To provide an elevator and an escalator each provided with a distance image sensor installed without damaging design and capable of highly accurately measuring a distance value to a passenger.SOLUTION: The elevator is provided with: a first camera 1 and a second camera 2 which are installed in an upper part of a car 51 and have optical axes obliquely inclined with respect to a ceiling or a wall surface of the car 51; a stereo camera 52 which has an optical axis obliquely directed with respect to a base line; a polar coordinate correction unit 3 which makes parallel photographed images of the first and second cameras 1 and 2 through polar coordinate conversion for conversion into photographed images on a polar coordinate system with an epi-pole set as an origin; a stereo distance measurement unit 4 which calculates a three-dimensional point group indicating a passenger in the car 51 photographed by the stereo camera 52 by carrying out stereo distance measurement for the photographed images of the first and second cameras 1 and 2 made parallel by the polar coordinate correction unit 3; a passenger recognition unit 5 which extracts the three-dimensional point group from the photographed image of the first camera 1 and recognizes the passenger in the car 51; and a control unit 6 which controls the car 51 in accordance with the passenger recognition result of the passenger recognition unit 5.SELECTED DRAWING: Figure 1
【課題】意匠性を損なわずに設置された距離画像センサを備え、高精度に乗客までの距離値を計測できるエレベータ及びエスカレータを提供する。【解決手段】かご51の上部に設置され、光軸がかご51の天井又は壁面に対して斜めに傾いている第1のカメラ1と第2のカメラ2を備え、基線に対して光軸が斜めを向いているステレオカメラ52と、第1、第2のカメラ1、2の撮影画像に対し、エピ極を原点とした極座標系での撮影画像に変換する極座標変換を用いて平行化を行う極座標補正部3と、極座標補正部3が平行化を行った第1、第2のカメラ1、2の撮影画像についてステレオ測距を行い、ステレオカメラ52が撮影したかご51内の乗客を表す3次元点群を求めるステレオ測距部4と、3次元点群を第1のカメラ1の撮影画像から抽出してかご51内の乗客を認識する乗客認識部5と、乗客認識部5による乗客の認識結果に応じてかご51を制御する制御部6を備える。【選択図】図1
ELEVATOR AND ESCALATOR
エレベータ及びエスカレータ
2019-01-17
Patent
Electronic Resource
Japanese