JP5586503B2 - Wheelchair detection device, bicycle detection device and elevator - Google Patents

Description

  The present invention relates to a detection device that automatically detects a wheelchair or a bicycle and an elevator equipped with the detection device.

  Due to the structure of the elevator, wheelchair users require more time to get on and off the elevator than passengers who do not use the wheelchair (hereinafter referred to as “general passengers”), and it takes more time to operate the buttons in the elevator. There is a case. In addition, the current position (floor number) of the elevator car may be in a position that is difficult to see from the wheelchair, and wheelchair users often feel inconvenience when using the elevator.

  In response to this, an operation button (wheelchair button) for a wheelchair user is provided in an elevator or at a landing, and when it is operated, it is controlled in an operation mode (wheelchair operation mode) suitable for the wheelchair user. Elevator systems are widespread. In the wheelchair operation mode, the wheelchair users can use the voice to inform the opening / closing of the door, the current position of the elevator, the destination, etc. The elevator is controlled so as not to feel inconvenience.

  However, if a general passenger accidentally operates an operation button for a wheelchair user, the wheelchair operation mode is executed even though there is no wheelchair user, and the operation speed of the elevator is reduced. May feel inconvenienced. In some cases, a plurality of people including wheelchair users get on an elevator car called by a wheelchair button at a landing and a plurality of destinations are set. In that case, since it is impossible to determine on which floor the wheelchair user got out of the elevator car, the wheelchair user may be controlled in the wheelchair operation mode for a while after the wheelchair user gets off.

  In order to solve this problem, various elevators that automatically detect the boarding of a wheelchair user have been proposed (for example, Patent Documents 1 to 3 below).

JP-A-6-001546 Japanese Patent No. 4411101 JP 2006-131403 A

  In patent document 1, the infrared sensor is provided in the elevator and the signal originating in a wheelchair user is detected using it. However, since the infrared sensor is not used for a general elevator, it is necessary to newly install an infrared sensor in the elevator as a detection means for a wheelchair user in order to implement this technology, which increases costs. It is thought to be accompanied.

  In Patent Literature 2, a photoelectric device that detects the passengers entering and exiting the elevator car is used, and general passengers and wheelchair users are identified based on the light shielding time length. The photoelectric device is often installed in an existing elevator for the purpose of preventing a passenger from being caught in the door of the elevator, and an increase in cost for providing a detection means for a wheelchair user can be suppressed. However, when the light-shielding time of the photoelectric device is used as a discrimination criterion, it is difficult to distinguish it from a wheelchair user, for example, when a general passenger gets on slowly.

  Also in Patent Document 3, a photoelectric device is used as a detection means for a wheelchair user. In Patent Document 3, attention is paid to the fact that the wheelchair user is lower than the general passenger, and the general passenger and the wheelchair user are discriminated based on the height of the light-shielded photoelectric device. However, it is difficult to distinguish a general user with a short height such as a child from a wheelchair user.

  The present invention has been made to solve the above-described problems, and an object thereof is to provide a wheelchair detection device and a bicycle detection device that are low in cost and high in detection accuracy, and an elevator equipped with the same.

  The wheelchair detection device according to the present invention corresponds to a photoelectric device composed of a plurality of photoelectric elements arranged side by side in the height direction, and a shape of an object crossing the photoelectric device from a time change of an output signal of the photoelectric device. A wheelchair detection unit that detects that the wheelchair has crossed the photoelectric device by generating image data to be detected and detecting a circular figure corresponding to the wheel from the image data.

The bicycle detection device according to the present invention corresponds to a photoelectric device composed of a plurality of photoelectric elements arranged side by side in the height direction, and a shape of an object crossing the photoelectric device from a time change of an output signal of the photoelectric device. the image data generated for, by two detecting a circular figure corresponding to the wheel from the image data, and a bicycle detection unit for detecting that the photoelectric device bicycle crosses, the wheelchair detector is the template matching method using the template of the circular image, performs detection of the circular figure corresponding to the wheel, the lateral diameter of the circular image, in shall be changed in accordance with the moving speed of the object is there.

  According to the wheelchair detection device of the present invention, unlike the detection of a wheelchair or a bicycle based on indirect elements such as the moving speed and height of an elevator occupant, for example, the wheelchair or bicycle wheel (main wheel) is detected. Since the wheelchair is detected, detection with high accuracy is possible.

