CN108116956B - Elevator device - Google Patents

Abstract

Even if the present invention provides one kind image that video camera takes and produces the elevator device that distortion can also prevent user's detection accuracy from reducing.The elevator control system of embodiments of the present invention has: shoot part, can shoot hall in the mode near the door comprising carriage；The distortion for multiple images that shoot part takes is corrected in distortions correction portion according to coordinate transform table pre-stored in memory；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 center away from door in the block is inferred as to the position of user；And control unit, the position for the user for being inferred to location estimating portion are reflected into the action control of carriage.

Description

Elevator device

The application is by the Japanese patent application 2016-232956 (date of application: based on 11/30/2016), according to this application And enjoy priority.The application includes all the contents of the application by reference to this application.

Technical field

Embodiments of the present invention are related to a kind of elevator device.

Background technique

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 Detect this advantage of user in ground.

Summary of the invention

On the other hand, since the shooting of image uses the video camera with wide-angle lens, video camera is taken Image can generate distortion.This imappropriate situation is reduced in the presence of the precision for causing above-mentioned user to detect because of the distortion.More Specifically, there is following imappropriate situation: causing what will not be detected under normal circumstances to make because shooting the distortion of image User is erroneously detected, so that the testing result of the mistake to be reflected into the control of elevator.

It produces distortion even if the problem to be solved in the present invention is to provide a kind of image that video camera takes and also can The elevator device for preventing user's detection accuracy from reducing.

The elevator device of embodiment is characterized in that having: shoot part, can be with the side near the door comprising carriage Formula shoots hall；Distortions correction portion corrects the shoot part according to coordinate transform table pre-stored 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, that extracts that the motion detecting section detects has fortune The coordinate position at the center away from the door in the block is inferred as the position of user by dynamic block；And control unit, The position for the user for being inferred to the location estimating portion is reflected into the action control of the carriage.

Elevator device according to the above configuration can also prevent from making even if the image that video camera takes produces distortion User's detection accuracy reduces.

Detailed description of the invention

Fig. 1 is the figure for indicating the schematic configuration example of elevator device of an embodiment.

Fig. 2 is the figure to illustrate the processing of distortions correction performed by the elevator device of the embodiment.

Fig. 3 is the shape indicated after being divided the image that the elevator device of the embodiment takes with block unit The figure of state.

Fig. 4 is the figure for indicating an example in motion detection region set by the elevator device of the embodiment.

Fig. 5 is the figure for the image (original image) for indicating that the elevator device of the embodiment takes.

Fig. 6 is figure the case where being set with motion detection region in expression original image shown in Fig. 5.

Fig. 7 is to indicate there is the case where user near door pocket and is set in the shooting image not distorted The figure of the case where motion detection region.

Fig. 8 is to indicate there is the case where user in position same as figure 7 and set in the shooting image for having distortion Surely there is the figure of the case where motion detection region.

Fig. 9 is the flow chart for indicating an example of program of initialization process performed by the elevator device of the embodiment.

Figure 10 is an example for the movement of elevator device for indicating the embodiment and is movement when car door is fully closed The flow chart of an example.

Figure 11 is the process for indicating an example of program of the processing of motion detection performed by the elevator device of the embodiment Figure.

Figure 12 is the process for indicating an example of program of the processing of location estimating performed by the elevator device of the embodiment Figure.

Movement when Figure 13 is an example for the movement of elevator device for indicating the embodiment and is car door standard-sized sheet The flow chart of an example.

Figure 14 is an example for indicating the program of seating wish inference process performed by the elevator device of the embodiment Flow chart.

Figure 15 is to be illustrated respectively in front of and after the distortions correction that distortions correction front and back makes in the identical situation of the size of image The figure of image.

Figure 16 is the figure to illustrate another distortions correction processing performed by the elevator device of the embodiment.

Figure 17 is the figure that another distortions correction processing generates performed by elevator device of the expression by the embodiment The figure of an example of picture.

Specific embodiment

In the following, being illustrated with reference to attached drawing to embodiment.

Fig. 1 shows the schematic configuration examples of the elevator device of an embodiment.It furthermore is carried out by taking 1 carriage as an example herein Illustrate, but even more carriages, and same composition.

