Elevator system

Abstract

To provide an elevator system for allowing a wheelchair user to safely get off an elevator car while confirming backward even if a mirror is not installed in the car.SOLUTION: An elevator system according to one embodiment comprises a camera, determination means, generating means, and projection means. The camera is installed at the top of a car and takes images of the inside of the car. The determination means determines that a wheelchair user gets in the car. The generating means generates a first viewpoint image of the wheelchair user viewed from above based on the image taken by the camera. The projection means projects the first viewpoint image onto the back of the car when the wheelchair user gets off the car.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] FIELD OF THE DISCLOSURE An embodiment of the present invention relates to an elevator system. [Background technology]

[0002] Some elevators are wheelchair accessible and have a mirror on the back of the car to help wheelchair users get on and off. However, not all elevators are wheelchair accessible, and some do not have a mirror.

[0003] In elevators that do not have such mirrors, a system is known in which a camera and projector are installed inside the elevator car, and an image of a wheelchair user taken by the camera is transferred to the projector and projected onto the back of the elevator car. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6683173 Summary of the Invention [Problem to be solved by the invention]

[0005] In the above-mentioned system, a wheelchair user who comes straight through the entrance of the car is photographed from the front, and the front image is projected on the back of the car as the wheelchair user reflected in a mirror. However, in the method of projecting the front image of the wheelchair user on the back of the car, even if the wheelchair user can confirm the surrounding situation, it cannot confirm objects such as small luggage directly behind the wheelchair user, and therefore the wheelchair user may not be able to get off the car safely.

[0006] Therefore, the problem that the present invention aims to solve is to provide an elevator system that allows wheelchair users to safely disembark while checking what is behind them, even if a mirror is not installed inside the elevator car. [Means for solving the problem]

[0007] An elevator system according to one embodiment includes a camera, a determination means, a generation means, and a projection means. The camera is installed on top of a car and captures an image of the interior of the car. The determination means determines that a wheelchair user is in the car. The generation means generates a first viewpoint image of the wheelchair user viewed from above, based on the image captured by the camera. The projection means projects the first viewpoint image onto the back of the car when the wheelchair user gets off the car. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram showing a schematic configuration example of an elevator system according to a first embodiment. [Diagram 2] FIG. 2 is a diagram showing a configuration example of a portion around an entrance in a car according to the first embodiment. [Diagram 3] FIG. 3 is a flowchart showing an example of a processing procedure of the elevator system according to the first embodiment. [Figure 4] FIG. 4 is a diagram for explaining an example of a method for generating a first viewpoint image according to the first embodiment. [Diagram 5] FIG. 5 is a diagram for explaining an example of a method for generating a first viewpoint image according to the first embodiment. [Figure 6] FIG. 6 is a diagram showing an example of a projection range of the first viewpoint image set by the projection unit according to the first embodiment. [Figure 7] FIG. 7 is a flowchart showing an example of a processing procedure of a method for setting a projection range depending on a congestion state in the first embodiment. [Figure 8] FIG. 8 is a flowchart showing an example of a processing procedure of a method for setting a projection range depending on a positional relationship between the back surface and a user in a car in the first embodiment. [Figure 9]FIG. 9 is a flowchart showing an example of a processing procedure of a method for setting the projection range on one side of the rear surface when the user is on the other side of the rear surface in the first embodiment. [Figure 10] FIG. 10 is a diagram showing an example of the configuration inside a car in a general system for projecting an image of a wheelchair user onto the back surface of the car. [Figure 11] FIG. 11 is a diagram illustrating an example of the configuration inside the car according to the first embodiment. [Figure 12] FIG. 12 is a diagram showing an example of the projection ranges of the first viewpoint image and the second viewpoint image set by the projection unit according to the second embodiment. [Figure 13] FIG. 13 is a diagram illustrating an example of the configuration inside the car according to the third embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Each embodiment will be described below with reference to the drawings. (First embodiment) First, the first embodiment will be described. In addition, the disclosure is merely an example, and the invention is not limited to the contents described in the following embodiments. Modifications that a person skilled in the art can easily correspond to are naturally included in the scope of the disclosure. In order to make the explanation clearer, the size, shape, etc. of each part may be changed from the actual embodiment and shown diagrammatically in the drawings. In multiple drawings, corresponding elements may be given the same reference numerals, and detailed explanations may be omitted.

[0010] Fig. 1 is a diagram showing a schematic configuration example of an elevator system according to an embodiment. Note that, although a single car will be described as an example here, the same configuration applies to a system having multiple cars.

[0011] Furthermore, the elevator system according to this embodiment is capable of registering destination calls at the elevator hall using a user's mobile device (e.g., a smartphone). Elevator users download a call registration application to their mobile device in advance, and then register a destination call using the application. The destination call includes the user's boarding floor and destination floor. Furthermore, the destination call includes information indicating that the user is a wheelchair user as an attribute of the user.

