Elevator system

Abstract

Embodiments of the present invention relate to an elevator system. A camera and a multi-optical axis sensor are used to accurately detect a rope belt present near an entrance of a car without requiring a member for detection or complicated processing. The elevator system is provided with a multi-optical axis sensor, a camera, a motion detection section, and a rope belt detection section. The multi-optical axis sensor is provided at an entrance of a car to optically detect passage of an object. The camera is provided in the car to take an image of a waiting hall near the entrance from inside the car. The motion detection section detects movement of a rope belt tied to the object in a detection region set near the entrance on an image taken by the camera. The rope belt detection section determines that the rope belt is present near the entrance when continuity exists between passage of the object detected by the multi-optical axis sensor and movement of the rope belt detected by the motion detection section.

Description

[0001] This application is based on Japanese Patent Application 2022-194061 (filed on December 5, 2022), and enjoys priority according to that application. The entire contents of that application are incorporated herein by reference. Technical Field

[0002] The present invention relates to an elevator system. Background Technology

[0003] When a user's pet (such as a dog) enters the elevator car, the leash (leash) attached to the pet may sometimes remain at the entrance or exit of the car and get caught in the door when it closes. The same applies when the pet exits the car; the leash attached to the pet may sometimes get caught in the door when it closes.

[0004] Here, a method for detecting foreign objects present at the entrance and exit of the car is to use a camera. However, when the object to be detected is long and thin, such as a pet leash, it is difficult to detect it in the camera's image. Therefore, it is necessary to, for example, illuminate the leash with a light source or move the leash by opening and closing the door.

[0005] In addition, another method is to use multi-axis sensors installed at the entrances and exits of the elevator car. However, the height of pet leashes passing through the entrances and exits is usually lower than the installation position of the multi-axis sensors, and the thickness of the leashes is usually smaller than the spacing of the multi-axis sensors. Therefore, existing multi-axis sensors cannot accurately detect pet leashes. Therefore, it is necessary, for example, to analyze the signal patterns when the multi-axis sensors detect leashes and when they detect people, or to install guide members on both sides of the entrances and exits to guide the leashes spanning the boundary between the waiting hall and the elevator car to the detection position of the multi-axis sensors. Summary of the Invention

[0006] As mentioned above, whether using a camera or a multi-axis sensor, accurately detecting the ropes near the car's entrance or exit requires complex processing such as detection components, door control, and signal analysis.

[0007] The problem to be solved by the present invention is to provide an elevator system that can accurately detect ropes present near the entrance and exit of the car using cameras and multi-axis sensors without requiring detection components or complicated processing.

[0008] One embodiment of the elevator system includes a multi-axis optical sensor, a camera, a motion detection unit, and a rope detection unit. The multi-axis optical sensor is installed at the entrance / exit of the car to optically detect the passage of objects. The camera is installed inside the car to capture images of the waiting area near the entrance / exit. The motion detection unit detects the movement of a rope attached to an object within a detection area defined near the entrance / exit on the image captured by the camera. If there is a continuity between the multi-axis optical sensor detecting the passage of an object and the motion detection unit detecting the movement of the rope, the rope detection unit determines that the rope is present near the entrance / exit.

[0009] The elevator system described above can accurately detect ropes near the car's entrance and exit using cameras and multi-axis sensors without requiring inspection components or complex processing. Attached Figure Description

[0010] Figure 1 This diagram illustrates the configuration of an elevator system according to one embodiment.

[0011] Figure 2 This diagram illustrates the state of an image in which the detection region is segmented in a matrix manner using defined block units, according to this embodiment.

[0012] Figure 3 This diagram illustrates the configuration of the area surrounding the entrance / exit within the car in this embodiment.

[0013] Figure 4 This diagram illustrates an example of an image captured by the camera in this embodiment.

[0014] Figure 5 This is a flowchart illustrating the process of handling the door when it is fully open in this embodiment.

[0015] Figure 6 This is a flowchart illustrating the processing flow of the door closing action in this embodiment.

[0016] Figure 7 This diagram illustrates the situation where a pet enters the elevator car alone and arrives at the elevator entrance / exit.

[0017] Figure 8 This diagram illustrates how a pet moves into the elevator car when it enters the car alone.

[0018] Figure 9 This diagram illustrates a pet arriving at the entrance / exit of an elevator car when the pet exits the car alone.

[0019] Figure 10 This diagram illustrates the movement of a pet from the elevator car to the waiting area when the pet exits the elevator car alone.

[0020] Figure 11 This diagram illustrates the situation where a pet arrives at the elevator entrance before the user enters the elevator car.

[0021] Figure 12 This diagram illustrates how a pet moves into an elevator car when the pet enters before the user.

[0022] Figure 13 This diagram illustrates the situation where the pet enters the elevator car before the user, and the user arrives at the entrance / exit.

[0023] Figure 14 This diagram illustrates the user's arrival at the elevator entrance when a pet enters the elevator after the user.

[0024] Figure 15 This diagram illustrates the user moving into the elevator car after the pet has entered.

[0025] Figure 16 This diagram illustrates the pet arriving at the elevator entrance after the user has entered the elevator car.

[0026] Figure 17 This diagram illustrates the situation where a pet arrives at the elevator entrance before the user exits the elevator car.

[0027] Figure 18 This diagram illustrates the situation where a pet moves to the waiting area after exiting the elevator car before the user.

[0028] Figure 19 This diagram illustrates the situation where the pet exits the elevator car before the user, and the user arrives at the exit / exit.

[0029] Figure 20 This diagram illustrates the user's arrival at the exit when the pet exits the elevator car after the user.

[0030] Figure 21 This diagram illustrates the user moving to the elevator lobby after the pet has exited the elevator car.

[0031] Figure 22 This diagram illustrates the pet arriving at the elevator entrance after the user has exited the elevator car.

[0032] Figure 23 This diagram illustrates the state in which the user's movement is detected within the detection area according to this embodiment.

[0033] Figure 24 This diagram illustrates the state in which the movement of the rope is detected within the detection area according to this embodiment.

[0034] Figure 25 This diagram illustrates the first variation of this embodiment, showing the pet entering the car just after passing through the car's entrance / exit.

[0035] Figure 26 This diagram illustrates the pet moving to the depth of the elevator car in the first variation of this embodiment.