In elevator device shown in Fig. 1, the entrance top of carriage 11 is provided with video camera 12.Specifically, taking the photograph Camera 12 is the baffle 11a that the entrance top of covering carriage 11 is arranged in a manner of making camera lens be partially toward 15 side of hall In.Video camera 12 is small-sized monitoring video camera, and with 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 the starting when the movement speed of carriage 11 is less than specified value.Specifically, working as carriage 11 to stop It leans against regulation floor (such as hall floor call registration floor or carriage calling registration floor) and reduces speed now, to move When speed is become less than 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 carriage 11 reduces speed now to rest in regulation floor, movement speed is made to become less than specified value, Including carriage 11 during regulation floor is stopped, go to other floors since regulation floor to carriage 11 and accelerate, make Until movement speed becomes specified value or more.

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 carriage, for example from car door 13 towards the carriage back side For 50cm.Furthermore L1, L2 are the range of depth direction, and the range of width direction (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, it is provided with hall door 14 freely in the arrival mouth opening and closing of carriage 11.Carriage 11 When arrival, hall door 14 snaps into car door 13 and movement is opened and closed.Furthermore power source (door motor) is in carriage 11 Side, hall door 14 are that car door 13 is only followed to be opened and closed.In the following description, it when being set in car door 13 and opening wide, waits Terraced hall door 14 is also opened wide, and when car door 13 is closed, hall door 14 is also closed.

The loudspeaker 16 to broadcast (notice) various message to user is provided in carriage 11.In turn, in carriage The car operating panel (not shown) for having 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, pass through the 22 real-time perfoming dissection process of image processing apparatus in image analysis apparatus 20.Furthermore scheme It is to take out image analysis apparatus 20 from carriage 11 to be shown, and in fact, image analysis for convenience in 1 Device 20 is accommodated in baffle 11a together with video camera 12.

Image preprocess apparatus 21, which has resolution ratio, reduces processing unit 23, storage unit 24 and distortions correction processing unit 25.Point Resolution, which reduces processing unit 23, reduces the resolution ratio for each image (shooting image) that video camera 12 takes, and generates the figure of low resolution Picture.The image of low resolution generated is sent to distortions correction processing unit 25.Furthermore as the resolution ratio for reducing shooting image Method, such as have to the method rejected of pixel for constituting shooting image.But the method for reducing the resolution ratio of shooting image It's not limited to that, and the resolution ratio of shooting image can also be reduced by well known any means.

In this way, by reduce image resolution ratio, can downscaled images size (capacity of image), so as to high speed (real-time) dissection process executed in image processing apparatus 22.

Storage unit 24 is stored with the coordinate transform table referred to for distortions correction processing unit 25.Shoot each pixel in image Position can pass through X-coordinate (coordinate of left and right directions, in other words the coordinate in the direction horizontal with car door 13) and Y-coordinate (coordinate of up and down direction, in other words the coordinate in the direction vertical with car door 13) and be expressed as P (x, y).Coordinate becomes Indicator is changed to each of each pixel and indicates the correspondence of coordinate P (x, y) and revised coordinate P (x', y') before amendment Relationship.Coordinate transform table is made when being the initialization process being described below and is stored to storage unit 24.

Distortions correction processing unit 25 with reference to the coordinate transform table stored in storage unit 24, execute the distortion to shooting image into The modified processing of row.More specifically, distortions correction processing unit 25 executes following processing: with reference to the coordinate stored in storage unit 24 Coordinate P (x, y) is substituted on coordinate transform table and is associated with for each of each pixel as shown in FIG. 2 by map table Coordinate P (x', y') together.Furthermore revised shooting image (implementing pretreated image) is sent to image procossing Device 22.

Furthermore in the present embodiment, the method as the distortion of amendment shooting image, to reference initialization process when system The coordinate transform table performed is illustrated to replace the seat calibration method of each pixel, and but not limited to this, claps as amendment The method for taking the photograph the distortion of image, it is possible to use well known any means.

Image processing apparatus 22 has storage unit 26 and user's test section 27.Storage unit 26 has buffer area, described It (is specifically, low resolution that buffer area, which gradually stores the excessively pretreated image of the implementation sent from image preprocess apparatus 21, Rate and distortion be able to revised image), and temporarily store user's test section 27 processing needed for data.

In the excessively pretreated image of the implementation stored in the buffer area that user's test section 27 is conceived in storage unit 26 The movement of the people and object nearest from car door 13 detects the presence of user.If functionally being carried out to user's test section 27 It divides, then can be divided into motion detecting section 27a, location estimating portion 27b and takes wish inferring portion 27c.

