Elevator system

Abstract

The present application relates to an elevator system for detecting a stationary object in the vicinity of an elevator. An elevator system of one embodiment includes a camera, an acquisition unit, a setting unit, and a detection unit. The acquisition unit acquires distance information indicating a distance from the camera to a subject in a captured image captured by the camera. The setting unit sets a first stationary object detection region for detecting a stationary object in a region of the captured image in which a left frame of a door pocket is reflected, and sets a second stationary object detection region for detecting a stationary object in a region of the captured image in which a right frame of the door pocket is reflected. The detection unit detects a stationary object from the first stationary object detection region or the second stationary object detection region in a case where there is a certain or greater difference in color information obtained from the first stationary object detection region and the second stationary object detection region, and there is a certain or greater difference in distance information obtained from the first stationary object detection region and the second stationary object detection region.

Description

[0001] This application is based on Japanese Patent Application 2022-203237 (filed on December 20, 2022), and enjoys priority to that application. All contents of that application are incorporated herein by reference. Technical Field

[0002] The embodiments of the present invention relate to elevator systems. Background Technology

[0003] In recent years, various technologies have been considered to prevent people or objects from being trapped in elevator doors. For example, technologies that use cameras to detect users near the elevator and control the opening and closing of the elevator doors have been considered.

[0004] In this technology, users near the elevator are detected by taking the temporal changes of images captured by a camera as the motion of the user. However, there is a problem that stationary objects (e.g., users standing near the elevator doors) cannot be detected. Summary of the Invention

[0005] The problem to be solved by the present invention is to provide an elevator system capable of detecting stationary objects near an elevator.

[0006] An elevator system according to one embodiment includes a camera, an acquisition unit, a setting unit, and a detection unit. The camera is installed inside the passenger car and its field of view includes the left and right frames of a door frame. The acquisition unit acquires distance information representing the distance from the camera to a subject in an image captured by the camera. The setting unit sets a first stationary object detection area for detecting stationary objects in the area of ​​the left frame of the door frame reflected in the image, and a second stationary object detection area for detecting stationary objects in the area of ​​the right frame of the door frame reflected in the image. If there is a significant difference in color information obtained from the first and second stationary object detection areas in the image, and a significant difference in distance information obtained from the first and second stationary object detection areas in the image, the detection unit detects a stationary object from either the first or second stationary object detection area. Attached Figure Description

[0007] Figure 1 This is a diagram illustrating a schematic configuration example of an elevator system according to one embodiment.

[0008] Figure 2 This is a diagram used to illustrate the detection area of ​​this embodiment.

[0009] Figure 3 This diagram illustrates the state of the captured images in this embodiment, divided into block units.

[0010] Figure 4 This is a block diagram illustrating an example of the functional configuration of the detection processing unit in this embodiment.

[0011] Figure 5 This diagram illustrates the processing performed by the color information comparison unit and the distance information comparison unit in this embodiment.

[0012] Figure 6 This diagram illustrates the processing performed by the color information comparison unit in this embodiment.

[0013] Figure 7 This diagram illustrates the processing performed by the distance information comparison unit in this embodiment.

[0014] Figure 8 This is a flowchart illustrating an example of the process of detecting stationary objects performed by the elevator system of this embodiment. Detailed Implementation

[0015] The embodiments will now be described with reference to the accompanying drawings.

[0016] Furthermore, the disclosure is merely an example, and the present invention is not limited to the contents described in the following embodiments. Variations 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 with respect to actual embodiments, although changes may be made. In multiple drawings, corresponding elements are labeled with the same reference numerals, and detailed descriptions are sometimes omitted.

[0017] Figure 1 This is a diagram illustrating a schematic configuration example of an elevator system according to one embodiment.

[0018] A camera 12 is installed above the entrance / exit of the passenger car 11. Specifically, the camera 12 is positioned such that its lens portion faces directly downwards, or tilts at a predetermined angle towards the waiting hall 15 or the interior of the passenger car 11 within the lintel 11a covering the entrance / exit of the passenger car 11. The camera 12 is a small surveillance camera, such as a vehicle-mounted camera, equipped with a wide-angle lens or fisheye lens, capable of capturing images of the passenger car 11 and the waiting hall 15 within a wide field of view of 180 degrees or more. The camera 12's field of view includes the door frame, described later. The camera 12 is capable of continuously capturing several frames per second (e.g., 30 frames per second).