[0036] Figure 27 This diagram illustrates the first variation of this embodiment where the rope has been stored inside the car.

[0037] Figure 28 This diagram illustrates the situation where a pet is detected passing by a multi-axis sensor in the second variation of this embodiment.

[0038] Figure 29 This diagram illustrates the situation where a user's passage is detected by a multi-axis sensor in a second variation of this embodiment. Detailed Implementation

[0039] The embodiments will now be described with reference to the accompanying drawings.

[0040] Furthermore, the disclosure is merely an example, and the invention is not limited to the description in the following embodiments. Modifications readily conceived by those skilled in the art are, of course, included within the scope of the disclosure. To make the description clearer, the dimensions, shapes, etc., of various parts are sometimes schematically shown in the drawings relative to the actual embodiments. In multiple drawings, the same reference numerals are sometimes used to label corresponding elements, omitting detailed descriptions.

[0041] Figure 1 This diagram illustrates the configuration of an elevator rope detection system according to one embodiment. Furthermore, this explanation uses a single elevator car as an example, but the configuration remains the same even with multiple elevator cars.

[0042] A camera 12 is installed above the entrance and exit of the car 11. Specifically, the camera 12 is installed in the lintel 11a covering the entrance and exit of the car 11, with the lens facing directly downwards or tilted at a predetermined angle toward the waiting hall 15 or the interior of the car 11.

[0043] Camera 12 is installed inside the elevator car 11 to capture images of the waiting hall 15 near the entrance / exit from inside the car 11. Camera 12 is a small surveillance camera, such as a vehicle-mounted camera, with a wide-angle lens or fisheye lens, capable of continuously capturing several frames per second (e.g., 30 frames / second). Camera 12 is activated when the elevator car 11 arrives at the waiting hall 15 on each floor, capturing images of a predetermined area L including the vicinity of the elevator car door 13.

[0044] In the waiting halls 15 on each floor, a waiting hall door 14 is installed at the arrival point of the car 11, which opens and closes freely. The waiting hall door 14 engages with the car door 13 to open and close when the car 11 arrives. Furthermore, the power source (door motor) is located on the side of the car 11, and the waiting hall door 14 simply follows the opening and closing of the car door 13. In the following description, the waiting hall door 14 is opening when the car door 13 is opening, and closing when the car door 13 is closing. In addition, in the following description, "door" includes both the car door 13 and the waiting hall door 14. In the following description, it is assumed that the car door 13 and the waiting hall door 14 are double-door double-opening doors, but this is not a limitation; the car door 13 and the waiting hall door 14 can also be other types of doors (such as double-door single-opening doors, etc.).

[0045] The images (videos) continuously captured by camera 12 are analyzed and processed in real time by image processing device 20. Furthermore, Figure 1 For convenience, the image processing device 20 is taken out of the car 11 for display, but in reality, the image processing device 20 is stored together with the camera 12 in the lintel 11a.

[0046] A multi-axis optical sensor 16 is installed at the entrance and exit of the car 11 to optically detect the passage of objects. Furthermore, in the following description, "object" refers to elevator users or pets.

[0047] The multi-axis optical sensor 16 includes a plurality of light projectors 16a and a plurality of light receivers 16b arranged at certain intervals along the top portions (door stops) of the left and right door panels 13a and 13b constituting the car door 13 (see reference). Figure 4 Multiple projectors 16a and multiple receivers 16b are respectively arranged opposite to each other. The multi-axis sensor 16 detects objects passing through the entrance and exit of the car 11 by measuring the change in the amount of light (infrared light, etc.) received by each receiver 16b from each projector 16a.

[0048] Here, typically, the spacing between the projectors 16a and receivers 16b constituting the multi-axis sensor 16 is, for example, 65 mm. Furthermore, there is, for example, a 30 mm gap (blind zone) between the lowest projector 16a and receiver 16b and the ground. Therefore, if, for example, a leash is present at the entrance / exit of the car 11 (i.e., the leash crosses the boundary between the waiting hall 15 and the car 11), the multi-axis sensor 16 may not detect the leash.

[0049] The image processing device 20 is equipped with a storage unit 21 and a detection unit 22. The storage unit 21 sequentially saves the images captured by the camera 12 and has a buffer for temporarily storing the data required for processing by the detection unit 22. The storage unit 21 includes an image storage unit 21a and a tag storage unit 21b. Alternatively, the elevator control device 30 may also have some or all of the functions of the image processing device 20.

[0050] The image storage unit 21a stores images captured by the camera 12 sequentially. In addition, the image storage unit 21a can also store images that have undergone distortion correction, scaling, partial cropping, or other preprocessing of the captured images.

[0051] The tag storage unit 21b stores tag A and tag B. Tag A represents information about the object passage detection status based on the multi-axis optical sensor 16; when ON, it indicates that the object passage has been detected by the multi-axis optical sensor 16. Tag B represents information about the motion detection status of an object within a set detection area on the image captured by the camera 12; when ON, it indicates that motion of an object has been detected within the detection area. Details of tags A and B will be provided later. Figure 5 and Figure 6 The flowchart will be described later.

[0052] The detection unit 22 uses a camera 12 and a multi-axis sensor 16 to detect the ropes present near the entrance and exit of the car 11. Functionally, the detection unit 22 consists of a detection area setting unit 23, a motion detection unit 24, a rope detection unit 25, a first timer 26, and a second timer 27.

[0053] The detection area setting unit 23 sets a detection area near the entrance and exit of the car 11 on the image captured by the camera 12. Specifically, the detection area setting unit 23 sets a first detection area E1 on the ground near the entrance and exit inside the car 11, a second detection area E2 on the thresholds 47 and 18, and a third detection area E3 on the ground near the entrance and exit of the waiting hall 15 (see reference). Figure 4 Additionally, the so-called threshold is a component that guides the opening and closing of the door and is located on the movement path. Furthermore, in the following description, the first detection area E1, the second detection area E2, and the third detection area E3 are sometimes collectively referred to as the "detection area".

[0054] The motion detection unit 24 detects the movement of an object and the rope attached to it within a detection area set near the entrance and exit of the car 11, based on images captured by the camera 12. More specifically, the motion detection unit 24 detects the movement of the object and the rope attached to it within three detection areas: the first detection area E1, the second detection area E2, and the third detection area E3. Specifically, the "object and the rope attached to it" refers to a "pet and the rope attached to it."