Motion detecting section 27a will implement pretreated image to be divided into side to be W as shown in Figure 3_blockBlock, with Block unit is compared the brightness of the image, detects the area for having movement with the luminance difference of preset value or more Block, 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, can also be identical for the length in length and breadth of block, but it is longitudinal can also with lateral length With difference.In addition, the length etc. that can also shorten longitudinal direction (Y-direction) more leaning on image top bridgees across image universe and is set as block Non-uniform size.

It is to be conceived to the brightness of image to detect the movement of people and object, but detect people and object in addition, in the present embodiment 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.

What location estimating portion 27b was detected from motion detecting section 27a have extracted in the block of movement it is nearest from car door 13 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 to be inferred according to the time series variation of the position being inferred to location estimating portion 27b Whether there is or not take wish by user.

According to the operating status of carriage 11, (car position, traffic direction, travel speed, door are opened and closed elevator control gear 30 State etc.), the generation situation of hall calling/carriage calling carry out the control of elevator entirety.

Carriage control device 40 has an open and close control portion 41, and door open and close control portion 41 is according to from elevator control gear 30 Instruction, control carriage 11 reach hall 15 when car door 13 door opening and closing.In addition, carriage control device 40 is according to coming from The instruction of elevator control gear 30 carries out display control, the loudspeaker of car operating panel (not shown) set in carriage 11 16 control etc..

Herein, with reference to Fig. 4, to the motion detection set to detect the movement of user in user's test section 27 Region is illustrated.

Motion detection region is to be directed to each Block Set to detect the movement of user using shooting image Region.Specifically, as shown in figure 4, location estimating region E1 being arranged in shooting image, takes wish deduction region E2 and drags Enter detection zone E3 as motion detection region.Furthermore assume that setting above-mentioned zone E1~E3 as motion detection area herein The case where domain, but not limited to this, can also 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 Set 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 is set as 2m (L3≤hall side coverage L1).In addition, the width W1 of location estimating region E1 It is set as the distance of the width W0 or more of car door 13.

It takes wish and infers that region E2 is to infer whether the user detected in location estimating region E1 has seating wish 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, inferring in the E2 of region taking wish, the foot position of user is inferred, and infer the seating of the user Wish.

Be drawn into detection zone E3 be detection in carriage 11 near the car door 13, hand or arm be possible to 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 carriage back side direction, such as is set as 10cm.In addition, being drawn into detection zone E3's Width W3 is set as the width W0 approximately the same distance with car door 13.

Then, the distortion generated to shooting image is illustrated.

In the present embodiment, as described above, needing to shoot the range at least than the width W0 wide of car door 13, therefore, Video camera 12 is preferably the video camera with wide-angle lens.However, video camera 12 is shot due to the characteristic of wide-angle lens To the peripheral part of image can largely be distorted.The situation is shown in Fig. 5.

Fig. 5 indicates 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, positioned at right side (door in the cage side threshold, setting position, that is, figure especially far from video camera 12 of peripheral part Shelves side) figure in left side (door pocket side) part largely distort and distorted.

It is thereby possible to which following imappropriate situation occurs.

Fig. 6 indicates the feelings that above-mentioned motion detection region (being drawn into detection zone E3) is set in 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 shooting image On be set in same position always.Therefore, in the case where the image as shooting image shown in fig. 5 produces distortion, 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 lead to the occurrence of following imappropriate in turn.

Fig. 7 and Fig. 8 is the image for taking the user in same position, and Fig. 7 indicates that shooting image does not generate distortion The case where, Fig. 8 shows shoot the case where image produces distortion.As shown in fig. 7, being drawn into inspection in the image for not generating distortion 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 is possible to be drawn into the user of door pocket.On the other hand, as shown in figure 8, producing 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 being in position same as figure 7, but it can be drawn into that detection zone E3 is detected as hand or arm is possible to be drawn into The user of door pocket.That is, the error detection as caused by the distortion of image has occurred.

Therefore, in the present embodiment, be set to by the distortions correction processing unit 25 in image preprocess apparatus 21 come The composition of the distortion of amendment shooting image.In the following, referring initially to the flow chart of Fig. 9, to image analysis apparatus 20 and video camera 12 Performed initialization process is illustrated when being arranged together.Thereafter, with reference to the flow chart of Figure 10, to the elevator of present embodiment An example of the movement of system is illustrated.

Fig. 9 is the program for indicating initialization process performed when image analysis apparatus 20 is arranged together with video camera 12 The flow chart of an example.

Firstly, image analysis apparatus 20 sets motion detection region for each block, specially location estimating region E1, it takes wish deduction region E2 and is 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).

