JP2011168972A - Automatic door sensor and automatic door opening/closing system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an automatic door sensor and an automatic door opening/closing system which, can reduce the unnecessary opening/closing of a door by image processing and secure safety during the opening/closing of the door at low cost. <P>SOLUTION: When a door 300 is closed, an imaging area SR1 and an imaging area SR2 which face the surfaces of the door 300, respectively, are photographed by a camera part 101a and the camera part of the automatic door sensor 100b, respectively. When the door 300 is moved from the closed state to the open state, the imaging area of the camera part of the automatic door sensor 100b includes the forward of the end of the door 300 in the advancing direction. In this case, the imaging area SR1 of the camera part 101a is maintained. When the door 300 is fully open, an area including the forward of the end of the door 300 (outdoor side) is photographed by the camera part 101a, and an area including the forward of the end of the door 300 (indoor side) is photographed by the camera part of the automatic door sensor 100b. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to an automatic door sensor and an automatic door opening / closing system for opening and closing a door.

  Research and development of an automatic door opening and closing system that detects a passerby by image processing and opens the door is underway. For example, Patent Document 1 discloses an automatic door device that opens and closes a door by recognizing a passer's face by a face image recognition technique. According to this, the door is not unnecessarily opened and closed by a person or an animal that simply crosses the front of the door.

  For example, Patent Document 2 discloses an object detection device. In the object detection apparatus, a camera head is provided on the door. According to this technology, the face of a person approaching the door can be found and tracked, and the video can be continuously captured. When the person approaches the door to a predetermined range, the still image is captured. Shoot and memorize.

JP 2007-285006 A JP 2003-259352 A

  In the automatic door device described in Patent Document 1, in order to photograph the face of a passer-by who is about to enter the room indoors from the front, the camera is so tall that the face of the passer-by can be taken indoors and from the front. Is arranged. Therefore, the passerby who enters the room enters the blind spot of the camera and cannot recognize the passerby who enters the room, and the door is likely to start closing despite the presence of the passerby who wants to enter the room. As described in Patent Document 2, this problem is solved by providing the camera head on the door. However, when the door opens and closes, the imaging area of the camera changes. . In other words, when the door starts to open, it is impossible to accurately recognize the presence of a passerby, so it is necessary to ensure safety when opening and closing the door. In order to ensure safety when opening and closing the door, it may be possible to arrange a sensor for ensuring safety, but not only the cost of the sensor, but also the cost for installation and maintenance costs Become.

  An object of the present invention is an automatic door sensor and an automatic door opening and closing system that reduce unnecessary opening and closing by using image processing, and can automatically ensure safety at the time of opening and closing the door without increasing the number of sensors. It is to provide a door sensor and an automatic door opening and closing system.

(1) An automatic door sensor according to one aspect is an automatic door sensor provided to open and close a door, and includes an imaging unit disposed so that the vicinity of an opening of the door is set as an imaging region, and an imaging unit. When the rotation motor to be moved and the door are in the closed state, the rotation motor is controlled so that the imaging unit faces the area facing the door surface, and when the door is in the open state, And a control unit that controls the rotation motor so that the region including the traveling direction on one side of the door becomes the imaging region of the imaging unit.

  In the automatic door sensor according to one aspect, the imaging unit is disposed so that the vicinity of the door opening is an imaging region. The imaging unit is rotated about, for example, a vertical axis by a rotation motor. When the door is in the closed state, the rotation motor is controlled by the control unit so that the imaging unit is directed to a region facing the door surface, and when the door is in the open state, The control unit controls the area including the traveling direction on the side to be the imaging area of the imaging unit. Note that the direction of the image pickup unit refers to a state in which the optical axis direction of the optical system of the image pickup unit is substantially in the same direction.

  In this case, when the door is in the closed state, the imaging unit captures an image of the area facing the door surface. When the door is in the open state, the imaging unit captures an area including the traveling direction on one side of the door. As in the case of using a fixed camera, the blind spot of the imaging region does not occur when the door moves. Thereby, when a passerby is recognized, it can avoid that a door contacts a passerby by performing predetermined processing (for example, stop or low-speed movement of a door). Therefore, the safety is remarkably improved as compared with the conventional case. In addition, the cost is lower than when a plurality of sensors such as phototubes are provided to recognize a passerby.

  The “door” mentioned above may be not only a sliding door but also a hinged door, a folding door, or a glide slide door. Further, the “door” may be one or more than two.

(2) The door includes a sliding door, and when the sliding door shifts from the closed state to the open state, the control motor rotates the motor so that the area including the front of the door bottom of the sliding door becomes the imaging area. Is preferably controlled.

  In this case, when the sliding door transitions from the closed state to the open state, the imaging unit captures the front of the sliding door, that is, the front of the sliding door when the sliding door transitions from the closed state to the open state. A passerby in the traveling direction of the sliding door can be recognized.

(3) The imaging unit includes a first imaging unit provided on one side of the sliding door, a rotation motor includes a first rotation motor that rotates the first imaging unit, and the control unit includes: When the sliding door transitions from the closed state to the open state, the first rotation motor may be controlled so that the area including the front of the sliding door is the imaging area of the first imaging unit.

  In this case, for example, when one side is the indoor side, when the sliding door shifts from the closed state to the open state, the area including the front of the door bottom of the sliding door is imaged by the first imaging unit. Recognize passers in front of the hips.

(4) The imaging unit includes a second imaging unit provided on the other side opposite to the one side, the rotation motor includes a second rotation motor that rotates the second imaging unit, and the control unit When the door shifts from the closed state to the open state, the second rotation motor may be controlled so that the area facing the door surface becomes the imaging area of the second imaging unit.

