JP2011132799A - Automatic door opening/closing system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an automatic door opening/closing system, capable of limiting passage of a specific person such as a fraudulent withdrawer without impairing the passability. <P>SOLUTION: A face determination unit 622 determines, when a face detection unit 621 detects a face image within a still image during a predetermined period of time, whether face information matched to face information related to the face image detected by the face detection unit 621 is present in a face information storage unit 624. When face image matched thereto is present in the face information storage unit 624, the face determination unit 622 transmits face matching report data Di to a door controller 200 through a bus line 800. In this case, a door is maintained in a closed state. On the other hand, when no matched face image is present, the door is operated to be opened. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to an automatic door opening / closing system, and more particularly to an automatic door opening / closing system using image recognition technology.

In the past, it has been proposed that in an automatic door opening / closing system, a human face is recognized by image recognition technology and the door is automatically opened based on the recognition (see, for example, Patent Document 1). According to this technology, it is possible to prevent the door from being opened and closed unnecessarily by a passerby or an animal.
In addition, a wrinkle prevention device has been proposed which prevents unauthorized going out of facilities such as houses where elderly people with dementia live, nursing homes, etc., by automatically locking the doors or preventing the doors from opening automatically. (For example, refer to Patent Document 2). The wrinkle prevention device disclosed in Patent Document 2 detects a person with a detection device when the person approaches the door, locks the door, and prevents the person from passing through the door.
A system for preventing a person with a heel from going out without permission by allowing a person with a heel to carry a magnet or carrying an ID tag and detecting the magnet or the ID tag near the door Has been proposed (see, for example, Patent Documents 3 and 4).
In addition, if the person who intends to enter the store is a person wearing sunglasses or a mask and satisfies a predetermined condition (the condition that 0 to 2 general customers in the store), the person enters the store. An admission control device has been proposed (see, for example, Patent Document 5).

JP 2007-285006 A Japanese Patent Laid-Open No. 11-223057 Japanese Patent Laid-Open No. 2005-215961 Japanese Patent Laid-Open No. 9-60365 JP 2008-83932 A

By the way, in recent years, in cases such as wire fraud, the existence of a person (so-called child) who plays the role of withdrawing money transferred from an ATM (automated teller machine) or the like has become a problem. Therefore, in order to prevent damage caused by such an incident, it is necessary to prevent the withdrawal of money by this child.
Further, since the wrinkle prevention device described in Patent Document 2 automatically locks the door when a person approaches the door, even if a person other than a person with a wrinkle approaches the door, The door is automatically locked. For this reason, people other than those with a habit need to pass the doors open, such as by using a key that they carry, so the trafficability is impaired for people other than those with a habit. It is.
In addition, the systems described in Patent Documents 3 and 4 are based on the premise that a person with a heel carries a magnet and an ID tag, respectively. In such a case, it is difficult for the person to always carry the magnet and the ID tag. Therefore, there are cases where it is not possible to restrict the passage of a specific person such as entering and leaving a room.
In addition, in the admission control device described in Patent Document 5, a person who wears sunglasses or a mask is a condition for admission, but wearing a sunglasses or mask due to a cold, hay fever, etc. There are many people, and the person wearing sunglasses or a mask is not always a suspicious person. Therefore, for those who are wearing sunglasses or a mask due to a cold, hay fever, etc., there is a risk that the trafficability may be impaired.

  The subject of this invention is providing the automatic door opening and closing system which can restrict | limit the passage of a specific person's entrance / exit etc., without impairing trafficability.

(1) An automatic door opening / closing system according to one aspect includes a door, a door opening / closing mechanism, an imaging unit, a face detection determination unit, and a door opening / closing mechanism control unit. The door opening / closing mechanism opens and closes the door. The imaging unit is arranged so that at least a part of the space on the entrance side of the door is an imaging region. The face detection determination unit detects the presence or absence of a person's face in the imaging region, and determines whether or not the person's face information matches the previously stored face information when the person's face exists. The door opening / closing mechanism control unit causes the door opening / closing mechanism to close the door when the face detection determining unit determines that the information matches the face information.

For this reason, in this automatic door opening and closing system, it is possible to prevent only those who have been registered in advance, while people who are not registered can freely pass through, so the trafficability is not impaired. Therefore, for example, if an image of the child's face is registered in advance, a specific person such as the child cannot enter the ATM booth, so that the withdrawal of money by the child can be prevented in advance. Because the person can pass freely, it is possible to secure the traffic.
In addition, if the automatic door opening and closing system is used in a store such as a convenience store, a specific person such as the suspicious person cannot enter the store if an image of the face of a suspicious person such as a shoplifting addict is registered. Therefore, crimes such as shoplifting by a suspicious person can be prevented in advance, and other persons can freely pass through, so that trafficability can be secured.
In addition, when using the automatic door opening and closing system for nursing care facilities, etc., if you register an image of the face of a person with a risk of wrinkles, such as a patient with dementia, the specific person cannot go out of the care facility, In addition to being able to prevent wrinkles caused by dementia patients and the like, other persons can freely pass through, and thus passability can be ensured.

  The “door” referred to above may be a sliding door, a rotary door, or a rotary door. Further, this “door” may be one or two. The automatic door opening / closing system can be realized by a relay circuit method, a soft logic method, or the like. Note that the “door opening / closing mechanism” here includes, for example, a motor, a motor driver, and the like.

(2) The automatic door opening / closing system according to the second aspect is the automatic door opening / closing system according to the first aspect, and when the face detection determination unit detects the presence of a human face in the imaging region, It is repeatedly determined whether the face information matches the previously stored face information.

  For this reason, in this automatic door opening and closing system, until the person approaches the vicinity of the door and the face detection determination unit can recognize the person's face, the determination as to whether or not the object is a person is continued. Therefore, even if the imaging conditions are temporarily poor, if the imaging conditions are improved, it is possible to detect a specific person such as a child and more reliably pass a specific person such as a child. Can be prevented.

(3) The automatic door opening / closing system according to the third aspect is the automatic door opening / closing system according to the first aspect or the second aspect, and the face detection determination unit matches the face information stored in advance with the human face information. When it is determined to do so, the image data of the person's face imaged by the imaging unit is transmitted to the external display unit.