It is a figure which shows the system configuration | structure of the elevator which concerns on Embodiment 1. FIG. 1 is an external view of an elevator according to Embodiment 1. FIG. It is a block diagram which shows the structure of the wheelchair detection apparatus which concerns on Embodiment 1. FIG. 3 is a flowchart showing the operation of the wheelchair detection apparatus according to the first embodiment. It is a figure which shows an example of the image data obtained from a photoelectric device. It is a flowchart which shows the detail of a wheelchair detection process. It is a flowchart of the process which cuts out the image data of an object from image data. It is a figure which shows an example of the image data of the cut-out object. It is a figure which shows the example of the template of a circular image. It is a figure for demonstrating operation | movement of the advancing direction detection part. It is a figure for demonstrating the detection method of the advancing direction when the detection timing of a wheelchair shifts from the descending detection period. It is a figure for demonstrating operation | movement of the wheelchair detection apparatus which concerns on Embodiment 2. FIG. FIG. 10 is a diagram for explaining a method of detecting a circular figure in the second embodiment.

<Embodiment 1>
FIG. 1 is a diagram showing a system configuration of an elevator according to Embodiment 1 of the present invention. As shown in the figure, the elevator according to the present embodiment includes an elevator car 1, a photoelectric device 2, a scale device 3, and a wheelchair detection device 10. FIG. 2 is an overview of the elevator as seen from the landing side.

  The door 4 is provided at the entrance / exit of the elevator car 1. Here, as the door 4, a two-sided side slide door in which the first and second door portions 4 a and 4 b, which are rectangular plates having substantially the same size, move in the lateral direction is illustrated. The door 4 may be a side open (single opening) type in which the first and second door portions 4a and 4b are slid and opened on one side, or may be a center open (middle opening) type which is slid and opened on both sides. The form of the door 4 may be arbitrary. For example, a form with one door plate may be used, or a form in which three or more door plates overlap and slide to one side or both sides may be used.

  The photoelectric device 2 is composed of a plurality of photoelectric elements 2a arranged in a vertical line on the side of the door 4, and detects an object passing between the opened doors 4 (crossing the photoelectric device 2). The photoelectric element 2a includes a light projecting unit that emits light and a light receiving unit that receives light from the light projecting unit, and can detect the presence or absence of an object by a change in light received by the light receiving unit. As for the type of the photoelectric element 2a, the light receiving unit and the light projecting unit are arranged on the same side of the door 4, and the light receiving unit detects the reflected light from the object, and detects the object, or the light receiving unit and the light projecting unit. There is a transmissive element in which the part is arranged with the door 4 interposed therebetween, and the light receiving part detects light shielding by the object to detect the object.

  The photoelectric element 2a may be either a reflection type or a transmission type, but this embodiment shows an example in which a transmission type is used as the photoelectric element 2a. That is, the presence of an object passing through the door 4 is detected when the light emitted from the light projecting unit does not reach the light receiving unit disposed across the door 4. Therefore, in this case, the photoelectric device 2 is provided on both sides of the door 4 as shown in FIG. In the photoelectric element 2a, the light projecting unit and the light receiving unit do not necessarily have a one-to-one correspondence. For example, a system in which a single light projecting unit emits light at a wide angle may be received by a plurality of light receiving units. .

  The photoelectric device 2 may be installed in either the elevator car 1 or each landing. Moreover, the installation position may not be a place visible in the elevator car 1 or from the landing. For example, in a general elevator, the door 4 is divided into a door on the shore side and a door on the landing side, but the photoelectric device 2 may be installed between the door on the shore side and the door on the landing side. . Moreover, the photoelectric device 2 may be installed in the elevator car 1 or may be installed at a landing on each floor.

  The scale device 3 is a weight sensor that measures the weight (loading weight) of an object in the elevator car 1. Here, an example is shown in which the weighing device 3 lifts the elevator car 1 from above and measures the weight. In this case, since the measured value of the scale device 3 includes the weight of the object in the elevator rod 1 as well as the weight of the elevator rod 1 itself and the weight of the rope for suspending it, the weight of the elevator rod 1 and the rope. Is previously measured, and the weight of the object in the elevator car 1 is obtained by subtracting it from the measured value.

  The mode of the scale device 3 may be arbitrary as long as the load weight of the elevator car 1 can be measured. For example, the aspect which the elevator apparatus 1 supports the elevator cage | basket 1 from the bottom, and measures the weight may be sufficient. In that case, the weight of the object in the elevator car 1 can be directly measured by using the measurement value when the elevator car 1 is empty as a reference.

  The wheelchair detection device 10 is based on the output signals of the photoelectric device 2 and the scale device 3, and the wheelchair passing between the doors 4 of the elevator car 1 (between the photoelectric devices 2) and its traveling direction (the wheelchair is the elevator car 1 Or whether the passenger got off the elevator car 1). FIG. 3 is a block diagram illustrating a configuration of the wheelchair detection device 10. The wheelchair detection device 10 includes a wheelchair detection unit 11, a traveling direction detection unit 12, and an operation control unit 13. The wheelchair detection device 10 is a microcomputer, and each of these elements is a functional block realized by software.