  In this case, when the other side, which is the opposite side of the one side, is an outdoor side, for example, when the door shifts from the closed state to the open state, an area facing the surface of the door is imaged by the second imaging unit. Therefore, it is possible to recognize a passerby in a region facing the door surface. Thereby, trafficability can also be ensured, maintaining safety.

(5) The automatic door sensor further includes an operation unit that can be operated by a passer-by, a door opening / closing mechanism that opens and closes the door with a motor, and a door controller that controls a motor of the door opening / closing mechanism. The door controller may be instructed to open and close the door by the door opening and closing mechanism when the operation unit is operated by.

  In this case, the door opening / closing mechanism opens and closes the door under the control of the door controller. Since the door is opened and closed when the operation unit is operated by a passer-by, even when the passer-by cannot be recognized due to a malfunction of the imaging unit or the like, the passer-by opens or closes the door by operating the operation unit. be able to.

(6) One side is the indoor side, the other side is the outdoor side, the first image pickup unit is provided on the door, and the second image pickup unit is provided on the door or a wall disposed in the vicinity of the door. May be.

  In this case, in order to recognize the passerby who is going to enter the room, the second image pickup unit only needs to take an image of the front of the passage that is the fixed area, and thus can be provided on the door or the wall. On the other hand, in order to prevent the door from coming into contact with a passerby by the opening / closing operation of the door, the first imaging unit needs to image a region including the door front of the door and a region including the front of the door bottom. The door is preferably provided.

(7) An automatic door opening and closing system according to another aspect includes a door, a door opening and closing mechanism that opens and closes the door, an imaging unit that is disposed so that the vicinity of the opening of the door is an imaging region, and an imaging unit. When the rotation motor to be moved and the door are in the closed state, the rotation motor is controlled so that the imaging unit faces the area facing the door surface, and when the door is in the open state, And a control unit that controls the rotation motor so that the region including the traveling direction on one side of the door becomes the imaging region of the imaging unit.

  In the automatic door opening and closing system according to another aspect, the imaging unit is disposed so that the vicinity of the door opening is an imaging region. The imaging unit is rotated about, for example, a vertical axis by a rotation motor. When the door is in the closed state, the rotation motor is controlled by the control unit so that the imaging unit is directed to a region facing the door surface, and when the door is in the open state, The control unit controls the area including the traveling direction on the side to be the imaging area of the imaging unit.

  In this case, when the door is closed, the imaging unit captures an area facing the door surface, and when the door is open, the imaging unit captures an area including the traveling direction on one side of the door. As in the case of using a camera, there is no blind spot in the imaging area when the door moves. Thereby, when a passerby is recognized, it can avoid that a door contacts a passerby by performing predetermined processing (for example, stop or low-speed movement of a door). Therefore, the safety is remarkably improved as compared with the conventional case. In addition, the cost is lower than when a plurality of sensors such as phototubes are provided to recognize a passerby.

  According to the automatic door sensor and the automatic door opening and closing system according to the present invention, safety and low cost when opening and closing the door can be ensured.

It is a schematic diagram which shows the imaging area of the camera part in the opening-and-closing state of the door in 1st Embodiment, and each state. It is a schematic diagram which shows the imaging area of the camera part in the opening-and-closing state of the door in 1st Embodiment, and each state. It is a block diagram which shows the structure of the automatic door sensor which concerns on 1st Embodiment, and the automatic door opening / closing system containing it. It is a flowchart which shows the flow of operation | movement in the automatic door opening and closing system in this embodiment. It is a schematic diagram which shows the opening-and-closing state of the door in 2nd Embodiment, and the imaging area of the camera part in each state. It is a schematic diagram which shows the opening-and-closing state of the door in 2nd Embodiment, and the imaging area of the camera part in each state. It is a block diagram which shows the structure of the automatic door sensor which concerns on 2nd Embodiment, and the automatic door opening / closing system containing it. It is a schematic diagram which shows the imaging area of the camera part in each state in the open / closed state of the door in 3rd Embodiment. It is a schematic diagram which shows the imaging area of the camera part in each state in the open / closed state of the door in 3rd Embodiment. It is a block diagram which shows the structure of the automatic door sensor which concerns on 3rd Embodiment, and the automatic door opening / closing system containing it. It is a schematic diagram for demonstrating the recognition area | region of a passerby.

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

  FIG. 1 and FIG. 2 are schematic diagrams showing the open / closed state of the door and the imaging area of the camera unit in each state, and FIG. 3 is a block diagram showing the configuration of the automatic door sensor and the automatic door opening / closing system including the same according to the present embodiment. It is.

  As shown in FIGS. 1, 2, and 3, the automatic door opening / closing system 200 according to the present embodiment includes a one-way sliding door type door 300, an automatic door sensor 100 (an automatic door sensor provided on the outdoor space OS side of the door 300). 100a and an automatic door sensor 100b provided on the indoor space IS side), a door controller 121 that controls opening and closing of the door 300, and a door opening and closing mechanism 122.

  Hereinafter, the x direction is a height direction orthogonal to the horizontal plane, the y direction is a horizontal direction, and the z direction is a direction orthogonal to the x direction and the y direction (separate from the door 300 toward the indoors or outdoors). Direction).

  1A and 1B, the door 300 is disposed so as to be slidable in a direction parallel to the wall surfaces of the walls 310 provided on both sides of the door 300, that is, in the y direction. Switching between an open state in which the door 300 is opened and a closed state in which the door 300 is closed are performed by driving the motor 123 of the door opening / closing mechanism 122.

  In FIG. 3, an outdoor automatic door sensor 100a includes a camera unit 101a, a switch unit 102a, a rotation motor unit 103a that rotates the camera unit 101a, and a first control unit 104a.