  For this reason, in this automatic door opening and closing system, by installing the display unit in, for example, a management room or the like, it is possible to inform the administrator or the like that a specific person such as a child is about to pass. At this time, the name of the specific person, the detected date and time, or the location may be displayed at the same time.

(4) An automatic door opening / closing system according to a fourth aspect is an automatic door opening / closing system according to any one of the first to third aspects, and further includes a sensor unit and a selection unit. The sensor unit is configured by an infrared light projecting / receiving type or a touch sensor type, and detects the presence of a person. When the face detection / determination unit does not detect the presence of a human face in the imaging region, or when it is determined that there is a change in the imaging region but there is no human face, the selection unit A signal for opening the door based on the signal is output to the door opening / closing mechanism control unit.

  Therefore, in this automatic door opening and closing system, when the face detection determination unit does not detect the presence of a human face in the imaging area, or when there is a change in the imaging area but no human face exists For example, when there is a person holding the baggage in front of the person, the person can pass therethrough, so the trafficability is ensured.

(5) The automatic door opening / closing system according to the fifth aspect is the automatic door opening / closing system according to the fourth aspect, and includes a state detection unit that detects that the face detection determination unit has fallen into a predetermined state, and a state detection unit When the presence of a person is detected by the sensor unit when it is detected that the face detection determination unit has fallen into a predetermined state, a sub door opening / closing mechanism control unit that opens the door by the door opening / closing mechanism, Further prepare.

  For this reason, in this automatic door opening / closing system, even if the situation where the door opening / closing mechanism control unit does not function is assumed, it is possible to prevent people from being trapped by the sub door opening / closing mechanism control unit.

(6) The automatic door opening and closing system according to the sixth aspect is an automatic door opening and closing system according to the first to fifth aspects, and further includes a face information storage unit that stores human face information in advance.

  In this automatic door opening and closing system, since the face information storage unit is incorporated in the system, the face information of a specific person can be updated as appropriate. This makes it possible to update the facial information of suspects such as childbirth, shoplifting addicts, and dementia patients who are worried about wrinkles.

  According to the automatic door opening and closing system according to the present invention, it is possible to prevent only registered persons from passing, while non-registered persons can freely pass through, so that the passability is not impaired.

1 is a schematic side view of an automatic door opening / closing system according to an embodiment of the present invention. 1 is a schematic plan view of an automatic door opening / closing system according to an embodiment of the present invention. It is a functional block diagram of the automatic door opening and closing system which concerns on embodiment of this invention. It is a partially expanded view of the functional block diagram of the automatic door opening and closing system according to the embodiment of the present invention. It is a partially expanded view of the functional block diagram of the automatic door opening and closing system according to the embodiment of the present invention. It is a part of flowchart which shows the flow of the information processing in the face detection apparatus of the automatic door opening and closing system which concerns on embodiment of this invention. It is a part of flowchart which shows the flow of the information processing in the face detection apparatus of the automatic door opening and closing system which concerns on embodiment of this invention. It is a flowchart showing the flow of the information processing in the touch sensor of the automatic door opening and closing system which concerns on embodiment of this invention. It is a flowchart showing the flow of information processing in the door controller when the door controller receives face mismatch notification data from the face detection device in the automatic door opening and closing system according to the embodiment of the present invention. It is a flowchart showing the flow of the information processing in a door controller when a door controller receives face detection impossibility notification data or face matching notification data from a face detection device in the automatic door opening and closing system according to the embodiment of the present invention. It is a flowchart showing the flow of the door opening / closing control by the door opening / closing mechanism of the automatic door opening / closing system which concerns on embodiment of this invention. It is a relay circuit diagram of the automatic door opening and closing system concerning a modification (A). It is a schematic side view of the automatic door opening and closing system which concerns on a modification (D). It is a schematic front view of the automatic door opening and closing system which concerns on a modification (R). It is a schematic side view of the automatic door opening and closing system which concerns on a modification (S).

  Hereinafter, an automatic door opening and closing system according to the present embodiment will be described with reference to the drawings.

  The automatic door opening and closing system 100 according to the present embodiment automatically opens and closes the entrance of a building. As shown in FIGS. 1, 2, and 3, the automatic door opening / closing system 110 mainly includes a one-way sliding door 110. , Door controller 200, door opening / closing mechanism 300, electric lock controller 400, electric lock 500, camera built-in type touch sensor 600, face detection device 620, photoelectric sensor 700, and bus line 800. Hereinafter, each component of the automatic door opening and closing system 100 according to the present embodiment will be described in detail.

  In FIG. 1, the space on the left side of the entrance / exit 140 is the indoor space IS of the building, and the space on the right side is the outdoor space OS of the building. In FIG. 1, the x direction is a moving direction of the door 110, the y direction is a direction away from the door 110 toward the outdoors, and the z direction is a height direction orthogonal to the horizontal plane. The x direction, the y direction, and the z direction are orthogonal to each other.

In the present embodiment, the entrance / exit 140 is formed by fitting a three-way frame into an opening formed in a rectangular shape on the wall 120 of the building. A mesh 130 is disposed above the entrance / exit 140. The invisible member 130 is an elongated rectangular parallelepiped member, and is disposed along the upper edge of the entrance / exit 140.
<Components of automatic door opening and closing system>
(1) Door

As shown in FIGS. 1 and 2, the door 110 is arranged to be slidable along a direction parallel to the wall surface of the wall 120, that is, in the x direction, and the door opening / closing mechanism 300 opens the doorway 140. The state is switched to a state where the entrance / exit 140 is shielded.
(2) Door controller

  The door controller 200 is, for example, a microcomputer including a CPU, a ROM, a RAM, and the like. As shown in FIG. 4, the door controller 200 mainly includes a main door opening / closing mechanism control unit 210, a sub door opening / closing mechanism control unit 220, and control switching. Unit 230 and time measuring unit 240. In the door controller 200, the CPU executes a predetermined control program stored in the ROM, thereby controlling the door opening / closing mechanism 300 by the main door opening / closing mechanism control unit 210 and the door opening / closing mechanism 300 by the sub door opening / closing mechanism control unit 220. Control, switching between the two controls by the control switching unit 230, and time measurement by the time measuring unit 240 can be realized.