  The wheelchair detector 11 detects that the wheelchair has passed between the doors 4 based on the output signal of the photoelectric device 2. The traveling direction detection unit 12 detects the traveling direction of the wheelchair detected by the wheelchair detection unit 11 based on the output signal of the scale device 3.

  The operation control unit 13 performs control related to the operation of the elevator based on the detection result of the wheelchair by the wheelchair detection unit 11 and the detection result of the traveling direction of the wheelchair by the traveling direction detection unit 12. The driving control unit 13 can control the elevator in an operation mode (wheelchair driving mode) suitable for a wheelchair user, which is different from the normal driving operation, and the wheelchair detection device 10 is placed in the wheelchair 1 in the wheelchair 1. The elevator is controlled in the wheelchair operation mode while it is determined that is on the wheelchair.

  Hereinafter, operation | movement of the wheelchair detection apparatus 10 is demonstrated. FIG. 4 is a flowchart showing the operation of the wheelchair detection device 10. Hereinafter, the operation of the wheelchair detection device 10 will be described with reference to FIG.

  When the elevator car 1 stops at the landing and the door 4 opens, the wheelchair detection unit 11 of the wheelchair detection device 10 receives the output signal of the photoelectric device 2 (step ST1). At this time, when an object passes between the doors 4 (between the photoelectric devices 2), the output signal of the photoelectric device 2 changes. Since the photoelectric elements 2a of the photoelectric device 2 are arranged in a vertical line, when the measurement data output from the photoelectric elements 2a are plotted on the time axis, a binary image representing the shape of the object passing between the doors 4 is obtained. Is obtained. Hereinafter, a set of measurement data of the photoelectric device 2 obtained within a certain period is referred to as “image data”.

  For example, when a person in a wheelchair passes between the doors 4, the wheelchair detection unit 11 obtains an image as shown in FIG. Since the photoelectric element 2a of the present embodiment is a transmissive type, the portion corresponding to the light-shielded photoelectric element 2a appears as the shape of the object that passes between the doors 4 (shaded area in FIG. 5).

  Subsequently, the wheelchair detection unit 11 determines whether or not the wheelchair has passed between the doors 4 by detecting a circular figure corresponding to the wheel of the wheelchair from the image data thus obtained (step) ST2). In general, a wheelchair has a large-diameter main wheel that is arranged on both sides of a frame and is powered, and a small-diameter auxiliary wheel (caster) that is rotatably provided so as not to disturb the direction change. In the text, the wheel of a wheelchair refers to the main wheel.

  FIG. 6 is a flowchart of the wheelchair detection process (step ST2) by the wheelchair detection unit 11. In the wheelchair detection process, the wheelchair detection unit 11 cuts out image data of the part of the object that appears as one lump from the image data acquired from the photoelectric device 2 (step ST21). Next, a region (target region) to be searched for a wheelchair wheel is extracted from the image data of the cut out object (step ST22). Then, a circular object corresponding to the wheel is detected by detecting a circular figure in the target region (step ST23). Finally, it is determined whether the wheelchair has passed between the doors 4 by determining whether the detected circular figure corresponds to the wheel of the wheelchair (step ST24).

  Details of each step in FIG. 6 will be described below. Here, for simplicity of explanation, it is assumed that the wheelchair detection unit 11 has acquired the image data of FIG.

  First, a process (step ST21) in which the wheelchair detection unit 11 cuts out image data of an object from image data will be described. FIG. 7 is a flowchart showing the processing.

  The wheelchair detector 11 clears its own buffer (memory) and counter (steps ST211 and ST212), and then receives measurement data (image data for one column) of each photoelectric element 2a of the photoelectric device 2. From the measurement data of the photoelectric element 2a, the number of light-shielded photoelectric elements 2a is calculated, and if it is less than a predetermined threshold value (No in step ST214), it is determined that there is no object between the doors 4 (step ST217, ST219).

  On the other hand, if the number of light-shielded photoelectric elements 2a is equal to or greater than the above threshold value (Yes in step ST214), there is a high possibility that an object is passing between the doors 4. Is stored in the buffer (step ST215). Then, the counter is incremented (step ST216).

  In this case, the above steps ST213 to ST216 are repeated until the number of light-shielded photoelectric elements 2a becomes less than a predetermined threshold (until No in step ST214). Thereafter, when the light-shielded photoelectric element 2a becomes less than the threshold value, the wheelchair detection unit 11 checks the value of the counter at that time.

  If the counter value is equal to or greater than the predetermined threshold value (Yes in step ST217), it means that many photoelectric elements 2a are shielded from light for a certain period of time, so that an object passes between the doors 4. It is determined that “there is an object” (step ST218). However, when the value of the counter is less than the threshold value (No in step ST217), since the photoelectric element 2a is shielded from light for a very short time, it is highly likely that the light shielding is due to disturbance. Is not passed through ("no object") (step ST219).

