JP2017014801A - Automatic door control system and ranging device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic door control system capable of being inexpensively constituted by standardizing a sensor and an opening/closing control unit while improving accuracy of detecting a moving body by fragmenting a monitoring region.SOLUTION: An automatic door control system 10 comprises: an indoor sensor 5 for detecting a moving body in a monitoring region inside a door; an outdoor sensor 6 for detecting an object in a monitoring region outside the door; and an opening/closing control unit 7 for opening/closing the door. The indoor sensor 5 comprises an opening/closing determination unit 67 for determining to open or close the door, on the basis of behavior information on the moving body from the indoor sensor 5, existence information on the object from the outdoor sensor 6, and the door's control state by the opening/closing control unit 7. The opening/closing control unit 7 performs opening/closing control on the door on the basis of an opening/closing control signal transmitted from the opening/closing determination unit 67.SELECTED DRAWING: Figure 10

Description

  The present invention relates to an automatic door control system including an indoor sensor that detects a moving body in a door inner monitoring area, an outdoor sensor that detects an object in the door outer monitoring area, and an opening / closing control unit that opens and closes the door. The present invention relates to a distance measuring device used in a door control system.

  In Patent Document 1, in a door opening / closing system having an entrance management function, an outsider who has not received entry permission inserts a long object or the like into the interior from the outside through a clearance around the door, and an internal detection sensor. An automatic door opening and closing device has been proposed for the purpose of eliminating the illegal act of opening the door by turning on the door and illegally entering the interior.

  The automatic door opening and closing device includes an entrance permission determination means for determining whether or not a person entering the interior from the outside of the door is an entry permitter, and an interior for detecting a person who exits from the interior of the door to the exterior. When the detection sensor and the entry permission determination means allow the person to enter the room, or when the internal detection sensor detects the person, it has a room entrance management function, and the detection area of the internal detection sensor is formed along the door. The presence detection area for detecting a person in the vicinity of the door and the proximity detection area for detecting a person approaching the door formed on the inner side farther from the presence detection area than the presence detection area, the door is in the closed position. Sometimes it is configured to invalidate the presence detection area closer to the door.

  The internal detection sensor is composed of a floor surface reflection type light reflection sensor having a number corresponding to the number of a plurality of monitoring areas into which a set of a pair of light emitting elements and light receiving elements is divided. When the amount of reflected light from the floor of each divided monitoring area decreases, it is detected that a person has entered the corresponding monitoring area.

  Further, Patent Document 2 includes an indoor / outdoor sensor that is disposed indoors and outdoors of a door and detects a detection wave from an object, and an open / close control unit that controls opening / closing of the door based on the detection of the sensor, The indoor sensor has a door proximity detection area close to the door and a door remote detection area away from the door, and the open / close control unit detects that the indoor sensor is in the door proximity detection area when the outdoor sensor is in the detection state when the door is closed. A closing maintaining means for maintaining the door closed when the door is detected, and an opening operating means for opening the door when the indoor sensor detects an object in the far away detection area of the door when the outdoor sensor is in a detection state when the door is closed. , An automatic door opening and closing device is proposed.

The indoor / outdoor sensor is an AIR type sensor that detects near-infrared light that is reflected from an object by projecting near-infrared light, and detects an object. A set of a pair of elements is provided in a number corresponding to the number of a plurality of divided monitoring areas.

Japanese Patent No. 3682743 Japanese Patent No. 3811724

  However, when the number of pairs of light projecting elements and light receiving elements as described above corresponding to the number of divided monitoring areas is provided, the number of element pairs increases when the number of monitoring areas is increased in order to increase the detection accuracy. And the number of pairs of light projecting elements and light receiving elements that can be incorporated into one sensor is physically limited, so that the size of the divided monitoring area is also limited, and is too fine There was a problem that the area could not be set. The improvement of detection accuracy is a concept that includes the moving direction, moving speed, and the like of the moving body in the criterion so that the door is opened only when the door needs to be truly opened.

  Also, even when the number of pairs of light projecting elements and light receiving elements is increased by allowing an increase in the size of the sensor, a large number of signals output from such a large number of light receiving elements are received, and based on the results. It is necessary to provide an open / close control unit for controlling the opening and closing of the automatic door, which not only increases the number of signal lines, but also requires the determination of the opening / closing of the door by judging the signal output from each light receiving element. There was a problem that it became a complicated opening and closing control unit.

  In addition, monitoring areas are set according to the mechanical size of the doors that differ for each building, and sensors are designed with the optical arrangement of the light projecting element and the light receiving element individually designed to correspond to each monitoring area. There is a problem that not only complicated design work is required but also parts cannot be shared.

  Therefore, in order to reduce the size of the sensor and subdivide the monitoring area, the monitoring area is scanned by two-dimensionally scanning the measuring light and detecting the reflected light from the object irradiated with the measuring light. It is conceivable to use a distance measuring device that calculates the direction and distance of an object existing in the area.

  However, a signal corresponding to each subdivided monitoring area, that is, distance information is input from the distance measuring device, and it is necessary to configure the opening / closing control unit to determine whether to open the door based on the distance information. There is also a problem that it is necessary to employ an expensive arithmetic processing circuit in preparation for an increase in arithmetic load on a large amount of data.

