagram for explaining a region setting method in this embodiment.
Fig. 7 is a diagram for explaining another region setting method in this embodiment.
Fig. 8 is a diagram showing a relationship between a user in the car and the detection area in the embodiment.
Fig. 9 is a diagram showing a relationship between a user and a detection area on a captured image in the present embodiment.
Fig. 10 is a diagram for explaining a difference method used in the user detection processing in this embodiment.
Fig. 11 is a diagram for explaining motion detection used in the user detection processing in this embodiment.
Fig. 12 is a diagram for explaining boundary detection used in the user detection processing in this embodiment.
Fig. 13 is a diagram showing a configuration of a doorway peripheral portion in a car using a single-opening type car door in this embodiment.
Fig. 14 is a diagram for explaining the opening and closing operation of the single-opening type car door in the present embodiment.
Detailed Description
Hereinafter, embodiments will be described with reference to the drawings.
Note that the disclosure is merely an example, and the present invention is not limited to the contents described in the following embodiments. Variations that would be readily apparent to one skilled in the art are, of course, included within the scope of this disclosure. In the drawings, the dimensions, shapes, and the like of the respective portions are schematically shown in some cases by being modified from those of the actual embodiment in order to make the description clearer. In the drawings, corresponding elements are denoted by the same reference numerals, and detailed description thereof may be omitted.
Fig. 1 is a diagram showing a configuration of an elevator user detection system according to an embodiment. Note that, although 1 car is described as an example, the same configuration is applied to a plurality of cars.
A
The
The installation location of the
In contrast, since a surveillance camera generally used for a purpose of surveillance is installed in a car or on a ceiling surface, an imaging range is wide in the whole car. Therefore, it is difficult to set the detection area, and the possibility of detecting users including users far from the doorway of the
In the
Each image (video) continuously captured by the
The image processing apparatus 20 includes a storage unit 21 and a
The
On the image captured by the
The detection processing unit 22b detects the presence or absence of a user or an object based on the image in the detection area set by the detection area setting unit 22 a. The term "object" as used herein includes, for example, clothes and cargoes of a user, and moving objects such as wheelchairs. Further, the car control device 30 may have a part or all of the functions of the image processing device 20.
The car control device 30 controls operations of various devices (destination floor buttons, lighting, and the like) provided in the
Here, when the detection processing unit 22b detects a user or an object during the opening of the
Fig. 2 is a diagram showing a configuration of a portion around an entrance in the
A
One or both of the
Here, a
Fig. 3 is a diagram showing an example of the captured image by the
In the
Here, the detection regions Ea and Eb are set on the inside side surfaces 41a-1 and 41b-1 of the
The detection regions Ea and Eb are respectively set in a band shape having predetermined widths D1 and D2 in the width direction of the inner side surfaces 41a-1 and 41b-1 of the
The widths D1 and D2 may be partially changed so that, for example, the widths D1a and D2a of the portions that are easily touched by the hand of the user are slightly wider than the widths D1 and D2 (see fig. 9). Therefore, the accident of being pulled into the dark box of the sliding door can be detected as early as possible.
The front faces of the
Next, the operation of the present system will be described in detail.
Fig. 4 is a flowchart showing the overall processing flow of the present system.
First, as the initial setting, the detection region setting unit 22a of the
That is, the detection area setting unit 22a sets the detection areas Ea and Eb on the image captured by the
The regions in which the
Width of doorway (lateral width of doorway of cage)
Height of the door
Width of the column
Type of door (double open/single open on right or left)
Relative position of camera with respect to doorway (three-dimensional)
Angle of the Camera (3 axes)
Angle of view (focal length) of the camera
The detection region setting unit 22a calculates the regions in which the front surface posts 41a and 41b are reflected on the captured image based on these values. That is, assuming that the
The three-dimensional coordinates refer to coordinates when a direction horizontal to the
For example, as shown in fig. 6, marks m1 and m2 may be placed on both ends of the car inner side of the
The detection region setting unit 22a projects the three-dimensional coordinates of the front surface posts 41a and 41b as two-dimensional coordinates on the captured image, obtains regions in which the front surface posts 41a and 41b are projected on the captured image, and sets the detection regions Ea and Eb in the regions. Specifically, the detection region setting unit 22a sets the detection regions Ea and Eb having predetermined widths D1 and D2 along the longitudinal direction of the inner side surfaces 41a-1 and 41b-1 of the
The setting process of the detection zones Ea, Eb may be performed in a state where the
By setting the detection areas Ea and Eb in advance on the inner side surfaces 41a-1 and 41b-1 of the
Next, the operation of the
As shown in fig. 4, when the
At this time (during the door opening operation of the car door 13), the
The user detection process is executed by the detection processing unit 22b of the
That is, the detection processing unit 22b extracts images in the detection areas Ea and Eb from a plurality of captured images obtained in time series by the
(a) Difference method
As shown in fig. 10, the detection processing unit 22b compares the images in the detection areas Ea and Eb with the base image in time series, and detects the presence or absence of a user or an object based on the difference between the images of the two. Fig. 10 (a) is a basic image, which is an image in the detection areas Ea and Eb extracted from the image captured by the
The detection processing unit 22b compares the basic image and the detection target image, and determines that a user or an object is present near the
(b) Motion detection
As shown in fig. 11, the detection processing unit 22b divides the captured image into a matrix in units of predetermined blocks, and detects the presence or absence of a user or an object by focusing on a moving block among the blocks.