[0055] use Figure 2 The motion detection processing performed by the motion detection unit 24 is explained in detail. For example... Figure 2 As shown, the motion detection unit 24 divides the image of the detection area into a matrix of defined block units and detects moving blocks among these blocks.

[0056] In detail, the motion detection unit 24 reads each image stored in the image storage unit 21a sequentially over time, and calculates the average brightness value of each image for each block. At this time, the average brightness value of each block calculated when the initial image was input is stored as an initial value in a buffer (not shown) within the storage unit 21.

[0057] When the second or subsequent image is received, the motion detection unit 24 compares the average brightness value of each block in the current image with the average brightness value of each block in the previous image stored in the buffer. If a block in the current image has a brightness difference exceeding a preset value (threshold), the motion detection unit 24 determines that the block is moving. When determining the presence or absence of motion for the current image, the motion detection unit 24 stores the average brightness value of each block in that image in the buffer for comparison with the next image. Subsequently, the motion detection unit 24 repeats this operation of comparing the brightness values ​​of each image in block units over time to determine the presence or absence of motion.

[0058] The motion detection unit 24 determines the presence or absence of the aforementioned motion in the first detection area E1, the second detection area E2, and the third detection area E3.

[0059] When the multi-axis sensor 16 detects the passage of an object and the motion detection unit 24 detects the movement of a rope, the rope detection unit 25 determines that a rope exists near the entrance / exit of the car 11. The phrase "the detection of the passage of an object and the detection of the movement of a rope are continuous" refers to a situation where, after the multi-axis sensor 16 detects the passage of an object, the motion detection unit 24 continuously detects the movement of a rope within a detection area for a certain period of time. For example, if the "object" is a pet, and the multi-axis sensor 16 detects the passage of the pet at the entrance / exit of the car 11 and then detects the movement of a rope within the detection areas (first detection area E1, second detection area E2, and third detection area E3), it can be determined that a rope exists near the entrance / exit and crosses the boundary between the waiting hall 15 and the car 11.

[0060] The first timer 26 counts a fixed time T1. The fixed time T1 is defined as the time from when the car door 13 is fully opened by the door opening / closing control unit 31 until the door begins to close. When the multi-axis sensor 16 detects the passage of an object, the first timer 26 resets the count for the fixed time T1. The second timer 27 counts a fixed time T2. The fixed time T2 is defined as the time for motion detection processing performed by the motion detection unit 24 after the multi-axis sensor 16 detects the passage of an object. The fixed time T2 is shorter than the fixed time T1 (T2 < T1).

[0061] The elevator control device 30 controls the operation of various equipment (destination floor buttons, lighting, etc.) installed inside the car 11. The elevator control device 30 includes a door opening and closing control unit 31 and a notification unit 32.

[0062] The door opening and closing control unit 31 controls the opening and closing of the car door 13 when the car 11 arrives at the waiting hall 15. Specifically, the door opening and closing control unit 31 fully opens the car door 13 when the car 11 arrives at the waiting hall 15. When the first timer 26 finishes counting, the door opening and closing control unit 31 begins the closing action of the car door 13. Here, the door opening and closing control unit 31 maintains the door open state when the car door 13 is fully open or during the closing action when the rope detection unit 25 detects the rope at the entrance / exit of the car 11. The notification unit 32 provides a reminder during the period when the rope detection unit 25 detects the rope at the entrance / exit of the car 11.

[0063] Figure 3 This diagram illustrates the layout of the area surrounding the entrance and exit within the car 11. A car door 13 is provided at the entrance and exit of the car 11, allowing it to open and close freely. Figure 3In this example, the two door panels 13a and 13b constituting the car door 13 open and close in opposite directions along the front width direction (horizontal direction). Furthermore, the so-called "front width" is the same as the entrance and exit of the car 11.

[0064] Front pillars 41a and 41b are provided on both sides of the entrance and exit of the car 11, which together with the lintel 11a surround the entrance and exit of the car 11. When the car door 13 is open, one door panel 13a is stored in the door recess 42a located on the back side of the front pillar 41a, and the other door panel 13b is stored in the door recess 42b located on the back side of the front pillar 41b.

[0065] A display 43, an operation panel 45 with destination floor buttons 44, and a speaker 46 are provided on one or both of the front columns 41a and 41b. Figure 3 In the example, a speaker 46 is provided on the front column 41a, and a display 43 and an operation panel 45 are provided on the front column 41b.

[0066] Here, a camera 12 is installed in the center of the lintel 11a above the entrance / exit of the car 11. The camera 12 is configured to capture images of the area near the entrance / exit of the car 11 when the car door 13 has opened together with the hall door 14 (see reference). Figure 4 It is installed from the bottom of the lintel 11a in a downward direction.

[0067] Figure 4 This diagram shows an example of an image captured by camera 12. Figure 4 The image shows a shot taken from above the entrance / exit of the car 11 with the car doors 13 (door panels 13a, 13b) and the waiting hall doors 14 (door panels 14a, 14b) fully open, equipped with projectors 16a and receivers 16b. Figure 4 The upper part shows the waiting hall 15, and the lower part shows the interior of the elevator car 11.

[0068] Inside the waiting hall 15, door frames 17a and 17b are provided on both sides of the arrival entrance of the car 11. A strip-shaped waiting hall threshold 18 of a specified width is provided on the floor between the door frames 17a and 17b along the opening and closing direction of the waiting hall door 14. In addition, a strip-shaped car threshold 47 of a specified width is provided on the entrance and exit side of the car 11 floor along the opening and closing direction of the car door 13.

[0069] Here, a rectangular first detection area E1 is provided on the ground near the entrance / exit of the waiting hall 15. The width of the first detection area E1 in the X-axis direction is approximately the same as that of the waiting hall threshold 18. The width of the first detection area in the Y-axis direction is, for example, set to 1m. Furthermore, a rectangular second detection area E2 is provided around both the car threshold 47 and the waiting hall threshold 18. Moreover, a rectangular third detection area E3 is provided on the ground near the entrance / exit inside the car 11. The width of the third detection area E3 in the X-axis direction is approximately the same as that of the car threshold 47. The width of the third detection area E3 in the Y-axis direction is, for example, set to 100mm.