  SUMMARY OF THE INVENTION In view of the above-described problems, an object of the present invention is to provide an automatic door control system and a distance measuring device that can be configured at low cost by increasing the detection accuracy of a moving object by subdividing a monitoring area and increasing the versatility of sensors and opening / closing control units. Is to provide

  In order to achieve the above-mentioned object, a first characteristic configuration of an automatic door control system according to the present invention is an indoor sensor for detecting a moving body in a door inner monitoring area as described in claim 1 of the claims. And an outdoor sensor that detects an object in the outside monitoring area of the door, and an open / close control unit that opens and closes the door, the behavior information of the moving object by the indoor sensor and the outdoor The indoor sensor includes an open / close determination unit that determines whether the door is open or closed based on information on presence / absence of an object by the sensor and a control state of the door by the open / close control unit, and the open / close control unit transmits the open / close control unit from the open / close determination unit The door is configured to be opened and closed based on the opened / closed control signal.

  The opening / closing determination unit provided in the indoor sensor determines whether the door needs to be opened or closed, and the resulting opening / closing control signal is transmitted from the indoor sensor to the opening / closing control unit. Open / close controlled. Open / close judgment is performed on the side of an indoor sensor that has inherently high calculation processing capacity, so expensive signal lines and high speed and high cost that are required when processing a large amount of data related to a moving object obtained by an indoor sensor with an open / close control unit. A simple arithmetic processing circuit becomes unnecessary.

  In the second feature configuration, as described in claim 2, in addition to the first feature configuration described above, the opening / closing determination unit is configured to control the door control state by the opening / closing control unit and the object by the outdoor sensor. It is the point which is comprised so that the said door inside monitoring area | region may be switched based on presence information.

  For example, based on the control state of the door, such as whether the door is closed or open, and the presence / absence information of the object detected by the outdoor sensor, whether there is a possibility that the door may be opened improperly Correspondingly, the door inner monitoring area is switched by the opening / closing judgment unit provided in the indoor sensor.

  In the third feature configuration, as described in claim 3, in addition to the second feature configuration described above, the door inner monitoring area opens the door at least when a moving body is detected. A door inner proximity area, a door inner mischief detection area that prohibits the opening of the door even if a moving object is detected, and a belt-shaped area that surrounds the door inner mischief detection area and opens the door when a moving object is detected; The opening / closing determination unit sets the door inner proximity area as valid and sets the door inner mischief detection area and the belt-like area as invalid, or sets the door inner proximity area as invalid. It is the point which is comprised so that the said door inside mischief detection area | region and the said strip | belt-shaped area | region may be switched.

  If the door inner mischief detection area and the belt-like area are set to be effective, even if a moving object is detected in the door inner mischief detection area, the door is not opened if the moving object is not detected in the belt-like area. Even if the moving object is detected in the mischievous detection area, the door is opened when the moving object is detected in the belt-like area. That is, even when a suspicious person is cheating outside the door, the door is opened when the moving body is detected in the belt-like region, so that the moving body can quickly go out of the door. When the door inner proximity area is set to be effective and a moving body is detected in the door inner proximity area, the door is opened regardless of the state of the door inner mischief detection area. Such switching of the effective area is switched based on the control state of the door and the presence / absence information of the object detected by the outdoor sensor.

  In the fourth feature configuration, as described in claim 4, in addition to any of the first to third feature configurations described above, the indoor sensor scans the measurement light two-dimensionally in the monitoring area. A distance measuring device that calculates a direction and a distance of an object existing in the monitoring area by detecting reflected light from the object irradiated with the measurement light, and the open / close determination unit, The opening / closing control signal is output based on the behavior of the object including the moving direction and / or moving speed of the object obtained based on the direction and distance of the object calculated by the distance measuring device.

  The distance and direction to the object are calculated from the measurement light scanned two-dimensionally in the monitoring area and the reflected light from the object irradiated with the measurement light. If the distance is shorter than the distance to the floor assumed in advance, it can be determined that there is a moving body. If the distance to the moving body changes in time series, the moving speed can be obtained from the distance information. If the detection time interval of the reflected light with respect to the measurement light is defined, the behavior of the object can be grasped with a resolution corresponding to the detection time interval, and the behavior of a plurality of objects can be detected with high accuracy.

  In the fifth feature configuration, in addition to any of the first to fourth feature configurations described above, the opening / closing control signal includes an opening speed and an opening width of the door. In the point.

  When the door opening speed or opening width is controlled by the open / close control signal, for example, the door opening speed is increased to reduce the opening width, thereby suppressing large fluctuations in the air-conditioned indoor environment, or dust from the outside. Etc., and energy loss for air conditioning and cleaning can be reduced.

  In addition to any one of the first to fifth feature configurations described above, the sixth feature configuration includes communication control connected to each sensor and the open / close control unit so as to be communicable. And an interface that can be connected to an external device for setting an initial value of the monitoring region and the opening / closing control signal.

  Communication performed between each sensor and the open / close control unit is unified to the communication specification via the communication control unit, so the cost can be reduced by generalization of each sensor and the open / close control unit, and the interface provided in the communication control unit Since the monitoring region of each sensor and the initial value of the open / close control signal can be set via the, it is possible to freely set them to specific values according to the installation site.