[0012] A camera 12 is installed above the entrance / exit of the car 11. Specifically, the camera 12 is installed in a fascia 11a covering the upper part of the entrance / exit of the car 11 with the lens portion facing directly downward. The camera 12 is, for example, a small surveillance camera such as an in-vehicle camera, has a wide-angle lens or a fisheye lens, and captures a predetermined range including the vicinity of the entrance / exit of the car 11. The camera 12 is capable of continuously capturing several frames per second (for example, 30 frames / second). The installation position of the camera 12 is not limited to the upper part of the entrance / exit of the car 11, but may be anywhere in the upper part of the car 11.

[0013] A projector 16 is installed at the top inside the car 11, facing the rear surface 18 of the car 11. The projector 16 projects an image onto any range (position) on the rear surface 18 under the control of an image processing device 20. In the following description, "image" also includes a video that continuously displays images. An image projected by the projector 16 is also referred to as a "projected image." Moreover, the range on the rear surface 18 onto which the projected image is projected is referred to as a "projection range."

[0014] At the landing 15 on each floor, a landing door 14 is installed at the arrival entrance of the car 11 so as to be able to be opened and closed freely. The landing door 14 engages with the car door 13 when the car 11 arrives and opens and closes. The power source (door motor) is on the car 11 side, and the landing door 14 simply opens and closes following the car door 13. In the following explanation, it is assumed that when the car door 13 is open, the landing door 14 is also open, and when the car door 13 is closed, the landing door 14 is also closed.

[0015] Each image captured by the camera 12 is analyzed in real time by the image processing device 20. Although the image processing device 20 is shown removed from the car 11 for convenience in Fig. 1, in reality, the image processing device 20 is stored in the headboard 11a together with the camera 12.

[0016] The image processing device 20 includes a storage unit 21 and a control unit 22. The storage unit 21 sequentially stores captured images, and has a buffer area for temporarily storing data necessary for processing by the control unit 22. Note that the storage unit 21 may store images that have been subjected to pre-processing such as distortion correction, enlargement / reduction, and partial cropping as pre-processing of the captured images.

[0017] The control unit 22 generates a projection image in real time based on the image stored in the memory unit 21, and performs processing for projecting the current state of the interior of the car 11 into the car 11. The control unit 22 is composed of a determination unit 23, a generation unit 24, a congestion state detection unit 25, a boarding position detection unit 26, and a projection unit 27.

[0018] The determination unit 23 determines whether a wheelchair user is in the elevator 11. Specifically, the determination unit 23 analyzes and processes the image from the camera 12 to determine whether a wheelchair user is in the elevator 11. Alternatively, the determination unit 23 may determine whether a wheelchair user is in the elevator 11 based on attribute information included in a destination call registered by a mobile terminal of the user.

[0019] When a wheelchair user is riding, the generation unit 24 sequentially generates a first viewpoint image 60 (see FIG. 6) in which the wheelchair user is viewed from above based on the image captured by the camera 12. A method for generating the first viewpoint image 60 will be described later with reference to FIGS. 4 and 5.

[0020] The crowded state detection unit 25 detects whether the inside of the car 11 is crowded or not. The "crowded state inside the car" is, for example, a state in which the load of the car 11 is equal to or greater than a preset reference value, and the "not crowded state inside the car" is a state in which the load of the car 11 is less than the reference value. The crowded state may be determined based on the difference between an image of the inside of the car 11 obtained by the camera 12 during operation and an image when the car 11 is unoccupied. In this case, if the difference is greater than a preset reference value, it is determined that the inside of the car 11 is crowded.

[0021] The boarding position detection unit 26 detects the positional relationship between the rear surface 18 of the car 11 and the user inside the car 11 based on the image captured by the camera 12. Specifically, it detects the boarding position of the user inside the car 11 and determines whether the boarding position is near the rear surface 18. Note that "users inside the car 11" include wheelchair users as well as general users. Details will be described later with reference to Figs. 8 and 9.

[0022] When a wheelchair user gets off the car 11, the projection unit 27 projects a first viewpoint image 60 of the wheelchair user onto the back surface 18 of the car 11 via the projector 16. "When the wheelchair user gets off the car 11" refers to when the wheelchair user arrives at the destination floor (disembarking floor) or immediately before arriving at the destination floor. At this time, the projection unit 27 changes the projection range of the first viewpoint image 60 based on the congestion state in the car 11 detected by the congestion state detection unit 25, or the positional relationship between the back surface 18 and the user in the car 11 determined by the boarding position detection unit 26.

[0023] The elevator control device 30 controls the raising and lowering operation of the car 11 and the operation of various devices (destination floor buttons, lighting, etc.) installed in the car 11. The elevator control device 30 also includes a door opening / closing control unit 31. The door opening / closing control unit 31 controls the opening and closing of the car door 13 when the car 11 arrives at the landing 15. In detail, the door opening / closing control unit 31 opens the car door 13 when the car 11 arrives at the landing 15, and closes the door after a predetermined time has elapsed.

[0024] FIG. 2 is a diagram showing an example of the configuration of the area around the entrance / exit inside the car 11. As shown in FIG. A car door 13 is provided at the entrance of the car 11 so as to be able to be opened and closed freely. In the example of Fig. 2, a two-door double-leaf car door 13 is shown, and two door panels 13a, 13b constituting the car door 13 open and close in opposite directions along the width direction (horizontal direction). Note that the "width" is the same as the entrance of the car 11.