Distortions correction processing be not be that is effectively invalid in the case where (being "No" in step S2), due to will not Distortions correction processing is executed in image analysis apparatus 20, therefore terminates initialization process.On the other hand, in distortions correction processing For (being "Yes" in step S2) in effective situation, the coordinate that image analysis apparatus 20 is fabricated for referring to when distortions correction processing becomes Table (step S3) is changed, and is stored to storage unit 24 (step S4), initialization process is terminated.

Furthermore herein, image analysis apparatus 20 is first to set motion detection region, execute whether need distortions correction later Judgement and coordinate transform table production and storage, but handle sequence it's not limited to that.For example, image analysis apparatus 20 Motion detection region can be set after the production and storage for executing the judgement and coordinate transform table that whether need distortions correction.

Figure 10 is the flow chart for indicating an example of the movement of elevator device of present embodiment.Furthermore herein, to car door 13 movement of elevator device when being full-shut position is illustrated.

When the movement speed of carriage 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 where the movement speed of carriage 11 is specified value or more For energy-efficient viewpoint without starting, the processing of step S11 is executed again in the state of maintaining dormant state.

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 shooting image Whether the difference of angle value is specified value or more to determine that the shooting figure seems no normal (step S13).

This is determined less than specified value in the accessed maximum brightness value of shooting image and the difference of minimum luminance value (being "No" in step S13) is shot in the abnormal situation of image, which will not be used for user described later Detection processing, image analysis apparatus 20 execute the processing of step S12 again, to obtain next shooting image.

On the other hand, the maximum brightness value of accessed shooting image and the difference of minimum luminance value be specified value with (in step S13 be "Yes") is above determined in the normal situation of shooting image, and the image for constituting image analysis apparatus 20 is located in advance Managing the resolution ratio in device 21 reduces the resolution ratio of the reduction of the processing unit 23 shooting image, generates the shooting image of low resolution (step S14).Furthermore the shooting image of low resolution generated, which is gradually sent to the distortion in image preprocess apparatus 21, to be repaired 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 When the input of image, whether the processing of confirmation distortions correction is effective (step S15).It is not effectively namely in distortions correction processing Say be it is invalid in the case where (be "No" in step S15), distortions correction processing unit 25 do not execute distortions correction and handles, will be in step Implement pretreated shooting image in S14 directly gradually to send to image processing apparatus 22, and enters to step S17 described later Processing.

On the other hand, in the case where distortions correction processing is effective situation (being "Yes" in step S15), distortions correction processing unit 25, with reference to the coordinate transform table stored in storage unit 24, repair the distortion of the shooting image for the low resolution for receiving input Just, the shooting image for having modified distortion is generated.Specifically, distortions correction processing unit 25 is in each pixel of the shooting image Each and coordinate P (x, y) is substituted for the coordinate P (x', y') being associated together on coordinate transform table, to correct the bat Take the photograph the distortion (step S16) of image.Furthermore implemented pretreated shooting image in step S14~S16 gradually to be sent to figure As processing unit 22.

When receiving the input for implementing pretreated shooting image sent from image preprocess apparatus 21, at image Reason device 22 on one side gradually stores the shooting image to storage unit 26, executes user's detection processing (step in real time on one side S17)。

User's detection processing is executed by user's test section 27 in image processing apparatus 22, and car door 13 is fully closed shape User's detection processing when state is made of motion detection processing (step S17a) and location estimating processing (step S17b).

In the following, the flow chart with reference to Figure 11 is illustrated motion detection processing, position is pushed away with reference to the flow chart of Figure 12 Disconnected processing is illustrated.

(a) motion detection is handled

Figure 11 is the flow chart for indicating an example of the program of motion detection processing of above-mentioned steps S17a.At the motion detection The motion detecting section 27a of one of constituent element of the reason as user's test section 27 is executed.Here, it is assumed that utilizing the bright of image Degree is illustrated with the case where detecting the movement of people and object.

Motion detecting section 27a reads the pretreated shooting image stored in storage unit 26 one by one, and respectively shoots image It is divided into clathrate, 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 storage unit 26 as initial value Buffer area (not shown) in (step A2).

When reading the image after the 2nd, average brightness value of the motion detecting section 27a to each block of present image With stored in buffer area before the average brightness value of each block of 1 image be compared (step A3).As a result, scheming currently In the case where there is the block with luminance difference more than specified value as in, motion detecting section 27a is judged to the block to have fortune Dynamic block (step A4).