  The characteristic configuration of the distance measuring device according to the present invention is, as described in claim 7, the measurement used for the indoor sensor or outdoor sensor of the automatic door control system having any one of the first to sixth characteristic configurations described above. A distance device that calculates the direction and distance of an object existing in the monitoring area by scanning the measuring light two-dimensionally in the monitoring area and detecting reflected light from the object irradiated with the measuring light. Opening / closing determination for determining whether the door is open or closed based on the detection result of the moving body by the distance measuring unit and the control state of the open / close control unit and outputting the open / close control signal to the open / close control unit And the point.

  As described above, according to the present invention, there is provided an automatic door control system and a distance measuring device that can be configured at low cost by increasing the detection accuracy of a moving object by subdividing a monitoring area, and making the sensor and the open / close control unit versatile. I was able to do that.

(A) is explanatory drawing of the automatic door apparatus 1 seen from the side, (b) is explanatory drawing of the automatic door apparatus seen from the indoor front, (c) is explanatory drawing of the automatic door apparatus 1 seen from the indoor side Explanatory drawing of the automatic door device 1 showing the state of a suspicious person performing mischief operation from the outside Explanatory drawing of distance measuring device that constitutes indoor sensor and outdoor sensor Functional block diagram of signal processing device (A) is a side view showing a position vector, (b) is a front view showing a position vector, and (c) is a bird's-eye view explaining a position vector showing a moving object. (A) is explanatory drawing of a movement vector, (b) is explanatory drawing of a projection vector. Explanatory drawing of the detection space partitioned off between the 1st boundary surface F1 and the 2nd boundary surface F2. (A) is explanatory drawing of the division area of detection space, (b) is explanatory drawing of the same planar view (A) is explanatory drawing of the door inner side monitoring area | region Ri where the dynamic detection area | region R4 and the door inner side proximity | contact area | region R1 were set to be effective, and the door inner side mischief detection area | region R2 and the strip | belt-shaped area | region R3 were set to invalidity in normal mode. ) Is an explanatory diagram of the door inner monitoring area Ri in which the dynamic detection area R4, the door inner mischief detection area R2 and the belt-like area R3 are set valid and the door inner proximity area R1 is set invalid in the mischief detection mode. Functional block diagram of automatic door control system (A)-(f) is explanatory drawing of the control information exchanged by an automatic door control system (A) is explanatory drawing of the detection state of the mobile body in normal detection mode, (b) is explanatory drawing of the detection state of the mobile body in mischievous detection mode.

  Hereinafter, an automatic door control system to which the present invention is applied and a distance measuring device incorporated in the automatic door control system will be described.

  FIG. 1 (a) shows a main part of the automatic door device 1 viewed from the side, and FIG. 1 (b) shows a main part of the automatic door device 1 viewed from the indoor front. The main part of the automatic door apparatus 1 which looked down indoors is shown by (c).

  The automatic door device 1 includes a pair of door bodies 2a and 2b supported so as to be openable and closable in a posture perpendicular to the floor surface F, a support mechanism 3 that supports the door bodies 2a and 2b so as to be capable of opening and closing, and a support mechanism. 3 is provided with a drive mechanism 4 including an electromagnetic motor that opens and closes the doors 2a and 2b through the door 3. In the following description, “door bodies 2a and 2b” are also simply referred to as “door 2”.

An automatic door control system 10 is constructed to control the opening and closing of the door 2 of the automatic door device 1.
FIG. 10 shows a functional block configuration of the automatic door control system 10. The automatic door control system 10 includes an indoor sensor 5 that detects a moving body that exists in a monitoring area (door inside monitoring area) Ri set inside the door 2, and a monitoring area (outside the door) that is set outside the door 2. Monitoring area) An outdoor sensor 6 for detecting an object such as a suspicious person present in Ro and an opening / closing controller 7 for opening / closing the door 2 are provided.

  A security device 8 and an electromagnetic lock mechanism 9 are connected to the opening / closing control unit 7. When a person who wishes to enter the building enters the building, an operation such as inserting an authentication card into the security device 8 is performed. When the security device 8 authenticates, the motor 2 is opened after the door 2 locked by the electromagnetic lock mechanism 9 is unlocked. Is driven and opened. When an object is no longer detected by the outdoor sensor 6, it is confirmed that the visitor has completed the entrance, and the door 2 is closed, and then the electromagnetic lock mechanism 9 locks it.

  The authentication method by the security device 8 is a method of reading an authentication code recorded on an authentication card and collating it with a pre-registered authentication code, and an authentication code input by operating a numeric key provided in the security device 8 And a known authentication method such as a method of collating with a pre-registered authentication code, a method of collating fingerprints with a fingerprint input unit, and a method of collating pupils with a pupil photographing unit.

  Further, the electromagnetic lock mechanism 9 may be configured by a mechanism that mechanically locks the door 2 itself using electromagnetic force, a brake mechanism that mechanically prevents the rotation of the electromagnetic motor M that opens and closes the door 2, and the like. Any configuration may be used as long as it is a mechanism that can be remotely operated and mechanically locks the door 2 using electromagnetic force and prevents the door 2 from being forcibly opened by human power.

  When the approach of the person leaving the building to the door 2 is detected by the indoor sensor 5, the electromagnetic lock mechanism 9 is unlocked by the opening / closing control unit 7, and then the electromagnetic motor M is driven to open the door 2. Then it is closed and locked again.