  During normal times, the control switching unit 230 enables the control of the door opening / closing mechanism 300 by the main door opening / closing mechanism control unit 210, and disables the control of the door opening / closing mechanism 300 by the sub door opening / closing mechanism control unit 220. .

  In the door controller 200, when face mismatch notification data Dh (described later) or a signal Sk (described later) is transmitted from the face detection device 620 via the bus line 800, the door opening / closing mechanism control unit 210 opens / closes the door. The motor drive signal Sm is transmitted to the mechanism 300, and as a result, the motor 310 is driven and the door 110 is opened. When control by the main door opening / closing mechanism control unit 210 is invalidated, even if face mismatch notification data Dh (described later) is transmitted to the door controller 200, the door opening / closing mechanism 300 is transmitted from the main door opening / closing mechanism control unit 210. The motor drive signal Sm is not transmitted to.

  Further, in this door controller 200, when face detection impossible notification data Df (described later) is transmitted from the face detection device 620 via the bus line 800, the door by the main door opening / closing mechanism control unit 210 is controlled by the control switching unit 230. The control of the opening / closing mechanism 300 is invalidated, and the control of the door opening / closing mechanism 300 by the sub door opening / closing mechanism control unit 220 is validated. In this state, when detection notification data Dd (described later) is transmitted from the touch sensor 610 or the near-infrared reflective sensor 610a (described later) to the door controller 200, the sub door opening / closing mechanism control unit 220 transmits to the door opening / closing mechanism 300. The motor drive signal Sm is transmitted, and as a result, the motor 310 is driven and the door 110 is opened. In addition, when the door controller 200 receives the face detection impossibility notification data Df, the time measurement unit 240 starts measuring time.

  Note that when the control of the door opening / closing mechanism 300 by the sub door opening / closing mechanism control unit 220 is validated, for example, the face detection unit 621 (described later) is caused by the incidence of sunlight or reflected light on the imaging device 630. In a state where there is a possibility that the face detection unit 621 may not be able to detect, a state where there is a possibility that the face detection unit 621 may not detect a human face because the illumination on the imaging device 630 becomes dark, or for imaging in the imaging region PR This is a case where the face detection unit 621 cannot detect a human face although dynamic change is recognized.

Further, after the control switching unit 230 invalidates the control of the door opening / closing mechanism 300 by the main door opening / closing mechanism control unit 210 and the control of the door opening / closing mechanism 300 by the sub door opening / closing mechanism control unit 220 is validated, the touch sensor is activated. When the detection notification data Dd is transmitted to the door controller 200 from 610 or the near-infrared reflective sensor 610a (described later), or when the measurement time in the time measurement unit 240 has passed a predetermined time, the control switching unit 230 causes the main door to The control of the door opening / closing mechanism 300 by the opening / closing mechanism control unit 210 is validated, and the control of the door opening / closing mechanism 300 by the sub door opening / closing mechanism control unit 220 is invalidated.
(3) Door Opening / Closing Mechanism The door opening / closing mechanism 300 is a mechanism that slides the door 110 and is housed in the eyeless 130.

The door opening / closing mechanism 300 is of a belt drive type, and mainly includes a motor 310 (see FIG. 3), a motor driver (not shown), an endless belt (not shown), and a door hanger (not shown). It is configured. In the door opening / closing mechanism 300, when the motor drive signal Sm is transmitted from the door controller 200 to the motor driver, the motor 310 is driven to rotate the endless belt. The door hanger connects the endless belt and the door 110. The door 110 reciprocates between a predetermined open position and a closed position along the x direction as the endless belt circulates.
(4) Electric lock

The electric lock 500 is for locking / unlocking the door 110, and is locked when the solenoid 510 is excited by the electric lock controller 400, and is unlocked when the solenoid 14 is demagnetized.
(5) Electric lock controller

The electric lock controller 400 excites the solenoid 510 of the electric lock 500 to automatically lock the door 110 when the door 110 is in the closed state, and when the door 110 needs to be opened from the closed state. The solenoid 510 is demagnetized and the door 110 is automatically unlocked.
(6) Touch sensor with built-in camera

  As shown in FIGS. 1, 2, and 3, the camera built-in type touch sensor 600 includes an image pickup device 630 built in the touch sensor 610, and the door is arranged such that the image pickup device 630 faces the y direction. 110 is attached. Note that the imaging device 630 is independent of the circuit of the touch sensor 610, as shown in FIG. When touch sensor 610 comes into contact with an object, the contact is closed, and detection notification data Dd is transmitted to door controller 200 via bus line 800.

The imaging device 630 is a so-called digital camera, which captures still images in the imaging region PR (see FIGS. 1 and 2) at intervals of several milliseconds to several tens of milliseconds, and sequentially stores the still image data. It transmits to the face detection apparatus 620. As shown in FIG. 1, when a person HM stands at a position 1 m away from the surface of the door 110 on the outdoor side, the imaging region PR can be seen from the face of the person HM to below the knee. Is set.
(7) Face Detection Device As shown in FIG. 5, the face detection device 620 mainly includes a face detection unit 621, a face determination unit 622, a luminance detection unit 623, a face information storage unit 624, and an output selection unit 625. Has been.

  The face detection unit 621 compares the still image data sent from the imaging device 630 with the background image data. If the still image data matches the background image data, no processing is performed, and the still image data is converted to the background image data. If it is different from the image data, the detection of the face image from the still image data is repeatedly attempted for a predetermined time by the pattern recognition technique. In this case, when a face image cannot be detected, face detection impossible notification data Df is transmitted to the door controller 200 via the bus line 800. In addition, as described later, the face detection unit 621 attempts detection until the predetermined number of retries is completed (or after a predetermined time has elapsed, as described later) even though the still image data is different from the background image data. If the face image cannot be detected in the still image, the face detection impossibility notification data Df is transmitted to the door controller 200 as described above. The case where the face image can be detected will be described later.

