Patent Grant
10214391
This application claims priority to Chinese Patent Application No. 201610610340.5, filed July 29, 2016, and all the benefits accruing therefrom under 35U.S.C. § 119, the contents of which in its entirety are herein incorporated by reference.
The present invention belongs to the field of Passenger Conveyor technologies, and relates to automatic monitoring of a foreign matter at a Handrail Entry of a Handrail of a passenger conveyor.
A passenger conveyor (such as an escalator or a moving walk) is increasingly widely used in public places such as subways, shopping malls, and airports, and operation safety thereof is increasingly important.
The passenger conveyor has a moving step and a moving handrail. During operation, the handrail circularly slides and enters a handrail entry according to a predetermined direction. Therefore, there is a possibility that an external foreign matter is entrapped into the handrail entry. Especially, if a body part of a passenger is located on the handrail near the handrail entry, there is a risk that the body is entrapped into the handrail entry. For example, a child playing at the handrail exit and entry may place his/her hand on the handrail near the handrail entry, and at this point, the hand is in danger of being entrapped.
In the prior art, whether an external foreign matter is entrapped into the handrail entry is detected by disposing a safety switch in the passenger conveyor, and when it is detected that a foreign matter is entrapped into the handrail entry, the safety switch is triggered and the passenger conveyor is stopped, to avoid expansion of an accident. However, before the safety switch is triggered, a foreign matter has been entrapped into the handrail entry, and generally, an accident has taken place.
According to one aspect of the present invention, a handrail entry monitoring system of a passenger conveyor is provided, including: an imaging sensor and/or a depth sensing sensor configured to sense at least part of a handrail entry region of the passenger conveyor to acquire a data frame; and a processing apparatus configured to analyze the data frame to monitor whether a handrail entry of the operating passenger conveyor is in a normal state or an abnormal state, wherein the normal state refers to that no foreign matter is about to enter or is already at least partially in a dangerous region of the handrail entry, and the abnormal state refers to that a foreign matter is about to enter or is already at least partially in the dangerous region of the handrail entry.
According to another aspect of the present invention, a handrail entry monitoring method of a passenger conveyor is provided, including steps of: sensing, by an imaging sensor and/or a depth sensing sensor, at least part of a handrail entry region of the passenger conveyor to acquire a data frame; and analyzing the data frame to monitor whether a handrail entry of the operating passenger conveyor is in a normal state or an abnormal state; wherein the normal state refers to that no foreign matter is about to enter or is already at least partially in a dangerous region of the handrail entry, and the abnormal state refers to that a foreign matter is about to enter or is already at least partially in the dangerous region of the handrail entry.
According to a further aspect of the present invention, a passenger conveying system is provided, including a passenger conveyor and the handrail entry monitoring system described above.
The foregoing features and operations of the present invention will become more evident according to the following descriptions and the accompanying drawings.
In the following detailed description with reference to the accompanying drawings, the foregoing and other objectives and advantages of the present invention would be more complete and clearer, wherein identical or similar elements are indicated with identical reference signs.
The present invention is now described more completely with reference to the accompanying drawings. Exemplary embodiments of the present invention are illustrated in the accompanying drawings. However, the present invention may be implemented in lots of different forms, which should not be understood as being limited to the embodiments described herein. On the contrary, the embodiments are provided to make the disclosure thorough and complete, and fully convey the concept of the present invention to those skilled in the art.
Some block diagrams shown in the accompanying drawings are functional entities, and do not necessarily correspond to physically or logically independent entities. The functional entities may be implemented in the form of software, or the functional entities are implemented in one or more hardware modules or an integrated circuit, or the functional entities are implemented in different processing apparatuses and/or microcontroller apparatuses.
In the present invention, the passenger conveyor includes an Escalator and a Moving Walk. In the following illustrated embodiments, the handrail entry monitoring system and monitoring method according to the embodiments of the present invention are described in detail by taking the escalator as an example. However, it should be appreciated that the handrail entry monitoring system and monitoring method for an escalator in the following embodiments may also be analogically applied to a moving walk, in which adaptive improvements or the like that may need to be performed can be obtained by those skilled in the art with the teachings of the embodiments of the present invention.