  The indoor automatic door sensor 100b includes a camera unit 101b, a switch unit 102b, a rotation motor unit 103b that rotates the camera unit 101b, and a second control unit 104b. The viewing angle of the camera unit 101a and the camera unit 101b is, for example, 90 °. Further, the rotation motor unit 103a and the rotation motor unit 103b are configured by, for example, an electric motor, an ultrasonic motor, a solenoid, or the like.

  The 1st control part 104a of automatic door sensor 100a, the 2nd control part 104b of automatic door sensor 100b, and door controller 121 are mutually connected by bus line 150 so that bidirectional communication is possible. The bus line 150 is, for example, a CAN (Controller Area Network) bus. However, the present invention is not limited to this, and it may be a simple contact signal, and may not be bidirectional communication.

  The door controller 121, the first control unit 104a, and the second control unit 104b include, for example, a microcomputer including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like.

  In the door controller 121, the door opening / closing mechanism 122 is controlled by the CPU executing a predetermined control program stored in the ROM. In the first control unit 104a and the second control unit 104b, the CPU executes a predetermined control program stored in the ROM, thereby controlling the rotation motor unit 103a and the rotation motor unit 103b, respectively.

  In the present embodiment, the camera unit 101a and the camera unit 101b are, for example, CMOS cameras, take still images in an imaging region (described later) at intervals of several milliseconds to several tens of milliseconds, and use the still image data. The data is sequentially transmitted to the first control unit 104a or the second control unit 104b. In addition, each imaging area described later is set so that when a person stands, for example, at a position 1 m away from the outdoor side or indoor side surface of the door 300, the person's face and below the knee are captured. This makes it possible to accurately determine the presence or absence of a person by image processing, for example, face image recognition, which is a technique for recognizing a human face by image processing, and by further determining the face direction and images in time series. It is possible to accurately determine the direction in which a person is traveling.

  The first control unit 104a controls the rotation motor unit 103a to rotate the camera unit 101a about the vertical axis (x direction). Similarly, the second control unit 104b controls the rotation motor unit 103b to rotate the camera unit 101b about the vertical axis (x direction).

  The first control unit 104a transmits an operation command for the door opening / closing mechanism 122 to the door controller 121 based on the imaging result (the presence / absence of a person, the traveling direction and the traveling speed) of the camera unit 101a. Similarly, the second control unit 104b transmits an operation command for the door opening / closing mechanism 122 to the door controller 121 based on the imaging result of the camera unit 101b.

  In the present embodiment, when the switch unit 102 a is pressed by an outdoor passerby, the first control unit 104 a transmits a command to the door controller 121 so that the door 300 is opened by the door opening / closing mechanism 122. . Similarly, when the switch unit 102b is pressed by an indoor passerby, the second control unit 104b transmits a command to the door controller 121 so that the door 300 is opened by the door opening / closing mechanism 122.

  The door opening / closing mechanism 122 is a mechanism for sliding the door 300. This door opening / closing mechanism 122 is of a belt drive type, and mainly includes a motor 123, a motor driver (not shown), an endless belt (not shown), and a door hanger having a door wheel that runs on a rail inside the joint. (Not shown). In the door opening / closing mechanism 122, when a motor drive signal is transmitted from the door controller 121 to the motor driver, the motor 123 is driven to rotate the endless belt. A door 300 is suspended from the door hanger and is also connected to an endless belt. The door 300 reciprocates between a predetermined open position and a closed position along the y direction (see FIG. 1 or FIG. 2) as the endless belt circulates.

  As shown in FIG. 1B, when the door 300 is in the closed state, the first control unit 104a causes the imaging region SR1 of the camera unit 101a to be the front region of the door 300 in the outdoor space OS. The rotation motor unit 103a is controlled. Similarly, when the door 300 is closed, the second control unit 104b controls the rotation motor unit 103b so that the imaging region SR2 of the camera unit 101b is a front region of the door 300 in the indoor space IS. Is done. That is, the imaging region SR1 and the imaging region SR2, which are regions facing the surface of the door 300, are imaged by the camera unit 101a and the camera unit 101b, respectively.

  On the other hand, as shown in FIG. 2A, when the door 300 shifts from the closed state to the open state, the camera unit 101b is rotated, for example, 45 ° counterclockwise by the second control unit 104b. In this way, the rotation motor unit 103b is controlled. As a result, the imaging region SR2 of FIG. 1B rotates counterclockwise by 45 °, so that the imaging region of the camera unit 101b includes the region including the front of the door bottom of the door 300 (the door 300 is opened from the closed state to the open state). Imaging region SR2a, which is a region including the front of the door 300 in the traveling direction when shifting to. In this case, the imaging region SR1 of the camera unit 101a is maintained.

  On the other hand, as shown in FIG. 2B, when the door 300 is in a fully opened state, the first control unit 104a causes the rotation motor unit to rotate the camera unit 101a counterclockwise, for example, 45 °. 103a is controlled. As a result, the imaging region SR1 of FIG. 2A rotates counterclockwise by 45 °, whereby the imaging region of the camera unit 101a includes a region including the front of the door 300 (the traveling direction on one side of the door 300). Is an imaging region SR1a.

  Further, the second control unit 104b controls the rotation motor unit 103b so that the camera unit 101b rotates, for example, 90 ° clockwise. As a result, the imaging region SR2a in FIG. 2A rotates 90 ° clockwise, so that the imaging region of the camera unit 101b includes a region including the front of the door 300 (the traveling direction on one side of the door 300 is changed). Imaging region SR2b, which is a region including the image pickup region.