  Such an automatic door device 1 and an automatic door control system 10 are constructed in an apartment building such as an office building or a condominium, for example, and only those who are authenticated at the entrance of the door 2 can enter the building, and any person who enters the building can freely enter the building. It is configured to be able to leave.

  However, as shown in FIG. 2, for example, when a broken bar or the like is inserted from the gap of the closed door 2 outside the building, the indoor sensor 5 detects the broken bar or the like and the person leaving the building approaches the door 2. There is a risk of false detection, and the door 2 may be opened to unauthorized intruders despite the security device.

  Also, in order to accurately detect whether it is a fraudulent act (mischief) due to a broken stick or a person who is about to leave, when the resolution of the indoor sensor 5 is increased, the data amount increases accordingly, and the opening / closing control is performed. The cost increases, such as an increase in the signal processing load of the unit 7.

  In the automatic door control system 10, even if the door 2 has a different size or the like for each building, the sensor and the open / close control unit can be generalized at low cost and customized according to each door 2. Such a fraudulent act of an unauthorized intruder can be effectively eliminated.

The indoor sensor 5 includes a casing and a distance measuring device arranged in the casing.
As shown in FIG. 3, the distance measuring device includes a light emitting unit 51 including a semiconductor laser, and a plurality of deflection surfaces 54 that deflect and scan the measurement light output from the light emitting unit 51 (in this embodiment, five deflection surfaces 54). ), A rotating polygon mirror 53 made of a columnar body that rotates around the axis P, a light receiving unit 52 made of an avalanche photodiode that receives the reflected light reflected by the object, a signal processing unit 60, It is comprised with the housing | casing 50 in which they were accommodated.

  The casing has a swing mechanism that swings a swing shaft 55 attached to the housing 50 so that the scanning surface of the measurement light (reference numerals S1 to Sn in FIG. 1A) rotates about the axis S. And the scanning surface is configured to reciprocate between a posture substantially parallel to the door 2 and a posture having a predetermined inclination angle in the monitoring region Ri. The outdoor sensor 6 has the same structure.

  FIG. 4 shows functional blocks of the signal processing unit 60 provided in the distance measuring device. The signal processing unit 60 includes a motor control unit 61, a phase detection unit 62, a light emission control unit 63, a distance measurement calculation unit 64, an object determination unit 65, a moving body tracking unit 66, an open / close determination unit 67, A signal output unit 68 as a communication interface, a memory 69, and the like are provided. Each functional block is realized by a microcomputer, its control program, and peripheral circuits.

  The motor control unit 61 drives and controls the respective motors so that the rotary polygon mirror 53 rotates around the axis P at a predetermined speed and the casing 50 swings around the axis S. The phase detection unit 62 The rotational phase of the rotary polygon mirror 53 that is rotationally driven by the motor control unit 61, that is, the rotation angle with respect to the reference position and the swing angle by the swing mechanism are detected. The phase detector 62 can be configured by, for example, an encoder or the like installed on the rotating shaft of the motor or the rotating polygon mirror 22 and the rotating shaft of the swing mechanism.

  The light emission control unit 63 drives the light emission unit 51 to blink in a predetermined cycle, and the distance measurement calculation unit 64 is based on the time difference between the light emission timing of the light emission unit 51 and the light reception timing of the reflected light detected by the light reception unit 52. The distance from the distance measuring device to the object reflecting the measurement light is calculated.

In other words, the distance calculation unit 64 calculates the distance Ds from the distance measuring device to the object based on the detection time difference Δt between the measurement light and the reflected light, as shown in the following formula. In the formula, C is the speed of light.
Ds = Δt · C / 2

  Further, the distance measurement calculation unit 64 calculates the direction Dr to the detected object based on the rotation phase of the rotary polygon mirror 53 detected by the phase detection unit 62 and the swing angle of the housing 50. A position vector with the distance measuring device as a reference point is obtained by the distance Ds and the direction Dr.

  As shown in FIG. 5 (a), an indoor sensor is used for an XYZ three-dimensional orthogonal space in which the floor surface F is an XY reference surface with Z = 0 and the plane on which the door bodies 2a and 2b are arranged is a reference surface. 5 is a reference plane that intersects the XY reference plane at a predetermined angle (in this example, but is not limited to a right angle), or in the vicinity of the reference plane, at a position separated from the XY reference plane in the Z direction. Has been.

  The indoor sensor 5 is configured to scan the measurement light so that the irradiation direction of the measurement light and the XY reference plane intersect, and detect the reflected light from the object irradiated with the measurement light.

FIG. 5A shows the position vector Vij of the object calculated by the distance measurement calculation unit 64. As shown in FIG. 5A, the angle between the scanning surface of the measurement light emitted from the indoor sensor 5 toward the object and the reference surface is θi, and on the scanning surface as shown in FIG. The angle between the scanning light located at the center and the arbitrary scanning light is φj, the distance to the object is Dsij, and the X, Y, Z coordinates of the end point of the position vector Vij starting from the indoor sensor 5 (reference point) ( In FIG. 5 (a), (b), and (c), if the point indicated by a circle is (xij, yij, zij), the value can be obtained by the following equation. The installation height of the distance measuring device 2 is set to Z = H. That is, the distance measurement calculation unit 64 is a calculation unit that calculates the position vector of the object based on the measurement light and the reflected light from the object.
xij = Dsij · sinφj
yij = Dsij · sinθi · cosφj
zij = H−Dsij · cos θi · cos φj

  The basics of the detection algorithm of the object detected by the indoor sensor 5 will be described below. Here, it is assumed that the object determination unit 65 shown in FIG. 4 does not function in particular and the input from the distance measurement calculation unit 64 is output to the moving body tracking unit 66 as it is.