More specifically, the detection processing unit 22b reads out the images held in the storage unit 21 one by one in time series order, and calculates the average luminance value of the images for each block. At this time, the average luminance value of each block calculated when the first image is input is held as an initial value in the 1 st buffer area, not shown, in the storage unit 21.
When the second and subsequent images are obtained, the detection processing section 22b compares the average luminance value of each block of the current image with the average luminance value of each block of the previous image held in the 1 st buffer area. As a result, when there is a block having a luminance difference equal to or greater than a preset value in the current image, the detection processing unit 22b determines that the block is a motion block. When determining the presence or absence of motion with respect to the current image, the detection processing section 22b holds the average luminance value of each block of the image in the 1 st buffer area for comparison with the next image. Similarly, the detection processing unit 22b repeatedly compares the luminance values of the respective images in units of blocks in time series order and determines the presence or absence of motion.
The detection processing unit 22b checks whether or not there is a moving block in the image in the detection areas Ea and Eb. As a result, if there is a moving block in the images in the detection areas Ea and Eb, the detection processing unit 22b determines that a person or an object is present near the
As shown in FIG. 3, the detection regions Ea, Eb are set on the inner side surfaces 41a-1, 41b-1 of the
(c) Boundary detection
The detection processing unit 22b detects the boundary of the elevator structure from the images in the detection areas Ea and Eb. The "boundary of the elevator structure" herein refers to the boundary between the inner side surfaces 41a-1, 41b-1 of the
In this method, as shown in fig. 12, the detection regions Ea and Eb need to be expanded in advance and set to include the above-described boundary. Further, a method of detecting a boundary in a detection area on an image is known, for example, in japanese patent application publication No. 2017-240799, and thus a detailed description thereof is omitted here.
In the image captured by the
As another method, an object other than the elevator structure may be recognized from the images in the detection areas Ea and Eb, and the presence of the user or the object may be determined based on the recognition result. The method of object recognition may be a generally known method. For example, there are deep learning, SVM (Support Vector Machine), random forest, and the like.
Returning to fig. 4, when the presence of a user or an object is detected in the detection areas Ea and Eb during the door opening operation of the car door 13 (yes in step S16), a user detection signal is output from the image processing apparatus 20 to the car control apparatus 30. Upon receiving the user detection signal, the door opening/closing control unit 31 of the car control device 30 temporarily stops the door opening operation of the
When the user detection signal is received, the door opening speed of the
The notification unit 32 of the car control device 30 sounds the speaker 46 in the
The above-described processing is repeated while the presence of the user or the object is detected in the detection areas Ea, Eb. Thus, for example, when the user places his or her hand near the
When the presence of the user or the object is not detected in the detection areas Ea and Eb (no in step S16), the car control device 30 continues the door closing operation of the
In the above-described embodiment, the double-opening type car door is described as an example, but the same applies to the single-opening type shown in fig. 13.
Fig. 13 is a diagram showing a configuration of a doorway peripheral portion in a car using a car door in which both doors are of a single-door type. In this example, a
In the case where the
Here, the
In fig. 13, if the detection area Eb is set in advance also for the
As described above, according to the present embodiment, the detection regions Ea and Eb are set in advance on both sides of the doorway of the
In the above embodiment, the detection regions Ea and Eb are set on both sides of the doorway of the
According to at least one embodiment described above, it is possible to provide a user detection system for an elevator, which can accurately detect a user or an object located near a door without requiring a plurality of sensors, and prevent an accident in opening and closing the door.
In the above-described embodiment, the description has been given assuming the door provided in the car of the elevator, but the present invention is also applicable to an automatic door provided in, for example, a doorway of a building. That is, for example, in the case of an automatic door at the doorway of a building, a camera is installed at the upper part of the doorway, and detection regions Ea and Eb (one if opened on one side) are set inside the pillar parts on both sides of the doorway using the image captured by the camera. Then, as in the above-described embodiment, the user or the object is detected in the image in the detection area Ea, Eb, and the user or the object is reflected in the door opening/closing control, and the attention is called.
In short, although several embodiments of the present invention have been described, these embodiments are merely provided as examples and are not intended to limit the scope of the present invention. These new embodiments can be implemented in other various ways, and various omissions, substitutions, and changes can be made without departing from the spirit of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalent scope thereof.
- 上一篇:一种医用注射器针头装配设备
- 下一篇:用于安装电梯的附着结构及其施工方法