  Next, an operation flow in the automatic door opening and closing system 200 according to the present embodiment will be described with reference to a flowchart.

  FIG. 4 is a flowchart showing an operation flow in the automatic door opening and closing system 200 in the present embodiment. In the following flowchart, the state shown in FIG.

  As shown in FIG. 4, first, the first control unit 104a determines whether or not there is a passerby and whether or not the switch unit 102a is operated based on the imaging result of the camera unit 101a, and the second control unit 104b Based on the imaging result of the camera unit 101b, the presence / absence of a passerby and the presence / absence of an operation of the switch unit 102b are determined (step S1).

  When there is a passerby or when the switch units 102a and 102b are pressed (Yes in step S1), the second control unit 104b rotates the motor unit for rotation so as to rotate the camera unit 101b counterclockwise, for example, 45 °. 103b is controlled (step S2). Thereby, the imaging region SR2a (see FIG. 2A) is imaged by the camera unit 101b. On the other hand, when there is no passerby and when the switch units 102a and 102b are not pressed (No in step S1), the process of step S1 is repeated.

  Next, the second control unit 104b determines the presence or absence of a person based on the imaging result in the imaging region SR2a by the camera unit 101b (step S3). Here, the said person refers to a person different from a passerby.

  When there is no person (No in step S3), the second control unit 104b instructs the door controller 121 to open the door 300 by the door opening / closing mechanism 122 (hereinafter referred to as a door opening operation command). Is transmitted (step S4).

  On the other hand, when there is a person (Yes in step S3), the second control unit 104b issues a command for opening the door 300 at a low speed by the door opening / closing mechanism 122 to the door controller 121 (hereinafter referred to as a low speed command). Transmit (step S5).

  Thereafter, the first control unit 104a and the second control unit 104b recognize whether or not the door 300 is in a fully open state (step S6). The fully open state of the door 300 and the fully closed state described later are recognized based on a signal indicating the position of the door 300 transmitted from the door controller 121, a limit switch provided separately, or the like.

  When the door 300 is fully open (Yes in step S6), the first control unit 104a controls the rotation motor unit 103a so that the camera unit 101a rotates, for example, 45 ° counterclockwise (step S7). ). As a result, the imaging region SR1 (see FIG. 2A) rotates 45 ° counterclockwise, so that the imaging region of the camera unit 101a is the region including the front of the door 300 (see FIG. 2). 2 (b)).

  Along with the above, the rotation motor unit 103b is controlled by the second control unit 104b so that the camera unit 101b rotates, for example, 90 ° clockwise (step S7). As a result, the imaging region SR2a (see FIG. 2A) rotates 90 ° clockwise, so that the imaging region of the camera unit 101b is an area including the front of the door 300 (FIG. 2). (See (b)).

  Subsequently, the first control unit 104a and the second control unit 104b determine whether there is a passerby in the imaging region SR1a and the imaging region SR2b based on the imaging results of the camera unit 101a and the camera unit 101b, respectively (step). S8).

  When there is no passerby in either of the imaging region SR1a and the imaging region SR2b (No in step S8), the first control unit 104a or the second control unit 104b causes the door 300 to open the door 300 with respect to the door controller 121. A command (hereinafter, referred to as a door closing operation command) is transmitted for closing the door (step S9).

  On the other hand, when there is a person in at least one of the imaging region SR1a and the imaging region SR2b (Yes in step S8), the first control unit 104a or the second control unit 104b uses the door opening / closing mechanism 122 to open the door to the door controller 121. A command for maintaining 300 in an open state (hereinafter referred to as a maintenance command) is transmitted (step S10). Note that, after the process of step S10, the processes of steps S8 and S9 described above are repeated.

  After the process of step S9, the first control unit 104a and the second control unit 104b recognize whether or not the door 300 is in a fully closed state (step S11). When the door 300 is in the fully closed state (Yes in step S11), the first control unit 104a controls the rotation motor unit 103a so that the camera unit 101a rotates, for example, 45 ° clockwise (step S12). ). As a result, the imaging region SR1a (see FIG. 2B) rotates 45 ° clockwise, so that the imaging region of the camera unit 101a becomes the imaging region SR1 (see FIG. 1B).

  Along with the above, the rotation motor unit 103b is controlled by the second control unit 104b so that the camera unit 101b rotates, for example, 45 ° counterclockwise (step S12). Thus, the imaging region SR2b (see FIG. 2B) rotates 45 ° counterclockwise, so that the imaging region of the camera unit 101b becomes the imaging region SR2 (see FIG. 1B). In addition, after the process of step S12, it returns to the process of above-mentioned step S1.

  On the other hand, when the door 300 is not in the fully closed state (No in step S11), the first control unit 104a and the second control unit 104b pass based on the imaging results of the camera unit 101a and the camera unit 101b, respectively. It is determined whether there is a person (step S13).

  When there is a passerby (Yes in step S13), the first control unit 104a or the second control unit 104b instructs the door controller 121 to open the door 300 by the door opening / closing mechanism 122 (hereinafter, referred to as “open”). (Referred to as an inversion command) is transmitted (step S14). Along with this, the second control unit 104b controls the rotation motor unit 103b so that the imaging region SR2a (see FIG. 2A) is imaged by the camera unit 101b (step S14). Thereafter, the process returns to step S6 described above. On the other hand, when there is no passerby (No in step S13), the process returns to the above-described step S11.