[0019] In each floor's waiting hall 15, a waiting hall door 14 is provided at the arrival entrance of the passenger car 11, which can be freely opened and closed. The waiting hall door 14 engages with the car door 13 when the passenger car 11 arrives, thus opening and closing. Furthermore, the power source (door operator motor) is located on the passenger car 11 side, and the waiting hall door 14 only follows the opening and closing of the car door 13. In the following description, the waiting hall door 14 opens when the car door 13 opens and closes when the car door 13 closes. Also, in the following description, when referred to simply as "door," it is assumed to include both the car door 13 and the waiting hall door 14. Furthermore, in this embodiment, it is assumed that the car door 13 and the waiting hall door 14 are double-door doors that open opposite each other, but this is not a limitation; the car door 13 and the waiting hall door 14 can also be other types of doors (e.g., double-door doors that open to the side).

[0020] The images (videos) captured continuously by camera 12 are analyzed and processed in real time by image processing device 20. Additionally, in Figure 1 For convenience, the image processing device 20 is shown to be removed from the passenger car 11, but in reality, the image processing device 20 is stored together with the camera 12 in the door panel 11a.

[0021] The image processing apparatus 20 has a storage unit 21 and a control unit 22. The storage unit 21 has a buffer area for sequentially storing images captured by the camera 12 and temporarily storing data required for processing by the control unit 22.

[0022] The control unit 22 uses images captured by the camera 12 to detect users or objects inside the passenger car 11 or in the waiting hall 15. Functionally, the control unit 22 consists of a distance information acquisition unit 23, a detection area setting unit 24, and a detection processing unit 25.

[0023] The distance information acquisition unit 23 uses the image captured by the camera 12 to calculate the distance from the camera 12 to the subject (person or object) reflected in the captured image. As a technique for calculating the distance to the subject based on the image, coded aperture technology can be used, for example. Detailed explanation is omitted as it is a known technique; coded aperture technology calculates the distance to the subject by resolving the blur generated in the image based on the subject's position.

[0024] The distance information acquisition unit 23 uses the aforementioned coded aperture technology to calculate the distance to the subject reflected in the captured image of the camera 12, creates a depth map representing the distance to the subject, and acquires it as distance information.

[0025] Furthermore, while this description explains how the distance information acquisition unit 23 calculates the distance from the camera 12 to the subject reflected in the captured image using the aforementioned coded aperture technology and acquires distance information, it is not limited to this. The distance information acquisition unit 23 could also acquire distance information representing the distance from the camera 12 to the subject reflected in the captured image from, for example, a distance sensor mounted on the camera 12. The distance sensor mounted on the camera 12 is, for example, a reflective distance sensor composed of a light-emitting part and a light-receiving part, capable of measuring the distance from the distance sensor to the object. As described above, since the distance sensor is mounted on the camera 12, the distance from the distance sensor to the object is approximately the same as the distance from the camera 12 to the subject reflected in the captured image. Therefore, the distance information acquisition unit 23 could also acquire distance information representing the distance to the object measured by the distance sensor, as distance information representing the distance from the camera 12 to the subject reflected in the captured image.

[0026] The detection area setting unit 24 sets a detection area on the image captured by the camera 12 for detecting users (people using the elevator) or objects. Specifically, as follows: Figure 2 As shown, the detection area setting unit 24 sets a first detection area E1 on the floor surface (the reflected area) near the entrance / exit of the elevator lobby 15, and a second detection area E2 on the door frame 16 (the reflected area). Regarding the second detection area E2, the detection area setting unit 24 sets a second detection area E2a on the left frame 16A (the reflected area) of the door frame 16, and a second detection area E2b on the right frame 16B (the reflected area) of the door frame 16. The door frame 16 is a frame arranged around the elevator lobby door 14, consisting of a left frame 16A located on the left when viewed from the passenger car 11 side, and a right frame 16 located on the right when viewed from the passenger car 11 side. Figure 2 The upper frame, not shown in the diagram, consists of these three frames.

[0027] Furthermore, the first detection area E1 is used to detect users moving from the waiting hall 15 to the passenger car 11 (i.e., users boarding the passenger car 11) or from the passenger car 11 to the waiting hall 15 (i.e., users disembarking from the passenger car 11), and can also be referred to as the user detection area E1. Additionally, the second detection areas E2a and E2b are used to detect stationary objects near the passenger car 11, and can also be referred to as the first stationary object detection area E2a and the second stationary object detection area E2b. Furthermore, in the following description, when only "stationary object detection area E2" is mentioned, it is assumed to include both the first stationary object detection area E2a and the second stationary object detection area E2b.