It should be noted that, in the present invention, that the handrail entry of the passenger conveyor is in a “normal state” refers to that no foreign matter is about to enter or is already at least partially in a dangerous region of the handrail entry; on the contrary, an “abnormal state” refers to that a foreign matter is about to enter or is already at least partially in the dangerous region of the handrail entry. The dangerous region refers to that a foreign matter in this spatial region has a possibility of being entrapped into the handrail entry when the handrail operates at a predetermined speed. Therefore, the dangerous region is a relative concept, and may be set according to a specific condition. For example, if the operating speed of the handrail is faster, the dangerous region may be expanded accordingly; if there is a higher requirement for the safety of the passenger conveyor, the dangerous region may be expanded accordingly, and so on.
Under the daily operation condition, the handrail 950 continuously turns around and operates in a direction at a predetermined speed, and the operating speed thereof may change. It should be further understood that the operating direction thereof also changes. Therefore, the handrail entry of the handrail entry region 951 is a relative concept. For example, when the step and the handrail 950 operate upwards in
Referring to
The handrail entry monitoring system shown in
The sensing apparatus 310 is specifically an imaging sensor or a depth sensing sensor, or a combination thereof. According to a specific requirement and a monitoring range of a sensor, the escalator 900 may be provided with one or more sensing apparatuses 310, for example, 3101 to 310n, where N is an integer greater than or equal to 1. The sensing apparatus 310 is mounted in such a manner that it can relatively clearly and accurately sense the entry region 951 of the escalator 900 with the largest viewing angle, and the specific mounting manner and mounting position thereof are not limited. In the embodiment shown in
The imaging sensor may be a 2D image sensor of various types. It should be understood that any image sensor capable of capturing an image frame including pixel grayscale information may be applied herein. Definitely, image sensors capable of capturing an image frame including pixel grayscale information and color information (such as RGB information) may also be applied herein.
The depth sensing sensor may be any 1D, 2D or 3D depth sensor or a combination thereof, and to accurately sense handrail parts and the like at the handrail entry region 951 and foreign matters that possibly appear, a depth sensing sensor of a corresponding type may be selected according to a specific application environment. Such a sensor is operable in an optical, electromagnetic or acoustic spectrum capable of producing a depth map (also known as a point cloud or occupancy grid) with a corresponding texture. Various depth sensing sensor technologies and devices include, but are not limited to, structured light measurement, phase shift measurement, time-of-flight measurement, a stereo triangulation device, an optical triangulation device plate, a light field camera, a coded aperture camera, a computational imaging technology, simultaneous localization and map-building (SLAM), an imaging radar, an imaging sonar, an echolocation device, a scanning LIDAR, a flash LIDAR, a passive infrared (PIR) sensor, and a small focal plane array (FPA), or a combination including at least one of the foregoing. Different technologies may include active (transmitting and receiving a signal) or passive (only receiving a signal) technologies and are operable in a band of electromagnetic or acoustic spectrum (such as visual and infrared). Depth sensing may achieve particular advantages over conventional 2D imaging. Infrared sensing may achieve particular benefits over visible spectrum imaging. Alternatively or additionally, the sensor may be an infrared sensor with one or more pixel spatial resolutions, e.g., a passive infrared (PIR) sensor or a small IR focal plane array (FPA).
It should be noted that there may be property and quantity differences between a 2D imaging sensor (e.g., a conventional security camera) and the 1D, 2D, or 3D depth sensing sensor in terms of the extent that the depth sensing provides numerous advantages. In 2D imaging, a reflected color (a mixture of wavelengths) from the first object in each radial direction of the imager is captured. A 2D image, then, may include a combined spectrum of source lighting and a spectral reflectivity of an object in a scene. The 2D image may be interpreted by a person as a picture. In the 1D, 2D, or 3D depth-sensing sensor, there is no color (spectrum) information; more specifically, a distance (depth, range) to a first reflection object in a radial direction (1D) or directions (2D, 3D) from the sensor is captured. The 1D, 2D, and 3D technologies may have inherent maximum detectable range limits and may have a spatial resolution relatively lower than that of a typical 2D imager. In terms of relative immunity to ambient lighting problems, compared with the conventional 2D imaging, the 1D, 2D, or 3D depth sensing may advantageously provide improved operations, and better separation and better privacy protection of shielded objects. Infrared sensing may achieve particular benefits over visible spectrum imaging. For example, it is possible that a 2D image cannot be converted into a depth map and a depth map does not have a capability of being converted into a 2D image (for example, artificial allocation of continuous colors or grayscale to continuous depths may cause a person to roughly interpret a depth map in a manner somewhat akin to how a person sees a 2D image, while the depth map is not an image in a conventional sense).