(Effect in 1st Embodiment)
In the present embodiment, when the door 300 is in the closed state, the camera sections 101a and 101b respectively capture the imaging areas SR1 and SR2 that are areas facing the surface of the door 300, and when the door 300 is in the fully open state, the camera section 101b. Thus, an area including the front side of the door 300 (imaging area SR2b) is imaged. Thereby, a blind spot in the imaging region does not occur when the door is opened and closed as in the case of using a conventional fixed camera. Thereby, when a passerby is recognized, it can avoid that door 300 contacts a passerby by performing predetermined processing (for example, low-speed movement or stop of door 300). Therefore, the safety at the time of opening and closing the door is remarkably improved as compared with the conventional case. In addition, the cost is lower than when a plurality of sensors such as phototubes are provided to recognize a passerby.

  In the present embodiment, when the door 300 shifts from the open state to the closed state, an area in front of the door bottom of the door 300 (imaging area SR2a) is imaged by the camera unit 101b. Thereby, the passerby who exists in image pick-up field SR2a can be recognized. Therefore, after recognition of the passerby, the door 300 can be prevented from coming into contact with the passerby in the imaging region SR2a by performing a predetermined process (for example, moving or stopping the door 300 at a low speed). Therefore, the safety at the time of opening and closing the door can be remarkably improved.

  In the present embodiment, when the door 300 shifts from the closed state to the open state, the imaging region SR1 that is the region facing the surface of the door 300 is imaged by the camera unit 101a. Recognize passers by Thereby, after recognition of the passerby, by performing a predetermined process (for example, high-speed movement of the door 300), a passerby in the imaging region SR1 can be smoothly passed.

  In the present embodiment, even when the passerby cannot be recognized due to a malfunction of the camera units 101a and 101b, the passerby can open and close the door 300 by operating the switch units 102a and 102b. .

  Furthermore, in this embodiment, the camera unit 101a on the outdoor side only needs to image the area in front of the passage that is a fixed area in order to recognize a passerby who wants to enter the room. Can do. On the other hand, in this embodiment, the indoor camera unit 101b is provided on the door 300. Thereby, the area including the front of the door 300 (imaging area SR2b) and the area including the front of the door bottom (imaging area SR2a) can be imaged by the camera unit 101b. Thereby, it can prevent that the said door 300 contacts the passerby in said each area | region by the opening / closing operation | movement of the door 300. FIG. Therefore, the safety when opening and closing the door can be significantly improved.

(Second Embodiment)
Hereinafter, an automatic door sensor and an automatic door opening and closing system according to a second embodiment will be described with reference to the drawings.

  FIG. 5 and FIG. 6 are schematic diagrams showing the open / closed state of the door and the imaging region of the camera unit in each state, and FIG. 7 is a block diagram showing the configuration of the automatic door sensor and the automatic door opening / closing system including the same according to the second embodiment. FIG.

  In the first embodiment, a single door (single sliding door) has been described. In the second embodiment, a two door (two sliding door) will be described.

  As shown in FIGS. 5, 6 and 7, the configuration of the automatic door opening / closing system 200a according to the second embodiment is different from the configuration of the automatic door opening / closing system 200 according to the first embodiment. The automatic door opening / closing system 200 according to the present invention further includes a door 301, a door controller 124 for controlling opening / closing of the door 301, a door opening / closing mechanism 125 for opening / closing the door 301, a motor 126, an automatic door sensor 110a on the outdoor side, and a door. The inner automatic door sensor 110b is added. Hereinafter, only differences from the description in the first embodiment will be described.

  The automatic door sensor 110a and the automatic door sensor 110b are disposed on the door 301, respectively. When closing the entrance (not shown), as shown in FIGS. 5A and 5B, the door 301 and the door 300 are in contact with each other, and when opening the entrance, FIG. ) And (b), the door 301 and the door 300 are separated from each other.

  In FIG. 7, the automatic door sensor 110a includes a camera unit 111a, a switch unit 112a, a rotation motor unit 113a for rotating the camera unit 111a, and a third control unit 114a. The automatic door sensor 110b includes a camera unit 111b, a switch unit 112b, a rotation motor unit 113b that rotates the camera unit 111b, and a fourth control unit 114b. The camera unit 111a and the camera unit 111b are digital cameras, and the viewing angle is 90 °, for example.

  The third controller 114a, the fourth controller 114b, and the door controller 124 are connected to the bus line 150 so that they can communicate with each other. The third control unit 114a, the fourth control unit 114b, and the door controller 124 are similar to the first control unit 104a, the second control unit 104b, and the door controller 121 described in the first embodiment. The operation of the microcomputer is the same.

  The third control unit 114a controls the rotation motor unit 113a to rotate the outdoor camera unit 111a about the vertical axis (x direction). Similarly, the fourth control unit 114b controls the rotation motor unit 113b to rotate the indoor camera unit 111b about the vertical axis (x direction).

  The third control unit 114 a transmits an operation command for the door opening / closing mechanism 125 to the door controller 124 based on the imaging result (the presence or absence of a person) by the camera unit 111 a. Similarly, the fourth control unit 114b transmits an operation command for the door opening / closing mechanism 125 to the door controller 124 based on the imaging result of the camera unit 111b. The door opening / closing mechanism 125 is a mechanism that slides the door 301. The functions of the switch units 112a and 112b are the same as those of the switch units 102a and 102b.

  In the present embodiment, as shown in FIG. 5B, when the door 300 and the door 301 are in contact with each other, that is, when the door 300 and the door 301 are closed, the third control unit 114a. Thus, the rotation motor unit 113a is controlled so that the imaging region SR11 of the camera unit 111a becomes the front region of the door 301 in the outdoor space OS. Similarly, when the door 300 and the door 301 are in the closed state, the fourth control unit 114b causes the rotation motor unit so that the imaging region SR12 of the camera unit 111b becomes the front region of the door 301 in the indoor space IS. 113b is controlled. That is, the imaging region SR11 and the imaging region SR12 that are regions facing the surface of the door 301 are imaged by the camera unit 111a and the camera unit 111b, respectively. In this case, the imaging areas of the camera units 101a and 101b are the same as those in FIG.