[0070] The following sections describe the operation of this system in two parts: (a) the handling when the door is fully open and (b) the handling during the closing action.

[0071] (a) Handling when the door is fully open

[0072] Figure 5 This is a flowchart illustrating the process of handling when the doors are fully open in this system.

[0073] When the elevator car 11 arrives at the waiting hall 15 on any floor and the elevator car door 13 is fully open (step S11), the first timer 26 begins counting for a fixed time T1 (step S12). As described above, the fixed time T1 is the time from when the elevator car door 13 is fully open until the door begins to close. During the period until the counting of this fixed time T1 ends, the multi-axis sensor 16 detects the presence or absence of objects passing through the entrance and exit of the elevator car 11 ("No" in step S13 → step S14).

[0074] If an object is detected passing through during the period before the count of the fixed time T1 ends (Yes in step S14), the first timer 26 is reset, and the time until the door closing action begins is delayed (step S15). At this time, the tag A stored in the tag storage unit 21b is set to ON (step S16).

[0075] Next, with the flag B stored in the flag storage unit 21b in the OFF state (step S17), the counting of the fixed time T2 performed by the second timer 27 begins (step S18). During the period until the counting of the fixed time T2 performed by the second timer 27 ends, the motion detection unit 24 performs motion detection processing (step S19).

[0076] If, through motion detection processing, movement of an object or a rope attached to an object is simultaneously detected in the first detection area E1, the second detection area E2, and the third detection area E3 ("Yes" in step S20), the marker B is set to ON (step S23). Then, the processing of steps S13 to S23 is repeated until the count of the first timer 26 ends.

[0077] On the other hand, if the motion detection process fails to detect the movement of an object or a rope attached to an object simultaneously in any of the first detection area E1, the second detection area E2, or the third detection area E3 (No in step S20), the motion detection unit 24 determines whether the count of the fixed time T2 performed by the second timer 27 has ended (i.e., whether the timeout has occurred) (step S21).

[0078] If the count for the fixed time T2 has not yet ended (No in step S21), the motion detection unit 24 repeats the motion detection process. If the count for the fixed time T2 has ended (Yes in step S21), the flag A is set to OFF (step S22). Then, the processes of steps S13 to S23 are repeated during the period until the count of the first timer 26 ends.

[0079] When the first timer 26 finishes counting (Yes in step S13), the rope detection unit 25 confirms the status of marker A and marker B (step S24). If both marker A and marker B are ON (Yes in step S24), the rope detection unit 25 determines that a rope exists near the entrance / exit of the car 11 (step S25).

[0080] For example, if the object detected by the multi-axis sensor 16 is a pet with a leash attached, the motion detection unit 24 simultaneously detects the movement of the pet or the leash in the first detection area E1, the second detection area E2, and the third detection area E3 within a fixed time T2. In this case, marker A becomes ON in step S16, and marker B also becomes ON in step S23.

[0081] In other words, when there is continuity between the detection of the pet's passage and the detection of the movement of the leash, both marker A and marker B become ON, indicating that the leash attached to the object spans the boundary between the waiting hall 15 and the car 11 and exists near the entrance / exit of the car 11.

[0082] On the other hand, for example, if the object detected by the multi-axis sensor 16 is a single user without a pet, the probability that the motion detection unit 24 will simultaneously detect the user's motion in the first detection area E1, the second detection area E2, and the third detection area E3 within a fixed time T2 is low. In this case, although the marker A is temporarily set to ON in step S16, it is set to OFF again in step S22.

[0083] If the rope detection unit 25 determines that a rope is present near the entrance / exit, the door opening / closing control unit 31 maintains the door open. Specifically, steps S12 to S26 are repeated. At this time, an announcement or buzzer can be made through the speaker 46 inside the car 11 to alert nearby users. The announcement or buzzer will continue while a rope is detected near the entrance / exit of the car 11. In addition, the building's monitoring room or the elevator monitoring center can be notified of the detection of a rope near the entrance / exit of the car 11. At this time, images captured by the camera 12 can be sent. Thus, the situation near the entrance / exit of the car 11 can be visually monitored, and if a rope is present, the operation of the car 11 can be temporarily stopped so that management personnel can handle the situation.

[0084] If at least one of the markers A and B is OFF (No in step S24), the closing action of the car door 13 begins, and the closing action processing is carried out (step S26).

[0085] (b) Handling of the door closing action

[0086] Figure 6 This is a flowchart illustrating the processing flow of the door closing action in this system. In the door closing action, [the process is related to...]. Figure 5 The same rope and strap inspection and processing are also performed. In the following instructions, regarding... Figure 5 The same process will omit its detailed description.

[0087] During the period from the start of the closing action of the car door 13 (step S31) until the door is fully closed, the multi-axis sensor 16 detects whether there is an object passing through the entrance and exit of the car 11 ("No" in step S32 → step S33).

[0088] If an object is detected passing through during the period until the door is fully closed (Yes in step S33), the car door 13, which is in the closing action, opens (reopens) (step S34). Afterwards, the closing action of the car door 13 begins again. At this time, the marker A stored in the marker storage unit 21b is set to ON (step S35).

[0089] Next, with the flag B stored in the flag storage unit 21b set to OFF (step S36), the second timer 27 begins counting for a fixed time T2 (step S37). During the period until the counting for the fixed time T2 by the second timer 27 ends, the motion detection unit 24 performs motion detection processing (step S38).

[0090] If, through motion detection processing, the movement of an object or a rope attached to an object is simultaneously detected in each of the three detection areas (E1, E2, and E3) ("Yes" in step S39), the marker B is set to ON (step S42). On the other hand, if, through motion detection processing, the movement of an object or a rope attached to an object is not detected in any of the three detection areas (E1, E2, and E3) ("No" in step S39), the motion detection unit 24 determines whether the counting of the fixed time T2 performed by the second timer 27 has ended (i.e., whether it has timed out) (step S40).

[0091] If the counting of the fixed time T2 has not ended (No in step S40), the motion detection unit 24 repeats the motion detection process. If the counting of the fixed time T2 has ended (Yes in step S40), the flag A is set to OFF (step S41).

[0092] After the processing in step S41 or S42, the rope detection unit 25 confirms the status of marker A and marker B (step S43). If both marker A and marker B are ON ("Yes" in step S43), the rope detection unit 25 determines that a rope exists near the entrance / exit of the car 11 (step S44). Then, the car door 13 is fully opened, and the process restarts. Figure 5 The process is as follows when the door is fully open (step S45).