When the sensing apparatus 310 is specifically a combination of an imaging sensor and a depth sensing sensor, the sensing apparatus 310 may be an RGB-D sensor, which may acquire RGB information and depth (D) information at the same time.
The sensing apparatus 310 senses the handrail entry region 951 of the escalator 900 and obtains multiple data frames, that is, sequence frames, in real time; if an imaging sensor is used for sensing and acquisition, the sequence frames are multiple image frames, wherein each pixel has, for example, corresponding grayscale information and color information; if a depth sensing sensor is used for sensing and acquisition, the sequence frames are multiple depth maps, wherein each pixel or occupancy grid also has a corresponding depth dimension (reflecting depth information).
If it is necessary to monitor the handrail entry region 951 all the time, multiple sensing apparatuses 310 that can operate at the same time to acquire corresponding data frames are correspondingly mounted at the handrail entry region 951, to comprehensively monitor various parts of a same handrail entry region 951. The data frames acquired by each sensing apparatus are transmitted to and stored in a processing apparatus 100. The above process of sensing and acquiring data frames by the sensing apparatus 310 may be implemented under the control of the processing apparatus 100 or the passenger conveyor controller 910. The processing apparatus 100 is further responsible for analyzing each data frame, and finally obtaining information indicating whether the handrail entry region 951 of the escalator 900 is in a normal state, for example, determining whether a foreign matter is in a dangerous region of the handrail entry.
Continuously as shown in
It should be understood that, in the following handrail entry monitoring stage, the background model may be updated adaptively. When an application scene, sensor type or setting changes, a corresponding background model may be acquired through re-learning in the initialization stage, or adaptive updating may be performed in real time, for example, by using a method such as GMM or RPCA.
The foreground detection module 120 is configured to compare a depth map or image acquired in real time with the background model to obtain a foreground object. Specifically, during the comparison, if an imaging sensor is used, the data frame is a 2D image, the background model is also formed based on a 2D image, and the comparison process may specifically be differential processing. For example, a pixel in the 2D image is compared with a corresponding pixel of the background model to calculate a difference (e.g., a grayscale difference), the pixel is retained when the difference is greater than a predetermined value, and thus a foreground object can be obtained. If a depth sensing sensor is used, the data frame is a depth map, and the background model is also formed based on a 3D depth map. For example, an occupancy grid of the depth map may be compared with a corresponding occupancy grid in the background model (e.g., a depth difference is calculated), depth information of the occupancy grid is retained (indicating that the occupancy grid is) when the difference is greater than a predetermined value, and thus a foreground object can be obtained.
If a foreign matter is placed on the handrail 950 or in other situations where the foreign matter enters a dangerous region of the handrail entry 951, the corresponding data frame portion is compared with the corresponding portion of the background model, and the obtained foreground object may also include related features reflecting the foreign matter.
In an embodiment, the foreground detection module 120 is further provided with a foreground filtering sub-module (not shown in
By taking the Morphological filtering technology as an example, morphological filtering can be used to remove a corresponding foreground object if selected features (e.g., height, width, aspect ratio, volume, and the like) are outside a corresponding threshold (e.g., a dynamically calculated threshold, a static threshold, or the like). By taking the Geometric filtering technology as an example, geometric filtering can be used to further remove spurious foreground objects outside the scene boundary. For example, the depth map-based background model defines an environment boundary of a 3D scene. If the depth of a blob is greater than the corresponding depth dimension of the background model, the blob is outside of the environment boundary of the 3D scene and can be removed. In practice, the blob is possibly formed by surface-emitting of a shiny floor plate, and is absolutely not a foreign matter.