  On the other hand, as shown in FIG. 6A, when the door 300 and the door 301 shift from the closed state to the open state, the camera unit 111b is rotated clockwise by, for example, 45 ° by the fourth control unit 114b. The rotating motor unit 113b is controlled to rotate. Thereby, the imaging region SR12 of FIG. 5B rotates clockwise by 45 °, whereby the imaging region of the camera unit 111b includes a region including the front of the door butt of the door 301 (region including the traveling direction of the door butt). Imaging region SR12a. In this case, the imaging region SR11 of the camera unit 111a is maintained. The imaging areas of the camera units 101a and 101b are the same as those in FIG.

  On the other hand, as shown in FIG. 6B, when the door 300 and the door 301 are completely separated from each other, that is, when the door 300 and the door 301 are fully opened, the third controller 114a The rotation motor unit 113a is controlled such that the camera unit 111a rotates, for example, 45 ° clockwise. As a result, the imaging region SR11 in FIG. 6A rotates 45 ° clockwise, so that the imaging region of the camera unit 111a includes the region including the front of the door 301 (the traveling direction on one side of the door 301). Imaging region SR11a which is a region including the image pickup region. Further, the fourth control unit 114b controls the rotation motor unit 113b so that the camera unit 111b rotates, for example, 90 ° counterclockwise. Thereby, the imaging region SR12a in FIG. 6A rotates 90 ° counterclockwise, so that the imaging region of the camera unit 111b includes a region including the front of the door 301 (the traveling direction on one side of the door 301). Is an imaging region SR12b. In this case, the imaging areas of the camera units 101a and 101b are the same as those in FIG.

(Effect in 2nd Embodiment)
In the present embodiment, when the door 300 and the door 301 are closed, the imaging regions SR1, SR11, SR2, and SR12, which are regions facing the surface of the door 300, are imaged by the camera units 101a, 111a, 101b, and 111b, respectively. . In addition, when the door 300 is in the fully open state, the camera unit 101b and the camera unit 111b respectively create a region including the front of the door 300 (imaging region SR2b) and a region including the front of the door 301 (imaging region SR12b). Imaged. Thereby, a blind spot in the imaging region does not occur when the door is opened and closed as in the case of using a conventional fixed camera. Thereby, when the passerby is recognized, it is possible to avoid the doors 300 and 301 from coming into contact with the passerby by performing a predetermined process (for example, moving or stopping the doors 300 and 301 at a low speed). Therefore, the safety at the time of opening and closing the door is remarkably improved as compared with the conventional case. In addition, the cost is lower than when a plurality of sensors such as phototubes are provided to recognize a passerby.

  Further, in the present embodiment, when the door 300 and the door 301 shift from the open state to the closed state, the imaging region SR2a that is the region in front of the door butt of the door 300 and the imaging that is the region in front of the door butt of the door 301. The region SR12a is imaged by the camera unit 101b and the camera unit 111b, respectively. Thereby, the passerby who exists in imaging field SR2a and SR12a can be recognized. Therefore, after recognition of the passerby, a predetermined process (for example, low speed movement or stop of the doors 300 and 301) is performed to prevent the doors 300 and 301 from coming into contact with the passerby in the imaging regions SR2a and SR12a. it can. Therefore, the safety at the time of opening and closing the door can be remarkably improved.

  Furthermore, in the present embodiment, when the doors 300 and 301 are shifted from the closed state to the open state, the imaging region SR1 and the imaging region SR11 that are regions facing the surfaces of the door 300 and the door 301 are the camera unit 101a. Since the images are taken by the camera unit 111a, the passersby in the imaging regions SR1 and SR11 can be recognized. Thereby, after recognition of the passerby, by performing a predetermined process (for example, high-speed movement of the door 300), the passerby in the imaging regions SR1 and SR11 can be smoothly passed. In addition, about the other, there exists the same effect as 1st Embodiment.

(Third embodiment)
Hereinafter, an automatic door sensor and an automatic door opening and closing system according to a third embodiment will be described with reference to the drawings.

  FIG. 8 and FIG. 9 are schematic views showing the open / closed state of the door and the imaging area of the camera unit in each state, and FIG. 10 is a block diagram showing the configuration of the automatic door sensor and the automatic door opening / closing system including the same according to the third embodiment. FIG.

  In the first and second embodiments, the case of using a single-type sliding door and a double-type sliding door has been described. In the third embodiment, the case of using a single-type sliding door will be described.

  As shown in FIGS. 8, 9, and 10, the configuration of the automatic door opening / closing system 200b according to the third embodiment is different from the configuration of the automatic door opening / closing system 200 according to the first embodiment in that the sliding door type door 300 is used. Instead, a hinged door 302 is used. Therefore, the difference is that instead of the door controller 121 and the door opening / closing mechanism 122 (including the motor 123), the door controller 127 and the door opening / closing mechanism 128 (including the motor 129) are used. The door controller 127 rotates the door 302 by a rotation mechanism (not shown) based on a command from the first control unit 104a or the second control unit 104b, thereby opening and closing the door 302. Switch.

  Further, the arrangement position of the automatic door sensor 100a is different between the third embodiment and the first embodiment. That is, in the first embodiment, the automatic door sensor 100a and the automatic door sensor 100b are provided symmetrically with respect to the door 300, but in the third embodiment, the automatic door sensor 100b provided on one side of the door 302 On the other hand, the automatic door sensor 100 a is provided on the other side of the door 302. Hereinafter, only differences from the description in the first embodiment will be described.