[0028] In addition, in this embodiment, it is envisioned that the detection area setting unit 24 sets two detection areas E1 and E2, but it is not limited to this. The detection area setting unit 24 may further set the detection area, for example, on the floor surface near the entrance and exit in the passenger car 11.

[0029] The detection processing unit 25 performs detection processing on people or objects in each detection area set by the detection area setting unit 24.

[0030] Specifically, firstly, such as Figure 3 As shown, the detection processing unit 25 performs the process of dividing the captured image of the camera 12 into multiple blocks. Here, it is assumed that the size of a block (hereinafter referred to as the block size) is set to, for example, the size of 16 (=4×4) pixels constituting the captured image, but it is not limited to this. The block size can be set to any size, such as the size of 4 (=2×2) pixels constituting the captured image.

[0031] In the user detection area E1, the detection processing unit 25 focuses on changes in color information (e.g., changes in brightness values) of each block contained in the user detection area E1 to detect the movement of a person or object (i.e., a moving body). On the other hand, in the stationary object detection area E2, the detection processing unit 25 focuses on color information (e.g., brightness values) of each block contained in the stationary object detection area E2 and distance information indicating the distance from the camera 12 to the subject (person or object) reflected in each block to detect stationary objects (e.g., stationary people or objects). Furthermore, the processing for detecting stationary objects (hereinafter referred to as stationary object detection processing) will be described later, so its detailed description is omitted here.

[0032] The elevator control device 30 controls the operation of various equipment (destination floor buttons or lighting, etc.) installed in the passenger car 11.

[0033] The elevator control device 30 has a door opening and closing control unit 31 and a notification unit 32.

[0034] The door opening and closing control unit 31 controls the opening and closing of the car door 13 when the passenger car 11 arrives at the waiting hall 15. More specifically, the door opening and closing control unit 31 opens the car door 13 when the passenger car 11 arrives at the waiting hall 15, and closes the car door 13 after a predetermined time. If the door opening and closing control unit 31 detects a person or object through the image processing device 20 (detection processing unit 25) while the car door 13 is fully open or closing, it prohibits the closing action of the car door 13; if the car door 13 is fully open, it maintains the open state (extends the opening time of the car door 13); if the car door 13 is closing, it reverses the opening action. If a person or object is detected by the image processing device 20 (detection processing unit 25), the notification unit 32 notifies the user of a message to attract their attention.

[0035] Figure 4 This is a block diagram illustrating an example of the functional configuration of the detection and processing unit 25. Furthermore, the functional configuration related to the static object detection and processing will be primarily explained here. For example... Figure 4 As shown, the detection processing unit 25 includes a color information comparison unit 25a, a distance information comparison unit 25b, and a stationary object detection unit 25c.

[0036] The color information comparison unit 25a determines whether there is a difference between the color information of each block contained in the first stationary object detection area E2a set in the left frame 16A (the area reflected) of the door frame 16 and the color information of each block contained in the second stationary object detection area E2b set in the right frame 16B (the area reflected) of the door frame 16.

[0037] More specifically, firstly, the color information comparison unit 25a generates first brightness distribution information representing the brightness distribution of each block contained in the first stationary object detection area E2a corresponding to the left frame 16A, based on the brightness values ​​of each block. Similarly, the color information comparison unit 25a generates second brightness distribution information representing the brightness distribution of each block contained in the second stationary object detection area E2b corresponding to the right frame 16B, based on the brightness values ​​of each block.

[0038] The color information comparison unit 25a compares the brightness distribution of each block in the first stationary object detection area E2a, represented by the first brightness distribution information, with the brightness distribution of each block in the second stationary object detection area E2b, represented by the second brightness distribution information, and determines whether there is a difference in the tendency of these two brightness distributions. Furthermore, based on a known similarity determination method, it determines whether there is a difference in the tendency of the brightness distributions, and outputs first result information representing this determination result to the stationary object detection unit 25c.

[0039] The distance information comparison unit 25b determines whether there is a difference between the distance information of each block contained in the first stationary object detection area E2a set in the left frame 16A (the area reflected) of the door frame 16 and the distance information of each block contained in the second stationary object detection area E2b set in the right frame 16B (the area reflected) of the door frame 16.