As shown in FIG. 6A, the position vector calculated at time t is Vij (t), and the position vector calculated at time (t + Δt) is Vij (t + Δt). The moving body tracking unit 66 calculates the movement vector Mij of the object between time t and time (t + Δt) by the following mathematical formula. In this embodiment, Δt = 50 msec. However, it is not limited to this value.
Mij = Vij (t + Δt) −Vij (t)

  The moving vector Mij calculated by the moving object tracking unit 66 indicates the moving direction and moving distance of the moving object, and the moving speed of the moving object is obtained by dividing the moving distance by the time Δt.

  That is, the moving body tracking unit 66 is a calculation unit that calculates the movement vector Mij of the object based on the two position vectors Vij (t + Δt) and Vij (t) calculated by the distance measurement calculation unit 64 in time series. .

  The movement vector Mij of the object calculated by the moving body tracking unit 66, specifically, the moving direction and moving speed of the moving body with respect to the door body 2 are input to the open / close determination unit 67.

  As shown in FIG. 6B, the moving body tracking unit 66 projects the movement vector Mij calculated based on the above equation onto a plane parallel to the XY reference plane including either the start point or the end point of the movement vector. The projection vector obtained in this way may be generated as a movement vector of the object. Based on the projection vector, the height of the moving body from the XY reference plane, the horizontal movement direction, the movement distance, or the movement speed can be ascertained. It can be captured.

  Further, the moving body tracking unit 66 may calculate a moving vector for a time longer than the time Δt while tracking the moving body at the time Δt. For example, if a movement vector between time t and time (t + 3Δt) is calculated for four position vectors of the same object at times t, t + Δt, t + 2Δt, t + 3Δt (most recent), the average of the movement direction and the movement speed The accuracy is improved as a result of obtaining the value and eliminating the influence of instantaneous noise.

  The above is the basic object detection algorithm detected by the indoor sensor 5, but in reality, the detected object is not a true detection target such as a person required to control the opening and closing of the automatic door, but a dog. It may be a small animal such as a cat or a bird or a bird. In such a case, it is not preferable to open and close the door body 2.

  Therefore, the distance calculation unit 64 is provided with a filter processing unit for removing a detection target that becomes such a noise source. This will be described below.

  As shown in FIG. 7, the distance measurement calculation unit 64 is separated from the XY reference plane by a first distance h1 in the Z direction and a second distance h2 from the indoor sensor 5 toward the XY reference plane. The position vector is calculated with respect to the object existing in the detection space between the second boundary surface F2.

  If comprised in this way, it will be avoided that the door 2 is opened and closed by the approach of a mobile body in the position lower than the 1st distance h1. For example, by setting the first distance h1 to 350 mm, small animals and the like can be excluded from the detection target. For example, even if a rod breakage or the like is inserted from a gap near the floor surface of the closed door 2 outside the building, such a rod breakage can be excluded from the detection target. Further, by setting the second distance h2 to 300 mm, it is possible to eliminate a moving body in the vicinity of the distance measuring device 2 that does not normally exist. Specific numerical values of the first distance h1 and the second distance h2 are merely examples, and are not limited to these values. What is necessary is just to set suitably according to the object which should be removed.

  A processing procedure for preventing false detection when the position vector calculated by the distance measuring unit 64 is an insect such as a bee or a fly, a bird, or a natural phenomenon such as snow or rain. explain.

  As shown in FIGS. 8A and 8B, the XYZ three-dimensional space is divided into a plurality of regions along at least the X direction and the Y direction (in the figure, each divided region is shown). The object determination unit 65 is 50 msec. For each position vector calculated by the ranging calculation unit 64 in the scanning cycle, it is determined whether or not the end point is continuously located in the same divided area at least twice, and the end point is continuously located in the same divided area. If it is a position vector, it is determined that it is not a natural fallen object such as a flying insect or snow. That is, the object determination unit 65 determines that there is a high probability that an object to be detected exists in a divided region including the end point of the position vector continuously in time series.

  Next, the object determination unit 65 determines that the object is the same object of a predetermined size to be detected when the divided areas determined to be present are close to the XY direction by a predetermined number. Group the position vectors.

  The predetermined number is a value indicating the certainty of being a person. In a divided area having a 10 cm square cross section, if at least two areas are close to each other, it can be determined that the width is about the width of a person's arm. Then, it is set to 2. This value is determined based on the size of the divided area and the size of the detection object, and is set to a value that is at least smaller than a value obtained by dividing the size of the detection object by the size of the division area.

  In addition, the proximity includes a mode in which the divided areas determined to be present are adjacent in the vertical, horizontal, and diagonal directions in the XY plan view, and a mode in which there are several areas apart. The number of areas is the number of areas appropriately set according to the size of the divided areas, the size of the detection object, and the scanning density of the distance measuring device.