  The luminance detection unit 623 calculates the average luminance of the still image data by comparing the still image data sent from the imaging device 630 with the background image data. In the present embodiment, the luminance of each pixel of the background image data is measured, and the luminance of each pixel of the still image data is obtained based on the luminance. Thereafter, the luminance of each pixel of the still pixel data is averaged to calculate the average luminance of the still image data. The luminance detection unit 623 does not perform any processing when the average luminance is within the allowable range (the first threshold value or the second threshold value), and if the average luminance is outside the allowable range, the bus line The face detection impossibility notification data Df is transmitted to the door controller 200 via 800. Thereafter, the control switching unit 230 invalidates the control of the door opening / closing mechanism 300 by the main door opening / closing mechanism control unit 210 and the control of the door opening / closing mechanism 300 by the sub door opening / closing mechanism control unit 220 is validated. In this state, when the detection notification data Dd is transmitted from the touch sensor 610 or the like to the door controller 200, the motor drive signal Sm is transmitted from the sub door opening / closing mechanism control unit 220 to the door opening / closing mechanism 300. As a result, the motor driving signal Sm is transmitted. 310 is driven and the door 110 is opened.

  The face information storage unit 624 includes a hard disk or the like, and stores in advance face information of a person who should be prevented from entering the room. As an example of a person who should be prevented from entering the room, when the automatic door opening and closing system 100 according to the present embodiment is used in, for example, an ATM (automated teller machine), there is a so-called child of a transfer fraud. In this case, since the child is very likely to commit the crime again, the suspect is identified by the security camera installed in the ATM, and the face information of the suspect is stored in the face information storage unit 624 in advance. Register. Here, an example in which the face information storage unit 624 is provided in the face detection device 620 has been described, but the face information storage unit 624 may use a database outside the automatic door opening / closing system 100.

  When a face image is detected in the still image by the face detection unit 621 during a predetermined time, the face determination unit 622 detects face information matching the face information related to the face image detected by the face detection unit 621 as face information. It is repeatedly determined whether or not the storage unit 624 exists. In this case, the degree of coincidence indicating the degree of coincidence is set, and when the degree of coincidence is, for example, 80 to 100%, the face coincidence notification data Di may be transmitted as will be described later.

  When matching face information exists in the face information storage unit 624, the face determination unit 622 transmits face matching notification data Di to the door controller 200 via the bus line 800. At this time, the face determination unit 622 transmits the image data of the person's face imaged by the imaging device 630 to the display unit DP of the management room KR provided outside. On the other hand, when the matching face information does not exist in the face information storage unit 624, the face determination unit 622 transmits the face mismatch notification data Dh to the door controller 200 via the bus line 800.

When the face detection unit 621 does not detect the presence of a human face, or when it is determined that there is a change in the imaging region PR but no human face exists, the output selection unit 625 starts from the touch sensor 610. Based on this signal, a signal Sk for opening the door 110 is output to the main door opening / closing mechanism control unit 210.
(8) Photoelectric sensor

The photoelectric sensor 700 is a light projecting / receiving photoelectric sensor, and is disposed in the vicinity of the door 110 so that the light beam follows the sliding direction of the door 110. While the person HM blocks the light beam, the opened door 110 is not closed.
(9) Bus line

The bus line 800 is, for example, a CAN (Controller Area).
The door controller 200, the electric lock controller 400, the touch sensor 610, the face detection device 620, the photoelectric sensor 700, and the like are connected so that various data can be transmitted and received with each other.
<Door control for automatic door opening and closing system>
(1) Information processing in the face detection device

  Hereinafter, the information processing of the face detection device 620 will be described in detail using the flowcharts shown in FIGS. 6 and 7. This information processing is repeatedly executed every several milliseconds to several tens of milliseconds.

  In the flowcharts shown in FIGS. 6 and 7, in step S <b> 1, the face detection device 620 receives still image data from the imaging device 630.

  In step S2, the luminance detection unit 623 calculates the average luminance BR of the still image data, and determines whether the average luminance BR is larger than X and smaller than X + N. As a result of the determination in step S2, if the average brightness BR is larger than X and smaller than X + N, the process proceeds to step S3. On the other hand, if the result of determination in step S2 is that the average brightness BR is less than or equal to X or greater than or equal to X + N, the process proceeds to step S9.

  In step S3, the face detection unit 621 determines whether the background image data and the still image data are the same. As a result of the determination in step S3, if the background image data and the still image data are the same, the process returns to step S1. On the other hand, if the result of determination in step S3 is that the background image data and the still image data are not the same, the process proceeds to step S4.

  In step S4, the face detection unit 621 attempts to detect a face image from the still image data using a pattern recognition technique.

  In step S5, the face detection unit 621 determines whether or not the detection of the face image has been completed. If the face image detection is completed as a result of the determination in step S5, the process proceeds to step S6. On the other hand, if the result of determination in step S5 is that face image detection has not been completed, the processing moves to step S9.

  In step S <b> 6, the face determination unit 622 repeatedly determines whether face information matching the face information related to the face image detected by the face detection unit 621 exists in the face information storage unit 624. If the matching face information exists in the face information storage unit 624 as a result of the determination in step S6, the process proceeds to step S7. On the other hand, as a result of the determination in step S6, when the matching face information does not exist in the face information storage unit 624, the process proceeds to step S8.

  In step S <b> 7, the face detection device 620 transmits face matching notification data Di to the door controller 200.

  In step S <b> 8, the face detection device 620 transmits face mismatch notification data Dh to the door controller 200.

  In step S9, the face detection unit 621 determines whether or not a process for detecting a face image from a still image has been performed a predetermined number of retries. As a result of the determination in step S9, when the face image detection process is executed a predetermined number of retries, the process proceeds to step S10. On the other hand, if the face image detection process has not been executed a predetermined number of retries, the process proceeds to step S4.

In step S <b> 10, face detection device 620 transmits face detection impossibility notification data Df to door controller 200.
(2) Information processing in touch sensors

  Hereinafter, the information processing in the touch sensor 610 will be described in detail using the flowchart shown in FIG. This information processing is repeatedly executed every several milliseconds to several tens of milliseconds.