[0040] More specifically, the distance information comparison unit 25b sequentially compares the distances to the subjects (people or objects) reflected in each block of the first stationary object detection area E2a corresponding to the left frame 16A, and the distances to the subjects (people or objects) reflected in each block of the stationary object detection area E2b corresponding to the right frame 16B, and determines whether there are any blocks with a predetermined number or more of distance differences exceeding a preset threshold. A second result information indicating this determination is output to the stationary object detection unit 25c.

[0041] The stationary object detection unit 25c determines whether there is a stationary object in the stationary object detection area E2 based on the first result information obtained from the color information comparison unit 25a and the second result information obtained from the distance information comparison unit 25b.

[0042] When both the first result information and the second result information show a difference of a certain amount or more—that is, when the first result information indicates a difference of a certain amount or more in the color information of each block contained in the two stationary object detection areas E2a and E2b, and the second result information indicates a difference of a certain amount or more in the distance information of each block contained in the two stationary object detection areas E2a and E2b—the stationary object detection unit 25c detects stationary objects from the stationary object detection area E2. More specifically, when the first result information indicates a difference in the tendency of the brightness distribution of each block in the two stationary object detection areas E2a and E2b, and the second result information indicates the presence of a predetermined number or more blocks with the aforementioned distance difference, the stationary object detection unit 25c detects that a stationary object exists in either the first stationary object detection area E2a or the second stationary object detection area E2b.

[0043] On the other hand, if at least one of the first result information and the second result information indicates that there is no difference of more than a certain amount, the stationary object detection unit 25c detects that there is no stationary object in the stationary object detection area E2.

[0044] Here, assuming a specific situation, the processing performed by the color information comparison unit 25a and the distance information comparison unit 25b will be explained. Here, as Figure 5 As shown, suppose a person or object is not located near the left frame 16A of the door frame 16, but the person is only standing near the right frame 16B of the door frame 16, pressing the door with their hand (arm).

[0045] The following section will first explain the processing performed by the color information comparison unit 25a.

[0046] exist Figure 5 In the situation shown, only the left frame 16A of the door cover 16 is reflected in the blocks contained in the first stationary object detection area E2a, and the brightness values ​​of each block represent values ​​that are approximately the same (more specifically, each block represents a brightness value corresponding to the color of the left frame 16A). The brightness distribution of these blocks is as follows: Figure 6 As shown in (a), this represents a unipolar distribution with only a single value and its surrounding values. On the other hand, within each block included in the second stationary object detection area E2b, the right frame 16B of the door frame 16 and a person standing near that right frame 16B are reflected. Since the brightness values ​​of each block represent various values ​​(e.g., values ​​representing the color of the right frame 16B, or various values ​​corresponding to the color of the clothing worn by the person standing near that right frame 16B), the brightness distribution of these blocks is as follows: Figure 6 As shown in (b), it represents a discrete distribution with a wide variety of values.

[0047] Thus, the brightness distribution of each block contained in the stationary object detection area E2 exhibits a unipolar concentrated distribution when the person or object is not located near the door frame 16, and conversely, tends to exhibit a discrete distribution when the person or object is located near the door frame 16. The color information comparison unit 25a determines whether the difference in brightness distribution of each block contained in the two stationary object detection areas E2a and E2b is observed, and generates and outputs first result information representing the determination result.

[0048] Next, the processing performed by the distance information comparison unit 25b will be explained.

[0049] The distance from camera 12 to the objects (people or objects) projected onto the blocks within the still object detection area E2 is generally closer to the upper blocks of E2 (i.e., displaying smaller values), and farther away from the lower blocks (i.e., displaying larger values). Furthermore, the distance from camera 12 to the objects (people or objects) projected onto the blocks within E2 tends to be smaller because the block that projects a person or object is closer to camera 12 in terms of its thickness, and larger because the block that does not project a person or object projects a larger value.

[0050] Therefore, in Figure 5 In the situation shown, such as Figure 7 As shown, the distance from camera 12 to each block included in the first stationary object detection area E2a is such that blocks located higher in the first stationary object detection area E2a are closer, and blocks located lower in the first stationary object detection area E2a are farther away. On the other hand, as... Figure 7As shown, the distance from camera 12 to each block included in the second stationary object detection area E2b is as follows: the blocks located higher in the second stationary object detection area E2b that reflect a person are closer, while the blocks located lower in the second stationary object detection area E2b that do not reflect a person are farther away. Furthermore, in Figure 7 In the diagram, the darker the area (e.g., black), the closer the distance from camera 12 to the block; the lighter the area (e.g., white), the farther the distance from camera 12 to the block.

