WO2017162552A1 - Elevator system with 3d camera-based safety monitoring system - Google Patents

Abstract

The invention relates to an elevator system (1) which is equipped with a safety monitoring system (37) that is designed to detect a dangerous situation and to modify the operation of the elevator system (1) in response thereto. For this purpose, the safety monitoring system (37) has a 3D camera system (23, 25, 27) which is designed to generate 3D image data. The safety monitoring system (37) is designed to detect the dangerous situation on the basis of the image data generated by the 3D camera system (23, 25, 27). In particular, by analyzing the 3D image data in a suitable manner, the safety monitoring system (37) can be used to detect whether for example a person (31) is moving relative to an object acting as an obstacle, such as a counterweight (5) or a drive machine (13) for example, and whether the person is potentially on a collision course. In order to prevent the collision, a movement of the elevator car (3) and the counterweight (5) can be temporarily stopped for example. The risk of collision can be detected for example by calculating virtual safety areas (49, 51, 53, 55) around objects moving relative to one another and by monitoring whether the safety areas (49, 51, 53, 55) overlap.

Description

 Elevator system with 3D camera-based security monitoring system

The present invention relates to an elevator installation using a

Safety monitoring system hazardous situations, especially within a hoistway to be detected and then possibly an operation of the elevator system to be modified.

Elevator systems generally serve to be able to transport people or objects within a building in a generally vertical direction by means of an elevator car. For this purpose, the elevator car usually within a

Lift shaft are moved. In the elevator shaft are usually other moving components of the elevator system, such as a movable counterweight, and / or stationary mounted components of

Elevator installation, such as a drive unit, guide rails, etc. The elevator system is regularly designed so that the elevator car or other moving components during their procedure within the elevator shaft does not collide with other components.

However, there may be situations where people or additional items are inside the hoistway but outside the elevator car. For example, it is regularly provided that assembly or maintenance personnel can enter a roof of the elevator car to work from there within the

Elevator shaft to make. If appropriate, such personnel may also be present in other areas of the elevator shaft, for example in a lift pit located at the bottom of the elevator shaft. Furthermore, it may be necessary, especially in emergency situations, for passengers in the elevator car to enter the roof of the elevator car in order, for example, to be evacuated from there.

In particular, in the cases mentioned, it may be necessary for safety reasons to modify an operation of the elevator installation if it is recognized that, for example, persons present in the elevator shaft have created a risk of being damaged, for example, by elevator components moving in the elevator shaft. DE 101 08 772 AI describes an elevator safety device in which a

Hazardous situation can be detected using a shaft space monitoring device. WO 2009/073001 AI describes possibilities for passive detection of persons in a hoistway.

JP2015034076 A describes an elevator safety device, in which a dangerous situation is detected by means of a surveillance camera. It is determined a distance between a person located in the elevator shaft and an obstacle, for example in the form of a counterweight. As soon as the mentioned distance falls below a minimum distance, an alarm signal is generated. The

Surveillance camera is not designed as a 3D camera, but as a 2D camera. In order to determine the distance, the surveillance camera is arranged so that it detects the person and the obstacle and thus the distance exactly from the side, ie at a 90 ° angle. The distance can thus also be determined in a 2D image.

There may be a need for an elevator installation in which, with the aid of a suitably designed safety monitoring system, operation of the elevator installation, in particular in the abovementioned situations, can be made even safer and preferably an operation of the elevator installation adapted to a detected one

Hazard situation can be modified.

Such a need can be met with an elevator system according to the independent

Claim are met. Advantageous embodiments and

Embodiments are given in the dependent claims and the following description.

According to one aspect of the invention, an elevator system is described, which has a safety monitoring system which is designed to be a

Detect dangerous situation and then to modify an operation of the elevator system. The security monitoring system in this case has a 3D camera system which is designed to generate 3-dimensional image data. The

Safety monitoring system is designed based on the image data generated by the SD camera system as a dangerous situation within the Detecting elevator shaft person or a located within the hoistway object and a relative to the person or the object moving obstacle to recognize. The object and the person need not be completely in the elevator shaft, but it is sufficient if they are only partially in the elevator shaft.