  In FIG. 8, in step S11, the touch sensor 610 determines whether or not the contact is turned on. If the result of determination in step S <b> 11 is that the contact is turned on, the process proceeds to step 12. On the other hand, if the result of determination in step S <b> 11 is that the contact is OFF, processing returns to step 11.

In step S <b> 12, touch sensor 610 transmits detection notification data Dd to door controller 200. Note that when the process of step S12 is completed, the process returns to step S11.
(3) Information processing in door controller (3-1) When face mismatch notification data is received from face detection device

Hereinafter, the information processing in the door controller 200 when the door controller 200 receives the face mismatch notification data Dh from the face detection device 620 will be described in detail using the flowchart shown in FIG.
In FIG. 9, in step S <b> 21, the door controller 200 transmits a motor drive signal Sm to the door opening / closing mechanism 300.
(3-2) When face detection impossible notification data is received from the face detection device

  Hereinafter, the information processing in the door controller 200 when the door controller 200 receives the face detection impossibility notification data Df from the face detection device 620 will be described in detail using the flowchart shown in FIG.

  In FIG. 10, in step S31, the control switching unit 230 invalidates the control of the door opening / closing mechanism 300 by the main door opening / closing mechanism control unit 210 and enables the control of the door opening / closing mechanism 300 by the sub door opening / closing mechanism control unit 220. Turn into. At the same time, the time measuring unit 240 starts measuring time.

  In step S <b> 32, the door controller 200 determines whether detection notification data Dd is received from the touch sensor 610. When the detection notification data Dd is received as a result of the determination in step S32, the process proceeds to step S34. On the other hand, if the detection notification data Dd is not received as a result of the determination in step S32, the process proceeds to step S33.

  In step S33, the door controller 200 determines whether or not the measurement time by the time measurement unit 240 has passed a predetermined time. As a result of the determination in step S33, when the measurement time has passed the predetermined time, the process proceeds to step S35. On the other hand, if the result of determination in step S33 is that the measurement time has not passed the predetermined time, processing returns to step S32.

  In step S <b> 34, the door controller 200 transmits a motor drive signal Sm to the door opening / closing mechanism 300.

In step S35, the control switching unit 230 validates the control of the door opening / closing mechanism 300 by the main door opening / closing mechanism control unit 210 and invalidates the control of the door opening / closing mechanism 300 by the sub door opening / closing mechanism control unit 220. At the same time, the time measurement unit 240 stops measuring time and resets the measurement time up to that time.
(4) Door Opening / Closing Control by Door Opening / Closing Mechanism Hereinafter, door opening / closing control by the door opening / closing mechanism 300 will be described in detail using the flowchart shown in FIG.

  In FIG. 11, in step S <b> 41, it is determined whether or not the motor driver has received a motor drive signal Sm from the door controller 200. If the motor drive signal Sm is received as a result of the determination in step S41, the process proceeds to step S42. On the other hand, if the result of determination in step S41 is that the motor drive signal Sm has not been received, the process returns to step S41. In step S42, the motor 310 starts the opening operation of the door 110.

  In step S43, the door controller 200 determines whether or not the door 110 has reached the fully open position. If the result of determination in step S43 is that the door 110 has reached the fully open position, the process proceeds to step S44. On the other hand, if the result of determination in step S43 is that the door 110 has not reached the fully open position, the process returns to step S42.

  In step S44, the door controller 200 determines whether or not a predetermined time has elapsed from the fully opened position arrival time. As a result of the determination in step S44, when a predetermined time has elapsed from the fully opened position arrival time, the process proceeds to step S45. On the other hand, if the result of determination in step S44 is that a predetermined time has not elapsed since the fully opened position arrival time, the processing returns to step S44.

  In step S45, the door controller 200 determines whether or not the photoelectric sensor 700 is ON (that is, whether or not detection is being performed). If the result of determination in step S45 is that the photoelectric sensor 700 is ON, the process returns to step S45. On the other hand, if the result of determination in step S45 is that the photoelectric sensor is OFF, the processing moves to step S46. In step S46, the motor 310 starts the closing operation of the door 110.

  In step S <b> 47, it is determined whether the motor driver has received a motor drive signal Sm from the door controller 200. If the motor drive signal Sm is received as a result of the determination in step S47, the process returns to step S42. On the other hand, if the result of determination in step S47 is that the motor drive signal Sm has not been received, the process proceeds to step S48.

In step S48, the door controller 200 determines whether or not the door 110 has reached the fully closed position. If the result of determination in step S48 is that the door 110 has reached the fully closed position, processing returns to step S41. On the other hand, if the result of determination in step S48 is that the door 110 has not reached the fully closed position, the process returns to step S46.
<Effect in this embodiment>
(1)

In the automatic door opening and closing system 100 according to the present embodiment, it is possible to prevent only registered persons from entering the room, while non-registered persons can enter the room freely, so that the trafficability is not impaired. Therefore, if an image of the child's face is registered in the face information storage unit 624 in advance, the child cannot enter the ATM booth or the like, so that withdrawal of money by the child can be prevented and trafficability is ensured. it can. Furthermore, since the door does not open, the surrounding people can recognize that the person who is going to pass is a suspicious person such as a child and can report to the police.
(2)

Whether the detection target is the person HM until the person HM approaches the door 110 by repeatedly performing the face image detection process by the face detection unit 621 and the face information match / mismatch determination process by the face determination unit 622. Judgment on whether or not can be continued as much as possible.
(3)

Further, when the face information matches, the face determination unit 622 transmits the image data of the face of the person HM imaged by the imaging device 630 to the display unit DP of the management room KR provided outside. It is possible to inform the manager or the like that a specific person is about to enter the room.
(4)

Further, when the face detection unit 621 does not detect the presence of the human HM face in the imaging region PR, or when it is determined that there is a change in the imaging region PR but the human HM face does not exist, etc. Based on the signal from the sensor 610, a signal Sk for opening the door 110 is output to the main door opening / closing mechanism control unit 210 by the output selection unit 625. As a result, for example, when there is a person HM holding a baggage in front of the person, the person HM can enter the room, and trafficability is ensured.
(5)