  The buffer at the time point when it is determined that “the object is present” stores only image data of a period during which the object passes between the doors 4 without including the part before and after the object passes between the doors 4. Yes. The wheelchair detection unit 11 acquires the image data in the buffer, whereby the object image data cut-out process (step ST21 in FIG. 6) is completed. When the wheelchair detection part 11 has acquired the image data of FIG. 5, the image data which cut out only the part (period) in which an object exists like FIG. 8 is obtained.

  Note that threshold values used for determining the presence of an object, that is, a threshold value related to the determination in step ST214 (threshold value of the number of light-shielded photoelectric elements 2a) and a threshold value related to the determination in step ST217 (threshold value of the counter value) are as follows. These are respectively held in the wheelchair detector 11 in advance.

Next, the process (step ST22) which the wheelchair detection part 11 extracts the area | region (object area | region) used as the object which searches the wheel of a wheelchair is demonstrated. Since the wheel of the wheelchair is in contact with the floor and is always in a low position, the target area for searching for the wheel is a low portion in the cut out image data. For example, the area A of the image data in FIG. 8 is set as the target area. The height (number of pixels in the vertical direction) h of the target area A is determined by the following equation (1) based on the interval S (see FIG. 2) of the photoelectric elements 2a and the assumed maximum wheel size D _max. Is done.
h = D _max / S + α (1)
In equation (1), α is a margin.

  On the other hand, the position of the wheelchair wheel in the lateral direction (time axis direction) varies depending on the type of wheelchair and also changes depending on the direction of the wheelchair (for example, when the elevator 籠 1 is narrow and the wheelchair cannot change direction, the passenger can get on and off backwards) is there). Therefore, it is difficult to uniquely identify the lateral position of the wheel. Therefore, as shown in FIG. 8, the horizontal width of the target area A is preferably equal to the width (passage time of the object) W of the image data. However, the width of the target region may be narrowed if the lateral position of the wheel can be specified by some method.

  Subsequently, a process (step ST23) for detecting a circular figure corresponding to the wheel from the image data will be described. This process is performed on the target area of the image data of the cut out object.

  In this embodiment, detection of a circular figure is performed by a template matching method. That is, the wheelchair detection unit 11 holds a template of a circular image as shown in FIG. 9A in advance, and a position where the degree of coincidence with the template image is equal to or greater than a predetermined threshold within the target area (the center coordinates of the circle ). The threshold used at this time is also held in advance by the wheelchair detector 11.

Since the wheel size varies depending on the wheelchair, the template matching process is performed while changing the size of the circular image of the template. The diameter (D _H ) in the height direction of the circular image of the template may be changed between the assumed maximum size (D _max ) and minimum size (D _min ) of the wheel. That is, the diameter (D _H ) in the height direction of the circular image of the template is changed within a range satisfying the following relational expression (2).
D _min −D _α ≦ D _H ≦ D _max + D _β (2)
In relation (2), D _α and D _β are margins.

Since the horizontal axis of the image data is time, the wheel image may be elliptical depending on the moving speed of the wheelchair. Therefore, the horizontal diameter (D _W ) of the circular image of the template may be changed in accordance with the moving speed of the wheelchair.

  Assuming that the moving speed of the wheelchair is constant, the moving speed is determined based on the time required for the wheelchair to pass between the doors 4 (the time when the wheelchair crosses the photoelectric device 2), that is, the object image data clipping process (step ST21). ) Will correspond to the time required. For example, if the time required to cut out the image data of the object is short, it can be determined that the moving speed of the object is fast. Therefore, an elliptical image reduced in the horizontal direction as shown in FIG. 9B is used as a template. Conversely, if the time required for the object image data cut-out process is long, it can be determined that the moving speed of the object is slow. Therefore, an elliptical image as shown in FIG. 9C is used as a template.

The diameter (D _W ) in the horizontal direction of the circular image as the template may be determined by the following equation (3) based on the time t required to cut out the image data of the object.
D _W = D _H + (t−t ₀ ) × β × D _H (3)
In Expression (3), t ₀ is the time for which the wheelchair crosses the photoelectric device 2 (the time required for the object image data cut-out process) for the wheel image to be exactly a circle (D _W = D _H ). . Β is an enlargement / reduction parameter.

The wheelchair detection unit 11 performs template matching using the template of the circular image in the target region, and as a result of detecting the circular figure, the position where the degree of coincidence with the template is equal to or more than the threshold and the maximum is used. Create a list of pairs with the diameter (D _H ) in the height direction of the circular image of the template.