  FIGS. 9A and 9B show a door inside monitoring area Ri monitored by the indoor sensor 5 and a door outside monitoring area Ro monitored by the outdoor sensor 6. A range that can be monitored by the indoor sensor 5 and the outdoor sensor 6 is indicated by squares in the figure. Inside these ranges, a door inner side monitoring area Ri and a door outer side monitoring area Ro are set. The size of one cell is 100 mm × 100 mm, and the presence or absence of a moving object determined by the object determination unit 65 (see FIG. 4) is expressed in units of the cell. The door outside monitoring area Ro is set to a rectangular area along the vicinity of the outside of the door 2.

  The door inside monitoring area Ri includes a door inside proximity area R1 that immediately opens the door 2 when a moving body is detected, a door inside mischief detection area R2 that prohibits the opening of the door 2 even if a moving body is detected, A band-shaped region R3 that immediately surrounds the door inside mischief detection region R2 and opens the door 2 when a moving body is detected, and determines whether the door 2 needs to be opened based on the moving direction and moving speed of the moving body. A dynamic detection area R4 is set.

  The door inner proximity region R1 is a rectangular region having a width equivalent to the width of the door 2 along the vicinity of the inside of the door 2, and the door inner mischief detection region R2 is a region of the door inner proximity region R1 along the vicinity of the inner side of the door 2. The band-shaped area R3 is a band-shaped area that surrounds the door inner side mischievous detection area R2, and the dynamic detection area R4 is a rectangular area that is wider and longer than the three areas described above. is there.

  In FIG. 9A, the dynamic detection area R4 and the door inner proximity area R1 are set valid (displayed by a solid line), and the door inner mischief detection area R2 and the strip-shaped area R3 are set invalid (displayed by a broken line). FIG. 9B shows that the dynamic detection area R4, the door inside mischief detection area R2 and the belt-like area R3 are set valid (indicated by a solid line) and the door inside proximity area R1 is invalid. The state set to (displayed with a broken line) is shown. When “Area is set to be valid”, the function assigned to the area is enabled, and when “Area is set to be invalid”, the function assigned to the area is disabled. The door inner proximity area R1 and the door inner mischief detection area R2 have different purposes, and thus are in the vicinity of the door 2, but any area can be set independently.

  FIG. 10 shows a functional block configuration of the automatic door control system 10 as already described. The automatic door control system 10 includes an indoor sensor 5, an outdoor sensor 6, an opening / closing control unit 7, and a communication control unit CU that is communicably connected to the sensors 5, 6 and the opening / closing control unit 7. They are connected by a wire half duplex serial communication line (RS485).

  The communication control unit CU is mainly configured to control data transmission / reception between the sensors 5 and 6 and the open / close control unit 7, and further, a USB interface and Bluetooth (registered trademark) connectable to the data setting terminal TM. ) Has an interface.

  A tablet PC or a smartphone is used as the data setting terminal TM, and the monitoring areas Ri and Ro described above from an external device and the initial values of the opening / closing control signals described below are transmitted from the sensors 5, 6 and the opening / closing control unit via the communication control unit CU. 7 is configured to be transmitted.

  The communication control unit CU outputs data transmission requests to the sensors 5, 6 and the opening / closing control unit 7 in order at predetermined intervals, for example, at intervals of 50 milliseconds, and in response to the data transmission requests, the sensors 5, 6 and Data returned from the opening / closing control unit 7 is stored in the memory.

  Then, the communication control unit CU transmits data required by the sensors 5 and 6 and the opening / closing control unit 7 among the data stored in the memory when a data transmission request is made to the sensors 5 and 6 and the opening / closing control unit 7. It is configured.

11A to 11F show specific data transmitted / received via the communication control unit CU.
“Outdoor moving body presence / absence information” indicating whether or not an object such as a suspicious person is present in the door outside monitoring area Ro is transmitted from the outdoor sensor 6 to the communication control unit CU, and “door” is transmitted from the communication control unit CU to the outdoor sensor 6. Outer monitoring area Ro information "is transmitted.

  From the opening / closing control unit 7 to the communication control unit CU, “lock state information” indicating the door lock state and “motor state information” indicating the control state of the door 2 (specifically, “door drive direction information”, “door Stop information "," door opening limit information ", and" door closing limit information ") are transmitted, and the communication control unit CU sends the" start command "as" start information "for the door 2 to the open / close control unit 7. , “Opening speed information (high, medium, low, closed)” and “opening width information (opening)” are transmitted. In addition, parameters are shown in parentheses.

  “Door drive direction information” indicates the door drive direction, “Door stop information” indicates whether the door is stopped or moving, and “Door open limit information” indicates whether the door is open or not. And “door closing limit information” indicates whether or not the door is closed.

  "Start command" indicates that the opening / closing of the door is activated, and "Open speed information (high, medium, low, closed)" indicates the direction of door opening or closing, the speed when opening (constant when door is closed) Speed), and “open width information (fully open, fully closed)” indicates the maximum opening width when the door is opened.

  From the indoor sensor 5 to the communication control unit CU, as “sensor detection state information”, “open speed information (high, medium, low, closed)”, “open width information (opening)”, “detection waveform”, “door” Inner proximity region R1 moving body presence / absence information ”is transmitted, and“ lock state information ”,“ motor state information ”(specifically,“ door driving direction information ”,“ door stop information ”) are transmitted from the communication control unit CU to the indoor sensor 5. ”,“ Door opening limit information ”, and“ door closing limit information ”).