In automatic door opening and closing system 100 according to the present embodiment, imaging device 630 is built in touch sensor 610, and camera built-in type touch sensor 600 is attached to door 110 such that imaging device 630 faces the y direction. . For this reason, in this automatic door opening and closing system 100, the face of the person HM can be imaged almost from the front, and a passerby passing in front of the door 110 is given a concern that it is “monitored”. Can be prevented.
(6)

In addition, when detection notification data Dd is transmitted in a state where the control of the door opening / closing mechanism 300 by the sub door opening / closing mechanism control unit 220 is enabled, the sub door opening / closing mechanism control unit 220 drives the motor to the door opening / closing mechanism 300. A signal Sm is transmitted. Thereby, even when the situation where the main door opening / closing mechanism control unit 210 stops functioning can be prevented, the sub door opening / closing mechanism control unit 220 can prevent people from being trapped.
(7)

Also, sunlight or its reflected light is incident on the imaging device 630, and the average brightness of the imaging region PR becomes equal to or higher than the second threshold value, and the face detection unit 621 cannot detect the human face, and the main door opening / closing mechanism control is performed. Even if the unit 210 stops functioning, or the illumination on the imaging device 630 becomes dark, the average luminance of the imaging region PR becomes equal to or lower than the first threshold value, and the face detection unit 621 cannot detect the human face. Even if the door opening / closing mechanism control unit 210 does not function, the sub-door opening / closing mechanism control unit 220 can prevent people from being trapped.
(8)

Further, by providing the door controller 200 with the control switching unit 230, switching between the control by the main door opening / closing mechanism control unit 210 and the control by the sub door opening / closing mechanism control unit 220 can be made simple and smooth.
(9)

When the time measured by the time measuring unit 240 passes a predetermined time, the control switching unit 230 disables the control by the sub door opening / closing mechanism control unit 220 and the control by the main door opening / closing mechanism control unit 210 is effective. State. Thereby, for example, when the face of the person HM is not detected by the face detection unit 621 and the presence of the person HM is not detected by the touch sensor 610 (for example, when the person HM leaves the place). However, the control by the main door opening / closing mechanism control unit 210 can be recovered.
(10)

In the automatic door opening / closing system 100 according to the present embodiment, when the control by the sub door opening / closing mechanism control unit 220 is enabled in the door controller 200 and the detection notification data Dd is received from the touch sensor 610, the door controller 200 After transmitting the motor drive signal Sm to the door opening / closing mechanism 300, the control by the sub door opening / closing mechanism control unit 220 is invalidated and the main door opening / closing mechanism control unit 210 is validated. For this reason, in this automatic door opening and closing system 100, it is possible to prevent a situation in which the control by the sub door opening and closing mechanism control unit 220 is continued endlessly.
(11)

In the automatic door opening / closing system 100 according to the present embodiment, after the control by the sub door opening / closing mechanism control unit 220 is validated in the door controller 200, if the detection notification data Dd is not received within a predetermined time, the control switching unit 230. However, the control by the sub door opening / closing mechanism control unit 220 is invalidated and the main door opening / closing mechanism control unit 210 is validated. For this reason, in this automatic door opening / closing system 100, for example, even when a resident leaves the place without touching the touch sensor 610, the control by the sub door opening / closing mechanism control unit 220 is continued steadily. Can be prevented.
(12)

In the automatic door opening and closing system 100 according to the present embodiment, the face information storage unit 624 is incorporated in the system 100, so that the face information of a specific person can be updated as appropriate. This makes it possible to update the face information of the child or the like.
<Modification>
(A)

  In the present invention, a relay circuit type automatic door opening / closing system 100a as shown in FIG. 12 may be adopted instead of the soft logic type automatic door opening / closing system 100 according to the previous embodiment.

  In this relay circuit type automatic door opening / closing system 100a, as is apparent from FIG. 12, the first contact SW1, the third contact SW3, and the fourth contact SW4 are connected in series to each other, and the second contact SW2 Are connected in parallel to the first contact SW1, the third contact SW3, and the fourth contact SW4. In the automatic door opening / closing system 100a, the main door opening / closing mechanism control unit 210, the sub door opening / closing mechanism control unit 220, the control switching unit 230, and the time measurement unit 240 are incorporated in the face detection device 620 instead of the door controller 200. It is necessary to provide between the face detection device 620 and the relay circuit.

  In the automatic door opening / closing system 100a, the face detection device 620 detects a face image in a still image within a predetermined number of retries (or within a predetermined time), and matches the face information related to the detected face image. If there is something to be stored in the face information storage unit 624, the main door opening / closing mechanism control unit 210 closes the second contact SW2 and opens the fourth contact SW4, and transmits a closing signal to the door controller 200, thereby opening the door opening / closing mechanism. 300 closes the door 110.

  On the other hand, the face detection device 620 does not detect a face image in the still image even after a predetermined time has passed even though the still image data is different from the background image data, or the average luminance is acceptable. When it is outside the range, the sub-door opening / closing mechanism control unit 220 closes the third contact SW3. Thereafter, when the first contact SW1 of the touch sensor 610 is closed, an open signal is transmitted from the touch sensor 610 to the door controller 200, and the door 110 is opened by the door opening / closing mechanism 300.

  That is, in the flowchart of FIG. 6, in step S <b> 7, the main door opening / closing mechanism control unit 210 closes the second contact SW <b> 2 and transmits an open signal to the door controller 200. In the flowchart, the sub door opening / closing mechanism control unit 220 closes the third contact SW3 in step S8. In the flowchart of FIG. 8, in step 12, the touch sensor 610 transmits an open signal to the door controller 200.