  Next, the determination process (step ST24) of whether the detected circular figure is a wheelchair wheel will be described.

  The wheelchair detection part 11 determines whether the image of the wheelchair is included in image data based on the list as a detection result of a circular figure. Here, the number of circular figures detected in the target area of the image data is examined from the number of pairs of circular figure positions and diameters listed. Normally, a wheelchair has two wheels, but the image data obtained by the photoelectric device 2 disposed on the side of the door 4 is an object viewed from the side with respect to the traveling direction. This image includes one wheel image as shown in FIG. Therefore, the wheelchair detection unit 11 determines that the image data includes a wheelchair image if the number of detected circular figures is 1, and determines that the wheelchair image is not included if the number is 0. .

  Since the wheelchair wheel has almost the same size and structure as a bicycle, when the number of circular figures detected from the image data of the object is 2, the probability that the object is not a wheelchair but a bicycle is high. Therefore, when the number of detected circular figures is two or more, the wheelchair detection unit 11 may determine that those circular figures do not correspond to the wheel of the wheelchair. In addition, since there should be a certain distance between the front wheel and the rear wheel of the bicycle, the wheelchair detection unit 11 calculates the distance between the two detected circular figures, and the distance is within a certain range. Only a bicycle may be determined, and the rest may be determined as a wheelchair.

  When the wheelchair detection process (step ST2 in FIG. 4) by the wheelchair detection unit 11 is completed by the above processing, the traveling direction detection unit 12 determines whether the detected traveling direction of the wheelchair (entered the elevator shaft 1 or the elevator shaft 1). 1) (step ST3).

  Since the horizontal axis of the image data acquired by the wheelchair detection unit 11 from the photoelectric device 2 is time, when the object enters the elevator car 1 and exits from the elevator car 1, the obtained image data is the same if the speed is the same. become. Therefore, the traveling direction of the object cannot be determined only by the image data. Therefore, when a wheelchair is detected, the advancing direction detection part 12 judges the advancing direction of a wheelchair from the change of the load weight in the elevator rod 1 which the balance apparatus 3 measured.

  Hereinafter, the determination process (step ST3) of the advancing direction of the wheelchair by the advancing direction detection part 12 is demonstrated. The traveling direction detection unit 12 monitors the measurement data of the determination scale device 3 to monitor the getting on and off of the elevator rod 1 in order to determine the traveling direction of the wheelchair.

FIG. 10A is an example of a change of the load weight WT (i) measured by the scale device 3 with respect to the time t (i). FIG. 10B is an example of a time series change of the time difference ΔWT (i) calculated from the time change of the loading weight WT (i). The time difference data ΔWT (i) is calculated by the following equation (4).
ΔWT (i) = (WT (i + Δi) −WT (i)) / Δi (4)
In equation (4), Δi is the difference interval.

  Since the time difference ΔWT (i) shown in FIG. 10B corresponds to the gradient of the change in the load weight in the elevator car 1, it is a negative value while the load weight is decreasing, and is positive while the load weight is increasing. The value is zero while there is no change in the load weight. It can be determined that the object is getting off from the elevator car 1 during the period [t (i), t (i−x)] in which the time difference ΔWT (i) swings to the negative side. On the contrary, it can be determined that the object is in the elevator car 1 during the period (not shown) in which the time difference ΔWT (i) swings to the positive side.

  Hereinafter, a period in which the traveling direction detection unit 12 detects that an object has descended from the elevator car 1 is referred to as a “falling detection period”, and a period in which an object has entered the elevator car 1 is referred to as “ This is referred to as a “ride riding detection period”.

  The traveling direction detection unit 12 determines the traveling direction of the wheelchair based on the temporal relationship between the timing when the wheelchair detection unit 11 detects the wheelchair and the riding detection period or the descending detection period. For example, when a wheelchair is detected during the riding detection period, it can be determined that the wheelchair has been on the elevator car 1. On the contrary, when the wheelchair detection unit 11 detects the wheelchair while it is determined to be during the descending detection period, it can be determined that the wheelchair has descended from the elevator rod 1.

  Here, the photoelectric device 2 used for detecting the wheelchair and the scale device 3 used for detecting the traveling direction of the object (acquisition of the riding detection period and the descending detection period) are different from each other in the sensor series. Does not operate synchronously. For this reason, there may be a case where a timing difference occurs between the timing at which the wheelchair detection unit 11 detects the wheelchair and the riding detection period / falling detection period detected by the traveling direction detection unit 12.