In an embodiment, as shown in
Continuously as shown in
Continuously as shown in
Specifically, if the position feature of the foreground object is indicated with distance information relative to a reference point, the distance information may be compared with distance information of a corresponding reference point relative to the dangerous region defined by the scene model. For example, if the difference is less than a threshold, it is determined that the foreground object enters the dangerous region, the foreign matter of the foreground object may enter the dangerous region, and it is determined that the handrail entry is in an abnormal state; on the contrary, it is determined that the handrail entry is in a normal state.
In an embodiment, as shown in
By taking that the foreign matter is a foreground object corresponding to a hand as an example, position information of the foreground object corresponding to the hand in each frame is extracted and obtained in the foreground feature extraction module 130, and the track generation module 140 can generate, according to the foreground object (hand) in each frame tracked by using a filter technology and with reference to position information of the foreground object (hand) in each frame, a movement track of the foreground object of the hand.
Correspondingly, the state judgment module 170 may be coupled to the track generation module 140, and pre-judge movement of the foreign matter by using the movement track. The state judgment module 170 may pre-judge, based on a movement track of a target foreground object (e.g., hand), whether the target foreground object is about to enter the dangerous region of the handrail entry even if the target foreground object (e.g., hand) has not yet entered the dangerous region (i.e., judgment is made by the state judgment module 170 based on the position information), and also determine, when the judgment result is “yes”, that the handrail entry is in an abnormal state. The embodiment may make pre-judgment when a foreign matter has not yet entered but is about to enter the dangerous region of the handrail entry, thereby gaining response time for the control over the escalator. When it is absolutely necessary to avoid entrapment of a foreign matter, the solution of this embodiment may be adopted, for example, when it is absolutely necessary to avoid entrapment of a foreign matter such as a hand, according to the movement track which is generated in the track generation module 140 and corresponding to the movement of the hand at the handrail, the state judgment module 170 may pre-judge a dangerous situation, thereby gaining time for a braking operation and response of the escalator, which can effectively prevent a foreign matter such as a hand from being entrapped into the handrail entry, and improve operation safety of the escalator.
In the above pre-judgment process, expected distance related information relative to a reference point may be calculated based on the movement track, and thus the expected distance related information may also be compared with distance information of a corresponding reference point relative to the dangerous region defined by the scene model, for example, if the difference is less than a threshold, it is determined that the foreground object will enter the dangerous region at an expected time point.
In an embodiment, as shown in
The specific setting of the neighboring region may depend on a specific situation, for example, an operating speed of the handrail 950 and the like. The neighboring region may be defined by the scene model generation module 150, and the specific defining method thereof is similar to the defining method of the dangerous region. The neighboring region may also be regarded as a buffer region of the dangerous region.
It should be noted that, under most monitoring circumstances, the data frame acquired by the sensing apparatus 310 is, as a matter of fact, basically the same as the background model obtained by calculation (for example, there is no foreign matter at all at the detected handrail entry region 951 of the escalator 900). In this case, there is basically no foreground object in the foreground detection module 120 (for example, there is only noise information), and at this point, the state judgment module 170 may directly determine that the handrail entry is in a normal state, that is, there is no foreign matter at the handrail entry region 951, and thus it is not necessary to make judgment based on the foreground feature extracted by the foreground feature extraction module 130, which improves the efficiency of the judgment.
When the state judgment module 170 in the processing apparatus 100 of the above embodiment determines that the monitored handrail entry is in an abnormal state (for example, a hand enters or is about to enter the dangerous region), a corresponding signal may be sent to the passenger conveyor controller 910 of the escalator 900, to take corresponding measures. For example, the controller 910 further sends a signal to the braking part 930 to reduce a step operating speed or carry out braking. The processing apparatus 200 may further send a signal to the alarm unit 930 mounted above the escalator 900 to remind the passenger to watch out, for example, make an alarm sound. Definitely, the processing apparatus 200 may further send a signal to a monitoring center 940 or the like of a building, to prompt that a site processing needs to be performed in time, or prompt that the escalator 900 needs to be controlled manually according to a site monitoring picture. The measures specifically taken when it is found that the handrail entry of the escalator 900 is in the abnormal state are not limited.