Possible features and advantages of embodiments of the invention may be considered, inter alia, without limiting the invention, rather than as based on the ideas and findings described below.

Conventionally, it is usually provided in elevator systems to operate the elevator installation, that is to say, in particular, to enable the elevator cabin inside the elevator installation

To shift elevator shaft, temporarily stop or at least severely limit, for example, as soon as a person is within the elevator shaft to ensure the safety of this person can. It is usually provided that the

Person himself corresponding security mechanisms of the elevator system activated.

For example, it can be provided that the person has one with a

Safety monitoring system coupled switch actuated to indicate that the safety monitoring system is to temporarily shut down the operation of the elevator system.

Alternatively it can be provided that a presence of a person within the hoistway can be monitored with an automated safety monitoring device. For this purpose, the safety monitoring device may, for example, comprise sensors which are arranged inside the elevator shaft and by means of which the presence of the person can be detected without the sensors being detected

Person himself would have to be active here.

However, in such conventional elevator systems, in general, it can only be recognized whether a person is, in principle, within a space of the elevator installation regarded as a hazardous area, that is to say, for example, within the area

Elevator shaft, located. However, as a rule, it is not possible to identify where this person is located exactly within the danger zone. In particular, it can not be recognized whether this person is in danger, for example a risk of collision with objects within this danger zone. It is therefore proposed to equip the security monitoring system of an elevator installation with a 3D camera system. This 3D camera system is designed to generate 3-dimensional image data, that is, to provide spatially resolved image data to the security monitoring system, in particular from a danger zone within the elevator installation. As below with reference to some

Embodiments of the invention explained, the safety monitoring system can assess based on such 3-dimensional image data more appropriate to the situation, in which way the operation of the elevator system should be modified upon detection of a dangerous situation. In particular, the security monitoring system can decide on the basis of such 3-dimensional image data, which measures must be taken to be able to ensure safe operation of the elevator installation and, in particular, safe operation of the elevator installation for the persons in the danger zone and, on the other hand, operation of the elevator installation not unnecessarily restrict or even shut down.

According to one embodiment, the security monitoring system is designed to detect, based on the image data generated by the 3D camera system, a person located inside the hoistway or an object located within the hoistway and an obstacle moving relative to the person or the object.

For detecting a person located within the elevator shaft or an object located within the elevator shaft and an obstacle moving relative to the person or the object, the aim is to

Security monitoring system to be able to suitably evaluate the 3-dimensional image data generated by the 3D camera system to be able to recognize relatively moving objects therein. In particular, that should

Security monitoring system to be able to recognize from the 3-dimensional image data, whether a person is within the elevator shaft. For example, this person could be on the roof of the elevator car or in the pit of the elevator shaft. If it is detected that a person is actually inside the hoistway but outside the elevator car, the security surveillance system may further analyze the 3-dimensional image data to detect if that person is moving relative to an obstacle. In this case, the person can be moved within the elevator shaft, for example, if it is on the roof of a moving elevator car, and the obstacle be stationary, for example in the form of a protruding into the elevator shaft carrier. Optionally, the obstacle itself can move within the elevator shaft, for example in the form of a movable counterweight of the elevator system. Alternatively, the person within the

Lift shaft stationary, that is, for example, in the pit of the

Stop the elevator shaft, and move the obstacle, for example in the form of the moving elevator car or the moving counterweight, within the elevator shaft. The term "obstacle" should thus be broadly interpreted and could also be called a "potential collision counterpart".

Instead of or in addition to recognizing a person, the security surveillance system may also be configured to detect objects located within the hoistway and determine whether they are moving relative to an obstacle. Such items could be, for example, improperly installed or tidied items such as ladders or tools or spares used by maintenance personnel.

Due to the ability of the security surveillance system to detect relatively moving objects within the hoistway by analyzing the 3-dimensional image data, the security surveillance system may be better able to adapt the operation of the elevator system to a concrete one

To modify the dangerous situation.