For example, when the wheelchair gets off the elevator pole 1, as shown in FIG. 11, the time t _d when the wheelchair is detected by the wheelchair detector 11 is the descending detection period [t (i) acquired by the traveling direction detector 12. , T (i−x)]. In this case, the wheelchair detector 10, shifting back and forth the time t _d of the wheelchair detection range of a predetermined time (z), look for Fukago detection period or Nokago detection period timing overlap. That is, in the range of ± z wheelchair detection time t _d, Find Nokago detection period and Fukago detection period. Result of shifting the time t _d of the wheelchair detection as in FIG. 11, if consistent with Fukago detection period, the wheelchair is determined that descended from the elevator cage 1.

Here, the wheelchair detection time t _d is shifted back and forth to search for a matching riding detection period or descending detection period. Of course, the riding detection period and the descending detection period are shifted forward and backward to match. it may be to look for a time t _d of the wheelchair detection.

  When the wheelchair is detected by the wheelchair detection unit 11 and the traveling direction is detected by the traveling direction detection unit 12, the operation control unit 13 determines whether the operation of the elevator is set to the normal operation mode based on the detection result. Then, it is determined whether or not the wheelchair driving mode is set (step ST4). That is, the elevator is set to the wheelchair operation mode from when it is detected that the wheelchair has entered the elevator rod 1 until it is detected that the wheelchair has left the elevator rod 1.

  In the wheelchair operation mode, the opening / closing speed of the door 4 is slower than usual, or the time during which the door 4 is open is longer than usual. In addition, the voice announcement such as “Number of floors at the current position of elevator 籠 1 and door operation. XX floor. Door opens (closes)” should be played only in the wheelchair operation mode. May be.

  According to the present embodiment, since the entry / exit of the wheelchair to / from the elevator car 1 can be detected, the wheelchair operation mode can be performed only while the wheelchair is on the elevator car 1. In other words, when the wheelchair user gets off the elevator 籠 1, the normal driving mode is quickly returned, so that the general passenger does not feel inconvenience by continuing the wheelchair driving mode unnecessarily.

  In recent years, there are many elevators equipped with a photoelectric device as shown in FIG. 2 to prevent the door from being caught. Many of them are equipped with a scale device to detect the excess capacity of the elevator car. The present invention can use the photoelectric device and the scale device for detection of a wheelchair and its traveling direction. Therefore, an increase in cost for providing the wheelchair detection means to the elevator can be suppressed.

  In the present embodiment, an example in which the wheelchair detection device 10 according to the present invention is applied to an elevator has been shown. However, the application of the present invention is not limited to an elevator, and a space where a wheelchair is assumed to enter and exit is assumed. And widely applicable.

  The space where the wheelchair enters and exits may be a fixed space such as a hospital room, but it is difficult to measure the weight in the space, so that the traveling direction detection unit 12 detects the traveling direction of the wheelchair based on the weight change in the space. Is difficult. However, it is possible for at least the wheelchair detection unit 11 to detect whether or not the wheelchair has passed using the photoelectric device 2. Further, instead of the traveling direction detection unit 12 according to the present invention, other means capable of detecting the traveling direction may be provided.

<Embodiment 2>
In Embodiment 1, the process of detecting a circular figure corresponding to the wheel from the image data (step ST23 in FIG. 6) is performed by a template matching method (referred to as “first wheelchair detection method”). Embodiment 2 shows another method. In other words, in the present embodiment, the wheelchair detection unit 11 detects, on the wheel, by detecting, from the image data of the cut-out object, a shape in which a graphic in which the inclination of the center line with respect to the time axis is continuous with a negative graphic is connected. A corresponding circular figure is detected (referred to as “second wheelchair detection method”).

  Hereinafter, although the detection method of the circular figure in this Embodiment is demonstrated, each threshold-value N, P, and Q shown in it is what the wheelchair detection part 11 hold | maintains previously.

  For example, when the area B shown in the image data of FIG. 12 is enlarged, a set of points as shown in FIG. A black circle is a light shielding point corresponding to the light-shielded photoelectric element 2a. The vertical interval S between the light shielding points corresponds to the interval between the photoelectric elements 2a (see FIG. 2), and the horizontal interval Δt corresponds to the period in which the wheelchair detection unit 11 receives measurement data from the photoelectric device 2.

  The wheelchair detection unit 11 extracts, from the acquired image data, N or less (four in this case) continuous shading points in the horizontal direction (time axis direction), and a center point serving as the center of gravity (FIG. 13). (Square of (b)) is obtained. Then, the inclination of the center line formed by connecting adjacent center points with respect to the time axis is calculated. At this time, a figure having a positive value of the center line over P or more center points and a figure having a negative value of the center line over Q or more center points are extracted. Based on the extraction result, a graphic in which a graphic having a positive center line and a negative graphic is detected is detected.