[0025] A display 43, an operation panel 45 on which destination floor buttons 44 and the like are arranged, and a speaker 46 are installed on one or both of the front pillars 41a and 41b. In the example of Fig. 2, the speaker 46 is installed on the front pillar 41a, and the display 43 and the operation panel 45 are installed on the front pillar 41b.

[0026] Here, a camera 12 having an ultra-wide-angle lens such as a fisheye lens is installed in the center of the fascia 11a above the entrance of the car 11. The camera 12 is installed facing downward from the lower part of the fascia 11a so as to be able to capture an image of an area including the inside of the car 11 and the landing 15 near the entrance of the car 11.

[0027] Hereinafter, the flow of processing of the entire elevator system according to this embodiment will be described with reference to Fig. 3. Fig. 3 is a flowchart showing an example of a processing procedure of the elevator system according to this embodiment.

[0028] When the elevator 11 arrives at any floor (YES in step S11), the judgment unit 23 included in the image processing device 20 analyzes and processes the image captured by the camera 12 to determine whether or not a wheelchair user is inside the elevator 11 (step S12).

[0029] If it is determined that a wheelchair user is in the elevator 11 (YES in step S12), the generation unit 24 generates a first viewpoint image 60 of the wheelchair user viewed from above, based on the image captured by the camera 12 (step S13).

[0030] Here, an example of a method for generating the first viewpoint image 60 by the generating unit 24 will be described with reference to FIGS. 4 is a diagram showing an example of an image captured by the camera 12 when it is determined that a wheelchair user is in the car 11. In the figure, 17 indicates the floor surface of the car 11. Since the camera 12 is installed near the entrance / exit of the car 11, the floor surface 17 in the captured image is not rectangular but a trapezoid that narrows from the entrance / exit toward the back surface 18. The generation unit 24 obtains coordinates a to d of the four corners of the floor surface 17 by performing edge detection processing and the like on the captured image.

[0031] For ease of explanation, Fig. 5 is a diagram in which the floor surface 17 of the car 11 is extracted. The generating unit 24 performs a projective transformation process on the captured image so that the coordinates a to d of the four corners of the floor surface 17 obtained from the installation position of the camera 12 (the entrance / exit side of the car 11) become coordinates a' to d' when viewed from near the center of the ceiling surface of the car 11. In this way, by projectively transforming a trapezoidal floor surface image as shown in the upper diagram of Fig. 5 into a rectangular floor surface image as shown in the lower diagram of Fig. 5, it is possible to generate a pseudo image (first viewpoint image 60) of a wheelchair user in the car 11 viewed from above.

[0032] Although the above-mentioned processing method may cause distortion in the first viewpoint image 60, some distortion is not a problem as long as the position of the wheelchair user in the elevator 11 and the sense of distance between the wheelchair user and the object directly behind the wheelchair user can be grasped.

[0033] Further, the depth, height, and width inside the car 11, the installation position of the camera 12, the installation angle of the camera 12, and the like are known. The first viewpoint image 60 may be generated by estimating the position in real space of the wheelchair user shown in the image captured by the camera 12 from these values. Alternatively, a more natural first viewpoint image 60 may be generated using a learning model capable of estimating depth from a two-dimensional image. Note that the above-mentioned method of generating the first viewpoint image 60 is just one example, and other methods may be used to generate an image from an overhead viewpoint.

[0034] Returning to the flow chart of Fig. 3, the car 11 departs for the destination floor of the user after the door is closed (step S14). When the car 11 arrives at the destination floor of the user, the elevator control device 30 determines whether the arrival floor is a destination floor of a wheelchair user (step S15).

[0035] In this embodiment, since the destination call includes the attribute information of the user, it is easy to know from the attribute information whether the destination floor is registered by a general user or a wheelchair user. Note that the destination floor registered by pressing a destination floor button for wheelchair users installed in the elevator 11 may be determined to be the destination floor for wheelchair users.

[0036] When the doors of the elevator 11 begin to open at the destination floor for wheelchair users (step S16), the projection unit 27 sets the projection range of the first viewpoint image 60 based on the detection results by the congestion status detection unit 25 or the boarding position detection unit 26 (step S17).

[0037] Fig. 6 is a diagram showing an example of the projection range of the first viewpoint image set by the projection unit 27. In the figure, 60 indicates the first viewpoint image. The projection range of the first viewpoint image 60 is, for example, the entire back surface 18 (Fig. 6(a)), the upper part (Fig. 6(b)), the left side (Fig. 6(c)), or the right side (Fig. 6(d)), and is set according to the congestion situation or the passenger's riding position. The method of setting the projection range will be described later with reference to Figs. 7 to 9.

[0038] After setting the projection range, the projection unit 27 projects a first viewpoint image 60 of the current wheelchair user onto the rear surface 18 of the car 11 via the projector 16 (step S18). The projection unit 27 continues to project the first viewpoint image 60 while the doors of the car 11 are open, and ends the projection of the first viewpoint image 60 when the doors of the car 11 are all closed (YES in step S19) (step S20).