The handrail entry monitoring system in the embodiment shown in
It should be understood that, when the monitoring system of the embodiment of the present invention performs monitoring based on the depth map obtained by the depth sensing sensor, the sensing of the depth sensing sensor for a local small region of the handrail entry is more accurate, and an influence caused by that the light intensity near the handrail entry is easy to change (for example, a passenger passing by easily affects the light intensity at the handrail entry significantly) can be fully avoided. The characteristic that the depth sensing sensor is immune to changes in ambient light intensity is made good use of. Therefore, the accuracy in terms of a background model, a foreground object, a foreground feature, a dangerous region, foreground object judgment, and a movement track and the like will be improved, and the accuracy of the judgment is also improved. Moreover, when the 2D image obtained based on the imaging sensor is monitored, as the dangerous region can only be defined with a 2D plane region, the judgment of whether the handrail entry is in a normal state made based on the 2D dangerous region is less accurate than that based on a 3D dangerous region.
A process of a method of monitoring whether the handrail entry is in a normal state based on the handrail entry monitoring system in the embodiment shown in
First of all, in step S11, at least part of a handrail entry region of the passenger conveyor is sensed by an imaging sensor and/or a depth sensing sensor, to acquire a data frame. It should be noted that, when a background model is acquired through learning or a dangerous region and a neighboring region thereof are defined, the data frame is sensed and acquired when the handrail entry is in a normal state (the handrail entry of the escalator 900 has no foreign matter). Under other circumstances, the data frame is acquired at any time under a daily operation condition. For example, 30 continuous data frames can be acquired per second, and the acquired data frames are provided for subsequent real-time analysis.
Further, in step S12, a background model is acquired based on a data frame sensed when the handrail entry of the passenger conveyor is in the normal state. This step is accomplished in the background acquisition module 110 as shown in
In an embodiment, step S121 is further performed, in which the monitored dangerous region is defined based on the data frame sensed when the handrail entry of the passenger conveyor is in the normal state, and at the same time, a neighboring region of the dangerous region may further be defined. This step is accomplished in the scene model generation module 150 as shown in
Step S12 and step S121 may be accomplished offline.
Further, in step S13, the data frame sensed in real time in step S11 is compared with the background model to obtain a foreground object. This step is accomplished in the foreground detection module 120, and the foreground object may be sent to the state judgment module 170 for analysis. In an embodiment, the foreground object may also be sent to the track generation module 140 and/or the foreground object judgment module 160. Reference may be made to the description about the foreground detection module 120 for the specific method of obtaining the foreground object.
Further, in step S14, a corresponding foreground feature is extracted from the foreground object. This step is accomplished in the foreground feature extraction module 130. The extracted foreground feature includes a position feature, and further includes, but is not limited to, information such as a shape feature and a size feature of the foreground object. By taking the depth map acquired by the depth sensing sensor as an example, shape, size and position features are embodied by changes in a depth value of an occupancy grid in the foreground object. Reference may be made to the description about the foreground feature extraction module 130 for the specific method of extracting the foreground feature.
It should be noted that, herein, the shape feature (descriptor) may be calculated through a technology such as histogram of oriented gradients (HoG), Zernike moment, Centroid Invariance to boundary point distribution, or Contour Curvature. Other features may be extracted to provide additional information for shape (or morphological) matching or filtering. For example, the other features may include, but are not limited to, Scale Invariant Feature Transform (SIFT), a Speed-Up Robust Feature (SURF) algorithm, Affine Scale Invariant Feature Transform (ASIFT), other SIFT variables, Harris Corner Detector, a Smallest Univalue Segment Assimilating Nucleus (SUSAN) algorithm, Features from Accelerated Segment Test (FAST) corner detection, Phase Correlation, Normalized Cross-Correlation, a Gradient Location Orientation Histogram (GLOH) algorithm, a Binary Robust Independent Elementary Features (BRIEF) algorithm, a Center Surround Extremas (CenSure/STAR) algorithm, an Oriented and Rotated BRIEF (ORB) algorithm and other features. The shape feature may be compared or classified as a shape, wherein one or more of the following technologies are used: clustering, Deep Learning, Convolutional Neural Networks, Recursive Neural Networks, Dictionary Learning, a Bag of visual words, a Support Vector Machine (SVM), Decision Trees, Fuzzy Logic, and so on.