  In addition, as with the previous embodiment, the control switching unit controls the second contact SW2 by the main door opening / closing mechanism control unit 210 and enables / disables the control of the third contact SW3 by the sub door opening / closing mechanism control unit 220. 230 can be realized. In this case, when the face detection impossibility notification data Df is given, the control switching unit 230 invalidates the control of the second contact SW2 by the main door opening / closing mechanism control unit 210, and the second control by the sub door opening / closing mechanism control unit 220 is performed. Enable control of 3-contact SW3. When the face mismatch notification data Dh is given, the control switching unit 230 validates the control of the second contact SW2 by the main door opening / closing mechanism control unit 210 and the third contact by the sub door opening / closing mechanism control unit 220. Disable control of SW3.

Further, in the automatic door opening / closing system 100a according to this modification, when the door 110 changes from the fully closed state to the fully open state or returns from the fully open state to the fully closed state, the second contact SW2 or the third contact SW3 is automatically set. The fourth contact SW4 is automatically closed. Further, when a predetermined time has elapsed since the third contact SW3 was closed without closing the first contact SW1, the third contact SW3 is automatically opened.
(B)

In the automatic door opening and closing system 100 according to the previous embodiment, the door 110 is a one-way sliding door type door, but the door 110 may be a two-way sliding door type door.
(C)

In the automatic door opening and closing system 100 according to the previous embodiment, the door 110 is a sliding door, but the door 110 may be a pivoting door. In such a case, the number of doors 110 may be one or two (viewing door type).
(D)

In the automatic door opening and closing system 100 according to the previous embodiment, the touch sensor 610 is employed as an auxiliary sensor when the face image cannot be detected. As shown in FIG. The sensor 610a may be employed. In FIG. 13, the near-infrared reflective sensor 610 a is attached to the eyeless 130. Further, instead of the near-infrared reflective sensor 610a, a sensor such as a heat ray (far-infrared) sensor, a microwave Doppler sensor, a hybrid (composite) sensor, an ultrasonic sensor, or a photoelectric sensor may be employed. . In addition, what is attached | subjected with the code | symbol same as the code | symbol used in description of previous embodiment in the figure is the same as what concerns on previous embodiment.
(E)

In the automatic door opening and closing system 100 according to the previous embodiment, the camera built-in touch sensor 600 is attached only to the outdoor side of the door 110, but the camera built-in touch sensor may be attached to the indoor side of the door 110. The door 110 may be attached to both the outdoor side and the indoor side.
(F)

In the automatic door opening / closing system 100 according to the previous embodiment, the door opening / closing mechanism 300 is a belt driving system, but other driving systems may be adopted as the door opening / closing mechanism.
(G)

In the automatic door opening and closing system 100 according to the previous embodiment, the imaging device 630 captures still images at intervals of several milliseconds to several tens of milliseconds, and sequentially transmits the still image data to the face detection device 620. However, the imaging device may capture a moving image and transmit the moving image data to the face detection device 620 at all times. In this case, the face detection device 620 extracts still images at predetermined time intervals from the moving image, and detects the face of the person HM in the still images.
(H)

In the automatic door opening / closing system 100 according to the previous embodiment, the luminance detection unit 623 calculates the average luminance from the still image data, but the average luminance may be calculated by the imaging device 630. In such a case, the imaging device 630 transmits the average luminance data to the face detection device 620.
(I)

In the automatic door opening and closing system 100 according to the previous embodiment, the allowable range is set for the average brightness, but only the lower limit value may be set for the average brightness, or only the upper limit value is set. It may be.
(J)

  In the automatic door opening / closing system 100 according to the previous embodiment, when the control by the main door opening / closing mechanism control unit 210 is validated, the control by the sub door opening / closing mechanism control unit 220 is invalidated, and the control by the sub door opening / closing mechanism control unit 220 is performed. When the control is enabled, the main door opening / closing mechanism control unit 210 is disabled, but both the control by the main door opening / closing mechanism control unit 210 and the control by the sub door opening / closing mechanism control unit 220 may be always enabled. Absent. In such a case, for example, the following control modes can be considered.

When face detection impossibility notification data Df is transmitted from the face detection device 620 to the door controller 200, the sub door opening / closing mechanism control unit 220 sets a first flag corresponding to the face detection impossibility notification data Df. When detection notification data Dd is transmitted from the touch sensor 610 to the door controller 200, the sub door opening / closing mechanism control unit 220 sets a second flag corresponding to the detection notification data Dd. Then, the sub door opening / closing mechanism control unit 220 transmits a motor drive signal Sm to the door opening / closing mechanism 300 when both the first flag and the second flag are raised.
(K)

In the automatic door opening and closing system 100 according to the previous embodiment, the face detection unit 621 and the touch sensor 610 are used as control sensors, but the face detection unit 621 and the touch sensor 610 may be used as activation sensors. In such a case, it is necessary to separately provide a sensor such as a photoelectric sensor as a control sensor.
(L)

In the automatic door opening / closing system 100 according to the previous embodiment, the control switching unit 230 disables the control of the door opening / closing mechanism 300 by the main door opening / closing mechanism control unit 210, and the door opening / closing mechanism by the sub door opening / closing mechanism control unit 220. When the detection notification data Dd is transmitted from the touch sensor 610 to the door controller 200 after the control 300 is enabled, the control switching unit 230 controls the door opening / closing mechanism 300 by the main door opening / closing mechanism control unit 210. Is in an effective state, and the control of the door opening / closing mechanism 300 by the sub door opening / closing mechanism control unit 220 is in an invalid state, but the opening / closing detection sensor for the door 110 detects that the door 110 is fully opened. If the control switching unit 230 controls the main door opening / closing mechanism control unit 210, the control of the door opening / closing mechanism 300 is effective. And by control of the door opening and closing mechanism 300 by the sub-door mechanism control unit 220 may be an invalid state.
(M)

In the previous embodiment, entry of a person who has been registered in advance is prohibited. However, the present invention is not limited to this, and only a person who has been registered in advance may be prohibited from leaving the room.
(N)

In addition, when there are a plurality of persons who want to enter the room, it is preferable to prohibit these rooms from entering if one of them corresponds to a person registered in advance.
(O)

In addition, an announcement such as “Please remove your hat or sunglasses” may be given to those who want to enter the room. This facilitates accurate face detection processing and face match / mismatch determination processing.
(P)