[0039] The generation of the first viewpoint image 60 (step S13) and the setting of the projection range (step S17) may be performed immediately before the wheelchair user arrives at the destination floor.

[0040] Next, a method for setting the projection range of the first viewpoint image 60 corresponding to step S17 in the flowchart of Fig. 3 will be described with reference to Fig. 7 to Fig. 9. Below, the projection range setting method will be described as follows: (1) a method for setting the projection range according to the congestion situation; and (2) a method for setting the projection range according to the positional relationship between the rear surface 18 and the boarding position of a user in the car 11.

[0041] (1) How to set the projection range according to the congestion situation It is preferable to set the projection range of the first viewpoint image 60 to, for example, the entire rear surface 18 or near the center so that wheelchair users can easily check the first viewpoint image 60. However, if the inside of the elevator car 11 is crowded, if the first viewpoint image 60 is projected onto the entire rear surface 18 or near the center, users between the projector 16 and the rear surface 18 may become an obstacle and the wheelchair users may not be able to check the first viewpoint image 60 projected onto the rear surface 18.

[0042] Therefore, when the inside of the car 11 is crowded, the projection unit 27 sets the projection range of the first viewpoint image 60 to the upper part of the back surface 18 of the car 11, and projects the image while avoiding users who are between the projector 16 and the back surface 18. This allows wheelchair users to check the first viewpoint image 60 even when the inside of the car 11 is crowded.

[0043] 7 is a flowchart showing an example of a processing procedure of a method for setting a projection range according to a crowded state. In the following description, the crowded state is determined based on a difference between an image of the inside of the car 11 obtained by the camera 12 and an image when the car 11 is unoccupied, but the crowded state may be determined using other information (for example, a load value of the car 11).

[0044] When the projection range setting process is started, the crowded situation detection unit 25 included in the image processing device 20 acquires an image captured by the camera 12 (step S21). The crowded situation detection unit 25 detects the crowded situation inside the car 11 based on the captured image acquired in step S21 (step S22). In detail, it is determined whether or not the difference between an image acquired in advance when the car 11 is unoccupied and the image acquired in step S21 is equal to or greater than a reference value.

[0045] If the difference is equal to or greater than the reference value (YES in step S23), the crowded state detection unit 25 detects that the car 11 is crowded (step S24). If the car 11 is crowded, the projection unit 27 sets the projection range of the first viewpoint image 60 to the upper part of the rear surface 18, as shown in FIG. 6(b) (step S25).

[0046] If the difference is less than the reference value (NO in step S23), the crowded state detection unit 25 detects that the inside of the car 11 is not crowded (step S26). If the inside of the car 11 is not crowded, the projection unit 27 sets the projection range of the first viewpoint image 60 to the entire back surface 18, as shown in FIG. 6(a) (step S27).

[0047] (2) A method of setting the projection range according to the positional relationship between the rear surface 18 and the passenger's boarding position in the elevator 11 Even when the elevator car 11 is not crowded, if there is a user between the projector 16 and the rear surface 18, the user may become an obstacle as in (1). The same applies to a wheelchair user who is in the vicinity of the rear surface 18. Therefore, when there is a user in the vicinity of the rear surface 18, the projection unit 27 sets the projection range to the upper part of the rear surface 18, and projects the first viewpoint image 60 to an area where there is no user.

[0048] FIG. 8 is a flowchart showing an example of a processing procedure for a method of setting a projection range depending on the positional relationship between the rear surface 18 and a user in the elevator car 11. When the process of setting the projection range is started, the boarding position detection unit 26 included in the image processing device 20 acquires an image captured by the camera 12 (step S31), and detects the boarding position of a user in the elevator 11 (step S32).

[0049] One example of a method for detecting the passenger's boarding position is a motion detection process, in which an image captured by the camera 12 is divided into a matrix of predetermined blocks, and among these blocks, blocks with motion are detected.

[0050] More specifically, the images stored in the storage unit 21 are read out one by one in chronological order, and the average luminance value in each of these images is calculated for each block. At this time, the average luminance value for each block calculated when the first image is input is stored as an initial value in a buffer area (not shown) in the storage unit 21. When the second or subsequent image is sent, the riding position detection unit 26 compares the average luminance value for each block of the current image with the average luminance value for each block of the previous image stored in the buffer area. As a result, if there is a block in the current image that has a luminance difference equal to or greater than a preset value (threshold), the riding position detection unit 26 determines that the block is a block with movement. When determining whether there is movement relative to the current image, the riding position detection unit 26 stores the average luminance value for each block of the image in the buffer area for comparison with the next image.

[0051] Thereafter, in the same manner, the boarding position detection unit 26 repeatedly determines whether or not there is movement while comparing the luminance values ​​of each image in block units in chronological order. The boarding position detection unit 26 detects the position where the motion-present block exists as the boarding position of the user.

[0052] The boarding position of the user is not limited to the above-mentioned motion detection process, and other methods may be used. For example, the image captured by the camera 12 may be analyzed to detect the user in the car 11, and the position of the user may be detected as the boarding position.