Further, in step S15, whether the foreground object is in the dangerous region of the handrail entry is judged based on the position feature, and if the judgment result is “yes”, it indicates that a foreign matter enters the dangerous region at present, and it is determined that the handrail entry is in an abnormal state, that is, the process proceeds to step S16. Step S15 and step S16 are accomplished in the state judgment module 170. Reference may be made to the description about the state judgment module 170 for the specific judgment method.
In an embodiment, step S151 and step S152 are further performed.
In step S151, a movement track of a target foreground (e.g., a foreground object corresponding to a hand of a passenger) object is generated according to foreground objects obtained corresponding to multiple continuous data frames. Step S151 is accomplished in the track generation module 140. Reference may be made to the description about the track generation module 140 for the specific method of generating the movement track of the target foreground object.
In step S152, whether the target foreground object is about to enter the dangerous region of the handrail entry is pre-judged based on the movement track of the target foreground object, and if the judgment result is “yes”, it indicates that a foreign matter is about to enter the dangerous region at present, and it is determined that the handrail entry is in an abnormal state, that is, the process proceeds to step S16. Step S152 is accomplished in the state judgment module 170. Reference may be made to the description about the state judgment module 170 for the specific pre-judgment method.
In another embodiment, step S153 and step S154 are further performed.
In step S153, whether the foreground object is a foreign matter (e.g., a hand of a passenger) that needs to completely avoid being entrapped is judged based on the shape feature and the size feature of the foreground object. Step S153 is accomplished in the foreground object judgment module 160. Reference may be made to the description about the foreground object judgment module 160 for the specific judgment method.
In step S154, when it is determined that the foreground object is a foreign matter that needs to completely avoid being entrapped (that is, the judgment result in step S153 is “yes”), whether the foreground object corresponding to the foreign matter that needs to completely avoid being entrapped is in a neighboring region of the dangerous region of the handrail entry is judged based on the position feature. Step S154 is accomplished in the state judgment module 170. Reference may be made to the description about the state judgment module 170 for the specific pre-judgment method. If the judgment result is “yes”, the process also proceeds to step S17.
Finally, in step S17, an alarm is triggered, and a braking unit of the escalator is triggered to carry out braking. Specifically, information may be triggered to be sent to the monitoring center 940.
So far, the process of detecting the handrail entry of the escalator 900 has basically ended, and some steps of the process may be repeated and continuously performed, to continuously monitor whether a foreign matter enters the handrail entry region of the escalator 900. The monitoring method can timely and effectively detect a danger that a foreign matter is to be entrapped into the handrail entry, helping prevent the foreign matter from being entrapped into the handrail entry.
It should be noted that the processing apparatus (100 or 200 or 300) in the handrail entry monitoring system in the embodiment shown in
It should be noted that the elements disclosed and depicted herein (including flowcharts and block diagrams in the accompanying drawings) imply logical boundaries between the elements. However, according to software or hardware engineering practices, the depicted elements and the functions thereof may be implemented on machines through a computer executable medium. The computer executable medium has a processor capable of executing program instructions stored thereon as a monolithic software structure, as standalone software modules, or as modules that employ external routines, code, services, and so forth, or any combination thereof, and all such implementations may fall within the scope of the present disclosure.
Although the different non-limiting implementation solutions have specifically illustrated components, the implementation solutions of the present invention are not limited to those particular combinations. It is possible to use some of the components or features from any of the non-limiting implementation solutions in combination with features or components from any of other non-limiting implementation solutions.
Although particular step sequences are shown, disclosed, and claimed, it should be appreciated that the steps may be performed in any order, separated or combined, unless otherwise indicated and will still benefit from the present disclosure.
The foregoing description is exemplary rather than defined as being limited within. Various non-limiting implementation solutions are disclosed herein, however, persons of ordinary skill in the art would recognize that various modifications and variations in light of the above teachings will fall within the scope of the appended claims. It is therefore to be appreciated that within the scope of the appended claims, the disclosure may be practiced other than as specifically disclosed. For that reason, the appended claims should be studied to determine the true scope and content.
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