In particular, in one embodiment of the elevator installation, the safety monitoring system can be designed to detect whether the person located within the hoistway or the object located within the hoistway is on a collision course with the obstacle moving relative to the person or the object. In this context, a collision course should be understood to mean that the two objects moving relative to one another are at positions relative to one another and moving in directions relative to one another in such a way that it is foreseeable that the two objects will collide with one another in the near future unless their relative movement is changed properly.

For example, the security monitoring system may be configured to detect when a person is on the roof of a moving elevator car and the elevator car is approaching a ceiling of the elevator shaft so that the person is on a collision course with the ceiling of the elevator

Elevator shaft is located. The security monitoring system can also detect when the person located on the roof of the elevator car, for example, leans over an edge of the elevator car and thereby threatens, for example, a collision with stationarily mounted carriers located there within the elevator shaft or with a counterweight moving in the opposite direction to the elevator car. Alternatively or additionally, the safety monitoring system can also be designed to recognize when a person is, for example, in the pit of the elevator shaft and a moving elevator car acting in this case as an obstacle or a counterweight moves in a collision course towards the person.

Especially in the dangerous situations exemplified can

Security monitoring system then modify the operation of the elevator system situation appropriate, that is, for example, limit a travel of the elevator car or counterweight so that it does not come to the feared collision, and / or warn the person at risk, for example, by acoustic signals.

In order to be able to recognize in particular whether or how objects move relative to one another within the elevator shaft and whether the objects are on a collision course, according to one embodiment the security monitoring system can be designed based on the image data generated by the 3 D camera system detecting a detected person around a detected object, and around the obstacle moving relative to the person or object, to calculate a virtual security space and then recognize the danger situation based on the security spaces of these two objects overlapping. A virtual security space can be understood as meaning a volume within which the object in question, that is to say the person, the object or the obstacle is located, wherein the virtual security space has a significantly larger volume than the surrounding object. In other words, an outer surface of the virtual security space should be spaced from an outer surface of the surrounding object.

A measure of such a spacing, that is to say a dimensioning of the virtual security space, can be suitably selected depending on the surrounding object. Other parameters such as a relative speed between two objects moving towards each other can also be taken into account when dimensioning the virtual security space.

With modern image processing methods, relatively moving objects can be easily recognized and virtual security spaces can be calculated.

The recognition that security spaces of two relatively moving objects start to overlap can be interpreted by the security surveillance system as an indication that the two objects are in danger of colliding with each other.

In particular, by calculating a virtual security space

For example, be taken into account the fact that a moving example, an obstacle within the elevator shaft person can also move actively. Even in the event that the person is not currently on an exact collision course with the obstacle, the calculation of the virtual security space can take into account that the person could move in the next moment to collide with the obstacle threatening.

Accordingly, it can be made possible by the calculation of the virtual security space to recognize already potentially hazardous hazard situations and initiate appropriate countermeasures, that is, for example, to warn the person in a suitable manner and / or slow down or completely prevent a procedure of moving components of the elevator system. According to one embodiment, the security monitoring system can be designed, in particular, to calculate the virtual security space around a person greater than the virtual security space around an object. In this way, it can be taken into account in particular that the person can actively move himself and thus be able to change his / her relative movement with respect to an obstacle, whereas an object for this purpose is generally not able to do so. In addition, it can be taken into account that the integrity of persons generally has to be ensured with a higher degree of security than is the case for objects, which can be achieved by calculating a larger virtual security space for persons, but which also means that dangerous situations may be assumed unnecessarily early and, for example, the operation of the elevator system is limited very early.

According to one embodiment, the security monitoring system may be configured to change the virtual security space around a person depending on a person

 Dimension the direction of movement of the person, wherein the direction of movement of the person can be detected based on the image data generated by the 3 D camera system. In other words, the security monitoring system can on the one hand be designed to effect one, in particular by proper movements of a person

Detecting movement direction. In this case, the security monitoring system can advantageously detect not only a change in position of the entire person, but also of parts such as extremities of the person.