[0093] If at least one of the markers A and B is OFF (No in step S43), the door opening process ends. That is, the door closing process is performed directly, and the car door 13 is fully closed.

[0094] Here, a specific example is used to illustrate the above process. Figures 7 to 22 This is a floor plan view where the door opening and closing direction is set as the X-axis and the direction perpendicular to the door opening and closing direction is set as the Y-axis. Below, we will compare... Figure 5 The processing sequence of the flowchart shown will be explained one by one.

[0095] • Pets entering the elevator car alone (case 11)

[0096] Figure 7 and Figure 8This demonstrates the state where the pet p leaves its owner (user) and enters the elevator car 11 from the waiting hall 15. The pet p is attached to a leash l of a certain length. With the elevator car door 13 fully open, the first timer 26 starts counting for a fixed time T1 (steps S11 to S13).

[0097] like Figure 7 As shown, when pet p arrives at the entrance / exit of car 11, the passage of pet p is detected by the multi-axis sensor 16 (projector 16a and receiver 16b) as the passage of an object ("Yes" in step S14). Since the passage of an object is detected, the count of fixed time T1 is cleared, the time until the door closing action begins is extended, and the marker A is set to ON (steps S15 to S17).

[0098] Then, motion detection processing is performed during the period until the counting of the fixed time T2 performed by the second timer 27 ends (steps S18 to S20). Figure 7 In this state, although the movement of pet p and leash l was detected in the first detection area E1 to the second detection area E2, it was not detected in the third detection area E3.

[0099] like Figure 8 As shown, if the pet p moves into the car 11 during the period before the second timer 27 finishes counting, the movement of the rope 1 is simultaneously detected in the first detection area E1, the second detection area E2, and the third detection area E3 ("Yes" in step S20). Since the movement of the rope 1 is detected simultaneously in each detection area E1, E2, and E3, the marker B is set to ON (step S23).

[0100] When the count of the first timer 26 ends and the door begins to close (step S13 "Yes"), if both marker A and marker B are ON (step S24 "Yes"), it is determined that there is a rope 1 near the entrance and exit of the car 11 (step S25).

[0101] • Pets exiting car 11 alone

[0102] Figure 9 and Figure 10 This demonstrates the state where the pet p leaves its owner (user) and exits from the elevator car 11 into the waiting hall 15. The pet p is attached to a leash l of a certain length. With the elevator car door 13 fully open, the first timer 26 begins counting for a fixed time T1 (steps S11 to S13).

[0103] like Figure 9As shown, when pet p arrives at the entrance / exit of car 11, the passage of pet p is detected by the multi-axis optical sensor 16 (projector 16a and receiver 16b) as the passage of an object ("Yes" in step S14). Since the passage of pet p is detected, the count of fixed time T1 is cleared, the time until the door closing action begins is extended, and the marker A is set to ON (steps S15 to S17).

[0104] Then, motion detection processing is performed during the period until the counting of the fixed time T2 performed by the second timer 27 ends (steps S18 to S20). Figure 9 In this state, although the movement of the pet p or the leash l was detected in the second detection area E2 to the third detection area E3, it was not detected in the first detection area E1.

[0105] like Figure 10 As shown, if the pet p moves to the waiting area 15 during the period before the second timer 27 finishes counting, the movement of the leash 1 is simultaneously detected in the first detection area E1, the second detection area E2, and the third detection area E3 ("Yes" in step S20). Since the movement of the leash 1 is detected simultaneously in each detection area E1, E2, and E3, the marker B is set to ON (step S23).

[0106] When the count of the first timer 26 ends and the door begins to close (step S13 "Yes"), if both marker A and marker B are ON (step S24 "Yes"), it is determined that there is a rope 1 near the entrance and exit of the car 11 (step S25).

[0107] • When a pet enters car 11 with the user

[0108] The following explanations will be divided into two cases: (Example 1) where the pet enters car 11 before the user, and (Example 2) where the pet enters car 11 after the user.

[0109] (Example 1) The pet enters car 11 before the user.

[0110] Figures 11-13 This demonstrates the state where the pet p enters the elevator car 11 before the user u. The pet p is attached to a rope l of a certain length, and the user u holds onto the rope l. With the elevator car door 13 fully open, the first timer 26 starts counting for a fixed time T1 (steps S11 to S13).

[0111] like Figure 11As shown, when pet p arrives at the entrance / exit of car 11, the passage of pet p is detected by the multi-axis optical sensor 16 (projector 16a and receiver 16b) as the passage of an object ("Yes" in step S14). Since the passage of pet p is detected, the count of fixed time T1 is cleared, the time until the door closing action begins is extended, and the marker A is set to ON (steps S15 to S17).

[0112] Then, motion detection processing is performed during the period until the counting of the fixed time T2 performed by the second timer 27 ends (steps S18 to S20). Figure 11 In this state, although the movement of the pet p, the user u, or the leash l was detected in the first detection area E1 to the second detection area E2, it was not detected in the third detection area E3.

[0113] like Figure 12 As shown, if the pet p moves into the car 11 during the period before the second timer 27 ends counting, the movement of the rope 1 is detected in the second detection area E2 and the third detection area E3, and the movement of the user u is detected in the first detection area E1 ("Yes" in step S20). Since the movement of the rope 1 or the user u is detected simultaneously in each detection area E1, E2, E3, the marker B is set to ON (step S23).

[0114] When the count of the first timer 26 ends and the door begins to close (step S13 "Yes"), if both marker A and marker B are ON (step S24 "Yes"), it is determined that there is a rope 1 near the entrance and exit of the car 11 (step S25).

[0115] In addition, such as Figure 13 As shown, when user u arrives at the entrance / exit before the count of the first timer 26 ends, the passage of user u is detected by the multi-axis optical sensor 16 (projector 16a and receiver 16b) as the passage of an object ("Yes" in step S14). Since the passage of user u is detected, the count of the fixed time T1 is cleared, the time until the door closing action begins is extended, and the marker A is set to ON (steps S15-S16). At this time, the marker B is set to OFF (step S17) in preparation for subsequent motion detection.