When having determined the presence or absence of movement for present image, motion detecting section 27a is by each block of the image Average brightness value is stored as using compared with next image to above-mentioned buffer area (step A5).

Be later it is the same, motion detecting section 27a on one side according to the sequence of time series with block unit to storage unit 26 The brightness value of the pretreated shooting image of middle storage is compared, determines the presence or absence of movement on one side.

(b) location estimating is handled

Figure 12 is the flow chart for indicating an example of the program of location estimating processing of above-mentioned steps S17b.At the location estimating The location estimating portion 27b of one of constituent element of the reason as user's test section 27 is executed.

Location estimating portion 27b verifies the block for having movement in present image according to the testing result of motion detecting section 27a (step B1).As a result, position pushes away there are in the case where the block of movement in motion detection region (being drawn into detection zone E3) Disconnected portion 27b extracts block (step B2) nearest from car door 13 in the block that these have movement.

Thereafter, location estimating portion 27b finds out the Y-coordinate of the block that has movement nearest from car door 13 (from car door 13 Center towards carriage back side direction Y-coordinate) as user position data, and store to storage unit 26 and do not scheme The buffer area (step B3) shown.

Be later it is the same, location estimating portion 27b has for each Zhang Erqiu in each image is nearest from car door 13 Data of the Y-coordinate of the block of movement as the position of user, and store to above-mentioned buffer area.Furthermore indicate 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 for indicating 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 where (in step S18 be "Yes"), elevator control gear 30 will be to remind the user in carriage 11 to pay attention to The indicative indication signal that points out of mode export to carriage 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 carriage control device 40 receives From when the input for pointing out indication signal of elevator control gear 30, point out indication signal according to this and from loudspeaker 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 determines carriage 11 according to indicating to have arrived at the presence or absence of arrival signal of regulation floor Whether regulation floor (step S20) arrived.Furthermore it not yet reaches regulation floor in judgement carriage 11 that is also travelling In in the case where (in step S20 be "No"), be back to the processing of above-mentioned steps S12, execute same processing again.

On the other hand, (being "Yes" in step S20), elevator controlling in the case where determining that carriage 11 arrived 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 where 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 carriage control device 40.Door opening and closing in carriage control device 40 Control unit 41 opens carriage 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, unregistered in a memory not shown to have in the case where low speed enabling indication signal (in step S21 For "No"), normal door indicative in such a way that normal speed opens car door 13 is indicated to believe by elevator control gear 30 Number output is to carriage control device 40.Door open and close control portion 41 in carriage 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 movement of elevator device when being full-gear to car door 13 is illustrated.

When car door 13 becomes standard-sized sheet (step S31), image analysis apparatus 20 is executed with above-mentioned steps S12~S16's Handle identical processing (step S32~S36).

Thereafter, when image processing apparatus 22 receives the excessively pretreated shooting of implementation sent from image preprocess apparatus 21 When the input of image, on one side by the shooting image gradually store to storage unit 26, while Shi Shi execute user's detection processing (step Rapid S37).

User's detection processing 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 constitute.Furthermore about 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 detection zone E3 as the processing of the location estimating of object in S37b, but It executes and is handled by the location estimating of object of location estimating region E1.

Herein, it with reference to the flow chart of Figure 14, is illustrated to wish inference process is taken.

(c) wish inference process is taken

Figure 14 is the flow chart for indicating an example of the program of seating wish inference process of above-mentioned steps S37c.Seating meaning It is willing to infer and is executed by the seating wish inferring portion 27c of one of constituent element 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 unit 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.

When above-mentioned position data is smoothed, (the step there are the data that variable quantity is specified value or more It is "Yes" in rapid C2), wish inferring portion 27c, which is taken, using the data as outlier removes (step C3).Furthermore above-mentioned specified value It is determined by the standard walking speed of user and the frame rate of shooting image.In addition, can also be smoothed by above-mentioned position data It finds out before and removes outlier.

Then, the variation (step of the position of the user in wish inferring portion 27c confirmation seating wish deduction region E2 is taken Rapid C4).As a result, taking the variation for confirming the position of the user to come up to car door 13 in wish deduction region E2 In the case where (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 that the user to come up to car door 13 is not confirmed in wish deduction region E2 is being taken In the case where the variation set (being "No" in step C5), takes wish inferring portion 27c and judge the user without seating wish (step C7).For example, in the case where personage passes across the positive situation of carriage 11, 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, can conclude that user, whether there is or not take 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 the time is dynamic Make, closes the door at the time point of timing to stipulated time T (such as 1 minute).If having detected seating wish in the meantime User and send user detect signal, then elevator control gear 30 stop timing movement and clocking value is reset.As a result, The opening state of car door 13 is maintained within above-mentioned time T.