For example, the security monitoring system can detect when a person standing on the roof of an elevator car extends an arm or his head beyond a lateral border of the elevator car. Based on this knowledge, the security surveillance system can then suitably calculate a virtual security space around the moving person and suitably dimension it in consideration of the detected movement direction. For example, the virtual security space can be calculated such that it continues in the direction of the person's current movement via the person or their person

Limbs extending out than in a reverse direction. Thus it can be considered that the current movement of the person is continued at least for a limited period of time in the same direction and / or same speed and therefore the person or their extremities will have a different position in the near future, in which they may be more vulnerable to collision as to the current one

Time.

As already briefly noted above, the safety monitoring system can react in a different way when detecting a dangerous situation and modify the operation of the elevator system. For example, warning signals can be triggered to a person staying within the hoistway.

In particular, the safety monitoring system can be designed to detect a process of the elevator car within the vehicle when the dangerous situation is detected

To limit elevator shaft. The limitation of the method of the elevator car may relate to a limitation of an authorized travel path of the elevator car within the elevator shaft. In addition or alternatively, a

Traversing speed of the elevator car to be limited. Together with such an influence on the method of the elevator car, as a rule, the method of a counterweight coupled in opposite directions with the elevator car is also influenced accordingly.

If, for example, it is recognized on the basis of the 3-dimensional image data that a person located on the roof of an elevator car is on a collision course with an elevator shaft ceiling, then, for example, a process of the elevator car can continue until the person together with the person has reached

Elevator car was approaching almost dangerously close to the elevator shaft ceiling. Only then does the movement of the elevator car need to be stopped or at least slowed down and / or the person being warned of the collision. In this exemplary case, it may be sufficient to the total permissible travel of the

Elevator car inside the hoistway only slightly, for example, to shorten a few meters. A similar situation may arise when a person in the pit of the

Elevator shaft stands. In principle, collisions with the moving elevator car are also possible here. However, a movement of the elevator car or a counterweight coupled in opposite directions need only be limited if the elevator car or the counterweight have approached dangerously close to the person.

Another situation may arise if the person standing on the roof of the elevator car threatens to collide with, for example, the oncoming counterweight or, for example, a spar protruding into the elevator shaft or the like. In such a case, it may not be sufficient to generally shorten the overall travel of the elevator car in the elevator shaft. Instead, a current procedure of the elevator car needs to be braked or even stopped, as appropriate, in order to avoid the impending collision.

In general, it may therefore be advantageous according to one embodiment, the

Safety monitoring system designed to choose a travel path of the elevator car depending on a location of a detected hazard situation. The travel path, that is to say a path within the elevator shaft within which the elevator car may be allowed to proceed admissibly and in accordance with the situation, can be selected to a maximum extent as long as no dangerous situation is detected. Once a

Hazard situation is detected, this can be evaluated. If the location of the dangerous situation is, for example, at the ends of the elevator shaft, since, for example, a collision of a person with the elevator shaft ceiling or a collision of a person standing in the elevator shaft pit with the elevator cabin threatens, the travel path of the elevator cage can be correspondingly shortened.

According to one embodiment, the 3D camera system has a stereo camera. Such a stereo camera is generally designed to generate 3-dimensional image data in the form of stereoscopic image recordings. For this one owns

Stereo camera usually two side by side mounted lenses, so that at the same time a recording of stereoscopic fields required for 3D image data is possible. In the case of conventional mechanically executed cameras, exposure control and a sharpness adjustment of both can be used, for example Lenses are coupled together. In electronic cameras, such exposure control and sharpness adjustment is usually electronically synchronized with each other. Since the two fields captured by the stereo camera are recorded by means of spatially spaced-apart lenses, not only a 2-dimensional image information but also a correspondingly associated depth information and thus the desired 3-dimensional image data can be generated from them. The 3D camera system can also be embodied as 3D semiconductor sensors, as described, for example, in the articles "Fast Range Imaging by CMOS Sensor Array Through Multiple Double Short Time Integration (MDSI)", P. Mengel et al., Siemens AG, Corporate Technology Department, Munich, Germany and "A CMOS Photosensor Array for 3D Imaging Using Pulsed Lasers", R. Jeremias et al., 2001 IEEE International Solid-State Circuits Conference, page 252.