[0116] Then, motion detection processing is performed during the period until the counting of the fixed time T2 performed by the second timer 27 ends (steps S18 to S20). Figure 13 In the current state, although the movement of any one of the pet p, leash l, or user u is detected in the second detection area E2 to the third detection area E3, it is not detected in the first detection area E1, so the marker B remains OFF (No in step S20).

[0117] If no movement is detected in any of the three detection areas (E1, E2, and E3) during the period until the second timer 27 ends counting, marker A is set to OFF ("Yes" in step S21 → "No" in step S22). When user u has entered car 11, both marker A and marker B are OFF, so the door closing action begins ("Yes" in step S13 → "No" in step S24 → "No" in step S26).

[0118] (Example 2) The pet enters car 11 after the user.

[0119] Figures 14-16 This demonstrates the situation where pet p enters car 11 after user u. Pet p is attached to a rope l of a certain length, and user u holds onto the rope l. With car door 13 fully open, the first timer 26 starts counting for a fixed time T1 (steps S11 to S13).

[0120] like Figure 14 As shown, when user u arrives at the entrance / exit of car 11, the passage of user u is detected by the multi-axis sensor 16 (projector 16a and receiver 16b) as the passage of an object ("Yes" in step S14). Since the passage of user u is detected, the count of fixed time T1 is cleared, the time until the door closing action begins is extended, and the marker A is set to ON (steps S15 to S17).

[0121] Then, motion detection processing is performed during the period until the counting of the fixed time T2 performed by the second timer 27 ends (steps S18 to S20). Figure 14 In this state, although the movement of the user u or the rope l is detected in the first detection area E1 to the second detection area E2, it is not detected in the third detection area E3.

[0122] like Figure 15 As shown, if user u moves into car 11 during the period before the second timer 27 ends counting, movement of the leash 1 is detected in the second detection area E2 and the third detection area E3, and movement of pet p is detected in the first detection area E1 and the second detection area E2 ("Yes" in step S20). Since movement of the leash 1 or pet p is detected simultaneously in each detection area E1, E2, and E3, marker B is set to ON (step S23).

[0123] When the count of the first timer 26 ends and the door begins to close (step S13 "Yes"), if both marker A and marker B are ON (step S24 "Yes"), it is determined that there is a rope 1 near the entrance and exit of the car 11 (step S25).

[0124] In addition, such as Figure 16 As shown, when pet p arrives at the entrance / exit before the count of the first timer 26 ends, the passage of pet p is detected by the multi-axis optical sensor 16 (projector 16a and receiver 16b) as the passage of an object ("Yes" in step S14). Since the passage of pet p is detected, the count of the fixed time T1 is cleared, the time until the door closing action begins is extended, and the marker A is set to ON (steps S15-S16). At this time, the marker B is set to OFF (step S17) in preparation for subsequent motion detection.

[0125] Then, motion detection processing is performed during the period until the counting of the fixed time T2 performed by the second timer 27 ends (steps S18 to S20). Figure 16 In the current state, although the movement of any one of the pet p, leash l, or user u is detected in the second detection area E2 to the third detection area E3, it is not detected in the first detection area E1, so the marker B remains OFF (No in step S20).

[0126] If no movement is detected in any of the three detection areas (E1, E2, and E3) during the period until the second timer 27 ends counting, marker A is set to OFF ("Yes" in step S21 → step S22). When user u has entered car 11, both marker A and marker B are OFF, so the door closing action begins ("Yes" in step S13 → "No" in step S24 → step S26).

[0127] • When the pet exits car 11 together with the user

[0128] The following explanations will be divided into two cases: (Example 1) the pet exits car 11 before the user, and (Example 2) the pet exits car 11 after the user.

[0129] (Example 1) The pet exits car 11 before the user.

[0130] Figures 17-19 This demonstrates the state where the pet p exits the elevator car 11 before the user u. The pet p is attached to a rope l of a certain length, and the user u holds onto the rope l. The first timer 26 starts counting for a fixed time T1 with the elevator car door 13 fully open (steps S11 to S13).

[0131] like Figure 17 As shown, when pet p arrives at the entrance / exit of car 11, the passage of pet p is detected by the multi-axis sensor 16 (projector 16a and receiver 16b) as the passage of an object ("Yes" in step S14). Since the passage of an object is detected, the count of fixed time T1 is cleared, the time until the door closing action begins is extended, and the marker A is set to ON (steps S15 to S17).

[0132] Then, motion detection processing is performed during the period until the counting of the fixed time T2 performed by the second timer 27 ends (steps S18 to S20). Figure 17 In this state, although the movement of the pet p or the leash l was detected in the second detection area E2 to the third detection area E3, it was not detected in the first detection area E1.

[0133] like Figure 18 As shown, if the pet p moves to the waiting area 15 during the period before the second timer 27 ends counting, the movement of the leash 1 is detected in the second detection area E2 and the third detection area E3, and the movement of the pet p is detected in the first detection area E1 ("Yes" in step S20). Since the movement of the leash 1 or the pet p is detected simultaneously in each detection area E1, E2, and E3, the marker B is set to ON (step S23).

[0134] When the count of the first timer 26 ends and the door begins to close (step S13 "Yes"), if both marker A and marker B are ON (step S24 "Yes"), it is determined that there is a rope 1 near the entrance and exit of the car 11.

[0135] In addition, such as Figure 19 As shown, when user u arrives at the entrance / exit before the count of the first timer 26 ends, the passage of user u is detected by the multi-axis optical sensor 16 (projector 16a and receiver 16b) as the passage of an object ("Yes" in step S14). Since the passage of user u is detected, the count of the fixed time T1 is cleared, the time until the door closing action begins is extended, and the marker A is set to ON (steps S15-S16). At this time, the marker B is set to OFF (step S17) in preparation for subsequent motion detection.

[0136] Then, motion detection processing is performed during the period until the counting of the fixed time T2 performed by the second timer 27 ends (steps S18 to S20). Figure 19In the current state, although movement of any one of the pet p, leash l, or user u is detected in the first detection area E1 to the second detection area E2, it is not detected in the third detection area E3, so the marker B remains OFF (No in step S20).

[0137] If no movement is detected in any of the three detection areas (E1, E2, and E3) during the period until the second timer 27 ends counting, marker A is set to OFF ("Yes" in step S21 → "No" in step S22). When user u has exited from car 11 and arrived at waiting hall 15, both marker A and marker B are OFF, so the door closing action begins ("Yes" in step S13 → "No" in step S24 → "No" in step S26).