  The open / close determining unit 67 provided in the indoor sensor 5 is in a state in which the door is locked by the “lock state information” transmitted from the communication control unit CU, and in the state in which the door is fully closed by the “door closing information”. If it is determined that there is an object (in this case, a stationary object) near the outside of the door based on the “outdoor moving body presence / absence information”, the mode shifts to the mischief detection mode, and the dynamic detection region R4 as shown in FIG. 9B. The door inside mischief detection area R2 and the belt-like area R3 are set to be valid and the door inside proximity area R1 is set to be invalid. If any of the above-mentioned conditions is not satisfied, the mode shifts to the normal detection mode, and FIG. As shown in a), the dynamic detection region R4 and the door inner side proximity region R1 are set to be valid, and the door inner side mischievous detection region R2 and the strip region R3 are set to be invalid.

  FIG. 12A is a diagram for explaining the operation in the normal detection mode, and FIG. 12B is a diagram for explaining the operation in the mischief detection mode. As shown in FIG. 12 (b), the open / close determination unit 67 determines that the door is mischievous by a suspicious person outside the door 2 even if a moving object is detected in the door inside mischief detection area R2 in the mischief detection mode. To prevent the opening of. Note that the same result can be obtained by operating the door inside mischief detection area R2 to be substantially excluded from the monitoring target area so as not to detect the moving body itself.

  Even if a moving object is detected in the door inner side mischievous detection area R2, if the object determining unit 65 or the moving object tracking unit 66 detects that a moving object is present in the belt-like area R3, the open / close determining unit 67 is mischievous. Even in the detection mode, it is determined that the door 2 is opened, and “open speed information”, “open width information”, and “door inner moving body presence / absence information” are transmitted to the communication control unit CU, and the communication control unit CU The door 2 is opened by the opening / closing control unit 7 that has received the information.

  In any mode of the mischief detection mode and the normal detection mode, when it is determined that the moving body detected in the dynamic detection region R4 by the moving body tracking unit 66 is moving toward the door 2, it opens and closes. The determination unit 67 transmits “opening speed information”, “opening width information”, and “door inner moving body existence information” to the communication control unit CU so that the door 2 is opened before the moving body approaches the vicinity of the door 2. The door 2 is opened by the opening / closing control unit 7 that has received the information via the communication control unit CU. That is, “open speed information (high, medium, low, closed)” and “open width information” according to the side of the moving body and the moving direction so that the moving body can leave the door when it reaches the door 2. (Opening) "is adjusted.

  The open / close determination unit 67 does not open the door except when the moving body detected in the dynamic detection region R4 goes to the door 2, but after the transition to the normal detection mode, the object determination unit 65 or the moving body When the tracking unit 66 detects a moving body in the door inner proximity region R1, the communication control unit CU is notified of the “open speed information” so as to open the door 2 regardless of whether the moving body is stationary or moving. ”,“ Opening width information ”, and“ door inner moving body presence / absence information ”are transmitted, and the door 2 is opened by the opening / closing control unit 7 that has received the information via the communication control unit CU.

  After the door 2 is opened, the opening / closing determination unit 67 does not detect a moving body in the door inner proximity area R1, does not detect a moving body toward the door 2 even in the dynamic detection area R4, and moves to the door outer monitoring area Ro. When the body is not detected, the door 2 is closed by the opening / closing control unit 7 that transmits “open speed information (closed)” to the communication control unit CU and receives the information via the communication control unit CU. 2 is closed.

  The opening / closing control unit 7 controls the electromagnetic lock mechanism 9 to lock the door 2 when no activation information is generated for a predetermined time after the door 2 is closed.

  When entering the building where the automatic door control system 10 is installed, it is necessary to input authentication information via the security device 8. When the security device 8 authenticates, the door opening request is sent to the opening / closing control unit. 7 and the door 2 is opened. Thereafter, as described above, the door 2 is closed by the opening / closing control unit 7 based on the “opening speed information (closed)” from the opening / closing determination unit 67 to the communication control unit CU.

  As described above, the automatic door control system 10 is configured to open or close the door 2 based on the behavior information of the moving body by the indoor sensor 5, the presence / absence information of the object by the outdoor sensor 6, and the control state of the door by the opening / closing control unit 7. The indoor sensor 5 includes an open / close determining unit 67 that determines whether the door is closed, and the open / close control unit 7 is configured to open / close the door 2 based on an open / close control signal transmitted from the open / close determination unit.

  The open / close determining unit 67 is configured to switch the door inner monitoring area Ri based on the control state of the door 2 by the open / close control unit 7 and the presence / absence information of the object by the outdoor sensor 6.

  Therefore, since the open / close determination is inherently performed on the indoor sensor 5 side having a high arithmetic processing capability, an expensive signal required when the open / close control unit 7 processes a large amount of data related to the moving body obtained by the indoor sensor 5. Lines and high-speed and expensive arithmetic processing circuits are not required.

  In the automatic door control system 10 described above, the door inner monitoring area Ri and the door outer monitoring area Ro differ depending on the installation environment, and the parameter of the “motor state information” needs to be set to an appropriate value.

  Therefore, the initial value of each parameter of the “motor state information” that becomes the monitoring areas Ri and Ro and the open / close control signal by the tablet PC or the like connected via the USB interface or the Bluetooth (registered trademark) interface provided in the communication control unit CU. A value is input and transmitted to each of the sensors 5 and 6 and the open / close control unit 7 via the communication control unit CU.