Additionally or alternatively, the 3-dimensional camera system according to a

Embodiment two separate cameras. Even with the help of such separate cameras corresponding 3-dimensional image data can be generated. As a rule, it may be necessary to match the two cameras to one another, that is, for example, to position them relative to one another in a known distance from one another and in a previously known viewing direction and to preferably synchronize their operation.

According to another possible embodiment, the 3D camera system has a 2D image data acquisition camera and a distance measuring sensor. In other words, in the 3D camera system, a largely conventional camera can be included, which only takes 2-dimensional images. In addition, however, a

Distance measuring sensor may be provided, by means of which in particular a distance between the camera and an image area recorded by the camera can be measured. On the basis of distance data supplied by such a distance measuring sensor, the 3-dimensional image data desired for the 3D camera system can thus be calculated from the 2-dimensional image data provided by the camera.

The distance measuring sensor can be implemented in different ways. For example, the distance measuring sensor may be configured merely to provide a single distance between the camera and a point within the image area of the camera Camera to determine. However, this may result in insufficient 3-dimensional image data, especially in the case where there are a plurality of spaced-apart objects in the image area whose distance from the camera is different. The distance measuring sensor should therefore preferably be designed such that it can determine distances of the camera with respect to several parts of an image area to be recorded by the camera in order then to be able to calculate spatially more precisely resolved 3-dimensional image data.

In particular, according to one embodiment, the security monitoring system may include an infrared sensor, an ultrasonic sensor, a radar sensor

Laser distance sensor or a plurality and / or combinations of such sensors. These sensors may be, for example, the aforementioned

Form distance sensor of the 3D camera system or alternatively be provided in addition to the SD camera system.

An infrared sensor can be used in particular to detect thermal radiation within a danger zone. Such thermal radiation may come from a person, for example, so that the presence of a person within the hoistway can be detected, for example, or recognition of a person within the hoistway can be made plausible or verified by analysis of the 3-dimensional image data of the 3D camera system.

An ultrasonic sensor can in particular by emitting high-frequency

Sound waves and their detection, after they have been reflected on objects, allow to determine a distance between the sensor and the reflecting objects. Thus, ultrasonic sensors are particularly suitable as

Distance measuring sensors.

The same applies to radar sensors, in which case no sound, that is

Pressure waves, emitted, reflected and detected, but electromagnetic waves. Radar sensors are therefore particularly suitable for measuring larger distances. In this case, however, measurement accuracies can strongly depend on how well emitted radar waves are reflected on objects. While metallic Objects usually have a strong reflective effect, for example, surfaces of a person can hardly reflect such radar waves.

Laser distance sensors can often measure large distances by appropriately emitting light and subsequently detecting reflected light components. Here, different measurement principles can be used, such as a triangulation principle or a time-of-flight principle.

The 3D camera system can be mounted at different positions or components of the elevator installation.

For example, according to one embodiment, the 3D camera system may be mounted on the elevator car and / or a counterweight of the elevator system.

For example, the 3D camera system can be mounted on the roof of the elevator car, preferably with an upward viewing direction, so that image data can be recorded from a space above the elevator car using the SD camera system. In particular, while the elevator car is being moved upwards, it can thus be recognized whether, for example, a person standing on the elevator car or objects located there move relative to other objects located in the elevator shaft and possibly threaten to collide with them.

Alternatively or additionally, the 3D camera system can also be mounted on an underside of the elevator car. In this case, a space located below the elevator car can be monitored. For example, the 3-D image data can be used to detect when the car is approaching dangerously to a person in the pit of the hoistway.

The same applies to a mounting of the 3D camera system on the counterweight.

Alternatively or additionally, according to one embodiment, the 3D camera system can be mounted fixedly in the elevator shaft, for example in a pit or a shaft head of the elevator shaft. From there, the camera system on the one hand, for example, recognize a person staying there, but on the other hand recognize, for example, when approaching the elevator car or the counterweight of the pit and set for this reason a dangerous situation.