  As shown in FIG. 13 (b), the left part of the circular figure has a shape in which the central line has a positive and negative graphic (the upper part has a positive inclination and the lower part has a negative inclination). . In the present embodiment, such a figure is determined as a part of a circle, and this is used for detection of a circular figure corresponding to the wheel of a wheelchair.

  In the above description, an example in which the left part of a circular figure is detected has been shown, but the right part of the circular figure may of course be detected (the upper part has a negative slope and the lower part has a positive slope). . Further, by detecting a pair of a left part and a right part of a circular figure, it may be detected as one circular figure.

  The wheelchair detection unit 11 may perform a combination of the first wheelchair detection method based on template matching and the second wheelchair detection method according to the present embodiment. In that case, if one of the first and second wheelchair detection methods detects a circular figure, the wheelchair detection unit 11 may recognize it as a circular object, or the first and second wheelchair detection methods. Both of them may not be recognized as a circular object unless a circular figure is detected at the same position. Thus, the detection accuracy of a wheelchair can be made higher by combining a plurality of methods.

<Embodiment 3>
In the third embodiment, the wheelchair detection device 10 performs detection of a wheelchair user by combining the detection method of the present invention for detecting a circular figure from image data and other methods.

  As another detection method of a wheelchair user, there is a method of detecting based on the height of an object passing between the doors 4 as in, for example, Patent Document 2 described above (“third wheelchair detection method”) To do). This method can be implemented by changing the software in the wheelchair detection apparatus 10 having the configuration shown in FIGS. This is because the height H of the object can be calculated from the maximum value of the light shielding point height in the image data obtained from the photoelectric device 2 by the wheelchair detection unit 11 as shown in FIG.

  Since the height of the wheelchair user is lower than that of the general user, the wheelchair detection unit 11 holds in advance the maximum value of the assumed height of the wheelchair user as the threshold value HT, and the height H of the object is When the value is equal to or lower than the threshold value HT, the object is detected as a wheelchair user.

  Still another detection method is, for example, a method based on the load amount change V (see FIG. 10A) in the elevator car 1 (referred to as “fourth wheelchair detection method”). This method can also be implemented by changing the software in the wheelchair detection apparatus 10 having the configuration shown in FIGS. This is because the change amount V of the loaded weight in the elevator car 1 can be measured by the scale device 3.

  Since the wheelchair user has a larger change amount V of the load weight by the weight of the wheelchair, the wheelchair detection unit 11 holds the minimum value of the total weight of the wheelchair user as a threshold value VT in advance, When the weight change amount V is equal to or greater than the threshold value, it is detected as a wheelchair user getting on and off.

  Note that the load weight change amount V may be obtained from time difference data as shown in FIG. For example, the sum of the time difference data ΔWT (i) for the period [t (i), t (i−x)] from when the time difference data ΔWT (i) becomes a negative value until it shows zero or more. Is equal to the change amount V of the load weight during that period, and it is only necessary to calculate it.

  Since general users also have large variations in weight and height, it is difficult to obtain sufficiently high detection accuracy for wheelchair users only by the third and fourth wheelchair detection methods. By combining with the first and second wheelchair detection methods, the detection accuracy can be improved. Further, the third and fourth wheelchair detection methods can be implemented by changing the software even in the wheelchair detection device 10 having the configuration shown in FIGS. 1 to 3, so that the cost increase of the wheelchair detection device 10 according to the present invention is minimized. It can be suppressed to the limit.

  In addition, when combined with the first to fourth wheelchair detection methods, the presence of the wheelchair user may be recognized when a wheelchair user is detected in a part of the method, or the wheelchair user may be recognized by all of them. If the user is not detected, the presence of the wheelchair user may not be recognized.

<Embodiment 4>
As described in the first embodiment, when the wheelchair detection unit 11 detects two circular figures corresponding to the wheels from the image data obtained from the photoelectric device 2, it can be determined that the bicycle is not a wheelchair. . Therefore, the wheelchair detection device 10 of the present invention can also function as a bicycle detection device. Since the configuration and operation of the wheelchair detection device 10 are the same as those in the first embodiment except that the wheelchair detection unit 11 detects two wheels of the bicycle, description thereof is omitted here.

  The method for detecting the wheel of the bicycle may be a template matching method using a circular image template (corresponding to the first wheelchair detection method), and there may be a figure having a positive and negative figure of the center point with respect to the time axis. A method of detecting a figure formed in a row (corresponding to a second wheelchair detection method) may be used, or both of them may be combined.

  Also, since there should be a certain distance between the front and rear wheels of the bicycle, calculate the distance between the two detected circular figures and determine that the bicycle is a bicycle only if the distance is within a certain range. It may be.

  When the bicycle detection device is applied to an elevator, the elevator can be provided with a predetermined “bicycle operation mode”. Since it takes some time to load and unload a bicycle on the elevator, in the bicycle operation mode, as with the wheelchair operation mode, the opening / closing speed of the elevator door is slowed down or the time during which the door is open is increased. It is effective to do.