[0053] The boarding position detection unit 26 determines whether or not the user is present near the rear surface 18 based on the boarding position of the user detected in step S32 (step S33). Specifically, the boarding position detection unit 26 determines whether or not the boarding position of the user is present within a predetermined range that is set in advance as being near the rear surface 18.

[0054] If a user is present near the rear surface 18 (YES in step S33), the projection unit 27 sets the projection range of the first viewpoint image 60 to the upper part of the rear surface 18 (step S34), as shown in Fig. 6(b). If no user is present near the rear surface 18 (NO in step S33), the projection unit 27 sets the projection range of the first viewpoint image 60 to the entire rear surface 18, as shown in Fig. 6(a) (step S35).

[0055] 8, the riding position detection unit 26 determines whether or not the user is near the rear surface 18, but may determine whether or not the user is on one side near the rear surface 18. When the user is on one side near the rear surface 18, the projection unit 27 sets the projection range of the first viewpoint image 60 to the other side of the rear surface 18 where the user is not present.

[0056] FIG. 9 is a flowchart showing an example of a processing procedure of a method for setting a projection range on one side of the rear surface 18 when a user is on the other side of the rear surface 18. When the process of setting the projection range is started, the boarding position detection unit 26 included in the image processing device 20 acquires an image captured by the camera 12 (step S41) and detects the boarding position of the user in the car 11 (step S42). The method of detecting the boarding position of the user is the same as that of step S32 in FIG. 8.

[0057] The boarding position detection unit 26 determines whether or not the user is present on the right side near the back surface 18 (step S43). Specifically, the boarding position detection unit 26 determines whether or not the boarding position of the user is within a predetermined range set in advance on the right side near the back surface 18.

[0058] If the user is on the right side near the back surface 18 (YES in step S43), the boarding position detection unit 26 further determines whether or not the user is also on the left side near the back surface 18 (step S44). Specifically, it determines whether or not the boarding position of the user is within a predetermined range set in advance on the left side near the back surface 18.

[0059] If there is no user on the left side near the back surface 18 (NO in step S44), the projection unit 27 sets the projection range of the first viewpoint image 60 to the left side of the back surface 18 where there is no user, as shown in FIG. 6(c) (step S45).

[0060] If there is also a user on the left side near the back surface 18 (YES in step S44), the projection unit 27 sets the projection range of the first viewpoint image 60 to the upper part of the back surface 18 avoiding the user, as shown in FIG. 6(b) (step S46).

[0061] On the other hand, if there is no user on the right side near the back surface 18 (NO in step S43) and there is a user on the left side near the back surface 18 (YES in step S47), the projection unit 27 sets the projection range of the first viewpoint image 60 to the right side of the back surface 18 where there is no user, as shown in FIG. 6(d) (step S48).

[0062] If there is no user on the right side near the back surface 18 (NO in step S43) and there is no user on the left side near the back surface 18 (NO in step S47), the projection unit 27 sets the projection range of the first viewpoint image 60 to the entire back surface 18, as shown in FIG. 6(a) (step S49).

[0063] Here, for example, in a general system in which an image of a wheelchair user is projected onto the back of car 11 instead of a mirror, as shown in Fig. 10, a camera 1 is installed near the back of car 11 to capture a front image of the wheelchair user who has come straight through the entrance / exit of car 11. This front image is projected onto back 18 by projector 2 as the wheelchair user's image reflected in a mirror. However, such a general system has the disadvantage that if there is a small piece of luggage 40 directly behind the wheelchair user, which is in the blind spot of camera 1, the wheelchair user cannot see it.

[0064] 11, in this embodiment, an image (first viewpoint image 60) from a virtual overhead viewpoint 12a is generated based on an image captured by a camera 12 installed above the entrance / exit of the car 11, and projected onto the rear surface 18. Therefore, a wheelchair user can easily check the small baggage 40 directly behind him / her by looking at the first viewpoint image 60 projected onto the rear surface 18 without having to turn around when getting off, and can get off safely.

[0065] Furthermore, the projection range of the first viewpoint image 60 is changed according to the congestion state in the elevator 11 and the riding position of the user in the elevator 11. Therefore, the wheelchair user can see the first viewpoint image 60 without being affected by the riding positions of himself or other users. Also, it is possible to prevent users near the back surface 18 from feeling uncomfortable due to the light from the projector 16.

[0066] Second embodiment A second embodiment of this invention will be described below. The second embodiment differs from the first embodiment in that a second viewpoint image 61 (see FIG. 12), which shows a wheelchair user from a viewpoint different from that of the first viewpoint image 60, is projected onto the rear surface 18 of the car 11 together with the first viewpoint image 60. The configuration and processing flow of the elevator system according to the second embodiment are similar to those of the first embodiment, but the processing of the generation unit 24 and the projection unit 27 is different. The following mainly describes the parts that differ from the first embodiment.

[0067] The generating unit 24 according to the second embodiment generates a second viewpoint image 61 in addition to a first viewpoint image 60 based on an image of the wheelchair user captured by the camera 12. The second viewpoint image 61 is, for example, an image of the wheelchair user viewed from the rear surface 18 side of the car 11. When the wheelchair user enters the car 11 from the entrance / exit by going straight ahead without turning, the second viewpoint image is generated as a front image of the wheelchair user.