[0051] The distance information comparison unit 25b determines whether there are more than a predetermined number of blocks with the aforementioned distance difference among the blocks contained in the two stationary object detection areas E2a and E2b, respectively, and generates and outputs second result information indicating the determination result. More specifically, the distance information comparison unit 25b sequentially scans each block contained in the two stationary object detection areas E2a and E2b from the upper block to the lower block, for example, traversing multiple block rows. If there are blocks with a distance difference of more than a predetermined threshold, it generates second result information indicating that there are more than a predetermined number of blocks with that distance difference.

[0052] In addition, such as Figure 5 As shown, in order to detect a person standing near the door frame 16 as a stationary object, the threshold related to the aforementioned distance difference is preferably set to a value corresponding to the thickness of the person, such as any value between 100mm and 200mm. Therefore, it is possible to detect only stationary objects that may be trapped by the door, such as thin reflectors or posters pasted on the door frame 16, without detecting them as stationary objects.

[0053] Next, refer to Figure 8 The flowchart illustrates an example of the steps of stationary object detection processing performed by the elevator system of this embodiment.

[0054] The detection processing unit 25 acquires the captured image taken by the camera 12, that is, acquires the captured image having distance information acquired by the distance information acquisition unit 23 (step S1), and performs processing to divide the acquired captured image into blocks of a predetermined size (step S2). In addition, the captured image having distance information acquired by the distance information acquisition unit 23 can also be called a "distance image".

[0055] The color information comparison unit 25a of the detection processing unit 25 determines whether there is a difference of a certain amount or more in the color information of each block of the two stationary object detection areas E2a and E2b set on the acquired captured image, and generates first result information representing the determination result (step S3).

[0056] To explain step S3 in more detail, firstly, the color information comparison unit 25a generates first brightness distribution information representing the brightness distribution of each block of the first stationary object detection area E2a, based on the color information (brightness value) of each block in the area representing the left frame 16A of the door cover 16 in the acquired captured image. Next, the color information comparison unit 25a generates second brightness distribution information representing the brightness distribution of each block of the second stationary object detection area E2b, based on the color information (brightness value) of each block in the area representing the right frame 16B of the door cover 16 in the acquired captured image. Then, the color information comparison unit 25a compares the brightness distribution of each block of the first stationary object detection area E2a corresponding to the left frame 16A as represented by the generated first brightness distribution information with the brightness distribution of each block of the second stationary object detection area E2b corresponding to the right frame 16B as represented by the generated second brightness distribution information, determines whether there is a difference in the tendency of the two brightness distributions, determines whether there is a difference of a certain amount or more in the color information of each block of the two stationary object detection areas E2a and E2b, and generates first result information representing the determination result.

[0057] After performing the above-mentioned step S3, the distance information comparison unit 25b of the detection processing unit 25 determines whether there is a difference of a certain amount between the distance information of each block of the two stationary object detection areas E2a and E2b set on the acquired image, and generates second result information representing the determination result (step S4).

[0058] To explain step S4 in more detail, firstly, the distance information comparison unit 25b compares the distances of the subjects reflected in each block of the first stationary object detection area E2a, set in the region of the left frame 16A of the door frame 16 in the acquired captured image, with the distances of the subjects reflected in each block of the second stationary object detection area E2b, set in the region of the right frame 16B of the door frame 16 in the acquired captured image. Furthermore, here, each block of the first stationary object detection area E2a and each block of the second stationary object detection area E2b, which are the comparison objects of these blocks, are in a left-right symmetrical positional relationship, with a line extending from the center of the elevator hall door 14 in a direction perpendicular to the elevator hall door 14 as the boundary. The distances of the subjects reflected in the two blocks in the left-right symmetrical positional relationship are compared sequentially. The distance information comparison unit 25b performs the above comparison and determines whether there are more than a certain number of blocks with a distance difference of more than a predetermined threshold. It then determines whether there is a certain difference in the distance information of each block in the two stationary object detection areas E2a and E2b, and generates second result information representing the determination result.

[0059] After performing the above-described step S4, the stationary object detection unit 25c of the detection processing unit 25 determines whether the first result information generated by the above-described step S3 and the second result information generated by the above-described step S4 both indicate that there is a certain difference (step S5).