  Furthermore, the wheelchair detection device 10 may have both wheelchair and bicycle detection functions. In that case, if one circular figure is detected in the image data obtained from the photoelectric device 2, it is determined as a wheelchair and the elevator is caused to execute the wheelchair operation mode while it is on the elevator car 1. If two circular figures are detected, the bicycle is determined to be a bicycle, and while it is in the elevator car 1, the elevator is caused to execute the bicycle driving mode. This makes it possible to operate the elevator suitable for both wheelchair users and bicycle users.

  In addition, the bicycle detection device according to the present invention is not limited to an elevator, and can be widely applied to a space where a bicycle is expected to enter and exit, such as a bicycle parking lot. In a fixed space such as a bicycle parking lot, it is difficult to detect the traveling direction of the bicycle from the weight change in the space, but it is possible to detect whether the wheelchair has passed using the photoelectric device 2. Further, instead of the traveling direction detection unit 12 according to the present invention, other means capable of detecting the traveling direction may be provided.

  DESCRIPTION OF SYMBOLS 1 Elevator cage, 10 Wheelchair detection apparatus, 2 Photoelectric apparatus, 2a Photoelectric element, 3 Scale apparatus, 4 Door, 11 Wheelchair detection part, 12 Travel direction detection part, 13 Operation control part.

Claims (9)

A photoelectric device composed of a plurality of photoelectric elements arranged side by side in the height direction;
From the time change of the output signal of the photoelectric device, image data corresponding to the shape of the object crossing the photoelectric device is generated, and the photoelectric device is detected by detecting a circular figure corresponding to the wheel from the image data. A wheelchair detector for detecting that the wheelchair has crossed ,
The wheelchair detection unit detects a circular figure corresponding to a wheel by a template matching method using a template of a circular image. In the template matching method, the horizontal diameter of the circular image is determined by the movement of the object. A wheelchair detection device characterized by changing according to speed . A photoelectric device composed of a plurality of photoelectric elements arranged side by side in the height direction;
From the time change of the output signal of the photoelectric device, image data corresponding to the shape of the object crossing the photoelectric device is generated, and the photoelectric device is detected by detecting a circular figure corresponding to the wheel from the image data. A wheelchair detector for detecting that the wheelchair has crossed,
The wheelchair detection unit detects a circular graphic corresponding to a wheel by detecting a shape in which a graphic having a positive centerline with respect to a time axis and a negative graphic are connected from the image data.
A wheelchair detection device characterized by that. When two or more circular figures corresponding to wheels are detected from the image data, the wheelchair detection unit considers that an object crossing the photoelectric device is not a wheelchair.
The wheelchair detection device according to claim 1 or 2. A wheelchair detection device according to any one of claims 1 to 3,
The photoelectric device is installed at the entrance to the elevator car
An elevator characterized by that. A control unit for controlling the operation of the elevator;
The control unit determines whether or not a wheelchair is in the elevator car based on the detection result of the wheelchair detection device. While the wheelchair is in the elevator car, the wheelchair is not normal. Operate the elevator in the operation mode
The elevator according to claim 4. A photoelectric device composed of a plurality of photoelectric elements arranged side by side in the height direction;
From the time change of the output signal of the photoelectric device, image data corresponding to the shape of the object crossing the photoelectric device is generated, and two circular figures corresponding to the wheels are detected from the image data. A bicycle detector for detecting that the bicycle has crossed the device,
The bicycle detection unit detects a circular figure corresponding to a wheel by a template matching method using a template of a circular image, and in the template matching method, the lateral diameter of the circular image is determined by the movement of the object. Change according to speed
A bicycle detection device characterized by that. A photoelectric device composed of a plurality of photoelectric elements arranged side by side in the height direction;
From the time change of the output signal of the photoelectric device, image data corresponding to the shape of the object crossing the photoelectric device is generated, and two circular figures corresponding to the wheels are detected from the image data. A bicycle detector for detecting that the bicycle has crossed the device,
The bicycle detection unit detects a circular graphic corresponding to a wheel by detecting a shape in which a graphic having a positive center line with respect to a time axis and a negative graphic are connected from the image data.
A bicycle detection device characterized by that. A bicycle detection device according to claim 6 or 7,
The photoelectric device is installed at the entrance to the elevator car
An elevator characterized by that. A control unit for controlling the operation of the elevator;
The control unit determines whether or not a bicycle is riding in the elevator car based on the detection result of the bicycle detection device, and is different from a normal bicycle while the bicycle is riding in the elevator car. Operate the elevator in the operation mode
The elevator according to claim 8.

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