[0068] The second viewpoint image 61 may be an image of a wheelchair user viewed from the entrance / exit side of the car 11. When the wheelchair user enters the car 11 from the entrance / exit by going straight ahead without turning, the second viewpoint image 61 is generated as a rear view image of the wheelchair user.

[0069] By projecting the second viewpoint image 61 in addition to the first viewpoint image 60, the wheelchair user can check the surroundings in more detail. The second viewpoint image 61 is not limited to an image in which the wheelchair user is viewed from the rear surface 18 side or the entrance / exit side of the car 11, but may be an image in which the wheelchair user is viewed from a viewpoint different from the first viewpoint image 60.

[0070] The second viewpoint image 61 is an image generated based on an image acquired from the camera 12. The second viewpoint image 61 may be generated using a projective transformation process, like the first viewpoint image 60, or may be generated by estimating the position of the wheelchair user in real space from known values ​​in the car 11, or may be generated using a learning model capable of estimating depth. The second viewpoint image 61 only needs to be able to grasp the environment around the wheelchair user in the car 11 (distance to the entrance / exit, distance to other users, etc.). Therefore, there is no problem if parts that cannot be photographed by the camera 12, such as the front of the wheelchair user, are not accurately displayed.

[0071] The projection unit 27 projects the first viewpoint image 60 and the second viewpoint image 61 onto the rear surface 18 of the car 11. The projection unit 27 also changes the projection range of the first viewpoint image 60 and the second viewpoint image 61 based on the congestion state in the car 11 or the positional relationship between the rear surface 18 and the users in the car 11.

[0072] Below, with reference to Figure 12, we will explain a method for changing the projection range of the first viewpoint image 60 and the second viewpoint image 61 based on the congestion situation in the elevator 11, and a method for changing the projection range of the first viewpoint image 60 and the second viewpoint image 61 based on the positional relationship between the back surface 18 and the users in the elevator 11.

[0073] 12 is a diagram showing an example of the projection ranges of the first viewpoint image and the second viewpoint image set by the projection unit 27. In the figure, 60 indicates the first viewpoint image, and 61 indicates the second viewpoint image. In this example, a case is shown in which an image of the front of a wheelchair user is generated as the second viewpoint image 61.

[0074] First, an example in which the projection range is changed depending on the crowdedness inside the car 11 will be described. 12(a), when the inside of the car 11 is not crowded, the projection unit 27 sets the projection range of the second viewpoint image 61 to the entire back surface 18 of the car 11, and sets the projection range of the first viewpoint image 60 to the upper part of the back surface 18 of the car 11. Specifically, an image is generated in which the first viewpoint image 60 is placed in the upper right part of the second viewpoint image 61, and projected onto the entire back surface 18.

[0075] 12(a), by projecting two viewpoint images 60, 61, a wheelchair user can see an image (first viewpoint image 60) seen from above the wheelchair user's line of sight, and an image (second viewpoint image 61) seen from the front at the same height as the wheelchair user's line of sight. In this way, the position of the wheelchair user's line of sight corresponds to the position of the viewpoint shown by the image, so the wheelchair user can easily grasp his or her own position.

[0076] The projection unit 27 may set the projection range of the first viewpoint image 60 to the entire rear surface 18 of the car 11 , and set the projection range of the second viewpoint image 61 to the upper part of the rear surface of the car 11 .

[0077] As shown in Fig. 12(b), when the inside of the car 11 is crowded, the projection ranges of the first viewpoint image 60 and the second viewpoint image 61 are set to the upper part of the rear surface 18 of the car 11. Specifically, an image in which the first viewpoint image 60 and the second viewpoint image 61 are arranged adjacently on the left and right is generated and projected onto the upper part of the rear surface 18 of the car 11. Note that the left and right arrangements of the first viewpoint image 60 and the second viewpoint image 61 in Fig. 12(b) may be interchanged.

[0078] The method of detecting the crowded state inside the car 11 and the processing procedure are the same as those in the first embodiment described above with reference to FIG.

[0079] Next, an example of changing the projection range based on the positional relationship between the rear surface 18 and the user in the car 11 will be described. 12(a), when a user in the car 11 is not near the rear surface of the car 11, the projection unit 27 sets the projection range of the second viewpoint image 61 to the entire rear surface 18 of the car 11, and sets the projection range of the first viewpoint image 60 to the upper part of the rear surface 18 of the car 11. Specifically, an image is generated in which the first viewpoint image 60 is placed in the upper right part of the second viewpoint image 61, and projected onto the entire rear surface 18.

[0080] 12(b), when a user is near the rear surface 18 of the car 11, the projection unit 27 sets the projection range of the first viewpoint image 60 and the second viewpoint image 61 to the upper part of the rear surface 18 of the car 11. Specifically, an image in which the first viewpoint image 60 and the second viewpoint image 61 are arranged adjacent to each other on the left and right is generated, and projected onto the upper part of the rear surface 18 of the car 11.

[0081] The method of determining whether or not a user in the car 11 is near the rear surface of the car 11 and the processing procedure are the same as those in the first embodiment described above with reference to FIG.