It should be understood that some of the possible features and advantages of the invention are described herein with reference to different embodiments. A person skilled in the art will recognize that the features can be suitably combined, adapted or replaced in order to arrive at further embodiments of the invention.

Embodiments of the invention will now be described with reference to the accompanying drawings, wherein neither the drawings nor the description are to be construed as limiting the invention.

1 shows an elevator installation according to the invention with a safety monitoring system having a 3D camera system.

The figure is merely schematic and not to scale.

1 shows an embodiment of an elevator installation 1 according to the invention. The elevator installation 1 has an elevator cage 3 and a counterweight 5. Both the elevator cage 3 and the counterweight 5 are held on a cable or strap-type suspension element 15. This suspension element 15 can be displaced via a drive machine 13 and its rotatably driven pulley 17. The elevator car 3 and the counterweight 5 coupled thereto via the suspension element 15 can thus be moved in an opposite direction within an elevator shaft 7.

Particularly in maintenance situations, but also in emergency situations, persons 31, 33 can be inside the elevator shaft 7, but outside the elevator car 3. For example, a person 31 can carry out maintenance work on a roof 19 of the elevator car 3 or be evacuated therefrom from the elevator shaft 7. Alternatively, a person 33 can carry out maintenance work standing in a shaft pit 9, wherein it can reach the shaft pit 9 via a ladder 35, for example. In order to ensure that persons 31, 33 located in the elevator shaft 7 do not collide with components of the elevator installation 1, the elevator installation 1 is a

Security monitoring system 37 is provided. The security monitoring system 37 has at least one 3D camera system, but in the illustrated example it is shown equipped with three 3D camera systems 23, 25, 27. Furthermore, the security monitoring system 37 has an evaluation unit 39, which may be part of an elevator control 29, for example. The elevator control 29 is designed to perform functions during operation of the elevator installation 1 such as the

Drive machine 13 to control.

The evaluation unit 39 can receive image data from the 3D camera systems 23, 25 provided on the elevator car 3, for example via a cable connection 41. A similar further cable connection may be provided for data transmission between the 3D camera system 27 arranged in the elevator pit 9 and the evaluation unit 39 (not shown). Optionally, a data transmission can also be wireless.

Each of the 3D camera systems 23, 25, 27 is designed to record 3-dimensional image data within a field of view 43, 45, 47. A field of view 43, 45, 47 may enclose, for example, a conically widening volume starting from an objective of a camera system 23, 25, 27. The 3D camera systems 23, 25, 27 can be arranged and aligned in such a way that their fields of view 43, 45, 47 cover possible danger areas within the elevator installation 1, within which persons 31, 33 can typically reside and within which these persons 31, 33 could be endangered in particular by components of the elevator system 1.

A camera system 23 may, for example, be arranged on the roof 19 of the elevator car 3 and be oriented in such a way that its field of view 43 covers as large as possible parts of a volume within which the person 31 can move on the roof 19. In particular, the field of view 43 should cover areas above the roof 19, in which the person 31, for example, is in danger of collision with the counterweight 5 moving counter to the car 3 or with the drive machine 13.

Optionally, several camera systems 23 together monitor the area above the roof 19 of the elevator car 3 or a camera system 23 can via have several separate cameras mounted in different places and / or oriented differently.

Also below the floor 21 of the elevator car 3, a 3D camera system 25 may be mounted. Its field of view 45 can monitor a volume below the elevator car 3 in order to be able to detect, for example, when the elevator car 3 approaches dangerously close to the person 33 located in the elevator pit 9. A similar or supplementary function can take over the camera system 27 arranged in the shaft pit 9.

The security monitoring system 39 is designed to be able to evaluate 3-dimensional image data supplied by the 3D camera systems 23, 25, 27 and to be able to recognize a dangerous situation based on them. For this purpose, the image data to the

Evaluation unit 39 are transmitted. With the aid of suitable image processing software, as is also used, for example, for pedestrian recognition in camera systems for motor vehicles, in particular the persons 31, 33 within the fields of view 43, 45, 47 can be recognized. Optionally, objects can also be detected, such as the conductors 35. Furthermore, components such as in particular the elevator car 3 and the counterweight 5, but also others

Components such as the prime mover 13 or struts, spars, etc. (not shown) within the hoistway 7 within the fields of view 43, 45, 47 are detected by means of the 3D camera systems 23, 25, 27.