[0138] (Example 2) The pet exits car 11 after the user.

[0139] Figures 20-22 This demonstrates the situation where pet p exits from car 11 after user u. Pet p is attached to a leash l of a certain length, which user u holds onto. The first timer 26 starts counting for a fixed time T1 with car door 13 fully open (steps S11 to S13).

[0140] like Figure 20 As shown, when user u arrives at the entrance / exit of car 11, the passage of user u is detected by the multi-axis sensor 16 (projector 16a and receiver 16b) as the passage of an object ("Yes" in step S14). Since the passage of user u is detected, the count of fixed time T1 is cleared, the time until the door closing action begins is extended, and the marker A is set to ON (steps S15 to S17).

[0141] Then, motion detection processing is performed during the period until the counting of the fixed time T2 performed by the second timer 27 ends (steps S18 to S20). Figure 20 In this state, although the movement of the user u or the rope l is detected in the second detection area E2 to the third detection area E3, it is not detected in the first detection area E1.

[0142] like Figure 21 As shown, if user u moves to waiting area 15 during the period before the second timer 27 ends counting, movement of leash l is detected in the second detection area E2 and the third detection area E3, and movement of user u is detected in the first detection area E1 ("Yes" in step S20). Since movement of leash l or pet p is detected simultaneously in each detection area E1, E2, and E3, marker B is set to ON (step S23).

[0143] When the count of the first timer 26 ends and the door begins to close (Yes in step S13), if both marker A and marker B are ON (Yes in step S24), it is determined that there is a rope 1 near the entrance and exit of the car 11 (Step S25).

[0144] In addition, such as Figure 22 As shown, when pet p arrives at the entrance / exit before the count of the first timer 26 ends, the passage of pet p is detected by the multi-axis optical sensor 16 (projector 16a and receiver 16b) as the passage of an object ("Yes" in step S14). Since the passage of pet p is detected, the count of the fixed time T1 is cleared, the time until the door closing action begins is extended, and the marker A is set to ON (steps S15-S16). At this time, the marker B is set to OFF (step S17) in preparation for subsequent motion detection.

[0145] Then, motion detection processing is performed during the period until the counting of the fixed time T2 performed by the second timer 27 ends (steps S18 to S20). Figure 22 In the current state, although movement of any one of the pet p, leash l, or user u is detected in the first detection area E1 to the second detection area E2, it is not detected in the third detection area E3, so the marker B remains OFF (No in step S20).

[0146] If no movement is detected in any of the three detection areas (E1, E2, and E3) during the period until the second timer 27 ends counting, marker A is set to OFF ("Yes" in step S21 → "No" in step S22). When pet p has exited from car 11 and arrived at waiting hall 15, both marker A and marker B are OFF, so the door closing action begins ("Yes" in step S13 → "No" in step S24 → "No" in step S26).

[0147] Thus, according to this embodiment, when the leash l attached to the pet p is crossing the boundary between the waiting hall 15 and the car 11, the presence of the leash l at the entrance / exit of the car 11 is detected by the camera 12 continuously detecting the movement of the leash l within the detection area after the pet p is detected by the multi-axis sensor 16. Therefore, for example, there is no need for components that facilitate the detection of the leash l at the entrance / exit, or for complex processing such as door control and signal analysis; the leash l near the entrance / exit can be accurately detected simply by using existing sensors (multi-axis sensor 16 and camera 12). Furthermore, by maintaining the door open during the period when the leash l is detected, accidents involving the leash being caught can be prevented.

[0148] Furthermore, the above example illustrates the handling of the door when it is fully open and during the closing action, but it is not limited to the door when it is fully open or during the closing action. The rope near the entrance or exit can be accurately detected in any state where the door is closing.

[0149] Furthermore, for example, when multiple users are continuously entering or leaving the car 11, the movement of users is simultaneously detected in the first detection area E1, the second detection area E2, and the third detection area E3 (marker B is ON). At this time, since the multi-axis sensor 16 continuously detects the passage of each user at the entrance and exit of the car 11 (marker A is ON), both markers A and B become ON, potentially indicating the presence of a rope at the entrance and exit (see reference). Figure 5 (Step S24). To avoid this situation, it is preferable to confirm the shape of the objects detected in the first detection area E1 to the third detection area E3.

[0150] Figure 23 and Figure 24 This is a diagram representing a portion of the first detection region E1 to the third detection region E3. (See diagram below.) Figure 23 As shown, within the first detection area E1 to the third detection area E3, when viewed from above, the user's movement is detected as the movement of an elliptical object. On the other hand, as... Figure 24 As shown, when viewed from above, the motion of the rope is detected as the motion of a long, thin object extending along the Y-axis.

[0151] Therefore, in Figure 5 In step S24, when both marker A and marker B are ON (that is, when the motion detection unit 24 continuously detects the movement of the rope within the detection area for a certain period of time after the multi-axis sensor 16 detects the passage of an object), if the object detected in the first detection area E1 to the third detection area E3 has a long and thin shape, it is determined that a rope exists near the entrance / exit. On the other hand, if the object detected in the first detection area E1 to the third detection area E3 is not long and thin, it will not be determined as a rope even if both marker A and marker B are ON. Thus, for example, when multiple users are continuously entering and exiting the elevator, it is possible to avoid misdetecting the movement of each user as a rope and to accurately detect the situation only when a rope actually exists at the entrance / exit.

[0152] (First variation)

[0153] If a rope is detected at the entrance or exit of the car 11, the rope detection unit 25 can then be equipped with a process to detect that the rope has been stored inside the car 11.

[0154] Figures 25-27This shows the pet p entering car 11. Figure 25 As shown, after the pet p enters the car 11 through the entrance / exit, the leash l attached to the pet p is still behind it. Therefore, the movement of the leash l is detected simultaneously in the first detection area E1, the second detection area E2, and the third detection area E3.

[0155] Here, as Figure 26 and Figure 27 As shown, as the pet p moves deeper into the car 11, the leash l continuously retracts into the car 11. Following the sequence of first detection area E1 → first detection area E1 and second detection area E2, the movement of the leash l will no longer be detected. Thus, the fact that the leash l has been retracted into the car 11 can be determined based on the pattern of the leash l passing through the first detection area E1 to the third detection area E3.