[0082] Also, it may be further detected that the user in the car 11 is on one side near the back surface 18. As shown in Fig. 12(c) , when the user in the car 11 is on the right side of the back surface 18 of the car 11, the projection unit 27 sets the projection range of the first viewpoint image 60 and the second viewpoint image 61 to the left side of the back surface 18 of the car 11. Specifically, the projection unit 27 generates an image in which the first viewpoint image 60 and the second viewpoint image 61 are arranged adjacent to each other vertically, and projects it onto the left side of the back surface 18 of the car 11.

[0083] Note that the top-bottom positions of the first viewpoint image 60 and the second viewpoint image 61 in FIG. 12(c) may be swapped, but placing the first viewpoint image 60 above the eye level of a wheelchair user makes it easier to recognize that the image is seen from above.

[0084] 12(d), when the user is on the left side of the rear surface 18 of the car 11, the projection unit 27 sets the projection range of the first viewpoint image 60 and the second viewpoint image 61 to the left side of the rear surface 18 of the car 11. Specifically, an image is generated in which the first viewpoint image 60 and the second viewpoint image 61 generated by the generation unit 24 are arranged adjacent to each other vertically, and projected onto the left side of the rear surface 18.

[0085] It is possible to switch the first viewpoint image 60 and the second viewpoint image 61 in FIG. 12(d), but it is easier for the wheelchair user to recognize that the image is seen from above if the first viewpoint image 60 is positioned above their eye level.

[0086] The method of determining whether a user is present on one side of the rear surface 18 of the car 11 and the processing procedure are the same as those in the first embodiment described with reference to FIG.

[0087] As described above, in the second embodiment, in addition to the first viewpoint image 60, the second viewpoint image 61 from a viewpoint different from that of the first viewpoint image 60 is projected. This allows the wheelchair user to check their surroundings in detail and disembark more safely.

[0088] Third embodiment In the second embodiment, the first viewpoint image 60 and the second viewpoint image 61 are generated based on an image captured by one camera 12, but the first viewpoint image 60 and the second viewpoint image 61 may also be generated based on images captured by multiple cameras.

[0089] The third embodiment differs from the first and second embodiments in that a first viewpoint image 60, which shows a wheelchair user from above, and a second viewpoint image 61, which shows the wheelchair user from a viewpoint other than above, are generated and projected based on two images captured by two cameras.

[0090] 13 is a diagram showing an example of the configuration inside the car 11 according to the third embodiment. In the third embodiment, a camera 19 separate from the camera 12 is installed inside the car 11. The camera 19 is installed inside the rear surface 18 of the car 11 with the lens portion facing the entrance / exit direction.

[0091] The generating unit 24 according to the third embodiment generates a first viewpoint image 60 of a wheelchair user viewed from above, based on an image captured by a camera 12 installed above the entrance of the car 11. In addition, the generating unit 24 generates a second viewpoint image 61 from an image captured by a camera 19 installed inside the rear surface 18.

[0092] The installation position of the camera 19 is not limited to the back surface 18 of the car 11, and may be other locations. For example, the camera 19 may be installed in the center of the ceiling of the car 11 with the lens portion facing toward the floor surface of the car 11. In this case, the generation unit 24 generates the image captured by the camera 19 as a first viewpoint image 60 in which the wheelchair user is viewed from above. In addition, based on the image captured by the camera 12 installed above the entrance / exit of the car 11, a second viewpoint image 61 in which the wheelchair user is viewed from the back surface 18 side or the entrance / exit side of the car 11 is generated.

[0093] The projection unit 27 according to the third embodiment projects a first viewpoint image 60 and a second viewpoint image 61 onto the rear surface 18 of the car 11 via the projector 16. As in the second embodiment, the projection range of the first viewpoint image 60 and the second viewpoint image 61 is changed based on the congestion state in the car 11 or the positional relationship between the rear surface 18 and the users in the car 11. An example of the projection range set by the projection unit 27 is the same as in the second embodiment described using FIG. 12. Other configurations and processing flows of the third embodiment are the same as in the second embodiment, and therefore will not be described here.

[0094] As described above, in the third embodiment, by using a camera 19 other than the camera 12, the first viewpoint image 60 or the second viewpoint image 61 can be accurately generated, so that a wheelchair user can disembark more safely while viewing this second viewpoint image 61 together with the first viewpoint image 60.

[0095] In the first to third embodiments, an example is shown in which an image is projected onto the rear surface 18 via one projector 16, but a plurality of projectors may be used. For example, a first projector that sets the projection range to the entire rear surface 18 of the car 11 and a second projector that sets the projection range to an upper portion of the rear surface 18 may be provided, and the projection unit 27 may change the projection range of a viewpoint image (the first viewpoint image 60 in the first embodiment, and the first viewpoint image 60 and the second viewpoint image 61 in the second and third embodiments) by switching between the first projector and the second projector.

[0096] In this case, when the inside of the car 11 is not crowded, the projection unit 27 uses the first projector to project the viewpoint image onto the entire back surface 18. When the inside of the car 11 is crowded, the projection unit 27 uses the second projector to project the viewpoint image onto the upper part of the back surface 18.