  As shown in FIG. 8B, when the door 302 is in the closed state, the first control unit 104a causes the imaging region SR21 of the camera unit 101a to be a front region of the door 302 in the outdoor space OS. The rotation motor unit 103a is controlled. The second control unit 104b controls the rotation motor unit 103b so that the imaging region SR2 of the camera unit 101b is a front region of the door 302 in the indoor space IS. That is, the imaging region SR21 and the imaging region SR2 that are regions facing the surface of the door 302 are imaged by the camera unit 101a and the camera unit 101b, respectively.

  In contrast, as shown in FIG. 9A, when the door 302 shifts from the closed state to the open state, the camera unit 101a is not rotated by the rotation motor unit 103a, and the rotation motor unit 103b. However, since the camera unit 101b is not rotated but the door 302 is rotated, the imaging region SR21 and the imaging region SR2 in FIG. 8B are respectively an imaging region SR21a and an imaging region that are opposed to the surface of the door 302. Transition to SR2c. That is, the imaging area SR21a and the imaging area SR2c, which are areas facing the surface of the door 302, are imaged by the camera unit 101a and the camera unit 101b, respectively.

  On the other hand, as shown in FIG. 9B, when the door 302 is in a fully open state (a state in which the door 302 and one wall 310 are substantially perpendicular), the second control unit 104b causes the camera unit 101b to move. The rotation motor unit 103b is controlled so as to rotate, for example, 45 ° clockwise. Thereby, the imaging region SR2d is imaged by the camera unit 101b. Further, the first control unit 104a controls the rotation motor unit 103a so that the camera unit 101a rotates, for example, 45 ° clockwise. As a result, the imaging region SR21a of FIG. 9A rotates 45 ° clockwise, so that the imaging region of the camera unit 101a advances on one side of the door 302 (the side where the automatic door sensor 100a is disposed). This is an imaging region SR21b that is a region including the direction K.

(Effect in 3rd Embodiment)
In the present embodiment, when the door 302 is in the closed state, the camera portions 101a and 101b respectively capture the imaging regions SR21 and SR2 that are opposed to the surface of the door 302, and when the door 302 is in the fully open state, the camera portion 101a. The camera region 101b and the imaging region SR21b and the imaging region SR2d are imaged, respectively. Thereby, a blind spot in the imaging region does not occur when the door is opened and closed as in the case of using a conventional fixed camera. Thereby, when the passerby is recognized, it is possible to avoid the door 302 from coming into contact with the passerby by performing a predetermined process (for example, moving or stopping the door 302 at a low speed). Therefore, the safety at the time of opening and closing the door is remarkably improved as compared with the conventional case. In addition, the cost is lower than when a plurality of sensors such as phototubes are provided to detect a passerby.

  In the present embodiment, when the door 302 transitions from the open state to the closed state, the imaging region SR21a and the imaging region SR2c, which are regions facing the surface of the door 302, are imaged by the camera unit 101a and the camera unit 101b, respectively. Is done. Thereby, the passerby who exists in imaging field SR21a and SR2c can be recognized. Therefore, after recognition of the passerby, the door 302 can be prevented from coming into contact with the passerby in the imaging region SR2c by performing a predetermined process (for example, moving or stopping the door 302 at a low speed). Therefore, the safety when opening and closing the door can be improved. In addition, about the other, there exists the same effect as 1st Embodiment.

(Correspondence between each component of claims and each part of embodiment)
In the above embodiment, the automatic door sensors 100, 100a, 100b, 110a, and 110b correspond to automatic door sensors, the camera units 101a, 101b, 111a, and 111b correspond to imaging units, and the switch units 102a, 102b, 112a, and 112b include Corresponding to the operation unit, the rotation motor units 103a, 103b, 113a, 113b correspond to the rotation motor, the first to fourth control units 104a, 104b, 114a, 114b correspond to the control unit, the door controller 121, 124 corresponds to a door controller, the door opening and closing mechanisms 122 and 125 correspond to door opening and closing mechanisms, and the automatic door opening and closing systems 200, 200a, and 200b correspond to automatic door opening and closing systems.

  In the above embodiment, the doors 300, 301, and 302 correspond to doors, the wall 310 corresponds to a wall, the traveling direction K corresponds to the traveling direction on one side of the door, and the imaging regions SR1, SR1a, and SR11. SR11a, SR12, SR12a, SR12b and imaging areas SR2, SR2a, SR2b, SR2c, SR2d, SR21, SR21a, SR21b correspond to imaging areas, doors 300, 301 correspond to sliding doors, and camera units 101b, 111b The rotation motor units 103b and 113b correspond to the first imaging motor, the camera units 101a and 111a correspond to the second imaging unit, and the rotation motor units 103a and 113a correspond to the second imaging unit. The motors 123, 126, and 129 correspond to the motors.

(Modification)
In the process of step S5 of FIG. 4 according to the first embodiment described above, a low speed command for opening the door 300 at a low speed is transmitted, but the present invention is not limited to this. A command for stopping (stop command) may be transmitted.

  In the second embodiment (see FIG. 5B), the front area of the door 300 and the door 301 is imaged by both the camera unit 101a and the camera unit 111a. However, the present invention is not limited to this. Instead, the image may be taken only by one camera unit.

  In the second embodiment, the door controller 121 and the door controller 124, the first controller 104a and the third controller 114a, the second controller 104b and the fourth controller 114b are configured separately and independently. However, the present invention is not limited to this, and they may be configured in common.