Furthermore if detecting the new user for having seating wish in the meantime, 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 that car door 13 can be closed can continue, it is therefore preferable that setting allowed time Tx (such as 3 minutes), have been subjected to Car door 13 is forcibly closed in the case where allowed time Tx.

At the end of the timing movement of above-mentioned time T (being "Yes" in step S40), elevator control gear 30 is via carriage control Door open and close control portion 41 in device 40 processed closes car door 13 (step S41), terminates processing herein.

According to an embodiment discussed above, since elevator device has the abnormal of the distortion that can correct shooting image It turns revisionism positive processing unit 25, therefore the reduction of user's detection accuracy as caused by the distortion of image can be prevented.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.

It furthermore is in the present embodiment, so that the shooting image before amendment distortion and the shooting after amendment distortion The identical mode of the size of image is handled to execute distortions correction, but in that case, it is possible to following imappropriate situation occurs.

Figure 15 is the imappropriate situation occurred in the identical situation of size to illustrate to make before and after distortions correction image Figure.(a) of Figure 15 indicates that the shooting image before amendment distortion, (b) of Figure 15 indicate the shooting image after amendment distortion. As shown in (b) of Figure 15, in the shooting image after amendment distortion, due to the influence of distortions correction, shown in (a) of Figure 15 Some is disappeared for the end (peripheral part of the shooting image before amendment) shown in shooting image before amendment distortion (lacking).Therefore, it may occur that following imappropriate situation: even if the place disappeared in the shooting image after amendment distortion 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 execute as shown in Figure 16 with before amendment distortion Shooting image compared to reduce amendment distortion after shooting image processing.Specifically, distortions correction processing unit 25 is to contract The mode of 0.85 times of size of the shooting image as low as before amendment distortion generates the shooting image for having modified distortion.At this point, abnormal Positive processing unit 25 of turning revisionism also correspondingly reduces motion detection region.As a result, as shown in figure 17, the shooting figure after amendment distortion As medial end portions will not disappear and (lack), therefore, above-mentioned imappropriate situation can be eliminated.Especially elevator is in door pocket side mostly A possibility that setting car operating panel, user is near car operating panel, is higher, therefore, by preventing lacking for above-mentioned image It is few, it can more precisely prevent hand or arm to be drawn into door pocket.

Furthermore in the case where carrying out the big minor change of shooting image in distortions correction processing, image analysis apparatus 20 exists It is that the size of the shooting image after considering amendment distortion becomes 0.85 times of basis of original size when initialization process Upper production coordinate transform table.In addition, at this point, similarly carrying out the big minor change in motion detection region.It furthermore is that will clap herein The reduction magnification for taking the photograph image is set as 0.85 times come the explanation carried out, and but not limited to this, and reduction magnification can take the circumstances into consideration to be become More.

Furthermore although several embodiments of the invention are illustrated, these embodiments be as an example and It shows, is not intended to limit the range of invention.These novel embodiments can be implemented with various other ways, energy It is enough to carry out various omissions, substitutions and changes without departing from the spirit of the invention.These embodiments and its deformation are included in It in the scope and spirit of invention, and include in the invention and its impartial range recorded in detail in the claims.

Claims (3)

1. a kind of elevator device, which is characterized in that have:

Shoot part can shoot hall in the mode near the door comprising carriage；

Multiple that the shoot part takes are corrected according to coordinate transform table pre-stored 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, by the block away from the door The coordinate position at center be inferred as the position of user；And

The position of control unit, the user for being inferred to the location estimating portion is reflected into the action control of the carriage,

The distortions correction portion executes the shooting image reduced after amendment distortion compared with the shooting image before amendment distortion Processing.

2. elevator device according to claim 1, which is characterized in that

It is possible in a part that the position for the user that the location estimating portion is inferred to is included in the body of the user In the case where 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.

3. elevator device according to claim 1, which is characterized in that

It is also equipped with and takes wish inferring portion, it is described to take user's that wish inferring portion is inferred to according to the location estimating portion The time series variation of position, to infer the user, whether there is or not seating wishes, also,

The control unit controls the on-off action of the door according to the inferred results for taking wish inferring portion.