[0097] Alternatively, when there is no user other than a wheelchair user near the rear surface of the car 11, the projection unit 27 uses the first projector to project the viewpoint image onto the entire rear surface 18. When there is a user other than a wheelchair user near the rear surface of the car 11, the projection unit 27 uses the second projector to project the viewpoint image onto the upper part of the rear surface 18.

[0098] By using two projectors with different projection ranges, it is not necessary to adjust the angle or focus for each projection range setting, and the projection range can be easily changed.

[0099] According to at least one of the embodiments described above, an elevator system can be provided that allows wheelchair users to safely disembark while checking behind them, even if a mirror is not installed inside the elevator car.

[0100] Although some 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 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 modifications are included in the scope of the invention and its equivalents described in the claims, as well as in the scope and spirit of the invention. [Explanation of symbols]

[0101] 11...car, 11a...front panel, 12...camera, 13...car door, 14...landing door, 15...landing, 16...projector, 17...floor surface, 18...rear surface, 19...camera, 20...image processing device, 21...memory unit, 22...control unit, 23...determination unit, 24...generation unit, 25...crowding status detection unit, 26...boarding position detection unit, 27...projection unit, 30...elevator control device, 31...door opening / closing control unit, 60...first viewpoint image, 61...second viewpoint image.

Claims

1. A camera installed at an upper portion of the elevator car for photographing the inside of the elevator car; A determination means for determining whether a wheelchair user is in the elevator; a generating means for generating a first viewpoint image of the wheelchair user viewed from above based on an image captured by the camera; a projection means for projecting the first viewpoint image onto a rear surface of the car when the wheelchair user gets off the car; An elevator system comprising:

2. The projection means includes: The projection range of the first viewpoint image is changed according to a congestion state in the elevator car.

10. The elevator system of claim 1.

3. The projection means includes: When the inside of the car is not crowded, the projection range of the first viewpoint image is set to the entire back surface of the car, and when the inside of the car is crowded, the projection range of the first viewpoint image is set to the upper part of the back surface of the car.

3. The elevator system of claim 2.

4. The projection means includes: The projection range of the first viewpoint image is changed according to a positional relationship between a rear surface of the elevator car and a user in the elevator car.

10. The elevator system of claim 1.

5. The projection means includes: When the user is not near the rear of the car, the projection range of the first viewpoint image is set to the entire rear of the car, and when the user is near the rear of the car, the projection range of the first viewpoint image is set to the upper part of the rear of the car.

5. The elevator system of claim 4.

6. The projection means includes: When the user is on one side of the rear surface of the elevator, the projection range of the first viewpoint image is set to the other side of the rear surface of the elevator.

5. The elevator system of claim 4.

7. The generating means includes: generating a second viewpoint image of the wheelchair user from a viewpoint other than above the head based on the image captured by the camera; The projection means includes: The first viewpoint image and the second viewpoint image are projected onto a rear surface of the car.

2. The elevator system of claim 1.

8. The projection means includes: The projection range of the first viewpoint image and the second viewpoint image is changed according to a congestion state in the elevator car.

8. The elevator system of claim 7.

9. The projection means includes: When the inside of the elevator is not crowded, one of the projection ranges of the first viewpoint image and the second viewpoint image is set to the entire back surface of the elevator, and the other projection range is set to an upper part of the back surface of the elevator; When the inside of the elevator car is crowded, the projection range of the first viewpoint image and the second viewpoint image is set to the upper part of the rear surface of the elevator car.

9. The elevator system of claim 8.

10. The projection means includes: The projection range of the first viewpoint image and the second viewpoint image is changed according to a positional relationship between a rear surface of the elevator car and a user in the elevator car.

8. The elevator system of claim 7.

11. The projection means includes: When the user is not near the rear surface of the elevator, one of the projection ranges of the first viewpoint image and the second viewpoint image is set to the entire rear surface of the elevator, and the other projection range is set to the upper part of the rear surface of the elevator; When the user is near the rear of the elevator, the projection range of the first viewpoint image is set to the upper part of the rear of the elevator.

11. The elevator system of claim 10.

12. The projection means includes: When the user is on one side of the rear surface of the elevator, the projection ranges of the first viewpoint image and the second viewpoint image are set to the other side of the rear surface of the elevator.

11. The elevator system of claim 10.

13. Two cameras are installed above an entrance / exit of a car and at a location other than the entrance / exit, and each camera photographs the inside of the car; A determination means for determining whether a wheelchair user is in the elevator; a generating means for generating a first viewpoint image in which the wheelchair user is viewed from above and a second viewpoint image in which the wheelchair user is viewed from a viewpoint different from above, based on the two images captured by the two cameras; a projection means for projecting the first viewpoint image and the second viewpoint image onto a rear surface of the car when the wheelchair user gets off the car; An elevator system comprising:

14. The second viewpoint image includes an image of the wheelchair user viewed from the rear side of the elevator car, or an image of the wheelchair user viewed from the entrance / exit side of the elevator car.

14. An elevator system according to claim 7 or 13.

Images