The security monitoring system 37 and in particular its image-processing evaluation unit 39 may preferably be designed to detect, based on the 3-dimensional image data supplied by the camera systems 23, 25, 27, whether objects such as the persons 31, 33 or in the elevator shaft 7 are located Move objects such as the ladder 35 relative to other objects such as the counterweight 5. If a person 31 is on the roof of the elevator car 3 can also be recognized whether they are opposite to the

Drive machine 13 or the ceiling 11 of the elevator shaft 7 moves. In particular, it can be determined on the basis of the generated 3-dimensional image data whether these objects move relative to one another on a collision course. Depending on whether a person 31, 33 or an object rests or is itself in motion, ie moved with, for example, the elevator car 3, moving objects such as the elevator car 3 or the counterweight 5 or stationary objects such as walls of the hoistway 7 or a driving machine 13 fixedly mounted therein can act as obstacles which are liable to collision.

Recognition of persons 31, 33 and objects can be supported or made plausible by possibly additionally provided sensors 57. Such sensors 57 can supply supplementary measurement data which enable the evaluation unit 39, in support of the 3D image data supplied by the camera systems 23, 25, 27, to recognize objects and their movements. Such sensors 57 can be used, for example, as

Infrared sensors detect body heat of a person 31, 33 or measure distances to or between objects as an ultrasonic sensor, radar sensor or laser distance sensor.

Eventually, the security monitoring system 37 may, for example, calculate a suitable security space around each object with the aid of its evaluation unit 39. By way of example, there is a security room 49 around the person 31 standing on the roof 19 of the elevator car 3, a security room 51 around the person 33 located in the elevator pit 9, a security room 53 around the ladder 35 not tidied up in the elevator pit 9 and a security room 55 shown around the relative to the person 33 moving counterweight 5 around dash-dotted lines. In this case, security rooms 49, 51, which persons 31, 33 surrounded, preferably larger, that is, the persons 31, 33 surrounding with more distance, calculated as

Security rooms 53, 55 around objects such as the ladder 35 or the counterweight 5 around, as these persons 31, 33 can move independently and not necessarily predictable. As soon as two security rooms 49, 51, 53, 55 overlap one another by relatively moving objects or persons, this can be done by the

Security monitoring system 37 can be seen as an indication that a

Danger situation exists or at least threatens to be present soon.

In particular, the security rooms 49, 51 around persons 31, 33 can also be calculated taking into account a current proper movement of the persons 31, 33. For example, if a person 31 is moving in a direction toward an edge of the roof 19 of the elevator car 3, the associated safety space 49 can be calculated to be larger in the direction of that movement. This way you can For example, be anticipated that the person 31, for example, comes closer to a near the elevator car 3 passing counterweight 5 increasingly. If such a larger-dimensioned security space 49 then overlaps with a security space 55 around the counterweight 5 at an early stage, countermeasures can be taken in good time, if necessary, in order, for example, to be able to prevent a collision of the person 31 with the counterweight 5. For example, warning signals can be output to the person 31 or a movement of the counterweight 5 relative to the elevator car 3 by suitably driving the engine 13 over the

Elevator control 29 are caused.

Overall, in the case of the elevator installation 1 described here, a security for persons 31, 33 located in the elevator shaft 7 can be increased and, if appropriate, a risk of collision with objects such as, for example, the conductor 35 can be reduced. The security monitoring system 37 can thereby work automatically, so that in particular no specific operation by the persons 31, 33 is required. Instead, the security monitoring system 37 may have critical areas within the

Monitor hoistway 7 independently and detect dangerous situations and then modify the operation of the elevator system 1 situation specific suitable.