[0156] When pet p exits from car 11 into waiting hall 15, the movement of leash l through detection zones E1 to E3 can be used to determine whether it has moved outside the entrance / exit (waiting hall 15). In this case, as pet p moves in the opposite direction to car 11, the movement of leash l will no longer be detected in the sequence of detection zone E3 → detection zone E3 and detection zone E2. The door closing process can begin when it is determined that leash l has been retracted into car 11 or has moved outside the entrance / exit.

[0157] (Second variation)

[0158] As described above, the multiple projectors 16a and multiple receivers 16b equipped in the multi-axis sensor 16 are arranged at certain intervals along the top ends (door stops) of the door panels 13a and 13b (see reference). Figure 4 Here, when the passage of an object is detected based on the blocking of light (infrared light) between the projector 16a and the receiver 16b, the height information of the object can be obtained based on the position information of the uppermost receiver 16b among the multiple receivers 16b with reduced light reception in the height direction.

[0159] Figure 28 and Figure 29 This diagram is displayed with the door opening and closing direction set as the X-axis, the direction orthogonal to the door opening and closing direction set as the Y-axis, and the height direction of the car 11 set as the Z-axis. For example, in a diagram like... Figure 28 When the passage of pet p is detected by the multi-axis optical sensor 16 as shown, the amount of light received by the multiple light receivers 16b positioned between the ground and h1 (e.g., 50 cm) decreases. Based on the position information of the uppermost light receiver 16b, h1 can be obtained as the height information of pet p. On the other hand, in the case of... Figure 29 When the passage of user u is detected by the multi-axis optical sensor 16 as shown, the amount of light received by the multiple light receivers 16b positioned between the ground and h2 (e.g., 160 cm) decreases. Based on the position information of the uppermost light receiver 16b among these light receivers 16b, h2 can be obtained as the height information of user u.

[0160] In this way, the height information of the object obtained by the multi-axis optical sensor 16 can be used to identify whether the object is a pet p or a user u. Specifically, for example, if the height information is below h1, it can be identified as a pet p; if the height information is around h2, it can be identified as a user u. h1 is determined based on the average height of pet p. h2 is determined based on the average height of user u. In addition, the height range can be further subdivided to identify adults (e.g., above 150cm), children, or wheelchair users (e.g., below 130cm) as users u.

[0161] If the height information corresponding to the pet p is obtained from the multi-axis sensor 16, it can be assumed that the pet p is tethered to a leash, and motion detection processing is performed by the motion detection unit 24. For example, when dividing the images of the first detection region E1, the second detection region E2, and the third detection region E3 into matrix-like blocks, the images are divided into smaller blocks than usual, and motion detection is performed on each of these blocks. As a result, the motion of objects as thin as leashes can be easily detected. Alternatively, the threshold for brightness change used in the motion detection processing can be lowered than usual, making it easier to detect the motion of the leash.

[0162] Furthermore, if the object detected at the entrance / exit is determined to be a pet p based on the height information obtained from the multi-axis sensor 16, the leash detected during the leash detection process is highly likely to be a leash attached to the pet p. In this case, since the pet p may be acting alone, it is preferable to notify the building's monitoring room or the elevator monitoring center. On the other hand, if the object detected at the entrance / exit is determined to be a user u based on the height information obtained from the multi-axis sensor 16, the leash detected during the leash detection process may be leash-shaped debris attached to the user u. In this case, it is advisable to issue a reminder announcement to the user u.

[0163] According to at least one of the embodiments described above, an elevator system can be provided that can accurately detect ropes present near the entrance and exit of the car using a camera and a multi-axis sensor without requiring detection components or complicated processing.

[0164] Furthermore, although several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included within the scope and spirit of the invention, and are also included within the scope of the invention as described in the claims and its equivalents.

Claims

1. An elevator system, characterized in that, have: Multi-axis optical sensors are installed at the entrance and exit of the car to detect the passage of objects optically; A camera, installed inside the elevator car, captures images from inside the car of the waiting hall near the entrance / exit. The motion detection unit detects the motion of the rope attached to the object within a detection area set near the entrance / exit in the captured image obtained by the camera. as well as When the multi-optical axis sensor detects the passage of the object and the motion detection unit detects the movement of the rope, the rope detection unit determines that the rope exists near the entrance / exit.

2. The elevator system according to claim 1, characterized in that, If the motion detection unit continuously detects the movement of the rope within the detection area after the object is detected by the multi-axis optical sensor within a certain period of time, the rope detection unit determines that the rope exists near the entrance / exit.

3. The elevator system according to claim 2, characterized in that, The detection area includes a first detection area set on the ground near the entrance / exit inside the elevator car, a second detection area set on the door threshold, and a third detection area set on the ground near the entrance / exit in the waiting hall. If the movement of the object or the rope is detected simultaneously in the first detection area, the second detection area, and the third detection area, the rope detection unit determines that the rope exists near the entrance / exit.

4. The elevator system according to claim 2, characterized in that, The detection area includes a first detection area set on the ground near the entrance / exit inside the elevator car, a second detection area set on the door threshold, and a third detection area set on the ground near the entrance / exit in the waiting hall. If an elongated object is detected in any of the first detection area, the second detection area, or the third detection area, the rope detection unit determines that the rope exists near the entrance / exit.

5. The elevator system according to claim 1, characterized in that, The detection area includes a first detection area set on the ground near the entrance / exit inside the elevator car, a second detection area set on the door threshold, and a third detection area set on the ground near the entrance / exit in the waiting hall. The rope detection unit detects whether the rope has been stored inside the car or has exited the car into the waiting hall based on the pattern of the rope passing through the first detection area, the second detection area, and the third detection area.

6. The elevator system according to claim 1, characterized in that, Having obtained height information equivalent to that of the pet from the multi-axis optical sensor, the motion detection unit assumes that the pet is tethered to the leash and performs motion detection.

7. The elevator system according to claim 1, characterized in that, It also includes a door opening and closing control unit that maintains the door in an open state during the period when the rope detection unit detects the rope at the entrance or exit.

8. The elevator system according to claim 1, characterized in that, It also includes a notification unit that provides a reminder during the period when the rope detection unit detects the rope at the entrance / exit.

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