[0060] In the above step S5, if it is determined that at least one of the first result information and the second result information does not indicate a difference of a certain amount (No in step S5), the stationary object detection unit 25c detects that there is no stationary object in the stationary object detection area E2 (step S6), and ends the series of processes here.

[0061] On the other hand, in the processing of step S5 above, if it is determined that both the first result information and the second result information indicate a difference of a certain amount ("Yes" in step S5), the stationary object detection unit 25c detects a stationary object from the stationary object detection area E2 (step S7). This series of processes ends here.

[0062] Furthermore, after the processing in step S7 above, the stationary object detection unit 25c outputs a detection result indicating that a stationary object has been detected in the stationary object detection area E2 to the elevator control device 30. When the elevator control device 30 receives the detection result indicating that a stationary object has been detected from the stationary object detection unit 25c (detection processing unit 25), it prohibits the closing of the car door 13, keeps the car door 13 fully open, or reverses the opening of the car door 13.

[0063] As explained above, in the elevator system of this embodiment, when there is a significant difference in color information obtained from the first stationary object detection area E2a and the second stationary object detection area E2b, and a significant difference in distance information obtained from the first stationary object detection area E2a and the second stationary object detection area E2b, a stationary object is detected from the stationary object detection area E2a. The first stationary object detection area E2a is set in the area of ​​the left frame 16A of the door cover 16 reflected in the captured image, and the second stationary object detection area E2b is set in the area of ​​the right frame 16B of the door cover 16 reflected in the captured image. Thus, in the elevator system of this embodiment, two stationary object detection areas E2a and E2b are set separately from the user detection area E1, which detects people or objects based on changes in color information of the images (in other words, changes in the time series of multiple images). Since people or objects are detected based on the difference in color information and distance information between the two stationary object detection areas E2a and E2b in one image, it is possible to detect stationary objects that cannot be detected by focusing only on changes in the time series of multiple images.

[0064] Furthermore, as described above, since the two stationary object detection areas E2a and E2b are set in the areas of the left frame 16A and right frame 16 of the door frame 16 reflected in the captured image, users who extend their arms from the waiting hall 15 to the passenger car 11 to prevent the door from closing, or users who extend their arms from the passenger car 11 to the waiting hall 15, can also be detected as stationary objects as long as part of their arms enters one of the two stationary object detection areas E2a and E2b. That is, in the elevator system of this embodiment, stationary objects such as the user's arm at the position of passing the threshold can also be detected.

[0065] Furthermore, in the elevator system of this embodiment, the stationary object detection unit 25c only detects a stationary object from the stationary object detection area E2 if both the first result information related to color information and the second result information related to distance information show a difference of a certain amount or more. This suppresses the occurrence of false detections.

[0066] For example, even if a person or object is not located on either side of the left or right frames 16A and 16B of the door frame 16, sometimes due to the influence of external light, a portion of the captured image is brightly reflected, resulting in a difference in brightness distribution between the blocks in the two still object detection areas E2a and E2b. If the still object detection unit 25c detects a still object from the still object detection area E2 based on at least one of the first result information and the second result information, it will mistakenly detect a still object as a still object due to the difference in brightness distribution caused by the aforementioned external light, resulting in a false detection. However, the still object detection unit 25c of this embodiment detects a still object from the still object detection area E2 only when both the first result information and the second result information indicate a difference of a certain amount. Therefore, it can suppress the occurrence of the aforementioned false detection and achieve high-precision still object detection.

[0067] In this embodiment, it is assumed that the detection processing unit 25 divides the captured image using all blocks of the same size. However, it is not limited to this. For example, the detection processing unit 25 may divide the area in the first stationary object detection area E2a and the second stationary object detection area E2b set in the captured image where the arm of the user riding in the passenger car 11 is reflected using blocks smaller than other areas in the first stationary object detection area E2a and the second stationary object detection area E2b. Specifically, the detection processing unit 25 may divide the area reflecting the user's arm using blocks containing 4 (=2×2) pixels, and divide other areas using blocks containing 16 (=4×4) pixels. Therefore, compared with the case where all areas are divided using blocks of the same size, the detection processing unit 25 can more finely compare the color information and distance information of the area reflecting the user's arm in the first stationary object detection area E2a and the second stationary object detection area E2b, and thus can more accurately detect the user's arm.