Further, when entry is prohibited, a warning sound may be emitted by an alarm device. Thereby, it is possible to inform the surroundings that a person who should not be allowed to enter the room is going to enter the room.
(Q)

Furthermore, in the previous embodiment, the case where the automatic door opening and closing system 100 is employed in an ATM (automated teller machine) has been described. However, the present invention is not limited to this. For example, it is used for various public institutions such as city halls. May be. In this case, for example, when a suspect such as a marriage fraud visits the city hall requesting the issuance of a family register, etc., the suspect can be prevented from entering the room.
(R)

Further, in the previous embodiment, the entrance to the ATM booth is prevented, but the present invention is not limited to this, and the store (for example, a convenience store) is not limited to this, as in the modification shown in FIG. You may employ | adopt the automatic door opening / closing system of this invention for an entrance / exit. That is, the automatic door opening / closing system 100b according to the present modification includes a double-sliding sliding door type door 110b, an imaging unit 600b arranged so that an outdoor area near the door is an imaging region PR, and a weightless sensor 610b. And. Since the automatic door opening / closing system 100b is the same as that of the above-described embodiment, the description thereof is omitted, but includes a door opening / closing mechanism, a face detection determination unit, a door opening / closing mechanism control unit, and the like.
If comprised in this way, while the entrance of only the person who registered beforehand can be blocked | prevented, since the person who is not registered can enter a room freely, trafficability is not impaired. Therefore, if an image of the face of a suspicious person such as a shoplifting addict is registered in advance, the suspicious person cannot enter a store such as a convenience store. In addition, it is possible to ensure the trafficability of shop assistants.
(S)

Moreover, in the previous embodiment and the above-described modification, the entrance to the ATM booth and the store is prevented in advance, but the present invention is not limited to this, and the exit from the predetermined area to the outside is prevented. It may be. Specifically, as shown in the modified example of FIG. 15, there is one that prevents a dementia patient or the like from going out without permission in a nursing facility or the like. That is, the automatic door opening / closing system 100c according to the present modification includes an automatic door 110c and an imaging unit 600c arranged so that the indoor area near the door 110c is the imaging area PR. The space on the left side of the entrance / exit 140c is the indoor space IS of the care facility, and the space on the right side is the outdoor space OS of the care facility. Since the automatic door opening / closing system 100c is the same as that of the above-described embodiment, the description thereof is omitted, but includes a door opening / closing mechanism, a face detection determination unit, a door opening / closing mechanism control unit, and the like.
If comprised in this way, while the leaving of only the person who registered beforehand can be blocked | prevented, since the person who is not registered can leave the room freely, trafficability is not impaired. Therefore, if an image of the face of a person who has a risk of wrinkles, such as a patient with dementia, is registered in advance, the person cannot go out of a care facility or the like, so that wrinkles of patients with dementia can be prevented in advance. At the same time, the traffic of caregivers can be secured.
(T)

  Moreover, it is possible to employ | adopt the automatic door opening / closing system of this invention besides the above-mentioned stores, such as an ATM booth and a convenience store, and care facilities. For example, the automatic door opening / closing system of the present invention may be employed at an entry / exit gate at an airport to prevent entry or departure of a person with a criminal record. That is, it is effective to provide the automatic door opening / closing system of the present invention at a place where it is necessary to prevent specific persons from entering and exiting.

100, 100a, 100b Automatic door opening / closing system 110, 110b, 110c Door 120 Wall 130 Seamless 140, 140c Entrance / exit 200 Door controller 210 Main door opening / closing mechanism controller (door opening / closing mechanism controller)
220 Subdoor opening / closing mechanism control unit 230 Control switching unit (control enabling unit, subdoor opening / closing mechanism control release unit)
240 time measuring unit 300 door opening / closing mechanism 310 motor 400 electric lock controller 500 electric lock 510 solenoid 600, 600b, 600c camera built-in type touch sensor 610 touch sensor (sensor unit)
610a Near-infrared reflective sensor (sensor unit)
620 Face detection device 621 Face detection unit (face detection determination unit, state detection unit)
622 face determination unit (face detection determination unit)
623 Luminance detection unit (luminance measurement unit)
624 Face information storage unit 625 Output selection unit (selection unit)
630 Imaging device (imaging unit)
700 Photoelectric sensor 800 Bus line DP Display unit HM Human IS Indoor space OS Outdoor space PR Imaging region Sk signal (signal for opening the door)

Claims (6)

Door,
A door opening and closing mechanism for opening and closing the door;
An imaging unit arranged so that the vicinity of the door is an imaging region;
Whether or not a person's face is detected in the imaging region, and whether or not the person's face is present, whether or not the person's face information matches the pre-stored face information A face detection determination unit for determining
An automatic door opening / closing system comprising: a door opening / closing mechanism control unit that causes the door opening / closing mechanism to close the door when the face detection determining unit determines that the information matches the face information.   The face detection determination unit repeatedly determines whether or not the face information of the person matches the face information stored in advance when the presence of the face of the person is detected in the imaging region. The automatic door opening and closing system according to 1.   When it is determined that the person's face information matches the previously stored face information, the face detection determination unit transmits the person's face information imaged by the imaging unit to an external display unit The automatic door opening and closing system according to claim 1 or 2. Infrared light emitting / receiving or touch sensor type sensor unit for detecting the presence of a person,
When the face detection determination unit does not detect the presence of the human face in the imaging area, or when it is determined that there is a change in the imaging area but the human face does not exist, the sensor unit 4. The selection unit according to claim 1, further comprising: a selection unit that outputs a signal for opening the door based on a signal from the control unit to the door opening / closing mechanism control unit. Automatic door opening and closing system. A state detection unit that detects that the face detection determination unit has fallen into a predetermined state;
When the state detection unit detects that the face detection determination unit has fallen into the predetermined state and the presence of the person is detected by the sensor unit, the door opening / closing mechanism opens the door. The automatic door opening / closing system according to claim 4, further comprising a sub door opening / closing mechanism control unit.   The automatic door opening and closing system according to claim 1, further comprising a face information storage unit that stores the face information of the person in advance.

Images