Hereinafter, another embodiment of the present invention will be described. In the above-described embodiment, the TOF type distance measuring device is exemplified. However, an AM type distance measuring device that AM modulates the intensity of the measurement light may be employed. . Moreover, it is also possible to use LED instead of a laser diode as a light source.

In the AM system, the intensity of the measurement light is amplitude-modulated, and based on the phase difference Δφ between the measurement light output toward the monitoring target region and the reflected light from the object with respect to the measurement light, the distance from the distance measuring device to the object In this method, the distance Ds is calculated based on the following mathematical formula. In the equation, C is the speed of light and f is the modulation frequency.
D = Δφ · C / (4π · f)

  Further, the AM method and the TOF method may be combined to emit the amplitude-modulated measurement light in a pulse shape and measure the distance based on the delay time and the phase difference of the reflected light with respect to the measurement light. In this case, a distance shorter than the wavelength of the modulated wave is calculated based on the phase difference, and a distance longer than the wavelength of the modulated wave is calculated based on the delay time.

  The distance measuring device is not limited to the configuration shown in FIG. 3, and any known configuration capable of three-dimensionally scanning the measurement light with respect to the monitoring region can be adopted.

  The example in which both the indoor sensor 5 and the outdoor sensor 6 are composed of distance measuring devices has been described above. However, the outdoor sensor 6 is suspicious that exists in the monitoring area (door outside monitoring area) Ro set outside the door 2. It is not necessary to have a distance measuring device because it only needs to detect the presence of a person, that is, a stationary object (object). However, both the indoor sensor 5 and the outdoor sensor 6 are configured by the same distance measuring device, and configured to switch between the function as the indoor sensor 5 or the function as the outdoor sensor 6 by the initial setting via the communication control unit CU. If so, the cost can be reduced by sharing the parts.

  Each of the various embodiments described above is an example of the present invention, and the specific structure such as the size and shape of each control block constituting the automatic door control system including the indoor / outdoor sensors, the specific signal processing unit. It goes without saying that the circuit configuration, the specific configuration of the software for performing the signal processing procedure, and the like can be changed and designed as appropriate within the scope of the effects of the present invention, and the technical scope of the present invention is limited to the above examples. It is not something.

1: Automatic door device 2: Door 2a, 2b: Door body 3: Support mechanism 4: Drive mechanism 5: Indoor sensor 6: Outdoor sensor 7: Opening / closing control unit 8: Security device 9: Electromagnetic lock mechanism 10: Automatic door control system 60: Signal processing unit 67: Open / close determination unit Ri: Door inside monitoring area Ro: Door outside monitoring area

Claims (7)

An automatic door control system comprising an indoor sensor for detecting a moving body in a door inner monitoring area, an outdoor sensor for detecting an object in the door outer monitoring area, and an opening / closing control unit for opening and closing the door,
The indoor sensor includes an open / close determining unit that determines whether the door is open or closed based on behavior information of the moving body by the indoor sensor, information on the presence / absence of an object by the outdoor sensor, and a control state of the door by the open / close control unit. ,
The automatic door control system configured to control the opening / closing of the door based on an opening / closing control signal transmitted from the opening / closing determination unit.   2. The automatic door control system according to claim 1, wherein the opening / closing determination unit is configured to switch the door inside monitoring region based on a control state of the door by the opening / closing control unit and information on presence / absence of an object by the outdoor sensor. The door inside monitoring area includes at least a door inside proximity area that opens the door when a moving body is detected, a door inside mischief detection area that prohibits the opening of the door even when a moving body is detected, and A belt-like area that surrounds the door-inside mischief detection area and opens the door when a moving object is detected is set,
The opening / closing determination unit sets the door inner proximity area as effective and sets the door inner mischief detection area and the belt-like area as invalid, or sets the door inner proximity area as invalid and detects the door inner mischief detection. The automatic door control system according to claim 2, wherein the automatic door control system is configured to switch between enabling an area and the belt-like area.   The indoor sensor scans the measurement light two-dimensionally in the monitoring area and detects reflected light from the object irradiated with the measurement light, thereby calculating the direction and distance of the object existing in the monitoring area An opening / closing determination unit, and the opening / closing determination unit is based on the behavior of the object including the moving direction and / or moving speed of the object obtained based on the direction and distance of the object calculated by the distance measuring device. The automatic door control system according to claim 1, wherein the open / close control signal is output.   The automatic door control system according to claim 1, wherein the opening / closing control signal includes an opening speed and an opening width of the door. A communication control unit communicably connected to each sensor and the open / close control unit;
The automatic door control system according to any one of claims 1 to 5, wherein the communication control unit includes an interface that can be connected to an external device that sets a monitoring area and an initial value of the opening / closing control signal. A ranging device used for an indoor sensor or an outdoor sensor of the automatic door control system according to any one of claims 1 to 6,
A distance measuring unit that two-dimensionally scans the measurement light in the monitoring area and detects reflected light from the object irradiated with the measurement light to calculate the direction and distance of the object existing in the monitoring area;
An open / close determining unit that determines whether the door is open or closed based on a detection result of the moving body by the distance measuring unit and a control state of the open / close control unit and outputs the open / close control signal to the open / close control unit; Ranging device.

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