[0068] Furthermore, in this embodiment, as the threshold related to distance difference, it is assumed that the same value is set in each block of the first stationary object detection area E2a and the second stationary object detection area E2b. However, this is not a limitation. For example, the threshold for the distance difference set in each block of the first stationary object detection area E2a and the second stationary object detection area E2b that reflects the arm of a user riding in the elevator car 11 is set to be smaller than the threshold for the distance difference set in each block of other areas of the first stationary object detection area E2a and the second stationary object detection area E2b. Specifically, the threshold for the distance difference set in the area reflecting the user's arm can also be set to a value of the thickness of the user's arm, for example, 50 mm. Thus, for example, even when only the user's arm is near the door frame 16, such as when the user's arm extends from the elevator car 11 to the waiting hall 15 to prevent the door from closing, the detection processing unit 25 can also accurately detect the user's arm.

[0069] Furthermore, the elevator system of this embodiment can also pre-store the image captured by the camera 12 when there are no users and the doors are fully open as a reference image in the storage unit 21. As a result, the detection processing unit 25 can detect the stationary object (person or object) by comparing the captured image and the reference image, even when the stationary object is located in both the first stationary object detection area E2a and the second stationary object detection area E2b.

[0070] According to one embodiment described above, an elevator system capable of detecting stationary objects near the elevator can be provided.

[0071] 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 new embodiments can be implemented in various other ways, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included in the scope and spirit of the invention, and are included within the scope of the invention and its equivalents as set forth in the claims.

Claims

1. An elevator system, characterized in that, have: The camera is installed inside the passenger car and its field of view includes the left and right frames of the door frame; The acquisition unit acquires distance information representing the distance from the camera to the subject in the captured image. The setting unit sets a first stationary object detection area for detecting stationary objects in the area of ​​the left frame of the door frame reflected in the captured image, and sets a second stationary object detection area for detecting stationary objects in the area of ​​the right frame of the door frame reflected in the captured image. as well as The detection unit detects a stationary object from either the first stationary object detection area or the second stationary object detection area when there is a significant difference in color information obtained from the first stationary object detection area and the second stationary object detection area set in the captured image, and a significant difference in distance information obtained from the first stationary object detection area and the second stationary object detection area set in the captured image.

2. The elevator system according to claim 1, characterized in that, The detection unit divides the captured image into multiple blocks. When there is a certain difference between the brightness values ​​of each block in the first static object detection area and the brightness values ​​of each block in the second static object detection area, and when there is a certain difference between the distance to the subject reflected by each block in the first static object detection area and the distance to the subject reflected by each block in the second static object detection area, a static object is detected from the first static object detection area or the second static object detection area.

3. The elevator system according to claim 2, characterized in that, The detection unit compares the brightness distribution based on the brightness values ​​of each block in the first static object detection area with the brightness distribution based on the brightness values ​​of each block in the second static object detection area. If there is a difference in the tendency of these two brightness distributions, it determines that there is a difference of a certain amount between the color information obtained from the first static object detection area and the second static object detection area. The distances to the subjects reflected by each block in the first stationary object detection area and the distances to the subjects reflected by each block in the second stationary object detection area are compared sequentially. If there are more than a certain number of blocks with a distance difference of more than a pre-set threshold, it is determined that there is a certain difference in the distance information obtained from the first stationary object detection area and the second stationary object detection area.

4. The elevator system according to claim 2, characterized in that, The detection unit divides the area in the first stationary object detection area and the second stationary object detection area that reflects the arm of the user riding in the passenger car into blocks smaller in size than other areas of the first stationary object detection area and the second stationary object detection area.

5. The elevator system according to claim 3, characterized in that, The detection unit sets a threshold for the distance difference between blocks in the areas of the first stationary object detection area and the second stationary object detection area that reflect the arm of the user riding in the passenger car, which is smaller than the threshold for the distance difference between blocks in other areas of the first stationary object detection area and the second stationary object detection area.

6. The elevator system according to claim 1, characterized in that, The acquisition unit calculates the distance from the camera to the subject based on the blur generated in the captured image, and acquires the distance information.

7. The elevator system according to claim 1, characterized in that, The acquisition unit acquires the distance information measured by the distance sensor installed on the camera.

8. The elevator system according to claim 1, characterized in that, It also has an elevator control device that controls the opening and closing of the doors of the passenger car. When the elevator control device receives a detection result from the detection unit indicating that a stationary object has been detected, it prohibits the door from closing and maintains the door in the open state or causes the door to open in reverse.

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