  Further, in the first embodiment (see FIG. 2A), when the door 300 shifts from the closed state to the open state, the camera unit 101b captures an image of the imaging region SR2a and whether there is a passerby in the imaging region SR2a. However, the present invention is not limited to this. As shown in FIG. 11, the imaging region SR2a is divided into two regions SR2a1 and SR2a2 by image processing, and is close to the front of the door bottom of the door 300. Only the presence / absence of a passerby in the area SR2a1, which is the area, may be determined.

  In the second embodiment (see FIG. 5B), the overlapping portion between the imaging region SR1 and the imaging region SR11 is large, and the overlapping portion between the imaging region SR2 and the imaging region SR12 is large. Only one of the units 111a may perform imaging, and only one of the camera unit 101b and the camera unit 111b may perform imaging. In this case, it leads to power saving.

  In the third embodiment described above (see FIG. 9A), when there is a passerby in the imaging region SR21a and no passerby is in the imaging region SR2c, the door 302 may be moved at a high speed. In this case, smooth passage of passers-by in the imaging region SR21a can be realized.

  In the above embodiment, the automatic door opening and closing systems 200, 200a, and 200b are realized by the soft logic method, but the present invention is not limited to this, and these may be realized by a relay circuit method. For example, the above-described door opening operation command, door closing operation command, maintenance command, and the like can be performed by switching the switch contacts.

  In the above-described embodiment, each imaging region is changed by rotating each camera unit. However, the present invention is not limited to this, and even when a fixed camera is used, the optical axis of the fixed camera is changed. The imaging region may be changed by reflecting with a mirror.

  Moreover, in the said embodiment, although 1 sheet type sliding door, 2 sheet type sliding door, and 1 sheet type sliding door were employ | adopted as a specific aspect of a door, it is not limited to this, A folding door and a glide The present invention is similarly applied to other doors such as a slide door, and the same effect can be obtained.

  Moreover, in the said embodiment, although the door opening / closing mechanisms 122 and 125 were made into the belt drive system, another drive system may be employ | adopted as a door opening / closing mechanism.

  Moreover, in the said embodiment, although the camera part 101a, the camera part 101b, the camera part 111a, and the camera part 111b were made into a CMOS type, a CCD type may be sufficient and also an infrared camera may be sufficient.

  Furthermore, although preferable embodiment of this invention is as above-mentioned, this invention is not restrict | limited only to it. It will be understood that various other embodiments may be made without departing from the spirit and scope of the invention. Furthermore, in this embodiment, although the effect | action and effect by the structure of this invention are described, these effect | actions and effects are examples and do not limit this invention.

100, 100a, 100b, 110a, 110b Automatic door sensors 101a, 101b, 111a, 111b Camera units 102a, 102b, 112a, 112b Switch units 103a, 103b, 113a, 113b Rotating motor units 104a, 104b, 114a, 114b Fourth controller 121, 124 Door controller 122, 125 Door opening / closing mechanism 123, 126, 129 Motor 200, 200a, 200b Automatic door opening / closing system 300, 301, 302 Door 310 Wall IS Indoor space K Traveling direction OS on one side of door Outdoor space SR1, SR1a, SR11, SR11a, SR12, SR12a, SR12b Imaging region SR2, SR2a, SR2b, SR2c, SR2d, SR21, SR21a, SR21b

Claims (7)

An automatic door sensor provided to open and close the door,
An imaging unit disposed so that the vicinity of the opening of the door is an imaging region;
A rotation motor for rotating the imaging unit;
When the door is in a closed state, the rotation motor is controlled so that the optical axis of the imaging unit faces an area facing the surface of the door, and when the door is in an open state, An automatic door sensor comprising: a control unit that controls the rotation motor so that a region including a traveling direction on one side of the door is an imaging region of the imaging unit. The door includes a sliding door;
The control unit controls the rotation motor so that a region including the vicinity of the door bottom side of the sliding door becomes an imaging region of the imaging unit when the sliding door shifts from a closed state to an open state. The automatic door sensor according to claim 1. The imaging unit includes a first imaging unit provided on one side of the sliding door,
The rotation motor includes a first rotation motor that rotates the first imaging unit,
When the sliding door shifts from a closed state to an open state, the control unit includes the first rotation motor so that a region including the vicinity of the door bottom side of the sliding door becomes an imaging region of the first imaging unit. The automatic door sensor according to claim 2, wherein the automatic door sensor is controlled. The imaging unit includes a second imaging unit provided on the other side opposite to the one side,
The rotation motor includes a second rotation motor that rotates the second imaging unit,
The control unit controls the second rotation motor so that an area facing the door surface becomes an imaging area of the second imaging section when the door shifts from a closed state to an open state. The automatic door sensor according to any one of claims 1 to 3. An operation unit operated by a passer-by;
A door opening and closing mechanism for opening and closing the door;
A door controller for controlling the door opening and closing mechanism,
5. The control unit according to claim 1, wherein when the operation unit is operated by the passerby, the control unit instructs the door controller to open and close the door by the door opening / closing mechanism. Automatic door sensor as described in The one side is an indoor side and the other side is an outdoor side;
The automatic door sensor according to claim 4 or 5, wherein the first imaging unit is provided on the door, and the second imaging unit is provided on the door or a wall disposed in the vicinity of the door. Door,
A door opening and closing mechanism for opening and closing the door;
An imaging unit disposed so that the vicinity of the opening of the door is an imaging region;
A rotation motor for rotating the imaging unit;
When the door is in a closed state, the rotation motor is controlled so that the optical axis of the imaging unit faces an area facing the surface of the door, and when the door is in an open state, An automatic door opening and closing system comprising: a control unit that controls the rotation motor so that an area including a traveling direction on one side of the door becomes an imaging area of the imaging unit.