Finally, it should be noted that terms such as "comprising," "comprising," etc., do not exclude other elements, and terms such as "a" or "an" do not exclude a plurality. It should also be understood that features described with reference to one of the above embodiments may also be used in combination with other features or steps of other embodiments described above. Reference numerals in the claims are not as

To look at limitation.

LIST OF REFERENCE NUMBERS

1 elevator system

 3 elevator cab

 5 counterweight

 7 elevator shaft

 9 lift pit

 11 ceiling of the elevator shaft

13 prime mover

 15 suspension elements

 17 traction sheave

 19 roof of the elevator car

21 floor of the elevator car

23 3 D camera system

 25 3D camera system

 27 3 D camera system

 29 elevator control

 31 person

 33 person

 35 conductors

 37 security monitoring system

39 evaluation unit

 41 cable connection

 43 field of view

 45 field of view

 47 field of view

 49 security room

 51 security room

 53 security room

 55 security room

 57 sensor

Claims

claims 1. Elevator installation (1) comprising: a security monitoring system (37) adapted to Recognize dangerous situation and then to modify an operation of the elevator system (1); wherein the security monitoring system (37) comprises a 3D camera system (23, 25, 27) which is designed to generate 3-dimensional image data, and wherein the security monitoring system (37) is designed to: based on the image data generated by the 3D camera system (23, 25, 27) as Hazard situation a person (31, 33) located within a hoistway (7), or an object (35) located within the hoistway, and an obstacle (5, 3, 11) moving relative to the person (31, 33) or the object (35) 13) to recognize. 2. Elevator installation according to claim 1, wherein the security monitoring system (37) is designed to detect, based on the image data generated by the 3D camera system (23, 25, 27), whether the person (31, 31) within the elevator shaft (7) 33) or within the elevator shaft (7) located object (35) with the relative to the person (31, 33) or the object (35) moving obstacle (5, 3, 13) is on a collision course. 3. Elevator installation according to claim 1 or 2, wherein the Safety monitoring system (37) is designed based on the information provided by the SD Camera system (23, 25, 27) generated image data around a recognized person (31, 33) around or around a detected object (35) around and moving relative to the person (31, 33) or the object (35) Obstacle (5, 3, 13) around a virtual security room (49, 51, 53, 55) to calculate and to recognize the dangerous situation based on the fact that the security rooms (49, 51, 53, 55) overlap. 4. The elevator system according to claim 3, wherein the security monitoring system (37) is designed to calculate the virtual security space (49, 51) around a person (31, 33) greater than the virtual security space (53, 55) around an object ( 35, 5) around. 5. Elevator installation according to one of claims 3 and 4, wherein the Security monitoring system (37) is adapted to the virtual security space (49, 51) around a person (31, 33) around depending on a detected movement based on the image data generated by the 3D camera system (23, 25, 27) ( 31, 33) to dimension. 6. Elevator installation according to one of the preceding claims, wherein the Security monitoring system (37) is designed to detect a Hazardous situation to limit a process of the elevator car (3) within the hoistway (7). 7. Elevator installation according to claim 6, wherein the safety monitoring system is designed to select a travel path of the elevator car (3) as a function of a location of a recognized dangerous situation. 8. Elevator installation according to one of the preceding claims, wherein the SD camera system (23, 25, 27) comprises a stereo camera. 9. Elevator installation according to one of the preceding claims, wherein the SD camera system (23, 25, 27) has two separate cameras. 10. Elevator installation according to one of the preceding claims, wherein the SD camera system (23, 25, 27) has a 2D image data acquisition camera and a Distance measuring sensor has. 11. Elevator installation according to one of the preceding claims, wherein the Security monitoring system (37) at least one sensor (57) selected from the group comprising infrared sensors, ultrasonic sensors, radar sensors, Has laser distance sensors. 12. Elevator installation according to one of the preceding claims, wherein the SD camera system (23, 25) on the elevator car (3) and / or a counterweight (5) is mounted. 13. Elevator installation according to one of the preceding claims, wherein the SD Camera system (27) fixed in the elevator shaft (7), in particular in a pit (9) of the elevator shaft (7) is mounted.